JP2016118435A - Sensor attachment diagnostic device and sensor attachment diagnostic method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sensor attachment diagnostic device and a sensor attachment diagnostic method which allow a worker to easily confirm correctness of connection of a harness to an ultrasonic sensor.SOLUTION: A sensor attachment diagnostic device 200 comprises: a transmission control part 21 which selects at least one ultrasonic sensor of the plurality of ultrasonic sensors as a transmitting ultrasonic sensor and makes it transmit a pulse-like ultrasonic wave; a reception time calculation part 25 which calculates the reception time indicating the time from the transmission of the ultrasonic wave by the transmitting ultrasonic sensor to reception of a direct wave of the ultrasonic wave propagating along the exterior part of a vehicle by at least one receiving ultrasonic sensor other than the transmitting ultrasonic sensor; and a wiring diagnostic part 27 which diagnoses correctness of connection of a harness to the receiving ultrasonic sensor by using the value of the reception time.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a sensor attachment diagnosis apparatus and a sensor attachment diagnosis method for diagnosing correctness of attachment of an ultrasonic sensor to a moving body.

  2. Description of the Related Art Conventionally, an obstacle detection device that detects an obstacle around a moving body using a plurality of ultrasonic sensors attached to the moving body such as a vehicle has been developed. The obstacle detection device has a period from when the ultrasonic sensor for transmission transmits an ultrasonic wave until the ultrasonic sensor for reception receives the ultrasonic wave reflected by the obstacle (defined as “indirect wave”). Time is measured to detect the distance between the moving object and the obstacle.

  Also, the obstacle detection device of Patent Document 1 propagates along the exterior of the moving body among the ultrasonic waves transmitted by the transmission ultrasonic sensor, and receives the ultrasonic waves without being reflected by the obstacles. The ultrasonic wave (defined as “direct wave”) that has propagated to the sensor is monitored. The obstacle detection device of Patent Document 1 detects the attachment of snow, mud, or the like to the transmission surface of the ultrasonic sensor or the exterior of the moving body according to the attenuation of the direct wave.

JP 2002-131428 A

  The ultrasonic sensor of the obstacle detection device is attached to a preset position of the moving body. The ultrasonic sensor of the obstacle detection apparatus is connected to a preset signal input / output terminal of an electronic control unit (hereinafter referred to as “ECU”) mounted on the moving body by a harness wired in the moving body. .

  Generally, when an obstacle detection device and an ultrasonic sensor are attached to a moving body, first, a wiring path of a harness between each ultrasonic sensor and the ECU is determined, and a harness having a length corresponding to the wiring path is prepared. . Next, by wiring this harness in the moving body, one end of the harness is pulled out in the vicinity of the position where the ultrasonic sensor is attached, and fixed at this position. Next, an ultrasonic sensor is attached to the attachment position, and the harness fixed in the vicinity of each attachment position is connected.

  In recent years, the demand for higher functionality of obstacle detection devices has increased, and the number of ultrasonic sensors attached to one moving body has increased, and the interval between adjacent mounting positions has become narrower. For this reason, in the process of connecting the harness to the ultrasonic sensor, if the harness length has a margin particularly considering workability, the corresponding harness is reversed with respect to the two adjacent ultrasonic sensors. Problems with connection are more likely to occur.

  On the other hand, measures may be taken to prevent the occurrence of connection errors themselves by changing the shape of the connector connected to the harness for each ultrasonic sensor or changing the color of the harness. However, in such measures, since the types of members such as connectors or harnesses used for each moving body increase, the management of the members at the time of manufacture becomes complicated, and the entire moving body including the obstacle detecting device There was a problem that the manufacturing cost was high.

  Moreover, the conventional obstacle detection apparatus like patent document 1 does not have a function which diagnoses the correctness of the connection of the harness with respect to an ultrasonic sensor. For this reason, after attaching an ultrasonic sensor to a moving body, an operator visually checks the correctness of the connection of the harness with respect to the ultrasonic sensor, or uses an exclusive inspection apparatus etc. for each ultrasonic sensor. It was necessary to check the correctness of the harness connection while operating, and there was a problem that it took time and effort to check.

  The present invention has been made to solve the above-described problems, and provides a sensor attachment diagnostic device and a sensor attachment diagnostic method capable of easily confirming whether or not a harness is connected to an ultrasonic sensor. With the goal.

  The sensor mounting diagnostic apparatus according to the present invention corrects the connection of wiring that connects a plurality of ultrasonic sensors attached at intervals to the exterior of a moving body and an electronic control unit that controls transmission and reception of the ultrasonic sensors. A sensor-attached diagnostic device for diagnosing, wherein at least one ultrasonic sensor among a plurality of ultrasonic sensors is selected as a transmission ultrasonic sensor, and a pulse wave (actually, a burst wave having a transmission frequency of a constant wave number) is selected. 5 (see the waveform of signal A shown in FIG. 5), and a transmission control unit that transmits ultrasonic waves, and the transmission ultrasonic sensor transmits ultrasonic waves, and then the ultrasonic waves travel along the exterior of the moving body. A reception time calculation unit that calculates a reception time indicating a time until the propagated direct wave (see the waveform of the signal B shown in FIG. 5) is received by at least one reception ultrasonic sensor other than the transmission ultrasonic sensor; When receiving Using the value, and the wiring diagnosis unit for diagnosing the correctness of the connection of the wiring to the received ultrasonic sensors are those comprising a.

  Alternatively, the sensor mounting diagnostic apparatus of the present invention is a wiring connection that connects a plurality of ultrasonic sensors attached to the exterior of the moving body at intervals and an electronic control unit that controls transmission and reception of the ultrasonic sensors. A sensor-attached diagnosis device for diagnosing correctness, wherein any two ultrasonic sensors among a plurality of ultrasonic sensors are selected as transmission ultrasonic sensors, and transmission control for sequentially transmitting pulsed ultrasonic waves And a signal received by any one of the receiving ultrasonic sensors other than the transmitting ultrasonic sensor, and the other, the direct wave propagated along the exterior of the moving body by the ultrasonic wave output from one transmitting ultrasonic sensor, A pulse width calculator that calculates the time difference between the rising edge and the falling edge of the combined signal, which is obtained by synthesizing the signal received by the receiving ultrasonic sensor with the direct wave of the ultrasonic wave output from the transmitting ultrasonic sensor, and the value of the time difference Compared with the threshold, in which and a wiring diagnosis unit for diagnosing the correctness of the connection wiring for transmitting ultrasonic sensor.

  According to the present invention, the value of the reception time from when the transmission / reception sensor transmits an ultrasonic wave until the reception ultrasonic sensor receives a direct wave is used to diagnose whether the wiring is connected to the reception ultrasonic sensor. . Alternatively, according to the present invention, the value of the time difference between the rising edge and the falling edge of the signal received by one receiving ultrasonic sensor from the direct ultrasonic wave transmitted by two transmitting ultrasonic sensors is compared with a threshold value. Then, it is diagnosed whether the wiring is connected to the transmitting ultrasonic sensor. As a result, the operator can visually check the correctness of the harness connection to the ultrasonic sensor, or check the correctness of the harness connection while operating the ultrasonic sensor one by one using a dedicated inspection device. Therefore, it is possible to easily check whether the harness is connected to the ultrasonic sensor.

It is a hardware block diagram of the principal part of the obstruction detection apparatus by which the sensor attachment mounting apparatus which concerns on Embodiment 1 of this invention is mounted. It is a functional block diagram of the principal part of ECU containing the sensor attachment mounting apparatus which concerns on Embodiment 1 of this invention. It is a hardware block diagram of the principal part of ECU containing the sensor attachment mounting apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention. In the sensor attachment diagnostic apparatus according to Embodiment 1 of the present invention, it is an explanatory diagram illustrating an example of waveforms of an output signal of a transmission unit and a reception signal of a reception unit when there is no connection error of a harness to an ultrasonic sensor. . It is a hardware block diagram of the principal part of an obstruction detection apparatus when there is an error in the connection of the harness with respect to an ultrasonic sensor. In the sensor attachment diagnostic apparatus according to Embodiment 1 of the present invention, it is an explanatory diagram illustrating an example of waveforms of an output signal of a transmission unit and a reception signal of a reception unit when there is an error in connection of a harness to an ultrasonic sensor. . In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is no error in the connection of the harness with respect to an ultrasonic sensor It is. It is a hardware block diagram of the principal part of an obstruction detection apparatus when there is an error in the connection of the harness with respect to an ultrasonic sensor. In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is an incorrect connection of the harness with respect to an ultrasonic sensor It is. In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is no error in the connection of the harness with respect to an ultrasonic sensor It is. In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is an incorrect connection of the harness with respect to an ultrasonic sensor It is. In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is no error in the connection of the harness with respect to an ultrasonic sensor It is. In the sensor attachment diagnostic apparatus which concerns on Embodiment 1 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is an incorrect connection of the harness with respect to an ultrasonic sensor It is. It is a flowchart which shows operation | movement of the sensor attachment diagnostic apparatus which concerns on Embodiment 2 of this invention. In the sensor attachment diagnostic apparatus according to Embodiment 2 of the present invention, it is an explanatory diagram illustrating an example of waveforms of an output signal of a transmission unit and a reception signal of a reception unit when there is no connection error of a harness to an ultrasonic sensor. . It is a functional block diagram of the principal part of ECU which concerns on Embodiment 3 of this invention. It is a flowchart which shows operation | movement of the sensor attachment diagnostic apparatus which concerns on Embodiment 3 of this invention. In the sensor attachment diagnostic apparatus according to Embodiment 3 of the present invention, it is an explanatory diagram showing an example of waveforms of an output signal of a transmission unit and a reception signal of a reception unit when there is no connection error of a harness to an ultrasonic sensor. . In the sensor attachment diagnostic apparatus according to Embodiment 3 of the present invention, it is an explanatory diagram showing an example of waveforms of an output signal of a transmission unit and a reception signal of a reception unit when there is an incorrect connection of a harness to an ultrasonic sensor. . In the sensor attachment diagnostic apparatus which concerns on Embodiment 3 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is no error in the connection of the harness with respect to an ultrasonic sensor It is. In the sensor attachment diagnostic apparatus which concerns on Embodiment 3 of this invention, explanatory drawing which shows the other example of the waveform of the output signal of a transmission part, and the reception signal of a reception part when there is an incorrect connection of the harness with respect to an ultrasonic sensor It is. It is a functional block diagram of the principal part of ECU which concerns on Embodiment 4 of this invention. It is a flowchart which shows operation | movement of the sensor attachment diagnostic apparatus which concerns on Embodiment 4 of this invention. It is a functional block diagram of the principal part of other ECU which concerns on Embodiment 4 of this invention. It is a flowchart which shows operation | movement of the other sensor attachment diagnostic apparatus based on Embodiment 4 of this invention.

