JP6892597B2 - Object detection device - Google Patents

Description

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

The object detection device described in Patent Document 1 includes a plurality of ultrasonic sensors having different vehicle mounting heights. Multiple ultrasonic sensors are installed so that the difference between the vehicle-mounted height of the upper ultrasonic sensor and the vehicle-mounted height of the lower ultrasonic sensor is twice the height of the low step that you want to avoid unnecessary detection. Has been done. This object detection device detects an object so that the upper ultrasonic sensor and the lower ultrasonic sensor share the transmission and reception of ultrasonic waves. Specifically, the object is unimpaired provided that the reflected wave of the ultrasonic object transmitted by the wave sensor is not detected by the wave receiving sensor located above or below the wave sensor. Judged as a step as an object.

Japanese Unexamined Patent Publication No. 2014-215283

In this type of object detection device, the front and rear ends of the vehicle, that is, the front bumper and the rear bumper, are usually equipped with three or more, typically four, ultrasonic sensors, respectively. Therefore, even in the object detection device described in Patent Document 1, when a pair of ultrasonic sensors adjacent to each other is selected from three or more ultrasonic sensors, a combination having the same vehicle mounting height may occur.

When an object is detected by using a pair of ultrasonic sensors having the same vehicle mounting height, a low step that is a non-obstacle can be erroneously detected as an obstacle. In addition, erroneous detection due to the direct arrival wave from the wave transmitting sensor to the receiving sensor may occur. The direct arrival wave is an exploration wave that is transmitted from the transmission sensor and then directly received by the reception sensor without being reflected by an object.

Further, from the viewpoint of object detection performance and vehicle design, it is preferable that the plurality of ultrasonic sensors are arranged symmetrically. In this regard, it is difficult to make the vehicle mounting heights different for a pair of four ultrasonic sensors that are symmetrically located near the center in the vehicle width direction with the vehicle center line in between. Is.

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

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

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

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

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

It is a top view which shows the schematic structure of the vehicle which mounted the object detection device which concerns on embodiment. It is a conceptual diagram which shows the directivity of the distance measuring sensor in the object detection device shown in FIG. It is a conceptual diagram which shows the directivity of the distance measuring sensor in the comparative example. It is a flowchart which shows one operation example of the object detection apparatus shown in FIG. It is a flowchart which shows the other operation example of the object detection apparatus shown in FIG. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification. It is a conceptual diagram which shows the transmission / reception state of the distance measurement sensor in the object detection device of a modification.

(Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that various modifications applicable to the embodiment may be inserted in the middle of a series of explanations relating to the embodiment, which may hinder the understanding of the embodiment. It will be described together after the explanation.

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

The "front", "rear", "left", "right", "top", and "bottom" of the vehicle 10 are defined as indicated by the arrows in the figure. That is, the vehicle overall length direction is synonymous with the front-rear direction. Further, the vehicle width direction is synonymous with the left-right direction. Further, the vehicle height direction is synonymous with the vertical direction. As will be described later, the vehicle height direction, that is, the vertical direction may not be parallel to the gravitational action direction depending on the mounting conditions of the vehicle 10.

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

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

The ranging sensor 21 transmits the exploration wave toward the outside of the vehicle 10 and receives the received wave including the reflected wave of the exploration wave by the object B to output a signal corresponding to the distance to the object B. It is provided to do so. Specifically, in the present embodiment, the distance measuring sensor 21 is a so-called ultrasonic sensor, which is configured to transmit an exploration wave which is an ultrasonic wave and to be able to receive a received wave including an ultrasonic wave. ..

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

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

Must be one of the left corner front sonar 211, right corner front sonar 212, left center front sonar 213, right center front sonar 214, left corner rear sonar 215, right corner rear sonar 216, left center rear sonar 217, and right center rear sonar 218. When the above is not specified, the singular expression "distance measuring sensor 21" or the expression "plural distance measuring sensor 21" is used below.

One ranging sensor 21 is referred to as a "first ranging sensor", and another ranging sensor 21 is referred to as a "second ranging sensor", and is referred to as a "direct wave" or an "indirect wave". , And "direct arrival wave" are defined as follows. The received wave received by the first ranging sensor and caused by the reflected wave of the exploration wave transmitted from the first ranging sensor by the object B is referred to as a "direct wave". On the other hand, the received wave received by the second ranging sensor and caused by the reflected wave of the exploration wave transmitted from the first ranging sensor by the object B is referred to as an "indirect wave". Further, when the exploration wave transmitted from the first ranging sensor is directly received by the second ranging sensor without being reflected by the object B, it is transmitted as an exploration wave from the first ranging sensor. Moreover, the ultrasonic wave received as a received wave by the second ranging sensor is referred to as a "direct arrival wave".

