JP5992574B1 - Object detection device - Google Patents

Object detection device Download PDF

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JP5992574B1
JP5992574B1 JP2015088155A JP2015088155A JP5992574B1 JP 5992574 B1 JP5992574 B1 JP 5992574B1 JP 2015088155 A JP2015088155 A JP 2015088155A JP 2015088155 A JP2015088155 A JP 2015088155A JP 5992574 B1 JP5992574 B1 JP 5992574B1
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specific environment
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wave
detection signal
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JP2016206011A (en
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雄一 合田
雄一 合田
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三菱電機株式会社
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Abstract

An object detection device that suppresses malfunction of a vehicle application under a specific environment and that appropriately operates the vehicle application except under the specific environment. An object detection system that includes a transmission / reception unit that radiates a transmission wave that is a sound wave or an electromagnetic wave and that receives a reflection wave of the radiated transmission wave, and that specifies a distance to an object based on the signal of the reflection wave In the apparatus, using the reflected wave signal, a detection signal generating unit that generates a detection signal at which the position of the reflected wave peaks, and a peak detecting unit that detects a peak from the detection signal generated by the detection signal generating unit, When the peak detection unit detects a plurality of peaks equal to or greater than a preset threshold value at a preset range position, it determines whether the environment is a specific environment based on variations in detection signal peaks. And a specific environment determination unit. [Selection] Figure 1

Description

  The present invention relates to an object detection device that detects at least position information of an object. In particular, the present invention relates to an object detection device that transmits electromagnetic waves or sound waves such as radio waves, light, and ultrasonic waves, and receives reflected waves from an object to measure position information of the object. is there.

  Conventionally, an object detection device such as a radar device or an ultrasonic sensor device is mounted on a moving body such as a vehicle. The detection results (position information) of the objects existing around the moving object obtained by the object detection device are used for emergency automatic braking systems for avoiding collisions with the preceding vehicle due to driver's carelessness, etc. It is used in vehicle applications to improve vehicle safety and comfort, such as parking assistance systems and adaptive cruise control systems that automatically follow vehicles ahead.

  However, when a moving body passes around a structure having a large number of continuous reflection points, such as a tunnel, a ceiling of a multistory parking lot, or a road with uneven road surfaces (hereinafter, such an environment is referred to as a specific environment). In a radar apparatus or an ultrasonic sensor apparatus, a very large number of reflection points are detected. For this reason, it is necessary to determine whether or not the object is an alarm / control target for each reflection point, and there is a problem that the calculation load increases as the number of reflection points increases. .

  Further, the object detection device transmits ultrasonic waves at a predetermined time period, determines whether the same object is detected over a plurality of periods, and determines whether the object is determined to be the same object. There are cases where the distance is smoothed and output, or the relative speed of the object is calculated from the difference in distance obtained in time series. However, as described above, in an environment where there are a large number of reflection points, there are too many reflection points, so it is not the same object when determining whether or not the same object is detected in time series. Nevertheless, the object detected by the object detection device is determined to be the same object, and there is a possibility that the vehicle application may malfunction due to an error in the distance or relative speed in the subsequent processing.

  With respect to such a problem, in Patent Document 1, in an FMCW radar apparatus that generates a beat signal by mixing a emitted wave and a received wave, a peak frequency is obtained based on a result of frequency analysis of the beat signal, and A deviation between the peak frequency and the adjacent peak frequency is obtained, a minimum level between the adjacent peak frequencies is obtained, and at least one of the deviations is equal to or less than a certain value and the minimum level and the peak frequency If at least one of the ratios is equal to or greater than a certain value, it is determined that there is a correlation between the deviation and the minimum level, and the object to be detected and the road shoulder protection body such as a soundproof wall or a guardrail are recognized. ing.

  In Patent Document 2, in the FMCW radar device, when the total number of peaks in the arbitrary detection range exceeds the peak total threshold, first, the spectrum integrated value in the arbitrary detection range is calculated, and the spectrum integrated value is calculated as the spectrum integrated value. When the value threshold is exceeded, the arbitrary detection range is determined as a range where an irregular stationary object is generated (irregular detection range), and the average value and dispersion value of the peak level are determined for the irregular detection range. And the primary threshold value is calculated based on this to remove peaks that are considered irregular stationary objects.

JP-A-7-234277 JP 2001-324666 A

  The object detection devices described in Patent Document 1 and Patent Document 2 are based on the premise that the peaks of road shoulder protection bodies such as soundproof walls and guardrails are dense to some extent. For example, in the case of an object detection device with a high distance resolution (for example, about 1 cm) such as an ultrasonic sensor, the peak shape of the road shoulder protector is steeper than the shape described in Patent Document 1, so that the adjacent peak frequency is The minimum level between and can be small enough. As a result, in the case of an object detection device with high distance resolution, the method described in Patent Document 1 may erroneously recognize the road shoulder protector as a vehicle, and the vehicle application may malfunction in a specific environment.

  Similarly, in the object detection device described in Patent Document 2, in the case of an object detection device with a high distance resolution, the peak shape of the road shoulder protector and the vehicle becomes steep, and the difference in the spectrum integrated value between the irregular stationary object and the vehicle The peaks considered to be irregular stationary objects cannot be removed properly, and the vehicle application may malfunction under certain circumstances.

  The present invention has been made to solve the above-described problem, and in the case of an object detection device having a high distance resolution, the malfunction of a vehicle application in a specific environment is suppressed, and the specific environment Other than the above, an object detection device in which a vehicular application operates appropriately is provided.

The present invention includes a transmission / reception unit that radiates a transmission wave that is a sound wave or an electromagnetic wave, and receives a reflected wave of the radiated transmission wave, and detects an object that identifies a distance to an object based on the signal of the reflected wave In the apparatus, using the reflected wave signal, a detection signal generating unit that generates a detection signal at which the position of the reflected wave peaks, and a peak detecting unit that detects a peak from the detection signal generated by the detection signal generating unit, When the peak detection unit detects a plurality of peaks that are equal to or greater than a preset threshold value in a preset range of positions, the variation in the peak position of the detection signal is greater than the preset threshold value. large and when the amplitude variation of the peak is smaller than the threshold value set in advance, the specific environment determination determines that the specific environment in which the structure having a plurality of reflection points successive exists If, and to include a.

  According to the object detection device of the present invention, for example, in the case of an object detection device having a high distance resolution (for example, about 1 cm) such as an ultrasonic sensor, it is possible to determine that the environment is a specific environment. Moreover, when it determines with it being a specific environment, the peak originating in a specific environment can be reduced appropriately, and the malfunction of the application for vehicles in a specific environment can be suppressed.

