WO2011129001A1 - 障害物検出システム - Google Patents
障害物検出システム Download PDFInfo
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- WO2011129001A1 WO2011129001A1 PCT/JP2010/056757 JP2010056757W WO2011129001A1 WO 2011129001 A1 WO2011129001 A1 WO 2011129001A1 JP 2010056757 W JP2010056757 W JP 2010056757W WO 2011129001 A1 WO2011129001 A1 WO 2011129001A1
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- ultrasonic
- ultrasonic sensors
- input
- obstacle
- detection system
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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
- 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
- G01S7/521—Constructional features
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
- B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
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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
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Definitions
- the present invention generally relates to an obstacle detection system, and more particularly to obstacle detection configured to determine whether an obstacle is within a detection range based on incoming ultrasound obtained by emitting ultrasound. It is about the system.
- Japanese Patent Application Publication No. P2001-208843A published on August 3, 2001 discloses an obstacle detection system, which includes four ultrasonic sensors and a controller.
- Each ultrasonic sensor includes a microphone, a transmission circuit, an attenuator circuit, and an amplification circuit.
- the microphone is configured to send and receive ultrasound.
- the transmission circuit is configured to drive the microphone according to the control of the controller.
- the attenuator circuit and the amplifier circuit are configured to adjust the level of the signal obtained from the incoming ultrasound.
- This obstacle detection system is configured such that one of a plurality (four) of ultrasonic sensors emits ultrasonic waves, and another ultrasonic sensor receives incoming ultrasonic waves obtained from the ultrasonic waves. Is done. Thereby, the maximum detection range covered with a plurality of ultrasonic sensors can be expanded.
- the obstacle detection system switches the detection range from a short-range range or a long-range range so that the beam angle for the long-range range (particularly the vertical beam angle) is smaller than the beam angle for the short-range range. It is configured to adjust the level of the signal obtained from the incoming ultrasound. Thereby, it is possible to prevent erroneous detection caused by small protrusions on the road surface.
- An object of the present invention is to reduce the number of ultrasonic sensors.
- the obstacle detection system of the present invention includes a plurality of ultrasonic sensors and a controller.
- the plurality of ultrasonic sensors are respectively arranged at different positions in the horizontal direction of bumpers fixed to the vehicle.
- Each of the plurality of ultrasonic sensors has an input / output surface, emits an ultrasonic wave along the beam axis from the input / output surface according to an output electric signal, and receives an incoming ultrasonic wave from the input / output surface. It is configured to convert incoming ultrasound into an input electrical signal.
- a controller supplies the output electrical signal to each of the plurality of ultrasonic sensors, and a maximum detection range covered by the plurality of ultrasonic sensors based on at least an input electrical signal from the plurality of ultrasonic sensors.
- the plurality of ultrasonic sensors include first and second ultrasonic sensors. Each of the first and second ultrasonic sensors has the angle of its own beam axis deflected horizontally from the surface normal direction of the bumper and is directed toward the middle portion of the bumper. Located on one side of the bumper.
- the individual detection ranges of the first and second ultrasonic sensors overlap.
- each of the first and second ultrasonic sensors comprises a bezel whose top surface is its own input / output surface, the input / output surface being a bottom surface of the bezel mounted on the surface of the bumper. With respect to the angle.
- the input / output surface has a first inclination angle with respect to the vehicle width direction, while the bottom surface of the corresponding bezel has a second inclination angle with respect to the vehicle width direction.
- the input / output surface has an inclination angle that is the sum of the first and second inclination angles with respect to the bottom surface of the corresponding bezel.
- each of the first and second ultrasonic sensors comprises a bezel whose top surface is its own input / output surface, the input / output surface being a bottom surface of the bezel mounted on the surface of the bumper. And parallel.
- Each beam axis of the first and second ultrasonic sensors is inclined at the above angle with respect to the normal to the corresponding input / output plane.
- the bumper is a front bumper or a rear bumper.