Embodiment 1 FIG.
FIG. 1 is a hardware configuration diagram of a main part of an obstacle detection device on which the sensor mounting diagnostic device according to the first embodiment is mounted. The obstacle detection device 100 will be described with reference to FIG.
A pair of left and right ultrasonic sensors 1 ₁ and 1 ₂ are attached to the center of the rear bumper of the vehicle 300. The left end of the rear bumper and the ultrasonic sensor 1 ₃ is attached, an ultrasonic sensor 1 ₄ is mounted to the right end. A pair of left and right ultrasonic sensors 1 ₅ and ₁₆ are attached to the center of the front bumper of the vehicle 300. An ultrasonic sensor ₁₇ is attached to the left end of the front bumper, and an ultrasonic sensor ₁₈ is attached to the right end. The rear end portion of the left side surface of the vehicle 300 and the ultrasonic sensor 1 ₉ is attached, an ultrasonic sensor 1 ₁₀ is attached to the front end portion. The rear end portion of the right side surface of the vehicle 300 and the ultrasonic sensor 1 ₁₁ is attached, an ultrasonic sensor 1 ₁₂ is attached to the front end portion.

That is, six ultrasonic sensors 1 ₁ , 1 ₃ , 1 ₅ , 1 ₇ , 1 ₉ , 1 ₁₀ are attached to the left half of the vehicle 300, and six ultrasonic sensors 1 ₂ are attached to the right half. , 1 ₄ , 1 ₆ , 1 ₈ , 1 ₁₁ , 1 ₁₂ are attached. In addition, six ultrasonic sensors 1 ₁ to 1 ₄ , 1 ₉ and 1 ₁₁ are attached to the rear half of the vehicle 300, and six ultrasonic sensors 1 ₅ to 1 ₈ , 1 ₁₀ , are attached to the front half. 1 ₁₂ is attached. Of these, the two ultrasonic sensors 1 ₃ , ₁₉ are attached close to the left rear corner of the vehicle 300, and the two ultrasonic sensors 1 ₄ , 1 ₁₁ are mounted on the right rear of the vehicle 300. The two ultrasonic sensors 1 ₇ , 1 ₁₀ are attached close to the left front corner of the vehicle 300, and the two ultrasonic sensors 1 ₈ , 1 ₁₂ are attached close to the corners. Is attached in the vicinity of the right front corner of the vehicle 300.

The vehicle 300 is equipped with an ECU 2. The ECU 2 has a plurality of signal input / output terminals 20 _{1 to} 20 ₁₂ . The signal input / output terminals 20 _{1 to} 20 ₁₂ and the ultrasonic sensors 1 ₁ to 1 ₁₂ are connected to each other one to one by harnesses 3 _{1 to} 3 ₁₂ by a so-called “PtoP (Point to Point) method”.

The ECU 2 has a function of detecting obstacles existing around the vehicle 300 using the ultrasonic sensors 1 ₁ to 1 ₁₂ . The obstacle detection device 100 is configured by the ultrasonic sensors 1 ₁ to 1 ₁₂ , the ECU 2, and the harnesses 3 _{1 to} 3 ₁₂ .

  Note that the moving body on which the obstacle detection device 100 is mounted is not limited to the vehicle 300, and may be any moving body including a vehicle, a railway, a ship, an aircraft, and the like.

  Further, the number of ultrasonic sensors attached to the moving body is not limited to 12, but may be any number of 3 or more depending on the shape of the moving body and the function of the obstacle detection apparatus 100. Further, the attachment positions of the ultrasonic sensors are not limited to the twelve places shown in FIG. 1, and may be any attachment positions set in advance according to the shape of the moving body and the number of ultrasonic sensors.

Further, the connection method between the signal input / output terminals 20 _{1 to} 20 ₁₂ and the ultrasonic sensors 1 ₁ to 1 ₁₂ is not limited to the PtoP method. This is a so-called “digital chain method” in which a plurality of ultrasonic sensors are connected in an annular shape with one harness starting from any two signal input / output terminals of the signal input / output terminals 20 _{1 to} 20 _12. May be.

Hereinafter, as shown in FIG. 1, an ECU 2 for connecting ₁₂ ultrasonic sensors 1 ₁ to 1 ₁₂ is mounted on a vehicle 300, and signal input / output terminals 20 _{1 to} 20 ₁₂ and ultrasonic sensors 1 ₁ to 1 ₁₂ are connected. An example of connection using the PtoP method will be described.

FIG. 2 shows the functional blocks of the main parts related to the sensor mounting diagnostic device 200 among the functional blocks of the ECU 2. With reference to FIG. 2, the sensor attachment diagnostic apparatus 200 of Embodiment 1 is demonstrated.
The transmission control unit 21 causes the transmission unit 22 to output a pulsed signal having a certain pulse width. The timing at which the transmission control unit 21 outputs a signal to the transmission unit 22 is controlled by the wiring diagnosis unit 27.

The multiplexer 23 outputs the output signal of the transmission unit 22 to at least one of the signal input / output terminals 20 _{1 to} 20 ₁₂ . The signal input / output terminal from which the multiplexer 23 outputs a signal is switch-controlled by the wiring diagnosis unit 27. Further, the multiplexer 23, signal a signal inputted to the input-output terminal ₂₀ 1 _{to 20 12,} and outputs each to the receiving unit _{24 1-24 12} corresponding to the signal input and output terminals ₂₀ 1 _{to 20 12} and 1-to-1 It is.

Hereinafter, of the signal input / output terminals 20 _{1 to} 20 ₁₂ , the signal input / output terminal from which the multiplexer 23 outputs a signal is referred to as a “transmission terminal”, and the remaining signal input / output terminals are referred to as “reception terminals”. Moreover, among the ultrasonic sensors 1 ₁ to 1 ₁₂ shown in FIG. 1, an ultrasonic sensor connected to a transmission terminal via a harness is referred to as a “transmission ultrasonic sensor”, and an ultrasonic wave connected to a reception terminal. The sensor is referred to as a “reception ultrasonic sensor”.
That is, in the obstacle detection apparatus 100 shown in FIG. 1, any of the _twelve ultrasonic sensors 1 ₁ to 1 ₁₂ can be used for transmission or reception of ultrasonic waves. What is selected for transmission of ultrasonic waves by the sensor mounting diagnostic apparatus 200 at the time of diagnosis is a transmission ultrasonic sensor, and other ultrasonic sensors are reception ultrasonic sensors.

The reception time calculation unit 25 monitors the timing at which the transmission control unit 21 causes the transmission unit 22 to output a signal. The reception time calculation unit 25 monitors the timing at which each of the reception units 24 _{1 to} 24 ₁₂ receives a signal. The reception time calculation unit 25 first transmits a signal after the time when the transmission control unit 21 outputs a signal to the transmission unit 22 (hereinafter referred to as “transmission time”) and each of the reception units 24 _{1 to} 24 ₁₂ transmits the signal. A reception time which is a time difference from the reception time (hereinafter referred to as “reception time”) is calculated.

  The transmission time corresponds to the time when the transmission ultrasonic sensor transmits the ultrasonic wave. Further, when there is no obstacle in the sensing range of the ultrasonic sensor and there is no deposit on the exterior of the vehicle 300, the reception time when the reception unit corresponding to the reception terminal receives the signal is determined from the transmission ultrasonic sensor. This corresponds to the time at which each received ultrasonic sensor receives the direct wave transmitted along the exterior of the vehicle 300. That is, the reception time at this time corresponds to the time from when the transmission ultrasonic sensor transmits an ultrasonic wave until each reception ultrasonic sensor receives a direct wave.

The propagation time storage unit 26 has all the ultrasonic sensors 1 ₁ to 1 ₁₂ attached to normal attachment positions, and has no deposit on the exterior of the vehicle 300, so that all the ultrasonic sensors 1 ₁ to 1 ₁₂ The value of the propagation time of the direct wave between the respective ultrasonic sensors 1 ₁ to 1 ₁₂ in a state where the harnesses 3 _{1 to} 3 ₁₂ are normally connected is stored.

  The wiring diagnosis unit 27 uses the value of the reception time calculated by the reception time calculation unit 25 and the value of the propagation time stored in the propagation time storage unit 26 to connect the harness connected to the reception ultrasonic sensor. It is for diagnosing correctness. The detailed operation of the wiring diagnosis unit 27 will be described later. The transmission control unit 21, the reception time calculation unit 25, and the wiring diagnosis unit 27 constitute a sensor attachment diagnosis device 200.

FIG. 3 is a hardware configuration diagram of a main part of the ECU 2.
The transmission unit 22, the multiplexer 23, and the reception units 24 _{1 to} 24 ₁₂ illustrated in FIG. The transmission / reception device 50 includes a transmission circuit that constitutes the transmission unit 22, a signal switching circuit that constitutes the multiplexer 23, and a reception circuit that constitutes the reception units 24 _{1 to} 24 ₁₂ .
The propagation time storage unit 26 illustrated in FIG. 2 includes a storage device 51 such as a semiconductor memory, for example.
The functions of the transmission control unit 21, the reception time calculation unit 25, and the wiring diagnosis unit 27 illustrated in FIG. 2 are, for example, a dedicated system LSI (Large Scale Integration) or a CPU (Central Processing) that executes a program stored in the storage device 51. (Unit) and the like. A plurality of processing circuits may be linked to realize the above function, and some of the processing circuits may be provided in a device outside the ECU 2. The program may be distributed and stored in a plurality of storage devices, and some of the storage devices may be provided in a device outside the ECU 2.

Next, the operation of the sensor attachment diagnostic apparatus 200 will be described with reference to the flowchart of FIG.
Here, in the initial state, it is assumed that the propagation time value is stored in advance in the propagation time storage unit 26.

First, in step ST1, the wiring diagnosis unit 27 sets which signal input / output terminal of the signal input / output terminals 20 _{1 to} 20 ₁₂ is to be a transmission terminal, and transmits the output signal of the transmission unit 22 for transmission. The multiplexer 23 is set to output to the terminal. Further, the transmission control unit 21 causes the transmission unit 22 to output a pulse-like signal having a certain pulse width in response to an instruction from the wiring diagnosis unit 27. By the processing in step ST1, the output signal of the transmission unit 22 is output to the transmission terminal via the multiplexer 23, and the transmission ultrasonic sensor transmits pulsed ultrasonic waves.

When there is no deposit on the exterior portion of the vehicle 300, at least some of the reception ultrasonic sensors including the reception ultrasonic sensor to be diagnosed receive the ultrasonic direct wave transmitted by the transmission ultrasonic sensor. As a result, a signal is input to at least some of the receiving terminals, and the corresponding receiving unit receives the signal. After step ST1, the reception time calculation unit 25 monitors the timing at which the transmission control unit 21 causes the transmission unit 22 to output a signal and the timing at which each of the reception units 25 _{1 to} 25 ₁₂ receives the signal.

Next, in step ST2, the reception time calculation unit 25 first transmits a signal after the transmission time when the transmission control unit 21 causes the transmission unit 22 to output a signal and each of the reception units 25 _{1 to} 25 ₁₂ transmits the signal. A reception time that is a time difference from the received reception time is calculated.

