WO2010146619A1 - 障害物検知装置および障害物検知方法 - Google Patents
障害物検知装置および障害物検知方法 Download PDFInfo
- Publication number
- WO2010146619A1 WO2010146619A1 PCT/JP2009/002701 JP2009002701W WO2010146619A1 WO 2010146619 A1 WO2010146619 A1 WO 2010146619A1 JP 2009002701 W JP2009002701 W JP 2009002701W WO 2010146619 A1 WO2010146619 A1 WO 2010146619A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- obstacle
- ultrasonic
- ultrasonic sensors
- detection
- ultrasonic sensor
- Prior art date
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
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination
Definitions
- the present invention relates to an obstacle detection device and an obstacle detection method suitable for use in a moving body such as a vehicle, which detects an obstacle using a plurality of ultrasonic sensors.
- an ultrasonic sensor is arranged on a horizontal straight line with respect to a bumper of a vehicle, and for example, every other ultrasonic sensor adjacent to each other is simultaneously transmitted while preventing interference of transmission waves.
- a technique for detecting a reflected wave from an object is disclosed.
- Patent Document 3 three or more ultrasonic sensors are arranged, and from the degree of concentration and flatness of position information where circles having the respective radius information of each ultrasonic sensor intersect with each other, Techniques for determining the presence position and shape are disclosed.
- Patent Document 1 it is possible to radiate (transmit) ultrasonic waves to obstacles in a wide range at a high speed by simultaneously transmitting ultrasonic waves using an ultrasonic sensor dedicated for transmission and reception.
- the receiving side is individual switching. Therefore, the number of transmission / reception sensors is large, and the reception sensor side is provided with a changeover switch. The device becomes complicated and expensive.
- adjacent ultrasonic sensors switch and transmit time zones, but there is a possibility that detection of obstacles approaching at high speed may be delayed.
- Patent Document 3 it is effective to obtain the position information of an obstacle, but it is erroneously determined when the shape of the obstacle is complicated, such as a reflective surface being inclined. there's a possibility that.
- the present invention has been made to solve the above-described problems, has high responsiveness to obstacles approaching at high speed, and can improve detection performance even for obstacles of complicated shapes.
- An object of the present invention is to provide an obstacle detection apparatus and method.
- the obstacle detection device is configured to detect a position of an obstacle by simultaneously transmitting and receiving ultrasonic waves with the plurality of ultrasonic sensors and the plurality of ultrasonic sensors, and detecting two or more specified obstacles.
- the ultrasonic sensors are sequentially switched and transmitted and received by all ultrasonic sensors until the obstacle is detected in the detection area of the specific ultrasonic sensor where the obstacle is detected. And a control device that continues detection.
- the control device performs transmission / reception simultaneously with a plurality of ultrasonic sensors to detect the position of the obstacle, and sequentially switches and transmits two or more specific ultrasonic sensors that have detected the obstacle. The detection of the obstacle is continued until it becomes impossible to detect the obstacle in the detection area of the specific ultrasonic sensor that has detected the obstacle.
- the reflected wave is reflected in the direction outside the detection area of the transmitted ultrasonic sensor.
- the reflected wave can be detected by an ultrasonic sensor other than the ultrasonic sensor that transmitted the ultrasonic wave. There is an effect that the detection performance is improved without missing.
- FIG. 1 It is a figure which shows an example of arrangement
- FIG. 1 is a diagram illustrating an example of an arrangement of an ultrasonic sensor used in an obstacle detection apparatus according to Embodiment 1 of the present invention on a vehicle.
- an ultrasonic wave transmitted from the ultrasonic sensor is further illustrated.
- the relationship with the reflected wave received from the approaching vehicle as an obstacle is also shown.
- a plurality of ultrasonic sensors 11, 12, 13, 14 are arranged in the horizontal and vertical directions on the front side or rear side of the vehicle 1.
- two ultrasonic sensors 11 and 12 are arranged at both ends of the rear bumper of the vehicle 1, and one ultrasonic sensor 13 is arranged at the center of the rear bumper.
- an ultrasonic sensor 14 is arranged in the vicinity of the number plate located in the upper part of the rear bumper (in the vertical direction of the ultrasonic sensor 13).
- the ultrasonic sensors 11, 12, 13, and 14 need only be arranged in the horizontal and vertical directions, and the number and arrangement method are not particularly limited.
- FIG. 1 (b) and 1 (c) are front views of ultrasonic propagation paths and reflected wave detection ranges between the ultrasonic sensors 11 to 14 arranged in the vehicle 1 and the approaching vehicle 2.
- FIG. It is the figure shown separately by b)) and a top view (FIG.1 (c)).
- FIG.1 (c) a case where the stopped vehicle 2 approaches when the vehicle 1 moves backward is illustrated. For this reason, the vehicle 2 is referred to as an approaching vehicle 2 in the following description.
- the ultrasonic sensors 11 to 14 transmit ultrasonic waves from their sensor heads, receive reflected waves (ultrasonic waves) reflected by the front portion of the approaching vehicle 2 at each sensor head, and reflect from the transmission of the ultrasonic waves.
- the position (distance and direction) of the approaching vehicle 2 is detected by measuring the time until wave reception.
- the reflected wave is detected only from the faces facing each other.
- a plurality of ultrasonic sensors are arranged to transmit and receive ultrasonic waves simultaneously.
- FIG. 2 is a diagram showing a configuration of the obstacle detection apparatus according to Embodiment 1 of the present invention.
