WO2016063531A1 - Dispositif d'estimation de temps de réception - Google Patents

Dispositif d'estimation de temps de réception Download PDF

Info

Publication number
WO2016063531A1
WO2016063531A1 PCT/JP2015/005302 JP2015005302W WO2016063531A1 WO 2016063531 A1 WO2016063531 A1 WO 2016063531A1 JP 2015005302 W JP2015005302 W JP 2015005302W WO 2016063531 A1 WO2016063531 A1 WO 2016063531A1
Authority
WO
WIPO (PCT)
Prior art keywords
time
peak value
wave
reception time
reception
Prior art date
Application number
PCT/JP2015/005302
Other languages
English (en)
Japanese (ja)
Inventor
鈴木　満
大林　幹生
Original Assignee
株式会社デンソー
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー, トヨタ自動車株式会社 filed Critical 株式会社デンソー
Publication of WO2016063531A1 publication Critical patent/WO2016063531A1/fr

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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/32—Shaping echo pulse signals; Deriving non-pulse signals from echo pulse signals

Definitions

  • the present disclosure relates to a reception time estimation device that receives a wave transmitted with a predetermined time as a transmission opportunity and detects a reception start time of the received wave.
  • an object detection device using a distance measuring sensor such as an ultrasonic sensor as a device that receives a wave transmitted with a predetermined time as a transmission opportunity and performs processing using the reception start time of the received wave.
  • the object detection apparatus irradiates an object with an exploration wave such as an ultrasonic wave and receives a reflected wave that is an exploration wave reflected by the object. Then, the positions of the distance measuring sensor and the object are calculated based on the time when reception is started. At this time, a detection threshold for the reflected wave is provided, and the time when the peak value of the reflected wave exceeds the detection threshold is the reception time, and the detection time is obtained using the propagation time obtained by subtracting the transmission time of the exploration wave from the reception time.
  • the detection threshold is set so that the reception time is not erroneously determined due to the noise. That is, if the detection threshold value is lowered, the rate at which noise exceeds the detection threshold value increases, and as a result, there is an increased risk of erroneous detection that an object is present even when the object is not present.
  • the detection threshold is increased, the rate at which noise exceeds the detection threshold decreases, but it takes time from the start of reception of the reflected wave until the peak value exceeds the detection threshold, and the propagation time is measured longer. .
  • a difference between the calculation result of the distance to the object and the actual distance occurs. At this time, the closer the distance to the object whose position is to be detected, the greater the ratio of error to that distance.
  • an object detection device described in Patent Document 1 as an object detection device using an ultrasonic sensor.
  • the object detection device described in Patent Literature 1 uses a rising threshold value and a peak threshold value, and receives a time that exceeds the rising threshold value when the peak value of the reflected wave exceeds the rising threshold value after exceeding the rising threshold value. It is time. Based on the reception time, the distance between the vehicle and the object is calculated.
  • the reception start time is not determined only when the peak value of the reflected wave exceeds the first threshold, the noise resistance performance can be improved.
  • One of the objects of the present disclosure is to provide a reception time estimation device that can accurately estimate the reception time.
  • the reception time estimation device when receiving a wave transmitted with a predetermined time as one transmission opportunity, estimates a time when reception of the wave is started as an estimated reception time.
  • a first acquisition unit that acquires a first time that is a time at which a peak value of the received wave exceeds a first threshold that is a predetermined value; and after the first time, A second time period for acquiring a second peak value that is a peak value of the wave and a second time that is associated with the second peak value at a predetermined timing within a period from when the peak value of the peak reaches a peak value.
  • a reception time estimation unit that calculates a time at which the wave peak value changes from zero based on the acquisition unit, the first threshold value, the second peak value, the first time, and the second time as the estimated reception time; , A reception time estimation device is provided.
  • the waveform of the received wave can generally approximate a triangle. And the apex whose height is zero in the approximate triangle corresponds to the point where the peak value is zero, and it can be estimated that it is the time when the wave reception is started.
  • the point at which the peak value becomes zero is calculated as the estimated reception time using the two parameters. Therefore, the estimated reception time can be made closer to the actual reception time.
  • the first threshold is set to a high value that is not affected by noise. can do. Therefore, it is possible to accurately calculate the estimated reception time while ensuring noise resistance performance.
