JP7027810B2 - Object detection device - Google Patents

Object detection device Download PDF

Info

Publication number
JP7027810B2
JP7027810B2 JP2017210760A JP2017210760A JP7027810B2 JP 7027810 B2 JP7027810 B2 JP 7027810B2 JP 2017210760 A JP2017210760 A JP 2017210760A JP 2017210760 A JP2017210760 A JP 2017210760A JP 7027810 B2 JP7027810 B2 JP 7027810B2
Authority
JP
Japan
Prior art keywords
wave
distance
vehicle
transmission
reception
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2017210760A
Other languages
Japanese (ja)
Other versions
JP2019082436A (en
Inventor
岳人 原田
充保 松浦
覚 野呂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2017210760A priority Critical patent/JP7027810B2/en
Priority to DE102018218386.4A priority patent/DE102018218386B4/en
Publication of JP2019082436A publication Critical patent/JP2019082436A/en
Application granted granted Critical
Publication of JP7027810B2 publication Critical patent/JP7027810B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—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
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
    • 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
    • G01S7/527—Extracting wanted echo signals

Description

本発明は、物体検知装置に関するものである。 The present invention relates to an object detection device.

従来、探査波を送信してからその反射波を受信するまでの時間に基づいて物体との距離を算出し、車両の周囲の物体を検知する物体検知装置が提案されている。 Conventionally, an object detection device has been proposed that calculates a distance to an object based on the time from transmitting an exploration wave to receiving the reflected wave, and detects an object around the vehicle.

このような物体検知装置について、例えば特許文献１では、算出した相対速度や距離情報を用いて物体の検知結果を判定し、誤検知の抑制を図る方法が提案されている。 Regarding such an object detection device, for example, Patent Document 1 proposes a method of determining an object detection result using calculated relative velocity and distance information to suppress erroneous detection.

特開２０１６－１５６７５３号公報Japanese Unexamined Patent Publication No. 2016-156753

特許文献１に記載の方法では、距離等の比較を１回のみ行って物体の検知結果を判定しているため、十分に誤検知を抑制することができない。 In the method described in Patent Document 1, since the detection result of the object is determined by comparing the distance and the like only once, it is not possible to sufficiently suppress the false detection.

本発明は上記点に鑑みて、誤検知を抑制できる物体検知装置を提供することを目的とする。 In view of the above points, it is an object of the present invention to provide an object detection device capable of suppressing false detection.

上記目的を達成するため、請求項１に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、送受信部を複数備え、受信波判定部は、複数の送受信部それぞれが受信した超音波について、該超音波が複数の送受信部のうちいずれか１つの送受信部から送信された探査波の反射波であるか否かを判定し、判定されることは、受信波判定部によって、複数の送受信部それぞれが受信した超音波について、該超音波が複数の送受信部のうちいずれか１つの送受信部から送信された探査波の反射波であると判定されることであり、複数の送受信部は、探査波の送信を同一のタイミングで行い、同一のタイミングで行われる探査波の送信では、少なくとも１つの送受信部が第１探査波を送信し、少なくとも１つの送受信部が第２探査波を送信し、複数の送受信部のうち第１探査波を送信した送受信部を第１送受信部とし、複数の送受信部のうち第２探査波を送信した送受信部を第２送受信部とし、第１送受信部が第１探査波を送信してから、該第１探査波の反射波を第２送受信部が受信するまでの時間に基づいて算出された車両と物体との距離をｄａとし、第２送受信部が第２探査波を送信してから、該第２探査波の反射波を第１送受信部が受信するまでの時間に基づいて算出された車両と物体との距離をｄｂとして、複数の条件のうちの１つは、距離ｄａと距離ｄｂとの差が所定の範囲に含まれることである。
また、請求項５に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、複数の条件のうちの１つは、車両に対する物体の過去の相対速度、および、距離算出部が算出した過去の距離に基づいて推定された車両と物体との現在の距離と、距離算出部が算出した現在の距離との差が、所定の範囲に含まれることである。
さらに、請求項６に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、複数の条件のうちの１つは、車両に対する物体の過去の相対速度と現在の相対速度との差が所定の範囲に含まれることである。
また、請求項７に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、複数の条件のうちの１つは、距離算出部が算出した距離、および、車両に対する物体の相対速度から推定される車両と物体との過去の距離と、距離算出部が過去に算出した距離との差が、所定の範囲に含まれることである。
さらに、請求項１２に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、物体判定部によって車両の周囲にあると判定された物体が車両に対してどのように移動しているかを判定する物体移動判定部（１７）を備え、物体移動判定部は、車両の側方に配置された送受信部が受信した超音波に基づいて算出される物体の相対速度が、車両に接近することを示す値から、車両から離れることを示す値に変化したときに、物体が車両とすれ違うように移動しているか、または、車両をすり抜けるように移動しているか、または、物体が車両を追い抜くように移動していると判定する。
また、請求項１５に記載の発明では、車両（２００）に搭載されて、車両の外側にある物体を検知する物体検知装置であって、探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、送受信部の出力信号に基づいて車両と物体との距離を算出する距離算出部（１０）と、距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、送受信部が受信した超音波を受信波として、受信波が送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、距離判定部および受信波判定部の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、受信波判定部は、受信波の周波数と送受信部が送信した探査波の周波数との比較に基づいて、受信波が該探査波の反射波であるか否かを判定し、送受信部が複数回行った探査波の送信に対して、距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、受信波判定部によって受信波が送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、物体判定部は、回数Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定し、距離判定部によって、２つの物体について、車両と物体との距離が所定の閾値よりも小さいと判定されたとき、２つの物体をそれぞれ第１物体、第２物体として、第１物体を再度検知するための第１探査波が第１時刻に送信され、第２物体を再度検知するための第２探査波が第２時刻に送信され、車両と第１物体との距離および第１物体の相対速度から推定される車両と第１物体との第１時刻における距離を第１距離とし、車両と第２物体との距離および第２物体の相対速度から推定される車両と第２物体との第２時刻における距離を第２距離として、第１時刻および第２時刻は、第１距離と第２距離との差が所定値以上となるように設定される。 In order to achieve the above object, the invention according to claim 1 is an object detection device mounted on a vehicle (200) that detects an object outside the vehicle, and transmits ultrasonic waves as exploration waves. , A transmission / reception unit (5) that receives an ultrasonic wave and outputs a signal corresponding to the sound pressure of the sound wave, and a distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit. The distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold, and the received wave is transmitted from the transmission / reception unit using the sound wave received by the transmission / reception unit as the reception wave. Based on the judgment results of the reception wave determination unit (13) that determines whether or not the sound wave is a reflected wave of the exploration wave, and the distance determination unit and the reception wave determination unit, it is determined whether or not an object exists around the vehicle. The transmission / reception unit includes a first exploration wave whose frequency changes with time and a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. The probe wave is transmitted multiple times, including the transmission of the probe wave, and the received wave determination unit determines the frequency of the probe wave based on the comparison between the frequency of the received wave and the frequency of the probe wave transmitted by the transmitter / receiver section. It is determined whether or not it is a reflected wave, and the distance to the object is determined by the distance determination unit to be smaller than a predetermined threshold for the transmission of the exploration wave performed by the transmission / reception unit multiple times, and the reception wave is determined. The number of times N is satisfied, including the fact that the received wave is determined to be the reflected wave of the exploration wave transmitted from the transmission / reception unit by the unit, and the number N is a predetermined number N. When the number of times is greater than or equal to the number of times, it is determined that an object exists around the vehicle, and a plurality of transmission / reception units are provided. It is determined by the received wave determination unit whether or not it is a reflected wave of the exploration wave transmitted from any one of the transmission / reception units, and the determination is made for the sound wave received by each of the plurality of transmission / reception units. It is determined that the ultrasonic wave is a reflected wave of the exploration wave transmitted from any one of the plurality of transmission / reception units, and the plurality of transmission / reception units transmit the exploration wave at the same timing. In the transmission of the exploration wave performed at the same timing, at least one transmission / reception unit transmits the first exploration wave, at least one transmission / reception unit transmits the second exploration wave, and the first of the plurality of transmission / reception units. The transmission / reception unit that transmitted the exploration wave is referred to as the first transmission / reception unit, and the transmission / reception unit that transmits the second exploration wave is referred to as the second transmission / reception unit among the plurality of transmission / reception units. Then, the distance between the vehicle and the object calculated based on the time from the transmission of the first exploration wave by the first transmission / reception unit to the reception of the reflected wave of the first exploration wave by the second transmission / reception unit is da. The distance between the vehicle and the object calculated based on the time from the transmission of the second exploration wave by the second transmission / reception unit to the reception of the reflected wave of the second exploration wave by the first transmission / reception unit is db. As one of the plurality of conditions, the difference between the distance da and the distance db is included in a predetermined range.
The invention according to claim 5 is an object detection device mounted on a vehicle (200) that detects an object outside the vehicle, and transmits ultrasonic waves as exploration waves and receives ultrasonic waves. A transmission / reception unit (5) that outputs a signal corresponding to the sound pressure of the ultrasonic wave, a distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit, and a distance calculation unit. The distance determination unit (11) that determines whether or not the distance calculated by is smaller than a predetermined threshold, and the reflection of the exploration wave transmitted from the transmission / reception unit using the ultrasonic waves received by the transmission / reception unit as the reception wave. A reception wave determination unit (13) that determines whether or not it is a wave, and an object determination unit (13) that determines whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the reception wave determination unit. The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Then, the exploration wave is transmitted multiple times, and the received wave determination unit determines whether the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit. It is determined whether or not the object is transmitted by the transmission / reception unit a plurality of times, and the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits the received wave. When one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the transmission / reception unit are satisfied as N, the object determination unit determines that the number of times N is a predetermined number or more. In addition, it is determined that an object exists around the vehicle, and one of the plurality of conditions is the vehicle estimated based on the past relative speed of the object with respect to the vehicle and the past distance calculated by the distance calculation unit. The difference between the current distance between the object and the object and the current distance calculated by the distance calculation unit is included in the predetermined range.
Further, according to the sixth aspect of the present invention, the object detection device mounted on the vehicle (200) and detects an object outside the vehicle, transmits ultrasonic waves as exploration waves, and receives ultrasonic waves. A transmission / reception unit (5) that outputs a signal corresponding to the sound pressure of the ultrasonic wave, a distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit, and a distance calculation unit. The distance determination unit (11) that determines whether or not the distance calculated by is smaller than a predetermined threshold, and the reflection of the exploration wave transmitted from the transmission / reception unit using the ultrasonic waves received by the transmission / reception unit as the reception wave. A reception wave determination unit (13) that determines whether or not it is a wave, and an object determination unit (13) that determines whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the reception wave determination unit. The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Then, the exploration wave is transmitted multiple times, and the received wave determination unit determines whether the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit. It is determined whether or not the object is transmitted by the transmission / reception unit a plurality of times, and the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits the received wave. When one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the transmission / reception unit are satisfied as N, the object determination unit determines that the number of times N is a predetermined number or more. In addition, it is determined that an object exists around the vehicle, and one of the plurality of conditions is that the difference between the past relative speed and the current relative speed of the object with respect to the vehicle is included in a predetermined range.
The invention according to claim 7 is an object detection device mounted on a vehicle (200) that detects an object outside the vehicle, and transmits ultrasonic waves as exploration waves and receives ultrasonic waves. The transmission / reception unit (5) that outputs a signal corresponding to the sound pressure of the ultrasonic wave, the distance calculation unit (10) that calculates the distance between the vehicle and the object based on the output signal of the transmission / reception unit, and the distance calculation unit. The distance determination unit (11) that determines whether or not the distance calculated by is smaller than a predetermined threshold, and the reflection of the exploration wave transmitted from the transmission / reception unit using the ultrasonic waves received by the transmission / reception unit as the reception wave. A reception wave determination unit (13) that determines whether or not it is a wave, and an object determination unit (13) that determines whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the reception wave determination unit. The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Then, the exploration wave is transmitted multiple times, and the received wave determination unit determines whether the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit. It is determined whether or not the object is transmitted by the transmission / reception unit a plurality of times, and the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits the received wave. When one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the transmission / reception unit are satisfied as N, the object determination unit determines that the number of times N is a predetermined number or more. In addition, it is determined that an object exists around the vehicle, and one of the plurality of conditions is the past distance between the vehicle and the object estimated from the distance calculated by the distance calculation unit and the relative speed of the object with respect to the vehicle. The difference between the distance and the distance calculated in the past by the distance calculation unit is included in the predetermined range.
Further, according to the invention of claim 12, the object detection device mounted on the vehicle (200) and detects an object outside the vehicle, transmits ultrasonic waves as exploration waves, and receives ultrasonic waves. A transmission / reception unit (5) that outputs a signal corresponding to the sound pressure of the ultrasonic wave, a distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit, and a distance calculation unit. The distance determination unit (11) that determines whether or not the distance calculated by is smaller than a predetermined threshold, and the reflection of the exploration wave transmitted from the transmission / reception unit using the ultrasonic waves received by the transmission / reception unit as the reception wave. A reception wave determination unit (13) that determines whether or not it is a wave, and an object determination unit (13) that determines whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the reception wave determination unit. The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Then, the exploration wave is transmitted multiple times, and the received wave determination unit determines whether the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit. It is determined whether or not the object is transmitted by the transmission / reception unit a plurality of times, and the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits the received wave. When one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the transmission / reception unit are satisfied as N, the object determination unit determines that the number of times N is a predetermined number or more. In addition, an object movement determination unit (17) that determines that an object exists around the vehicle and determines how an object determined to be around the vehicle by the object determination unit is moving with respect to the vehicle is provided. The object movement determination unit determines that the relative speed of the object calculated based on the ultrasonic waves received by the transmission / reception unit located on the side of the vehicle is separated from the value indicating that the object approaches the vehicle. When it changes to the indicated value, it is determined that the object is moving so as to pass the vehicle, or is moving so as to pass through the vehicle, or the object is moving so as to overtake the vehicle.
The invention according to claim 15 is an object detection device mounted on a vehicle (200) that detects an object outside the vehicle, and transmits ultrasonic waves as exploration waves and receives ultrasonic waves. A transmission / reception unit (5) that outputs a signal corresponding to the sound pressure of the ultrasonic wave, a distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit, and a distance calculation unit. The distance determination unit (11) that determines whether or not the distance calculated by is smaller than a predetermined threshold, and the reflection of the exploration wave transmitted from the transmission / reception unit using the ultrasonic waves received by the transmission / reception unit as the reception wave. A reception wave determination unit (13) that determines whether or not it is a wave, and an object determination unit (13) that determines whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the reception wave determination unit. The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Then, the exploration wave is transmitted multiple times, and the received wave determination unit determines whether the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit. It is determined whether or not the object is transmitted by the transmission / reception unit a plurality of times, and the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits the received wave. When one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the transmission / reception unit are satisfied as N, the object determination unit determines that the number of times N is a predetermined number or more. When it is determined that an object exists around the vehicle and the distance determination unit determines that the distance between the vehicle and the object is smaller than a predetermined threshold value for the two objects, the two objects are each set as the first object. As the second object, the first exploration wave for detecting the first object again is transmitted at the first time, and the second exploration wave for detecting the second object again is transmitted at the second time, and the vehicle and the vehicle. The distance between the vehicle and the first object at the first time, which is estimated from the distance to the first object and the relative speed of the first object, is defined as the first distance, and the distance between the vehicle and the second object and the relative speed of the second object. The distance between the vehicle and the second object estimated from the above at the second time is set as the second distance, and the first time and the second time are set so that the difference between the first distance and the second distance is equal to or more than a predetermined value. Will be done.