- the obstacle detection device 100 according to the first embodiment of the present invention is composed of ultrasonic sensors 11, 12, 13, 14, an electronic control unit (ECU 15), and an alarm output device 16.
- ECU 15 electronice control unit
- the ultrasonic sensor 11 includes an ultrasonic transducer 110, a booster circuit 111, and a voltage amplifier circuit 112.
- the ultrasonic vibrator 110 is excited by the pulse voltage generated by the booster circuit 111 to generate ultrasonic waves. This ultrasonic wave is reflected from the obstacle and reaches the ultrasonic transducer 110 and is received, amplified by the voltage amplification circuit 112 and taken into the ECU 15.
- the ultrasonic sensors 12, 13, and 14 also have the same configuration operation as the above-described ultrasonic sensor 11, and are commonly used for transmission and reception.
- the ECU 15 has a microprocessor (CPU 150) as a control center, and here, “a plurality of ultrasonic sensors 11, 12, 13, and 14 simultaneously transmit and receive ultrasonic waves to detect the position of the obstacle and detect the obstacle. Two or more specific ultrasonic sensors are sequentially switched and transmitted and received by all ultrasonic sensors until an obstacle is detected in the detection area of the specific ultrasonic sensor that detected the obstacle. A function as a control device that continues to detect objects is executed. Specifically, the CPU 150 controls the ultrasonic sensor via the output port (drivers 151 to 154) based on the transmission / reception sequence of the ultrasonic sensors 11 to 14 under the program control stored in a built-in or external memory. 11 to 14 are driven, a reflected wave from the obstacle is taken in via the input port, and the position of the obstacle is detected by time measurement. Details of the above-described transmission / reception sequence will be described later.
- the CPU 150 also controls the alarm output device 16.
- the alarm output device 16 is a display device that displays a warning by, for example, a lamp or the like, or a sound output device that generates a warning sound under the control of the CPU 150. When the obstacle approaches a predetermined distance, the alarm output device 16 notifies the driver by an alarm. Call attention.
- FIG. 3 is a flowchart showing the operation of the obstacle detection apparatus 100 according to Embodiment 1 of the present invention.
- FIG. 4 is a diagram showing the obstacle detection ranges of the ultrasonic sensors 11 to 14 and their transmission / reception timings.
- the operation of the obstacle detection apparatus 100 according to Embodiment 1 shown in FIG. 2 will be described in detail with reference to FIGS. 3 and 4.
- the CPU 150 of the ECU 15 simultaneously drives the drivers 151, 152, 153, and 154 to perform simultaneous drive transmission / reception of ultrasonic waves by the ultrasonic sensors 11 to 14 (step ST301). For this reason, the ultrasonic transducers 110 constituting the ultrasonic sensors 11 to 14 are driven by the booster circuit 111 to transmit ultrasonic waves, and at the same time, the ultrasonic transducers 110 receive reflected waves from obstacles. The The reflected wave received by the ultrasonic transducer 110 is amplified by the voltage amplification circuit 112 and captured by the CPU 150, and the CPU 150 determines whether there is an obstacle (step ST302).
- FIG. 4 shows the obstacle detection range (FIG. 4A) and the transmission / reception timing (FIG. 4B) at the time of simultaneous ultrasonic transmission.
- the obstacle detection range by the ultrasonic sensors 11 to 14 is actually generally fan-shaped, but in FIG. 4A, it is shown as a triangle to help understand the explanation.
- the obstacle detection ranges in the respective ultrasonic sensors 11, 12 and 13 when transmitted by the ultrasonic sensor 14 are indicated by hatching. It can be seen that the detection range varies depending on the distances L1, L2, and L3 with the obstacle. For example, if the ultrasonic sensor 11, the detection range of the obstacle is only S 11, if the ultrasonic sensor 14, the detection range of the obstacle is a triangular region shown by S 14.
- the ultrasonic transmission signal and the reception signal of the reflected wave are shown as pulse waveforms on the time axis (t). For convenience of explanation, the former is a rectangular pulse and the latter is a triangular pulse.
- the level indicated by a dotted line is a threshold value, and a triangular pulse (reflected wave) received exceeding this threshold value becomes an effective obstacle detection signal in the ultrasonic detection area.
- step ST302 “YES” If the reflected wave exceeding the threshold is detected by any of the ultrasonic sensors 11 to 14 as a result of the above-described obstacle presence / absence determination and it is determined that there is an obstacle (step ST302 “YES”), the CPU 150 The built-in counter N is initialized (step ST303), and then the counter N is updated by +1 (step ST304). If no obstacle is detected in any of the ultrasonic sensors 11, 12, 13, and 14 (step ST302 “NO”), the process returns to the transmission / reception processing by simultaneous driving of all sensors in step ST301.
- the CPU 150 that has updated the value of the counter N by +1 in step ST304, subsequently drives the ultrasonic sensor 11 (12, 13, 14) corresponding to the value set in the counter N and transmits ultrasonic waves.
- the ultrasonic sensors 11, 12, 13, and 14 receive the reflected waves (step ST305).
- the CPU 150 determines the position of the obstacle received by each of the ultrasonic sensors 11 to 14, and stores the number of the ultrasonic sensor that detected the obstacle in the built-in register X (step ST306).
- CPU 150 compares the value of counter N with the number M (four in this case) of ultrasonic sensors 11, 12, 13, and 14 installed in the vehicle (step ST307).