FIG. 1 shows a direct wave region R1 and an indirect wave region R2 in two ranging sensors 21 adjacent to each other in the vehicle width direction, using the left center front sonar 213 and the right center front sonar 214 as examples. The direct wave region R1 is a region in which the direct wave caused by the object B can be received when the object B exists. The indirect wave region R2 is an region in which the indirect wave caused by the object B can be received when the object B exists. Specifically, the indirect wave region R2 partially expands or contracts the overlapping region in which the direct wave regions R1 of the two ranging sensors 21 adjacent to each other overlap each other according to the reception characteristics of the indirect wave. Is the area formed by.

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

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

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

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

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

The left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 are configured as eccentric sensors. The same applies to the left corner rear sonar 215, the right corner rear sonar 216, the left center rear sonar 217, and the right center rear sonar 218 shown in FIG. That is, in the present embodiment, each of the plurality of ranging sensors 21 has the maximum directional angle in the directional major axis direction orthogonal to the directional axis DA, and is directional perpendicular to the directional axis DA and the directional major axis direction. It is configured to have the minimum directional angle in the minor axis direction.

In FIG. 2, the directivity of transmission and reception in the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 is shown by an elliptical two-dot chain line. A straight line passing through the directional axis DA and parallel to the directional major axis direction is hereinafter referred to as "directional major axis DL". A straight line passing through the directional axis DA and parallel to the directional minor axis direction is hereinafter referred to as "directional minor axis DS".

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

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

Further, in the present embodiment, the left center front sonar 213 and the right center front sonar 214 are provided so that their directional major axes intersect (that is, are non-parallel) with each other. Specifically, the left center front sonar 213 is provided so that the axis rotation angle is + θ. The right center front sonar 214 is provided so that the axis rotation angle is −θ. The "axis rotation angle" means that when the distance measuring sensor 21 is viewed from the front to the rear of the vehicle 10 with a line of sight parallel to the directional axis DA, the directional long axis direction is the vehicle width direction. It is the angle rotated clockwise from the state parallel to. That is, in the present embodiment, the left center front sonar 213 and the right center front sonar 214 are provided so that the difference in shaft rotation angles is 30 degrees or more.

Further, in the left center front sonar 213 and the right center front sonar 214, the directional long axis DL of the left center front sonar 213 and the directional long axis DL of the right center front sonar 214 are arranged in a plane orthogonal to the vehicle length direction. The intersecting position is provided so as to be higher than the vehicle mounting height of the left center front sonar 213 and the right center front sonar 214. That is, the left center front sonar 213 and the right center front sonar 214 are provided so that the clearance between the range where the directivity overlaps with each other and the ground (that is, the road surface) is large. Further, the left center front sonar 213 and the right center front sonar 214 are provided so that the range in which the directivity overlaps with each other does not overlap with the left center front sonar 213 and the right center front sonar 214.

In the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214, one of the two adjacent to each other in the vehicle width direction is the "first ranging sensor" and the other is the "first distance measuring sensor". In the case of "second ranging sensor", the second ranging sensor is not located on the directional long axis DL of the first ranging sensor in the plane orthogonal to the total length direction of the vehicle, and the second ranging sensor The first ranging sensor is arranged so as not to be located on the directional long axis DL in. Specifically, the left-angle front sonar 211 and the left center front sonar 213, which are adjacent to each other in the vehicle width direction, are the directional major axis DL in the left-angle front sonar 211 and the left in a plane orthogonal to the vehicle length direction. The directional long axis DL in the central front sonar 213 is provided so as not to be located on the same straight line.

Similarly, the right corner front sonar 212 and the right center front sonar 214 that are adjacent to each other in the vehicle width direction are the directional major axis DL in the right corner front sonar 212 and the right center front sonar 214 in a plane orthogonal to the vehicle length direction. The directional major axis DL in the above is provided so as not to be located on the same straight line. Further, the left center front sonar 213 and the right center front sonar 214 that are adjacent to each other in the vehicle width direction are the directional major axis DL in the left center front sonar 213 and the right center front sonar in a plane orthogonal to the vehicle length direction. The directional major axis DL in 214 is provided so as not to be located on the same straight line.