It is a block diagram which shows the structure containing the object detection apparatus and peripheral device by Embodiment 1 of this invention. It is a conceptual diagram which shows the example of the transmission wave of the object detection apparatus by Embodiment 1 and the reflected wave from a target object to this invention. It is a conceptual diagram which shows the example of the detection signal of the object detection apparatus by Embodiment 1 of this invention. It is a schematic diagram which shows the state in which the object detection apparatus by Embodiment 1 of this invention is located in an example specific environment. It is a conceptual diagram which shows the example of the detection signal in the specific environment of the object detection apparatus by Embodiment 1 of this invention. It is a conceptual diagram which shows the example of the detection signal at the time of detecting a target object in environments other than the specific environment of the object detection apparatus by Embodiment 1 of this invention. It is a conceptual diagram which shows the example of a detection signal in case there exists multiple reflection by the target object of the object detection apparatus by Embodiment 1 of this invention. It is a block diagram which shows the structure containing the object detection apparatus and peripheral device by Embodiment 2 of this invention. It is a diagram which shows the example of the transmission wave of the object detection apparatus by Embodiment 2 of this invention. It is a conceptual diagram which shows the example of the detection signal in the specific environment of the object detection apparatus by Embodiment 2 of this invention. It is a block diagram which shows the structure containing the object detection apparatus and peripheral device by Embodiment 3 of this invention. It is a block diagram which shows another structure including the object detection apparatus and peripheral device by Embodiment 3 of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the equivalent or corresponding element in a figure. In the embodiment, a vehicle will be described as an example of a moving body on which the object detection device is mounted. However, the present invention is not limited to this, and can be applied to various moving bodies. In addition, the present invention is applicable. For example, the present invention can be applied even when the vehicle is stopped, and the present invention can also be applied to the case where the object detection device is mounted on a structure such as a vehicle-sensitive signal device. In the following, a moving body equipped with an object detection device is called a host vehicle.

Embodiment 1 FIG.
Hereinafter, the object detection apparatus according to the first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a configuration including an object detection device and peripheral devices according to Embodiment 1 of the present invention, and an ultrasonic sensor device 10 mounted on a vehicle will be described as an example of the object detection device. In addition, the arrow in a figure shows the flow of the input / output of an electric signal.

  As shown in FIG. 1, the ultrasonic sensor device 10 includes a control unit 101, a transmission circuit unit 102, an ultrasonic element unit 103, a reception circuit unit 104, a detection signal generation unit 105, a peak detection unit 106, a specific environment determination unit 107, A peak reduction unit 108, a distance measurement unit 109, an outside air temperature acquisition unit 110, a tracking unit 111, and a control target selection unit 112 are provided. These are composed of an analog circuit and a dedicated logic circuit related to ultrasonic transmission / reception, a program in a general-purpose CPU (Central Processing Unit), a data storage circuit (memory), and the like. A vehicle control unit 11 and an outside air temperature sensor 12 are mounted on the own vehicle as devices that communicate electrical signals with the ultrasonic sensor device 10. Other sensors such as a running speed sensor for measuring the running speed of the own vehicle (own vehicle speed) and a yaw rate sensor for detecting the yaw rate of the own vehicle (change speed of the rotation angle in the turning direction of the own vehicle). Kinds are connected as needed.

  The control unit 101 includes a program in a general-purpose CPU, a dedicated logic circuit, and the like, and manages the processing timing and processing order of each unit. Hereinafter, the operation of each unit will be described with reference to FIG. 2 taking a pulse type ultrasonic sensor as an example.

  First, an electrical signal is output from the control unit 101 to the transmission circuit unit 102, and the transmission circuit unit 102 that has received the electrical signal converts the electrical signal for driving the ultrasonic element converted into an electrical signal having a predetermined voltage, frequency, and waveform. Output. The ultrasonic element unit 103 to which the electric signal for driving the ultrasonic element is input converts the electric signal into an ultrasonic wave having a predetermined sound pressure, frequency, and waveform, and as shown in FIG. A transmission pulse 01 is emitted to the space. The control unit 101, the transmission circuit unit 102, and the ultrasonic element unit 103 perform the above operations periodically, and output the transmission pulse 01 at a predetermined time interval (measurement cycle). Note that the measurement period does not necessarily have to be a constant interval.

  The transmission pulse 01 is reflected at a reflection point such as an object, and as shown in FIG. 2, is reflected by an ultrasonic wave with a delay time τ [s] from the transmission pulse 01 by the ultrasonic element unit 102. Received as received pulse 02. The reception pulse 02 is converted into an electrical signal having a predetermined voltage by the ultrasonic element unit 103 and output to the reception circuit unit 104. The receiving circuit unit 104 includes a band-pass filter and an amplifier circuit, suppresses unnecessary frequency components by the band-pass filter, and is amplified to an electric signal having a predetermined voltage. The transmission circuit unit 102, the ultrasonic element unit 103, and the reception circuit unit 104 are combined, that is, a transmission wave that is an ultrasonic wave is transmitted, and a part that has a function of receiving a reflected wave is also referred to as a transmission / reception unit 120.

  An electrical signal having a predetermined voltage output from the receiving circuit unit 104 is converted into a discrete detection signal in the time domain by the detection signal generation unit 105. In the detection signal generation unit 105, the electrical signal output from the reception circuit unit 104 is sampled for a predetermined time at a predetermined sampling interval by an ADC (Analog Digital Converter) and converted into a digital value. The sampling interval is appropriately set based on the sampling theorem according to the frequency of the emitted ultrasonic wave. Thereafter, a signal corresponding to the amplitude is extracted by a known method such as envelope detection. At this time, samples may be thinned out at an appropriate interval within a range that does not hinder subsequent processing. In this example, the detection signal is generated by digital signal processing. However, the detection signal is converted into a signal corresponding to the amplitude and power of the electrical signal having a predetermined voltage output from the reception circuit unit 104, and processed by the peak detection unit in the subsequent stage. Any other method may be used as long as the method can be realized. For example, an envelope detection method may be realized by an analog circuit, and the detection signal may be generated by sampling the output by an ADC.