このように、探査波の送信を複数回行い、複数回の送信について距離等の判定を行うことにより、誤検知を抑制できる。また、第１探査波と第２探査波とで周波数に異なる特徴を設けることにより、２つの探査波の反射波を区別して受信することができる。したがって、２つの探査波を続けて、あるいは同時に送信した場合にも、２つの探査波について距離の算出等が可能であり、複数回の判定を短い時間で行うことができる。 In this way, false detection can be suppressed by transmitting the exploration wave a plurality of times and determining the distance or the like for the plurality of transmissions. Further, by providing different characteristics in frequency between the first exploration wave and the second exploration wave, the reflected wave of the two exploration waves can be received separately. Therefore, even when two exploration waves are transmitted continuously or at the same time, it is possible to calculate the distance between the two exploration waves, and it is possible to make a plurality of determinations in a short time.

なお、上記各手段の括弧内の符号は、後述する実施形態に記載の具体的手段との対応関係の一例を示すものである。 The reference numerals in parentheses of each of the above means indicate an example of the correspondence with the specific means described in the embodiment described later.

第１実施形態にかかる物体検知装置の構成図である。It is a block diagram of the object detection apparatus which concerns on 1st Embodiment. 第１実施形態における測距センサの配置を示す図である。It is a figure which shows the arrangement of the distance measuring sensor in 1st Embodiment. 第１実施形態における測距センサの構成図である。It is a block diagram of the distance measuring sensor in 1st Embodiment. 第１実施形態にかかる物体検知装置の作動を説明するための図である。It is a figure for demonstrating operation of the object detection apparatus which concerns on 1st Embodiment. 第２実施形態にかかる物体検知装置の作動を説明するための図である。It is a figure for demonstrating operation of the object detection apparatus which concerns on 2nd Embodiment. 第３実施形態における低速時の超音波の送信パターンを示す図である。It is a figure which shows the transmission pattern of the ultrasonic wave at a low speed in 3rd Embodiment. 第３実施形態における高速時の超音波の送信パターンを示す図である。It is a figure which shows the transmission pattern of the ultrasonic wave at a high speed in 3rd Embodiment. 第３実施形態における高速時の超音波の送信パターンを示す図である。It is a figure which shows the transmission pattern of the ultrasonic wave at a high speed in 3rd Embodiment. 第４実施形態における測距センサの構成図である。It is a block diagram of the distance measuring sensor in 4th Embodiment. 他の実施形態にかかる物体検知装置の構成図である。It is a block diagram of the object detection apparatus which concerns on other embodiment. 他の実施形態にかかる物体検知装置の構成図である。It is a block diagram of the object detection apparatus which concerns on other embodiment.

以下、本発明の実施形態について図に基づいて説明する。なお、以下の各実施形態相互において、互いに同一もしくは均等である部分には、同一符号を付して説明を行う。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each of the following embodiments, the parts that are the same or equal to each other will be described with the same reference numerals.

（第１実施形態）
第１実施形態について説明する。本実施形態の物体検知装置は、車両に搭載されて、車両から近い距離にある物体を検知するものである。図１に示すように、物体検知装置１００は、測距センサ１と、制御部２と、物体判定部３と、報知部４とを備えている。物体検知装置１００は、図２に示す車両２００に搭載されて、車両２００の外側にある物体を検知する。 (First Embodiment)
The first embodiment will be described. The object detection device of the present embodiment is mounted on a vehicle and detects an object at a short distance from the vehicle. As shown in FIG. 1, the object detection device 100 includes a distance measuring sensor 1, a control unit 2, an object determination unit 3, and a notification unit 4. The object detection device 100 is mounted on the vehicle 200 shown in FIG. 2 and detects an object outside the vehicle 200.

測距センサ１は、制御部２からの送波指示および受波指示に応じて超音波の送受信を行い、物体との距離等を検出するものである。測距センサ１は、制御部２および物体判定部３に接続されており、検出した距離等の情報を物体判定部３に送信する。 The distance measuring sensor 1 transmits and receives ultrasonic waves in response to a wave transmitting instruction and a wave receiving instruction from the control unit 2, and detects a distance to an object and the like. The distance measuring sensor 1 is connected to the control unit 2 and the object determination unit 3, and transmits information such as the detected distance to the object determination unit 3.

制御部２、物体判定部３は、ＣＰＵ、ＲＯＭ、ＲＡＭ、Ｉ／Ｏなどを備えた周知のマイクロコンピュータによって構成され、ＲＯＭなどに記憶されたプログラムに従って各種演算などの処理を実行する。 The control unit 2 and the object determination unit 3 are configured by a well-known microcomputer equipped with a CPU, ROM, RAM, I / O, etc., and execute various operations and the like according to a program stored in the ROM and the like.

本実施形態の物体検知装置１００は、測距センサ１を複数備えている。具体的には、図２に示すように、物体検知装置１００は１２の測距センサ１を備えており、各測距センサ１は車両２００に配置されている。 The object detection device 100 of the present embodiment includes a plurality of distance measuring sensors 1. Specifically, as shown in FIG. 2, the object detection device 100 includes twelve ranging sensors 1, and each ranging sensor 1 is arranged in the vehicle 200.

図２に示すように、測距センサ１は車両２００の前面部および後面部にそれぞれ４つ配置されており、車両２００の右側面部および左側面部にそれぞれ２つ配置されている。なお、図２、および、後述する図４～図７では、紙面左側、下側、右側、上側が、車両２００の前側、左側、後ろ側、右側である。 As shown in FIG. 2, four distance measuring sensors 1 are arranged on the front surface portion and the rear surface portion of the vehicle 200, and two are arranged on the right side surface portion and the left side surface portion of the vehicle 200, respectively. In FIGS. 2 and 4 to 7, which will be described later, the left side, the lower side, the right side, and the upper side of the paper are the front side, the left side, the rear side, and the right side of the vehicle 200.

１２の測距センサ１のうち、車両２００前面部に配置された４つの測距センサ１を、紙面上から順に測距センサ１ａ、測距センサ１ｂ、測距センサ１ｃ、測距センサ１ｄとする。また、車両２００左側面部に配置された２つの測距センサ１のうち、車両２００前側のものを測距センサ１ｅ、後側のものを測距センサ１ｆとする。また、車両２００後面部に配置された４つの測距センサ１を、紙面下から順に測距センサ１ｇ、測距センサ１ｈ、測距センサ１ｉ、測距センサ１ｊとする。また、車両２００右側面部に配置された２つの測距センサ１のうち、車両２００後側のものを測距センサ１ｋ、前側のものを測距センサ１ｌとする。 Of the 12 distance measuring sensors 1, the four distance measuring sensors 1 arranged on the front surface of the vehicle 200 are designated as the distance measuring sensor 1a, the ranging sensor 1b, the ranging sensor 1c, and the ranging sensor 1d in order from the paper surface. .. Further, of the two distance measuring sensors 1 arranged on the left side surface of the vehicle 200, the one on the front side of the vehicle 200 is referred to as the distance measuring sensor 1e, and the one on the rear side is referred to as the distance measuring sensor 1f. Further, the four range-finding sensors 1 arranged on the rear surface of the vehicle 200 are the range-finding sensor 1g, the range-finding sensor 1h, the range-finding sensor 1i, and the range-finding sensor 1j in order from the bottom of the paper. Further, of the two ranging sensors 1 arranged on the right side surface of the vehicle 200, the one on the rear side of the vehicle 200 is referred to as the ranging sensor 1k, and the one on the front side is referred to as the ranging sensor 1l.

各測距センサ１は制御部２および物体判定部３に接続されている。制御部２は一定の周期で各測距センサ１に送波指示および受波指示を出す。制御部２から受波指示が出されると、各測距センサ１は、物体との距離等に関する情報を物体判定部３に送信する。 Each distance measuring sensor 1 is connected to the control unit 2 and the object determination unit 3. The control unit 2 issues a wave transmission instruction and a wave reception instruction to each ranging sensor 1 at regular intervals. When the wave receiving instruction is issued from the control unit 2, each distance measuring sensor 1 transmits information regarding the distance to the object and the like to the object determination unit 3.

物体判定部３は、測距センサ１から送信された情報に基づいて車両の周囲に物体が存在するか否かを判定するものである。物体判定部３は、モニタ、ブザー等で構成された報知部４に接続されており、車両の周囲に物体が存在すると判定した場合には、報知部４に指示を出して運転者への報知を行う。 The object determination unit 3 determines whether or not an object exists around the vehicle based on the information transmitted from the distance measuring sensor 1. The object determination unit 3 is connected to a notification unit 4 composed of a monitor, a buzzer, etc., and when it is determined that an object exists around the vehicle, the object determination unit 3 issues an instruction to the notification unit 4 to notify the driver. I do.

測距センサ１の詳細な構成について説明する。図３に示すように、測距センサ１は、マイクロホン５と、送信回路６と、信号生成部７と、受信回路８と、信号処理部９と、距離算出部１０と、距離判定部１１と、周波数算出部１２と、受信波判定部１３とを備えている。 The detailed configuration of the distance measuring sensor 1 will be described. As shown in FIG. 3, the distance measuring sensor 1 includes a microphone 5, a transmission circuit 6, a signal generation unit 7, a reception circuit 8, a signal processing unit 9, a distance calculation unit 10, and a distance determination unit 11. , A frequency calculation unit 12 and a received wave determination unit 13 are provided.

マイクロホン５は、車両２００の外表面に面して配置されており、物体を検知するための探査波として超音波を車両２００の外側に送信する。また、マイクロホン５は、車両２００の外側からの超音波を受信して、受信した超音波の音圧に応じた信号を出力する。マイクロホン５は、送受信部に相当する。 The microphone 5 is arranged facing the outer surface of the vehicle 200, and transmits ultrasonic waves to the outside of the vehicle 200 as exploration waves for detecting an object. Further, the microphone 5 receives ultrasonic waves from the outside of the vehicle 200 and outputs a signal corresponding to the sound pressure of the received ultrasonic waves. The microphone 5 corresponds to a transmission / reception unit.

具体的には、マイクロホン５は、互いに対向する２つの電極の間に圧電膜が配置された構成の図示しない圧電素子を備えている。そして、２つの電極は送信回路６に接続されており、送信回路６から交流電圧が印加されて圧電膜が変形することにより、マイクロホン５から車両２００の外側へ超音波が送信される。 Specifically, the microphone 5 includes a piezoelectric element (not shown) having a structure in which a piezoelectric film is arranged between two electrodes facing each other. The two electrodes are connected to the transmission circuit 6, and an AC voltage is applied from the transmission circuit 6 to deform the piezoelectric film, so that ultrasonic waves are transmitted from the microphone 5 to the outside of the vehicle 200.

また、マイクロホン５が備える圧電素子の２つの電極は、受信回路８にも接続されており、超音波を受信して圧電膜が変形したときの２つの電極間の電圧が受信回路８に入力されるようになっている。 Further, the two electrodes of the piezoelectric element included in the microphone 5 are also connected to the receiving circuit 8, and the voltage between the two electrodes when the piezoelectric film is deformed by receiving ultrasonic waves is input to the receiving circuit 8. It has become so.