- the CPU 150 executes the processing after step ST304 again. That is, the CPU 150 updates the value of the counter N by +1, sequentially switches the ultrasonic sensors 11, 12, 13, and 14 that transmit ultrasonic waves, and stores the number of the ultrasonic sensor that detected the obstacle in the register X. The above operation is repeatedly executed until the value of the counter N reaches a value corresponding to the number of ultrasonic sensors installed in the vehicle.
- the CPU 150 detects an ultrasonic sensor as a specific sensor that detects an obstacle. 11 (12, 13, 14) is selected from the register X (step ST308).
- the CPU 150 performs alarm determination based on the received signal captured from the selected ultrasonic sensor (step ST309), and when the obstacle is detected, drives the alarm output device 16 to determine the direction and distance of the obstacle. Is displayed, or the driver is alerted by a buzzer sound or the like when an obstacle approaches a predetermined distance (step ST310), and the process returns to the specific sensor selection process in step ST308.
- the ECU 15 simultaneously transmits and receives ultrasonic waves using the plurality of ultrasonic sensors 11, 12, 13, and 14 to determine the position of the obstacle.
- Two or more specific ultrasonic sensors that have detected and detected an obstacle are sequentially switched and transmitted and received by all ultrasonic sensors, and an obstacle is detected in the detection area of the specific ultrasonic sensor that has detected the obstacle. Continue to detect obstacles until detection becomes impossible. For this reason, it is possible to detect obstacles approaching at a higher speed and improve responsiveness compared to a conventional obstacle detection apparatus that sequentially detects the obstacles by sequentially switching the individual ultrasonic sensors 11, 12, 13, and 14.
- the reflected wave is reflected in the direction outside the detection area of the ultrasonic sensors 11, 12, 13, and 14 that are transmitted, but the reflected wave is reflected by an ultrasonic sensor other than the ultrasonic sensor that transmitted the ultrasonic wave. Therefore, the detection performance can be improved without missing an obstacle.
- FIG. FIG. 5 is a flowchart showing the operation of the obstacle detection apparatus according to Embodiment 2 of the present invention.
- the arrangement of the ultrasonic sensors 11 to 14 on the vehicle 1 and the configuration of the obstacle detection device 100 are the same as those in the first embodiment shown in FIGS. It shall have the same configuration as In the second embodiment described below, the difference from the first embodiment described above lies in the ultrasonic sensor that is selected with the highest priority when the ultrasonic sensors 11 to 14 are sequentially switched and transmitted.
- the ECU 15 (CPU 150) first performs simultaneous transmission and reception of ultrasonic waves by simultaneously driving the ultrasonic sensors 11, 12, 13, and 14 as in the first embodiment (step ST501). Therefore, the ultrasonic transducers 110 of the ultrasonic sensors 11 to 14 are driven by the booster circuit 111, so that ultrasonic waves are transmitted, and at the same time, the ultrasonic transducers 110 receive the reflected waves.
- the reflected wave received by the ultrasonic transducer 110 is amplified by the voltage amplification circuit 112 and captured by the CPU 150, and the CPU 150 determines whether there is an obstacle (step ST502).
- step ST503 the CPU 150 determines the position of the obstacle at the intersection of circles (step ST503). Specifically, CPU 150 sets the propagation time or distance information of the received wave as a radius based on the installation position of any of ultrasonic sensors 11 to 14 determined as having an obstacle in the obstacle presence / absence determination process in step ST502. One of the ultrasonic sensors 11 to 14 whose transmission area is the coordinate position of the point where the circles intersect is selected with priority. And the number which shows the ultrasonic sensor is set to the counter N (step ST504). If the distance information of each received signal is different and there is no intersection of circles (“NO” in step ST503), the process returns to the simultaneous transmission / reception process of ultrasonic waves by the simultaneous driving in step ST501.
- FIG. 6 schematically shows a method for specifying the position of an obstacle.
- the CPU 150 After determining that there is an obstacle (reflected wave) in the obstacle presence / absence determination process in step ST502, the CPU 150 obtains distance information obtained from the reception signals of the ultrasonic sensors 11 to 14, as shown in FIG.
- the approximate candidate position of the obstacle is specified from the intersection information of the circles having the radius.
- a circle is indicated by a dotted line
- an intersection position is indicated by ⁇
- an example in which the detection area of the ultrasonic sensor 14 is a priority monitoring candidate as a specific sensor is shown.
- FIG. 7 shows the obstacle detection range (FIG. 7 (a)) and the transmission / reception timing (FIG. 7 (b)) in the ultrasonic sensors 11-14.
- FIG. 7A when the ultrasonic sensors 11 to 14 are simultaneously transmitted and received, the position of the obstacle can be determined by the above-described two-circle intersection within the hatched area.
- FIG. 7B only the ultrasonic sensor 14 is driven and ultrasonic waves are transmitted to the obstacle 16 shown in the figure, and are received by all ultrasonic sensors.
- the reflected waves can be received by the ultrasonic sensors 14 and 13 in the detection area.
- the arrows in the figure indicate the reflection propagation path from the obstacle 16 and the propagation path of the transmission wave of the ultrasonic sensor 14 effective for detecting the obstacle 16.
- the triangular pulse of the ultrasonic sensor 14 is larger than that of the ultrasonic sensor 13 because the distance between the ultrasonic sensor 14 and the obstacle is reflected in the obstacle detection.