  Next, in step ST3, the wiring diagnosis unit 27 uses the reception time value calculated by the reception time calculation unit 25 in step ST2 and the propagation time value stored in the propagation time storage unit 26 to perform diagnosis. Diagnose the correctness of the harness connection to the receiving ultrasonic sensor.

  The timing at which the wiring diagnosis unit 27 causes the transmission control unit 21 to start the process of step ST1 may be any timing. For example, the ECU 2 outputs an instruction signal to the wiring diagnosis unit 27 at the time of inspection of the ECU 2 at the time of manufacturing the obstacle detection device 100 or at the time of self-diagnosis of the ECU 2 when the obstacle detection device 100 is used. In response to the instruction signal, the transmission control unit 21 may start the process of step ST1.

  Alternatively, the wiring diagnosis unit 27 has a function of detecting that the engine start switch of the vehicle 300 is switched from OFF to ON, and starts the process of step ST1 in the transmission control unit 21 when this switching is detected. It is also possible to make it happen.

The detailed operation of the wiring diagnosis unit 27 will be described below with reference to FIGS.
5, three ultrasonic sensors _{1 2,} 1 _{4, 1 11} to the harness _{3 2,} 3 _{4, 3 11} in a state that is normally connected, the output signal from the transmitter 22 to the ultrasonic sensor _{1 2} And examples of waveforms of the reception signals of the reception units 24 ₄ and 24 ₁₁ are shown. Figure 5 shows an example in which the single select ultrasonic sensor 1 ₂ as a transmission ultrasonic sensor 1 two ultrasonic sensors _4, 1 ₁₁ receives the ultrasonic sensor of the diagnostic target.

As shown in FIG. 1, the attachment interval between the transmission ultrasonic sensor 1 ₂ and the receiver ultrasonic sensor 1 ₄ is smaller than the mounting distance between the transmission ultrasonic sensor 1 ₂ and the receiver ultrasonic sensor 1 _11. Therefore, as shown in FIG. 5, received from the output of the pulsed output signal A to the transmitter 22 transmits the ultrasonic sensor 1 _2, to the receiving unit 24 ₄ receives the reception signal B corresponding to the direct wave a time t1, the receiving unit 24 ₁₁ and the reception time t2 to the reception of the received signal C corresponding to the direct wave, satisfies the following relationship formula (1).
t1 <t2 (1)

Propagation The time storage unit 26, transmits the ultrasonic sensor 1 ₂ and the receiver and the value of t1 shown in FIG. 5 is stored as the propagation time of the direct wave between the ultrasonic sensor 1 _4, it transmits the ultrasonic sensor 1 ₂ and the receiver the value of t2 shown in FIG. 5 as the propagation time of the direct wave between the ultrasonic sensor 1 ₁₁ is stored.

Here, as shown in FIG. 1, it is set to the close position to the mounting position of the received ultrasonic sensor 1 ₄ and the mounting position of the received ultrasonic sensor 1 ₁₁ in the vehicle 300. Therefore, as shown in FIG. 6, when mounting an obstacle detecting device 100 to the vehicle 300, together with the harness _{3 11} is connected to the incorrectly received ultrasonic sensor _{1 4,} harness _{3 4} to the receiving ultrasonic sensor _{1 11} May be connected.

An output signal from the transmitter 22 to transmit the ultrasonic sensor 1 ₂ at the harness erroneous connection, an example of the waveform of the received signal of the receiving unit 24 _4, 24 ₁₁ shown in FIG. Since the corresponding harnesses 3 ₄ and 3 ₁₁ are connected in reverse to the respective reception ultrasonic sensors 1 ₄ and 1 ₁₁ , the magnitude relationship between the reception times t 1 and t 2 becomes t 1> t 2 as shown in FIG. The expression (1) is not satisfied.

That is, an example of detailed operation of the wiring diagnosis unit 27 in step ST3 of FIG. 4 is as follows.
First, wiring diagnostics unit 27, from the propagation time storage unit 26, acquires the value of the transmission ultrasonic sensor _{1 2} and the receiver ultrasonic sensor _{1 4, 1 11} corresponds to a combination of t1, t2. Next, the wiring diagnosis unit 27 calculates Expression (1) indicating the magnitude relationship between the acquired t1 and t2. Next, the wiring diagnosis unit 27 acquires actual reception times t1 and t2 from the reception time calculation unit 25.
When the acquired reception times t1 and t2 satisfy Expression (1), the wiring diagnosis unit 27 connects the harnesses 3 ₄ and 3 ₁₁ to the reception ultrasonic sensors 1 ₄ and 1 ₁₁ normally as shown in FIG. Diagnose that. On the other hand, when the reception times t1 and t2 do not satisfy the formula (1), the wiring diagnosis unit 27 causes the harnesses 3 ₄ and 3 _{11 to} be erroneously connected to the reception ultrasonic sensors 1 ₄ and 1 ₁₁ as shown in FIG. Diagnose that.

8, three ultrasonic sensors _{1 1,} 1 3, _{1 9} to harness _{3 1,} 3 3, _{3 9} in a state in which are connected correctly, the output signal from the transmitter 22 to the ultrasonic sensor _{1 1} And examples of waveforms of reception signals of the reception units 24 ₃ and 24 ₉ are shown. Figure 8 shows an example in which the single select ultrasonic sensor 1 ₁ as a transmission ultrasonic sensor, the two received ultrasonic sensor diagnosis target ultrasonic sensor 1 _3, 1 _9.

As shown in FIG. 1, the attachment interval between the transmission ultrasonic sensor 1 ₁ and the receiving ultrasonic sensor 1 ₃ is smaller than the mounting intervals of the transmission ultrasonic sensor 1 ₁ and the reception ultrasonic sensor 1 _9. Therefore, as shown in FIG. 8, received from the output of the pulsed output signal A to the transmitter 22 transmits the ultrasonic sensor 1 _1, to the receiving unit 24 ₃ receives a reception signal B corresponding to the direct wave a time t1, the reception time t2 to the reception section 24 ₉ receives the received signal C corresponding to the direct wave satisfy the relation of the above formula (1).

Propagation The time storage unit 26, transmits the ultrasonic sensor 1 ₁ and the receiving and the value of t1 shown in FIG. 8 is stored as the propagation time of the direct wave between the ultrasonic sensor 1 _3, it transmits the ultrasonic sensor 1 ₁ and the receiver The value of t2 shown in FIG. 8 is stored as the propagation time of the direct wave between the ultrasonic sensors ₁₉ .

Here, as shown in FIG. 1, it is set to the close position to the mounting position of the received ultrasonic sensor 1 ₃ and the mounting position of the received ultrasonic sensor 1 ₉ in the vehicle 300. Therefore, as shown in FIG. 9, when mounting an obstacle detecting device 100 to the vehicle 300, together with the harness 3 ₉ is connected to the incorrectly received ultrasonic sensor 1 _3, the harness 3 ₃ to the receiving ultrasonic sensor 1 ₉ May be connected.

An output signal from the transmitter 22 to transmit the ultrasonic sensor 1 ₁ during the harness erroneous connection, an example of the waveform of the received signal of the receiving unit 24 _3, 24 ₉ shown in FIG. 10. For each received ultrasonic sensor ₁ 3, _{1 9,} because the corresponding harness ₃ 3, _{3 9} are connected in reverse, the magnitude relation between the received time t1, t2 as shown in FIG. 10 becomes t1> t2 The expression (1) is not satisfied.

That is, another example of detailed operation of the wiring diagnosis unit 27 in step ST3 of FIG. 4 is as follows.
First, the wiring diagnosis unit 27 acquires the values of t1 and t2 corresponding to the combination of the transmission ultrasonic sensor ₁₁ and the reception ultrasonic sensors 1 ₃ and ₁₉ from the propagation time storage unit 26. Next, the wiring diagnosis unit 27 calculates Expression (1) indicating the magnitude relationship between the acquired t1 and t2. Next, the wiring diagnosis unit 27 acquires actual reception times t1 and t2 from the reception time calculation unit 25.
When the acquired reception times t1 and t2 satisfy Expression (1), the wiring diagnosis unit 27 connects the harnesses 3 ₃ and 3 ₉ to the reception ultrasonic sensors 1 ₃ and 1 ₉ normally as shown in FIG. Diagnose that. On the other hand, when the reception times t1 and t2 do not satisfy the formula (1), the wiring diagnosis unit 27 erroneously connects the harnesses 3 ₃ and 3 ₉ to the reception ultrasonic sensors 1 ₃ and 1 ₉ as shown in FIG. Diagnose that.

Note that the combination of the transmission ultrasonic ray sensor and the reception ultrasonic sensor to be diagnosed is not limited to the above two examples. Any one of twelve ultrasonic sensors 1 ₁ to 1 ₁₂ may be selected as a transmission ultrasonic sensor, and, among reception ultrasonic sensors other than the transmission ultrasonic sensor, direct from the transmission ultrasonic sensor. Any two reception ultrasonic sensors at the position where the wave propagates may be used as the reception ultrasonic sensors to be diagnosed.

For example, the wiring diagnosis unit 27 selects the ultrasonic sensor ₁₆ as a transmission ultrasonic sensor and uses the expression (1) to connect the harnesses 3 ₈ and 3 ₁₂ connected to the reception ultrasonic sensors 1 ₈ and 1 ₁₂ . It may be for diagnosing correctness. Alternatively, the wiring diagnosis unit 27 selects the ultrasonic sensor ₁₅ as the transmission ultrasonic sensor and uses the expression (1) to connect the harnesses 3 ₇ and 3 ₁₀ connected to the reception ultrasonic sensors 1 ₇ and 1 ₁₀ . It may be for diagnosing correctness.

Alternatively, wiring diagnostics unit 27 selects the ultrasonic sensor _{1 11} as a transmission ultrasonic sensor, equation (1) to receive the ultrasonic sensor ₁ 2, _{1 4} harness ₃ 2 connected to, _{3 4} in connection with It may be for diagnosing correctness. Alternatively, the wiring diagnosis unit 27 selects the ultrasonic sensor ₁₉ as the transmission ultrasonic sensor, and uses the expression (1) to connect the harnesses 3 ₁ and 3 ₃ connected to the reception ultrasonic sensors 1 ₁ and 1 ₃ . It may be for diagnosing correctness.

Alternatively, wiring diagnostics unit 27 selects the ultrasonic sensor _{1 12} as a transmission ultrasonic sensor, equation (1) a harness ₃ 6, _{3 8} of the connection that is connected to receive the ultrasonic sensor ₁ 6, _{1 8} using It may be for diagnosing correctness. Alternatively, wiring diagnostics unit 27 selects the ultrasonic sensor _{1 10} as a transmission ultrasonic sensor, equation (1) harness ₃ 5 connected to receive the ultrasonic sensor ₁ 5, _{1 7} using a _{3 7} connections It may be for diagnosing correctness.

  The number of reception ultrasonic sensors to be diagnosed is not limited to two, and the mathematical formula used by the wiring diagnostic unit 27 for diagnosis is not limited to the above formula (1). For example, as described below, it is also possible to diagnose whether or not the harness is connected to the reception ultrasonic sensor attached to the rear half or the front half of the vehicle 300 at a time.

