JP2018205262A - Object detection device - Google Patents

Abstract

To provide an object detection device having object detection performance that is more excellent than performance in a conventional manner.SOLUTION: An object detection device includes a left center front sonar 213, a right center front sonar 214, and a control section 28. At least one of the left center front sonar 213 and the right center front sonar 214 has the maximum directivity angle in a directivity long axial direction orthogonal to a directivity axis DA, and also the minimum directivity angle in a directivity short axial direction orthogonal to the directivity axis DA and the directivity long axial direction. The other one of the left center front sonar 213 and the right center front sonar 214 is arranged not to overlap with a straight line that is in parallel with the directivity long axial direction and also passes one of the left center front sonar 213 and the right center front sonar 214 within a plane orthogonal to a vehicle overall length direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an object detection device configured to detect an object existing outside the vehicle by being mounted on the vehicle.

  The object detection device described in Patent Literature 1 includes a plurality of ultrasonic sensors with different vehicle mounting heights. Multiple ultrasonic sensors are mounted so that the difference between the vehicle mounting height of the upper ultrasonic sensor and the vehicle mounting height of the lower ultrasonic sensor is twice the height of the low step where unnecessary detection is to be avoided. It has been. This object detection apparatus detects an object such that an ultrasonic wave transmission and reception are shared by an upper ultrasonic sensor and a lower ultrasonic sensor. Specifically, on the condition that the reflected wave from the ultrasonic wave object transmitted by the wave transmission sensor is not detected by the wave reception sensor located above or below the wave transmission sensor, the object is non-disturbing. Judged as a step as an object.

JP 2014-215283 A

  In this type of object detection device, usually three or more, typically four, ultrasonic sensors are attached to the front and rear ends of the vehicle, that is, the front bumper and the rear bumper. For this reason, also in the object detection apparatus described in Patent Document 1, when selecting a pair adjacent to each other from among three or more ultrasonic sensors, a combination having the same vehicle mounting height may occur.

  When an object is detected using a pair of ultrasonic sensors having the same vehicle mounting height, a low step which is a non-obstacle can be erroneously detected as an obstacle. Further, erroneous detection due to a direct reaching wave from the transmission sensor to the reception sensor may occur. The direct arrival wave refers to an exploration wave that is transmitted from the transmission sensor and then directly received by the reception sensor without passing through reflection on the object.

  Furthermore, from the viewpoint of object detection performance and the viewpoint of vehicle design, it is preferable that the plurality of ultrasonic sensors are arranged symmetrically. In this regard, it is difficult to vary the vehicle mounting height for a pair of four ultrasonic sensors that are positioned symmetrically across the vehicle center line in the vicinity of the center in the vehicle width direction, among a plurality of ultrasonic sensors that form a set. It is.

  The present invention has been made in view of the circumstances exemplified above. That is, an object of the present invention is to provide an object detection device having better object detection performance than before.

The object detection device (20) according to claim 1 is configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
This object detection device
A first ranging sensor (213) provided to transmit an exploration wave toward the outside of the vehicle;
A second ranging sensor provided to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle, and disposed at a position different from the first ranging sensor in the vehicle width direction. (214),
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
With
At least one of the first distance sensor and the second distance sensor has a maximum directional angle in the directional major axis direction orthogonal to the directional axis and is orthogonal to the directional axis and the directional major axis direction. It has a minimum pointing angle in the pointing short axis direction, and is arranged so that the pointing long axis direction and the pointing short axis direction intersect the vehicle width direction,
The other of the first distance sensor and the second distance sensor is different from the first distance sensor in a plane perpendicular to the vehicle overall length direction and overlaps with a straight line passing through the one in parallel with the directional major axis direction. It is arranged not to become.

The object detection device (20) according to claim 3 is configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
This object detection device
Provided to transmit the exploration wave toward the outside of the vehicle, and has the maximum directivity angle in the first directivity long axis direction orthogonal to the first central axis that is the directivity axis, and the first central axis and the A first distance measuring sensor (213) configured to have a minimum directivity angle in a first directivity short axis direction orthogonal to the first directivity long axis direction;
Provided to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle, and has a maximum pointing angle in a second pointing long axis direction orthogonal to a second central axis that is a pointing axis. A second ranging sensor (214) configured to have a minimum directivity angle in a second directivity short axis direction perpendicular to the second central axis and the second directivity major axis direction;
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
With
The first distance measuring sensor and the second distance measuring sensor include a first straight line that passes through the first central axis and is parallel to the first directional long axis direction, and a second line within a plane orthogonal to the vehicle full length direction. The second straight line passing through the central axis and parallel to the second directional major axis direction is arranged at different positions in the vehicle width direction so as not to be located on the same straight line.

The object detection device (20) according to claim 6 is configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
This object detection device
Provided to transmit the exploration wave toward the outside of the vehicle, and has the maximum directivity angle in the first directivity major axis direction orthogonal to the first central axis that is the directivity axis and intersecting the vehicle width direction A first distance measuring sensor configured to have a minimum directivity angle in a first directivity short axis direction orthogonal to the first central axis and the first directivity major axis direction and intersecting the vehicle width direction ( 213) and
A second directional long axis that is provided so as to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle and that is orthogonal to the second central axis that is the directional axis and intersects the vehicle width direction. A maximum directivity angle in a direction and a minimum directivity angle in a second directivity short axis direction orthogonal to the second central axis and the second directivity major axis direction and intersecting the vehicle width direction. A second ranging sensor (214) configured;
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
It has.

  Note that the reference numerals in parentheses attached to each means in the above and claims column indicate an example of the correspondence between the means and specific means described in the embodiments described later. Therefore, the technical scope of the present invention is not limited at all by the description of the above reference numerals.

It is a top view showing a schematic structure of a vehicle carrying an object detection device concerning an embodiment. It is a conceptual diagram which shows the directivity of the ranging sensor in the object detection apparatus shown by FIG. It is a conceptual diagram which shows the directivity of the ranging sensor in a comparative example. 4 is a flowchart illustrating an operation example of the object detection device illustrated in FIG. 1. 6 is a flowchart illustrating another example of the operation of the object detection device illustrated in FIG. 1. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification. It is a conceptual diagram which shows the transmission / reception state of the ranging sensor in the object detection apparatus of a modification.

(Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that various modifications applicable to the embodiment may interfere with understanding of the embodiment when inserted in the middle of the series of descriptions regarding the embodiment. It is described collectively after the explanation.

(Constitution)
Referring to FIGS. 1 and 2, the vehicle 10 is a so-called four-wheeled vehicle and includes a substantially rectangular vehicle body 11 in a plan view. Hereinafter, the virtual straight line passing through the center of the vehicle 10 in the vehicle width direction and parallel to the vehicle full length direction in the plan view is referred to as a vehicle center line CL. The vehicle full length direction is a direction orthogonal to the vehicle width direction and orthogonal to the vehicle height direction. The vehicle height direction is a direction that defines the vehicle height of the vehicle 10, and is a direction parallel to the direction of gravity when the vehicle 10 is placed on a horizontal plane.

  “Front”, “rear”, “left”, “right”, “upper”, and “lower” in the vehicle 10 are defined as indicated by arrows in the drawing. That is, the vehicle full length direction is synonymous with the front-rear direction. The vehicle width direction is synonymous with the left-right direction. Furthermore, the vehicle height direction is synonymous with the vertical direction. As will be described later, the vehicle height direction, that is, the vertical direction, may not be parallel to the gravitational action direction depending on the mounting condition of the vehicle 10 or the like.