  As a result, the detection signal becomes a discrete detection signal in the time domain corresponding to the amplitude and power of the electric signal output from the receiving circuit unit 104 (hereinafter referred to as amplitude for simplicity). A conceptual diagram of a detection signal corresponding to the reception pulse 02 of FIG. 2 is shown in FIG. In the following, the sampling interval of the detection signal is Δtd, one sample of the detection signal is called 1 bin, the number of each sample of the detection signal is called the bin number, and the detection signal is from 0 bin to (M−1) bins. A signal with an amplitude of a total of M bins is used.

  The peak detector 106 uses a method such as extracting a signal having a maximum amplitude from the detection signal generated by the detection signal generator 105 and having a component larger than a preset peak detection threshold. Perform detection. Other methods may be used for the peak detection. For example, as in the known CFAR (Constant False Alarm Rate) method, the threshold for peak detection becomes variable according to the input signal from the statistical properties of the input signal. You may set as follows. In the case of an ultrasonic sensor, a reflected wave from the ground may be received. In such a case, the intensity of reflection from the ground is investigated in advance at the design stage, and the reflection of the ground is detected. A threshold for peak detection may be set so as not to detect. The lower limit of the number of detected peaks is 0 (in the case where no peak is detected), and the upper limit of the number of peaks is determined by the CPU and memory restrictions of the ultrasonic sensor device 10.

  The specific environment determination unit 107 has the number of peaks in the preset bin number range out of the peaks detected by the peak detection unit 106 exceeds the preset threshold value and exists in the preset bin number range When the bin number variation of all peaks to be performed is larger than the variation threshold TH01, it is determined that the environment is a specific environment, the specific environment flag is turned on, and otherwise, the specific environment flag is turned off. The index of bin number variation is an index representing the spread of the distribution of a plurality of peaks, such as the distribution range, variance, and standard deviation of the minimum value to the maximum value of the bin number.

  The operation of the specific environment determination unit 107 will be described with reference to FIGS. FIG. 4 is a schematic diagram showing a state where the ultrasonic sensor device 10 is located in a specific environment. In FIG. 4, a scene is assumed in which a moving body on which the ultrasonic sensor device 10 is mounted passes in an environment where the ground 1, the ceiling 2, and the beam 3 exist. FIG. 5 shows an example of a detection signal in the specific environment of FIG. As shown in FIG. 5, in the ultrasonic sensor, in addition to reflection from the ground, the peak of the beam appears discretely in the detection signal.

  For reflected waves from the ground, the range of bin numbers that appear to some extent is limited, and usually the reflection is weaker than the peak when the preceding vehicle is detected, so the peak detection threshold is adjusted as described above By doing so, it is possible to adjust so as not to detect reflection from the ground. On the other hand, the peak of a structure such as a beam changes depending on the structure of the structure such as the height and length of the ceiling, so the position where the peak appears cannot be predicted, and if the threshold for peak detection is simply raised, When it is not a specific environment, there is a possibility that the peak of an object such as a preceding vehicle cannot be detected.

  As a countermeasure against this, in the present invention, it is determined whether or not it is under a specific environment. In a specific environment, a peak is detected over a wide range as shown in FIG. On the other hand, in the case of a preceding vehicle that is an object, as shown in FIG. 6, there is a tendency for peaks to appear to some extent due to unevenness of the vehicle shape and the like. In the present invention, using this specific environment and the tendency of the appearance of peaks of vehicles, etc., when the bin number variation of all peaks existing in the preset bin number range is larger than the variation threshold, Judge that there is.

  As another determination method of the specific environment determination unit 107, the number of peaks in a preset bin number range among the peaks detected by the peak detection unit 106 exceeds a preset threshold value, and is set in advance. The variation of all bin numbers existing in the bin number range set is larger than the bin number variation threshold TH01, and the amplitude variation of all peaks existing in the preset bin number range is larger than the amplitude variation threshold TH02. When all three conditions of being small are satisfied, it may be determined that the specific environment is set and the specific environment flag is turned on. In other cases, it may be determined that the specific environment is not set and the specific environment flag is turned off.

  This is a method for determining that the environment is not a specific environment when a peak due to multiple reflection exists. Multiple reflection is, as shown in FIG. 7, a reflected wave reflected from a detection target such as another vehicle is reflected by the own vehicle, reflected again from the detection target, and received again by the ultrasonic sensor device 10. This is a phenomenon in which a peak appears in the bin number corresponding to a relative distance that is an integral multiple of the relative distance of the true object. In the case of multiple reflection, since reflection is repeated many times between the own vehicle and the object, the amplitude of the smallest bin number is usually the largest, and the amplitude becomes smaller as the distance increases. On the other hand, since all the peaks derived from the specific environment are directly received by the ultrasonic sensor device 10, the variation in amplitude is smaller than in the case of multiple reflection. In this processing, it is determined whether or not the environment is a specific environment using the variation in amplitude.

  Further, as a condition for determining that the environment is a specific environment, the determination may be made by observing for a certain long period of time instead of determining with a single measurement cycle. That is, it is determined whether or not a specific environment is set for each transmission wave that is repeatedly transmitted, and the specific environment flag is turned on when it is determined that the specific environment is greater than or equal to a preset number of times between preset repetition counts. . As a result, the peak derived from the specific environment does not exceed the peak detection threshold due to instantaneous amplitude fluctuations, etc., and if only the determination result of a single measurement period is used, the specific environment is not determined to be a specific environment Even in such a case, by observing for a long period of time and determining whether or not it is a specific environment, it is possible to suppress such erroneous determination of whether or not it is a specific environment. it can.

  For example, the number of peaks in the preset bin number range out of the peaks detected by the peak detection unit 106 exceeds a preset threshold value, and all peaks existing in the preset bin number range When the state where the bin number variation is larger than the preset variation threshold TH01 occurs only B times (B ≦ A) in the preset measurement cycle A times, the specific environment flag is turned on, and the others In this case, a method of turning off the specific environment flag can be mentioned.

  As another method, the number of peaks in a preset bin number range among peaks detected by the peak detector 106 exceeds a preset threshold value, and the preset bin number range The bin number variation of all the peaks existing in is larger than the preset variation threshold TH01, and the amplitude variation of all the peaks existing in the preset bin number range is larger than the amplitude variation threshold TH02. The specific environment flag is turned on when the state satisfying all three conditions of small is generated only B times (B ≦ A) in the preset measurement cycle A times, otherwise the specific environment flag is turned on. The method of turning off is mentioned.