FIG. 11 shows the ultrasonic sensor from the transmission unit 22 in a state where the harnesses 3 _{1 to} 3 ₄ , 3 ₉ and 3 ₁₁ are normally connected to the six ultrasonic sensors 1 ₁ to 1 ₄ , 1 ₉ and 1 _11. It shows an example of the waveform of the output signal and the received signal of the receiving section _{24 1-24} 4, 24 ₉ to 1 _11. That is, FIG. 11 selects one of the ultrasonic sensor 1 ₁₁ as a transmission ultrasonic sensor, five ultrasonic sensors 1 ₁ to 1 _4, 1 ₉ shows an example of a received ultrasonic sensor to be diagnosed ing.

As shown in FIG. 1, the transmission mounting distance between the ultrasonic sensor 1 ₁₁ receives the ultrasonic sensor 1 ₄ is the smallest, will receive the ultrasonic sensor 1 _2, receives the ultrasonic sensor 1 _1, receives the ultrasonic sensor 1 _3, The reception ultrasonic sensor ₁₉ increases in order. Therefore, as shown in FIG. 11, the transmission unit 22 outputs a pulse-like output signal A, and the reception time t1 to the reception section 24 ₄ receives the reception signal B corresponding to the direct wave, the reception section 24 and ₂ reception time t2 to the reception of the received signal C corresponding to the direct wave, the reception time t3 to the reception unit 24 ₁ receives the received signal D corresponding to the direct wave, the receiving unit 24 ₃ is the direct wave meets the reception time t4 until receiving a corresponding received signal E, the reception time t5 to the reception section 24 ₉ receives the reception signal F corresponding to the direct wave, the following relationship of equation (2) ing.
t1 <t2 <t3 <t4 <t5 (2)

Propagation The time storage unit 26, transmission and the value of t1 shown in FIG. 11 is stored as the propagation time of the direct wave between the ultrasonic sensor 1 ₁₁ and a receiving ultrasonic sensor 1 _4, transmission and reception ultrasonic sensor 1 ₁₁ and the value of t2 shown in FIG. 11 is stored as the direct wave propagation time between the ultrasonic sensor 1 _2, 11 as a direct wave propagation time between the received ultrasonic sensor 1 ₁ and the transmission ultrasonic sensor 1 ₁₁ 11 is stored, and the value of t4 shown in FIG. 11 is stored as the propagation time of the direct wave between the transmission ultrasonic sensor 1 ₁₁ and the reception ultrasonic sensor 1 ₃ , and the transmission ultrasonic sensor 1 ₁₁ is stored. 11 is stored as the propagation time of the direct wave between the ultrasonic sensor ₁₉ and the reception ultrasonic sensor 19.

Here, as shown in FIG. 9, when mounting an obstacle detecting device 100 to the vehicle 300, together with the harness 3 ₉ is connected to the incorrectly received ultrasonic sensor 1 _3, harness receiving ultrasonic sensor 1 ₉ 3 ₃ may be connected.

An output signal from the transmitter 22 to transmit the ultrasonic sensor _{1 11} when the harness erroneous connection, an example of the waveform of the received signal of the receiving section _{24 1-24} 4, 24 ₉ shown in FIG. 12. For each received ultrasonic sensor ₁ 3, _{1 9,} because the corresponding harness ₃ 3, _{3 9} are connected to the inverse relationship of the reception time t1~t5 as shown in FIG. 12 is t1 <t2 <t3 < t5 <t4. Therefore, the reception times t1 to t3 satisfy Expression (2), but the reception times t4 and t5 do not satisfy Expression (2).

That is, another example of detailed operation of the wiring diagnosis unit 27 in step ST3 of FIG. 4 is as follows.
First, wiring diagnostics unit 27 acquires a value of t1~t5 corresponding to a combination of the transmission ultrasonic sensor _{1 11} and a receiving ultrasonic sensor ₁ 1 _{to 1} 4, _{1 9} from the propagation time storage unit 26. Next, the wiring diagnosis unit 27 calculates Expression (2) indicating the magnitude relationship between the acquired t1 to t5. Next, the wiring diagnosis unit 27 acquires actual reception times t1 to t5 from the reception time calculation unit 25.
When all the reception times t1 to t5 satisfy Expression (2), the wiring diagnosis unit 27 includes the harnesses 3 _{1 to} 3 ₄ and 3 in the reception ultrasonic sensors 1 ₁ to 1 ₄ and ₁₉ as shown in FIG. Diagnose that ₉ is connected normally. On the other hand, when at least some of the reception times t4 and t5 do not satisfy the formula (2), the wiring diagnosis unit 27 connects the corresponding reception ultrasonic sensors 1 ₄ and 1 ₁₁ to the harnesses 3 ₄ and 3 as shown in FIG. Diagnose that ₁₁ is connected incorrectly.

FIG. 13 shows the ultrasonic sensor from the transmitter 22 in a state where the harnesses 3 _{5 to} 3 ₈ , 3 ₁₀ and 3 ₁₂ are normally connected to the six ultrasonic sensors 1 ₅ to 1 ₈ , 1 ₁₀ and 1 _12. It shows an example of the waveform of the output signal and the received signal of the receiving section _{24 5-24} 8, _{24 10} to 1 _12. That is, FIG. 13 shows an example in which one ultrasonic sensor 1 ₁₂ is selected as a transmission ultrasonic sensor, and five ultrasonic sensors 1 ₅ to 1 ₈ and 1 ₁₀ are reception ultrasonic sensors to be diagnosed. ing.

As shown in FIG. 1, the reception ultrasonic sensor ₁₈ has the smallest mounting interval with the transmission ultrasonic sensor 1 _12. Hereinafter, the reception ultrasonic sensor 1 ₆ , the reception ultrasonic sensor 1 ₅ , the reception ultrasonic sensor 1 ₇ , It has become larger in the order of reception ultrasonic sensor 1 _10. Therefore, as shown in FIG. 13, reception from outputs the pulsed output signal A to the transmitter 22 transmits the ultrasonic sensor 1 _12, to the receiving section 24 ₈ receives a reception signal B corresponding to the direct wave a time t1, the reception time t2 to the reception section 24 ₆ receives a reception signal C corresponding to the direct wave, the reception time t3 to the reception section 24 ₅ receives the received signal D corresponding to the direct wave, a reception time t4 to the reception section 24 ₇ receives a received signal E corresponding to the direct wave, a reception time t5 to the receiving unit 24 ₁₀ receives the reception signal F corresponding to the direct wave, the above formula ( The relationship of 2) is satisfied.

Propagation The time storage unit 26, transmission and the value of t1 shown in FIG. 13 is stored as the propagation time of the direct wave between the ultrasonic sensor 1 ₁₂ and a receiving ultrasonic sensor 1 _8, transmission and reception ultrasonic sensors 1 ₁₂ and the value of t2 shown in FIG. 13 is stored as the direct wave propagation time between the ultrasonic sensor 1 _6, 13 as the propagation time of the direct wave between the reception ultrasonic sensor 1 ₅ with transmission ultrasonic sensors 1 ₁₂ are stored values of t3 indicated, transmission and the value of t4 shown in FIG. 13 is stored as the propagation time of the direct wave between the ultrasonic sensor 1 ₁₂ and a receiving ultrasonic sensor 1 _7, transmits the ultrasonic sensor 1 ₁₂ the value of t5 shown in FIG. 13 are stored as the direct wave propagation time between the received ultrasonic sensor 1 ₁₀ and.

Here, as shown in FIG. 1, it is set to the close position to the mounting position of the received ultrasonic sensor 1 ₇ and the mounting position of the received ultrasonic sensor 1 ₁₀ in the vehicle 300. Therefore, when mounting an obstacle detecting device 100 to the vehicle 300, if the wrong harness 3 ₁₀ to receive the ultrasonic sensor 1 ₇ is is connected, the harness 3 ₇ is connected to receive the ultrasonic sensor 1 ₁₀ is there.

The example of the waveform of the received signal of the output signal and the reception section _{24 5-24} 8, _{24 10} from the transmitter 22 to transmit the ultrasonic sensor _{1 12} at the harness erroneous connection shown in FIG. 14. Since the corresponding harnesses 3 ₇ and 3 ₁₀ are connected to the reception ultrasonic sensors 1 ₇ and 1 _{10 in} reverse, the relationship between the reception times t1 to t5 is t1 <t2 <t3 as shown in FIG. <T5 <t4. Therefore, the reception times t1 to t3 satisfy Expression (2), but the reception times t4 and t5 do not satisfy Expression (2).

That is, another example of detailed operation of the wiring diagnosis unit 27 in step ST3 of FIG. 4 is as follows.
First, wiring diagnostics unit 27 acquires from the propagation time storage unit 26, the value of t1~t5 corresponding to a combination of transmission ultrasonic sensors _{1 12} and a receiving ultrasonic sensor _{1 5-1 8, 1 10.} Next, the wiring diagnosis unit 27 calculates Expression (2) indicating the magnitude relationship between the acquired t1 to t5. Next, the wiring diagnosis unit 27 acquires actual reception times t1 to t5 from the reception time calculation unit 25.
When all the reception times t1 to t5 satisfy the expression (2), the wiring diagnosis unit 27 adds the harnesses 3 _{5 to} 3 ₈ and 3 ₁₀ to the ultrasonic sensors 1 ₅ to 1 ₈ and 1 ₁₀ as shown in FIG. Diagnose that is connected properly. On the other hand, when at least some of the reception times t4 and t5 do not satisfy the formula (2), the wiring diagnosis unit 27 erroneously connects the harnesses 3 ₇ and 3 ₁₀ to the corresponding reception ultrasonic sensors 1 ₇ and 1 _10. Diagnose that it has been.

Incidentally, there is a low possibility of mistaking a plurality of reception when diagnosing correctness of the connection of the harness with respect to the ultrasonic sensor, connected from the ultrasonic sensor 1 ₁ to 1 ₁₂ of the harness with one transmit ultrasonic sensor Preferably, one is selected as the transmitting ultrasonic sensor.
In general, the smaller the mounting interval between adjacent ultrasonic sensors, the higher the possibility of connecting the harness in reverse. In the example of the vehicle 300 shown in FIG. 1, the ultrasonic sensors 1 ₃ and ₁₉ and the ultrasonic sensor 1 _{4 are used.} , 1 ₁₁ , ultrasonic sensors 1 ₇ , 1 ₁₀ and ultrasonic sensors 1 ₈ , 1 ₁₂ are likely to connect harnesses in reverse. Therefore, the ultrasonic sensor 1 ₁ , 1 ₂ arranged at the center of the front bumper of the vehicle 300 or the ultrasonic sensor 1 ₅ arranged at the center of the rear bumper having a longer mounting distance to the adjacent ultrasonic sensor. , ₁₆ is preferably selected as the transmission ultrasonic sensor.