  Referring to FIG. 1, a front bumper 12 is attached to a front end portion of the vehicle body 11. A rear bumper 13 is attached to the rear end of the vehicle body 11. That is, the front bumper 12 is a member constituting the front end portion of the vehicle 10. Similarly, the rear bumper 13 is a member constituting the rear end portion of the vehicle 10.

  An object detection device 20 is mounted on the vehicle 10. The object detection device 20 is configured to be able to detect the object B existing outside the vehicle 10 by being mounted on the vehicle 10. Specifically, the object detection device 20 includes a distance measuring sensor 21, a vehicle speed sensor 22, a shift position sensor 23, a steering angle sensor 24, a yaw rate sensor 25, a display unit 26, and an alarm sound generating unit 27. The control unit 28 is provided. For simplification of illustration, the electrical connection relationship between the components constituting the object detection device 20 is omitted as appropriate in FIG.

  The distance measuring sensor 21 transmits a search wave toward the outside of the vehicle 10 and outputs a signal corresponding to the distance to the object B by receiving a received wave including a reflected wave of the search wave from the object B. It is provided to do. Specifically, in the present embodiment, the distance measuring sensor 21 is a so-called ultrasonic sensor, and is configured to transmit an exploration wave that is an ultrasonic wave and to receive a received wave including the ultrasonic wave. .

  The object detection device 20 includes a plurality of distance measuring sensors 21. Each of the plurality of distance measuring sensors 21 is provided at a different position in plan view. Further, in the present embodiment, each of the plurality of distance measuring sensors 21 is arranged shifted from the vehicle center line CL to one side in the vehicle width direction.

  Specifically, in the present embodiment, the front bumper 12 is equipped with a left corner front sonar 211, a right corner front sonar 212, a left center front sonar 213, and a right center front sonar 214 as the distance measuring sensor 21. Yes. Similarly, a left-angle rear sonar 215, a right-angle rear sonar 216, a left-center rear sonar 217, and a right-center rear sonar 218 are mounted on the rear bumper 13 as distance measuring sensors 21.

  Left corner front sonar 211, right corner front sonar 212, left center front sonar 213, right center front sonar 214, left corner rear sonar 215, right corner rear sonar 216, left center rear sonar 217, and right center rear sonar 218 In the following, the singular expression “ranging sensor 21” or the expression “plural ranging sensors 21” is used.

  One distance measuring sensor 21 is referred to as a “first distance sensor”, and another distance measuring sensor 21 is referred to as a “second distance sensor”, which is referred to as “direct wave” or “indirect wave”. And “directly reaching wave” are defined as follows. A received wave that is received by the first distance measuring sensor and is caused by a reflected wave from the object B of the exploration wave transmitted from the first distance measuring sensor is referred to as a “direct wave”. On the other hand, a received wave that is received by the second distance measuring sensor and is caused by a reflected wave from the object B of the exploration wave transmitted from the first distance measuring sensor is referred to as an “indirect wave”. In addition, when the exploration wave transmitted from the first distance measurement sensor is directly received by the second distance measurement sensor without passing through the reflection on the object B, it is transmitted as the exploration wave from the first distance measurement sensor. The ultrasonic wave received as a received wave by the second distance measuring sensor is referred to as “directly reaching wave”.

  FIG. 1 shows a direct wave region R1 and an indirect wave region R2 in two distance measuring sensors 21 adjacent to each other in the vehicle width direction, taking the left center front sonar 213 and the right center front sonar 214 as an example. The direct wave region R1 is a region where a direct wave caused by the object B can be received when the object B exists. Indirect wave area | region R2 is an area | region which can receive the indirect wave resulting from the said object B, when the object B exists. Specifically, in the indirect wave region R2, an overlapping region in which the direct wave regions R1 in the two adjacent distance measuring sensors 21 overlap each other is partially enlarged or reduced according to the indirect wave reception characteristics. Is a region formed by.

  The left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are arranged at different positions in the vehicle width direction. The left corner front sonar 211 is provided at the left end portion of the front surface of the front bumper 12 so as to transmit the exploration wave to the left front of the vehicle 10. The right corner front sonar 212 is provided at the right end portion of the front surface of the front bumper 12 so as to transmit an exploration wave to the right front of the vehicle 10. The left corner front sonar 211 and the right corner front sonar 212 are arranged symmetrically with respect to the vehicle center line CL.

  The left center front sonar 213 and the right center front sonar 214 are arranged in the vehicle width direction at a position closer to the center on the front surface of the front bumper 12. The left center front sonar 213 is arranged between the left corner front sonar 211 and the vehicle center line CL in the vehicle width direction so as to transmit a survey wave substantially in front of the vehicle 10. The right center front sonar 214 is disposed between the right angle front sonar 212 and the vehicle center line CL in the vehicle width direction so as to transmit the exploration wave substantially in front of the vehicle 10. The left center front sonar 213 and the right center front sonar 214 are arranged symmetrically with respect to the vehicle center line CL.

  The left-corner front sonar 211 and the left-center front sonar 213 adjacent to each other in the vehicle width direction are provided in a positional relationship such that a reflected wave from the object B of the exploration wave transmitted by one can be received as a received wave on the other. ing. That is, the left-angle front sonar 211 is arranged so as to be able to receive both a direct wave corresponding to the exploration wave transmitted by itself and an indirect wave corresponding to the exploration wave transmitted by the left center front sonar 213. Similarly, the left center front sonar 213 is arranged so as to be able to receive both a direct wave corresponding to the exploration wave transmitted by itself and an indirect wave corresponding to the exploration wave transmitted by the left-angle front sonar 211.

  Similarly, the left center front sonar 213 and the right center front sonar 214 that are adjacent to each other in the vehicle width direction have a positional relationship in which a reflected wave from the object B of the exploration wave transmitted by one can be received as a received wave at the other. Is provided. Similarly, the right angle front sonar 212 and the right center front sonar 214 that are adjacent to each other in the vehicle width direction have a positional relationship in which the reflected wave from the object B of the exploration wave transmitted by one can be received as the received wave at the other. Is provided.

  Referring to FIG. 2, the left corner front sonar 211 and the right corner front sonar 212 are provided at the same vehicle mounting height. Similarly, the left center front sonar 213 and the right center front sonar 214 are provided at the same vehicle mounting height. In the present embodiment, the left corner front sonar 211 and the left center front sonar 213 are provided at different vehicle mounting heights.

  The left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are configured as a polarization directivity sensor. The same applies to the left-angle rear sonar 215, right-angle rear sonar 216, left-center rear sonar 217, and right-center rear sonar 218 shown in FIG. In other words, in the present embodiment, each of the plurality of distance measuring sensors 21 has the maximum directivity angle in the directivity long axis direction orthogonal to the directivity axis DA and the directivity orthogonal to the directivity axis DA and the directivity long axis direction. It is configured to have a minimum directivity angle in the minor axis direction.

  In FIG. 2, the directivity of transmission / reception in the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 is shown by an ellipse with a two-dot chain line. A straight line passing through the directional axis DA and parallel to the directional long axis direction is hereinafter referred to as a “directional long axis DL”. A straight line passing through the directivity axis DA and parallel to the directivity short axis direction is hereinafter referred to as a “directive short axis DS”.