  The peak reduction unit 108 reduces the peak detected by the peak detection unit 106 when the specific environment flag is on, and outputs the peak whose amplitude is below the peak reduction threshold. The output of the peak detector 106 is referred to as a post-reduction peak. The peak reduction threshold value may be given fixedly or may be variable. When the specific environment flag is off, the peak reduction unit 108 outputs all peaks detected by the peak detection unit 106 as reduced peaks.

  Next, how to give a threshold value for peak reduction will be described. First, as a method of fixedly providing a peak reduction threshold value, there is a method of investigating the amplitude of a peak that is likely to occur in a specific environment at the design stage and setting the fixed value in advance.

  As a method for making the peak reduction threshold variable, there is a method for making the peak reduction threshold variable according to the outside air temperature. This is because the sensitivity of the ultrasonic sensor device changes with temperature, that is, the peak amplitude changes with temperature. For example, the outside air temperature is observed by the outside air temperature sensor 12 and converted into an electric signal, and the outside air temperature acquisition unit 110 converts the electric signal into a temperature value and inputs it to the peak reduction unit 108. Although not shown in the present embodiment, in the case of an ultrasonic sensor, the sensitivity changes depending on the humidity. Therefore, a humidity sensor is also mounted and a threshold for peak reduction considering humidity is set. Also good.

  As another method for making the peak reduction threshold variable, an appropriate number is averaged from the peaks with the smaller amplitude among the peaks detected by the peak detector 106, and the average value is multiplied by α. May be set. Alternatively, all peaks below a predetermined threshold value may be averaged, and α times the average value may be used as the peak reduction threshold value. As a result, even if there are vehicles, etc. that are subject to application alarms / controls in the specific environment, the peaks derived from the specific environment can be reduced and the peaks of the vehicles, etc. can be left without reduction. it can. α is set in consideration of the amplitude of the peak that easily occurs in a specific environment and the amplitude of the peak of the vehicle. For example, the probability distribution of the magnitude of the peak amplitude in a specific environment is measured in advance at the design stage, and setting is made so that the occurrence probability of the peak after reduction in the specific environment is suppressed to a predetermined probability or less. At this time, an upper limit may be fixedly set for the peak reduction threshold. For example, an amplitude that cannot be generated in a specific environment is investigated in advance, and the amplitude is set as the upper limit. The method of doing is mentioned.

The distance measuring unit 109 converts the bin number of the peak after reduction output from the peak reducing unit 108 into a distance. The bin number-to-distance conversion formula is as follows: relative distance is R [m], delay time is τ [s], bin number is k, sampling interval is Δtd [s], and sound speed is c [m / s]. It represents with Formula (1) and Formula (2). Although an example in which the relative distance R [m] is calculated from the peak bin number k is shown here, as shown in FIG. 3, the head of the reception pulse 02 is before the peak bin number where the amplitude is maximum. Therefore, it is possible to calculate the relative distance more accurately by estimating the bin number corresponding to the rising edge of the peak and calculating the distance from the bin number.
τ = k * Δtd (1)
R = cτ / 2 (2)

Here, the sound velocity c [m / s] is calculated using the outside air temperature obtained through the outside air temperature sensor 12 and the outside air temperature acquisition unit 110. For example, the sound speed is calculated by correcting the change in the sound speed due to the temperature by the following expression (3), which is a known approximate expression when the outside air temperature is T out [° C.]. When the outside air temperature sensor 12 and the outside air temperature acquisition unit 110 are not mounted, the sound speed calculated at a representative temperature (for example, 25 ° C.) may be substituted. Also, since the sound speed changes depending on the humidity, a humidity sensor may be installed to calculate the sound speed considering the humidity, or the sound speed calculated with a representative humidity (for example, 50%) may be substituted. Also good.
c = 331.5 + 0.61 * T out (3)

  In addition, since the longer the relative distance of the object, the more time it takes for the ultrasonic wave to propagate, the actual relative distance at the time when the ultrasonic wave is transmitted because the vehicle approaches the object even after transmitting the ultrasonic wave. Rather, the relative distance calculated by the expression (2) can be calculated closer. Therefore, the relative distance R may be corrected based on the propagation time of the ultrasonic wave in order to obtain the relative distance of the object at the time of transmitting the ultrasonic wave more accurately. For example, a method of connecting a traveling speed sensor for measuring the traveling speed (vehicle speed) to the ultrasonic sensor device 10 and correcting the relative distance according to the traveling speed can be mentioned.

  Next, in the tracking unit 111, in order to correlate a plurality of distance values obtained by the distance measuring unit 109 in time series, a well-known tracking process is performed to smooth various observation values or obtain them in time series. The relative speed of the object is calculated from the difference between the distances obtained, extrapolation / interpolation is performed when the object cannot be detected temporarily, noise components are removed, and the like. Despite extrapolation / interpolation that has been correlated in time series for a long time (for example, while continuing to detect an object at approximately the same relative distance), it is temporarily affected by disturbances such as wind Even if a peak is not detected in the past, it is impossible to detect it as a peak instantaneously by processing it as a target because it has been correlated in time series for a long time. However, it is possible to continue to detect the object. In addition, for removing noise components, for example, due to acoustic noise or ultrasonic interference, a peak is instantaneously detected as if the target object is present, even though the target object originally does not exist. Even if the relative distance is obtained, only when the correlation is obtained in time series over a plurality of measurement periods (for example, when the object is continuously detected at substantially the same relative distance), the object is tracked. By setting the target, it is possible to remove noise components due to acoustic noise and ultrasonic interference.

  The control object selection unit 112 selects an object to be controlled from among a plurality of processing results such as a plurality of relative distances from the plurality of peaks to the object calculated by the distance measurement unit 109. For example, there is a method in which only one target having the closest relative distance among the relative distances detected by the ultrasonic sensor device is selected. In the present invention, the selection method of the control target is not limited, and any other method may be used as long as it is a process for selecting the control target by some process. In the case of a vehicle application that determines whether or not the vehicle can interrupt the next lane after determining whether there is a vehicle ahead, select two or more control targets and output to the subsequent vehicle application You may do it.

  The output of the control target selection unit 112, that is, the measurement result such as the relative distance and the relative speed of one target selected as the control target is input to the vehicle control unit 11, and the vehicle control unit 11 receives the position information of the target. The operation of the vehicle application corresponding to is performed. For example, in the case of an emergency automatic brake system, the vehicle speed is equal to or higher than a predetermined speed and is determined as a control target by the control target selection unit 112, and is present at a relative distance at which the host vehicle reaches the target object within a predetermined time. When doing so, the vehicle control part 11 controls the own vehicle so that the brake is automatically operated. Although the emergency automatic brake system has been described as an example here, the present invention does not limit the vehicle application.