送信回路６は、入力された信号をＤ／Ａ変換し、これにより生成された電圧を出力するものである。送信回路６にはパルス信号を生成する信号生成部７が接続されており、送信回路６は、信号生成部７から入力されたパルス信号をＤ／Ａ変換し、これにより生成された交流電圧をマイクロホン５に印加する。 The transmission circuit 6 D / A-converts the input signal and outputs the voltage generated by the D / A conversion. A signal generation unit 7 that generates a pulse signal is connected to the transmission circuit 6, and the transmission circuit 6 D / A-converts the pulse signal input from the signal generation unit 7 and converts the AC voltage generated by the D / A conversion. Apply to the microphone 5.

信号生成部７は、制御部２からの送波指示に応じて、パルス信号を生成し、また、生成するパルス信号の周波数を変化させる。制御部２は、定期的に信号生成部７に送波指示を送り、マイクロホン５に探査波を送信させるとともに、定期的に受信回路８に受波指示を送る。前述したように、受信回路８には、マイクロホン５が備える圧電素子の２つの電極間の電圧が入力されるようになっており、受信回路８は、制御部２からの受波指示に応じて、入力された電圧をＡ／Ｄ変換し、これにより生成された信号を出力する。 The signal generation unit 7 generates a pulse signal in response to a wave transmission instruction from the control unit 2, and also changes the frequency of the generated pulse signal. The control unit 2 periodically sends a wave transmission instruction to the signal generation unit 7, causes the microphone 5 to transmit a search wave, and periodically sends a wave reception instruction to the reception circuit 8. As described above, the voltage between the two electrodes of the piezoelectric element included in the microphone 5 is input to the receiving circuit 8, and the receiving circuit 8 responds to the wave receiving instruction from the control unit 2. , The input voltage is A / D converted, and the signal generated by this is output.

信号処理部９は、受信回路８の出力信号に対して直交復調処理を行い、マイクロホン５が受信した超音波である受信波の周波数を検出するものである。信号処理部９は、各時間における周波数を出力する。 The signal processing unit 9 performs orthogonal demodulation processing on the output signal of the receiving circuit 8 and detects the frequency of the received wave which is the ultrasonic wave received by the microphone 5. The signal processing unit 9 outputs the frequency at each time.

距離算出部１０は、マイクロホン５の出力信号に基づいて車両２００と物体との距離を算出するものである。具体的には、距離算出部１０は、信号処理部９の出力信号から受信波の振幅を算出し、マイクロホン５が探査波を送信してから、算出した振幅が所定の基準値以上になるまでの時間に基づいて、物体との距離を算出する。 The distance calculation unit 10 calculates the distance between the vehicle 200 and the object based on the output signal of the microphone 5. Specifically, the distance calculation unit 10 calculates the amplitude of the received wave from the output signal of the signal processing unit 9, and after the microphone 5 transmits the exploration wave, until the calculated amplitude becomes equal to or higher than a predetermined reference value. Calculate the distance to the object based on the time of.

距離判定部１１は、距離算出部１０が算出した距離が所定の閾値よりも小さいか否かを判定するものであり、この判定の結果は物体判定部３に送信される。 The distance determination unit 11 determines whether or not the distance calculated by the distance calculation unit 10 is smaller than a predetermined threshold value, and the result of this determination is transmitted to the object determination unit 3.

周波数算出部１２は、信号処理部９が検出した受信波の周波数に基づいて、受信波の周波数の変化パターン、すなわち、所定時間で周波数がどのように変化するかを算出するものである。 The frequency calculation unit 12 calculates a change pattern of the frequency of the received wave, that is, how the frequency changes in a predetermined time, based on the frequency of the received wave detected by the signal processing unit 9.

受信波判定部１３は、受信波がマイクロホン５から送信された探査波の反射波であるか否かを判定するものである。受信波判定部１３は、周波数算出部１２が算出した変化パターンに基づいて、マイクロホン５が受信した超音波が、マイクロホン５が送信した探査波の反射波であるか否かを判定し、判定結果を物体判定部３に送信する。 The received wave determination unit 13 determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the microphone 5. The received wave determination unit 13 determines whether or not the ultrasonic wave received by the microphone 5 is a reflected wave of the exploration wave transmitted by the microphone 5 based on the change pattern calculated by the frequency calculation unit 12, and the determination result is obtained. Is transmitted to the object determination unit 3.

物体判定部３は、距離判定部１１および受信波判定部１３の判定結果に基づいて、車両の周囲のある距離に物体が存在するか否かを判定する。後述するように、物体判定部３は、距離判定部１１および受信波判定部１３の判定結果に関する複数の条件が満たされた回数が所定の回数以上であるときに、車両の周囲に物体が存在すると判定する。 The object determination unit 3 determines whether or not an object exists at a certain distance around the vehicle based on the determination results of the distance determination unit 11 and the received wave determination unit 13. As will be described later, in the object determination unit 3, an object exists around the vehicle when the number of times when a plurality of conditions relating to the determination results of the distance determination unit 11 and the received wave determination unit 13 are satisfied is a predetermined number of times or more. Then it is determined.

物体検知装置１００の作動について説明する。物体検知装置１００では、制御部２から信号生成部７に送波指示が送られ、信号生成部７が生成したパルス信号が送信回路６によってＤ／Ａ変換され、送信回路６からマイクロホン５に交流電圧が印加されると、マイクロホン５から探査波である超音波が送信される。 The operation of the object detection device 100 will be described. In the object detection device 100, a transmission instruction is sent from the control unit 2 to the signal generation unit 7, the pulse signal generated by the signal generation unit 7 is D / A converted by the transmission circuit 6, and the transmission circuit 6 transfers to the microphone 5. When a voltage is applied, an ultrasonic wave, which is an exploration wave, is transmitted from the microphone 5.

そして、探査波が車両２００の外側の物体で反射し、マイクロホン５が探査波の反射波を受信すると、マイクロホン５が備える圧電素子の２つの電極間の電圧が変化する。この電圧は受信回路８に入力され、受信回路８は、制御部２からの受波指示に応じて、入力された電圧をＡ／Ｄ変換し、これにより生成された信号を信号処理部９に出力する。 Then, when the exploration wave is reflected by an object outside the vehicle 200 and the microphone 5 receives the reflected wave of the exploration wave, the voltage between the two electrodes of the piezoelectric element included in the microphone 5 changes. This voltage is input to the receiving circuit 8, and the receiving circuit 8 A / D-converts the input voltage in response to a wave receiving instruction from the control unit 2, and the signal generated thereby is transmitted to the signal processing unit 9. Output.

信号処理部９は、受信回路８の出力信号に対して直交復調処理を行い、受信波の周波数を検出する。距離算出部１０は、信号処理部９の出力信号から受信波の振幅を検出し、検出した振幅が所定の基準値以上になったとき、マイクロホン５が探査波を送信してから経過した時間に基づいて、車両２００の外側の物体との距離を算出する。そして、距離判定部１１は、距離算出部１０が算出した距離が所定の閾値よりも小さいか否かを判定し、判定結果を物体判定部３に送信する。 The signal processing unit 9 performs orthogonal demodulation processing on the output signal of the receiving circuit 8 and detects the frequency of the received wave. The distance calculation unit 10 detects the amplitude of the received wave from the output signal of the signal processing unit 9, and when the detected amplitude exceeds a predetermined reference value, the time elapsed since the microphone 5 transmits the search wave. Based on this, the distance to the object outside the vehicle 200 is calculated. Then, the distance determination unit 11 determines whether or not the distance calculated by the distance calculation unit 10 is smaller than a predetermined threshold value, and transmits the determination result to the object determination unit 3.

また、周波数算出部１２は、信号処理部９が検出した周波数成分から受信波の周波数の変化率を検出する。受信波判定部１３は、周波数算出部１２が検出した周波数とマイクロホン５が送信した探査波の周波数とを比較し、これらが同様に増減している場合には、受信波がマイクロホン５から送信された探査波の反射波であると判定する。受信波判定部１３は判定結果を物体判定部３に送信する。 Further, the frequency calculation unit 12 detects the rate of change in the frequency of the received wave from the frequency component detected by the signal processing unit 9. The received wave determination unit 13 compares the frequency detected by the frequency calculation unit 12 with the frequency of the exploration wave transmitted by the microphone 5, and if these are similarly increased or decreased, the received wave is transmitted from the microphone 5. It is determined that it is a reflected wave of the exploration wave. The received wave determination unit 13 transmits the determination result to the object determination unit 3.

物体判定部３は、距離判定部１１および受信波判定部１３の判定結果に基づいて、車両の周囲に物体があるか否かを判定する。 The object determination unit 3 determines whether or not there is an object around the vehicle based on the determination results of the distance determination unit 11 and the received wave determination unit 13.

本実施形態では、信号生成部７は、制御部２からの送波指示を受信すると、マイクロホン５が探査波の送信を複数回行うようにパルス信号を生成する。マイクロホン５は、周波数が時間とともに変化する第１探査波の送信と、周波数が第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行う。なお、本実施形態では、第１探査波は、周波数が時間の経過とともに増加する超音波とされており、第２探査波は、周波数が時間の経過とともに減少する超音波とされている。 In the present embodiment, when the signal generation unit 7 receives the wave transmission instruction from the control unit 2, the signal generation unit 7 generates a pulse signal so that the microphone 5 transmits the search wave a plurality of times. The microphone 5 transmits the exploration wave, including the transmission of the first exploration wave whose frequency changes with time and the transmission of the second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Do it multiple times. In the present embodiment, the first exploration wave is an ultrasonic wave whose frequency increases with the passage of time, and the second exploration wave is an ultrasonic wave whose frequency decreases with the passage of time.

マイクロホン５が複数回行った探査波の送信に対して、第１の条件と、第２の条件を含む１つまたは複数の条件が満たされた回数をＮとする。ここで、第１の条件とは、距離判定部１１によって、距離算出部１０が算出した距離が測距センサ１の最大検知距離よりも小さいと判定されることである。また、第２の条件とは、受信波判定部１３によって受信波がマイクロホン５から送信された探査波の反射波であると判定されることである。物体判定部３は、Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定する。本実施形態では、第１の条件および第２の条件が満たされた回数をＮとする。 Let N be the number of times that one or more conditions including the first condition and the second condition are satisfied with respect to the transmission of the exploration wave performed by the microphone 5 a plurality of times. Here, the first condition is that the distance determination unit 11 determines that the distance calculated by the distance calculation unit 10 is smaller than the maximum detection distance of the distance measurement sensor 1. The second condition is that the received wave determination unit 13 determines that the received wave is a reflected wave of the exploration wave transmitted from the microphone 5. The object determination unit 3 determines that an object exists around the vehicle when N is a predetermined number of times or more. In the present embodiment, the number of times that the first condition and the second condition are satisfied is N.

なお、前述したように、本実施形態の物体検知装置１００は、測距センサ１を複数備えている。各測距センサ１が備える受信波判定部１３は、各測距センサ１が備えるマイクロホン５が受信した超音波について、この超音波が複数の測距センサ１のうちいずれか１つが備えるマイクロホン５から送信された探査波の反射波であるか否かを判定する。そして、本実施形態では、各受信波判定部１３によって、各マイクロホン５が受信した超音波について、この超音波が隣接するマイクロホン５から送信された探査波の反射波であると判定されたときに、第２の条件が満たされる。 As described above, the object detection device 100 of the present embodiment includes a plurality of distance measuring sensors 1. The received wave determination unit 13 included in each ranging sensor 1 has the ultrasonic wave received by the microphone 5 included in each ranging sensor 1 from the microphone 5 provided by any one of the plurality of ranging sensors 1. Determine if it is a reflected wave of the transmitted exploration wave. Then, in the present embodiment, when each received wave determination unit 13 determines that the ultrasonic waves received by each microphone 5 are reflected waves of the exploration wave transmitted from the adjacent microphones 5. , The second condition is satisfied.

例えば、超音波の送受信は、図４に示すように行われる。図４では、超音波の送信を３回行う場合について図示している。また、図４、および、後述する図５において、実線矢印は周波数が時間の経過とともに増加する超音波、破線矢印は周波数が時間の経過とともに減少する超音波を示している。 For example, transmission and reception of ultrasonic waves are performed as shown in FIG. FIG. 4 shows a case where ultrasonic waves are transmitted three times. Further, in FIG. 4 and FIG. 5 described later, the solid line arrow indicates an ultrasonic wave whose frequency increases with the passage of time, and the broken line arrow indicates an ultrasonic wave whose frequency decreases with the passage of time.

図４に示す例では、１回目の超音波の送信は、測距センサ１ｂが行う第１探査波の送信である。１回目の超音波の送信の前に、Ｎ＝０とされる。そして、１回目の送信の後に測距センサ１ａが超音波を受信し、測距センサ１ａの距離算出部１０が算出した距離が測距センサ１の最大検知距離よりも小さく、かつ、測距センサ１ａが受信した超音波の周波数が第１探査波の周波数と同様に増加していれば、Ｎに１が加算される。 In the example shown in FIG. 4, the first ultrasonic wave transmission is the transmission of the first exploration wave performed by the ranging sensor 1b. Prior to the first ultrasonic transmission, N = 0. Then, after the first transmission, the distance measuring sensor 1a receives the ultrasonic wave, and the distance calculated by the distance calculation unit 10 of the distance measuring sensor 1a is smaller than the maximum detection distance of the distance measuring sensor 1 and the distance measuring sensor 1a. If the frequency of the ultrasonic wave received by 1a is increased in the same manner as the frequency of the first exploration wave, 1 is added to N.

