JP5322037B2 - 超音波センサを用いた車両用物体検出装置 - Google Patents
超音波センサを用いた車両用物体検出装置 Download PDFInfo
- Publication number
- JP5322037B2 JP5322037B2 JP2010083450A JP2010083450A JP5322037B2 JP 5322037 B2 JP5322037 B2 JP 5322037B2 JP 2010083450 A JP2010083450 A JP 2010083450A JP 2010083450 A JP2010083450 A JP 2010083450A JP 5322037 B2 JP5322037 B2 JP 5322037B2
- Authority
- JP
- Japan
- Prior art keywords
- wave
- snow
- ultrasonic sensor
- vehicle
- determination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/64—Luminous indications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Description
10(10a〜10f) 超音波センサ(超音波センサユニット)
20 ECU
28 制御回路(第1及び第2判定手段、報知手段、記憶手段)
31,32 ブザー(報知手段)
33(33a〜33g) 表示器(報知手段)
40 ナビゲーション装置
U1 発射波
U1’ 反射波
U2 残響波
Claims (1)
- 自車両に設けられ、発信した発射波に基づく反射波を受信する複数の超音波センサと、第1の作動条件を満たすとき前記超音波センサの送受信に基づいて自車両周辺の物体の有無を判定する第1の判定手段と、その第1の判定手段の判定結果に応じて物体の有無を運転者に報知する報知手段と、を備え、
前記超音波センサは、それぞれ自身が発信した発射波に基づく反射波は受信するが、自身以外の他センサから発信された発射波は受信しないように設定され、
前記第1の作動条件とは異なる第2の作動条件を満たすとき、前記超音波センサが受信した残響波の長さが設定値以上で、かつ該残響波の出力が所定の大きさ以上の雪付着判定エリア内に該残響波の波形が達している場合に該残響波を受信した超音波センサの周辺位置に雪が付着していると判定する第2の判定手段が設けられ、
前記報知手段は、前記第2の判定手段の判定結果に応じて雪の付着の有無を運転者に報知し、
前記第1の作動条件は、自車両が低速状態にあるときであり、前記第2の作動条件は、前記低速状態よりも車速が大きい第1高速状態であり、該第1高速状態よりも更に車速が大きい第2高速状態では前記第2の判定手段による判定が禁止されることを特徴とする超音波センサを用いた車両用物体検出装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010083450A JP5322037B2 (ja) | 2010-03-31 | 2010-03-31 | 超音波センサを用いた車両用物体検出装置 |
US13/076,831 US8502653B2 (en) | 2010-03-31 | 2011-03-31 | Vehicle-use object detection apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010083450A JP5322037B2 (ja) | 2010-03-31 | 2010-03-31 | 超音波センサを用いた車両用物体検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011215002A JP2011215002A (ja) | 2011-10-27 |
JP5322037B2 true JP5322037B2 (ja) | 2013-10-23 |
Family
ID=44708967
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010083450A Active JP5322037B2 (ja) | 2010-03-31 | 2010-03-31 | 超音波センサを用いた車両用物体検出装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8502653B2 (ja) |
JP (1) | JP5322037B2 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6009788B2 (ja) * | 2012-03-21 | 2016-10-19 | 富士通テン株式会社 | レーダ装置、および、信号処理方法 |
JP5966856B2 (ja) * | 2012-10-29 | 2016-08-10 | トヨタ自動車株式会社 | 運転支援装置 |
JP6149616B2 (ja) | 2013-08-30 | 2017-06-21 | トヨタ自動車株式会社 | 運転支援装置 |
JP6467748B2 (ja) | 2014-04-08 | 2019-02-13 | パナソニックIpマネジメント株式会社 | 物体検知装置 |
DE102014105646A1 (de) * | 2014-04-22 | 2015-10-22 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erkennen eines blockierten Zustands eines Ultraschallsensors eines Kraftfahrzeugs, Ultraschallsensorvorrichtung und Kraftfahrzeug |
DE102014106011A1 (de) * | 2014-04-29 | 2015-10-29 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Erkennen eines blockierten Zustands eines Ultraschallsensors eines Kraftfahrzeugs, Ultraschallsensorvorrichtung und Kraftfahrzeug |
JP6311516B2 (ja) | 2014-07-30 | 2018-04-18 | 株式会社Soken | 超音波式物体検出装置 |
JP6412469B2 (ja) * | 2015-06-30 | 2018-10-24 | 株式会社デンソー | 運転支援装置及び運転支援方法 |
JP6765069B2 (ja) * | 2016-03-15 | 2020-10-07 | パナソニックIpマネジメント株式会社 | 物体検知装置 |
JP6561016B2 (ja) * | 2016-06-07 | 2019-08-14 | 株式会社Soken | 超音波センサ |
JP6609229B2 (ja) | 2016-09-02 | 2019-11-20 | 株式会社デンソー | 物体検知装置 |
JP6544326B2 (ja) | 2016-09-14 | 2019-07-17 | 株式会社Soken | 物体検知装置 |
JP6865369B2 (ja) * | 2017-03-24 | 2021-04-28 | パナソニックIpマネジメント株式会社 | 制御装置、制御方法およびプログラム |
US10475343B2 (en) * | 2017-05-18 | 2019-11-12 | Ford Global Technologies, Llc | Vehicle ice strike prediction |
CN212278869U (zh) | 2017-11-14 | 2021-01-05 | 苏州宝时得电动工具有限公司 | 自移动设备及智能割草机 |