  Further, in step ST3 of FIG. 4, the wiring diagnosis unit 27 uses the reception time value acquired from the reception time calculation unit 25 as the reception time calculation unit without using an equation such as the equation (1) or the equation (2). It may be directly compared with the value of the propagation time acquired from 25. In this case, for example, when the difference between the reception time value and the propagation time value exceeds a preset threshold value, the wiring diagnosis unit 27 incorrectly connects the harness to the reception ultrasonic sensor corresponding to the reception time. Diagnose that it has been.

As described above, the sensor attachment diagnostic apparatus 200 according to the first embodiment includes the plurality of ultrasonic sensors 1 ₁ to 1 ₁₂ and the ultrasonic sensors 1 ₁ to 1 that are attached to the exterior portion of the vehicle 300 at intervals. ₁₂ is a sensor mounting diagnostic apparatus 200 for diagnosing correctness of connection of harnesses 3 _{1 to} 3 ₁₂ connecting ECU 2 that controls transmission / reception of ₁₂ , and at least one of a plurality of ultrasonic sensors 1 ₁ to 1 ₁₂ The ultrasonic sensor is selected as a transmission ultrasonic sensor, and a transmission control unit 21 that transmits pulsed ultrasonic waves is transmitted. After transmitting the ultrasonic waves to the transmission ultrasonic sensor, the ultrasonic waves follow the exterior of the vehicle 300. The reception time calculation unit 25 that calculates the reception time indicating the time until the direct wave propagated in this way is received by at least one reception ultrasonic sensor other than the transmission ultrasonic sensor, and the reception time value is used. And a wiring diagnostic unit 27 to diagnose the correctness of the connection of the harness with respect to the wave sensor.
More specifically, the wiring diagnosis unit 27 uses the value of the propagation time of the direct wave between the ultrasonic sensors 1 ₁ to 1 ₁₂ stored in advance and the value of the reception time of the reception ultrasonic sensor. Diagnose the correctness of the harness connection to the receiving ultrasonic sensor.
Since the value of multiple reception times is used to diagnose the correctness of the harness connection to the receiving ultrasonic sensor, the operator can visually check the correctness of the harness connection to the ultrasonic sensor, or a dedicated inspection device. It is no longer necessary to check the correctness / incorrectness of the harness connection while operating the ultrasonic sensors one by one using, for example, and the correctness / incorrectness of the harness connection to the ultrasonic sensor can be easily confirmed.

Further, the attachment distance from the transmission ultrasonic sensor to the ultrasonic sensor adjacent to the transmission ultrasonic sensor is longer than the attachment distance from the reception ultrasonic sensor to the ultrasonic sensor adjacent to the reception ultrasonic sensor. Make a combination.
By selecting an ultrasonic sensor that has a long mounting distance from the adjacent ultrasonic sensor as the transmission ultrasonic sensor, the ultrasonic sensor that has a high possibility that the harness is normally connected becomes the transmission ultrasonic sensor. Correctness of the connection of the harness to the sensor can be more reliably diagnosed.

In addition, the wiring diagnosis unit 27 uses the reception time when the ultrasonic sensor attached to the corner between the front bumper or the rear bumper and the side surface of the vehicle 300 is selected as the transmission sensor, and uses the left half of the vehicle 300. Whether the connection of the harness to the reception ultrasonic sensor attached to the vehicle or the connection of the harness to the reception ultrasonic sensor attached to the right half of the vehicle 300 is diagnosed.
Thereby, diagnosing the correctness of the harness connection to the reception ultrasonic sensor attached to the left half of the vehicle 300 and the correctness of the harness connection to the reception ultrasonic sensor attached to the right half of the vehicle 300, respectively. Can do.

Alternatively, the wiring diagnosis unit 27 is attached to the left half of the vehicle 300 using the reception time when an ultrasonic sensor attached to the center of the front bumper or rear bumper of the vehicle 300 is selected as the transmission ultrasonic sensor. Whether the connection of the harness to the reception ultrasonic sensor is correct or incorrect, or the connection of the harness to the reception ultrasonic sensor attached to the right half of the vehicle 300 is diagnosed.
By selecting the ultrasonic sensor attached to the central part of the front bumper or rear bumper of the vehicle 300 as the transmission ultrasonic sensor, the ultrasonic sensor that is likely to be properly connected to the harness becomes the transmission ultrasonic sensor. Whether or not the harness is connected to the reception ultrasonic sensor can be more accurately diagnosed. Further, it is possible to diagnose whether the harness is connected to the reception ultrasonic sensor attached to the left half of the vehicle 300 and whether the harness is connected to the reception ultrasonic sensor attached to the right half. it can.

  Further, the transmission control unit 21 causes the transmission ultrasonic sensor to transmit ultrasonic waves during the inspection of the ECU 2 or during self-diagnosis. Accordingly, it is possible to diagnose whether the harness is connected to the reception ultrasonic sensor at the time of inspection of the ECU 2 at the time of manufacturing the obstacle detection apparatus 100 or at the time of self-diagnosis of the ECU 2 at the time of use of the obstacle detection apparatus 100. .

  Alternatively, the transmission control unit 21 causes the transmission ultrasonic sensor to transmit ultrasonic waves when the start switch of the vehicle 300 is switched from off to on. Thereby, it is possible to diagnose whether the harness is connected to the reception ultrasonic sensor at the timing when the vehicle 300 is started.

Embodiment 2. FIG.
In the second embodiment, a sensor attachment diagnostic apparatus 200 that diagnoses the correctness of the connection of a harness to a reception ultrasonic sensor by sequentially transmitting ultrasonic waves while switching the ultrasonic sensor selected as the transmission ultrasonic sensor will be described. In the second embodiment, the hardware configuration of the main part of the obstacle detection device 100 and the functional blocks and hardware configuration of the main part of the ECU 2 including the sensor attachment diagnostic device 200 are the same as in the first embodiment. 1 to 3 will be used for explanation.

  The flowchart in FIG. 15 shows the operation of the sensor mounting diagnostic apparatus 200 according to the second embodiment. In FIG. 15, the same steps as those in the flowchart of the first embodiment shown in FIG.

  First, the transmission control unit 21 and the wiring diagnosis unit 27 execute the process of step ST1 similar to that of the first embodiment. Next, the reception time calculation unit 25 executes the process of step ST2 similar to that in the first embodiment.

  Next, in step ST11, the wiring diagnosis unit 27 switches the transmission terminal from which the multiplexer 23 outputs the output signal of the transmission unit 22 to a transmission terminal different from that in step ST1. The transmission control unit 21 causes the transmission unit 22 to output a pulse-like signal having a constant pulse width (a burst wave, see the waveform of the signal A shown in FIG. 5). Through the processing in step ST11, a transmission ultrasonic sensor different from step ST1 transmits ultrasonic waves.

Next, in step ST12, the reception time calculation unit 25 transmits the transmission time when the transmission control unit 21 outputs a signal to the transmission unit 22 in step ST11, and the reception units 25 _{1 to} 25 ₁₂ receive the transmission time after the transmission time. A reception time which is a time difference from the reception time when the signal is first received is calculated.

  Next, in step ST13, the wiring diagnosis unit 27 uses the reception time value calculated by the reception time calculation unit 25 in steps ST2 and ST12 and the propagation time value stored in the propagation time storage unit 26. Then, it is diagnosed whether the harness is connected to the ultrasonic sensor to be diagnosed.

Hereinafter, the detailed operation of the wiring diagnosis unit 27 will be described with reference to FIGS. 1, 2, 15, and 16.
FIG. 16 is a diagram showing a state of ultrasonic transmission / reception in a state where the harnesses 3 ₁ , 3 ₂ , 3 ₄ , 3 ₁₁ are normally connected to the _four ultrasonic sensors 1 ₁ , 1 ₂ , 1 ₄ , 1 ₁₁ . It is.
FIG. 16 (a) shows an example of the waveform of the received signal of the transmitter output signal and the reception unit ₂₄ 1 from 22 to the ultrasonic sensor _{1 4,} 24 2, _{24 11.} FIG. 16 (a) shows an example in which the single select ultrasonic sensor 1 ₄ as a transmission ultrasonic sensor receives the ultrasonic sensor three ultrasonic sensors 1 _1, 1 _2, 1 ₁₁ .

As shown in FIG. 1, the attachment interval between the transmission ultrasonic sensor 1 ₄ receives the ultrasonic sensor 1 ₁₁ is the smallest, will receive the ultrasonic sensor 1 _2, are larger in the order of reception ultrasonic sensor 1 _1. Therefore, after outputting a pulsed output signal A to the transmitter 22 transmits the ultrasonic sensor 1 _4, and the reception time t1 to the reception section 24 ₄ receives the reception signal B corresponding to the direct wave, the receiving unit the reception time t2 to the reception of the received signal C 24 ₂ corresponding to the direct wave, the reception time t3 to the reception unit 24 ₁ receives the received signal D corresponding to the direct wave, FIG. 16 (a) It becomes time as shown in.

On the other hand, FIG. 16 (b), selects one of the ultrasonic sensors _{1 2} as a transmission ultrasonic sensor, three ultrasonic sensors _{1 1,} 1 _{4, 1 11} shows an example of a received ultrasonic sensor ing.

As 1, attachment interval between the transmission ultrasonic sensor 1 ₂ receives the ultrasonic sensor 1 ₁ is the smallest, will receive the ultrasonic sensor 1 _4, are larger in the order of reception ultrasonic sensor 1 _11. Therefore, after outputting a pulsed output signal E to the transmission section 22 transmits the ultrasonic sensor 1 _2, and the reception time t4 to the reception unit 24 ₁ receives the reception signal F corresponding to the direct wave, the receiving unit a reception time t5 until receiving the reception signal G 24 ₄ corresponding to the direct wave, a reception time t6 to the receiving unit 24 ₁₁ receives the reception signal H corresponding to the direct wave is, and FIG. 16 (b) It becomes time as shown in.

The propagation time storage unit 26, transmission and the value of t1 shown in FIG. 16 (a) is stored as a direct wave propagation time between the ultrasonic sensor 1 ₄ and the receiver ultrasonic sensor 1 _11, it transmits the ultrasonic sensor 1 ₄ and the reception and the value of t2 shown in FIG. 16 (a) is stored as a direct wave propagation time between the ultrasonic sensor 1 _2, transmission ultrasonic sensor 1 ₄ and the reception of the direct wave between the ultrasonic sensor 1 ₁ The value of t3 shown in FIG. 16A is stored as the propagation time.

Moreover, the propagation time storage unit 26 is the value of t4 shown in FIG. 16 (b) is stored as a direct wave propagation time between the transmission ultrasonic sensor 1 ₂ and the receiver ultrasonic sensor 1 _1, transmits ultrasonic sensor 1 ₂ and the receiving and the value of t5 shown in FIG. 16 (b) is stored as a direct wave propagation time between the ultrasonic sensor 1 _1, directly between the transmission ultrasonic sensor 1 ₂ and the receiver ultrasonic sensor 1 ₁₁ The value of t6 shown in FIG. 16B is stored as the wave propagation time.