  The left corner front sonar 211 and the right corner front sonar 212 are provided such that the direction of the long axis direction is parallel to the vehicle width direction. On the other hand, the left center front sonar 213 and the right center front sonar 214 are provided so that the directional major axis direction and the directional minor axis direction intersect the vehicle width direction. That is, the left center front sonar 213 and the right center front sonar 214 are installed in a state of being rotated around the directional axis DA so that the directional major axis direction and the directional minor axis direction intersect the vehicle width direction. Such a state is hereinafter referred to as a “shaft rotation state”.

  In the present embodiment, the left center front sonar 213 and the right center front sonar 214 are configured such that the absolute value of the angle formed by the pointing long axis direction in the left center front sonar 213 and the vehicle width direction is the pointing length in the right center front sonar 214. It is provided so as to be equal to the absolute value of the angle formed by the axial direction and the vehicle width direction. That is, the left center front sonar 213 and the right center front sonar 214 are provided so as to be rotated by a predetermined angle θ about the directivity axis DA. θ satisfies 0 <θ [degree] <90, and is preferably, for example, 15 to 30 degrees.

  Further, in the present embodiment, the left center front sonar 213 and the right center front sonar 214 are provided so that the directions of the major axes of the axes intersect (that is, they are not parallel). Specifically, the left center front sonar 213 is provided such that the shaft rotation angle is + θ. The right center front sonar 214 is provided so that the shaft rotation angle becomes −θ. “Axis rotation angle” means that when the distance measuring sensor 21 is viewed from the front to the rear of the vehicle 10 with a line of sight parallel to the directional axis DA, the directional major axis direction of the distance measuring sensor 21 is the vehicle width direction. It is an angle rotated clockwise from a state parallel to. That is, in the present embodiment, the left center front sonar 213 and the right center front sonar 214 are provided so that the difference in shaft rotation angle is 30 degrees or more.

  Further, the left center front sonar 213 and the right center front sonar 214 have a directivity long axis DL of the left center front sonar 213 and a directivity long axis DL of the right center front sonar 214 in a plane orthogonal to the vehicle full length direction. The intersecting position is provided so as to be higher than the vehicle mounting height of the left center front sonar 213 and the right center front sonar 214. That is, the left center front sonar 213 and the right center front sonar 214 are provided so that the clearance between the overlapping range of the directivity and the ground (that is, the road surface) is increased. Further, the left center front sonar 213 and the right center front sonar 214 are provided so that the ranges in which the directivities overlap each other do not overlap the left center front sonar 213 and the right center front sonar 214.

  The left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are arranged such that one of two adjacent to each other in the vehicle width direction is a “first distance measuring sensor” and the other is “ In the case of the “second distance sensor”, the second distance sensor is not positioned on the long axis DL of the first distance sensor within the plane perpendicular to the overall length direction of the vehicle. Is arranged so that the first distance measuring sensor is not located on the long axis DL. Specifically, the left-angle front sonar 211 and the left-center front sonar 213 adjacent to each other in the vehicle width direction are the same as the long axis DL directed to the left-angle front sonar 211 and the left The long directivity axis DL in the central front sonar 213 is provided so as not to be located on the same straight line.

  Similarly, the right-angle front sonar 212 and the right-center front sonar 214 that are adjacent to each other in the vehicle width direction are the long axis DL and the right-center front sonar 214 in the right-angle front sonar 212 in a plane perpendicular to the vehicle length direction. Is arranged so that it is not located on the same straight line. Further, the left center front sonar 213 and the right center front sonar 214 that are adjacent to each other in the vehicle width direction are the long axis DL and the right center front sonar in the left center front sonar 213 in a plane orthogonal to the vehicle full length direction. The directivity long axis DL at 214 is provided so as not to be located on the same straight line.

  In the present embodiment, each of the plurality of distance measuring sensors 21 has the same device configuration. Specifically, each of the plurality of distance measuring sensors 21 is configured to have a partial directivity. Such a partial directivity sensor is publicly known or well known. For example, see JP-A-10-332817, JP-A-2010-154059, and the like. Therefore, in this specification, the details of the configuration of such a partial directivity sensor are omitted. The mounting postures of the front bumper 12 and the rear bumper 13 are adjusted so that each of the plurality of distance measuring sensors 21 has a predetermined shaft rotation angle.

  Referring to FIG. 1 again, the left-angle rear sonar 215, the right-angle rear sonar 216, the left-center rear sonar 217, and the right-center rear sonar 218 are arranged at different positions in the vehicle width direction. The left corner rear sonar 215 is provided at the left end portion on the rear surface of the rear bumper 13 so as to transmit a search wave to the left rear of the vehicle 10. The right-angle rear sonar 216 is provided at the right end portion on the rear surface of the rear bumper 13 so as to transmit the exploration wave to the right rear of the vehicle 10. The left corner rear sonar 215 and the right corner rear sonar 216 are arranged symmetrically with respect to the vehicle center line CL.

  The left center rear sonar 217 and the right center rear sonar 218 are arranged in the vehicle width direction at a position closer to the center on the rear surface of the rear bumper 13. The left center rear sonar 217 is disposed between the left corner rear sonar 215 and the vehicle center line CL in the vehicle width direction so as to transmit an exploration wave substantially behind the vehicle 10. The right center rear sonar 218 is disposed between the right angle rear sonar 216 and the vehicle center line CL in the vehicle width direction so as to transmit an exploration wave substantially rearward of the vehicle 10. The left center rear sonar 217 and the right center rear sonar 218 are arranged symmetrically with respect to the vehicle center line CL.

  The left-angle rear sonar 215 and the left-center rear sonar 217 that are adjacent to each other in the vehicle width direction are provided in such a positional relationship that a reflected wave from the object B of the exploration wave transmitted by one can be received as a received wave in the other. . That is, the left-angle rear sonar 215 is arranged to be able to receive both the direct wave corresponding to the exploration wave transmitted by itself and the indirect wave corresponding to the exploration wave transmitted by the left center rear sonar 217. Similarly, the left center rear sonar 217 is disposed so as to be able to receive both a direct wave corresponding to the exploration wave transmitted by itself and an indirect wave corresponding to the exploration wave transmitted by the left-angle rear sonar 215.

  Similarly, the left center rear sonar 217 and the right center rear sonar 218 that are adjacent to each other in the vehicle width direction are provided in a positional relationship such that a reflected wave from the object B of the exploration wave transmitted by one can be received as a received wave at the other. It has been. Similarly, the right-angle rear sonar 216 and the right-center rear sonar 218 that are adjacent to each other in the vehicle width direction are provided in a positional relationship such that a reflected wave from the object B of the exploration wave transmitted by one can be received as a received wave in the other. ing.

  The left-angle rear sonar 215 and the right-angle rear sonar 216 are provided at the same vehicle mounting height. Similarly, the left center rear sonar 217 and the right center rear sonar 218 are provided at the same vehicle mounting height. In the present embodiment, the left corner rear sonar 215 and the left center rear sonar 217 are provided at different vehicle mounting heights. Further, the left corner rear sonar 215 and the left center rear sonar 217 are provided so as to be in the same shaft rotation state as the left center front sonar 213 and the right center front sonar 214.

