JP2020535450A - 距離測定の精度を向上するための超音波センサーモジュール - Google Patents
距離測定の精度を向上するための超音波センサーモジュール Download PDFInfo
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- JP2020535450A JP2020535450A JP2020539661A JP2020539661A JP2020535450A JP 2020535450 A JP2020535450 A JP 2020535450A JP 2020539661 A JP2020539661 A JP 2020539661A JP 2020539661 A JP2020539661 A JP 2020539661A JP 2020535450 A JP2020535450 A JP 2020535450A
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- distance
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- ultrasonic sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (4)
- 車両の走行及び駐車の時に周辺の物体を感知して知らせる超音波センサーモジュールにおいて、
車両に装着されて超音波信号を送信し、物体に反射して戻ってくる超音波信号を受信するための二つ以上の超音波センサーと、
前記超音波センサーを駆動するための駆動部と、
超音波センサーモジュールの全般的な動作を制御し、二つの超音波センサーで受信した超音波信号を利用して三角測定法で物体と車との間の垂直距離を計算する制御部と、を備える超音波センサーモジュール。 - 前記超音波センサーが、超音波信号を送信して、いずれかの物体に反射して戻ってくる超音波信号を受信する第1超音波センサーと、前記第1超音波センサーに隣接して位置し、超音波信号を送信せずに前記物体に反射されて戻ってくる超音波信号を受信する第2超音波センサーと、を備え、
前記制御部は、前記第1超音波センサーで受信した超音波信号を用いて測定した直接距離(Direct distance)と、前記第2超音波センサーで受信した超音波信号を用いて測定した間接距離(Indirect distance)を利用して、三角測定法で前記物体と車両との間の垂直距離を計算することを特徴とする請求項1の超音波センサーモジュール。 - 前記制御部は、三角測定法を利用して垂直距離を計算するときに、既に設定されているルックアップテーブル(Look−up table)を利用して平方根の計算を行うことを特徴とする請求項2の超音波センサーモジュール。
- 前記制御部は、まず、前記第1超音波センサーで受信した超音波信号を用いて前記物体との直接距離(Direct distance)を計算し、前記直接距離が既に設定されている基準距離を超えると、前記直接距離を物体との距離と判断し、前記直接距離が前記基準距離以内であれば、前記直接距離と前記間接距離とを利用して、三角測定法で前記物体と車両との間の垂直距離を計算することを特徴とする請求項2の超音波センサーモジュール。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2017-0127686 | 2017-09-29 | ||
KR1020170127686A KR102015074B1 (ko) | 2017-09-29 | 2017-09-29 | 거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈 |
PCT/KR2018/007383 WO2019066210A1 (ko) | 2017-09-29 | 2018-06-29 | 거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈 |
Publications (2)
Publication Number | Publication Date |
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JP2020535450A true JP2020535450A (ja) | 2020-12-03 |
JP6980925B2 JP6980925B2 (ja) | 2021-12-15 |
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JP2020539661A Active JP6980925B2 (ja) | 2017-09-29 | 2018-06-29 | 距離測定の精度を向上するための超音波センサーモジュール |
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JP (1) | JP6980925B2 (ja) |
KR (1) | KR102015074B1 (ja) |
CN (1) | CN111149014A (ja) |
WO (1) | WO2019066210A1 (ja) |
Families Citing this family (1)
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KR102143538B1 (ko) | 2019-05-31 | 2020-08-11 | 주식회사 웰텍 | 초음파 센서의 측정 거리 보정 방법 |
Citations (3)
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WO2010058521A1 (ja) * | 2008-11-19 | 2010-05-27 | 日本電気株式会社 | 平方根演算装置及び方法、並びに平方根演算プログラム |
JP2015175633A (ja) * | 2014-03-13 | 2015-10-05 | 富士通株式会社 | 立体抽出方法および立体抽出装置 |
JP2016080642A (ja) * | 2014-10-22 | 2016-05-16 | 株式会社デンソー | 物体検知装置 |
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KR950008250A (ko) * | 1993-09-02 | 1995-04-17 | 김주용 | 초음파를 이용한 차량 충돌 방지 장치 및 그 방법 |
CN101303410B (zh) * | 2007-05-08 | 2011-08-24 | 李世雄 | 单方发射暨多方接收的障碍物检测方法及其装置 |
KR101302832B1 (ko) * | 2009-09-01 | 2013-09-02 | 주식회사 만도 | 주차시 장애물인식 시스템 및 그 방법 |
KR101818536B1 (ko) * | 2011-07-19 | 2018-01-15 | 현대모비스 주식회사 | 간접신호를 이용한 근접물체 위치 판별 장치 및 방법 |
KR101819967B1 (ko) * | 2011-10-27 | 2018-01-22 | 한국단자공업 주식회사 | 차량의 물체 감지방법 |
KR101892763B1 (ko) * | 2013-10-08 | 2018-08-28 | 주식회사 만도 | 장애물 위치를 판단하는 방법과 장애물 위치 판단장치 및 주차 보조 방법과 주차 보조 시스템 |
KR101521842B1 (ko) * | 2014-08-27 | 2015-05-20 | 현대모비스 주식회사 | 주차 공간 탐색 장치 및 그 탐색 방법 |
JP6557958B2 (ja) * | 2014-10-22 | 2019-08-14 | 株式会社Soken | 車両用障害物検出装置 |
KR101692809B1 (ko) | 2014-12-02 | 2017-01-05 | 주식회사 유라코퍼레이션 | 차량용 카메라 장치 및 이를 이용한 장애물 거리 측정방법 |
KR20160066757A (ko) * | 2014-12-03 | 2016-06-13 | 현대모비스 주식회사 | 위치 좌표 확인 장치 및 방법 |
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JP6697281B2 (ja) * | 2016-02-10 | 2020-05-20 | 株式会社Soken | 物体検知装置 |
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- 2017-09-29 KR KR1020170127686A patent/KR102015074B1/ko active IP Right Grant
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2018
- 2018-06-29 CN CN201880062132.3A patent/CN111149014A/zh active Pending
- 2018-06-29 WO PCT/KR2018/007383 patent/WO2019066210A1/ko active Application Filing
- 2018-06-29 JP JP2020539661A patent/JP6980925B2/ja active Active
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WO2010058521A1 (ja) * | 2008-11-19 | 2010-05-27 | 日本電気株式会社 | 平方根演算装置及び方法、並びに平方根演算プログラム |
JP2015175633A (ja) * | 2014-03-13 | 2015-10-05 | 富士通株式会社 | 立体抽出方法および立体抽出装置 |
JP2016080642A (ja) * | 2014-10-22 | 2016-05-16 | 株式会社デンソー | 物体検知装置 |
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JP6980925B2 (ja) | 2021-12-15 |
KR102015074B1 (ko) | 2019-08-27 |
WO2019066210A1 (ko) | 2019-04-04 |
KR20190037890A (ko) | 2019-04-08 |
CN111149014A (zh) | 2020-05-12 |
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