  • FIG. 1 is a diagram illustrating an outline of an object detection device according to an embodiment.
  • FIG. 2 is a top view of a vehicle on which the object detection device is mounted.
  • FIG. 3 is a diagram illustrating the waveform of the exploration wave and the waveform of the reflected wave.
  • FIG. 4 is a diagram illustrating a method of calculating the estimated reception time according to the first embodiment.
  • FIG. 5 is a flowchart showing the processing of the first embodiment.
  • FIG. 6 is a diagram illustrating a method of calculating the estimated reception time in the second embodiment.
  • FIG. 7 is a flowchart showing the processing of the second embodiment.
  • FIG. 1 is a diagram illustrating an outline of an object detection device according to an embodiment.
  • FIG. 2 is a top view of a vehicle on which the object detection device is mounted.
  • FIG. 3 is a diagram illustrating the waveform of the exploration wave and the waveform of the reflected wave.
  • FIG. 4 is a diagram illustrating a method of calculating
  • FIG. 8 is a diagram illustrating a method for calculating an estimated reception time according to the third embodiment.
  • FIG. 9 is a flowchart showing the processing of the third embodiment.
  • FIG. 10 is a diagram illustrating a method for calculating an estimated reception time according to the fourth embodiment.
  • FIG. 11 is a flowchart showing the processing of the fourth embodiment.
  • FIG. 12 is a diagram illustrating a method for calculating an estimated reception time according to the fifth embodiment.
  • FIG. 13 is a flowchart showing the processing of the fifth embodiment.
  • FIG. 1 shows a configuration of an object detection apparatus according to the present embodiment.
  • the object detection device is a device that is mounted on a vehicle and calculates the distance between the vehicle and other objects such as other vehicles and road structures that exist around the vehicle.
  • the ECU 20 is configured to be controlled.
  • the distance measuring sensor 10 is an ultrasonic sensor, for example, and has a function of transmitting an ultrasonic wave of 20 to 100 kHz as an exploration wave, and a function of receiving an exploration wave reflected by reaching an object as a reflected wave.
  • the ECU 20 includes a microcomputer, which includes a CPU, various memories, an A / D converter, and the like.
  • the CPU included in the ECU 20 realizes a function as the sensor control unit 21, a function as the distance calculation unit 22, and a function as the vehicle control unit 23 by a program stored in the memory.
  • the sensor control unit 21 transmits a control signal to the distance measuring sensor 10 and acquires the peak value of the reflected wave received by the distance measuring sensor 10. At this time, the distance measuring sensor 10 repeatedly transmits the exploration wave at a predetermined interval (for example, every several milliseconds) with a predetermined time as one transmission opportunity based on an instruction from the ECU 20.
  • the distance calculation unit 22 calculates the distance between the vehicle and the object based on the reflected wave received by the distance measuring sensor 10.
  • the vehicle control unit 23 controls the behavior of the vehicle, such as steering angle control and acceleration / deceleration control, based on the distance from the object around the vehicle calculated by the distance measuring sensor 10, and alerts the driver. To notify the approach of an object.
  • FIG. 2 is a top view of the vehicle 30 on which the object detection device is mounted.
  • the distance measuring sensors 10 are attached at predetermined intervals, for example, four each before and after the vehicle 30 and two each on the left and right side surfaces of the vehicle 30.
  • Each distance measuring sensor 10 is attached to a predetermined height (about 45 to 60 cm from the ground) of a bumper provided in front of and behind the vehicle 30, for example.
  • the exploration wave is transmitted radially from the distance measuring sensor 10 to the surroundings of the vehicle 30, and a part thereof reaches surrounding objects.
  • the exploration wave that reaches the object is reflected to the distance measuring sensor 10 as a reflected wave.
  • the mounting position of the distance measuring sensor 10 shown in FIG. 2 with respect to the vehicle 30 is merely an example, and various changes can be made.
  • Fig. 3 shows the waveforms of the exploration wave and the reflected wave.
  • a shape connecting the vertices of a wave that vibrates at a frequency of 20 to 100 kHz is defined as a waveform.
  • the search wave starts to be transmitted at the transmission start time Ts, and continues to be transmitted for a certain transmission time Tb.
  • the peak value H of the exploration wave starts increasing from the transmission start time Ts, and after the peak value H reaches the maximum value, the peak value H is maintained for a predetermined time.
  • attenuation of the peak value H is started after a lapse of a predetermined time, and the peak value H becomes zero at the time when the transmission time Tb has elapsed from the transmission start time Ts.
  • the exploration wave reaches the object after a time corresponding to the distance between the distance measuring sensor 10 and the object has elapsed.
  • the exploration wave that has reached the object is reflected by the object to become a reflected wave, and reaches the distance measurement sensor 10 after a time corresponding to the distance between the distance measurement sensor 10 and the object has elapsed.