In the present embodiment, each of the plurality of distance measuring sensors 21 has the same device configuration. Specifically, each of the plurality of ranging sensors 21 is structurally configured to have eccentricity. Such eccentricity sensors are known or well known. For example, see Japanese Patent Application Laid-Open No. 10-332817, Japanese Patent Application Laid-Open No. 2010-154059, and the like. Therefore, in the present specification, the details of the configuration of such a unidirectional sensor will be omitted. The mounting postures of the front bumper 12 and the rear bumper 13 are adjusted so that each of the plurality of distance measuring sensors 21 has a predetermined axis rotation angle.

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

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

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

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

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

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

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

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

The control unit 28 is arranged inside the vehicle body 11. The control unit 28 controls the transmission / reception operation of each of the plurality of distance measurement sensors 21, and receives from each of the plurality of distance measurement sensors 21, the vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, the yaw rate sensor 25, and the like. It is configured to perform an object detection operation based on the signal and information generated.

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

The control unit 28 is configured so that various control operations can be realized by the CPU reading a program from the ROM or the non-volatile RAM and executing the program. This program contains the corresponding routines described below. Further, various data used when executing the program are stored in advance in the ROM or the non-volatile RAM. Various types of data include, for example, initial values, look-up tables, maps, and the like.

The control unit 28 acquires the vehicle driving state based on the outputs of the vehicle speed sensor 22, the shift position sensor 23, the steering angle sensor 24, and the yaw rate sensor 25. The vehicle driving state is the driving state of the vehicle 10. The driving state can also be referred to as a "driving state". The driving state also includes a stopped state, that is, a state in which the vehicle speed is 0 km / h.

In the present embodiment, the control unit 28 selects two ranging sensors 21 adjacent to each other in the vehicle width direction, and operates one as a "wave transmission / reception sensor" and the other as a "wave reception sensor". It has become. The "wave transmission / reception sensor" corresponds to the "first distance measurement sensor", and the "wave reception sensor" corresponds to the "second distance measurement sensor". Further, the control unit 28 detects the object B based on the direct wave which is the received wave in the transmitting / receiving wave sensor and the indirect wave which is the received wave in the receiving wave sensor.

Specifically, in the control unit 28, when the reception state of the received wave in the transmission / reception sensor and the reception sensor satisfies the object detection determination condition, the object B corresponding to the reception wave in the transmission / reception sensor is an “obstacle”. It is designed to determine that there is. On the other hand, the control unit 28 receives the reception wave in the transmission / reception sensor when the reception state of the received wave in the transmission / reception sensor satisfies the object detection determination condition and the reception state of the reception wave in the reception wave sensor does not satisfy the object detection determination condition. The object B corresponding to the wave is determined to be an "non-obstacle".

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

The “obstacle” refers to an object B existing around the vehicle 10, specifically in the vicinity of the vehicle 10, which requires a notification operation by the display unit 26 and / or the alarm sound generation unit 27. .. That is, it can be said that the "obstacle" is an object that may hinder the running of the vehicle 10. "Obstacles" include, for example, steps, protrusions, and objects left on the road at a height (for example, 15 cm or more) that the vehicle 10 cannot overcome, as well as walls, pillars, hedges, other vehicles, and walking. Persons, pedestrians' belongings (for example, carry bags, etc.), etc. are included.

On the other hand, the "non-obstacle" is an object B existing around the vehicle 10, specifically in the vicinity of the vehicle 10, and the notification operation by the display unit 26 and / or the alarm sound generation unit 27 is not required. Say something. That is, it can be said that the "non-obstacle" is an object that does not interfere with the running of the vehicle 10. "Non-obstacles" include, for example, steps, protrusions, and roadside objects that are high enough for the vehicle 10 to get over (eg, less than 15 cm). These are hereinafter abbreviated as "low steps, etc." In addition, a target having a low protrusion height from the road surface is hereinafter abbreviated as "low target".

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

(Outline of operation)
The outline of the operation of the object detection device 20 will be described below.

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

The control unit 28 determines the arrival of the detection determination time point at predetermined time intervals from the time when the operating condition of the object detection device 20 is satisfied. The operating conditions of the object detection device 20 are hereinafter simply referred to as "operating conditions". The operating conditions are related to the driving condition of the vehicle. Specifically, for example, the operating conditions include shift conditions, vehicle speed conditions, and the like. The shift condition includes, for example, that the shift position is outside the "P" range.

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

(effect)
Hereinafter, the effect of the object detection device 20 of the present embodiment will be described with reference to FIGS. 1 to 3.