２回目の超音波の送信は、測距センサ１ａが行う第２探査波の送信である。このとき、測距センサ１ｂが超音波を受信し、測距センサ１ｂの距離算出部１０が算出した距離が測距センサ１の最大検知距離よりも小さく、かつ、測距センサ１ｂが受信した超音波の周波数が第２探査波の周波数と同様に減少していれば、Ｎに１が加算される。 The second ultrasonic wave transmission is the transmission of the second exploration wave performed by the ranging sensor 1a. At this time, the distance measuring sensor 1b receives the ultrasonic wave, the distance calculated by the distance calculation unit 10 of the distance measuring sensor 1b is smaller than the maximum detection distance of the distance measuring sensor 1, and the distance measured sensor 1b receives the ultrasonic wave. If the frequency of the sound wave is decreasing like the frequency of the second probe wave, 1 is added to N.

３回目の超音波の送信は、測距センサ１ｂが行う第２探査波の送信である。このとき、測距センサ１ａが超音波を受信し、測距センサ１ａの距離算出部１０が算出した距離が測距センサ１の最大検知距離よりも小さく、かつ、測距センサ１ａが受信した超音波の周波数が第２探査波の周波数と同様に減少していれば、Ｎに１が加算される。 The third transmission of ultrasonic waves is the transmission of the second exploration wave performed by the ranging sensor 1b. At this time, the distance measuring sensor 1a receives the ultrasonic wave, the distance calculated by the distance calculation unit 10 of the distance measuring sensor 1a is smaller than the maximum detection distance of the distance measuring sensor 1, and the distance measured sensor 1a receives the ultrasonic wave. If the frequency of the sound wave is decreasing like the frequency of the second probe wave, 1 is added to N.

そして、超音波の送信を３回行った結果、例えばＮが２以上であれば、物体判定部３は車両の周囲に物体が存在すると判定する。なお、Ｎが１以上であるときに車両の周囲に物体が存在すると判定してもよいし、Ｎが３であるときに車両の周囲に物体が存在すると判定してもよい。 Then, as a result of transmitting ultrasonic waves three times, for example, if N is 2 or more, the object determination unit 3 determines that an object exists around the vehicle. When N is 1 or more, it may be determined that an object exists around the vehicle, and when N is 3, it may be determined that an object exists around the vehicle.

このように、探査波の送信および距離等についての判定を複数回行うことにより、誤検知を抑制できる。また、第１探査波と第２探査波とで周波数に異なる特徴を設けることにより、２つの探査波の反射波を区別して受信することができる。したがって、２つの探査波を続けて送信しても、２つの探査波について距離の算出等が可能であり、複数回の判定を短い時間で行うことができる。また、測距センサ１の送信、受信の組み合わせを変えることで、複数回の判定をさらに短い時間で行うことができる。 In this way, erroneous detection can be suppressed by performing the transmission of the exploration wave and the determination of the distance and the like a plurality of times. Further, by providing different characteristics in frequency between the first exploration wave and the second exploration wave, the reflected wave of the two exploration waves can be received separately. Therefore, even if two exploration waves are transmitted in succession, the distance can be calculated for the two exploration waves, and the determination can be made a plurality of times in a short time. Further, by changing the combination of transmission and reception of the distance measuring sensor 1, it is possible to perform a plurality of determinations in a shorter time.

（第２実施形態）
第２実施形態について説明する。本実施形態は、第１実施形態に対して探査波の送信のタイミングを変更したものであり、その他については第１実施形態と同様であるため、第１実施形態と異なる部分についてのみ説明する。 (Second Embodiment)
The second embodiment will be described. Since this embodiment is the same as the first embodiment in that the timing of transmission of the exploration wave is changed with respect to the first embodiment, only the parts different from the first embodiment will be described.

本実施形態では、隣り合う２つのマイクロホン５が、探査波の送信を同一のタイミングで行う。そして、同一のタイミングで行われる探査波の送信では、一方のマイクロホン５が第１探査波を送信し、他方のマイクロホン５が第２探査波を送信する。 In the present embodiment, two adjacent microphones 5 transmit exploration waves at the same timing. Then, in the transmission of the exploration wave performed at the same timing, one microphone 5 transmits the first exploration wave, and the other microphone 5 transmits the second exploration wave.

例えば、図５に示すように、図４に示す１回目の超音波の送信と２回目の超音波の送信とを同一のタイミングで行った後に、図４に示す３回目の超音波の送信を行う。ここでは、測距センサ１ｂが備えるマイクロホン５が第１探査波を送信するのと同一のタイミングで、測距センサ１ａが備えるマイクロホン５が第２探査波を送信している。 For example, as shown in FIG. 5, after the first ultrasonic wave transmission and the second ultrasonic wave transmission shown in FIG. 4 are performed at the same timing, the third ultrasonic wave transmission shown in FIG. 4 is performed. conduct. Here, the microphone 5 included in the ranging sensor 1a transmits the second exploration wave at the same timing as the microphone 5 included in the ranging sensor 1b transmits the first exploration wave.

なお、同一のタイミングには、完全に同一のタイミングのみでなく、ほぼ同一のタイミングも含まれるものとする。例えば、１つのマイクロホン５が探査波を送信する周期をＴとして、このマイクロホン５が探査波を送信してからＴ／２以下の時間内に他のマイクロホン５が探査波を送信した場合は、同一のタイミングで探査波が送信されたものとする。また、例えば、測距センサ１ｂが探査波を送信した後であって測距センサ１ａの受信波の処理が終了する前に測距センサ１ａが探査波の送信を開始した場合も、同一のタイミングで探査波が送信されたものとする。 It should be noted that the same timing includes not only completely the same timing but also almost the same timing. For example, if the period in which one microphone 5 transmits an exploration wave is T, and another microphone 5 transmits an exploration wave within a time of T / 2 or less after the microphone 5 transmits the exploration wave, the same is true. It is assumed that the exploration wave is transmitted at the timing of. Further, for example, when the ranging sensor 1a starts transmitting the exploration wave after the ranging sensor 1b transmits the exploration wave and before the processing of the received wave of the ranging sensor 1a is completed, the same timing is used. It is assumed that the exploration wave was transmitted in.

測距センサ１ｂのマイクロホン５が第１探査波を送信してから、第１探査波の反射波を測距センサ１ａのマイクロホン５が受信するまでの時間に基づいて、距離算出部１０が算出した車両２００と物体との距離をｄａとする。 The distance calculation unit 10 calculated based on the time from the transmission of the first exploration wave by the microphone 5 of the distance measurement sensor 1b to the reception of the reflected wave of the first exploration wave by the microphone 5 of the distance measurement sensor 1a. Let da be the distance between the vehicle 200 and the object.

測距センサ１ａのマイクロホン５が第２探査波を送信してから、第２探査波の反射波を測距センサ１ｂのマイクロホン５が受信するまでの時間に基づいて、距離算出部１０が算出した車両２００と物体との距離をｄｂとする。 The distance calculation unit 10 calculated based on the time from when the microphone 5 of the distance measuring sensor 1a transmits the second exploration wave to when the microphone 5 of the distance measuring sensor 1b receives the reflected wave of the second exploration wave. Let the distance between the vehicle 200 and the object be db.

本実施形態では、距離ｄａと距離ｄｂとの差が所定の範囲に含まれることを第３の条件とし、マイクロホン５が複数回行った探査波の送信に対して、第１の条件および第２の条件に加えて、第３の条件が満たされた回数をＮとする。そして、物体判定部３は、Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定する。 In the present embodiment, the third condition is that the difference between the distance da and the distance db is included in the predetermined range, and the first condition and the second condition are for the transmission of the exploration wave performed by the microphone 5 a plurality of times. In addition to the condition of, the number of times that the third condition is satisfied is defined as N. Then, the object determination unit 3 determines that an object exists around the vehicle when N is a predetermined number of times or more.

なお、本実施形態では、第１の条件および第２の条件が満たされ、かつ、第３の条件が満たされないときには、物体判定部３は、新たに別の物体が車両２００に近づいたと判定する。 In the present embodiment, when the first condition and the second condition are satisfied and the third condition is not satisfied, the object determination unit 3 determines that another object has newly approached the vehicle 200. ..

このように、周波数の変化の特徴が異なる第１探査波および第２探査波を用いることで、測距センサ１ａ、測距センサ１ｂが同時に探査波を送信した場合にも、混信を抑制することができる。これにより、物体判定部３が行う判定にかかる時間を短縮することができる。また、第３の条件を用いることで、誤検知をさらに抑制できる。 In this way, by using the first exploration wave and the second exploration wave having different characteristics of frequency change, interference can be suppressed even when the distance measurement sensor 1a and the distance measurement sensor 1b simultaneously transmit the search wave. Can be done. As a result, the time required for the determination performed by the object determination unit 3 can be shortened. Further, by using the third condition, false detection can be further suppressed.

（第３実施形態）
第３実施形態について説明する。本実施形態は、第２実施形態に対して同時に超音波を送信する測距センサ１の数を変更したものであり、その他については第２実施形態と同様であるため、第２実施形態と異なる部分についてのみ説明する。 (Third Embodiment)
The third embodiment will be described. This embodiment is different from the second embodiment because the number of distance measuring sensors 1 that simultaneously transmit ultrasonic waves is changed with respect to the second embodiment, and the other embodiments are the same as those of the second embodiment. Only the part will be described.

第２実施形態では測距センサ１ａと測距センサ１ｂとが同一のタイミングで探査波を送信したが、本実施形態では、さらに多くの測距センサ１が同一のタイミングで探査波を送信する。また、低速時と高速時とで、探査波を同時に送信する測距センサ１の組み合わせを変化させる。 In the second embodiment, the distance measuring sensor 1a and the distance measuring sensor 1b transmit the exploration wave at the same timing, but in the present embodiment, more distance measuring sensors 1 transmit the exploration wave at the same timing. Further, the combination of the ranging sensors 1 that simultaneously transmit the exploration wave is changed between the low speed and the high speed.

低速時における探査波の送信方法について図６を用いて説明する。低速時には、図６に示す４つのパターンＡ０、Ａ１、Ｂ０、Ｂ１を組み合わせて送受信を行う。ここでは、パターンＡ０、Ａ１からランダムに選択された１つのパターンの送受信と、パターンＢ０、Ｂ１からランダムに選択された１つのパターンの送受信とが交互に行われる。 The method of transmitting the exploration wave at low speed will be described with reference to FIG. At low speeds, transmission / reception is performed by combining the four patterns A0, A1, B0, and B1 shown in FIG. Here, transmission / reception of one pattern randomly selected from the patterns A0 and A1 and transmission / reception of one pattern randomly selected from the patterns B0 and B1 are performed alternately.

なお、図６および後述する図７では、車両２００の紙面左側に並ぶ４つの三角形が上から順に測距センサ１ａ、１ｂ、１ｃ、１ｄの作動を示し、車両２００の紙面下側に並ぶ２つの三角形のうち左側が測距センサ１ｅの作動、右側が測距センサ１ｆの作動を示す。また、車両２００の紙面右側に並ぶ４つの三角形が下から順に測距センサ１ｇ、１ｈ、１ｉ、１ｊの作動を示し、車両２００の紙面上側に並ぶ２つの三角形のうち右側が測距センサ１ｋの作動、左側が測距センサ１ｌの作動を示す。そして、斜線ハッチングが付された三角形は第１探査波の送信と超音波の受信とを行うことを示し、点ハッチングが付された三角形は第２探査波の送信と超音波の受信とを行うことを示している。また、ハッチングが付されていない三角形は探査波の送信を行わず、超音波の受信のみを行うことを示している。 In FIG. 6 and FIG. 7, which will be described later, four triangles arranged on the left side of the paper surface of the vehicle 200 indicate the operation of the distance measuring sensors 1a, 1b, 1c, and 1d in order from the top, and two triangles arranged on the lower side of the paper surface of the vehicle 200. The left side of the triangle shows the operation of the distance measuring sensor 1e, and the right side shows the operation of the distance measuring sensor 1f. In addition, the four triangles lined up on the right side of the paper of the vehicle 200 indicate the operation of the distance measuring sensors 1g, 1h, 1i, and 1j in order from the bottom, and the right side of the two triangles lined up on the upper side of the paper of the vehicle 200 is the distance measuring sensor 1k. The operation, the left side shows the operation of the distance measuring sensor 1l. The triangle with the diagonal hatching indicates that the first exploration wave is transmitted and the ultrasonic wave is received, and the triangle with the point hatching indicates that the second exploration wave is transmitted and the ultrasonic wave is received. It is shown that. In addition, the triangles without hatching indicate that the exploration wave is not transmitted and only the ultrasonic wave is received.

パターンＡ０では、測距センサ１ａ、１ｅ、１ｇ、１ｋが第１探査波を送信し、測距センサ１ｃ、１ｉが第２探査波を送信し、他の測距センサ１は探査波を送信しない。パターンＡ１では、測距センサ１ａ、１ｅ、１ｇ、１ｋが第２探査波を送信し、測距センサ１ｃ、１ｉが第１探査波を送信し、他の測距センサ１は探査波を送信しない。 In pattern A0, the ranging sensors 1a, 1e, 1g, and 1k transmit the first exploration wave, the ranging sensors 1c and 1i transmit the second exploration wave, and the other ranging sensors 1 do not transmit the exploration wave. .. In pattern A1, the ranging sensors 1a, 1e, 1g, and 1k transmit the second exploration wave, the ranging sensors 1c and 1i transmit the first exploration wave, and the other ranging sensors 1 do not transmit the exploration wave. ..