- the CPU 150 After setting the Xth, for example, the ultrasonic sensor 14 as a priority monitoring candidate in the counter N in step ST504, the CPU 150 first drives the ultrasonic sensor 14 to transmit ultrasonic waves, and all the ultrasonic sensors 11 , 12, 13, and 14 receive the reflected waves (step ST505). Subsequently, the CPU 150 determines the position of the obstacle received by each of the ultrasonic sensors 11 to 14, and the number of the ultrasonic sensor 11 (12, 13, 14) in which the obstacle is detected is stored in the built-in register X. (Step ST506).
- CPU 150 compares the value of counter N with the number M (here, four) of ultrasonic sensors 11, 12, 13, and 14 installed in the vehicle (step ST507).
- the CPU 150 executes the processing after step ST505 again. That is, CPU 150 updates the value of counter N by +1 (step ST508), sequentially switches ultrasonic sensors 11, 12, 13, and 14 that transmit ultrasonic waves, and registers the number of the ultrasonic sensor that detected the obstacle in register X.
- the above operation is repeatedly executed until the value of the counter N reaches a value corresponding to the number of ultrasonic sensors installed in the vehicle.
- the CPU 150 uses ultrasonic waves as specific sensors for detecting obstacles.
- One sensor 11 (12, 13, 14) is selected from the register X, and transmission / reception of ultrasonic waves is continued (step ST509).
- the CPU 150 performs an alarm determination based on the received signal captured from the selected ultrasonic sensor (step ST510), and when an obstacle is detected, drives the alarm output device 16 to detect the position of the obstacle (vehicle Left direction / right direction / center) or the distance is displayed, or the driver is alerted by a buzzer sound or the like when an obstacle approaches a predetermined distance (step ST511), and the process returns to the specific sensor selection process in step ST509. .
- the ECU 15 control device
- the position of the specific ultrasonic sensor is used as a base point.
- a specific ultrasonic sensor whose transmission area is the coordinate position of the point where the circles whose radius is the propagation time or distance information of the received wave intersects is selected with priority. For this reason, it is possible to detect obstacles approaching at a higher speed compared to a conventional obstacle detection apparatus that sequentially detects the obstacles by sequentially switching the individual ultrasonic sensors 11, 12, 13, and 14, and the responsiveness is improved. Further, the responsiveness is further enhanced as compared with the first embodiment.
- the reflected wave is reflected in the direction outside the detection area of the transmitted ultrasonic sensors 11, 12, 13, and 14, but the reflected wave is reflected by an ultrasonic sensor other than the ultrasonic sensor that transmitted the ultrasonic wave. Therefore, the detection performance can be improved without missing an obstacle.
- FIG. FIG. 8 is a diagram showing the transmission timing of the ultrasonic sensor of the obstacle detection device according to Embodiment 3 of the present invention. Also in the third embodiment described below, as in the first and second embodiments, the arrangement of the ultrasonic sensors 11 and 12 to 14 in the vehicle 1 and the configuration of the obstacle detection device 100 are shown in FIGS. Assume that the configuration is the same as that of the first embodiment.
- step ST ⁇ b> 301 in FIG. 3, ST ⁇ b> 501 in FIG. 5 by the simultaneous driving of the ultrasonic sensors described above, the CPU 150 and the ultrasonic sensor 11 with which the detection ranges interfere with each other.
- the transmission timing by driving the ultrasonic sensor 12, and the ultrasonic sensor 13 and the ultrasonic sensor 14 is delayed by not less than the time width ⁇ t of the ultrasonic transmission pulse ( ⁇ t + ⁇ ) to avoid interference.
- the ECU 15 (control device) interferes with the detection area when simultaneous transmission / reception is performed by the plurality of ultrasonic sensors 11, 12, 13, and 14.
- the transmission timing of one ultrasonic sensor is delayed more than the time width of the transmission pulse of the other ultrasonic sensor. For this reason, in addition to the effect which Embodiment 1 and Embodiment 2 have, the effect of reducing detection oversight by interference of the transmission wave by transmission is also acquired.
- the control device simultaneously transmits and receives ultrasonic waves with a plurality of ultrasonic sensors to detect the position of an obstacle, and sequentially switches and transmits two or more specific ultrasonic sensors that have detected the obstacle.
- the data processing for detecting the obstacle until detection of the obstacle becomes impossible in the detection area of the specific ultrasonic sensor that has received the ultrasonic sensor and detected the obstacle is one or more It may be realized on a computer by a program, or at least a part thereof may be realized by hardware.
- the obstacle detection method according to the present invention is an obstacle detection method in the obstacle detection apparatus 100 including a plurality of ultrasonic sensors 11, 12, 13, and 14 and a control device (ECU 15).
- the control device performs a first step (ST301) in which the plurality of ultrasonic sensors simultaneously transmit and receive ultrasonic waves to detect the position of the obstacle, and two or more identifications that have detected the obstacle.
- a second step (T302 to ST307) in which the ultrasonic sensors are sequentially switched and transmitted and received by all the ultrasonic sensors, and the obstacle is detected in the detection area of the specific ultrasonic sensor that has detected the obstacle.
- the ECU 15 simultaneously transmits and receives ultrasonic waves with the plurality of ultrasonic sensors 11 to 14 to detect the position of the obstacle, and detects two or more specific superstructures that have detected the obstacle.
- the ultrasonic sensors are sequentially switched and transmitted and received by all the ultrasonic sensors, and the obstacle detection is continued until the obstacle detection becomes impossible in the detection area of the specific ultrasonic sensor that has detected the obstacle. For this reason, an obstacle approaching at a high speed can be detected at an early stage as compared with a conventional obstacle detection apparatus that detects obstacles by sequentially switching the individual ultrasonic sensors 11 to 14, and the responsiveness is improved.