FIG. 3 shows the directivity of the left corner front sonar SS1, the right corner front sonar SS2, the left center front sonar SS3, and the right center front sonar SS4 in the apparatus configuration of the comparative example. The left corner front sonar SS1 is on the left corner front sonar 211, the right corner front sonar SS2 is on the right corner front sonar 212, the left center front sonar SS3 is on the left center front sonar 213, and the right center front sonar SS4 is on the right center front sonar 214. Corresponds to each.

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

In such a configuration, one of the left corner front sonar SS1 and the left center front sonar SS3 is operated as a wave transmitting / receiving sensor and the other is operated as a wave receiving sensor, so that the target has a protrusion height lower than the vehicle mounting height. The problem that a certain low step or the like is detected as an obstacle is avoided. Specifically, in the device configuration of the comparative example, the target corresponding to the reflected wave is provided on the condition that the reflected wave by the target of the exploration wave transmitted by the wave sensor is not detected by the receiving sensor. Judged as a low step as a non-obstacle. Refer to Patent Document 1 for details of the operation and effect of the device configuration of the comparative example.

However, the right corner front sonar SS2 and the left center front sonar SS3, which are adjacent to each other near the center in the vehicle width direction, cannot be installed so as to have different vehicle mounting heights from the viewpoint of vehicle design. Therefore, in the device configuration of the comparative example, when the right corner front sonar SS2 and the left center front sonar SS3 are selected and the object detection operation is executed, a low step or the like can be detected as an obstacle.

In this respect, also in the configuration of the present embodiment, the left center front sonar 213 and the right center front sonar 214, which are symmetrically located near the center in the vehicle width direction and are adjacent to each other with the vehicle center line in between, are mounted on the vehicle. The height is the same. However, as shown in FIG. 2, the left center front sonar 213 and the right center front sonar 214 have a large clearance between the range where their directivities overlap and the ground (that is, the road surface). It is installed in a rotating shaft state.

In such a configuration, when the left center front sonar 213 and the right center front sonar 214 are selected and the object detection operation is executed, the detection sensitivity for a low target is lowered. That is, a low step or the like, which is a target whose protrusion height is lower than the vehicle mounting height of the left center front sonar 213 and the right center front sonar 214, is less likely to be detected as an obstacle.

Further, in the configuration of the present embodiment, the left corner front sonar 211 and the left center front sonar 213 having different vehicle mounting heights intersect (that is, are non-parallel) with each other's directional major axes DL. As a result, the detection sensitivity for low targets is lower than that of the device configuration of the comparative example. The same applies to the right corner front sonar 212 and the right center front sonar 214.

As described above, in the configuration of the present embodiment, the detection sensitivity for a low target is lower than that of the device configuration of the comparative example. Therefore, according to the present embodiment, it can be satisfactorily avoided that a low step or the like which is a non-obstacle is erroneously detected as an obstacle.

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

In such a configuration, the left center front sonar SS3 and the right center front sonar SS4 have a range in which their directivity overlaps with the left center front sonar SS3 and the right center front sonar SS4. Therefore, when one of the left center front sonar SS3 and the right center front sonar SS4 is operated as a transmission / reception sensor and the other as a reception sensor, the incoming wave is directly mixed in the indirect wave. As a result, erroneous detection due to the direct arrival wave may occur. In order to avoid such false detection, for example, it is necessary to perform a process of masking the reception of the received wave for a predetermined time from the transmission start time of the probe wave in the transmission / reception wave sensor.

On the other hand, in the configuration of the present embodiment, the left center front sonar 213 and the right center front sonar 214 are installed in an axial rotation state so that the other is not located on one directional long axis DL. In such an installation state, the left center front sonar 213 and the right center front sonar 214 do not overlap with the left center front sonar 213 and the right center front sonar 214 in the range in which the directivity overlaps with each other. As a result, when one of the left center front sonar SS3 and the right center front sonar SS4 is operated as a transmission / reception sensor and the other as a reception sensor, the mixing of the direct arrival wave into the indirect wave is suppressed. .. That is, in the present embodiment, special processing required in the comparative example, such as masking the reception of the received wave for a predetermined time, becomes unnecessary. Therefore, according to the present embodiment, good obstacle detection can be performed by simple transmission / reception control.

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

(Specific operation example)
Hereinafter, a specific operation example according to the configuration of the present embodiment will be described with reference to a flowchart. In the following description in the drawings and the specification, "step" is simply abbreviated as "S". Further, in the following operation example, for simplification of the description, as shown in FIG. 1, a case where an object B existing in front of the vehicle 10 is detected while the vehicle 10 is moving forward will be described.

(First operation example)
The obstacle detection routine shown in FIG. 4 is started for the first time when the operating condition of the object detection device 20 is switched from unsatisfied to satisfied, and then at the time of detection determination until the operating condition of the object detection device 20 is not satisfied. Is started repeatedly every time.

Specifically, when the time of this detection determination arrives, first, the left corner front sonar 211 and the left center front sonar 213 are selected, and the routine is executed. Further, the left center front sonar 213 and the right center front sonar 214 are selected, and the routine is executed. Further, the right center front sonar 214 and the right corner front sonar 212 are selected and the routine is executed. In this way, each time the detection determination time arrives, two adjacent distance measuring sensors 21 are sequentially selected, and the routine is executed for each selected combination.

When the obstacle detection routine shown in FIG. 4 is activated, first, in S410, the CPU first measures two of the plurality of distance measurement sensors 21 that are adjacent to each other in the vehicle width direction. Select as sensor and second ranging sensor. The first range-finding sensor is a wave-transmitting / receiving sensor, and the second range-finding sensor is a wave-receiving sensor.

For example, when the left corner front sonar 211 and the left center front sonar 213 are selected, the left center front sonar 213 may be the first ranging sensor and the left corner front sonar 211 may be the second ranging sensor. When the right corner front sonar 212 and the right center front sonar 214 are selected, the right center front sonar 214 may be the first ranging sensor and the right corner front sonar 212 may be the second ranging sensor. When the left center front sonar 213 and the right center front sonar 214 are selected, the left center front sonar 213 may be the first ranging sensor and the right center front sonar 214 may be the second ranging sensor.

Next, in S420, the CPU controls transmission / reception in the selected first distance measuring sensor and second distance measuring sensor. Specifically, in S420, the CPU causes the first ranging sensor to transmit the exploration wave and receive the received wave, and the second ranging sensor to execute the reception of the received wave. At this time, as described above, it is not necessary for the second ranging sensor to mask the reception of the received wave for a predetermined time from the time when the exploration wave is transmitted.

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

If the reception state of the received wave in the first ranging sensor does not satisfy the object detection determination condition (that is, S440 = NO), there is a possibility that the object B does not exist in front of the first ranging sensor and the second ranging sensor. high. Therefore, in this case, the CPU skips all the processes after S450 and temporarily ends this routine.

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

As a premise that the processing of S450 is executed, the reception state of the received wave in the first ranging sensor satisfies the object detection determination condition (that is, S440 = YES). Therefore, when the reception state of the received wave in the second ranging sensor satisfies the object detection determination condition (that is, S450 = YES), the direct wave is received by the first ranging sensor and the second ranging sensor. It means that the indirect wave is received at.

As described above, in the configuration of the present embodiment, the sensitivity of the indirect wave due to the low target is lowered. Nevertheless, if the reception state of the indirect wave satisfies the object detection determination condition, the object B having a height sufficient to receive the indirect wave may exist in front of the first distance measuring sensor and the second distance measuring sensor. Highly sexual. Therefore, when the reception state of the received wave in the second ranging sensor satisfies the object detection determination condition (that is, S450 = YES), the direct wave received by the first ranging sensor and received by the second ranging sensor. The object B corresponding to the generated indirect wave is likely to be an obstacle. Therefore, in this case, the CPU temporarily terminates this routine after proceeding with the processing to S460. In S460, the CPU determines that the object B is an obstacle.

On the other hand, when the reception state of the received wave in the second ranging sensor does not satisfy the object detection determination condition (that is, S450 = NO), the first ranging sensor directly receives the wave, while the second ranging sensor It means that the indirect wave is not received at. In this case, the CPU temporarily terminates this routine after proceeding with the process to S470. At S470, the CPU determines that the object B is a non-obstacle.

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

In this operation example, the control unit 28 controls the transmission / reception operation by using one of the two selected ranging sensors 21 adjacent to each other as the transmission / reception sensor and the other as the wave reception sensor. Such a transmission / reception operation corresponds to the "first transmission / reception operation". Next, the control unit 28 controls the transmission / reception operation by using one of the two selected ranging sensors 21 adjacent to each other as the wave receiving sensor and the other as the transmitting / receiving sensor. Such a transmission / reception operation corresponds to the "second transmission / reception operation".

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

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

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

Subsequently, in S530, the CPU acquires reception information from the two selected ranging sensors 21. After that, the CPU advances the process to S540. In S540, the CPU determines whether or not the reception state of the direct wave in the two selected ranging sensors 21 satisfies the object detection determination condition.

When the reception state of the direct wave by the two selected ranging sensors 21 does not satisfy the object detection determination condition (that is, S540 = NO), the object B may not exist in front of the two selected ranging sensors 21. Highly sexual. Therefore, in this case, the CPU skips all the processes after S450 and temporarily ends this routine.

When the reception state of the direct wave by the two selected ranging sensors 21 satisfies the object detection determination condition (that is, S540 = YES), there is a possibility that the object B exists in front of the two selected ranging sensors 21. high. Therefore, in this case, the CPU advances the process to S550. In S550, the CPU determines whether or not the reception state of the indirect wave in the two selected ranging sensors 21 satisfies the object detection determination condition.

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

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

(Modification example)
The present invention is not limited to the above embodiment. Therefore, the above embodiment can be changed as appropriate. A typical modification will be described below.

In the following description of the modified example, the differences from the above-described embodiment will be mainly described. Further, in the above-described embodiment and the modified example, the same or equal parts are designated by the same reference numerals. Therefore, in the following description of the modified example, the description in the above embodiment may be appropriately incorporated with respect to the components having the same reference numerals as those in the above embodiment, unless there is a technical contradiction or a special additional explanation.

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

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

The control unit 28 may be electrically connected to the vehicle speed sensor 22 and the like via the vehicle-mounted communication network. The in-vehicle communication network is configured in accordance with in-vehicle LAN standards such as CAN (international registered trademark) and FlexRay (internationally registered trademark). CAN (Internationally Registered Trademark) is an abbreviation for Controller Area Network. LAN is an abbreviation for Local Area Network.

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

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

Hereinafter, some modified examples of the mounted state of the left corner front sonar 211, the right corner front sonar 212, the left center front sonar 213, and the right center front sonar 214 shown in FIG. 2 will be illustrated. Note that these modifications can be similarly applied to the left corner rear sonar 215, the right corner rear sonar 216, the left center rear sonar 217, and the right center rear sonar 218. That is, in the following modification, the left corner front sonar 211 is read as the left corner rear sonar 215, the right corner front sonar 212 is read as the right corner rear sonar 216, the left center front sonar 213 is read as the left center rear sonar 217, and the right center front sonar 214. Can be read as right center rear sonar 218.

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

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

As shown in FIG. 7, the shaft rotation angle of the left center front sonar 213 may be −θ, and the shaft rotation angle of the right center front sonar 214 may be + θ. That is, in the left center front sonar 213 and the right center front sonar 214, the directional long axis DL of the left center front sonar 213 and the directional long axis DL of the right center front sonar 214 are arranged in a plane orthogonal to the vehicle length direction. The intersecting position may be set to be lower than the vehicle loading height of the left center front sonar 213 and the right center front sonar 214. In this case, the left center front sonar 213 and the right center front sonar 214 have a large clearance between the range where the directivity overlaps with each other and the space above the vehicle 10.

In such a configuration, a non-obstacle existing in the space above the vehicle 10 is less likely to be detected as an obstacle. This type of non-obstacle is, for example, a beam protruding downward from the ceiling. According to such a configuration, the effect of avoiding false detection of a non-obstacle existing in the space above the vehicle 10 can be satisfactorily achieved. In addition, the occurrence of various problems due to the mixing of the direct arrival wave into the indirect wave can be satisfactorily avoided.

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

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

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

For a pair of distance measuring sensors 21 that are symmetrically arranged with each other, it is typical that the absolute values of the shaft rotation angles are the same as each other as in each of the above examples. That is, it is typical that the absolute value of θ1 and the absolute value of θ2 are the same, and the absolute value of θ3 and the absolute value of θ4 are the same. However, the present invention is not limited to such aspects.

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

Even if the axis rotation angle of the left center front sonar 213 and the axis rotation angle of the right center front sonar 214 are both 0 degrees, by adjusting the elevation angle of the directional axis DA, as shown in FIG. , It is possible to prevent the directional major axes DL of each other from being located on a straight line. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be satisfactorily achieved. In addition, the occurrence of various problems due to the mixing of the direct arrival wave into the indirect wave can be satisfactorily avoided.

In the above embodiment, each of the plurality of distance measuring sensors 21 has structurally eccentricity, and the mounting posture is adjusted so as to have a predetermined axial rotation angle. However, the present invention is not limited to such embodiments.

For example, each of the plurality of distance measuring sensors 21 may be structurally eccentric and may be provided so that the axis rotation angle can be changed. Specifically, each of the plurality of distance measuring sensors 21 may be rotatably provided about the directional axis DA by a rotation mechanism (not shown). By operating the rotation mechanism under the control of the control unit 28, it is possible to adjust the shaft rotation angle of each of the plurality of distance measuring sensors 21 to an arbitrary angle.

Alternatively, each of the plurality of distance measuring sensors 21 has a plurality of transmitting / receiving elements arranged two-dimensionally, and the directivity can be changed by controlling the driving state of the plurality of transmitting / receiving elements. You may be. Such a variable directivity ranging sensor 21 is known or well known. For example, see Japanese Patent Application Laid-Open No. 2009-58362. Therefore, in the present specification, the details of the configuration of such a variable direction sensor will be omitted.

According to such a configuration, the directional state shown in FIG. 2 and the directional state shown in FIG. 7 can be appropriately switched. As a result, it is possible to satisfactorily avoid the false detection of the non-obstacle, which is a low target, and the false detection of the non-obstacle existing in the space above the vehicle 10.

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

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

Even in such a configuration, the effect of avoiding false detection of non-obstacles can be satisfactorily achieved. In addition, the occurrence of various problems due to the mixing of the direct arrival wave into the indirect wave can be satisfactorily avoided.

Further, in the examples of FIGS. 6 to 9, the left corner front sonar 211 and the right corner front sonar 212 may have uniform directivity. Even in such a configuration, the effect of avoiding false detection of non-obstacles can be satisfactorily achieved. In addition, the occurrence of various problems due to the mixing of the direct arrival wave into the indirect wave can be satisfactorily avoided.

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

The inequality sign in each determination process may have an equal sign or no equal sign. That is, for example, "greater than or equal to the threshold value" and "exceeding the threshold value" can be replaced with each other.

Modifications are also not limited to the above examples. Also, a plurality of variants can be combined with each other. Further, all or part of the above embodiments and all or part of the modifications may be combined with each other.

10 Vehicle 20 Object detector 21 Distance measuring sensor 213 Left center front sonar 214 Right center front sonar 28 Control unit DA directional axis DL directional long axis DS directional short axis

Claims (15)