Here, as shown in FIGS. 16 (a) and 16 (b), the values of t1 to t6 stored in the propagation time storage unit 26 satisfy the relationship of the following expressions (3) to (5). ing.
t4 = t3-t2 (3)
t5 = t2 (4)
t6 = t1 + t2 (5)

In other words, the ultrasonic sensor 1 ₄ at step ST1 of FIG. 15 is selected as the transmission ultrasonic sensor, step ST11 in the ultrasonic sensor 1 ₂ details of the wiring diagnosis unit 27 in step ST13 when it is selected as the transmission ultrasonic sensor An example of the operation is as follows.
First, the wiring diagnosis unit 27 acquires the values of t1 to t6 from the propagation time storage unit 26. Next, the wiring diagnosis unit 27 acquires the values of the actual reception times t1 to t3 calculated by the reception time calculation unit 25 in step ST2 and the values of the actual reception times t4 to t6 calculated in step ST12.
When the reception times t1 to t6 satisfy all the expressions (3) to (5), the wiring diagnosis unit 27 sets the harness to the reception ultrasonic sensors 1 ₁ , 1 ₂ , 1 ₄ , and ₁₁ 1 as shown in FIG. Diagnose that 3 ₁ , 3 ₂ , 3 ₄ , 3 ₁₁ are normally connected. On the other hand, when the reception times t1 to t6 do not satisfy at least one of the expressions (3) to (5), the wiring diagnosis unit 27 receives the reception ultrasonic sensors 1 ₁ , 1 ₂ , 1 ₄ , 1 _11. It is diagnosed that the harnesses 3 ₁ , 3 ₂ , 3 ₄ , 3 ₁₁ are erroneously connected to any of the above.

  The number of reception ultrasonic sensors to be diagnosed is not limited to four, and may be an arbitrary number. Moreover, the mathematical formula used for diagnosis is not limited to the formulas (3) to (5), and any mathematical formula can be used as long as it can diagnose the correctness of the harness connection to the reception ultrasonic sensor to be diagnosed. good. In addition, the number of times ultrasonic waves are sequentially output while switching a plurality of transmission ultrasonic sensors is not limited to two, but any number depending on the number of reception ultrasonic sensors to be diagnosed and mathematical expressions used for diagnosis. It is also good.

  In the diagnosis using the above formulas (3) to (5), it is possible to diagnose that the harness is erroneously connected to any of the four reception ultrasonic sensors, but four reception ultrasonic sensors. In some cases, diagnosis cannot be made until any of the received ultrasonic sensors is incorrectly connected to the harness. Therefore, the sensor mounting diagnostic apparatus 200 further repeats the process shown in FIG. 15 while switching the combination of the transmission ultrasonic sensor and the reception ultrasonic sensor, or further performs the process of the first embodiment after the process of the second embodiment. As a result, it may be possible to diagnose up to which reception ultrasonic sensor the harness is erroneously connected.

As described above, in the sensor attachment diagnostic apparatus 200 according to the second embodiment, the transmission control unit 21 sequentially transmits ultrasonic waves while switching a plurality of transmission ultrasonic sensors, and the reception time calculation unit 25 transmits each transmission. The reception time is calculated every time the ultrasonic sensor outputs an ultrasonic wave.
As in the first embodiment, since the correctness of the connection of the harness to the reception ultrasonic sensor is diagnosed using a plurality of reception time values, the operator confirms the correctness of the connection of the harness to the ultrasonic sensor visually. It is no longer necessary to check the correctness of the harness connection while operating the ultrasonic sensors one by one using a dedicated inspection device, etc., and it is easy to check the correctness of the harness connection to the ultrasonic sensor. be able to.

Embodiment 3 FIG.
In the third embodiment, a sensor attachment diagnostic device 200a that diagnoses the correctness of the connection of the harness to the transmission ultrasonic sensor using the time difference between the rising and falling edges of the received signal will be described. In the third embodiment, the hardware configurations of the obstacle detection device 100 and the ECU 2 are the same as those in the first embodiment, and therefore will be described with reference to FIGS. 1 and 3.
FIG. 17 is a functional block diagram of a main part of the ECU 2 according to the third embodiment. In FIG. 17, the same blocks as those in the functional block diagram of the first embodiment shown in FIG.

The transmission control unit 21a causes the transmission unit 22 to output a pulse-like signal having a constant pulse width (a burst wave, see the waveform of the signal A shown in FIG. 5) twice. The timing at which the transmission control unit 21a causes the transmission unit 22 to output a signal is controlled by the wiring diagnosis unit 27a. Further, the wiring diagnosis unit 27a switches the transmission terminal from which the multiplexer 23 outputs the output signal of the transmission unit 22 every time the transmission control unit 21a is instructed to output the signal to the transmission unit 22. Thereby, the transmission control unit 21a selects any two ultrasonic sensors among the ultrasonic sensors 1 ₁ to 1 ₁₂ as the transmission ultrasonic sensors, and sequentially transmits pulsed ultrasonic waves. ing.

  The pulse width calculation unit 25a directly receives the ultrasonic wave transmitted by one of the transmission ultrasonic sensors and the signal received by any one of the reception ultrasonic sensors and the direct transmission of the ultrasonic wave transmitted by the other transmission ultrasonic sensor. The rising and falling edges of the combined signal with the signal received by the same receiving ultrasonic sensor are detected. The pulse width calculation unit 25a calculates the time difference between the detected rise and fall.

The threshold value storage unit 26a stores a threshold value to be compared with the time difference calculated by the pulse width calculation unit 25a. The threshold value is a value set in advance according to the attachment interval of the ultrasonic sensors 1 ₁ to 1 ₁₂ and the pulse width of the signal output from the transmission unit 22.

  The wiring diagnosis unit 27a compares the time difference value calculated by the pulse width calculation unit 25a with the threshold value stored in the threshold value storage unit 26a, thereby diagnosing whether the harness is connected to the two transmission ultrasonic sensors. Is.

Next, the operation of the sensor mounting diagnostic apparatus 200a configured as described above will be described with reference to the flowchart of FIG.
First, in step ST21, the wiring diagnosis unit 27a causes the transmission control unit 21a to output a signal to the transmission control unit 21a twice while switching the transmission terminal from which the multiplexer 23 outputs the output signal of the transmission unit 22. Instruct. Thereby, the transmission control unit 21a selects any two ultrasonic sensors among the ultrasonic sensors 1 ₁ to 1 ₁₂ as transmission ultrasonic sensors, and sequentially transmits pulsed ultrasonic waves.

  Next, in step ST22, the pulse width calculation unit 25a detects the rising edge of the signal received by any one of the reception ultrasonic sensors of the direct ultrasonic wave sequentially transmitted by the two transmission ultrasonic sensors in step ST1. Detects falling. The pulse width calculation unit 25a calculates a time difference between the detected rising edge and falling edge.

  Next, in step ST23, the wiring diagnosis unit 27a compares the time difference value calculated by the pulse width calculation unit 25a with the threshold value stored in the threshold value storage unit 26a, thereby harnesses for two transmission ultrasonic sensors. Diagnose the correctness of the connection.

Hereinafter, the detailed operation of the sensor attachment diagnostic device 200a will be described with reference to FIGS. 1 and 17 to 20.
19, three in the harness _{3 1,} 3 3, _{3 state 9} is normally connected to the ultrasonic sensor _{1 1,} 1 3, _{1 9,} the transmitting unit 22 ultrasonic sensor ₁ 3, to _{1 9} It shows an example of the output signal and the reception unit 24 ₁ of the received signal and the waveform. 19, the two ultrasonic sensors 1 _3, 1 ₉ selects as a transmission ultrasonic sensor diagnosis target, shows an example in which the received ultrasonic sensor one ultrasonic sensor 1 _1.

First, the transmission controller 21a, a pulse width to output the output signal A of 0.25ms from the transmitter 22 to the signal input and output terminal 20 _3. When the output of the output signal A is completed, then, the transmission controller 21a, a pulse width to output the output signal B of 0.25ms from the transmitter 22 to the signal input and output terminal 20 _9. Thus, the transmission control unit 21a, first, to output the output signal A to the signal input terminal 20 ₃ corresponding to the transmitted ultrasonic wave sensor 1 ₃ attachment spacing small and the reception ultrasonic sensor 1 _1, then the reception to output the output signal B to the signal input terminal 20 ₉ mounted distance between the ultrasonic sensor 1 ₁ corresponds to a larger transmission ultrasonic sensor 1 _9.

Then, the reception unit 24 _1, the received signal C to the ultrasonic sensor 1 ₃ corresponds to the direct wave of the ultrasonic wave transmitted and a reception signal D which the ultrasonic sensor 1 ₉ corresponds to the direct wave of the ultrasonic wave transmitted Receive. Note that the actual reception signal has a waveform obtained by synthesizing the two reception signals C and D. In FIG. 19, the reception signals C and D are expressed as separate waveforms in order to make each waveform easy to see.

  The pulse width calculation unit 25a detects a rising edge when the amplitude of the combined signal of the received signals C and D exceeds the amplitude threshold value Vth, and then detects a falling edge when the amplitude becomes less than the amplitude threshold value Vth. The pulse width calculation unit 25a calculates a time difference Δt1 between rising and falling. In the example of FIG. 19, the value of the time difference Δt1 is approximately 1 ms.

On the other hand, FIG. 20, in a state in which two transmitting ultrasonic sensor ₁ 3, _{1 9} to harness ₃ 3, _{3 9} is reversely connected, to the transmission unit 22 to transmit the ultrasonic sensor ₁ 3, _{1 9} the output signal of the shows an example of the waveform of the received signal of the reception unit 24 _1. For each transmission ultrasonic sensor 1 _3, 1 _9, because the corresponding harness 3 _3, 3 ₉ are connected in reverse, as shown in FIG. 20, the output signal A to the ultrasonic sensor 1 ₃ is output and the timing at which the output signal B to the timing and the ultrasonic sensor 1 ₉ output are reversed with respect to FIG. 19.

Accordingly, the reception ultrasonic sensor 1 ₁ transmitted away from the ultrasonic sensor 1 ₉ transmits ultrasound earlier, for transmitting ultrasonic waves after the transmission ultrasonic sensor 1 ₃ closer to the received ultrasonic sensor 1 _1. For this reason, the rising timings of the reception signal C and the reception signal D are closer to those in FIG. As a result, the falling edge of the received signal D becomes earlier than the falling edge of the received signal C, and the time difference Δt1 between the rising edge and the falling edge of the combined signal of the received signals C and D becomes shorter than that in the example of FIG. In the example of FIG. 20, the time difference Δt1 is approximately 0.7 ms.

The threshold value stored in the threshold value storage unit 26a is a value (for example, 1.0 ms) that can distinguish the value (1.0 ms) of the time difference Δt1 shown in FIG. 19 from the value (0.7 ms) of the time difference Δt1 shown in FIG. ) Is set.
In step ST23 of FIG. 18, the wiring diagnosis unit 27a compares the value of the time difference Δt1 calculated by the pulse width calculation unit 25a with the threshold value stored in the threshold value storage unit 26a. If the time difference Δt1 is equal to or greater than the threshold value, the wiring diagnosis unit 27a diagnoses that the harnesses 3 ₃ and 3 ₉ are normally connected to the transmission ultrasonic sensors 1 ₃ and ₁₉ . On the other hand, if the time difference Δt1 is less than the threshold value, the wiring diagnosis unit 27a diagnoses that the harnesses 3 ₃ and 3 ₉ are erroneously connected to the transmission ultrasonic sensors 1 ₃ and ₁₉ in reverse.