- the reflected wave is reflected in the direction outside the detection area of the ultrasonic sensors 11 to 14 to which the transmitted waves are transmitted. Detection performance is improved without missing any obstacles.
- the obstacle detection apparatus and method according to the present invention have high responsiveness to obstacles approaching at high speed, and in order to improve detection performance even for obstacles with complicated shapes,
- a control device that sequentially switches and transmits sensors, receives signals by all ultrasonic sensors, and continues to detect obstacles until it becomes impossible to detect obstacles in the detection area of the specific ultrasonic sensor that detected the obstacle. Are provided. For this reason, it is suitable for using not only a vehicle but various moving bodies.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
実施の形態1.
図1は、この発明の実施の形態1による障害物検知装置で使用される超音波センサの車両への配置の一例を示す図であり、ここでは更に、超音波センサから送信される超音波と障害物としての接近車両から受信される反射波との関係もあわせて示されている。
ここでは、図1(a)に示されるように、車両1のリアバンパーの両端に2個の超音波センサ11、12が、また、リアバンパーの中央部に1個の超音波センサ13が配置されており、更に、リアバンパーの上部に位置するナンバプレートの近傍(超音波センサ13の垂直方向)には超音波センサ14が配置されている。なお、超音波センサ11、12、13、14は、水平および垂直方向に複数配置されていれば良く、その数、および配置の仕方については特に制限はない。
以下、図3、図4を参照しながら図2に示す実施の形態1に係る障害物検知装置100の動作について詳細に説明する。
そして、超音波振動子110で受信された反射波は、電圧増幅回路112で増幅されCPU150によって取り込まれ、CPU150で障害物の有無判定が行われる(ステップST302)。
なお、超音波センサ11~14による障害物の検知範囲は、実際、概ね扇形形状であるが、図4(a)では、説明の理解を助けるために三角形で示してある。
一方、図4(b)では、超音波センサ11~14毎、超音波送信信号とその反射波の受信信号が、時間軸(t)上にパルス波形で示されている。説明の便宜上、前者は矩形パルスで、後者は三角パルス示されている。また、図4(b)中、点線表記したレベルは閾値であり、この閾値を超えて受信された三角パルス(反射波)が超音波検知エリアにおいて有効な障害物検知信号となる。
なお、いずれの超音波センサ11、12、13、14でも障害物が検知されなかった場合は(ステップST302“NO”)、ステップST301の全センサ同時駆動による送受信処理に戻る。
そして、CPU150は、各超音波センサ11~14で受信した障害物の位置を判定し、その中で障害物を検知した超音波センサの番号を内蔵のレジスタXに記憶する(ステップST306)。
すなわち、CPU150は、カウンタNの値を+1更新し、超音波を発信する超音波センサ11、12、13、14を順次切り替え、障害物を検知した超音波センサの番号をレジスタXに記憶する。上記の動作は、カウンタNの値が車両に設置された超音波センサの数に相当する値になるまで繰り返し実行される。
そして、CPU150は、選択された超音波センサから取り込まれる受信信号に基づく警報判定を行い(ステップST309)、障害物が検知された場合に警報出力装置16を駆動して、障害物の方向や距離を表示し、もしくは障害物が所定距離まで接近した場合にブザー音等によりドライバに注意喚起し(ステップST310)、ステップST308の特定センサの選択処理に戻る。
このため、個々の超音波センサ11、12、13、14を順次切り替えて障害物検知を行う従来の障害物検知装置に比較して高速で接近する障害物を早期に検知でき応答性が高まる。また、障害物の形状によっては、反射波が送信した超音波センサ11、12、13、14の検知エリア外方向に反射するが、超音波を送信した超音波センサ以外の超音波センサで反射波を検出できるため障害物を見逃すことなく検知性能が向上するという効果が得られる。
図5は、この発明の実施の形態2による障害物検知装置の動作をフローチャートで示した図である。
以下に説明する実施の形態2においても実施の形態1同様、超音波センサ11~14の車両1への配置、および障害物検知装置100の構成は、図1、図2に示す実施の形態1と同じ構成を有するものとする。以下に説明する実施の形態2において、上述した実施の形態1との差異は、超音波センサ11~14を順次切り替え送信する際に最優先で選択される超音波センサにある。
具体的に、CPU150は、ステップST502の障害物の有無判定処理で障害物有りと判定された超音波センサ11~14のいずれかの設置位置を基点に、受信波の伝播時間または距離情報を半径とする円が交差する点の座標位置を送信エリアとする超音波センサ11~14のいずれかを優先して選択する。そして、カウンタNにその超音波センサを示す番号を設定する(ステップST504)。なお、個々の受信信号の距離情報が異なり、円の交点が存在しない場合は(ステップST503“NO”)、ステップST501の同時駆動による超音波の同時送受信処理に戻る。
図7(a)に示されるように、超音波センサ11~14の同時送受信駆動時、ハッチングで塗り潰された範囲内において上述した2円交差により障害物の位置判定が可能になる。このとき、図7(b)に示されるように、図示した障害物16に対して、超音波センサ14のみ駆動して超音波を送信し、全ての超音波センサで受信する。ここで、検知エリアにある超音波センサ14,13で反射波が受信できる。図中の矢印は、障害物16からの反射伝播経路と障害物16を検知するのに有効な超音波センサ14の送信波の伝播経路を示す。超音波センサ14の三角パルスが超音波センサ13に比べて大きくなっているのは、障害物検知において超音波センサ14と障害物との距離が反映されているためである。
続いて、CPU150は、各超音波センサ11~14で受信した障害物の位置を判定し、その中で障害物を検知した超音波センサ11(12、13、14)の番号を内蔵のレジスタXに記憶する(ステップST506)。