  Each of the plurality of distance measuring sensors 21 is electrically connected to the control unit 28. That is, each of the plurality of distance measuring sensors 21 transmits an exploration wave under the control of the control unit 28, generates a signal corresponding to the reception result of the received wave, and transmits the signal to the control unit 28. . Information included in the signal corresponding to the reception result of the reception wave is hereinafter referred to as “reception information”. The reception information includes, for example, information corresponding to the reception intensity of the received wave and information corresponding to the distance between each of the plurality of distance measuring sensors 21 and the object B. The information corresponding to the distance to the object B includes, for example, information corresponding to a time difference from the transmission of the exploration wave to the reception of the reception wave.

  The vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, and the yaw rate sensor 25 are electrically connected to the control unit 28. The vehicle speed sensor 22 is provided to generate a signal corresponding to the traveling speed of the vehicle 10 and transmit the signal to the control unit 28. Hereinafter, the traveling speed of the vehicle 10 is simply referred to as “vehicle speed”. The shift position sensor 23 is provided so as to generate a signal corresponding to the shift position of the vehicle 10 and transmit the signal to the control unit 28. The steering angle sensor 24 is provided so as to generate a signal corresponding to the steering angle of the vehicle 10 and transmit the signal to the control unit 28. The yaw rate sensor 25 is provided so as to generate a signal corresponding to the yaw rate acting on the vehicle 10 and transmit the signal to the control unit 28.

  The display unit 26 and the alarm sound generation unit 27 are disposed in the vehicle interior of the vehicle 10. The display unit 26 is electrically connected to the control unit 28 so as to perform display associated with the object detection operation under the control of the control unit 28. The alarm sound generation unit 27 is electrically connected to the control unit 28 so as to generate an alarm sound accompanying the object detection operation under the control of the control unit 28.

  The control unit 28 is disposed inside the vehicle body 11. The control unit 28 controls transmission / reception operations in each of the plurality of distance measuring sensors 21 and receives from each of the plurality of distance measuring sensors 21, a vehicle speed sensor 22, a shift position sensor 23, a steering angle sensor 24, a yaw rate sensor 25, and the like. The object detection operation is executed based on the signal and information.

  In the present embodiment, the control unit 28 is a so-called in-vehicle microcomputer and includes a CPU, a ROM, a RAM, a nonvolatile RAM, and the like (not shown). The non-volatile RAM is, for example, a flash ROM. The CPU, ROM, RAM, and nonvolatile RAM of the control unit 28 are hereinafter simply referred to as “CPU”, “ROM”, “RAM”, and “nonvolatile RAM”.

  The control unit 28 is configured such that various control operations can be realized by the CPU reading and executing the program from the ROM or the nonvolatile RAM. This program includes a program corresponding to a routine described later. In addition, various data used in executing the program is stored in advance in the ROM or the nonvolatile RAM. Various types of data include, for example, initial values, look-up tables, maps, and the like.

  The control unit 28 acquires the vehicle operating state based on the outputs of the vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, and the yaw rate sensor 25. The vehicle driving state is the driving state of the vehicle 10. The driving state may be referred to as a “running state”. The driving state includes a stop state, that is, a state where the vehicle speed is 0 km / h.

  In the present embodiment, the control unit 28 selects two distance measuring sensors 21 adjacent to each other in the vehicle width direction, and operates one as a “transmission / reception sensor” and the other as a “reception sensor”. It has become. “Wave sensor” corresponds to “first distance sensor”, and “wave sensor” corresponds to “second distance sensor”. Further, the control unit 28 detects the object B based on a direct wave that is a reception wave in the transmission / reception sensor and an indirect wave that is a reception wave in the reception sensor.

  Specifically, the control unit 28 determines that the object B corresponding to the reception wave in the transmission / reception sensor is “obstacle” when the reception state of the reception wave in the transmission / reception sensor and the reception sensor satisfies the object detection determination condition. It comes to judge that there is. On the other hand, the control unit 28 receives the signal at the transmission / reception sensor when the reception state of the reception wave at the transmission / reception sensor satisfies the object detection determination condition and the reception state of the reception wave at the reception sensor does not satisfy the object detection determination condition. It is determined that the object B corresponding to the wave is a “non-obstacle”.

  The “object detection determination condition” is a condition for determining that the object B exists around the vehicle 10, specifically, in the vicinity of the vehicle 10. The “object detection determination condition” can be restated as “predetermined detection criterion”. The “object detection determination condition” is typically that the received wave intensity or the voltage value of a signal obtained by performing processing such as amplification on the received wave exceeds a predetermined threshold. Alternatively, the “object detection determination condition” is, for example, that the duration of the state in which the received wave intensity or the voltage value exceeds a predetermined threshold is equal to or longer than a predetermined time.

  The “obstacle” refers to an object B that exists around the vehicle 10, specifically, in the vicinity of the vehicle 10, and requires a notification operation by the display unit 26 and / or the alarm sound generation unit 27. . That is, the “obstacle” can be an object that may interfere with the traveling of the vehicle 10. Examples of the “obstacles” include walls, pillars, hedges, other vehicles, walking, in addition to steps, protrusions, and left-behind objects that are high enough to prevent the vehicle 10 from getting over (for example, 15 cm or more). And a pedestrian's carry goods (for example, a carry bag etc.) etc. are included.

  On the other hand, the “non-obstacle” is an object B that exists around the vehicle 10, specifically, in the vicinity of the vehicle 10, and does not require a notification operation by the display unit 26 and / or the alarm sound generation unit 27. Say things. In other words, the “non-obstacle” can be an object that does not interfere with the traveling of the vehicle 10. The “non-obstacle” includes, for example, a step, a protrusion, and an abandoned object that are high enough for the vehicle 10 to get over (for example, less than 15 cm). These are hereinafter abbreviated as “low step or the like”. Further, a target having a low protrusion height from the road surface is hereinafter abbreviated as “low target”.

  The control unit 28 generates a control signal for operating the display unit 26 and / or the alarm sound generation unit 27 when an obstacle is detected around the vehicle 10, specifically, in the vicinity of the vehicle 10, Such a control signal is transmitted to the display unit 26 and / or the alarm sound generation unit 27.

(Overview of operation)
Hereinafter, an outline of the operation of the object detection device 20 will be described.

  The control unit 28 acquires the vehicle operating state based on outputs from the vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, the yaw rate sensor 25, and the like. The vehicle driving state includes the traveling direction of the vehicle 10 and the vehicle speed. The vehicle driving state also corresponds to the moving state in each of the plurality of distance measuring sensors 21.

  The control unit 28 determines the arrival of the detection determination time at predetermined time intervals from the time when the operation condition of the object detection device 20 is satisfied. Hereinafter, the operation condition of the object detection device 20 is simply referred to as “operation condition”. The operating condition is related to the vehicle operating state. Specifically, for example, the operation condition includes a shift condition, a vehicle speed condition, and the like. The shift condition includes, for example, that the shift position is outside the “P” range.

  When the detection determination time point arrives, the control unit 28 controls the operation of each of the plurality of distance measuring sensors 21 and acquires reception information from each of the plurality of distance measuring sensors 21. Further, the control unit 28 determines the presence or absence of an obstacle around the vehicle 10 based on the acquired reception information.

(effect)
Hereinafter, the effect by the object detection apparatus 20 of this embodiment is demonstrated, referring FIGS. 1-3.

  FIG. 3 shows the directivity of the left corner front sonar SS1, the right corner front sonar SS2, the left center front sonar SS3, and the right center front sonar SS4 in the device configuration of the comparative example. Left corner front sonar SS1 is left corner front sonar 211, right corner front sonar SS2 is right corner front sonar 212, left center front sonar SS3 is left center front sonar 213, right center front sonar SS4 is right center front sonar 214, Each corresponds.