- the plurality of ultrasonic sensors includes two or three ultrasonic sensors. Each horizontal beam angle of the first and second ultrasonic sensors has an individual detection range with a detection width that is the sum of the vehicle width and a predetermined margin width. Is set to
- the plurality of ultrasonic sensors includes two or three ultrasonic sensors. Each horizontal beam angle of the plurality of ultrasonic sensors overlaps with the other one or two horizontal beam angles. For example, if the plurality of ultrasonic sensors includes two ultrasonic sensors, each horizontal beam angle of the plurality of ultrasonic sensors overlaps with another horizontal beam angle. If the plurality of ultrasonic sensors includes three ultrasonic sensors, each horizontal beam angle of the plurality of ultrasonic sensors overlaps with the other two horizontal beam angles.
- the vertical beam angles of the first and second ultrasonic sensors are set so that the individual detection ranges of the first and second ultrasonic sensors are arranged above the road surface. .
- the controller is configured to determine whether there is at least one obstacle within the maximum detection range based on the first and second self signals and the first and second mutual signals. Is done.
- the first self-signal corresponds to an input electrical signal obtained when the first ultrasonic sensor receives an ultrasonic wave emitted from the first ultrasonic sensor.
- the second self-signal corresponds to an input electrical signal obtained when the second ultrasonic sensor receives an ultrasonic wave emitted from the second ultrasonic sensor.
- the first mutual signal corresponds to an input electrical signal obtained when the second ultrasonic sensor receives an ultrasonic wave emitted from the first ultrasonic sensor.
- the second mutual signal corresponds to an input electrical signal obtained when the first ultrasonic sensor receives an ultrasonic wave emitted from the second ultrasonic sensor.
- the controller after the controller obtains a determination that at least one obstacle exists at a minimum distance within the maximum detection range, the determination indicates that the at least one obstacle is within the maximum detection range. In other words, it is configured to determine that the at least one obstacle is present in a blind spot between the vehicle and the maximum detection range.
- the mutual detection range corresponding to the first and second mutual signals is narrower than each of the individual detection ranges corresponding to the first and second self signals.
- FIG. 1 shows an obstacle detection system according to an embodiment of the present invention.
- the system includes a plurality of ultrasonic sensors 1 and a controller 2.
- the plurality of ultrasonic sensors 1 include first and second ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B, each of which is disposed at a different position in the horizontal direction of the bumper 4 fixed to the vehicle 3.
- the bumper 4 is a front bumper or a rear bumper.
- each of the ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B has an input / output surface 16, and an ultrasonic wave (ultrasonic wave) from the input / output surface 16 along the beam axis 10 according to an output electric signal from the controller 2.
- a sonic pulse burst) is generated, and an incoming ultrasonic wave (arrival ultrasonic pulse burst) is received from the input / output surface 16 to convert the incoming ultrasonic wave into an input electrical signal.
- each of the ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B includes a drive circuit 11, an ultrasonic generator 12, an ultrasonic receiver 13, and a detector circuit 14.
- the drive circuit 11 includes an oscillator, and generates a drive signal for generating an ultrasonic pulse burst having a predetermined duration from the oscillation signal of the oscillator in accordance with an electric signal output from the controller 2, and outputs the drive signal.
- the ultrasonic generator 12 is configured to be supplied.
- the output electric signal is a control signal for turning on and off the output of the oscillator.
- the present invention is not limited to this, and the output electric signal of the present invention may be a digital signal for generating an ultrasonic pulse burst having a predetermined duration.
- the controller 2 can be configured to supply the output electric signal (digital signal) to the ultrasonic generator 12 via a D / A converter.
- the ultrasonic generator 12 has an output surface disposed on the input / output surface 16 and is configured to emit ultrasonic waves along the beam axis 10 from the input / output surface 16 in accordance with a drive signal from the drive circuit 11.
- the ultrasonic generator 12 includes an ultrasonic speaker.