  Further, as another application method of the present invention, when it is determined that the environment is a specific environment, detection of the position information of the object may be stopped. As a result, the alarm / control operation of the vehicle application is not performed. Thereby, even when the peak derived from the specific environment cannot be sufficiently reduced by the peak reduction unit, malfunction of the vehicle application can be suppressed.

  In the above description, the detection signal is sampled at the sampling interval Δtd and one sample is set as one bin, and the special environment is determined using the bin number. In the first embodiment, the detection signal is a signal obtained as a time domain signal, and the bin number corresponds to time. That is, if the time at which the transmission wave is transmitted is 0 and the bin number of the first sample in the time domain is 0, the bin number k is the time of k * Δtd after transmission. The horizontal axis in FIGS. 5 to 7 is also a bin number and time (can also be expressed as a position in the time domain). By replacing the bin numbers described so far with time and position in the time domain, for example, the peak bin number can also be expressed as the peak position in the time domain.

  As described above, the object detection device 10 described in the first embodiment is an object detection device that detects position information of an object existing at least around the object detection device, and has the following characteristic features. Has a good structure and effect. The object detection device according to the first embodiment radiates a transmission wave that is an ultrasonic wave, and receives a reflection wave of the radiated transmission wave, and a transmission wave signal and a reflection wave signal. In the object detection device that identifies the distance to the object that is the reflection point of the reflected wave, the detection signal generation unit 105 that generates a detection signal in which the position of the reflected wave from the reflection point peaks using the reflected wave signal. A peak detection unit 106 that detects a peak from the detection signal generated by the detection signal generation unit 105, and a number of peaks equal to or greater than a preset threshold value at a position in a predetermined range by the peak detection unit 106. And a specific environment determination unit 107 that determines whether or not the specific environment is based on the variation in the peak of the detection signal.

  As a determination method of the specific environment determination unit 107, the number of peaks at a position in a preset range among peaks detected by the peak detection unit 106 exceeds a preset threshold value, and the preset range If the variation in the positions of all the peaks existing at the position is larger than the variation threshold TH01, the specific environment flag is turned on. Otherwise, the specific environment flag is turned off. The index of the variation in the peak position is an index representing the spread of the peak such as the range of the distribution of the minimum value to the maximum value in the time domain, the variance, the standard deviation, and the like.

  Further, as another determination method of the specific environment determination unit 107, the number of peaks in a preset range among the peaks detected by the peak detection unit 106 exceeds a preset threshold value, and the Variations in the positions of all the peaks existing in the set range position are larger than the variation threshold TH01, and variations in the amplitudes of all the peaks existing in the predetermined range position are the amplitude variation threshold TH02. Alternatively, the specific environment flag may be turned on when all three conditions of being smaller are satisfied, and the specific environment flag may be turned off in other cases.

  With this configuration, even an object detection device with high resolution such as an ultrasonic sensor device can appropriately determine whether or not it is a specific environment.

Embodiment 2. FIG.
FIG. 8 is a block diagram showing a configuration including an object detection device and peripheral devices according to Embodiment 2 of the present invention. In the second embodiment, an FMCW radar device 20 will be described as an example of an object detection device mounted on a vehicle.

  As shown in FIG. 8, the FMCW radar apparatus 20 according to the second embodiment includes a control unit 201, a transmission signal generation unit 202, a transmission antenna 203, a reception antenna 204, a beat signal generation unit 205, a detection signal generation unit 206, a peak. A detection unit 207, a specific environment determination unit 208, a peak reduction unit 209, a pairing unit 210, a distance measurement unit 211, a tracking unit 212, and a control target selection unit 213 are provided. A vehicle control unit 21 is mounted on the host vehicle as a device that communicates electrical signals with the FMCW radar apparatus 20. The FMCW radar apparatus 20 includes a traveling speed sensor for measuring the traveling speed of the own vehicle (own vehicle speed), a yaw rate sensor for detecting the yaw rate of the own vehicle (the changing speed of the rotation angle in the turning direction of the own vehicle), and the like. These sensors are connected as necessary (not shown). The positional relationship and operation of each component will be described below.

  As in the first embodiment, the control unit 201 manages the processing timing and processing order of each unit of the FMCW radar apparatus.

  The transmission signal generation unit 202 is configured by a VCO (Voltage Controlled Oscillator), an amplifier circuit, and the like, and generates a transmission signal that is modulated so that the frequency changes with time according to the transmission control signal of the control unit 201 and amplifies it. The signal is amplified to a specified size by a circuit or the like. An example of the modulation pattern of the transmission signal is shown in FIG. In FIG. 9, f0 represents the center frequency, B represents the bandwidth, T represents the modulation time, and the transmission signal includes an up-chirp period in which the frequency of the transmission signal increases as time elapses within a predetermined observation period. A down chirp period in which the frequency of the transmission signal decreases with time is provided. In FIG. 9, a case where the modulation times of the up-chirp period and the down-chirp period are equal is taken as an example, but the modulation times of the up-chirp period and the down-chirp period are not necessarily equal.

  The transmission antenna 203 radiates the transmission signal generated by the transmission signal generation unit 202 to space. The emitted electromagnetic wave is applied to the object, and the reflected electromagnetic wave is received by each of the antennas Rx1 and Rx2 constituting the receiving antenna 204. In this embodiment, the number of transmission antennas is one and the number of reception antennas is two. However, the number of antennas is not limited to this.

  The electromagnetic wave received by each antenna is input to each mixer of the beat signal generation unit 205 as a reception signal. Each mixer generates a beat signal from the reception signal and the transmission signal input from the transmission signal generation unit 202 via the distribution circuit. The beat signal has a low-frequency component and a high-frequency component that are unnecessary for detection by the radar device suppressed by a band-pass filter (BPF: Band-Pass Filter), and is amplified to a specified magnitude by an amplifier circuit. The Here, the transmission signal generation unit 202 and the transmission antenna 203 are combined with the reception antenna 204 and the beat signal generation unit 205, that is, a transmission wave that is an electromagnetic wave is generated and radiated, and the reflected transmission wave is reflected. A portion having a function of receiving a wave and generating a beat signal is also referred to as a transmission / reception unit 220.

  The detection signal generation unit includes an ADC unit, an FFT (Fast Fourier Transform) processing unit, and the like. First, in the ADC unit, the voltage value of the beat signal of Rx1 and the voltage value of the beat signal of Rx2 are set in accordance with the ADC control signal from the control unit 201 for the up-chirp period and the down-chirp period, respectively. Convert to digital value with points.

Next, FFT processing is performed on the digital data of the Rx1 beat signal and the Rx2 beat signal in each of the up-chirp period and the down-chirp period to convert the digital data of the beat signal into a frequency power spectrum. . In addition, when a phase monopulse angle measurement method or various electronic scan angle measurement methods are adopted in the subsequent ranging unit 211 or the like, not only the frequency power spectrum but also a complex spectrum after FFT as information necessary for angle measurement. And phase information at each frequency is combined and output to subsequent processing. Examples of the electronic scanning angle measurement method include, for example, a MUSIC (Multiple Signal Classification) method and an ESPRIT (Estimation).
of Signal Parameters via Rotation Innovation Techniques), and when these angle measurement methods are adopted, the number of transmission / reception antennas is not necessarily the same as in this embodiment, and the number of antennas suitable for each angle measurement method is used. And it is sufficient.

  Next, for each of the up-chirp period and the down-chirp period, the sum of the frequency power spectrum of the Rx1 beat signal and the frequency power spectrum of the Rx2 beat signal is calculated and used as a detection signal. Thus, the detection signal in the FMCW radar apparatus according to the second embodiment is generated as a frequency domain signal. Also in the second embodiment, one sample of the detection signal is defined as one bin, and one bin corresponds to a frequency of 1 / T [Hz].

  In the second embodiment, the sum of the frequency power spectrum of the beat signal of Rx1 and the frequency power spectrum of the beat signal of Rx2 is defined as a detection signal. However, a plurality of transmission / reception antennas can be used so that a known digital beamforming method can be applied. May be arranged, the digital signal forming process may be performed by the detection signal generation unit, and the frequency power spectrum after the digital beam forming may be defined as the detection signal.

  The peak detection unit 207 has a maximum amplitude component larger than the preset threshold value for peak detection from the detection signal generated by the detection signal generation unit 206 for each of the up-chirp period and the down-chirp period. Peak detection is performed by extracting the signal. Other methods may be used for the peak detection. For example, as in the known CFAR (Constant False Alarm Rate) method, the threshold for peak detection becomes variable according to the input signal from the statistical properties of the input signal. You may set as follows. Also, since reflected waves from the ground may be received, in such cases, the intensity of reflection from the ground is investigated in advance at the design stage, and the peak is set so as not to detect ground reflection. A threshold value for detection may be set. The lower limit of the number of detected peaks is 0 (in the case where no peak is detected), and the upper limit of the number of peaks is determined by the CPU and memory restrictions of the FMCW radar device 20. As a result, zero or more peaks are detected for each of the up-chirp period and the down-chirp period.

  The specific environment determination unit 208 has a number of peaks in a preset bin number range out of the peaks detected by the peak detection unit 207 for each of the up chirp period and the down chirp period, and exceeds a predetermined threshold value, and If the variation of all bin numbers existing in the preset bin number range is larger than the variation threshold TH01, the specific environment flag is turned on, and otherwise the specific environment flag is turned off. The bin number variation index is an index representing the spread of the peak, such as the distribution range, variance, and standard deviation of the minimum value to the maximum value of the bin number. The up-chirp period and the down-chirp period may be processed separately, for example, the number of peaks in the preset bin number range among the peaks detected in the up-chirp period exceeds a predetermined threshold value, and When the variation of all bin numbers existing in the set bin number range is larger than the variation threshold TH01, the specific environment flag may be turned on, or the preset bin number range of the peaks detected in the down chirp period may be set. When the number of peaks exceeds a predetermined threshold value and the variation of all bin numbers existing in the preset bin number range is larger than the variation threshold value TH01, the specific environment flag may be turned on. The specific environment flag is turned on only when the conditions are met in both the up chirp period and the down chirp period. Good. Also, due to environmental factors such as hardware characteristics and own vehicle speed, the peak of the up-chirp period and the down-chirp period differs, so the variation threshold TH01 uses different values for the up-chirp period and the down-chirp period. You may do it.

  The operation of the specific environment determination unit 208 will be described by taking a specific environment when the ultrasonic sensor device 10 of FIG. 4 is replaced with the FMCW radar device 20 as an example. In other words, a scene is assumed in which a moving body on which the FMCW radar apparatus 20 is mounted passes in an environment where the ground 1, the ceiling 2, and the beam 3 exist. FIG. 10 shows an example of a detection signal in the down chirp period in the specific environment of FIG. As shown in FIG. 10, in addition to reflection from the ground, in the FMCW radar apparatus, beam peaks appear discretely in the detection signal. That is, the detection signal is obtained as a signal for specifying the peak position in the frequency domain.

  For reflected waves from the ground, the range of bin numbers that appear to some extent is limited, and usually the reflection is weaker than the peak when the preceding vehicle is detected, so the peak detection threshold is adjusted as described above By doing so, it is possible to adjust so as not to detect reflection from the ground. On the other hand, the peak of a structure such as a beam changes depending on the structure of the structure such as the height and length of the ceiling, so the position where the peak appears cannot be predicted, and if the threshold for peak detection is simply raised, If it is not a specific environment, there is a risk that the peak of the preceding vehicle cannot be detected.

  As a countermeasure against this, in the present invention, it is determined whether or not it is under a specific environment. In a specific environment, a peak is detected over a wide range as shown in FIG. On the other hand, in the case of a preceding vehicle, as in FIG. 6 of the ultrasonic sensor device, there is a tendency for peaks to appear to some extent due to the unevenness of the vehicle shape. In the present invention, using this specific environment and the tendency of the appearance of peaks of vehicles, etc., when the bin number variation of all peaks existing in the preset bin number range is larger than the variation threshold, Judge that there is.

  As another determination method of the specific environment determination unit 208, the number of peaks in a preset bin number range among peaks detected by the peak detection unit 207 exceeds a preset threshold value, and the Variations in all bin numbers existing in the set bin number range are larger than the bin number variation threshold TH01, and amplitude variations in all peaks existing in the preset bin number range are amplitude variation thresholds. When all three conditions of being smaller than TH02 are satisfied, the specific environment flag is turned on (determined as a specific environment), and otherwise, the specific environment flag is turned off (determined as not being a specific environment) The method may be used.

  This is a method for determining that the environment is not a specific environment when a peak due to multiple reflection exists. When there is multiple reflection, a peak appears at the bin number corresponding to a relative distance that is an integral multiple of the relative distance of the true object. In the case of multiple reflection, the reflection is repeated many times between the own vehicle and the object, and therefore the amplitude of the peak of the smallest bin number is usually the largest, and the amplitude becomes smaller as the distance increases. On the other hand, since all peaks derived from the specific environment are directly received by the FMCW radar apparatus, the variation in amplitude is smaller than that in the case of multiple reflection. In this processing, it is determined whether or not the environment is a specific environment using the variation in amplitude.

  Further, as a condition for determining that the environment is a specific environment, the determination may be made by observing for a certain long period of time instead of determining with a single measurement cycle. That is, it is determined whether or not a specific environment is set for each transmission wave that is repeatedly transmitted, and the specific environment flag is turned on when it is determined that the specific environment is greater than or equal to a preset number of times between preset repetition counts. . As a result, the peak derived from the specific environment does not exceed the peak detection threshold due to instantaneous amplitude fluctuations, etc., and if only the determination result of a single measurement period is used, the specific environment is not determined to be a specific environment Even in such a case, by observing for a long period of time and determining whether or not it is a specific environment, it is possible to suppress such erroneous determination of whether or not it is a specific environment. it can.

  For example, among the peaks detected by the peak detector 207, the number of peaks in a preset bin number range exceeds a preset threshold value, and all peaks existing in the preset bin number range When the state where the bin number variation is larger than the preset variation threshold TH01 occurs only B times (B ≦ A) in the preset measurement cycle A times, the specific environment flag is turned on, and the others In this case, a method of turning off the specific environment flag can be mentioned.

  As another method, the number of peaks in a preset bin number range among the peaks detected by the peak detection unit 207 exceeds a preset threshold value, and the preset bin number range The bin number variation of all the peaks existing in is larger than the preset variation threshold value TH01, and the amplitude variation of all the peaks existing in the preset bin number range is the amplitude variation threshold value TH02. The specific environment flag is turned on when a state satisfying all three conditions of being smaller is generated B times (B ≦ A) in the preset measurement cycle A times, otherwise the specific environment flag is turned on. The method of turning off is mentioned.

  The peak reduction unit 209 reduces and outputs the peak detected by the peak detection unit 207 when the specific environment flag is on, the amplitude of which is below the peak reduction threshold. The output of the peak detection unit 207 is referred to as a post-reduction peak. The peak reduction threshold value may be given fixedly or may be variable. When the specific environment flag is off, the peak reduction unit 209 outputs all peaks detected by the peak detection unit 207 as reduced peaks.

  Next, in the pairing unit 210 and the distance measuring unit 211, not only the distance of the object but also the relative speed from the peak after the reduction of the up-chirp period and the down-chirp period by the pairing unit and the angle measurement unit in the known FMCW method. The angle measurement value is calculated.

  Next, the tracking unit 212 performs a known tracking process in order to correlate the detection result of the object in time series, smoothing of various observation values, or when the object cannot be detected temporarily Perform extrapolation and interpolation.

  Next, the control target selection unit 213 selects only one control target as in the first embodiment, and the vehicle control unit 21 controls the vehicle application as in the first embodiment.

  In the above description, the detection signal is a signal sampled at the sampling interval 1 / T [Hz], and one sample is set as one bin, and the special environment is determined using the bin number. In the second embodiment, the detection signal is a signal obtained as a frequency domain signal, and the bin number corresponds to the frequency. The horizontal axis in FIG. 10 is also a bin number and a frequency (which can also be expressed as a position in the frequency domain). By replacing the bin number described so far in the second embodiment with the frequency and the position in the frequency domain, for example, the peak bin number can also be expressed as the peak position in the frequency domain.

  In the second embodiment, the FMCW radar device is taken as an example of the object detection device. However, the configuration of the specific environment determination unit 208 is basically the same as that of the first embodiment. That is, the object detection device according to the second embodiment radiates a transmission wave that is an electromagnetic wave, and based on the transmission / reception unit 220 that receives the reflected wave of the radiated transmission wave, the signal of the transmission wave, and the signal of the reflection wave In the object detection device that identifies the distance to the object that is the reflection point of the reflected wave, the detection signal generation unit 206 that generates a detection signal in which the position of the reflected wave from the reflection point peaks using the reflected wave signal. A peak detection unit 207 that detects a peak from the detection signal generated by the detection signal generation unit 206, and a number of peaks equal to or greater than a preset threshold at a position within a preset range by the peak detection unit 207. And a specific environment determination unit 208 that determines whether or not the specific environment is based on the variation in the peak of the detection signal.

  As a determination method of the specific environment determination unit 208, the number of peaks in a preset range among the peaks detected by the peak detection unit 207 exceeds a preset threshold, and the preset range If the variation in the positions of all the peaks existing at the position is larger than the variation threshold TH01, the specific environment flag is turned on. Otherwise, the specific environment flag is turned off. The peak position variation index is an index representing the spread of the peak, such as the range of the minimum to maximum peak position distribution in the frequency domain, the variance, and the standard deviation.

  As another determination method of the specific environment determination unit 208, the number of peaks in a preset range among peaks detected by the peak detection unit 207 exceeds a preset threshold value, and the Variations in the positions of all the peaks existing in the set range position are larger than the variation threshold TH01, and variations in the amplitudes of all the peaks existing in the predetermined range position are the amplitude variation threshold TH02. Alternatively, the specific environment flag may be turned on when all three conditions of being smaller are satisfied, and the specific environment flag may be turned off in other cases.

  With this configuration, it is possible to appropriately determine whether or not the object detection device is an FMCW radar device in a specific environment.

Embodiment 3 FIG.
FIG. 11 is a block diagram showing a configuration of an object detection device and peripheral devices according to Embodiment 3 of the present invention. Here, the ultrasonic sensor device 10 will be described as an example of the object detection device. In the first embodiment and the second embodiment, it is determined whether or not the environment is a specific environment based on the peak position of the detection signal detected by the peak detection unit. However, as shown in FIG. In 109, after the distance measurement value, that is, the distance to the reflection point is converted, in the specific environment determination unit 107, the variation in the distance to the reflection point specified in the predetermined distance range is larger than a predetermined threshold value. It may be determined that the environment is a specific environment. In this case, the bin number used as the reference for determining the specific environment in the specific environment determination unit 107 described in the first embodiment, that is, the peak position is replaced with the distance to the reflection point. Further, even after the distance measurement unit 109 converts it to the distance measurement value, the specific environment determination unit 107 allows the peak amplitude corresponding to the reflection point of the distance to accompany the distance measurement value. It is also possible to determine a specific environment based on variations in the number of times. As described above, even if it is determined whether the environment is a specific environment based on the distance measurement value after the distance measurement, the method is technically similar except that the processing order is different. Since it can be determined whether or not the environment is a specific environment before the distance measurement, the first and second embodiments are more effective in reducing the processing time. On the other hand, in the third embodiment, it is possible to determine whether or not the environment is a specific environment by using the distance measurement value normally calculated by the existing object detection device as it is, so that the configuration of the existing object detection device is hardly changed. It is excellent in that it is possible to determine whether or not the environment is a specific environment simply by adding this processing to the subsequent stage.

  FIG. 12 is a block diagram showing configurations of another object detection device and peripheral devices according to Embodiment 3 of the present invention. In FIG. 11, the ultrasonic sensor device 10 is shown as the object detection device. However, even in the FMCW radar device described in the second embodiment, the detection signal specified by the distance measuring unit 211 as shown in FIG. The specific environment determining unit 208 determines whether or not the specific environment is used, using information on the distance to the reflection point of each peak and the amplitude of each peak. If it is determined that the environment is a specific environment, the peak reduction unit 209 performs peak reduction processing, and the paired unit 210 and the distance measurement unit 211 use the reduced peaks to calculate the distance, relative speed, and angle measurement value of the object. calculate.

  In the first to third embodiments, the ultrasonic sensor device and the FMCW radar device have been described as examples of the object detection device. However, the present invention is not limited to this, and the ultrasonic wave of the ultrasonic sensor device is converted to a simple sound wave. The present invention can be similarly applied to replaced devices, laser radar devices, and other types of millimeter wave radar devices. That is, if it is a device that radiates a transmission wave that is a sound wave or an electromagnetic wave and includes a transmission / reception unit that receives a reflection wave of the radiated transmission wave, and identifies a distance to an object based on the signal of the reflection wave The present invention can be applied.

  The present invention is not limited to the configuration and operation of each embodiment described above, and the embodiments may be combined, or each embodiment may be appropriately modified or omitted within the scope of the present invention. Is possible. For example, in the first embodiment, the tracking unit 111 and the control target selection unit 112 are not limited to those provided in the ultrasonic sensor, but may be provided on the vehicle control unit 21 side, and the outside air temperature sensor 12 may be an ultrasonic wave. It may be provided in the sensor.

120, 220 Transmission / reception unit, 107, 208 Specific environment determination unit, 105, 206 Detection signal generation unit, 106, 207 Peak detection unit, 108, 209 Peak reduction unit, 109, 211 Distance measurement unit

Claims (9)

  1. An object that radiates a transmission wave that is a sound wave or an electromagnetic wave, and that includes a transmission / reception unit that receives a reflected wave from a reflection point of the radiated transmission wave, and that specifies a distance to an object based on the signal of the reflected wave In the detection device,
    Using the reflected wave signal, a detection signal generating unit that generates a detection signal at which the position of the reflected wave peaks, and a peak detection unit that detects a peak from the detection signal generated by the detection signal generating unit, When the number of peaks equal to or greater than a preset threshold value is detected at a position in a preset range by the peak detection unit, the variation in the peak position of the detection signal is larger than the preset threshold value. And a specific environment determination unit that determines that the structure having a large number of continuous reflection points is present when the variation in peak amplitude is smaller than a preset threshold value . An object detection apparatus characterized by that.
  2. The specific environment determination unit, when determining that the specific environment is determined, turns on and outputs a specific environment flag, and when determining that the specific environment is not a specific environment, the specific environment determination unit turns off and outputs the specific environment flag. object detection apparatus according to 1.
  3. The transmission / reception unit repeatedly radiates the transmission wave, and the specific environment determination unit determines whether or not it is a specific environment every time the transmission wave is radiated, and a preset number of repetitions of the transmission wave When it is determined that the specific environment is more than the preset number of times, the specific environment flag is turned on and output, and when the number of times determined to be the specific environment is less than the preset number of times, the specific environment flag The object detection apparatus according to claim 1 , wherein the output is output while being turned off.
  4. When the specific environment flag is on, the peak value of the detection signal is reduced and output, and when the specific environment flag is off, the peak reduction unit outputs the detection signal as it is, and the peak reduction unit object detection apparatus according to claim 2 or 3, characterized in that a distance measuring unit for specifying a distance to the object based on the signal output from.
  5. The transmission wave is a pulse transmission wave radiated as a pulse, and the detection signal generation unit generates the detection signal as a time domain signal and specifies the peak position as a time domain position. The object detection device according to any one of claims 1 to 4 .
  6. The transmission wave is an FM-CW wave that is a frequency-modulated electromagnetic wave, and the detection signal generation unit uses the reflected wave signal and the transmission wave signal to convert the detection signal into a frequency domain signal. It generated as object detection apparatus according to any one of claims 1 4, characterized in that to identify the position of the peak as the position in the frequency domain.
  7. An object that radiates a transmission wave that is a sound wave or an electromagnetic wave, and that includes a transmission / reception unit that receives a reflected wave from a reflection point of the radiated transmission wave, and that specifies a distance to an object based on the signal of the reflected wave In the detection device,
    Using the reflected wave signal, a detection signal generating unit that generates a detection signal at which the position of the reflected wave peaks, and a peak detection unit that detects a peak from the detection signal generated by the detection signal generating unit, A distance measuring unit that identifies the reflection point of the reflected wave based on the detected peak position of the detection signal and the distance to the reflection point, and a number equal to or greater than a threshold value set in advance in a predetermined range distance Variation of the distance to the reflection point is larger than a preset threshold value, and variation in peak amplitude of the detection signal corresponding to the reflection point is preset. when less than threshold, the object detection apparatus, characterized in that it and a specific environment judgment unit judges that the specific environment in which the structure having a large number of the reflection points successive exists.
  8. The transmission wave is a pulse transmission wave radiated as a pulse, and the detection signal generation unit generates the detection signal as a time domain signal and specifies the peak position as a time domain position. The object detection apparatus according to claim 7 .
  9. The transmission wave is a frequency-modulated electromagnetic wave, and the detection signal generation unit generates the detection signal as a frequency domain signal using the reflected wave signal and the transmission wave signal, and the peak The object detection apparatus according to claim 7 , wherein the position is specified as a frequency domain position.
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