  Referring to FIG. 3, in the device configuration of the comparative example, the left corner front sonar SS1 and the left center front sonar SS3 adjacent to each other in the vehicle width direction are installed so as to have different vehicle mounting heights. The same applies to the right corner front sonar SS2 and the right center front sonar SS4 adjacent to each other in the vehicle width direction.

  In such a configuration, by operating one of the left corner front sonar SS1 and the left center front sonar SS3 as a transmission / reception sensor and the other as a reception sensor, a target having a projection height lower than the vehicle mounting height is used. The problem that a certain low step or the like is detected as an obstacle is avoided. Specifically, in the device configuration of the comparative example, the target corresponding to the reflected wave is detected on the condition that the reflected wave from the target of the exploration wave transmitted by the transmission sensor is not detected by the reception sensor. Judged as a low step as a non-obstacle. Refer to Patent Document 1 for details of operations and effects of the apparatus configuration of the comparative example.

  However, the right-angle front sonar SS2 and the left-center front sonar SS3 that are adjacent to each other in the vicinity of the center in the vehicle width direction cannot be installed at different vehicle mounting heights from the viewpoint of vehicle design. For this reason, in the apparatus configuration of the comparative example, when the right corner front sonar SS2 and the left center front sonar SS3 are selected and the object detection operation is executed, a low step or the like can be detected as an obstacle.

  In this regard, also in the configuration of the present embodiment, the left center front sonar 213 and the right center front sonar 214 that are adjacent to each other while being symmetrically positioned with respect to the center of the vehicle in the vehicle width direction are mounted on the vehicle. The height is the same. However, as shown in FIG. 2, the left center front sonar 213 and the right center front sonar 214 have a large clearance between the area where the directivity overlaps with the ground (that is, the road surface). It is installed with the shaft rotating.

  In such a configuration, when the left center front sonar 213 and the right center front sonar 214 are selected and the object detection operation is executed, the detection sensitivity for the low target is lowered. That is, a low step or the like that is a target having a protruding height lower than the vehicle mounting height of the left center front sonar 213 and the right center front sonar 214 is not easily detected as an obstacle.

  Further, in the configuration of the present embodiment, the left corner front sonar 211 and the left center front sonar 213 having different vehicle mounting heights intersect with each other in the long axis DL (that is, non-parallel). Thereby, the detection sensitivity with respect to a low target falls rather than the apparatus structure of a comparative example. The same applies to the right corner front sonar 212 and the right center front sonar 214.

  As described above, in the configuration of the present embodiment, the detection sensitivity for a low target is lower than the device configuration of the comparative example. Therefore, according to the present embodiment, it is possible to favorably avoid erroneous detection of a low step or the like that is a non-obstacle as an obstacle.

  As shown in FIG. 3, in the device configuration of the comparative example, the right angle front sonar SS2 and the left center front sonar SS3 adjacent to each other in the vehicle width direction have the same vehicle mounting height. Further, the right-angle front sonar SS2 and the left center front sonar SS3 have their respective directional major axes DL parallel to the vehicle width direction and located on the same straight line. In other words, the right corner front sonar SS2 and the left center front sonar SS3 are respectively positioned on one directing long axis DL.

  In such a configuration, the left central front sonar SS3 and the right central front sonar SS4 overlap with the left central front sonar SS3 and the right central front sonar SS4 in a range where the directivities of each other overlap. For this reason, when one of the left center front sonar SS3 and the right center front sonar SS4 is operated as a transmission / reception sensor and the other as a reception sensor, a direct reaching wave is mixed in the indirect wave. As a result, erroneous detection due to direct arrival waves can occur. In order to avoid such erroneous detection, for example, a process of masking reception of a received wave for a predetermined time from a search wave transmission start time in a transmission / reception sensor is required.

  On the other hand, in the configuration of the present embodiment, the left center front sonar 213 and the right center front sonar 214 are installed in a shaft rotation state so that the other is not positioned on one directing long axis DL. In such an installation state, the left center front sonar 213 and the right center front sonar 214 do not overlap with the left center front sonar 213 and the right center front sonar 214 in the range where the directivities of each other overlap. Thereby, when one of the left center front sonar SS3 and the right center front sonar SS4 is operated as a transmission / reception wave sensor and the other as a wave reception sensor, mixing of direct reaching waves into the indirect wave is suppressed. . That is, in this embodiment, special processing required in the comparative example, such as masking reception of the received wave for a predetermined time, is not necessary. Therefore, according to the present embodiment, good obstacle detection can be performed by simple transmission / reception control.

  In the present embodiment, the left corner front sonar 211, the left center front sonar 213, and the right center front sonar 214 have the same device configuration, but are set to different shaft rotation angles by adjusting the mounting posture with respect to the front bumper 12. Has been. Similarly, the right angle front sonar 212, the left center front sonar 213, and the right center front sonar 214 have the same device configuration, but are set to different shaft rotation angles by adjusting the mounting posture with respect to the front bumper 12. Therefore, according to the present embodiment, the above effects can be achieved at a low cost.

(Specific operation example)
Hereinafter, a specific operation example according to the configuration of the present embodiment will be described using a flowchart. In the drawings and the following description in the specification, “step” is simply abbreviated as “S”. Further, in the following operation example, for simplification of description, a case will be described in which the object B existing in front of the vehicle 10 is detected while the vehicle 10 is moving forward, as shown in FIG.

(First operation example)
The obstacle detection routine shown in FIG. 4 is started for the first time when the operation condition of the object detection device 20 is changed from not established to established, and thereafter, until the operation condition of the object detection device 20 is not established. It is repeatedly activated every time.

  Specifically, when the current detection determination time comes, first, the left corner front sonar 211 and the left center front sonar 213 are selected, and the routine is executed. Further, the left center front sonar 213 and the right center front sonar 214 are selected and the routine is executed. Further, the right center front sonar 214 and the right corner front sonar 212 are selected and the routine is executed. As described above, every time the detection determination time point comes, two adjacent sensors among the plurality of distance measuring sensors 21 are sequentially selected, and the same routine is executed for each selected combination.

  When the obstacle detection routine shown in FIG. 4 is started, first, in S410, the CPU determines two of the plurality of distance measuring sensors 21 adjacent to each other in the vehicle width direction as the first distance measuring. Select as sensor and second ranging sensor. The first distance measurement sensor is a transmission / reception sensor, and the second distance measurement sensor is a reception sensor.

  For example, when the left-angle front sonar 211 and the left-center front sonar 213 are selected, the left-center front sonar 213 can be a first distance sensor, and the left-angle front sonar 211 can be a second distance sensor. When the right-angle front sonar 212 and the right-center front sonar 214 are selected, the right-center front sonar 214 can be used as the first distance sensor, and the right-angle front sonar 212 can be used as the second distance sensor. When the left center front sonar 213 and the right center front sonar 214 are selected, the left center front sonar 213 can be used as the first distance measuring sensor, and the right center front sonar 214 can be used as the second distance measuring sensor.

  Next, in S420, the CPU controls transmission / reception in the selected first and second distance sensors. Specifically, in S420, the CPU causes the first distance measuring sensor to transmit the search wave and receive the received wave, and causes the second distance sensor to receive the received wave. At this time, as described above, the second ranging sensor does not require a process of masking reception of the received wave for a predetermined time from the transmission time of the exploration wave.

  Subsequently, in S430, the CPU acquires reception information from the selected first and second ranging sensors. Thereafter, the CPU proceeds with the process to S440. In S440, the CPU determines whether or not the reception state of the received wave in the first distance measuring sensor, which is a transmission / reception sensor, satisfies the object detection determination condition.

  When the reception state of the received wave in the first distance sensor does not satisfy the object detection determination condition (that is, S440 = NO), there is a possibility that the object B does not exist in front of the first distance sensor and the second distance sensor. high. Therefore, in this case, the CPU skips all the processing from S450 onward, and once ends this routine.

  When the reception state of the received wave at the first distance measuring sensor satisfies the object detection determination condition (that is, S440 = YES), the direct wave is received at the first distance measuring sensor. In this case, there is a high possibility that the object B exists in front of the first distance sensor and the second distance sensor. Therefore, in this case, the CPU advances the process to S450. In S450, the CPU determines whether or not the reception state of the received wave in the second distance measuring sensor, which is a wave receiving sensor, satisfies the object detection determination condition.

  As a premise that the process of S450 is executed, the reception state of the received wave in the first distance measuring sensor satisfies the object detection determination condition (that is, S440 = YES). For this reason, when the reception state of the received wave in the second distance sensor satisfies the object detection determination condition (that is, S450 = YES), the direct wave is received by the first distance sensor and the second distance sensor An indirect wave is received at.

  As described above, in the configuration of the present embodiment, the sensitivity of indirect waves due to low targets is reduced. Nevertheless, when the reception state of the indirect wave satisfies the object detection determination condition, the object B having a height that can receive the indirect wave may be present in front of the first distance sensor and the second distance sensor. High nature. Therefore, when the reception state of the received wave in the second distance sensor satisfies the object detection determination condition (that is, S450 = YES), the direct wave received by the first distance sensor and the second distance sensor receive it. There is a high possibility that the object B corresponding to the generated indirect wave is an obstacle. In this case, the CPU advances the process to S460, and then ends this routine once. In S460, the CPU determines that this object B is an obstacle.

  On the other hand, when the reception state of the received wave in the second distance sensor does not satisfy the object detection determination condition (ie, S450 = NO), the first distance sensor receives a direct wave, while the second distance sensor Indirect waves are not received at. In this case, the CPU advances the process to S470 and then ends this routine once. In S470, the CPU determines that this object B is a non-obstacle.

(Second operation example)
The obstacle detection routine shown in FIG. 5 is a modified version of the obstacle detection routine shown in FIG.

  In this operation example, the control unit 28 controls the transmission / reception operation by using one of the two selected distance measuring sensors 21 adjacent to each other as a transmission / reception sensor and the other as a reception sensor. This transmission / reception operation corresponds to the “first transmission / reception operation”. Next, the control unit 28 controls the transmission / reception operation using one of the selected two adjacent distance measuring sensors 21 as a reception sensor and the other as a transmission / reception sensor. This transmission / reception operation corresponds to the “second transmission / reception operation”.

  The control unit 28 determines the presence or absence of an obstacle based on the results of the first transmission / reception operation and the second transmission / reception operation. Specifically, the control unit 28 responds to the direct wave and the indirect wave when both the direct wave and the indirect wave satisfy the object detection determination condition in both the first transmission / reception operation and the second transmission / reception operation. It is determined that the object B is an obstacle. On the other hand, in both the first transmission / reception operation and the second transmission / reception operation, the control unit 28, when the reception state of the direct wave satisfies the object detection determination condition and the reception state of the indirect wave does not satisfy the object detection determination condition, It is determined that the object B corresponding to the direct wave and the indirect wave is a non-obstacle.

  When the obstacle detection routine shown in FIG. 5 is started, first, in S510, the CPU selects two of the plurality of distance measuring sensors 21 that are adjacent to each other in the vehicle width direction. That is, the process of S510 is the same as the process of S410 in the obstacle detection routine shown in FIG.

  Next, in S521, the CPU controls the transmission / reception operation using one of the selected two distance measuring sensors 21 as a transmission / reception sensor and the other as a reception sensor. In S522, the CPU controls the transmission / reception operation using one of the two selected distance measuring sensors 21 adjacent to each other as a reception sensor and the other as a transmission / reception sensor. That is, the transmission / reception sensor and the reception sensor are interchanged in S521 and S522. In S521 and S522, as described above, it is not necessary to mask the reception of the received wave for a predetermined time from the transmission time of the exploration wave.

  Subsequently, in S530, the CPU acquires reception information from the selected two distance measuring sensors 21. Thereafter, the CPU proceeds with the process to S540. In S540, the CPU determines whether the reception state of the direct wave in the two selected ranging sensors 21 satisfies the object detection determination condition.

  When the reception state of the direct wave in the two selected ranging sensors 21 does not satisfy the object detection determination condition (that is, S540 = NO), the object B may not exist in front of the two selected ranging sensors 21. High nature. Therefore, in this case, the CPU skips all the processing from S450 onward, and once ends this routine.

  When the reception state of the direct wave in the two selected ranging sensors 21 satisfies the object detection determination condition (that is, S540 = YES), there is a possibility that the object B exists in front of the two selected ranging sensors 21. high. Therefore, in this case, the CPU advances the process to S550. In S550, the CPU determines whether the reception state of the indirect wave in the two selected ranging sensors 21 satisfies the object detection determination condition.

  When the reception state of the indirect wave in the two selected ranging sensors 21 satisfies the object detection determination condition (that is, S550 = YES), the CPU advances the process to S560 and then ends this routine once. In S560, the CPU determines that object B is an obstacle.

  On the other hand, when the reception state of the indirect wave at the two selected ranging sensors 21 does not satisfy the object detection determination condition (that is, S550 = NO), the CPU proceeds the process to S570 and then ends this routine once. To do. In S570, the CPU determines that object B is a non-obstacle.

(Modification)
The present invention is not limited to the above embodiment. Therefore, it can change suitably with respect to the said embodiment. Hereinafter, typical modifications will be described.

  In the following description of the modification, differences from the above embodiment will be mainly described. Moreover, in the said embodiment and modification, the same code | symbol is attached | subjected to the part which is mutually the same or equivalent. Therefore, in the following description of the modified example, regarding the components having the same reference numerals as those in the above embodiment, the description in the above embodiment can be appropriately incorporated unless there is a technical contradiction or special additional explanation.

  The present invention is not limited to the specific apparatus configuration shown in the above embodiment. That is, for example, the vehicle 10 is not limited to a four-wheeled vehicle. Specifically, the vehicle 10 may be a three-wheeled vehicle or a six-wheeled or eight-wheeled vehicle such as a cargo truck. The shape of the vehicle body 11 is not limited to a box shape. Further, the “object” to be detected can also be referred to as an “obstacle”. That is, the object detection device can also be referred to as an obstacle detection device.

  Acquisition of a vehicle driving state is not limited to the aspect using the vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, and the yaw rate sensor 25. That is, for example, the yaw rate sensor 25 can be omitted. Alternatively, for example, a sensor other than the above may be used when acquiring the vehicle operating state.

  The control unit 28 can be electrically connected to the vehicle speed sensor 22 and the like via an in-vehicle communication network. The in-vehicle communication network is configured in conformity with an in-vehicle LAN standard such as CAN (International Registered Trademark), FlexRay (International Registered Trademark). CAN (International Registered Trademark) is an abbreviation for Controller Area Network. LAN is an abbreviation for Local Area Network.

  In the above embodiment, the control unit 28 has a configuration in which the CPU reads and starts the program from the ROM or the like. However, the present invention is not limited to such a configuration. That is, for example, the control unit 28 may be a digital circuit configured to be able to operate as described above, for example, an ASIC such as a gate array. ASIC is an abbreviation for APPLICATION SPECIFIC INTEGRATED CIRCUIT.

  The arrangement and the number of distance measuring sensors 21 are not limited to the above specific example. For example, when a difference in vehicle mounting height is provided between the plurality of distance measuring sensors 21, this difference is preferably about 200 mm or less. The distance between the centers of the two distance measuring sensors 21 adjacent to each other in the vehicle width direction is preferably about 500 mm or more. Further, the distance measuring sensor 21 is not limited to an ultrasonic sensor. That is, for example, the distance measuring sensor 21 may be a laser radar sensor or a millimeter wave radar sensor.

  Hereinafter, several modifications of the mounting state of the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 shown in FIG. These modified examples can be similarly applied to the left-angle rear sonar 215, the right-angle rear sonar 216, the left-center rear sonar 217, and the right-center rear sonar 218. That is, in the following modifications, the left-angle front sonar 211 is read as the left-angle rear sonar 215, the right-angle front sonar 212 is read as the right-angle rear sonar 216, the left-center front sonar 213 is read as the left-center rear sonar 217, and the right-center front sonar 214 is read. Can be read as right center rear sonar 218.

  As shown in FIG. 6, the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 may all be provided at the same vehicle mounting height. Further, the left-angle front sonar 211 and the right-angle front sonar 212 may be installed in a shaft rotation state. In particular, as shown in FIG. 6, when the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are all provided at the same vehicle mounting height, It is preferable that the corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are all installed in a shaft rotation state.

  For example, the left angle front sonar 211 and the right angle front sonar 212 may be provided so that the shaft rotation angle becomes + θ or −θ. Specifically, as shown in FIG. 6, the left-angle front sonar 211 can be provided so that the shaft rotation angle becomes + θ. Further, the right-angle front sonar 212 can be provided so that the shaft rotation angle becomes −θ. Conversely, the left-angle front sonar 211 may be provided so that the shaft rotation angle is −θ. Further, the right angle front sonar 212 may be provided so that the shaft rotation angle becomes + θ.

  As shown in FIG. 7, the shaft rotation angle of the left center front sonar 213 may be −θ, and the shaft rotation angle of the right center front sonar 214 may be + θ. That is, the left center front sonar 213 and the right center front sonar 214 have a directional long axis DL of the left center front sonar 213 and a directional long axis DL of the right center front sonar 214 in a plane orthogonal to the vehicle overall length direction. The intersecting position may be provided to be lower than the vehicle mounting height of the left center front sonar 213 and the right center front sonar 214. In this case, the clearance between the area where the directivity of the left center front sonar 213 and the right center front sonar 214 overlap each other and the upper space of the vehicle 10 is increased.

  In such a configuration, a non-obstacle in the upper space of the vehicle 10 is difficult to be detected as an obstacle. This type of non-obstacle is, for example, a beam protruding downward from the ceiling. According to this configuration, the effect of avoiding erroneous detection of non-obstacles existing in the space above the vehicle 10 can be achieved satisfactorily. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  The shaft rotation angle in the left center front sonar 213 and the shaft rotation angle in the right center front sonar 214 may be the same or different. As shown in FIG. 8, when the shaft rotation angle in the left center front sonar 213 and the shaft rotation angle in the right center front sonar 214 are the same, the orientation long axis direction in the left center front sonar 213, The direction of the long axis of the right center front sonar 214 is parallel. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be achieved satisfactorily. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  In addition to the above examples, the absolute value and the rotation direction of the shaft rotation angle in the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 can be appropriately adjusted.

  Specifically, the axis rotation angle of the left-angle front sonar 211 is θ1, the axis rotation angle of the right-angle front sonar 212 is θ2, the axis rotation angle of the left center front sonar 213 is θ3, and the axis of the right center front sonar 214 is The rotation angle is θ4. In this case, the absolute values of θ1 to θ4 may be the same as in the above examples. Alternatively, the absolute value of θ1 and the absolute value of θ3 may be different. Similarly, the absolute value of θ2 and the absolute value of θ4 may be different.

  As for the pair of distance measuring sensors 21 that are arranged in a target manner, the absolute values of the shaft rotation angles are typically the same as in the above examples. That is, the absolute value of θ1 and the absolute value of θ2 are typically the same, and the absolute value of θ3 and the absolute value of θ4 are typically the same. However, the present invention is not limited to such an embodiment.

  Specifically, the absolute value of the shaft rotation angle in the left center front sonar 213 and the shaft rotation angle in the right center front sonar 214 may be different. For example, as shown in FIG. 9, one of the shaft rotation angle at the left center front sonar 213 and the shaft rotation angle at the right center front sonar 214 may be 0 degrees. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be achieved satisfactorily. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  As shown in FIG. 10, by adjusting the elevation angle of the directivity axis DA even if the shaft rotation angle in the left center front sonar 213 and the shaft rotation angle in the right center front sonar 214 are both 0 degrees. It is possible to prevent the directional long axes DL from being positioned on a straight line. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be achieved well. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  In the above-described embodiment, each of the plurality of distance measuring sensors 21 has a partial directivity, and the mounting posture is adjusted so as to have a predetermined shaft rotation angle. However, the present invention is not limited to such an embodiment.

  For example, each of the plurality of distance measuring sensors 21 may be provided so as to be structurally polarized and capable of changing the shaft rotation angle. Specifically, each of the plurality of distance measuring sensors 21 may be provided so as to be rotatable about the directivity axis DA by a rotation mechanism (not shown). Such a rotation mechanism can operate under the control of the control unit 28 to adjust the shaft rotation angle in each of the plurality of distance measuring sensors 21 to an arbitrary angle.

  Alternatively, each of the plurality of distance measuring sensors 21 includes a plurality of transmission / reception elements arranged in a two-dimensional manner, and the directivity can be changed by controlling the driving state of the plurality of transmission / reception elements. It may be. Such a variable directivity distance measuring sensor 21 is publicly known or well known. For example, see Japanese Patent Application Laid-Open No. 2009-58362. Therefore, in this specification, the details of the configuration of such a variable directional sensor are omitted.

  According to such a configuration, the directivity state shown in FIG. 2 and the directivity state shown in FIG. 7 can be appropriately switched. Thereby, avoidance of false detection of a non-obstacle that is a low target and avoidance of false detection of a non-obstacle existing in the space above the vehicle 10 can be realized satisfactorily.

  At least any one of the plurality of distance measuring sensors 21 arranged along the vehicle width direction may have uniform directivity. Uniform directivity means that the directivity in the vertical direction is substantially the same as the directivity in the horizontal direction. That is, referring to FIG. 2, at least one of the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 does not have a partial directivity. Also good.

  For example, in the example of FIG. 11, the left center front sonar 213 has partial directivity. On the other hand, the right center front sonar 214 has uniform directivity. In the example of FIG. 11, the directivity can be reversed between the left center front sonar 213 and the right center front sonar 214. That is, the left center front sonar 213 may have uniform directivity, while the right center front sonar 214 may have partial directivity.