ここで、Nの値がMの値に満たない場合(ステップST507“NO”)、CPU150は、再度ステップST505以降の処理を実行する。すなわち、CPU150は、カウンタNの値を+1更新し(ステップST508)、超音波を送信する超音波センサ11、12、13、14を順次切り替え、障害物を検知した超音波センサの番号をレジスタXに記憶する。上記の動作は、カウンタNの値が車両に設置された超音波センサの数に相当する値になるまで繰り返し実行される。
そして、CPU150は、選択された超音波センサから取り込まれる受信信号に基づく警報判定を行い(ステップST510)、障害物が検知された場合に警報出力装置16を駆動して、障害物の位置(車両の左方向/右方向/中央)や距離を表示し、もしくは障害物が所定距離まで接近した場合にブザー音等によりドライバに注意喚起し(ステップST511)、ステップST509の特定センサの選択処理に戻る。
このため、個々の超音波センサ11、12、13、14を順次切り替えて障害物検知を行う従来の障害物検知装置に比較して高速で接近する障害物を早期に検知でき応答性が高まり、また、実施の形態1に比較して一層応答性が高まる。更に、障害物の形状によっては、反射波が送信した超音波センサ11、12、13、14の検知エリア外方向に反射するが、超音波を送信した超音波センサ以外の超音波センサで反射波を検出できるため障害物を見逃すことなく検知性能が向上するという効果が得られる。
図8は、この発明の実施の形態3による障害物検知装置の超音波センサの送信タイミングを示す図である。
以下に説明する実施の形態3においても実施の形態1、2同様、超音波センサ11、12~14の車両1への配置、および障害物検知装置100の構成は、図1、図2に示す実施の形態1と同じ構成を有するものとする。
このため、個々の超音波センサ11~14を順次切り替えて障害物検知を行う従来の障害物検知装置に比較して高速で接近する障害物を早期に検知でき応答性が高まる。また、障害物の形状によっては、反射波が送信した超音波センサ11~14の検知エリア外方向に反射するが、超音波を送信した超音波センサ以外の超音波センサで反射波を検出できるため障害物を見逃すことなく検知性能が向上する。
Claims (5)
- 複数の超音波センサと、
前記複数の超音波センサで同時に超音波の送受信を行って障害物の位置を検知し、前記障害物を検知した2以上の特定の超音波センサを順次切り替え送信を行なうとともに全ての超音波センサで受信を行い、前記障害物を検知した特定の超音波センサの検知エリアで前記障害物の検知が不能になるまで前記障害物の検知を継続する制御装置と、
を備えたことを特徴とする障害物検知装置。 - 前記制御装置は、
前記2以上の特定の超音波センサを順次切り替え送信する場合、前記特定の超音波センサの位置を基点に、前記受信波の伝播時間または距離情報を半径とする円が交差する点の座標位置を送信エリアとする前記特定の超音波センサを優先して選択することを特徴とする請求項1記載の障害物検知装置。 - 前記制御装置は、
前記複数の超音波センサで同時に送受信を行う場合に、前記検知エリアが干渉する一方の超音波センサの送信タイミングを、他方の超音波センサの送信パルスの時間幅以上遅延させることを特徴とする請求項1記載の障害物検知装置。 - 複数の超音波センサと、制御装置とを備えた障害物検出装置における障害物の検知方法であって、
前記制御装置は、
前記複数の超音波センサで超音波の送受信を同時に行い障害物の位置を検知する第1のステップと、
前記障害物を検知した2以上の特定の超音波センサを順次切り替え送信を行なうとともに全ての超音波センサで受信を行う第2のステップと、
前記障害物を検知した特定の超音波センサの検知エリアで前記障害物の検知が不能になるまで前記障害物の検知を継続する第3のステップと、
を有することを特徴とする障害物検知方法。 - 前記第1のステップは、
前記2以上の特定の超音波センサを順次切り替え送信する場合、前記特定の超音波センサの位置を基点に、前記受信波の伝播時間または距離情報を半径とする円が交差する点の座標位置を送信エリアとする前記特定の超音波センサを優先して選択することを特徴とする請求項4記載の障害物検知方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112009004941.9T DE112009004941B4 (de) | 2009-06-15 | 2009-06-15 | Hinderniserfassungsvorrichtung und Hinderniserfassungsverfahren |
PCT/JP2009/002701 WO2010146619A1 (ja) | 2009-06-15 | 2009-06-15 | 障害物検知装置および障害物検知方法 |
JP2011519291A JP5634400B2 (ja) | 2009-06-15 | 2009-06-15 | 障害物検知装置および障害物検知方法 |
CN200980158769.3A CN102395900B (zh) | 2009-06-15 | 2009-06-15 | 障碍物检测装置及障碍物检测方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/002701 WO2010146619A1 (ja) | 2009-06-15 | 2009-06-15 | 障害物検知装置および障害物検知方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010146619A1 true WO2010146619A1 (ja) | 2010-12-23 |
Family
ID=43355965
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/002701 WO2010146619A1 (ja) | 2009-06-15 | 2009-06-15 | 障害物検知装置および障害物検知方法 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP5634400B2 (ja) |
CN (1) | CN102395900B (ja) |
DE (1) | DE112009004941B4 (ja) |
WO (1) | WO2010146619A1 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5511840B2 (ja) * | 2009-11-17 | 2014-06-04 | 三菱電機株式会社 | 障害物検知装置 |
JP2015166705A (ja) * | 2014-03-04 | 2015-09-24 | パナソニックIpマネジメント株式会社 | 障害物検知装置 |
US9581694B2 (en) | 2012-08-25 | 2017-02-28 | Valeo Schalter Und Sensoren Gmbh | Method for the improved actuation of ultrasonic sensors, driver assistance device and motor vehicle |
JP2018087777A (ja) * | 2016-11-29 | 2018-06-07 | シャープ株式会社 | 走行装置および情報検出方法 |
JP2020180795A (ja) * | 2019-04-23 | 2020-11-05 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
JP2021014997A (ja) * | 2019-07-10 | 2021-02-12 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