- the input / output surface 16 may have one or a plurality of holes.
- the ultrasonic receiving device 13 has an input surface disposed on the input / output surface 16 and is configured to receive an incoming ultrasonic wave from the input / output surface 16 and convert the incoming ultrasonic wave into an input electrical signal.
- the ultrasonic receiving device 13 includes an ultrasonic microphone, and the incoming ultrasonic wave is obtained from an ultrasonic wave emitted from one of the ultrasonic sensors 1A and 1B.
- each of the first and second ultrasonic sensors of the present invention may be an ultrasonic wave transmitting / receiving device (an ultrasonic transducer such as a piezoelectric element) having an input / output surface.
- This ultrasonic transmission / reception device generates ultrasonic waves along the beam axis from the input / output surface according to an output electric signal (that is, a drive signal obtained from the output electric signal) and receives incoming ultrasonic waves from the input / output surface. It is configured to convert the incoming ultrasound into an input electrical signal.
- the detection circuit 14 is configured to obtain a detection signal from the input electric signal and supply the detection signal to the controller 2.
- the detector circuit 14 includes an amplifier circuit for amplifying the input electrical signal, and the detection signal is obtained from the amplified signal.
- the amplified signal is supplied to the controller 2 as a detection signal through a comparator, a Schmitt trigger, an A / D converter, or the like.
- the detection circuit 14 is not limited to this, and can be configured in the same manner as various reception circuits arranged between the ultrasonic reception device and the controller in the conventional obstacle detection system.
- each of the ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B has an angle ⁇ in which its own beam axis 10 is deflected in the horizontal direction from the surface normal direction 40 of the bumper 4. It arrange
- each of the ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B includes a bezel (or cover) 15 whose upper surface is its own input / output surface 16. It is inclined with respect to the bottom surface 17 at an angle ⁇ 1.
- the angle ⁇ 1 is equal to the angle ⁇ , and the angle ⁇ is not limited, but may be within a range of 10 to 40 °, for example.
- the individual detection ranges 100A and 100B of the ultrasonic sensors 1A and 1B overlap (each part covers each other). In other words, the horizontal beam angles of the ultrasonic sensors 1A and 1B overlap each other.
- each width dimension of the individual detection ranges 100A and 100B is the sum of a width (about 80% of the vehicle width) longer than half of the vehicle width W1 and shorter than the vehicle width W1 and a margin width W2. ing.
- the distance between the ultrasonic sensors 1A and 1B is 130 cm.
- the present invention is not limited to this, and the distance between the first and second ultrasonic sensors of the present invention may be in the range of 100 to 170 cm.
- the controller 2 supplies an output electric signal to each of the plurality of ultrasonic sensors 1, and based on at least an input electric signal from the plurality of ultrasonic sensors 1 (detection signal obtained from the input electric signal). It is configured to determine whether there is at least one obstacle in the maximum detection range covered by the sonic sensor 1.
- the controller 2 includes a microcomputer and determines whether there is at least one obstacle within the maximum detection range based on the first and second self signals and the first and second mutual signals. Composed.
- the first self signal corresponds to an input electric signal obtained when the ultrasonic sensor 1A receives an ultrasonic wave emitted from the ultrasonic sensor 1A.
- the first self signal is detected from the detection circuit 14 of the ultrasonic sensor 1A.
- the second self signal corresponds to an input electric signal obtained when the ultrasonic sensor 1B receives an ultrasonic wave emitted from the ultrasonic sensor 1B, and is a detection signal from the detection circuit 14 of the ultrasonic sensor 1B.
- the first mutual signal corresponds to an input electric signal obtained when the ultrasonic sensor 1B receives an ultrasonic wave emitted from the ultrasonic sensor 1A, and is a detection signal from the detection circuit 14 of the ultrasonic sensor 1B.
- the second mutual signal corresponds to an input electric signal obtained when the ultrasonic sensor 1A receives an ultrasonic wave emitted from the ultrasonic sensor 1B. In the present embodiment, the second mutual signal is detected from the detection circuit 14 of the ultrasonic sensor 1A. Signal.
- the individual detection ranges 100A and 100B correspond to the first and second self signals, respectively.
- the mutual detection range 100C corresponds to the first and second mutual signals.
- the maximum detection range is determined by the individual detection ranges 100A and 100B and the mutual detection range 100C.
- the mutual detection range 100C may be narrower than each of the individual detection ranges 100A and 100B, and the relationship can be defined by the following first and second minimum times and first and second maximum times. .
- the controller 2 includes first and second timer functions (not shown).
- the controller of the present invention is not limited to this, and may include a single timer function.
- the controller 2 supplies the output electrical signal to the ultrasonic sensor 1A simultaneously with the operation of the first and second timer functions. Subsequently, when the measurement time of the first timer function reaches the first minimum time, the controller 2 starts to receive a detection signal from the ultrasonic sensor 1A, and the measurement time of the second timer function reaches the second minimum time. If it reaches, it will start receiving the detection signal from the ultrasonic sensor 1B.
- the near end of the individual detection range 100A is determined by the first minimum time
- the near end on the ultrasonic sensor 1A side in the mutual detection range 100C is determined by the second minimum time.
- the first and second minimum times may be the same or different.
- the duration of the ultrasonic pulse burst is set to be shorter than each of the first and second minimum times.
- the controller 2 After that, if the controller 2 obtains the first self signal and the first mutual signal from the ultrasonic sensors 1A and 1B, respectively, it acquires both measurement times from the first and second timer functions. Subsequently, the controller 2 determines whether or not there is at least one obstacle in the individual detection range 100A based on the measurement time (flight time) of the first timer function. For example, if the first self signal includes a component corresponding to an ultrasonic wave (ultrasonic pulse burst), it can be determined that at least one obstacle exists in the individual detection range 100A. In addition, if the time of flight is used, the distance from the obstacle can be detected.
- the first self signal includes a component corresponding to an ultrasonic wave (ultrasonic pulse burst)
- the controller 2 determines whether or not there is at least one obstacle in the mutual detection range 100C based on the measurement time of the second timer function. For example, if the first mutual signal includes a component corresponding to the ultrasonic wave, it can be determined that at least one obstacle exists in the mutual detection range 100C. Further, the distance from the obstacle can be detected by using the measurement time of the second timer function. If it is not necessary to detect the distance from the obstacle, both flight times by the first and second timer functions are unnecessary.
- the controller 2 stops receiving the detection signal from the ultrasonic sensor 1A, and the measurement time of the second timer function is the second maximum time. If it reaches, the reception of the detection signal from the ultrasonic sensor 1B is stopped. Accordingly, the far end of the individual detection range 100A is determined by the first maximum time, and the far end of the mutual detection range 100C is determined by the second maximum time.
- the first and second maximum times may be the same or different.
- the controller 2 operates the first and second timer functions and simultaneously supplies an output electric signal to the ultrasonic sensor 1B. Subsequently, when the measurement time of the first timer function reaches the first minimum time, the controller 2 starts to receive a detection signal from the ultrasonic sensor 1B, and the measurement time of the second timer function reaches the second minimum time. If it reaches, it will start receiving the detection signal from ultrasonic sensor 1A. Thereby, the near end of the individual detection range 100B is determined by the first minimum time, and the near end on the ultrasonic sensor 1B side in the mutual detection range 100C is determined by the second minimum time. The first and second minimum times may be the same or different.
- the controller 2 obtains the second self signal and the second mutual signal from the ultrasonic sensors 1B and 1A, respectively, it acquires both measurement times from the first and second timer functions. Subsequently, the controller 2 determines whether or not there is at least one obstacle in the individual detection range 100B based on the measurement time of the first timer function. Further, the controller 2 determines whether or not there is at least one obstacle in the mutual detection range 100C based on the measurement time of the second timer function.
- the controller 2 stops receiving the detection signal from the ultrasonic sensor 1B, and the measurement time of the second timer function is the second maximum time. If it reaches, the reception of the detection signal from the ultrasonic sensor 1A is stopped. Accordingly, the far end of the individual detection range 100B is determined by the first maximum time, and the far end of the mutual detection range 100C is determined by the second maximum time.
- the first and second maximum times may be the same or different.
- the controller 2 determines that the determination does not include at least one obstacle within the maximum detection range. If it changes into determination, it will be judged that at least one obstacle exists in blind spot 100D between vehicles 3 and the maximum detection range.
- the obstacle detection system indicates that at least one obstacle is present in the blind spot 100D by an alarm means (for example, an alarm). Thereby, before moving a vehicle, it can alert
- each of the ultrasonic sensors 1 ⁇ / b> A and 1 ⁇ / b> B has an angle ⁇ ⁇ b> 1 in which its own beam axis 10 is deflected in the horizontal direction from the surface normal direction 40 of the bumper 4 and is directed toward the middle portion of the bumper 4.
- the bumper 4 is disposed on one side. Therefore, the periphery of the bumper 4 can be covered with the ultrasonic sensors 1A and 1B, and the number of ultrasonic sensors can be reduced.
- the individual detection ranges 100A and 100B of the ultrasonic sensors 1A and 1B overlap and include two margin widths W2, the sum of twice the margin width W2 and the vehicle width W1. Range (maximum detection range) can be covered.
- the dead angle 100D is set by setting the deflection angle ⁇ . Can be reduced as shown in FIG. Accordingly, the degree of freedom in selecting the ultrasonic sensor can be increased, and the beam angles of the individual detection ranges 100A and 100B can be set appropriately.
- the input / output surfaces 16 of the ultrasonic sensors 1A and 1B have a first inclination angle ⁇ 1 with respect to the vehicle width direction 30, while the corresponding bottom surface 17 of the bezel 15 is a vehicle.
- a second inclination angle ⁇ 2 is provided with respect to the width direction 30.
- Each input / output surface 16 has an inclination angle ⁇ which is the sum ( ⁇ 1 + ⁇ 2) of the first and second inclination angles with respect to the bottom surface 17 of the corresponding bezel 15. That is, each beam axis 10 coincides with the surface normal of the input / output surface 16 of the corresponding bezel 15 and has an angle ⁇ deflected horizontally from the surface normal direction 40 of the bumper 4.
- the upper surface of the bezel 15 of the ultrasonic sensor 1 ⁇ / b> A is the input / output surface 16 of the ultrasonic sensor 1 ⁇ / b> A, and the input / output surface 16 is mounted on the surface of the bumper 4. It is parallel to the bottom surface 17 of the bezel 15.
- the upper surface of the bezel 15 of the ultrasonic sensor 1B is the input / output surface 16 of the ultrasonic sensor 1B, and the input / output surface 16 is parallel to the bottom surface 17 of the bezel 15 mounted on the surface of the bumper 4. .
- Each beam axis 10 of the ultrasonic sensors 1A and 1B is inclined at an angle (deflection angle) ⁇ with respect to the normal 40 to the corresponding input / output surface 16.
- the ultrasonic sensor 1 as shown in FIG. 6 is obtained by having a directivity characteristic in which the beam axis of the ultrasonic generator 12 is inclined at an angle ⁇ with respect to the normal 40 to the input / output surface 16 of the bezel 15. Can do.
- the bezel 15 has an input / output surface 16 on the front side and a recess (not shown) including a flat bottom on the back side.
- the ultrasonic generator 12 includes, for example, a vibrating body (not shown), and the vibrating body is mounted on the flat bottom of the recess of the bezel 15.
- the flat bottom of the recess includes a cutout (for example, a stepped cutout) on one side of the vibrating body. For example, if a stepped notch that becomes deeper as it is farther from the vibrating body is formed on the center side of the bumper 4 with respect to the vibrating body, the beam axis 10 of the ultrasonic sensor 1 (1A) is inclined as shown in FIG. Can be made.
- the ultrasonic generator 12 is not limited to this example, and the ultrasonic generator 12 is tilted at an angle ⁇ with respect to the normal 40 with respect to the input / output surface 16 of the bezel 15. It may be fixed inside. Alternatively, a conventional ultrasonic generator having a directivity characteristic inclined at an angle ⁇ may be used.
- each of the ultrasonic sensors 1A and 1B has an angle ⁇ with its own beam axis 10 deflected vertically from the surface normal direction 40 of the bumper 4 and upwards. It is arranged on one side of the bumper 4 so as to be directed. Specifically, the vertical beam angles ⁇ of the ultrasonic sensors 1A and 1B are set so that the individual detection ranges 100A and 100B of the ultrasonic sensors 1A and 1B are arranged above the road surface 5. Thereby, the erroneous detection resulting from the small protrusion of the road surface 5 etc. can be prevented.
- each horizontal beam angle of the ultrasonic sensors 1A and 1B has an individual detection range of a detection width in which each of the ultrasonic sensors 1A and 1B is the sum of the vehicle width W1 and a predetermined margin width W2. Is set to
- each obstacle detection system of the above embodiment may include three ultrasonic sensors 1, and each horizontal beam angle of the plurality of ultrasonic sensors 1 may overlap with the other two horizontal beam angles.
- the third ultrasonic sensor 1 has a beam axis including a horizontal component parallel to the surface normal direction of the bumper 4 (the front-rear direction of the vehicle) as in FIG. 4, and the controller 3 has (first, second, (3) The output electric signal is supplied to the third ultrasonic sensor simultaneously with the timer function being activated.
- the controller 2 starts to receive the detection signal from the third ultrasonic sensor. Thereby, the near end of the individual detection range by the third ultrasonic sensor is determined by the third minimum time.
- the third minimum time may be the same as or different from the first and second minimum times. Thereafter, if the controller 2 obtains the third self signal from the third ultrasonic sensor, the controller 2 obtains the measurement time from the timer function. Subsequently, the controller 2 determines whether or not there is at least one obstacle in the individual detection range based on the measurement time of the timer function. Thereafter, when the measurement time of the timer function reaches the third maximum time, the controller 2 stops receiving the detection signal from the third ultrasonic sensor. Thereby, the far end of the individual detection range by the third ultrasonic sensor is determined by the third maximum time.
- the third maximum time may be the same as or different from the first and second maximum times. In this example, the blind spot can be eliminated.
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Abstract
Description
Claims (11)
- 車両に固定されたバンパーの水平方向の異なる位置にそれぞれ配置され、各々が、入出力面を有し、出力電気信号に従って該入出力面からビーム軸に沿って超音波を発し、また該入出力面から到来超音波を受けてその到来超音波を入力電気信号に変換するように構成される複数の超音波センサと、
該複数の超音波センサの各々に該出力電気信号を供給し、また少なくとも該複数の超音波センサからの入力電気信号に基づいて、該複数の超音波センサによってカバーされる最大検出範囲内に少なくとも1つの障害物が存在するかどうかを判定するように構成されるコントローラと
を備え、
該複数の超音波センサは、第1及び第2超音波センサを備え、これらの各々は、それ自身のビーム軸が該バンパーの面法線方向から水平方向に偏向された角度を持ち該バンパーの中間部の方に向けられるように、該バンパーの片側に配置される
障害物検出システム。 - 該第1及び第2超音波センサの個別検出範囲はオーバーラップしている請求項1記載の障害物検出システム。
- 該第1及び第2超音波センサの各々は、上面がそれ自身の入出力面であるベゼルを備え、該入出力面は、該バンパーの表面に搭載される該ベゼルの底面に対して前記角度で傾斜する請求項1又は2記載の障害物検出システム。
- 前記入出力面は車両幅方向に対して第1傾斜角を持つ一方、対応するベゼルの底面は該車両幅方向に対して第2傾斜角を持ち、
該入出力面は、該対応するベゼルの底面に対して、該第1及び第2傾斜角の和である傾斜角を持つ
請求項3記載の障害物検出システム。 - 該第1及び第2超音波センサの各々は、上面がそれ自身の入出力面であるベゼルを備え、該入出力面は、該バンパーの表面に搭載される該ベゼルの底面と平行であり、
該第1及び第2超音波センサの各ビーム軸が、対応する入出力面に対する法線に対して前記角度で傾斜する
請求項1又は2記載の障害物検出システム。 - 該バンパーは、フロントバンパー又はリアバンパーであり、
該複数の超音波センサは、2つ又は3つの超音波センサを備え、
該第1及び第2超音波センサの各水平ビーム角は、該第1及び第2超音波センサの各々が車両幅と予め決められた余裕幅の和である検出幅の個別検出範囲を持つように設定されている請求項1~3の何れか1項に記載の障害物検出システム。 - 該複数の超音波センサは、2つ又は3つの超音波センサを備え、
該複数の超音波センサの各水平ビーム角は、他の1又は2つの水平ビーム角とオーバーラップしている
請求項1記載の障害物検出システム。 - 該第1及び第2超音波センサの各垂直ビーム角は、該第1及び第2超音波センサの各個別検出範囲が路面よりも上方に配置されるように設定されている請求項1記載の障害物検出システム。
- 該コントローラは、第1及び第2自己信号及び第1及び第2相互信号に基づいて、該最大検出範囲内に少なくとも1つの障害物が存在するかどうかを判定するように構成され、
該第1自己信号は、該第1超音波センサが該第1超音波センサから発せられた超音波を受けたときに得られる入力電気信号に対応し、
該第2自己信号は、該第2超音波センサが該第2超音波センサから発せられた超音波を受けたときに得られる入力電気信号に対応し、
該第1相互信号は、該第2超音波センサが該第1超音波センサから発せられた超音波を受けたときに得られる入力電気信号に対応し、
該第2相互信号は、該第1超音波センサが該第2超音波センサから発せられた超音波を受けたときに得られる入力電気信号に対応する
請求項1又は2記載の障害物検出システム。 - 該コントローラは、少なくとも1つの障害物が該最大検出範囲内の最小距離離れて存在するとの判定を得た後、その判定が、該少なくとも1つの障害物が該最大検出範囲内に存在しないという別の判定に変われば、該少なくとも1つの障害物が該車両と該最大検出範囲との間の死角に存在すると判定するように構成される請求項9記載の障害物検出システム。
- 該第1及び第2相互信号に対応する相互検出範囲は、該第1及び第2自己信号に対応する個別検出範囲の各々よりも狭い請求項9記載の障害物検出システム。
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JP2012510512A JPWO2011129001A1 (ja) | 2010-04-15 | 2010-04-15 | 障害物検出システム |
CN2010800661146A CN102844674A (zh) | 2010-04-15 | 2010-04-15 | 障碍物检测系统 |
US13/641,312 US9069079B2 (en) | 2010-04-15 | 2010-04-15 | Obstacle detection system with ultrasonic sensors located at either side of a bumper, having own beam axes at an angle deflected in a horizontal direction from a surface-normal direction of the bumper |
EP10849838.7A EP2560022B1 (en) | 2010-04-15 | 2010-04-15 | Obstacle detection system |
PCT/JP2010/056757 WO2011129001A1 (ja) | 2010-04-15 | 2010-04-15 | 障害物検出システム |
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US20130028053A1 (en) | 2013-01-31 |
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US9069079B2 (en) | 2015-06-30 |
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