  Note that the threshold value to be compared with the time difference Δt1 is not limited to 1.0 ms. Any value can be used as long as it can diagnose the correctness of the connection of the harness connected to the transmission ultrasonic sensor according to the configuration of the ECU 2 and the obstacle detection device 100.

  In addition, the pulse width of the signal output from the transmission unit 22 is not limited to a uniform value (for example, 0.25 ms) for all the transmission ultrasonic sensors, and the pulse width is different for each transmission ultrasonic sensor. Also good. For example, as shown in FIGS. 21 and 22, the pulse width of the signal output first by the transmitter 22 may be 0.25 ms, and the pulse width of the signal output later may be 0.5 ms.

In this case, in a state where the harnesses 3 ₃ and 3 ₉ are normally connected to the transmission ultrasonic sensors 1 ₃ and 1 ₉ , the pulse width of the reception signal D is wide as shown in FIG. On the other hand, the transmission in the state in which the ultrasonic sensor 1 _3, 1 ₉ to harness 3 _3, 3 ₉ is reversely connected, the pulse width of the received signal C as shown in FIG. 22 is widened. As a result, the difference in time difference Δt1 between when the harness is incorrectly connected and when there is no harness is wider than in the example where the pulse widths of the output signals A and B are both 0.25 ms as shown in FIGS. .

Thus, the transmission control unit 21a is first to output the output signal A to the signal input terminal 20 ₃ corresponding to the transmitted ultrasonic wave sensor 1 ₃ attachment spacing small and the reception ultrasonic sensor 1 _1, then the reception in case of outputting the output signal B to the signal input terminal 20 ₉ mounted distance between the ultrasonic sensor 1 ₁ corresponds to a larger transmission ultrasonic sensor 1 _9, the pulse width of the signal transmission unit 22 is outputted first In addition, by widening the pulse width of the signal to be output later, the time difference Δt1 when the harnesses 3 ₃ and 3 ₉ are normally connected to the transmission ultrasonic sensors 1 ₃ and ₁₉ and the transmission ultrasonic sensors 1 ₃ and 1 ₉ , since the difference with the time difference Δt1 in the state where the harnesses 3 ₃ and 3 ₉ are connected to the reverse is increased, the occurrence of erroneous diagnosis by the wiring diagnosis unit 27a can be suppressed and the accuracy of diagnosis can be improved. Yes.

Note that it is arbitrary which _{one of the} ultrasonic sensors 1 ₁ to 1 ₁₂ is used for the transmission ultrasonic sensor and the reception ultrasonic sensor. However, when diagnosing the correctness of the connection of the harness to the two transmission ultrasonic sensors using one reception ultrasonic sensor, the ultrasonic sensors 1 ₁ , 1 arranged at the center of the front bumper of the vehicle 300 are used. ₂ or an ultrasonic sensor such as the ultrasonic sensors 1 ₅ and ₁₆ disposed in the center of the rear bumper is preferably used as the reception ultrasonic sensor, which has a low possibility of erroneous connection of the harness during manufacturing.

  Further, the sensor attachment diagnostic device 200a may execute the processes of steps ST21 to ST23 shown in FIG. 18 a plurality of times while switching the ultrasonic sensors used for the transmission ultrasonic sensor and the reception ultrasonic sensor.

As described above, the sensor attachment diagnostic apparatus 200a according to the third embodiment includes the plurality of ultrasonic sensors 1 ₁ to 1 ₁₂ and the ultrasonic sensors 1 ₁ to 1 that are attached to the exterior portion of the vehicle 300 at intervals. ₁₂ is a sensor mounting diagnostic apparatus 200a for diagnosing the correctness of the connection of harnesses 3 _{1 to} 3 ₁₂ connecting ECU 2 that controls transmission / reception of ₁₂ and any two of the plurality of ultrasonic sensors 1 ₁ to 1 ₁₂ Are selected as transmission ultrasonic sensors, and the transmission control unit 21a that sequentially transmits pulsed ultrasonic waves, and the ultrasonic waves output from one transmission ultrasonic sensor propagate along the exterior of the vehicle 300. The signal received by any one receiving ultrasonic sensor other than the transmitting ultrasonic sensor and the direct ultrasonic wave output from the other transmitting ultrasonic sensor received by the receiving ultrasonic sensor. The pulse width calculation unit 25a that calculates the time difference between the rising and falling edges of the combined signal, and the wiring diagnosis unit that compares the value of the time difference with a threshold value and diagnoses whether the harness is connected to the transmission ultrasonic sensor. 27a.
Since the value of the time difference is compared with the threshold value to diagnose the correctness of the harness connection to the transmission ultrasonic sensor, the operator confirms the correctness of the harness connection to the ultrasonic sensor by visual observation as in the first embodiment. It is no longer necessary to check the correctness of the harness connection while operating the ultrasonic sensors one by one using a dedicated inspection device, etc., and it is easy to check the correctness of the harness connection to the ultrasonic sensor. be able to.

Embodiment 4 FIG.
In the conventional obstacle detection apparatus such as Patent Document 1, when there is a connection error of the harness to the ultrasonic sensor, it is necessary to remove the bumper of the moving body and reattach the harness and the ultrasonic sensor in order to correct the error. There is. For this reason, there is a problem that not only it takes time to check a connection error, but also it takes time to correct the connection error.
In the fourth embodiment, when the wiring diagnosis unit diagnoses a connection error of the harness, a sensor mounting diagnosis device provided with a correspondence correction unit that corrects the correspondence relationship between the ultrasonic sensor, the transmission unit, and the reception unit in the ECU 2 200b will be described. In the fourth embodiment, the hardware configurations of the obstacle detection device 100 and the ECU 2 are the same as those in the first embodiment, and therefore, description will be made with reference to FIGS. 1 and 3.
FIG. 23 is a functional block diagram of a main part of the ECU 2 according to the fourth embodiment. In FIG. 23, the same blocks as those in the functional block diagram of the first embodiment shown in FIG.

When the wiring diagnosis unit 27 detects a connection error of the harness to any of the ultrasonic sensors 1 ₁ to 1 ₁₂ , the correspondence correcting unit 28 changes the setting of the multiplexer 23 to change the ultrasonic sensors 1 ₁ to 1 _12. The correspondence relationship between the transmission unit 22 and the reception units 24 _{1 to} 24 ₁₂ is corrected.

For example, if the ultrasonic sensor ₁ 3, _{1 9} to harness ₃ 3, _{3 9} is normally connected, the signal transmission unit 22 is output to the signal input terminal 20 ₃ via the multiplexer 23, the harness _{3 3} through the output to the ultrasonic sensor 1 _3. Similarly, the signals transmitting section 22 is outputted to the signal output terminal 20 ₉ through the multiplexer 23 is output via a harness 3 ₉ ultrasonic sensor 1 _9.
The ultrasonic sensor 1 ₃ receives the ultrasonic signal to the signal input terminal 20 ₃ via a harness 3 ₃ are input, the receiving unit 24 ₃ through the multiplexer 23 receives the signal. Similarly, when the ultrasonic sensor 1 ₉ receives ultrasound, the input signal to the signal input and output terminal 20 ₉ via the harness 3 _9, the reception section 24 ₉ through the multiplexer 23 receives the signal.

On the other hand, if it is connected in reverse to the harness ₃ 3, _{3 9} to the ultrasonic sensor ₁ 3, _{1 9} incorrectly, the signal transmitting unit 22 is output to the signal input terminal 20 ₃ via multiplexer 23, a harness 3 is output to the ultrasonic sensor ₁₉ via 3 ₃ . Similarly, the signal transmitting unit 22 is output to the signal input terminal 20 ₉ through the multiplexer 23 is output through a harness 3 ₉ to the ultrasonic sensor 1 _3.
The ultrasonic sensor 1 ₃ receives the ultrasonic wave, is input signal to the signal input and output terminal 20 ₉ via the harness 3 _9, the reception section 24 ₉ through the multiplexer 23 receives the signal. Similarly, when the ultrasonic sensor 1 ₉ receives ultrasound, signal to the signal input terminal 20 ₃ via a harness 3 ₃ are input, the receiving unit 24 ₃ through the multiplexer 23 receives the signal.

Therefore, when the wiring diagnosis unit 27 diagnoses that the harnesses 3 ₃ and 3 ₉ are erroneously connected to the ultrasonic sensors 1 ₃ and ₁₉ , the correspondence correction unit 28 performs signal input / output after the diagnosis. It outputs a signal being input to the terminal 20 ₃ to the receiving unit 24 _9, and changes the setting of the multiplexer 23 to output the signal input to the signal output terminal 20 ₉ to the receiving unit 24 _3. Moreover, the corresponding correction unit 28 outputs the output signal of the transmitter 22 when to transmit the ultrasonic waves to the ultrasonic sensors 1 ₃ to the signal input terminal 20 _9, when to transmit the ultrasonic waves to the ultrasonic sensors 1 ₉ transmission changing the settings of the multiplexer 23 to output the output signal of the section 22 to the signal input terminal 20 _3.

Thus, when transmitting an ultrasonic wave from the ultrasonic sensor 1 _9, a signal transmitting unit 22 is output to the multiplexer 23 is output from the signal output terminal 20 ₃ via a harness 3 ₃ to the ultrasonic sensor 1 ₉ It becomes like this. Similarly, when transmitting the ultrasonic wave from the ultrasonic sensor 1 _3, the signal transmitting unit 22 is output to the multiplexer 23 is output from the signal output terminal 20 ₉ via the harness 3 ₉ to the ultrasonic sensor 1 ₃ It becomes like this.
Also, if the ultrasonic sensor 1 ₃ receives the ultrasonic waves, the signal input from the ultrasonic sensors 1 ₃ to the signal input terminal 20 ₉ via the harness 3 _9, the receiving unit 24 ₃ through the multiplexer 23 It will be received. Similarly, if the ultrasonic sensor 1 ₉ receives the ultrasonic waves, the signal input from the ultrasonic sensor 1 ₉ harness 3 ₃ to the signal input terminal 20 ₃ via the receiving section 24 ₉ via a multiplexer 23 Will be received.

  FIG. 24 is a flowchart showing the operation of the sensor mounting diagnostic apparatus 200b configured as described above. As in the first embodiment, the transmission control unit 21 and the miswiring diagnosis unit 27 execute the process of step ST1, the reception time calculation unit 25 executes the process of step ST2, and the wiring diagnosis unit 27 performs the process of step ST3. Execute.

