WO2014178173A1 - 障害物検出装置 - Google Patents
障害物検出装置 Download PDFInfo
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- WO2014178173A1 WO2014178173A1 PCT/JP2014/002218 JP2014002218W WO2014178173A1 WO 2014178173 A1 WO2014178173 A1 WO 2014178173A1 JP 2014002218 W JP2014002218 W JP 2014002218W WO 2014178173 A1 WO2014178173 A1 WO 2014178173A1
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- sensor
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- ultrasonic
- obstacle
- detection
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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
- G01S15/02—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
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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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S15/87—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
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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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- 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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- 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
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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
- G01S2015/939—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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Definitions
- the present disclosure relates to an obstacle detection device that detects an obstacle around a vehicle with ultrasonic waves.
- Patent Document 1 As an art for detecting the presence or absence of an obstacle in the vicinity of a vehicle and the distance to the obstacle with an ultrasonic wave, an obstacle detection apparatus as described in Patent Document 1 has been proposed.
- the obstacle detection apparatus described in Patent Literature 1 by changing the transmission frequency and the transmission output of the ultrasonic sensor, the short-distance mode having wide directivity and the long-distance mode having narrow directivity are selectively used. Be able to. Thereby, it is supposed that even an obstacle at a short distance or an obstacle at a long distance can be detected appropriately.
- the reach of the ultrasonic wave increases as the distance increases, so there is a difference between the received wave intensity of the reflected wave from the wall and the received wave intensity of the reflected wave due to the step. Will not occur. In such a case, it may not be possible to clearly determine whether the reception result of the ultrasonic sensor is a wall or a step. Therefore, even if it is going to detect a wall, there exists a possibility of detecting the low level
- An object of the present disclosure is to provide an obstacle detection device that can accurately determine a step using an ultrasonic sensor.
- the obstacle detection device includes a plurality of ultrasonic sensors and a detection control unit.
- the ultrasonic sensor detects an obstacle by transmitting an ultrasonic wave and receiving a reflected wave of the transmitted ultrasonic wave.
- the detection control unit uses one of at least two of the ultrasonic sensors as a transmission sensor for transmitting an ultrasonic wave, and receives the reflected wave of the ultrasonic wave transmitted from the transmission sensor. It is used as a receiving sensor to detect an object.
- the difference between the ground height at which the ultrasonic sensor used as the wave sensor is attached to the surface of the vehicle body and the ground height at which the ultrasonic sensor used as the wave sensor is attached to the surface of the vehicle body is a non-detected object.
- the predetermined threshold height is based on twice the height defined as the step on the upper surface.
- the detection control unit confirms that a reception result by the reception sensor does not satisfy a predetermined detection criterion for detecting an obstacle when an ultrasonic wave is transmitted by the transmission sensor in a range where an object exists. It is determined that the object is a step on the ground surface that is a non-detection object.
- the obstacle detection device can accurately determine the level difference of the ground, which is a non-detection target.
- the obstacle detection device includes a plurality of ultrasonic sensors and a detection control unit.
- the ultrasonic sensor transmits an ultrasonic wave and receives a reflected wave of the transmitted ultrasonic wave.
- the detection control unit uses one of at least two of the ultrasonic sensors as a transmission sensor for transmitting an ultrasonic wave, and receives the reflected wave of the ultrasonic wave transmitted from the transmission sensor. It is used as a receiving sensor to detect an object.
- the difference between the ground height at which the ultrasonic sensor used as the wave sensor is attached to the surface of the vehicle body and the ground height at which the ultrasonic sensor used as the wave sensor is attached to the surface of the vehicle body is 10 cm or more.
- the detection control unit confirms that a reception result by the reception sensor does not satisfy a predetermined detection criterion for detecting an obstacle when an ultrasonic wave is transmitted by the transmission sensor in a range where an object exists. It is determined that the object is a step on the ground surface that is a non-detection object.
- the obstacle detection device can accurately determine the level difference of the ground, which is a non-detection target.
- FIG. 1 is a block diagram illustrating an obstacle detection device according to an embodiment of the present disclosure.
- FIG. 2A is a top view showing an attachment position of the ultrasonic sensor.