CN110389578B (zh) * | 2018-04-20 | 2022-09-06 | 苏州宝时得电动工具有限公司 | 割草机的控制方法、装置及割草机 |
DE112018007775B4 (de) * | 2018-07-27 | 2022-08-25 | Mitsubishi Electric Corporation | Steuerungsvorrichtung für objekterkennungsvorrichtung,objekterkennungsvorrichtung und objekterkennungsprogramm |
US11514273B2 (en) | 2019-09-19 | 2022-11-29 | Ford Global Technologies, Llc | Vehicle debris strike mitigation |
JP7368252B2 (ja) * | 2020-01-30 | 2023-10-24 | トヨタ自動車株式会社 | 物体検知装置 |
JP7506551B2 (ja) * | 2020-08-04 | 2024-06-26 | パナソニックオートモーティブシステムズ株式会社 | 障害物判定装置、車両および障害物判定方法 |
US11634127B2 (en) * | 2020-09-15 | 2023-04-25 | Aptiv Technologies Limited | Near-object detection using ultrasonic sensors |
JP2022065872A (ja) * | 2020-10-16 | 2022-04-28 | 株式会社デンソー | 超音波センサ |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59154380A (ja) * | 1983-02-23 | 1984-09-03 | Nissan Motor Co Ltd | 車両用障害物検知装置 |
JPS6333684A (ja) * | 1986-07-28 | 1988-02-13 | Matsushita Electric Works Ltd | 超音波物体検知器 |
JP3044813B2 (ja) | 1991-04-26 | 2000-05-22 | 松下電工株式会社 | 超音波センサー |
JP2002148347A (ja) * | 2000-08-31 | 2002-05-22 | Denso Corp | 車両用障害物検知装置 |
JP3587147B2 (ja) * | 2000-08-31 | 2004-11-10 | 株式会社デンソー | 車両用障害物検知装置 |
US6431001B1 (en) * | 2000-08-31 | 2002-08-13 | Denso Corporation | Obstacle detecting system having snow detecting function |
JP2002131428A (ja) * | 2000-10-25 | 2002-05-09 | Mitsubishi Electric Corp | 超音波障害物検出装置 |
JP2010008095A (ja) * | 2008-06-24 | 2010-01-14 | Aisin Aw Co Ltd | 自車位置補正システム及びプログラム |
-
2010
- 2010-03-31 JP JP2010083450A patent/JP5322037B2/ja active Active
-
2011
- 2011-03-31 US US13/076,831 patent/US8502653B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2011215002A (ja) | 2011-10-27 |
US8502653B2 (en) | 2013-08-06 |
US20110241858A1 (en) | 2011-10-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5322037B2 (ja) | 超音波センサを用いた車両用物体検出装置 | |
JP5435365B2 (ja) | 車両用障害物検知装置 | |
US9632177B2 (en) | Object detecting apparatus | |
JP5846316B2 (ja) | 車両用加速抑制装置及び車両用加速抑制方法 | |
JP2010230366A (ja) | 障害物検出装置 | |
JP2009265075A (ja) | 車両用超音波物体感知システム | |
JP4752686B2 (ja) | 車両用障害物検知装置 | |
CN105474038A (zh) | 车辆专用的对象检测设备 | |
WO2016035243A1 (ja) | 検知システム | |
US7907475B2 (en) | Obstacle detecting system for vehicle | |
JP2017166920A (ja) | 物体検知装置 | |
JP6611994B2 (ja) | 物体検出装置、物体検出方法及び物体検出プログラム | |
US9126526B2 (en) | Vehicle approach information device with volume control | |
JP5454937B2 (ja) | 車両用物体検出装置 | |
KR101318854B1 (ko) | 초음파 센서의 고장 진단 방법 및 시스템 | |
US10518806B1 (en) | Ultrasonic locating | |
JP2000304860A (ja) | 車載用超音波検知器 | |
JP7192647B2 (ja) | 付着検知装置および付着検知方法 | |
US12019157B2 (en) | Method for operating a distance sensor of a vehicle in which a transmission signal is adapted in accordance with how an object is classified, computing device, and sensor device | |
CN210310257U (zh) | 车辆盲区监测预警系统和车辆 | |
JP6686856B2 (ja) | 物体検知装置 | |
JP2003057340A (ja) | 障害物検知装置 | |
JP7480637B2 (ja) | 物体検知装置 | |
JP7348634B2 (ja) | 複数の視野外障害物を検知するシステム | |
CN117141356A (zh) | 一种车辆报警的方法、装置及车辆 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20110808 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120312 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120424 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20121003 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130424 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130604 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130624 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 5322037 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20130707 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |