JP6765069B2 - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
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- JP6765069B2 JP6765069B2 JP2016051359A JP2016051359A JP6765069B2 JP 6765069 B2 JP6765069 B2 JP 6765069B2 JP 2016051359 A JP2016051359 A JP 2016051359A JP 2016051359 A JP2016051359 A JP 2016051359A JP 6765069 B2 JP6765069 B2 JP 6765069B2
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- 238000001514 detection method Methods 0.000 title claims description 137
- 230000005540 biological transmission Effects 0.000 claims description 122
- 230000002159 abnormal effect Effects 0.000 claims description 26
- 230000005856 abnormality Effects 0.000 claims description 24
- 238000002604 ultrasonography Methods 0.000 claims 1
- 239000000758 substrate Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 3
- 229920003002 synthetic resin Polymers 0.000 description 3
- 239000000057 synthetic resin Substances 0.000 description 3
- 239000007769 metal material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000005534 acoustic noise Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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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
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/0207—Driving circuits
- B06B1/0215—Driving circuits for generating pulses, e.g. bursts of oscillations, envelopes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0607—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements
-
- 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
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- 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
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—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
- 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
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Description
2 物体
11 送信部
12 受信部
13 検知部
14 判定部
16 第2報知部(報知部)
T11,T12,T13,T14 検知区間
T21,T22,T23 判定区間
Th1 基準値
W2 出力波形
Claims (7)
- 機械的な振動を電気信号に変換する受信部が、送信部から間欠的に送信される複数の超音波に対する複数の反射波を受信するか否かに基づいて物体の有無を検知する検知部と、
前記複数の超音波のそれぞれの送信期間の所定の時点から所定時間内に開始された判定区間のそれぞれにて前記電気信号のそれぞれが検知されない場合には前記送信部が正常と判定し、前記判定区間のそれぞれにて検知された前記電気信号のそれぞれの波形の相関値が規定値以上の場合には前記送信部が異常と判定し、前記相関値が前記規定値未満の場合には前記送信部が正常と判定する判定部とを備えていることを特徴とする物体検知装置。 - 前記判定部の判定結果に基づいて前記送信部の異常を報知する報知部をさらに備えていることを特徴とする請求項1記載の物体検知装置。
- 前記判定部は、前記判定区間のそれぞれにて前記電気信号のそれぞれの振幅と基準値とを比較し、前記比較した判定区間の全体に亘って前記振幅が前記基準値以上の場合には、前記相関値が前記規定値以上と判定することを特徴とする請求項1または2記載の物体検知装置。
- 前記判定部は、前記送信部が異常と判定した場合には、前記送信部に新たな超音波の送信を停止させることを特徴とする請求項1〜3のいずれか1項に記載の物体検知装置。
- 前記判定部は、前記送信部が異常と判定した後の判定区間のうち隣り合う2つの判定区間における前記相関値が前記規定値未満の場合、前記送信部が異常との判定を解除することを特徴とする請求項1〜3のいずれか1項に記載の物体検知装置。
- 前記検知部は、前記判定部が前記送信部の判定に用いた判定区間の数よりも多数の検知区間のそれぞれで連続して前記複数の反射波のそれぞれを受信した場合に前記物体が有ると判断することを特徴とする請求項1〜5のいずれか1項に記載の物体検知装置。
- 前記送信期間の前記所定の時点は、前記送信部が前記複数の超音波のそれぞれの送信を終了する時点から規定時間経過した時点、又は、前記送信部が前記複数の超音波のそれぞれの送信を開始する時点であることを特徴とする請求項1〜6のいずれか1項に記載の物体検知装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016051359A JP6765069B2 (ja) | 2016-03-15 | 2016-03-15 | 物体検知装置 |
CN201780017813.3A CN108780144B (zh) | 2016-03-15 | 2017-02-15 | 物体探测装置 |
DE112017001320.8T DE112017001320B4 (de) | 2016-03-15 | 2017-02-15 | Objekterfassungsvorrichtung |
US16/082,319 US10365368B2 (en) | 2016-03-15 | 2017-02-15 | Object detecting device |
PCT/JP2017/005494 WO2017159187A1 (ja) | 2016-03-15 | 2017-02-15 | 物体検知装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016051359A JP6765069B2 (ja) | 2016-03-15 | 2016-03-15 | 物体検知装置 |
Publications (2)
Publication Number | Publication Date |
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JP2017166920A JP2017166920A (ja) | 2017-09-21 |
JP6765069B2 true JP6765069B2 (ja) | 2020-10-07 |
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JP2016051359A Active JP6765069B2 (ja) | 2016-03-15 | 2016-03-15 | 物体検知装置 |
Country Status (5)
Country | Link |
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US (1) | US10365368B2 (ja) |
JP (1) | JP6765069B2 (ja) |
CN (1) | CN108780144B (ja) |
DE (1) | DE112017001320B4 (ja) |
WO (1) | WO2017159187A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3617744A4 (en) * | 2017-05-16 | 2020-05-06 | Mitsubishi Electric Corporation | ULTRASONIC SENSOR DEVICE AND OBSTACLE DETECTION DEVICE |
JP6784236B2 (ja) * | 2017-07-10 | 2020-11-11 | 株式会社Soken | 超音波式の物体検出装置 |
JP6879169B2 (ja) * | 2017-11-02 | 2021-06-02 | 株式会社デンソー | 超音波センサ |
US10782407B2 (en) * | 2018-05-11 | 2020-09-22 | Aisin Seiki Kabushiki Kaisha | Object detection device and parking assistance apparatus |
US11156714B2 (en) * | 2020-02-13 | 2021-10-26 | Tymphany Acoustic Technology (Huizhou) Co., Ltd. | Object movement detection based on ultrasonic sensor data analysis |
JP2023140912A (ja) * | 2022-03-23 | 2023-10-05 | パナソニックIpマネジメント株式会社 | 測距装置、測距方法及びプログラム |
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JP2903872B2 (ja) * | 1992-06-24 | 1999-06-14 | 株式会社デンソー | 障害物検出装置 |
JP4192672B2 (ja) | 2003-05-16 | 2008-12-10 | 株式会社日本自動車部品総合研究所 | 超音波センサ |
DE102005013589A1 (de) * | 2005-03-24 | 2006-09-28 | Robert Bosch Gmbh | Verfahren zur Funktionsüberprüfung eines Ultraschallsensors |
DE112008003613B4 (de) * | 2008-01-16 | 2015-05-13 | Mitsubishi Electric Corp. | Bewegthindernis-Entscheidungsvorrichtung |
JP5511840B2 (ja) * | 2009-11-17 | 2014-06-04 | 三菱電機株式会社 | 障害物検知装置 |
JP5322037B2 (ja) * | 2010-03-31 | 2013-10-23 | 株式会社デンソー | 超音波センサを用いた車両用物体検出装置 |
CN102906593B (zh) * | 2010-05-19 | 2015-06-17 | 三菱电机株式会社 | 车辆后方监视装置 |
US20130283916A1 (en) * | 2012-04-26 | 2013-10-31 | Stephen Hersey | Self-testing functional characteristics of ultrasonic sensors |
KR102020630B1 (ko) * | 2012-07-19 | 2019-11-04 | 현대모비스 주식회사 | 차량용 근접 장애물 감지 장치 및 그 방법 |
JP5798150B2 (ja) * | 2013-05-30 | 2015-10-21 | 本田技研工業株式会社 | 物体検出装置 |
JP6238156B2 (ja) * | 2013-08-23 | 2017-11-29 | パナソニックIpマネジメント株式会社 | 車両用物体検知装置 |
DE102014107311A1 (de) * | 2014-05-23 | 2015-11-26 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Ultraschallsensors eines Kraftfahrzeugs, Ultraschallsensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
JP6336886B2 (ja) * | 2014-10-22 | 2018-06-06 | 株式会社デンソー | 物体検知装置 |
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JP6289772B2 (ja) * | 2015-11-30 | 2018-03-07 | オリンパス株式会社 | 超音波観測装置、超音波観測装置の作動方法および超音波観測装置の作動プログラム |
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2016
- 2016-03-15 JP JP2016051359A patent/JP6765069B2/ja active Active
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2017
- 2017-02-15 CN CN201780017813.3A patent/CN108780144B/zh active Active
- 2017-02-15 US US16/082,319 patent/US10365368B2/en active Active
- 2017-02-15 WO PCT/JP2017/005494 patent/WO2017159187A1/ja active Application Filing
- 2017-02-15 DE DE112017001320.8T patent/DE112017001320B4/de active Active
Also Published As
Publication number | Publication date |
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CN108780144A (zh) | 2018-11-09 |
JP2017166920A (ja) | 2017-09-21 |
DE112017001320T5 (de) | 2018-12-06 |
US20190079187A1 (en) | 2019-03-14 |
CN108780144B (zh) | 2022-10-11 |
DE112017001320B4 (de) | 2022-02-24 |
US10365368B2 (en) | 2019-07-30 |
WO2017159187A1 (ja) | 2017-09-21 |
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