パターンＢ０では、測距センサ１ｄ、１ｆ、１ｊ、１ｌが第１探査波を送信し、測距センサ１ｂ、１ｈが第２探査波を送信し、他の測距センサ１は探査波を送信しない。パターンＢ１では、測距センサ１ｄ、１ｆ、１ｊ、１ｌが第２探査波を送信し、測距センサ１ｂ、１ｈが第１探査波を送信し、他の測距センサ１は探査波を送信しない。 In pattern B0, the ranging sensors 1d, 1f, 1j, and 1l transmit the first exploration wave, the ranging sensors 1b and 1h transmit the second exploration wave, and the other ranging sensors 1 do not transmit the exploration wave. .. In pattern B1, the ranging sensors 1d, 1f, 1j, and 1l transmit the second exploration wave, the ranging sensors 1b and 1h transmit the first exploration wave, and the other ranging sensors 1 do not transmit the exploration wave. ..

このように、低速時には、各測距センサ１は２回に１回探査波を送信する。これにより、混信をさらに抑制することができる。 In this way, at low speeds, each ranging sensor 1 transmits an exploration wave once every two times. As a result, interference can be further suppressed.

高速時における探査波の送信方法について図７を用いて説明する。高速時には、図７に示す４つのパターンＣ０、Ｃ１、Ｄ０、Ｄ１を組み合わせて送受信を行う。ここでは、パターンＣ０、Ｃ１からランダムに選択された１つのパターンの送受信と、パターンＤ０、Ｄ１からランダムに選択された１つのパターンの送受信とが交互に行われる。 The method of transmitting the exploration wave at high speed will be described with reference to FIG. 7. At high speeds, transmission and reception are performed by combining the four patterns C0, C1, D0, and D1 shown in FIG. Here, transmission / reception of one pattern randomly selected from the patterns C0 and C1 and transmission / reception of one pattern randomly selected from the patterns D0 and D1 are performed alternately.

パターンＣ０では、測距センサ１ａ、１ｅ、１ｇ、１ｋが第１探査波を送信し、測距センサ１ｃ、１ｆ、１ｉ、１ｌが第２探査波を送信し、他の測距センサ１は探査波を送信しない。パターンＣ１では、測距センサ１ａ、１ｅ、１ｇ、１ｋが第２探査波を送信し、測距センサ１ｃ、１ｆ、１ｉ、１ｌが第１探査波を送信し、他の測距センサ１は探査波を送信しない。 In pattern C0, the range-finding sensors 1a, 1e, 1g, 1k transmit the first exploration wave, the range-finding sensors 1c, 1f, 1i, and 1l transmit the second exploration wave, and the other range-finding sensors 1 transmit the exploration. Do not send waves. In pattern C1, the range-finding sensors 1a, 1e, 1g, and 1k transmit the second exploration wave, the range-finding sensors 1c, 1f, 1i, and 1l transmit the first exploration wave, and the other range-finding sensors 1 transmit the exploration. Do not send waves.

パターンＤ０では、測距センサ１ｄ、１ｆ、１ｊ、１ｌが第１探査波を送信し、測距センサ１ｂ、１ｅ、１ｈ、１ｋが第２探査波を送信し、他の測距センサ１は探査波を送信しない。パターンＤ１では、測距センサ１ｄ、１ｆ、１ｊ、１ｌが第２探査波を送信し、測距センサ１ｂ、１ｅ、１ｈ、１ｋが第１探査波を送信し、他の測距センサ１は探査波を送信しない。 In the pattern D0, the ranging sensors 1d, 1f, 1j, and 1l transmit the first exploration wave, the ranging sensors 1b, 1e, 1h, and 1k transmit the second exploration wave, and the other ranging sensors 1 transmit the exploration. Do not send waves. In the pattern D1, the ranging sensors 1d, 1f, 1j, and 1l transmit the second exploration wave, the ranging sensors 1b, 1e, 1h, and 1k transmit the first exploration wave, and the other ranging sensors 1 transmit the exploration. Do not send waves.

このように、高速時には、車両２００の側方の物体を早いタイミングで検知するために、車両２００の側面部に配置された測距センサ１ｅ、１ｆ、１ｋ、１ｌが毎回探査波を送信する。 In this way, at high speeds, the ranging sensors 1e, 1f, 1k, and 1l arranged on the side surface of the vehicle 200 transmit exploration waves each time in order to detect an object on the side of the vehicle 200 at an early timing.

各測距センサ１が受信する超音波の種類について図８を用いて説明する。例えば、パターンＣ０、Ｄ１、Ｃ１、Ｄ１、Ｃ０、Ｄ０、Ｃ１の順に送受信が行われた場合、各測距センサ１が受信する可能性のある超音波の種類は、図８に示すようになる。 The type of ultrasonic wave received by each ranging sensor 1 will be described with reference to FIG. For example, when the patterns C0, D1, C1, D1, C0, D0, and C1 are transmitted and received in this order, the types of ultrasonic waves that each ranging sensor 1 may receive are as shown in FIG. ..

なお、図８では、１２の測距センサ１のうち、測距センサ１ａ、１ｂ、１ｃ、１ｄ、１ｅ、１ｌが受信する超音波の種類を示している。斜線ハッチングが付された矩形は第１探査波を受信する可能性があることを示し、点ハッチングが付された矩形は第２探査波を受信する可能性があることを示している。また、これらの矩形の長さは、送受信の処理が行われる時間を示しており、パターンが切り替わってから時間Ｔが経過するまでに送受信の処理が終了することを示している。 Note that FIG. 8 shows the types of ultrasonic waves received by the distance measuring sensors 1a, 1b, 1c, 1d, 1e, and 1l among the 12 distance measuring sensors 1. A rectangle with diagonal hatching indicates that it may receive the first exploration wave, and a rectangle with point hatching indicates that it may receive the second exploration wave. Further, the length of these rectangles indicates the time during which the transmission / reception processing is performed, and indicates that the transmission / reception processing is completed by the time T elapses after the pattern is switched.

図８に示すように、隣接する測距センサ１からの超音波のみを考慮すれば、各周期において、１つの測距センサ１が２つの測距センサ１から送信された同じ種類の超音波を受信することがないようにされている。 As shown in FIG. 8, if only the ultrasonic waves from the adjacent ranging sensors 1 are considered, one ranging sensor 1 transmits the same type of ultrasonic waves transmitted from the two ranging sensors 1 in each cycle. It is designed not to be received.

例えば、測距センサ１ｌが受信する超音波としては、測距センサ１ｌ自身が送信した探査波の反射波と、隣接する測距センサ１ａが送信した探査波の反射波が考えられる。そのため、測距センサ１ａと測距センサ１ｌが同一の周期で同じ種類の探査波を送信することがないように送信パターンが設定されている。具体的には、測距センサ１ａと測距センサ１ｌが共に探査波を送信するパターンでは、測距センサ１ａと測距センサ１ｌのうち一方が第１探査波を送信し、他方が第２探査波を送信する。そして、他のパターンでは、測距センサ１ａと測距センサ１ｌのうち、測距センサ１ｌのみが探査波を送信する。 For example, as the ultrasonic wave received by the ranging sensor 1l, a reflected wave of the exploration wave transmitted by the ranging sensor 1l itself and a reflected wave of the exploration wave transmitted by the adjacent ranging sensor 1a can be considered. Therefore, the transmission pattern is set so that the range-finding sensor 1a and the range-finding sensor 1l do not transmit the same type of exploration wave in the same period. Specifically, in the pattern in which the range-finding sensor 1a and the range-finding sensor 1l both transmit the exploration wave, one of the range-finding sensor 1a and the range-finding sensor 1l transmits the first exploration wave, and the other is the second exploration. Send waves. Then, in another pattern, of the range-finding sensor 1a and the range-finding sensor 1l, only the range-finding sensor 1l transmits the exploration wave.

また、測距センサ１ａが受信する超音波としては、測距センサ１ａ自身、および、隣接する測距センサ１ｌ、１ｂが送信した探査波の反射波が考えられる。そのため、測距センサ１ａ、１ｂ、１ｌが同一の周期で同じ種類の探査波を送信することがないように送信パターンが設定されている。具体的には、測距センサ１ａ、１ｂ、１ｌのうち１つが第１探査波を送信し、他の１つが第２探査波を送信し、残りの１つは探査波を送信せず、超音波の受信のみを行う。 Further, as the ultrasonic wave received by the ranging sensor 1a, the reflected wave of the exploration wave transmitted by the ranging sensor 1a itself and the adjacent ranging sensors 1l and 1b can be considered. Therefore, the transmission pattern is set so that the ranging sensors 1a, 1b, and 1l do not transmit the same type of exploration wave in the same period. Specifically, one of the distance measuring sensors 1a, 1b, and 1l transmits the first exploration wave, the other one transmits the second exploration wave, and the other one does not transmit the exploration wave. Only receive sound waves.

また、測距センサ１ｂが受信する超音波としては、測距センサ１ｂ自身、および、隣接する測距センサ１ａ、１ｃが送信した探査波の反射波が考えられる。そのため、測距センサ１ａ、１ｂ、１ｃが同一の周期で同じ種類の探査波を送信することがないように送信パターンが設定されている。具体的には、測距センサ１ａ、１ｂ、１ｃのうち１つまたは２つが探査波を送信する。そして、測距センサ１ａ、１ｂ、１ｃのうちの２つが探査波を送信する場合には、２つのうちの一方が第１探査波を送信し、他方が第２探査波を送信する。 Further, as the ultrasonic wave received by the ranging sensor 1b, the reflected wave of the exploration wave transmitted by the ranging sensor 1b itself and the adjacent ranging sensors 1a and 1c can be considered. Therefore, the transmission pattern is set so that the ranging sensors 1a, 1b, and 1c do not transmit the same type of exploration wave in the same period. Specifically, one or two of the distance measuring sensors 1a, 1b, and 1c transmit the exploration wave. When two of the distance measuring sensors 1a, 1b, and 1c transmit the exploration wave, one of the two transmits the first exploration wave and the other transmits the second exploration wave.

同様に、測距センサ１ｃ、１ｄ、１ｅについても、各周期において、１つの測距センサ１が２つの測距センサ１から送信された同じ種類の超音波を受信することがないように送信パターンが設定されている。 Similarly, for the ranging sensors 1c, 1d, and 1e, a transmission pattern is provided so that one ranging sensor 1 does not receive the same type of ultrasonic waves transmitted from the two ranging sensors 1 in each cycle. Is set.

なお、図７に示すように、高速時のパターンＣ０では、測距センサ１ｌの両側に配置された測距センサ１ａ、１ｋが共に第１探査波を送信し、測距センサ１ｆの両側に配置された測距センサ１ｅ、１ｇが共に第１探査波を送信する。同様に、パターンＣ１、Ｄ０、Ｄ１においても、車両２００側面部の１つの測距センサ１の両側に配置された２つの測距センサ１が共に第１探査波を送信するか、または、共に第２探査波を送信する。 As shown in FIG. 7, in the high-speed pattern C0, the distance measuring sensors 1a and 1k arranged on both sides of the distance measuring sensor 1l both transmit the first exploration wave and are arranged on both sides of the distance measuring sensor 1f. The distance measuring sensors 1e and 1g are both transmitted the first exploration wave. Similarly, in the patterns C1, D0, and D1, the two ranging sensors 1 arranged on both sides of the one ranging sensor 1 on the side surface of the vehicle 200 both transmit the first exploration wave, or both of them are the first. 2 Send the exploration wave.

このような送信パターンにおいても、左側面部に配置された測距センサ１ｅと測距センサ１ｆ、右側面部に配置された測距センサ１ｋと測距センサ１ｌを十分に離して配置することにより、両側の測距センサ１からの超音波の混信を回避することができる。また、前述したように、車両２００前面部、後面部に配置された測距センサ１からの超音波の送信を２回に１回とすることで、さらに混信を回避することができる。 Even in such a transmission pattern, the distance measuring sensor 1e and the distance measuring sensor 1f arranged on the left side surface portion, and the distance measuring sensor 1k and the distance measuring sensor 1l arranged on the right side surface portion are arranged sufficiently apart from each other on both sides. Interference of ultrasonic waves from the ranging sensor 1 can be avoided. Further, as described above, the interference can be further avoided by transmitting the ultrasonic wave from the distance measuring sensor 1 arranged on the front surface portion and the rear surface portion of the vehicle 200 once every two times.

このように探査波の送信を複数回行った後、第２実施形態と同様に物体判定部３による判定が行われる。なお、高速時には車両２００側面部に配置された測距センサ１が毎回探査波を送信するので、車両２００側方の物体については、低速時の半分の時間で判定を行うことができる。 After transmitting the exploration wave a plurality of times in this way, the object determination unit 3 makes a determination as in the second embodiment. Since the distance measuring sensor 1 arranged on the side surface of the vehicle 200 transmits the exploration wave at high speed, the object on the side of the vehicle 200 can be determined in half the time at low speed.