KR20210098668A (ko) * | 2020-02-03 | 2021-08-11 | 한국로봇융합연구원 | 위치 추정 장치 및 방법 |
CN114114285A (zh) * | 2021-11-25 | 2022-03-01 | 江苏中科重德智能科技有限公司 | 避障装置及其基于多路超声波进行障碍物检测的方法 |
DE112020003060T5 (de) | 2019-06-26 | 2022-03-24 | Denso Corporation | Objekterfassungsvorrichtung, objekterfassungsverfahren und steuerungsvorrichtung |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6715456B2 (ja) * | 2016-09-30 | 2020-07-01 | パナソニックIpマネジメント株式会社 | 検出装置、検出方法、および検出プログラム |
JP2018092240A (ja) * | 2016-11-30 | 2018-06-14 | 株式会社デンソー | 位置検出システム |
WO2018225144A1 (ja) * | 2017-06-06 | 2018-12-13 | 三菱電機株式会社 | 物体検知装置 |
CN109884639B (zh) * | 2017-12-06 | 2021-12-17 | 深圳市优必选科技有限公司 | 用于移动机器人的障碍物探测方法及装置 |
CN109814113B (zh) * | 2019-01-15 | 2022-02-25 | 北京百度网讯科技有限公司 | 一种超声波雷达障碍物检测结果处理方法及系统 |
CN110867132B (zh) * | 2019-10-15 | 2022-03-01 | 阿波罗智能技术(北京)有限公司 | 环境感知的方法、装置、电子设备和计算机可读存储介质 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0784034A (ja) * | 1993-09-17 | 1995-03-31 | Fuji Electric Co Ltd | 超音波距離センサ |
JPH10177073A (ja) * | 1996-12-17 | 1998-06-30 | Mitsui Eng & Shipbuild Co Ltd | 超音波センサによる障害物高速検知方法および装置 |
JP2003279651A (ja) * | 2002-03-25 | 2003-10-02 | Denso Corp | 障害物検知装置 |
JP2004045320A (ja) * | 2002-07-15 | 2004-02-12 | Denso Corp | 障害物検出装置及びプログラム並びに記録媒体 |
JP2006298266A (ja) * | 2005-04-22 | 2006-11-02 | Denso Corp | 障害物検知装置 |
JP2006317186A (ja) * | 2005-05-10 | 2006-11-24 | Denso Corp | 障害物検知装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS597278A (ja) * | 1982-07-06 | 1984-01-14 | Nippon Soken Inc | 障害物検知装置 |
JPS59124377U (ja) * | 1983-02-10 | 1984-08-21 | 沖電気工業株式会社 | 障害物検知装置 |
JP2854692B2 (ja) * | 1990-08-15 | 1999-02-03 | 松下電工株式会社 | 超音波物体検知器 |
JPH0713611A (ja) | 1993-06-24 | 1995-01-17 | Hitachi Ltd | プロセスモデル評価装置およびプロセスモデル評価方法 |
JPH0713611U (ja) * | 1993-08-12 | 1995-03-07 | カルソニック株式会社 | 車両の障害物検知装置 |
DE4335728C2 (de) * | 1993-10-20 | 2002-11-14 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ultraschall-Abstandsmessung |
JP3391086B2 (ja) * | 1994-03-18 | 2003-03-31 | 日産自動車株式会社 | 周辺物体検知装置 |
JPH10153659A (ja) * | 1996-11-21 | 1998-06-09 | Mitsui Eng & Shipbuild Co Ltd | 車両用衝突防止装置 |
DE19744185B4 (de) * | 1997-10-07 | 2006-10-12 | Robert Bosch Gmbh | Einrichtung zur Abstandsmessung mittels Ultraschall |
JP4305412B2 (ja) * | 2005-05-10 | 2009-07-29 | 株式会社デンソー | 障害物検知装置 |
JP4742803B2 (ja) * | 2005-10-21 | 2011-08-10 | パナソニック電工株式会社 | 車両用周辺監視装置 |
US7557692B2 (en) * | 2006-12-19 | 2009-07-07 | Shih-Hsiung Li | Fast detecting obstacle method and parking sensor apparatus using the same |
-
2009
- 2009-06-15 JP JP2011519291A patent/JP5634400B2/ja active Active
- 2009-06-15 DE DE112009004941.9T patent/DE112009004941B4/de not_active Expired - Fee Related
- 2009-06-15 CN CN200980158769.3A patent/CN102395900B/zh not_active Expired - Fee Related
- 2009-06-15 WO PCT/JP2009/002701 patent/WO2010146619A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0784034A (ja) * | 1993-09-17 | 1995-03-31 | Fuji Electric Co Ltd | 超音波距離センサ |
JPH10177073A (ja) * | 1996-12-17 | 1998-06-30 | Mitsui Eng & Shipbuild Co Ltd | 超音波センサによる障害物高速検知方法および装置 |
JP2003279651A (ja) * | 2002-03-25 | 2003-10-02 | Denso Corp | 障害物検知装置 |
JP2004045320A (ja) * | 2002-07-15 | 2004-02-12 | Denso Corp | 障害物検出装置及びプログラム並びに記録媒体 |
JP2006298266A (ja) * | 2005-04-22 | 2006-11-02 | Denso Corp | 障害物検知装置 |