  Even in such a configuration, the effect of avoiding false detection of non-obstacles can be achieved well. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  6 to 9, the left-angle front sonar 211 and the right-angle front sonar 212 may have uniform directivity. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be achieved satisfactorily. Moreover, the occurrence of various problems due to the mixing of direct reaching waves into the indirect waves can be avoided satisfactorily.

  The present invention is not limited to the specific operation examples and processing modes shown in the above embodiment. For example, the above operation outline and operation example correspond to when the vehicle 10 moves forward. However, the present invention is not limited to such an embodiment. That is, the present invention can be similarly applied when the vehicle 10 moves backward. Therefore, the object detection operation by the left-angle rear sonar 215, the right-angle rear sonar 216, the left-center rear sonar 217, and the right-center rear sonar 218 mounted on the rear bumper 13 is the same as that described in the above embodiment.

  The inequality sign in each determination process may be with or without an equal sign. That is, for example, “above threshold value” and “exceed threshold value” can be replaced with each other.

  The modification is not limited to the above example. A plurality of modifications may be combined with each other. Furthermore, all or a part of the above-described embodiment and all or a part of the modified examples can be combined with each other.

DESCRIPTION OF SYMBOLS 10 Vehicle 20 Object detection apparatus 21 Distance sensor 213 Left center front sonar 214 Right center front sonar 28 Control part DA Directional axis DL Directional long axis DS Directional short axis

Claims (15)

An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10),
A first ranging sensor (213) provided to transmit an exploration wave toward the outside of the vehicle;
A second ranging sensor provided to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle, and disposed at a position different from the first ranging sensor in the vehicle width direction. (214),
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
With
At least one of the first distance sensor and the second distance sensor has a maximum directional angle in the directional major axis direction orthogonal to the directional axis and is orthogonal to the directional axis and the directional major axis direction. It has a minimum pointing angle in the pointing short axis direction, and is arranged so that the pointing long axis direction and the pointing short axis direction intersect the vehicle width direction,
The other of the first distance sensor and the second distance sensor is different from the first distance sensor in a plane perpendicular to the vehicle overall length direction and overlaps with a straight line passing through the one in parallel with the directional major axis direction. Arranged so as not to become
Object detection device. The first distance measuring sensor is provided to be capable of changing an angle formed by the directed long axis direction and the vehicle width direction.
The object detection apparatus according to claim 1. An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10),
Provided to transmit the exploration wave toward the outside of the vehicle, and has the maximum directivity angle in the first directivity long axis direction orthogonal to the first central axis that is the directivity axis, and the first central axis and the A first distance measuring sensor (213) configured to have a minimum directivity angle in a first directivity short axis direction orthogonal to the first directivity long axis direction;
Provided to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle, and has a maximum pointing angle in a second pointing long axis direction orthogonal to a second central axis that is a pointing axis. A second ranging sensor (214) configured to have a minimum directivity angle in a second directivity short axis direction perpendicular to the second central axis and the second directivity major axis direction;
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
With
The first distance measuring sensor and the second distance measuring sensor include a first straight line that passes through the first central axis and is parallel to the first directional long axis direction, and a second line within a plane orthogonal to the vehicle full length direction. Arranged at different positions in the vehicle width direction so that the second straight line passing through the central axis and parallel to the second orientation long axis direction is not located on the same straight line,
Object detection device. The first distance measuring sensor is provided so that the first directional major axis direction and the first directional minor axis direction intersect the vehicle width direction.
The object detection apparatus according to claim 3. The second distance measuring sensor is provided so that the second directional major axis direction and the second directional minor axis direction intersect the vehicle width direction.
The object detection apparatus according to claim 3 or 4. An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10),
Provided to transmit the exploration wave toward the outside of the vehicle, and has the maximum directivity angle in the first directivity major axis direction orthogonal to the first central axis that is the directivity axis and intersecting the vehicle width direction A first distance measuring sensor configured to have a minimum directivity angle in a first directivity short axis direction orthogonal to the first central axis and the first directivity major axis direction and intersecting the vehicle width direction ( 213) and
A second directional long axis that is provided so as to receive a received wave including the reflected wave of the exploration wave from the object from the outside of the vehicle and that is orthogonal to the second central axis that is the directional axis and intersects the vehicle width direction. A maximum directivity angle in a direction and a minimum directivity angle in a second directivity short axis direction orthogonal to the second central axis and the second directivity major axis direction and intersecting the vehicle width direction. A second ranging sensor (214) configured;
The first distance sensor and the second distance sensor are electrically connected to control transmission / reception operations in the first distance sensor and the second distance sensor, and the received wave in the second distance sensor. A control unit (28) provided to detect the object based on
An object detection device comprising: In the first distance sensor and the second distance sensor, an angle formed between the first directional major axis direction and the vehicle width direction is equal to an angle formed between the second directional long axis direction and the vehicle width direction. Provided to be,
The object detection apparatus according to claim 6. A first straight line passing through the first central axis and parallel to the first directional major axis direction, and passing through the second central axis and parallel to the second directional major axis direction in a plane perpendicular to the vehicle full length direction. The first distance sensor and the second distance sensor are provided so that the position where the two straight lines intersect is higher than the vehicle mounting height of the first distance sensor and the second distance sensor. ,
The object detection apparatus according to claim 7. The second distance measuring sensor is provided to be capable of changing an angle formed by the second directional major axis direction and the vehicle width direction.
The object detection apparatus according to any one of claims 5 to 8. The first distance measuring sensor is provided so as to be able to change an angle formed by the first directional major axis direction and the vehicle width direction.
The object detection apparatus according to any one of claims 4 to 9. The first ranging sensor is provided to receive a received wave including a reflected wave of the exploration wave by the object from the outside of the vehicle,
The control unit satisfies the object detection determination condition corresponding to the presence of the object around the vehicle, and the reception state of the received wave in the first distance sensor, and the received wave of the received wave in the second distance sensor. Provided that the object corresponding to the received wave in the first ranging sensor is determined to be a non-obstacle when the reception state does not satisfy the object detection determination condition;
The object detection apparatus according to claim 1. The controller is
With one of the pair of distance measuring sensors as the first distance measuring sensor and the other as the second distance measuring sensor, the first transmission / reception operation in the pair of distance measuring sensors is controlled,
The one of the pair of distance sensors is the second distance sensor and the other is the first distance sensor, and the second transmission / reception operation of the pair of distance sensors is controlled.
In the first transmission / reception operation and the second transmission / reception operation, the reception state of the reception wave in the first distance sensor satisfies the object detection determination condition, and the reception state of the reception wave in the second distance sensor is Provided that the object corresponding to the received wave in the first ranging sensor is determined to be the non-obstacle when the object detection determination condition is not satisfied,
The object detection apparatus according to claim 11. The first distance sensor and the second distance sensor are two adjacent to each other in the vehicle width direction in the plurality of distance sensors (21) attached to the front end (12) of the vehicle.
The object detection apparatus according to claim 1. The first distance sensor and the second distance sensor are two adjacent to each other in the vehicle width direction in the plurality of distance sensors (21) attached to the rear end (13) of the vehicle. ,
The object detection apparatus according to claim 1. The first distance sensor and the second distance sensor are provided at the same vehicle mounting height,
The object detection apparatus according to claim 1.

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