If the wiring diagnosis unit 27 does not detect a connection error of the harness to the reception ultrasonic sensor in step ST3 (step ST31 “NO”), the sensor attachment diagnosis device 200b ends the process. On the other hand, when the wiring diagnosis unit 27 detects a connection error of the harness to any one of the ultrasonic sensor reception ultrasonic sensors (step ST31 “YES”), then the correspondence correction unit 28 of the multiplexer 23 in step ST32 By changing the setting, the correspondence relationship between the transmission unit 22 and the reception units 24 _{1 to} 24 ₁₂ with respect to the ultrasonic sensors 1 ₁ to 1 ₁₂ is corrected inside the ECU 2.

After the process of step ST32, the sensor attachment diagnostic apparatus 200b may end the process, but may return to the process of step ST1 as shown in FIG. Thereby, even if there is an erroneous diagnosis by the wiring diagnosis unit 27 in step ST3, or even if the multiplexer 23 is erroneously set by the correspondence correction unit 28 in step ST32, the transmission unit for the ultrasonic sensors 1 ₁ to 1 ₁₂ 22 and the receiving units 24 _{1 to} 24 ₁₂ can be made normal.

  In addition, as shown in FIG. 25, it is good also as the sensor attachment diagnostic apparatus 200b which added the correspondence correction part 28 to the structure of Embodiment 3. FIG. A flowchart of the operation in this case is shown in FIG. The sensor attachment diagnostic device 200b executes the processes of steps ST21 to ST23 similar to those in the third embodiment. Next, the correspondence correcting unit 28 executes the processes of steps ST31 and ST32 similar to those in FIG.

Further, for example, the multiplexer 23 is not included, and correspondence information indicating the correspondence relationship between the transmission units 22 and the reception units 24 _{1 to} 24 ₁₂ with respect to the ultrasonic sensors 1 ₁ to ₁₂ is stored in a storage device in the ECU. When the sensor attachment diagnostic device 200b is mounted on the ECU that controls transmission / reception of the ultrasonic sensor using the correspondence information, the correspondence correction unit 28 rewrites the correspondence information according to the diagnosis result of the wiring diagnosis unit 27, The correspondence relationship between the transmission unit 22 and the reception units 24 _{1 to} 24 ₁₂ with respect to the ultrasonic sensors 1 ₁ to 1 ₁₂ may be corrected in the ECU 2.

As described above, in the sensor attachment diagnostic apparatus 200b according to the fourth embodiment, when the wiring diagnosis unit 27 diagnoses the connection error of the harness to the ultrasonic sensor, the correspondence relationship between the transmission unit and the reception unit with respect to the ultrasonic sensor is correctly connected. A correspondence correcting unit 28 for correcting the state is provided.
Thus, even when the connecting obstacle detecting device 100 accidentally harness ₃ 1 _{to 3 12} to the ultrasonic sensor ₁ 1 _{to 1 12} when mounted on the vehicle 300, the ultrasonic sensor ₁ 1 _{to 1 12} It is possible to easily operate the obstacle detection apparatus 100 by correcting the correspondence relationship between the ultrasonic sensors 1 ₁ to 1 ₁₂ and the transmission units 22 and the reception units 24 _{1 to} 24 ₁₂ without reattaching the sensor.

  In the configurations of the first and second embodiments, the wiring diagnosis units 27 and 27a output and display the diagnosis result on an inspection device or a car navigation device outside the ECU 2, and the user manually reattaches the ultrasonic sensor. It is also possible to reconnect the harness or change the setting of the multiplexer 23.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

1 ₁ to 1 ₁₂ ultrasonic sensor, 2 ECU (electronic control _unit), 3 1 _{to 3 12} harness _(wiring), 20 1 _{to 20 12} signal input terminal, 21, 21a transmission control unit, 22 transmission unit, 23 a multiplexer , 24 _{1 to} 24 ₁₂ reception unit, 25 reception time calculation unit, 25a pulse width calculation unit, 26 propagation time storage unit, 26a threshold storage unit, 27, 27a wiring diagnosis unit, 28 correspondence correction unit, 50 transmission / reception device, 51 storage Device, 52 processing circuit, 100 obstacle detection device, 200, 200a, 200b sensor mounting diagnostic device.

Claims (13)

In a sensor mounting diagnostic device for diagnosing correctness of connection of wiring connecting a plurality of ultrasonic sensors attached to an exterior portion of a moving body with an interval, and an electronic control unit that controls transmission and reception of the ultrasonic sensors,
A transmission control unit that selects at least one ultrasonic sensor among the plurality of ultrasonic sensors as a transmission ultrasonic sensor and transmits pulsed ultrasonic waves;
After transmitting the ultrasonic wave to the transmitting ultrasonic sensor, the ultrasonic wave propagated along the exterior of the moving body is received by at least one receiving ultrasonic sensor other than the transmitting ultrasonic sensor. A reception time calculation unit that calculates a reception time indicating the time until
Using the value of the reception time, a wiring diagnosis unit for diagnosing correctness of the connection of the wiring to the reception ultrasonic sensor;
A sensor mounting diagnostic device comprising: The transmission control unit sequentially transmits the ultrasonic waves while switching an ultrasonic sensor to be selected as the transmission ultrasonic sensor,
The sensor-attached diagnosis device according to claim 1, wherein the reception time calculation unit calculates the reception time each time each of the transmission ultrasonic sensors outputs the ultrasonic wave.   The attachment distance from the transmission ultrasonic sensor to the ultrasonic sensor adjacent to the transmission ultrasonic sensor is longer than the attachment distance from the reception ultrasonic sensor to the ultrasonic sensor adjacent to the reception ultrasonic sensor. The sensor mounting diagnostic apparatus according to claim 1.   The wiring diagnosis unit is attached to the left half of the moving body using the reception time when an ultrasonic sensor attached to the center of the front or rear surface of the moving body is selected as the transmitting ultrasonic sensor. The diagnosis of the correctness of the connection of the wiring to the received ultrasonic sensor or the correctness of the connection of the wiring to the reception ultrasonic sensor attached to the right half of the movable body is performed. The sensor mounting diagnostic device according to 1.   The wiring diagnosis unit uses the reception time when an ultrasonic sensor attached to a corner between the front surface or the rear surface and the side surface of the mobile body is selected as the transmission ultrasonic sensor. It is diagnosed whether the connection of the wiring to the reception ultrasonic sensor attached to the half or the connection of the wiring to the reception ultrasonic sensor attached to the right half of the movable body is correct. The sensor mounting diagnostic apparatus according to claim 1.   The wiring diagnosis unit uses the value of the propagation time of the direct wave between the ultrasonic sensors stored in advance and the value of the reception time of the reception ultrasonic sensor, to the reception ultrasonic sensor. The sensor mounting diagnosis apparatus according to claim 1, wherein correctness / incorrectness of the connection of the wiring is diagnosed.   The sensor attachment diagnostic apparatus according to claim 1, wherein the transmission control unit causes the transmission ultrasonic sensor to transmit the ultrasonic wave at the time of inspection or self-diagnosis of the electronic control unit.   2. The sensor attachment diagnostic apparatus according to claim 1, wherein the transmission control unit causes the transmission ultrasonic sensor to transmit the ultrasonic wave when a start switch of the moving body is switched from off to on. 3. The electronic control unit includes: a transmission unit that outputs a signal to at least one of the plurality of ultrasonic sensors; and a plurality of receptions that correspond one-to-one with the plurality of ultrasonic sensors. With
When the wiring diagnosis unit diagnoses a connection error of the wiring with respect to the reception ultrasonic sensor, the wiring diagnosis unit includes a correspondence correction unit that corrects the correspondence relationship between the transmission unit and the reception unit with respect to the reception ultrasonic sensor to a correct connection state. The sensor mounting diagnostic apparatus according to claim 1. In a sensor mounting diagnostic device for diagnosing correctness of connection of wiring connecting a plurality of ultrasonic sensors attached to an exterior portion of a moving body with an interval, and an electronic control unit that controls transmission and reception of the ultrasonic sensors,
A transmission control unit for sequentially transmitting pulsed ultrasonic waves by selecting any two ultrasonic sensors among the plurality of ultrasonic sensors as transmission ultrasonic sensors;
A signal received by any one of the reception ultrasonic sensors other than the transmission ultrasonic sensor, the direct wave propagated along the exterior of the movable body, the ultrasonic wave output from one of the transmission ultrasonic sensors; A pulse width calculation unit that calculates a time difference between a rising edge and a falling edge of a combined signal obtained by combining the direct wave of the ultrasonic wave output from the other transmitting ultrasonic sensor with a signal received by the receiving ultrasonic sensor;
A wiring diagnosis unit that compares the value of the time difference with a threshold value and diagnoses whether the wiring is connected to the transmission ultrasonic sensor;
A sensor mounting diagnostic device comprising: The electronic control unit includes: a transmission unit that outputs a signal to at least one of the plurality of ultrasonic sensors; and a plurality of receptions that correspond one-to-one with the plurality of ultrasonic sensors. With
When the wiring diagnosis unit diagnoses a connection error of the wiring with respect to the transmission ultrasonic sensor, the wiring diagnosis unit includes a correspondence correction unit that corrects the correspondence relationship between the transmission unit and the reception unit with respect to the transmission ultrasonic sensor to a correct connection state. The sensor mounting diagnostic device according to claim 10. In a sensor attachment diagnostic method for diagnosing correctness of connection of a wiring connecting a plurality of ultrasonic sensors attached to an exterior portion of a moving body with an interval and an electronic control unit for controlling transmission and reception of the ultrasonic sensors,
The transmission control unit selects at least one ultrasonic sensor among the plurality of ultrasonic sensors as a transmission ultrasonic sensor, and transmits a pulsed ultrasonic wave,
After the reception time calculation unit causes the transmission ultrasonic sensor to transmit the ultrasonic wave, at least one other than the transmission ultrasonic sensor transmits a direct wave propagated along the exterior portion of the moving body. Calculate the reception time indicating the time until reception by the reception ultrasonic sensor,
A wiring diagnosis unit uses the value of the reception time to diagnose whether the wiring is connected to the reception ultrasonic sensor. In a sensor attachment diagnostic method for diagnosing correctness of connection of a wiring connecting a plurality of ultrasonic sensors attached to an exterior portion of a moving body with an interval and an electronic control unit for controlling transmission and reception of the ultrasonic sensors,
The transmission control unit selects any two ultrasonic sensors from among the plurality of ultrasonic sensors as a transmission ultrasonic sensor, and sequentially transmits pulsed ultrasonic waves,
Any one of the reception ultrasonic sensors other than the transmission ultrasonic sensor is a direct wave in which the ultrasonic wave output from one of the transmission ultrasonic sensors is propagated along the exterior of the movable body by a pulse width calculation unit. The time difference between the rising edge and the falling edge of the combined signal obtained by synthesizing the signal received by the receiving ultrasonic sensor and the signal received by the receiving ultrasonic sensor from the direct wave of the ultrasonic wave output from the other transmitting ultrasonic sensor is calculated. ,
A wiring diagnosis unit compares the value of the time difference with a threshold value and diagnoses whether the wiring is connected to the transmission ultrasonic sensor.

Images