物体検知の範囲を広げるためには、短い周期で多くの測距センサ１から探査波を送信することが必要となる。このとき、２つの測距センサ１が同じ周波数の探査波を送信すると、測距センサ１が受信した超音波がどの測距センサ１が送信した探査波の反射波であるか判別することが困難である。 In order to widen the range of object detection, it is necessary to transmit exploration waves from many ranging sensors 1 in a short cycle. At this time, if the two distance measuring sensors 1 transmit the exploration wave of the same frequency, it is difficult to determine which the distance measuring sensor 1 transmitted the ultrasonic wave received by the distance measuring sensor 1 as the reflected wave. Is.

これに対して、本実施形態では、上記のように探査波の周波数に２通りの特徴を設けている。したがって、１つの測距センサ１と、この両側に配置された２つの測距センサ１のうち、２つの測距センサ１が同一のタイミングで探査波を送信する場合にも、混信を抑制することができる。 On the other hand, in the present embodiment, the frequency of the exploration wave is provided with two characteristics as described above. Therefore, interference can be suppressed even when two ranging sensors 1 out of the one ranging sensor 1 and the two ranging sensors 1 arranged on both sides thereof transmit the exploration wave at the same timing. Can be done.

（第４実施形態）
第４実施形態について説明する。本実施形態は、第１実施形態に対して物体の判定に用いる条件を追加したものであり、その他については第１実施形態と同様であるため、第１実施形態と異なる部分についてのみ説明する。 (Fourth Embodiment)
The fourth embodiment will be described. Since this embodiment is the same as the first embodiment with the addition of the conditions used for determining the object to the first embodiment, only the parts different from the first embodiment will be described.

図９に示すように、本実施形態の物体検知装置１００は相対速度判定部１４を備えている。相対速度判定部１４は、探査波の周波数と、周波数算出部１２が算出した受信波の周波数との差に基づいて、車両２００に対する物体の相対速度を算出するものである。なお、物体の相対速度を、距離算出部１０が算出した距離の単位時間当たりの変化量に基づいて算出してもよい。 As shown in FIG. 9, the object detection device 100 of the present embodiment includes a relative velocity determination unit 14. The relative velocity determination unit 14 calculates the relative velocity of the object with respect to the vehicle 200 based on the difference between the frequency of the exploration wave and the frequency of the received wave calculated by the frequency calculation unit 12. The relative velocity of the object may be calculated based on the amount of change in the distance calculated by the distance calculation unit 10 per unit time.

相対速度判定部１４は、相対速度についての判定を行い、判定結果を物体判定部３に送信する。物体判定部３は、距離判定部１１および受信波判定部１３の判定結果に加えて、相対速度判定部１４の判定結果に基づいて車両の周囲に物体が存在するか否かを判定する。 The relative velocity determination unit 14 determines the relative velocity and transmits the determination result to the object determination unit 3. The object determination unit 3 determines whether or not an object exists around the vehicle based on the determination results of the relative speed determination unit 14 in addition to the determination results of the distance determination unit 11 and the reception wave determination unit 13.

具体的には、相対速度判定部１４は、車両２００に対する物体の過去の相対速度、および、距離算出部１０が算出した過去の距離に基づいて、車両２００と物体との将来の距離を推定する。そして、過去に推定された距離と、距離算出部１０が算出した現在の距離との差が所定の範囲に含まれることを第４の条件として、マイクロホン５が複数回行った探査波の送信に対して、第１の条件および第２の条件に加えて第４の条件が満たされた回数をＮとする。物体判定部３は、Ｎが所定の回数以上であるときに、車両の周囲に物体が存在すると判定する。 Specifically, the relative speed determination unit 14 estimates the future distance between the vehicle 200 and the object based on the past relative speed of the object with respect to the vehicle 200 and the past distance calculated by the distance calculation unit 10. .. Then, the fourth condition is that the difference between the distance estimated in the past and the current distance calculated by the distance calculation unit 10 is included in the predetermined range, and the microphone 5 transmits the exploration wave a plurality of times. On the other hand, the number of times that the fourth condition is satisfied in addition to the first condition and the second condition is defined as N. The object determination unit 3 determines that an object exists around the vehicle when N is a predetermined number of times or more.

例えば、ｔを時間として、ｔ＝ｔ０のときの車両２００と物体との距離をｄ０とし、車両に接近する向きを正とした物体の相対速度をｖ０とすると、ｔ＝ｔ０＋Δｔのときの車両と物体との距離ｄ１は、ｄ０－ｖ０Δｔに近いと予想される。 For example, if t is the time, the distance between the vehicle 200 and the object when t = t0 is d0, and the relative velocity of the object whose direction is positive when approaching the vehicle is v0, the vehicle and the vehicle when t = t0 + Δt. The distance d1 to the object is expected to be close to d0-v0Δt.

そこで、所定の値ｄｌとｄｈを用いて、ｄ０－ｖ０Δｔ－ｄｌ＜ｄ１＜ｄ０－ｖ０Δｔ＋ｄｈであるときに、ｄ０とｄ１との差が所定の範囲に含まれるとする。 Therefore, it is assumed that the difference between d0 and d1 is included in the predetermined range when d0-v0Δt-dl <d1 <d0-v0Δt + dh by using the predetermined values dl and dh.

このように、過去の距離および相対速度から推定した現在の距離と、距離算出部１０が算出した距離とを比較することにより、誤検知をさらに抑制することができる。 In this way, by comparing the current distance estimated from the past distance and the relative speed with the distance calculated by the distance calculation unit 10, false detection can be further suppressed.

なお、第４の条件の代わりに、次の第５、第６の条件を判定に用いてもよい。第５の条件は、ｔ＝ｔ０＋Δｔのときの車両２００に対する物体の相対速度をｖ１とし、ｖｌ、ｖｈを所定の基準値として、ｖｌ＜ｖ１－ｖ０＜ｖｈとなることである。第６の条件は、距離算出部１０が算出した距離、および、車両２００に対する物体の相対速度から推定される車両２００と物体との過去の距離と、距離算出部１０が過去に算出した距離との差が、所定の範囲に含まれることである。 In addition, instead of the fourth condition, the following fifth and sixth conditions may be used for the determination. The fifth condition is that vl <v1-v0 <vh, where v1 is the relative velocity of the object with respect to the vehicle 200 when t = t0 + Δt, and lv and vh are predetermined reference values. The sixth condition is the distance calculated by the distance calculation unit 10, the past distance between the vehicle 200 and the object estimated from the relative speed of the object with respect to the vehicle 200, and the distance calculated in the past by the distance calculation unit 10. The difference is within a predetermined range.

また、第１の条件および第２の条件に加えて、第３～第６の条件のうち２つ以上の条件を判定に用いてもよい。また、第１の条件および第２の条件に加えて、第３～第６の条件のうち２つ以上の条件を判定に用いる場合には、第１、第２の条件と、他の条件のうち少なくとも一部の条件が満たされた回数をＮとしてもよい。 Further, in addition to the first condition and the second condition, two or more of the third to sixth conditions may be used for the determination. Further, when two or more of the third to sixth conditions are used for the determination in addition to the first condition and the second condition, the first and second conditions and other conditions are used. Of these, the number of times that at least some of the conditions are satisfied may be N.

（他の実施形態）
なお、本発明は上記した実施形態に限定されるものではなく、特許請求の範囲に記載した範囲内において適宜変更が可能である。 (Other embodiments)
The present invention is not limited to the above-described embodiment, and can be appropriately modified within the scope of the claims.

例えば、１つの測距センサ１がマイクロホン５を２つ備え、一方のマイクロホン５から超音波を送信し、他方のマイクロホン５で超音波を受信してもよい。 For example, one distance measuring sensor 1 may include two microphones 5, transmitting ultrasonic waves from one microphone 5 and receiving ultrasonic waves by the other microphone 5.

また、物体検知装置１００が測距センサ１を１つのみ備えていてもよい。１つの測距センサ１で超音波の送受信を行う場合でも、複数回の送受信および判定を行うことにより、誤検知を抑制することができ、第１探査波および第２探査波を用いることで、判定時間を短縮することができる。 Further, the object detection device 100 may include only one distance measuring sensor 1. Even when ultrasonic waves are transmitted and received by one distance measuring sensor 1, false detection can be suppressed by performing transmission and reception and determination multiple times, and by using the first exploration wave and the second exploration wave, The determination time can be shortened.

また、図１０に示すように、物体検知装置１００が車両状態推定部１５および車両センサ１６を備え、車両センサ１６からの信号に基づいて車両状態推定部１５が推定した車両２００の状態に応じて、Ｎの決定に用いられる条件の所定の範囲を変更してもよい。例えば、車両２００の状態に応じてｄｌ、ｄｈ、ｖｌ、ｖｈの値を変更してもよい。 Further, as shown in FIG. 10, the object detection device 100 includes a vehicle state estimation unit 15 and a vehicle sensor 16, according to the state of the vehicle 200 estimated by the vehicle state estimation unit 15 based on the signal from the vehicle sensor 16. , N may be modified within a predetermined range of conditions used in the determination. For example, the values of dl, dh, vr, and vh may be changed according to the state of the vehicle 200.

車両センサ１６が検出する車両２００の状態としては、例えば、操舵角、車輪速、加速度、シフト位置等が挙げられる。また、ＧＰＳ（Global Positioning System）デバイスで車両センサ１６を構成し、車両センサ１６から得られる車両２００の位置情報に応じて所定の範囲を変更してもよい。 Examples of the state of the vehicle 200 detected by the vehicle sensor 16 include steering angle, wheel speed, acceleration, shift position, and the like. Further, the vehicle sensor 16 may be configured by a GPS (Global Positioning System) device, and a predetermined range may be changed according to the position information of the vehicle 200 obtained from the vehicle sensor 16.

また、車両２００における測距センサ１の搭載位置によって所定の範囲を変更してもよい。例えば、測距センサ１ｅ、１ｆ、１ｋ、１ｌの受信波の判定における所定の範囲を、測距センサ１ａ、１ｂ、１ｃ、１ｄの受信波の判定における所定の範囲よりも狭くしてもよい。 Further, the predetermined range may be changed depending on the mounting position of the distance measuring sensor 1 in the vehicle 200. For example, the predetermined range in the determination of the received waves of the ranging sensors 1e, 1f, 1k, and 1l may be narrower than the predetermined range in the determination of the received waves of the ranging sensors 1a, 1b, 1c, and 1d.

また、操舵角、速度、シフト位置のうち２つ以上のものに応じて所定の範囲を変更してもよいし、操舵角、速度、シフト位置のうち１つ以上のものと測距センサ１の搭載位置とに応じて所定の範囲を変更してもよい。 Further, a predetermined range may be changed according to two or more of the steering angle, speed and shift position, and one or more of the steering angle, speed and shift position and the distance measuring sensor 1 may be changed. A predetermined range may be changed according to the mounting position.

また、図１１に示すように、物体検知装置１００が、物体判定部３によって障害物判定された物体が車両に対してどのように移動しているかを判定する物体移動判定部１７を備えていてもよい。物体移動判定部１７の判定結果は、例えば報知部４が報知する内容の決定等に用いられる。 Further, as shown in FIG. 11, the object detection device 100 includes an object movement determination unit 17 that determines how an object that has been determined to be an obstacle by the object determination unit 3 is moving with respect to the vehicle. May be good. The determination result of the object movement determination unit 17 is used, for example, to determine the content to be notified by the notification unit 4.

物体移動判定部１７は、例えば、車両２００の側面部に配置されたマイクロホン５が受信した超音波に基づいて算出される物体の相対速度を用いて、次のような判定を行う。すなわち、物体移動判定部１７は、この相対速度が、車両２００に接近することを示す値から、車両２００から離れることを示す値に変化したときに、この物体が車両２００とすれ違うように移動していると判定する。あるいは、物体移動判定部１７は、このようなときに物体が車両２００をすり抜けるように移動していると判定する。あるいは、物体移動判定部１７は、このようなときに物体が車両２００を追い抜くように移動していると判定する。 The object movement determination unit 17 makes the following determination using, for example, the relative velocity of the object calculated based on the ultrasonic waves received by the microphone 5 arranged on the side surface portion of the vehicle 200. That is, when the relative speed changes from a value indicating approaching the vehicle 200 to a value indicating moving away from the vehicle 200, the object movement determination unit 17 moves so that the object passes the vehicle 200. It is determined that it is. Alternatively, the object movement determination unit 17 determines that the object is moving so as to pass through the vehicle 200 at such a time. Alternatively, the object movement determination unit 17 determines that the object is moving so as to overtake the vehicle 200 at such a time.

また、さらに、この物体との距離の時間変化において、物体の相対速度の絶対値が所定の値よりも小さいときに車両２００と物体との距離が極小値をとる場合に、物体移動判定部１７は、次のように判定する。すなわち、物体移動判定部１７は、物体が車両２００とすれ違うように移動しているか、または、車両２００をすり抜けるように移動しているか、または、車両２００を追い抜くように移動していると判定する。 Further, when the distance between the vehicle 200 and the object takes a minimum value when the absolute value of the relative velocity of the object is smaller than a predetermined value in the time change of the distance to the object, the object movement determination unit 17 Determines as follows. That is, the object movement determination unit 17 determines that the object is moving so as to pass the vehicle 200, is moving so as to pass through the vehicle 200, or is moving so as to overtake the vehicle 200. ..

また、複数回行われる探査波の送信のうちの１回において、距離判定部１１によって、２つの物体について、車両２００と物体との距離が所定の閾値よりも小さいと判定された場合には、次回の送信のタイミングを次のように設定してもよい。 Further, when the distance determination unit 11 determines that the distance between the vehicle 200 and the object is smaller than a predetermined threshold value for two objects in one of the transmissions of the exploration waves performed a plurality of times, the distance determination unit 11 determines that the distance between the vehicle 200 and the object is smaller than a predetermined threshold value. The timing of the next transmission may be set as follows.

すなわち、検知された２つの物体をそれぞれ第１物体、第２物体として、車両２００と第１物体との距離および第１物体の相対速度から、車両２００と第１物体との第１時刻における距離を推定し、推定した距離を第１距離とする。また、車両２００と第２物体との距離および第２物体の相対速度から、車両２００と第２物体との第２時刻における距離を推定し、推定した距離を第２距離とする。そして、第１距離と第２距離との差が所定値以上となるように第１時刻および第２時刻を設定して、第１物体を再度検知するための第１探査波を第１時刻に送信し、第２物体を再度検知するための第２探査波を第２時刻に送信する。 That is, the two detected objects are regarded as the first object and the second object, respectively, and the distance between the vehicle 200 and the first object at the first time is determined from the distance between the vehicle 200 and the first object and the relative speed of the first object. Is estimated, and the estimated distance is defined as the first distance. Further, the distance between the vehicle 200 and the second object at the second time is estimated from the distance between the vehicle 200 and the second object and the relative speed of the second object, and the estimated distance is defined as the second distance. Then, the first time and the second time are set so that the difference between the first distance and the second distance becomes a predetermined value or more, and the first exploration wave for detecting the first object again is set to the first time. The second exploration wave for detecting the second object again is transmitted at the second time.

例えば、ｔ＝ｔ０のときにパターンＤ１で超音波を送受信した結果、測距センサ１ａ、１ｂ間の送受信によって第１物体が検知され、測距センサ１ｂ、１ｃ間の送受信によって第２物体が検知されたとする。 For example, as a result of transmitting and receiving ultrasonic waves in the pattern D1 when t = t0, the first object is detected by the transmission and reception between the distance measuring sensors 1a and 1b, and the second object is detected by the transmission and reception between the distance measuring sensors 1b and 1c. Suppose it was done.

ｔ＝ｔ０のときの車両２００と第１物体との距離、第１物体の相対速度をｄ０１、ｖ０１とすると、ｔ＝ｔ０＋Δｔ１のときの車両２００と第１物体との距離は、ｄ０１－ｖ０１Δｔ１に近いと予想される。また、ｔ＝ｔ０のときの車両２００と第２物体との距離、第２物体の相対速度をｄ０２、ｖ０２とすると、ｔ＝ｔ０＋Δｔ２のときの車両２００と第２物体との距離は、ｄ０２－ｖ０２Δｔ２に近いと予想される。 Assuming that the distance between the vehicle 200 and the first object when t = t0 and the relative speed of the first object are d01 and v01, the distance between the vehicle 200 and the first object when t = t0 + Δt1 is d01-v01Δt1. Expected to be close. Further, assuming that the distance between the vehicle 200 and the second object when t = t0 and the relative speed of the second object are d02 and v02, the distance between the vehicle 200 and the second object when t = t0 + Δt2 is d02-. It is expected to be close to v02Δt2.

そして、次にパターンＣ０で超音波を送受信する場合に、車両２００と第１、第２物体との距離が互いにほぼ等しくなる時刻で測距センサ１ａ、１ｃから第１、第２探査波を送信すると、測距センサ１ｂが各探査波の反射波を受信するタイミングが重なりやすい。 Then, when the ultrasonic waves are transmitted and received in the pattern C0 next, the first and second exploration waves are transmitted from the distance measuring sensors 1a and 1c at the time when the distances between the vehicle 200 and the first and second objects are substantially equal to each other. Then, the timing at which the distance measuring sensor 1b receives the reflected wave of each exploration wave tends to overlap.

そこで、ｄ０１－ｖ０１Δｔ１とｄ０２－ｖ０２Δｔ２との差が所定値以上となるようにΔｔ１、Δｔ２を設定する。そして、ｔ＝ｔ０＋Δｔ１のときに測距センサ１ａから第１探査波を送信し、ｔ＝ｔ０＋Δｔ２のときに測距センサ１ｃから第２探査波を送信する。 Therefore, Δt1 and Δt2 are set so that the difference between d01-v01Δt1 and d02-v02Δt2 is equal to or greater than a predetermined value. Then, when t = t0 + Δt1, the ranging sensor 1a transmits the first exploration wave, and when t = t0 + Δt2, the ranging sensor 1c transmits the second exploration wave.

このように送信のタイミングを設定することで、測距センサ１ｂが第１探査波の反射波を受信するタイミングと第２探査波の反射波を受信するタイミングが重なることを抑制し、混信を回避することができる。 By setting the transmission timing in this way, it is possible to prevent the ranging sensor 1b from overlapping the timing of receiving the reflected wave of the first exploration wave and the timing of receiving the reflected wave of the second exploration wave, and avoid interference. can do.

３ 物体判定部
５ マイクロホン
１０ 距離算出部
１１ 距離判定部
１３ 受信波判定部 3 Object judgment unit 5 Microphone 10 Distance calculation unit 11 Distance judgment unit 13 Received wave judgment unit

Claims (16)