JP2006317186A (ja) * | 2005-05-10 | 2006-11-24 | Denso Corp | 障害物検知装置 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5511840B2 (ja) * | 2009-11-17 | 2014-06-04 | 三菱電機株式会社 | 障害物検知装置 |
US9581694B2 (en) | 2012-08-25 | 2017-02-28 | Valeo Schalter Und Sensoren Gmbh | Method for the improved actuation of ultrasonic sensors, driver assistance device and motor vehicle |
JP2015166705A (ja) * | 2014-03-04 | 2015-09-24 | パナソニックIpマネジメント株式会社 | 障害物検知装置 |
JP2018087777A (ja) * | 2016-11-29 | 2018-06-07 | シャープ株式会社 | 走行装置および情報検出方法 |
JP2020180795A (ja) * | 2019-04-23 | 2020-11-05 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
JP7200818B2 (ja) | 2019-04-23 | 2023-01-10 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
DE112020003060T5 (de) | 2019-06-26 | 2022-03-24 | Denso Corporation | Objekterfassungsvorrichtung, objekterfassungsverfahren und steuerungsvorrichtung |
US11994633B2 (en) | 2019-06-26 | 2024-05-28 | Denso Corporation | Object detection device, object detection method, and control device |
JP2021014997A (ja) * | 2019-07-10 | 2021-02-12 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
JP7263952B2 (ja) | 2019-07-10 | 2023-04-25 | 株式会社豊田自動織機 | 障害物検出装置及び障害物検出方法 |
KR102306090B1 (ko) | 2020-02-03 | 2021-09-29 | 한국로봇융합연구원 | 위치 추정 장치 및 방법 |
KR20210098668A (ko) * | 2020-02-03 | 2021-08-11 | 한국로봇융합연구원 | 위치 추정 장치 및 방법 |
CN114114285A (zh) * | 2021-11-25 | 2022-03-01 | 江苏中科重德智能科技有限公司 | 避障装置及其基于多路超声波进行障碍物检测的方法 |
Also Published As
Publication number | Publication date |
---|---|
CN102395900B (zh) | 2013-10-09 |
DE112009004941B4 (de) | 2016-05-12 |
JP5634400B2 (ja) | 2014-12-03 |
JPWO2010146619A1 (ja) | 2012-11-29 |
CN102395900A (zh) | 2012-03-28 |
DE112009004941T5 (de) | 2012-09-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5634400B2 (ja) | 障害物検知装置および障害物検知方法 | |
US7248153B2 (en) | Method for parking a vehicle | |
JP2796559B2 (ja) | 障害物の位置決め方法 | |
KR101892763B1 (ko) | 장애물 위치를 판단하는 방법과 장애물 위치 판단장치 및 주차 보조 방법과 주차 보조 시스템 | |
JP5511840B2 (ja) | 障害物検知装置 | |
KR20000023167A (ko) | 물체와 가변위치의 장치, 특히 자동차 사이의 거리를 결정하는 방법 | |
CN105549019A (zh) | 物体检测装置 | |
JP2008039497A (ja) | 障害物検出装置 | |
JP2000028717A (ja) | 障害物検出装置 | |
CN105549020A (zh) | 对象检测装置 | |
US6279396B1 (en) | Ultrasonic-wave distance measuring method and apparatus of separate transmission and reception type reflection system | |
JP2019015682A (ja) | 超音波式の物体検出装置 | |
JP2000187799A (ja) | 車両用障害物検知装置 | |
JP2009294094A (ja) | 障害物検出装置、障害物検出方法及びコンピュータプログラム | |
JP5807197B2 (ja) | 物体検知装置 | |
JP2006154975A (ja) | 超音波センサを備えた移動機械 | |
JP3145592B2 (ja) | 車両用障害物検知装置 | |
JP2003344539A (ja) | 自律走行車 | |
JPH1062532A (ja) | 車両用レーダ装置 | |
JPH10319120A (ja) | 障害物の検出報知装置 | |
JP7107274B2 (ja) | 障害物検出装置及び障害物検出方法 | |
JP4462220B2 (ja) | 自律移動装置、並びに、自律移動システム | |
KR102667973B1 (ko) | 초음파 센서 장치와 초음파 센서 제어 장치 및 방법 | |
JPWO2021024433A1 (ja) | 障害物検出装置 | |
JP2001273595A (ja) | 自動車用障害物検知装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980158769.3 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09846115 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2011519291 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120090049419 Country of ref document: DE Ref document number: 112009004941 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 09846115 Country of ref document: EP Kind code of ref document: A1 |