JP7461113B2 - 反射超音波による障害物検出方法 - Google Patents
反射超音波による障害物検出方法 Download PDFInfo
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- JP7461113B2 JP7461113B2 JP2019103845A JP2019103845A JP7461113B2 JP 7461113 B2 JP7461113 B2 JP 7461113B2 JP 2019103845 A JP2019103845 A JP 2019103845A JP 2019103845 A JP2019103845 A JP 2019103845A JP 7461113 B2 JP7461113 B2 JP 7461113B2
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- 238000002604 ultrasonography Methods 0.000 title claims description 28
- 238000001514 detection method Methods 0.000 title claims description 11
- 230000003595 spectral effect Effects 0.000 claims description 43
- 238000000034 method Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000001419 dependent effect Effects 0.000 claims description 9
- 238000001228 spectrum Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
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- 238000006243 chemical reaction Methods 0.000 claims description 2
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- 230000035945 sensitivity Effects 0.000 claims description 2
- 238000004422 calculation algorithm Methods 0.000 claims 1
- 230000001131 transforming effect Effects 0.000 claims 1
- 230000002123 temporal effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
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- 238000002592 echocardiography Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—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
- G01S15/108—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics using more than one pulse per sonar period
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S7/52006—Means for monitoring or calibrating with provision for compensating the effects of temperature
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Transportation (AREA)
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- Mechanical Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Description
Claims (9)
- 車両向け駐車支援としての、反射超音波による障害物検出方法であって、
超音波送信機によって、観察対象となる検出エリアへと超音波バースト送信信号を送信する手順と、
超音波受信機によって、前記検出エリア内の障害物で反射された超音波信号を超音波受信信号として受信する手順と、
固定または動的に調整可能な閾値と比較することによって、障害物から発生する前記超音波受信信号において障害物に遡ることができる少なくとも1つのエコー信号区間を検出する手順と、
前記超音波受信信号から前記検出されたエコー信号区間を抽出する手順と、
前記検出されたエコー信号区間の周波数スペクトルを生成するために、前記抽出されたエコー信号区間を時間領域から周波数領域へと変換する手順と、
3つの異なる障害物タイプそれぞれを表すスペクトル特性の存在を前記抽出されたエコー信号区間の前記周波数スペクトルで検査する手順と、
前記抽出されたエコー信号区間の前記周波数スペクトルの検査に基づいて、前記抽出されたエコー信号区間を前記3つの異なる障害物タイプのうちの1つに割り当てる手順と、
を含み、
前記スペクトル特性は前記抽出されたエコー信号区間の前記周波数スペクトルのスペクトル重心及びスペクトル幅を含む方法。 - 一の前記抽出されたエコー信号区間が一の障害物タイプに割り当て可能である確率が特定される、又は、一の前記抽出されたエコー信号区間が前記3つの異なる障害物タイプのそれぞれに割り当て可能である複数の確率が特定される請求項1に記載の方法。
- 検出された障害物が光学的に、及び/又は音響的に、及び/又は触覚的に車両を駐車中の運転手に通知され、所定の障害物タイプについては信号が違う請求項1又は2に記載の方法。
- 区別可能な障害物のタイプとして、第1のタイプとして縁石及び隆起を含み、第2のタイプとして壁及び車両を含み、第3のタイプとして柱及びポールを含み、
前記ポールが、情報及び道路標識用、交通信号用、又は街灯用のポールを含む請求項1から3のいずれか一項に記載の方法。 - 前記超音波受信機の感度が温度依存性であり、前記検出されたエコー信号区間及びその後の前記抽出されたエコー信号区間の周波数領域への変換が温度補償式又は温度補正式である、もしくは前記超音波受信機の現在の温度を考慮して行われる請求項1から4のいずれか一項に記載の方法。
- 前記超音波受信機の温度が、測定によって、又は温度依存性の信号特性によって決定され、前記超音波受信機は前記温度依存性の信号特性に基づいて較正され、前記超音波受信信号は前記温度依存性の信号特性について検証される請求項5に記載の方法。
- 前記超音波バースト送信信号が、1から20、5から15、又は8から12のパルスを含む請求項1から6のいずれか一項に記載の方法。
- 前記周波数領域への変換が、FFT等のフーリエ変換によって行われる、又はフーリエ変換を行わず気象レーダーの信号処理から特に既知である例えば自己共分散法等のアルゴリズムによって行われる請求項1から7のいずれか一項に記載の方法。
- 一の前記抽出されたエコー信号区間の一の障害物タイプへの割り当てが、既知の分類器によって行われる、又はその他の既知のパターン認識法によって行われる請求項1から8のいずれか一項に記載の方法。
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EP18176088.5A EP3579020B1 (de) | 2018-06-05 | 2018-06-05 | Verfahren zur erkennung eines hindernisses mit hilfe von reflektierten ultraschallwellen |
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CN112426111B (zh) * | 2020-08-31 | 2022-05-17 | 深圳市银星智能科技股份有限公司 | 一种机器人清扫控制装置、方法及电子设备 |
JP2023027707A (ja) * | 2021-08-17 | 2023-03-02 | パナソニックIpマネジメント株式会社 | 物体検出システムおよび物体検出方法 |
CN113777573B (zh) * | 2021-08-30 | 2023-12-01 | 中船鹏力(南京)大气海洋信息系统有限公司 | 基于朴素贝叶斯分类器的双偏振雷达二次回波识别方法 |
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CN110568444A (zh) | 2019-12-13 |
US11117518B2 (en) | 2021-09-14 |
KR20190138594A (ko) | 2019-12-13 |
JP2019211480A (ja) | 2019-12-12 |
EP3579020B1 (de) | 2021-03-31 |
US20190366922A1 (en) | 2019-12-05 |
EP3579020A1 (de) | 2019-12-11 |
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