- FIG. 2B is a front view showing an attachment position of the ultrasonic sensor.
- FIG. 2C is a rear view showing the attachment position of the ultrasonic sensor.
- FIG. 3A is a diagram illustrating an example of an ultrasonic path reflected by the ground and a step.
- FIG. 3B is a diagram illustrating an example of a path of an ultrasonic wave reflected by a step and the ground.
- FIG. 1 is a block diagram illustrating an obstacle detection device according to an embodiment of the present disclosure.
- FIG. 2A is a top view showing an attachment position of the ultrasonic sensor.
- FIG. 2B is a front view showing an attachment position of the ultrasonic sensor.
- FIG. 2C is a rear view showing the attachment position of the ultrasonic sensor.
- FIG. 3A is a diagram
- FIG. 3C is a diagram illustrating an example of a range affected by a reflected wave due to a step.
- FIG. 4 is an explanatory diagram showing changes in the received wave position accompanying the movement of the vehicle.
- FIG. 5 is a sequence diagram illustrating a processing procedure of the obstacle detection apparatus.
- FIG. 6 is a flowchart showing the steps of the step discrimination process.
- FIG. 7 is a flowchart illustrating a procedure of a modified example of the step determination process.
- FIG. 8A is an explanatory diagram illustrating a method for calculating the direction angle of the horizontal component of an obstacle.
- FIG. 8B is an explanatory diagram showing a method for calculating the attenuation gain ⁇ G.
- the obstacle detection apparatus 1 includes an ECU 3, eight ultrasonic sensors 5, a serial communication line 7, and the like.
- the individual ultrasonic sensors 5 are distinguished, they are also expressed as ultrasonic sensors 5a to 5h.
- the ultrasonic sensor 5 is a sensor that detects an obstacle and measures a distance by transmitting an ultrasonic wave and receiving a reflected wave that hits the obstacle and is reflected.
- the ultrasonic sensor 5 communicates with the ECU 3 via a serial communication line 7 and a microphone (not shown), an electronic control circuit that drives the microphone to transmit and receive ultrasonic waves, and detects obstacles and calculates distances. Consists of a communication circuit.
- the ultrasonic sensor 5 transmits an ultrasonic wave having a predetermined frequency by driving a microphone in accordance with control performed from the ECU 3 via the serial communication line 7. If the transmitted ultrasonic wave is reflected by an obstacle, the reflected wave is received by the microphone, and the received signal is input to the electronic control circuit. The input received signal is amplified and filtered in the electronic control circuit, and compared with a preset threshold voltage level for obstacle determination. As a result of the comparison, when the voltage level of the received signal is higher than the threshold voltage level, the ECU 3 is notified of a received result indicating that an obstacle has been detected.
- the ultrasonic sensor 5 converts the required time from the start of ultrasonic wave transmission to receiving the reflected wave into a distance in the electronic control circuit, and acquires the distance to the obstacle.
- Each ultrasonic sensor 5 not only receives the reflected wave of the ultrasonic wave transmitted by itself, but also receives the reflected wave of the ultrasonic wave transmitted from another pair of ultrasonic sensors 5. It can be controlled to detect obstacles. By doing in this way, ultrasonic transmission and reception can be performed by different ultrasonic sensors 5.
- the other structure and function of the ultrasonic sensor 5 are based on a well-known technique, detailed description here is abbreviate
- Each ultrasonic sensor 5 is attached to a bumper of the vehicle 10, for example.
- the ultrasonic sensors 5a to 5d are attached to the front side of the vehicle 10, and can transmit ultrasonic waves toward the front of the vehicle 10.
- the ultrasonic sensors 5 a and 5 b are attached to the front right side of the vehicle 10
- the ultrasonic sensors 5 c and 5 d are attached to the front left side of the vehicle 10.
- ultrasonic sensors 5e to 5h are attached to the rear side of the vehicle 10 so that ultrasonic waves can be transmitted toward the rear of the vehicle 10.
- the ultrasonic sensors 5e and 5f are attached to the rear right side of the vehicle 10
- the ultrasonic sensors 5g and 5h are attached to the rear left side of the vehicle 10.
- the ultrasonic sensors 5b and 5d are installed at higher positions on the front side of the vehicle 10 than the ultrasonic sensors 5a and 5c, and the lower ultrasonic sensor 5a. , 5c and the upper ultrasonic sensors 5b, 5d are spaced at a height of 2H in the vertical direction.
- the ultrasonic sensors 5f and 5h are installed at higher positions on the rear surface side of the vehicle 10 than the ultrasonic sensors 5e and 5g, and the lower ultrasonic sensor 5e. , 5g and the ultrasonic sensors 5f, 5h on the upper side are spaced by a height of 2H in the vertical direction.
- the height H is the height of a step on the ground surface such as a curb stone that is defined as a non-detection target in the clearance sonar function or parking assist function to which the obstacle detection apparatus 1 is applied. That is, on the front and rear surfaces of the vehicle 10, there is an interval twice as high as the height of the step that is a non-detection target in the vertical direction between the upper ultrasonic sensor 5 and the lower ultrasonic sensor 5. It will be open.
- the vertical distance between the upper ultrasonic sensor 5 and the lower ultrasonic sensor 5 is not strictly 2H, and a slightly larger interval is allowed within the allowable error range, so that the detection accuracy can be afforded. You may have it.
- the height of the non-detection object is 5 cm or more, preferably 10 cm or more. Therefore, if the height of the non-detection target is defined as 5 cm, the vertical interval between the upper ultrasonic sensor 5 and the lower ultrasonic sensor 5 is 10 cm or more. When each ultrasonic sensor 5 is attached to the bumper of the vehicle 10, the vertical distance between the upper ultrasonic sensor 5 and the lower ultrasonic sensor 5 is equal to or smaller than the vertical width of the bumper. .
- an ultrasonic wave that is transmitted from the ultrasonic sensor 5 (transmission sensor) on the surface of the vehicle body follows a path that is once reflected by the step 20 having a height H and then reflected again by the ground surface. Returns to the range of height 2H downward from the transmission position.
- the influence range in which the reflected wave due to the step 20 having the height H is detected extends to a height of 2H in the vertical direction from the position where the ultrasonic wave is transmitted. For this reason, if there is a wave receiving sensor in this range of influence, there is a possibility that a step on the ground surface is unnecessary detected as an obstacle. Conversely, if the wave receiving sensor is mounted at a height outside the range of influence, no step is detected in the wave receiving sensor.
- an ultrasonic wave is transmitted by providing an interval of height 2H between the upper ultrasonic sensor 5 and the lower ultrasonic sensor 5.
- the other ultrasonic sensor on the upper side (or the lower side) of the wave ultrasonic sensor 5 is prevented from entering the range affected by the reflected wave due to the height H step.
- the ultrasonic sensor 5 on the upper side (or lower side) of the ultrasonic sensor 5 that has transmitted the reflected wave when the transmitted ultrasonic wave is reflected by the step of height H is provided. You can avoid receiving waves.
- the reflected wave from the obstacle higher than the height H can be received by the ultrasonic sensor 5 on the upper side (or lower side) of the transmitted ultrasonic sensor 5.
- the target object is a non-detection target. It can be determined that the difference is a step.
- the lower ultrasonic sensors 5a, 5c, 5e, and 5g are used as transmission sensors for transmitting ultrasonic waves. It is assumed that the upper ultrasonic sensors 5b, 5d, 5f, and 5h are used as wave receiving sensors for receiving the reflected wave of the ultrasonic wave transmitted from the sensor. There are the following reasons for this.
- the ultrasonic wave transmitted from the ultrasonic sensor 5 returns a reflected wave from the step 20 when the vehicle is approaching the step 20.
- the ultrasonic sensor 5 for receiving is above the ultrasonic sensor 5 for transmitting, even if the vehicle approaches the step while the reflected wave returns after the ultrasonic wave is transmitted. This is out of the range affected by the reflected wave due to the step. Therefore, unnecessary detection of the step can be avoided.
- the ultrasonic sensor 5 for receiving is below the ultrasonic sensor 5 for transmitting, the reflected wave arrives even if it is outside the range where the reflected wave due to the step is affected at the time of transmission.
- the vehicle is stepped more when the lower ultrasonic sensors 5a, 5c, 5e, and 5g are used as transmission sensors and the upper lower ultrasonic sensors 5b, 5d, 5f, and 5h are used as reception sensors. This is advantageous in avoiding unnecessary detection of a step when approaching toward.
- the ECU 3 is an electronic control unit that controls each ultrasonic sensor 5 and detects obstacles around the vehicle.
- the ECU 3 instructs each ultrasonic sensor 5 to individually transmit and receive ultrasonic waves when the clearance sonar function and the parking assist function are activated, and detects obstacles acquired from each ultrasonic sensor 5. Based on the result, the presence or absence of an obstacle is determined. Control for the ultrasonic sensor 5 is performed by communication via the serial communication line 7.
- the ECU 3 instructs the ultrasonic sensors 5 to individually transmit or receive ultrasonic waves (i).
- the ultrasonic wave transmission / reception is set as a set.
- each ultrasonic sensor 5 transmits an ultrasonic wave and receives a reflected wave (ii).
- each ultrasonic sensor 5 processes the reception result of the reflected wave, and calculates the detection result and distance of the obstacle (iii).
- the ECU 3 requests each ultrasonic sensor 5 instructed to transmit / receive the ultrasonic wave to transmit the reception result of the reflected wave (iv).
- Each ultrasonic sensor 5 that has received the request responds to the ECU 3 with the presence or absence of an obstacle and the distance calculated based on the reception result of the reflected wave (v).
- the ECU 3 repeatedly executes the steps (i) to (v) while switching the combination of the ultrasonic sensors 5 used for transmission / reception. For example, an obstacle is first detected using a combination of ultrasonic sensors 5a and 5b, then a combination of ultrasonic sensors 5c and 5d, then a combination of ultrasonic sensors 5e and 5f, and then an ultrasonic sensor 5g. , 5h, etc., and a plurality of detection operations are performed. In this series of detection operations, the ECU 3 executes a step determination process for determining whether the object is an obstacle to be detected or a step to be detected. A detailed procedure of the step determination process will be described later.
- step determination process executed by the ECU 3 when the clearance sonar function or the parking assist function is operated will be described with reference to the flowchart of FIG.
- the flowchart of FIG. 6 has shown the process sequence when the two ultrasonic sensors 5a and 5b are made into a control object as an example.
- the ECU 3 instructs the lower ultrasonic sensor 5a to transmit an ultrasonic wave and receive a reflected wave thereof.
- the upper ultrasonic sensor 5b is instructed to receive the reflected wave of the ultrasonic wave transmitted from the ultrasonic sensor 5a.
- the ultrasonic sensor 5a is used as a wave transmission sensor
- the ultrasonic sensor 5b is used as a wave reception sensor.
- the ultrasonic sensor 5a which is a wave transmission sensor, is also controlled to receive the reflected wave of the ultrasonic wave transmitted by itself.
- the ECU 3 requests the ultrasonic sensors 5a and 5b to transmit the reception result of the reflected wave, and receives the reception result returned from the ultrasonic sensors 5a and 5b.
- the reception result returned from the ultrasonic sensors 5a and 5b.
- information indicating the result of each ultrasonic sensor 5 determining whether there is an obstacle is received as the reception result.
- the structure which receives the information which shows the voltage level itself of the received signal of the reflected wave which the ultrasonic sensor 5 received as a receiving result may be sufficient.
- the ECU 3 determines whether or not the reception result of the ultrasonic sensor 5a received in S102 indicates that an obstacle has been detected. Specifically, an affirmative determination is made when a received wave result indicating that an obstacle is present is received from the ultrasonic sensor 5a, and a received wave result indicating that an obstacle is not present is received. If no, make a negative decision.
- the ECU 3 compares the voltage level of the reception signal with the threshold voltage level for obstacle determination. As a result of the comparison, an affirmative determination is made when the voltage level of the received signal is greater than the threshold voltage level, and a negative determination is made when the voltage level of the received signal is less than or equal to the threshold voltage level.
- the ECU 3 proceeds to S106. In S106, the ECU 3 determines that there is no obstacle in the transmission range of the ultrasonic sensor 5a, and ends this process. On the other hand, when the reception result of the ultrasonic sensor 5a indicates that an obstacle has been detected (S104: YES), the ECU 3 proceeds to S108. In S108, it is determined whether or not the reception result of the ultrasonic sensor 5b received in S102 indicates that an obstacle has been detected. Specifically, the determination method is the same as S104.
- the ECU 3 proceeds to S110.
- S110 the ECU 3 determines that the object detected by the ultrasonic sensor 5a is a non-detection target step, and ends this process.
- S108: YES the reception result of the ultrasonic sensor 5b indicates that an obstacle has been detected
- the ECU 3 proceeds to S112.
- S112 the ECU 3 determines that the object detected by the ultrasonic sensor 5a is an obstacle (for example, a wall) to be detected, and ends this process.
- step discrimination process is an example when the two ultrasonic sensors 5a and 5b are controlled.
- the reception sensitivity of an ultrasonic sensor is generally maximum with respect to the front direction of the microphone, which is a receiving element, and with respect to the oblique direction of the microphone, the exponential response depends on the direction angle from the front direction. It is known to exhibit a receiving directional characteristic that attenuates functionally. In the obstacle detection device 1 of the present invention, the receiving sensitivity on the receiving sensor side greatly affects the accuracy of determining the step.
- the target is an obstacle is not detected It may be configured to determine whether the difference is a step.
- the ECU 3 obtains the distance measurement result by the ultrasonic sensors 5a and 5b, the distance between the detected object and the ultrasonic sensors 5a and 5b, and the ultrasonic sensor. Trigonometric calculation processing using the distance between 5a and 5b is performed. By this calculation process, the direction angle ⁇ of the horizontal component of the object with respect to the front direction of the ultrasonic sensor 5b is calculated.
- the distance ac between the transmission sensor and the object 30 is converted from the time required from when the ultrasonic wave is transmitted from the transmission sensor to when the reflected wave is detected by the transmission sensor. Is done.
- the distance bc between the wave receiving sensor and the object 30 passes through acb converted from the time required from when the ultrasonic wave is transmitted from the wave transmitting sensor to when the reflected wave is detected by the wave receiving sensor. It is calculated as a value obtained by subtracting the distance ac from the stroke distance.
- the distance ab between the transmission sensor and the reception sensor is defined in advance as a default value.
- the size of the angle abc is determined in the manner of triangulation.
- the direction angle ⁇ of the horizontal component of the object with respect to the front direction of the wave receiving sensor is calculated from the size of the angle abc and the angle formed by the side ab and the front direction of the wave receiving sensor.
- the ECU 3 calculates the attenuation gain ⁇ G of the reception sensitivity corresponding to the direction angle ⁇ of the object calculated in S212 based on the reception directivity characteristic in the horizontal direction of the ultrasonic sensor 5b. Specifically, it is assumed that the horizontal wave reception directivity characteristics of the ultrasonic sensor 5 illustrated in FIG. 8B are stored in the ECU 3 in advance. This reception directivity characteristic indicates that the reception gain (sensitivity) of the reflected wave is exponentially attenuated with respect to the direction angle of the horizontal component with respect to the front direction of the ultrasonic sensor 5. The ECU 3 calculates a difference between the peak value of the received gain at the direction angle 0 ° (front direction) and the received gain corresponding to the direction angle ⁇ of the object, and sets this difference as the attenuation gain ⁇ G.
- the ECU 3 calculates a correction voltage level Vx reflecting the attenuation gain ⁇ G specified in S214 with respect to the voltage level V of the reception signal of the reflected wave acquired from the ultrasonic sensor 5b.
- the relationship of the following expression (1) is established among the attenuation gain ⁇ G, the voltage level V of the reflected wave reception signal, and the correction voltage level Vx.
- the correction voltage level Vx is expressed by the following equation (2).
- the corrected voltage level Vx can be calculated by substituting the known voltage level V and the attenuation gain ⁇ G into this equation (2).
- the ECU 3 compares the correction voltage level Vx calculated in S216 with a predetermined threshold voltage level for detecting an obstacle, and determines whether or not the correction voltage level Vx is larger than the threshold voltage level. To do.
- the correction voltage level Vx is equal to or lower than the threshold voltage level (S218: NO)
- the ECU 3 proceeds to S220.
- the ECU 3 determines that the object detected by the ultrasonic sensor 5a is a non-detection target step, and ends this process.
- the ECU 3 proceeds to S222.
- the ECU 3 determines that the object detected by the ultrasonic sensor 5a is an obstacle to be detected (for example, a wall), and ends this process.
- the lower ultrasonic sensors 5a, 5c, 5e, and 5g are used as the transmission sensors
- the upper ultrasonic sensors 5b, 5d, 5f, and 5h are used as the upper ultrasonic sensors.
- the upper and lower ultrasonic sensors 5 may be configured to detect obstacles a plurality of times while exchanging the transmission sensor and the reception sensor with each other.
- the ECU 3 first detects an object using one of the two upper and lower ultrasonic sensors 5 as a transmission sensor and the other as a reception sensor. I do.
- one of the ultrasonic sensors 5 is switched to the wave receiving sensor and the other ultrasonic sensor 5 is switched to the wave transmitting sensor to detect the object again. Then, in a plurality of reception results, it is determined that the target object is a step on the ground surface that is a non-detection target object on the condition that none of the reception sensors detect the target object.
- the difference between the installation height of the upper ultrasonic sensor 5 (wave receiving sensor) and the installation height of the lower ultrasonic sensor 5 (wave transmission sensor) is twice the height H of the step where it is desired to avoid unnecessary detection.
- Each ultrasonic sensor 5 is attached to various parts of the vehicle 10 so as to have a reference threshold height.
- the ultrasonic sensor 5 used as a wave transmission sensor can detect an object for discriminating whether it is an obstacle or a step based on the result of receiving the reflected wave of the ultrasonic wave transmitted by itself. Next, the object detected by the transmission sensor is obstructed based on the result of receiving the reflected wave of the ultrasonic wave transmitted from the transmission sensor by another ultrasonic sensor 5 used as the reception sensor. It is possible to determine whether the object is an object or a non-detection target step.
- the reliability of the detection result can be improved.
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- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
Description
図1に示すように、障害物検出装置1は、ECU3、8つの超音波センサ5、シリアル通信線7等を備えている。以下、個々の超音波センサ5を区別する場合は、超音波センサ5a~5hとも表記する。
クリアランスソナー機能や駐車アシスト機能の作動時にECU3が実行する段差判別処理の手順について、図6のフローチャートを参照しながら説明する。なお、図6のフローチャートは、一例として、超音波センサ5a,5bの2つを制御対象にしたときの処理手順を示している。
超音波センサの受波感度は、一般的に、受波素子であるマイクの正面方向に対して最大となっており、マイクの斜め方向に対しては、正面方向からの方向角に応じて指数関数的に減衰する受波指向特性を示すことが知られている。本発明の障害物検出装置1では、受波センサ側の受波感度が段差を判別する精度に大きく影響する。そこで、段差を判別する精度を向上させる工夫として、反射波が水平方向において斜めから受波センサに入射する場合における受信感度の減衰を補った上で、対象物が障害物であるか非検出対象の段差であるかを判断するように構成することが考えられる。
上述の実施形態では、上下に分かれた複数の超音波センサ5のうち、下側の超音波センサ5a,5c,5e,5gを送波センサ、上側の超音波センサ5b,5d,5f,5hを受波センサとして用いて段差判別処理を実行する事例について説明した。これとは別に、上下2つの超音波センサ5において、送波センサと受波センサとを互いに入れ替えながら障害物の検出を複数回行うような構成であってもよい。具体的には、ECU3は、図5に例示される処理シーケンスの過程で、まず、上下2つの超音波センサ5の一方を送波センサとして用い、他方を受波センサとして用いて対象物の検出を行う。つぎに、一方の超音波センサ5を受波センサに、他方の超音波センサ5を前記送波センサに切替えて再び前記対象物の検出を行う。そして、複数回の受波結果において、何れの受波センサも対象物を検出しないことを条件に、対象物が非検出対象物である地上面の段差であると判定する。
Claims (7)
- 超音波を送波し、送波された超音波の反射波を受波することで障害物を検出する複数の超音波センサ(5)と、
少なくとも2つの前記超音波センサのうちの一方を、超音波を送波する送波センサとして用い、他方を前記送波センサから送波された超音波の反射波を受波する受波センサとして用いて対象物の検出を行う検出制御部(3)とを備え、
前記送波センサとして用いられる超音波センサが車体表面に取付けられる地上高と、前記受波センサとして用いられる超音波センサが車体表面に取付けられる地上高との差が、非検出対象物である地上面の段差として定義された高さの2倍を基準とする所定の閾値高さになっており、
前記検出制御部(S108,S110)は、対象物が存在する範囲に前記送波センサで超音波を送波したときに、前記受波センサによる受波結果が障害物を検出する所定の検出基準に満たないことを条件に、前記対象物が非検出対象物である地上面の段差であると判定する障害物検出装置。 - 超音波を送波し、送波された超音波の反射波を受波することで障害物を検出する複数の超音波センサ(5)と、
少なくとも2つの前記超音波センサのうちの一方を、超音波を送波する送波センサとして用い、他方を前記送波センサから送波された超音波の反射波を受波する受波センサとして用いて対象物の検出を行う検出制御部(3)とを備え、
前記送波センサとして用いられる超音波センサが車体表面に取付けられる地上高と、前記受波センサとして用いられる超音波センサが車体表面に取付けられる地上高との差が、10cm以上であり、
前記検出制御部(S108,S110)は、対象物が存在する範囲に前記送波センサで超音波を送波したときに、前記受波センサによる受波結果が障害物を検出する所定の検出基準に満たないことを条件に、前記対象物が非検出対象物である地上面の段差であると判定する障害物検出装置。 - 請求項1または請求項2に記載の障害物検出装置において、
前記非検出対象物である地上面の段差は、縁石を含む障害物検出装置。 - 請求項1ないし請求項3の何れか1項に記載の障害物検出装置において、
前記検出制御部(S100,S102)は、前記送波センサから送波された超音波の反射波を、送波した前記送波センサと前記受波センサとの両方で受波する制御を行い、前記送波センサによる受波結果が障害物を検出する所定の検出基準を満たすことを条件に前記対象物が存在することを特定し、かつ、前記受波センサによる受波結果が障害物を検出する所定の検出基準に満たないことを条件に、特定した前記対象物が非検出対象物である地上面の段差であると判定する障害物検出装置。 - 請求項1ないし請求項4の何れか1項に記載の障害物検出装置において、
前記検出制御部は、前記2つの超音波センサのうち、上側に取付けられている超音波センサを前記受波センサとして用い、下側に取付けられている超音波センサを前記送波センサとして用いる障害物検出装置。 - 請求項1ないし請求項4の何れか1項に記載の障害物検出装置において、
前記検出制御部は、前記2つの超音波センサのうちの一方を前記送波センサとして用い、他方を前記受波センサとして用いて前記対象物の検出を行い、更に、前記一方の超音波センサを前記受波センサに、前記他方の超音波センサを前記送波センサに切替えて再び前記対象物の検出を行い、前記受波センサによる複数回の受波結果が、何れも障害物を検出する所定の検出基準に満たないことを条件に、前記対象物が非検出対象物である地上面の段差であると判定する障害物検出装置。 - 請求項1ないし請求項6の何れか1項に記載の障害物検出装置において、
前記受波センサの正面方向に対する前記対象物の水平成分の方向角を取得する取得部(3,S212)と、
前記取得部により取得された前記対象物の方向角に応じて、受信センサの水平指向性による受波強度の減衰を補正する補正部(3,S214,S216)を更に備え、
前記検出制御部(S218,S220)は、前記補正部により補正された受波強度が障害物を検出する所定の検出基準を満たすか否かを判定し、前記補正された受波強度が前記検出基準を満たさないことを条件に、前記対象物が非検出対象物である地上面の段差であると判定する障害物検出装置。
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