An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
A first ranging sensor (213) provided to transmit the exploration wave toward the outside of the vehicle, and
A second ranging sensor provided so as to receive a received wave including a reflected wave of the exploration wave by the object from the outside of the vehicle and arranged at a position different from that of the first ranging sensor in the vehicle width direction. (214) and
It is electrically connected to the first ranging sensor and the second ranging sensor to control transmission / reception operations of the first ranging sensor and the second ranging sensor, and the received wave in the second ranging sensor. A control unit (28) provided to detect the object based on the above.
With
At least one of the first ranging sensor and the second ranging sensor has the maximum directional angle in the directional major axis direction orthogonal to the directional axis and is orthogonal to the directional axis and the directional major axis direction. It has the minimum directional angle in the directional minor axis direction, and is arranged so that the directional major axis direction and the directional minor axis direction intersect the vehicle width direction.
The other of the first distance measuring sensor and the second distance measuring sensor, which is different from the one, overlaps with a straight line passing through one of the first distance measuring sensors and the second distance measuring sensor in a plane orthogonal to the vehicle overall length direction and parallel to the directional long axis direction. Arranged so as not to become,
Object detection device. The first ranging sensor is provided so that the angle formed by the directional long axis direction and the vehicle width direction can be changed.
The object detection device according to claim 1. An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
It is provided so as to transmit the exploration wave toward the outside of the vehicle, has the maximum directional angle in the first directional major axis direction orthogonal to the first central axis which is the directional axis, and has the first central axis and the said The first ranging sensor (213) configured to have the minimum directional angle in the first directional minor axis direction orthogonal to the first directional major axis direction, and
The received wave including the reflected wave of the object of the exploration wave is provided so as to be received from the outside of the vehicle, and the maximum directional angle is set in the second directional major axis direction orthogonal to the second central axis which is the directional axis. A second ranging sensor (214) configured to have a minimum directional angle in the second directional minor axis direction orthogonal to the second central axis and the second directional major axis direction.
It is electrically connected to the first ranging sensor and the second ranging sensor to control transmission / reception operations of the first ranging sensor and the second ranging sensor, and the received wave in the second ranging sensor. A control unit (28) provided to detect the object based on the above.
With
The first distance measuring sensor and the second distance measuring sensor have a first straight line passing through the first central axis and parallel to the first directional major axis direction in a plane orthogonal to the total length direction of the vehicle, and the second distance measuring sensor. The second straight line passing through the central axis and parallel to the second directional major axis direction was arranged at different positions in the vehicle width direction so as not to be located on the same straight line.
Object detection device. The first distance measuring sensor is provided so that the first directivity major axis direction and the first directivity minor axis direction intersect with the vehicle width direction.
The object detection device according to claim 3. The second distance measuring sensor is provided so that the second directional major axis direction and the second directional minor axis direction intersect with the vehicle width direction.
The object detection device according to claim 3 or 4. An object detection device (20) configured to detect an object (B) existing outside the vehicle by being mounted on the vehicle (10).
It is provided so as to transmit the exploration wave toward the outside of the vehicle, and has a maximum directional angle in the first directional major axis direction orthogonal to the first central axis which is the directional axis and intersecting the vehicle width direction. A first ranging sensor configured to have a minimum directional angle in the first directional minor axis direction orthogonal to the first central axis and the first directional major axis direction and intersecting the vehicle width direction. 213) and
A second directional major axis that is provided so as to receive the received wave including the reflected wave of the exploration wave by the object from the outside of the vehicle, is orthogonal to the second central axis that is the directional axis, and intersects the vehicle width direction. Have the maximum directional angle in the direction and have the minimum directional angle in the second directional minor axis direction orthogonal to the second central axis and the second directional major axis direction and intersecting the vehicle width direction. The configured second ranging sensor (214) and
It is electrically connected to the first ranging sensor and the second ranging sensor to control transmission / reception operations of the first ranging sensor and the second ranging sensor, and the received wave in the second ranging sensor. A control unit (28) provided to detect the object based on the above.
Object detection device equipped with. In the first distance measuring sensor and the second distance measuring sensor, the angle formed by the first directional long axis direction and the vehicle width direction is equal to the angle formed by the second directional long axis direction and the vehicle width direction. It was set up to be
The object detection device according to claim 6. In a plane orthogonal to the total length direction of the vehicle, a first straight line passing through the first central axis and parallel to the first directional major axis direction and a second straight line passing through the second central axis and parallel to the second directional major axis direction. The first distance measuring sensor and the second distance measuring sensor are provided so that the position where the two straight lines intersect is higher than the vehicle mounting height of the first distance measuring sensor and the second distance measuring sensor. ,
The object detection device according to claim 7. The second distance measuring sensor is provided so that the angle formed by the second directional long axis direction and the vehicle width direction can be changed.
The object detection device according to any one of claims 5 to 8. The first distance measuring sensor is provided so that the angle formed by the first directivity long axis direction and the vehicle width direction can be changed.
The object detection device according to any one of claims 4 to 9. The first ranging sensor is provided so as to receive a received wave including a reflected wave of the exploration wave by the object from the outside of the vehicle.
In the control unit, the reception state of the received wave in the first ranging sensor satisfies the object detection determination condition corresponding to the existence of the object in the vicinity of the vehicle, and the reception wave of the received wave in the second ranging sensor is satisfied. When the reception state does not satisfy the object detection determination condition, the object corresponding to the received wave in the first ranging sensor is determined to be a non-obstacle.
The object detection device according to any one of claims 1 to 10. The control unit
One of the pair of distance measuring sensors is used as the first distance measuring sensor, and the other is used as the second distance measuring sensor to control the first transmission / reception operation of the pair of distance measuring sensors.
One of the pair of ranging sensors is used as the second ranging sensor, and the other is used as the first ranging sensor to control the second transmission / reception operation of the pair of ranging sensors.
In the first transmission / reception operation and the second transmission / reception operation, the reception state of the received wave in the first ranging sensor satisfies the object detection determination condition, and the reception state of the received wave in the second ranging sensor is satisfied. When the object detection determination condition is not satisfied, the object corresponding to the received wave in the first ranging sensor is determined to be the non-obstacle.
The object detection device according to claim 11. The first distance measuring sensor and the second distance measuring sensor are two adjacent to each other in the vehicle width direction in a plurality of distance measuring sensors (21) mounted on the front end portion (12) of the vehicle.
The object detection device according to any one of claims 1 to 12. The first distance measuring sensor and the second distance measuring sensor are two adjacent to each other in the vehicle width direction in a plurality of distance measuring sensors (21) mounted on the rear end portion (13) of the vehicle. ,
The object detection device according to any one of claims 1 to 13. The first distance measuring sensor and the second distance measuring sensor are provided at the same vehicle mounting height.
The object detection device according to any one of claims 1 to 14.

Images