車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記送受信部を複数備え、
前記受信波判定部は、複数の前記送受信部それぞれが受信した超音波について、該超音波が複数の前記送受信部のうちいずれか１つの送受信部から送信された探査波の反射波であるか否かを判定し、
前記判定されることは、前記受信波判定部によって、複数の前記送受信部それぞれが受信した超音波について、該超音波が複数の前記送受信部のうちいずれか１つの送受信部から送信された探査波の反射波であると判定されることであり、
複数の前記送受信部は、探査波の送信を同一のタイミングで行い、
前記同一のタイミングで行われる探査波の送信では、少なくとも１つの送受信部が前記第１探査波を送信し、少なくとも１つの送受信部が前記第２探査波を送信し、
複数の前記送受信部のうち前記第１探査波を送信した送受信部を第１送受信部とし、
複数の前記送受信部のうち前記第２探査波を送信した送受信部を第２送受信部とし、
前記第１送受信部が前記第１探査波を送信してから、該第１探査波の反射波を前記第２送受信部が受信するまでの時間に基づいて算出された前記車両と物体との距離をｄａとし、
前記第２送受信部が前記第２探査波を送信してから、該第２探査波の反射波を前記第１送受信部が受信するまでの時間に基づいて算出された前記車両と物体との距離をｄｂとして、
前記複数の条件のうちの１つは、前記距離ｄａと前記距離ｄｂとの差が所定の範囲に含まれることである物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
It is equipped with a plurality of the transmission / reception units.
The received wave determination unit determines whether or not the ultrasonic wave received by each of the plurality of transmission / reception units is a reflected wave of the exploration wave transmitted from any one of the plurality of transmission / reception units. Judging whether
The determination is that the ultrasonic wave received by each of the plurality of transmission / reception units by the reception wave determination unit is the exploration wave in which the ultrasonic wave is transmitted from any one of the plurality of transmission / reception units. It is determined that it is a reflected wave of
The plurality of transmission / reception units transmit exploration waves at the same timing.
In the transmission of the exploration wave performed at the same timing, at least one transmission / reception unit transmits the first exploration wave, and at least one transmission / reception unit transmits the second exploration wave.
Of the plurality of transmission / reception units, the transmission / reception unit that has transmitted the first exploration wave is defined as the first transmission / reception unit.
Of the plurality of transmission / reception units, the transmission / reception unit that transmitted the second exploration wave is defined as the second transmission / reception unit.
The distance between the vehicle and the object calculated based on the time from when the first transmitting / receiving unit transmits the first exploration wave until the second transmitting / receiving unit receives the reflected wave of the first exploration wave. Is set to da
The distance between the vehicle and the object calculated based on the time from when the second transmitting / receiving unit transmits the second exploration wave until the first transmitting / receiving unit receives the reflected wave of the second exploration wave. As db,
One of the plurality of conditions is an object detection device in which the difference between the distance da and the distance db is included in a predetermined range . 前記複数の条件のうちの１つは、前記車両に対する物体の過去の相対速度、および、前記距離算出部が算出した過去の距離に基づいて推定された前記車両と物体との現在の距離と、前記距離算出部が算出した現在の距離との差が、所定の範囲に含まれることである請求項１に記載の物体検知装置。 One of the plurality of conditions is the past relative velocity of the object to the vehicle and the current distance between the vehicle and the object estimated based on the past distance calculated by the distance calculation unit. The object detection device according to claim 1 , wherein the difference from the current distance calculated by the distance calculation unit is included in a predetermined range. 前記複数の条件のうちの１つは、前記車両に対する物体の過去の相対速度と現在の相対速度との差が所定の範囲に含まれることである請求項１または２に記載の物体検知装置。 The object detection device according to claim 1 or 2 , wherein one of the plurality of conditions is that the difference between the past relative speed and the current relative speed of the object with respect to the vehicle is included in a predetermined range. 前記複数の条件のうちの１つは、前記距離算出部が算出した距離、および、前記車両に対する物体の相対速度から推定される前記車両と物体との過去の距離と、前記距離算出部が過去に算出した距離との差が、所定の範囲に含まれることである請求項１ないし３のいずれか１つに記載の物体検知装置。 One of the plurality of conditions is the distance calculated by the distance calculation unit, the past distance between the vehicle and the object estimated from the relative speed of the object with respect to the vehicle, and the distance calculation unit in the past. The object detection device according to any one of claims 1 to 3 , wherein the difference from the distance calculated in 1 is included in a predetermined range. 車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記複数の条件のうちの１つは、前記車両に対する物体の過去の相対速度、および、前記距離算出部が算出した過去の距離に基づいて推定された前記車両と物体との現在の距離と、前記距離算出部が算出した現在の距離との差が、所定の範囲に含まれることである物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
One of the plurality of conditions is the past relative velocity of the object to the vehicle and the current distance between the vehicle and the object estimated based on the past distance calculated by the distance calculation unit. An object detection device in which the difference from the current distance calculated by the distance calculation unit is included in a predetermined range. 車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記複数の条件のうちの１つは、前記車両に対する物体の過去の相対速度と現在の相対速度との差が所定の範囲に含まれることである物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
One of the plurality of conditions is an object detection device in which the difference between the past relative speed and the current relative speed of the object with respect to the vehicle is included in a predetermined range. 車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記複数の条件のうちの１つは、前記距離算出部が算出した距離、および、前記車両に対する物体の相対速度から推定される前記車両と物体との過去の距離と、前記距離算出部が過去に算出した距離との差が、所定の範囲に含まれることである物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
One of the plurality of conditions is the distance calculated by the distance calculation unit, the past distance between the vehicle and the object estimated from the relative speed of the object with respect to the vehicle, and the distance calculation unit in the past. An object detection device in which the difference from the distance calculated in is included in a predetermined range. 前記車両に対する物体の相対速度は、前記送受信部が送信した探査波の周波数と受信波の周波数との差に基づいて算出される請求項２ないし７のいずれか１つに記載の物体検知装置。 The object detection device according to any one of claims 2 to 7, wherein the relative speed of the object with respect to the vehicle is calculated based on the difference between the frequency of the exploration wave transmitted by the transmission / reception unit and the frequency of the received wave. 前記車両に対する物体の相対速度は、前記距離算出部が算出した距離の単位時間当たりの変化量に基づいて算出される請求項２ないし７のいずれか１つに記載の物体検知装置。 The object detection device according to any one of claims 2 to 7, wherein the relative speed of the object with respect to the vehicle is calculated based on the amount of change in the distance calculated by the distance calculation unit per unit time. 前記所定の範囲は、前記車両の操舵角、前記車両の速度、前記車両のシフト位置、前記車両における前記送受信部の搭載位置のうち少なくとも１つに基づいて変更される請求項１ないし９のいずれか１つに記載の物体検知装置。 The predetermined range is any one of claims 1 to 9, which is changed based on at least one of the steering angle of the vehicle, the speed of the vehicle, the shift position of the vehicle, and the mounting position of the transmission / reception unit in the vehicle. The object detection device according to one. 前記物体判定部によって前記車両の周囲にあると判定された物体が前記車両に対してどのように移動しているかを判定する物体移動判定部（１７）を備え、
前記物体移動判定部は、前記車両の側方に配置された前記送受信部が受信した超音波に基づいて算出される物体の相対速度が、前記車両に接近することを示す値から、前記車両から離れることを示す値に変化したときに、物体が前記車両とすれ違うように移動しているか、または、前記車両をすり抜けるように移動しているか、または、物体が前記車両を追い抜くように移動していると判定する請求項１ないし１０のいずれか１つに記載の物体検知装置。 The object movement determination unit (17) for determining how an object determined to be around the vehicle by the object determination unit is moving with respect to the vehicle is provided.
The object movement determination unit is from the vehicle based on a value indicating that the relative speed of the object calculated based on the ultrasonic waves received by the transmission / reception unit arranged on the side of the vehicle approaches the vehicle. When the value changes to a value indicating that the object is moving away, the object is moving so as to pass the vehicle, or is moving so as to pass through the vehicle, or the object is moving so as to overtake the vehicle. The object detection device according to any one of claims 1 to 10. 車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記物体判定部によって前記車両の周囲にあると判定された物体が前記車両に対してどのように移動しているかを判定する物体移動判定部（１７）を備え、
前記物体移動判定部は、前記車両の側方に配置された前記送受信部が受信した超音波に基づいて算出される物体の相対速度が、前記車両に接近することを示す値から、前記車両から離れることを示す値に変化したときに、物体が前記車両とすれ違うように移動しているか、または、前記車両をすり抜けるように移動しているか、または、物体が前記車両を追い抜くように移動していると判定する物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
The object movement determination unit (17) for determining how an object determined to be around the vehicle by the object determination unit is moving with respect to the vehicle is provided.
The object movement determination unit is from the vehicle based on a value indicating that the relative speed of the object calculated based on the ultrasonic waves received by the transmission / reception unit arranged on the side of the vehicle approaches the vehicle. When the value changes to a value indicating that the object is moving away, the object is moving so as to pass the vehicle, or is moving so as to pass through the vehicle, or the object is moving so as to overtake the vehicle. An object detection device that determines that there is . 前記物体移動判定部は、前記車両の側方に配置された前記送受信部が受信した超音波に基づいて算出される物体の相対速度が、前記車両に接近することを示す値から、前記車両から離れることを示す値に変化し、かつ、物体との距離の時間変化において、物体の相対速度の絶対値が所定の値よりも小さいときに物体との距離が極小値をとる場合に、物体が前記車両とすれ違うように移動しているか、または、物体が前記車両をすり抜けるように移動しているか、または、物体が前記車両を追い抜くように移動していると判定する請求項１１または１２に記載の物体検知装置。 The object movement determination unit is from the vehicle based on a value indicating that the relative speed of the object calculated based on the ultrasonic waves received by the transmission / reception unit arranged on the side of the vehicle approaches the vehicle. The object changes to a value indicating that it is separated, and the object takes a minimum value when the absolute value of the relative velocity of the object is smaller than a predetermined value in the time change of the distance to the object. 23. Claim 11 or 12 for determining that the object is moving so as to pass the vehicle, or the object is moving so as to pass through the vehicle, or the object is moving so as to overtake the vehicle. Object detection device. 前記距離判定部によって、２つの物体について、前記車両と物体との距離が所定の閾値よりも小さいと判定されたとき、
前記２つの物体をそれぞれ第１物体、第２物体として、
前記第１物体を再度検知するための前記第１探査波が第１時刻に送信され、
前記第２物体を再度検知するための前記第２探査波が第２時刻に送信され、
前記車両と前記第１物体との距離および前記第１物体の相対速度から推定される前記車両と前記第１物体との前記第１時刻における距離を第１距離とし、
前記車両と前記第２物体との距離および前記第２物体の相対速度から推定される前記車両と前記第２物体との前記第２時刻における距離を第２距離として、
前記第１時刻および前記第２時刻は、前記第１距離と前記第２距離との差が所定値以上となるように設定される請求項１ないし１２のいずれか１つに記載の物体検知装置。 When the distance determination unit determines that the distance between the vehicle and the object is smaller than a predetermined threshold value for the two objects.
The two objects are designated as the first object and the second object, respectively.
The first exploration wave for detecting the first object again is transmitted at the first time.
The second exploration wave for detecting the second object again is transmitted at the second time.
The distance between the vehicle and the first object at the first time, which is estimated from the distance between the vehicle and the first object and the relative speed of the first object, is defined as the first distance.
The distance between the vehicle and the second object at the second time, which is estimated from the distance between the vehicle and the second object and the relative speed of the second object, is taken as the second distance.
The object detection device according to any one of claims 1 to 12, wherein the first time and the second time are set so that the difference between the first distance and the second distance is a predetermined value or more. .. 車両（２００）に搭載されて、前記車両の外側にある物体を検知する物体検知装置であって、
探査波として超音波を送信するとともに、超音波を受信して該超音波の音圧に応じた信号を出力する送受信部（５）と、
前記送受信部の出力信号に基づいて前記車両と物体との距離を算出する距離算出部（１０）と、
前記距離算出部が算出した距離が所定の閾値よりも小さいか否かを判定する距離判定部（１１）と、
前記送受信部が受信した超音波を受信波として、前記受信波が前記送受信部から送信された探査波の反射波であるか否かを判定する受信波判定部（１３）と、
前記距離判定部および前記受信波判定部の判定結果に基づいて前記車両の周囲に物体が存在するか否かを判定する物体判定部（３）と、を備え、
前記送受信部は、周波数が時間とともに変化する第１探査波の送信と、周波数が前記第１探査波とは異なる変化率で時間とともに変化する第２探査波の送信とを含めて、探査波の送信を複数回行い、
前記受信波判定部は、前記受信波の周波数と前記送受信部が送信した探査波の周波数との比較に基づいて、前記受信波が該探査波の反射波であるか否かを判定し、
前記送受信部が複数回行った探査波の送信に対して、前記距離判定部によって物体との距離が所定の閾値よりも小さいと判定され、かつ、前記受信波判定部によって前記受信波が前記送受信部から送信された探査波の反射波であると判定されることを含む１つまたは複数の条件が満たされた回数をＮとして、
前記物体判定部は、前記回数Ｎが所定の回数以上であるときに、前記車両の周囲に物体が存在すると判定し、
前記距離判定部によって、２つの物体について、前記車両と物体との距離が所定の閾値よりも小さいと判定されたとき、
前記２つの物体をそれぞれ第１物体、第２物体として、
前記第１物体を再度検知するための前記第１探査波が第１時刻に送信され、
前記第２物体を再度検知するための前記第２探査波が第２時刻に送信され、
前記車両と前記第１物体との距離および前記第１物体の相対速度から推定される前記車両と前記第１物体との前記第１時刻における距離を第１距離とし、
前記車両と前記第２物体との距離および前記第２物体の相対速度から推定される前記車両と前記第２物体との前記第２時刻における距離を第２距離として、
前記第１時刻および前記第２時刻は、前記第１距離と前記第２距離との差が所定値以上となるように設定される物体検知装置。 An object detection device mounted on a vehicle (200) to detect an object outside the vehicle.
A transmission / reception unit (5) that transmits ultrasonic waves as an exploration wave, receives ultrasonic waves, and outputs a signal corresponding to the sound pressure of the ultrasonic waves.
A distance calculation unit (10) that calculates the distance between the vehicle and an object based on the output signal of the transmission / reception unit.
A distance determination unit (11) for determining whether or not the distance calculated by the distance calculation unit is smaller than a predetermined threshold value,
A reception wave determination unit (13) that determines whether or not the received wave is a reflected wave of the exploration wave transmitted from the transmission / reception unit, using the ultrasonic wave received by the transmission / reception unit as the reception wave.
An object determination unit (3) for determining whether or not an object exists around the vehicle based on the determination results of the distance determination unit and the received wave determination unit is provided.
The transmission / reception unit includes transmission of a first exploration wave whose frequency changes with time and transmission of a second exploration wave whose frequency changes with time at a rate of change different from that of the first exploration wave. Send multiple times,
The received wave determination unit determines whether or not the received wave is a reflected wave of the exploration wave based on the comparison between the frequency of the received wave and the frequency of the exploration wave transmitted by the transmission / reception unit.
With respect to the transmission of the exploration wave performed by the transmission / reception unit a plurality of times, the distance determination unit determines that the distance to the object is smaller than a predetermined threshold value, and the reception wave determination unit transmits / receives the reception wave. Let N be the number of times that one or more conditions including being determined to be a reflected wave of the exploration wave transmitted from the unit are satisfied.
The object determination unit determines that an object exists around the vehicle when the number N is equal to or greater than a predetermined number.
When the distance determination unit determines that the distance between the vehicle and the object is smaller than a predetermined threshold value for the two objects.
The two objects are designated as the first object and the second object, respectively.
The first exploration wave for detecting the first object again is transmitted at the first time.
The second exploration wave for detecting the second object again is transmitted at the second time.
The distance between the vehicle and the first object at the first time, which is estimated from the distance between the vehicle and the first object and the relative speed of the first object, is defined as the first distance.
The distance between the vehicle and the second object at the second time, which is estimated from the distance between the vehicle and the second object and the relative speed of the second object, is taken as the second distance.
An object detection device in which the first time and the second time are set so that the difference between the first distance and the second distance is equal to or greater than a predetermined value. 前記第１探査波は、周波数が時間の経過とともに増加する超音波であり、
前記第２探査波は、周波数が時間の経過とともに減少する超音波である請求項１ないし１５のいずれか１つに記載の物体検知装置。 The first exploration wave is an ultrasonic wave whose frequency increases with the passage of time.
The object detection device according to any one of claims 1 to 15, wherein the second exploration wave is an ultrasonic wave whose frequency decreases with the passage of time.
JP2017210760A 2017-10-31 2017-10-31 Object detection device Active JP7027810B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017210760A JP7027810B2 (en) 2017-10-31 2017-10-31 Object detection device
DE102018218386.4A DE102018218386B4 (en) 2017-10-31 2018-10-26 OBJECT DETECTION DEVICE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017210760A JP7027810B2 (en) 2017-10-31 2017-10-31 Object detection device

Publications (2)

Publication Number Publication Date
JP2019082436A JP2019082436A (en) 2019-05-30
JP7027810B2 true JP7027810B2 (en) 2022-03-02

Family

ID=66138078

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017210760A Active JP7027810B2 (en) 2017-10-31 2017-10-31 Object detection device

Country Status (2)

Country Link
JP (1) JP7027810B2 (en)
DE (1) DE102018218386B4 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7168083B2 (en) * 2019-06-26 2022-11-09 株式会社Soken Object detection device and control device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168947A (en) 2000-11-30 2002-06-14 Matsushita Electric Works Ltd Fm-cw radar system
JP2013518333A (en) 2010-01-27 2013-05-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング Driver support method for detecting side objects
JP2013538344A (en) 2010-08-03 2013-10-10 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー Method for operating ultrasonic sensor of driver assistance system in automobile, driver assistance system, and automobile
JP2015184235A (en) 2014-03-26 2015-10-22 日本電気株式会社 Probe device, measurement method, and program
US20160299227A1 (en) 2013-11-20 2016-10-13 Valeo Sschalter Und Sensoren Gmbh Method for determining the signal-to-noise ratio of a target echo from a received signal received from an ultrasonic sensor of a motor vehicle, driver assistance device and motor vehicle

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61107179A (en) * 1984-10-30 1986-05-26 Matsushita Electric Works Ltd Ultrasonic obstruction detection apparatus for vehicle
DE102008044366A1 (en) 2008-12-04 2010-06-10 Robert Bosch Gmbh Detecting device and method for detecting an environment of a vehicle
JP6169116B2 (en) 2015-02-25 2017-07-26 古河電気工業株式会社 Radar apparatus and object detection method of radar apparatus
DE102016224932A1 (en) 2016-12-14 2018-06-14 Robert Bosch Gmbh Method for operating an ultrasonic sensor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168947A (en) 2000-11-30 2002-06-14 Matsushita Electric Works Ltd Fm-cw radar system
JP2013518333A (en) 2010-01-27 2013-05-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング Driver support method for detecting side objects
JP2013538344A (en) 2010-08-03 2013-10-10 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー Method for operating ultrasonic sensor of driver assistance system in automobile, driver assistance system, and automobile
US20160299227A1 (en) 2013-11-20 2016-10-13 Valeo Sschalter Und Sensoren Gmbh Method for determining the signal-to-noise ratio of a target echo from a received signal received from an ultrasonic sensor of a motor vehicle, driver assistance device and motor vehicle
JP2015184235A (en) 2014-03-26 2015-10-22 日本電気株式会社 Probe device, measurement method, and program

Also Published As

Publication number Publication date
JP2019082436A (en) 2019-05-30
DE102018218386A1 (en) 2019-05-02
DE102018218386B4 (en) 2022-05-05

Similar Documents

Publication Publication Date Title
JP6408860B2 (en) Object detection device
US9390624B2 (en) Vehicle-installation intersection judgment apparatus and program
JP6474228B2 (en) Object detection device
JP6404679B2 (en) Object detection device
JP6333412B2 (en) Obstacle detection device
US10436900B2 (en) Object detection apparatus
JP6430777B2 (en) Object detection device
JP6462308B2 (en) Object detection device
JP6910545B2 (en) Object detection device and object detection method
JP6753383B2 (en) Object detection device
EP3130938B1 (en) Object detection device and object detection method
JP2015004562A (en) Obstacle detection device
JP2016080641A (en) Object detector
JP6697281B2 (en) Object detection device
CN101578533A (en) Surroundings monitoring apparatus for vehicle
JP7027810B2 (en) Object detection device
JP6701069B2 (en) Object detection device
JP4863679B2 (en) Position measuring device
JP4044844B2 (en) Method and apparatus for estimating motion parameters of a target
JP2014232072A (en) Object detector and vehicle
JP6945773B2 (en) Obstacle detector
JP6218061B2 (en) Object detection device
JP7107274B2 (en) Obstacle detection device and obstacle detection method
KR20200076967A (en) Ultrasonic Sensor Apparatus, Apparatus and Method for Controlling Ultrasonic Sensor Apparatus
JP2009236492A (en) Obstacle monitoring device for vehicle

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20200914

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20210616

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210629

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210824

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220118

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220131

R150 Certificate of patent or registration of utility model

Ref document number: 7027810

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150