  • the peak value is obtained after a time equal to the search wave transmission time Tb has elapsed from the reception start time Tx of the reflected wave.
  • the distance between the distance measurement sensor 10 and the object is obtained by converting the difference between the transmission start time Ts of the exploration wave and the reception start time Tx of the reflected wave into a distance.
  • the value obtained by subtracting the search wave transmission start time Ts from the reflected wave reception start time Tx is divided by 2 and multiplied by the sound speed, the distance between the distance measuring sensor 10 and the object can be calculated.
  • the peak value H of the reflected wave starts to rise at the reception start time Tx, and the time change rate of the peak value H increases with time. Subsequently, the time change rate of the peak value H becomes substantially constant, and the peak value H rises linearly. In the vicinity of the peak value, the time change rate of the peak value H decreases with time, and reaches the peak value when the time change rate becomes zero. Therefore, it can be said that the shape up to the peak value of the reflected wave is a shape similar to a triangle in which the part where the peak value H rises linearly is part of the long side.
  • the first peak value H1 which is the peak value H in the range (straight line part) in which the peak value H increases linearly, and the peak value H of the straight part and larger than the first peak value H1.
  • a second peak value H2 that is a high value H is set.
  • the time when the first peak value H1 is reached is the first time T1
  • the time when the second peak value H2 is reached is the second time T2.
  • the time is the X axis
  • the peak value H is the Y axis
  • the waveform of the reflected wave is represented by the XY coordinate system
  • the coordinates (T0, 0) of the common vertex are determined.
  • the first right triangle having the coordinates (T0,0), the coordinates (T1, H1), and the coordinates (T1,0) as the vertices, the coordinates (T0,0), the coordinates (T2, H2), and the coordinates
  • a second right triangle with the vertex (T2, 0) can be drawn on the waveform.
  • the coordinate of the vertex is a point where the peak value H becomes zero
  • the X coordinate is an estimated reception time T0 at which it can be estimated that reception of the reflected wave is started.
  • the estimated reception time T0 can be calculated by the following equation (1).
  • the estimated reception time T0 is calculated on the assumption that the rising waveform of the reflected wave includes a portion that can be approximated to a triangle. That is, a first threshold value Hth1 and a second threshold value Hth2 that is larger than the first threshold value Hth1 are set for the peak value H, and the time when the peak value H exceeds the first threshold value Hth1 is set to the first time. Obtained as T1, and the time when the peak value H exceeds the second threshold Hth2 is obtained as the second time T2. Then, the estimated reception time T0 is calculated using the first threshold value Hth1, the second threshold value Hth2, the first time T1, and the second time T2.
  • the first threshold value Hth1 is higher than the peak value of general noise
  • the second threshold value Hth2 is experimentally obtained as the peak value of the reflected wave reflected from the object in the search range. Value.
  • the first threshold value Hth1 and the second threshold value Hth2 are set in advance and stored in the memory of the ECU 20.
  • the peak value H is measured for a time longer than the reciprocal of the frequency in one control cycle, and the maximum value in one control cycle is acquired as the peak value H.
  • the estimated reception time T0 is calculated by the following equation (2) using the first threshold value Hth1 as the first peak value H1 and the second threshold value Hth2 as the second peak value H2. To do.
  • FIG. 5 is a flowchart showing distance calculation processing according to the present embodiment.
  • time measurement is started with the start of transmission of the exploration wave (S101), and it is determined whether or not the peak value H of the reflected wave is equal to or greater than the first threshold value Hth1 (S102). If the peak value H of the reflected wave is less than the first threshold value Hth1 (S102: NO), the time is added (S103). The processing of S102 and S103 is continued until the peak value H of the reflected wave becomes equal to or higher than the first threshold value Hth1.
  • the ECU 20 functions as a first acquisition unit (first acquisition means), and the time is the first time T1. (S104).
  • the peak value H of the reflected wave is equal to or greater than the second threshold value Hth2 (S105). If the peak value H of the reflected wave is less than the second threshold value Hth2 (S105: NO), the time is added (S106). On the other hand, if it is determined that the peak value H of the reflected wave is greater than or equal to the second threshold value Hth2 (S105: YES), the ECU 20 functions as a second acquisition unit (second acquisition means), and the time is the second time T2. (S107).
  • the estimated reception time T0 is calculated by the above equation (2) using the acquired first time T1 and second time T2 and the first threshold value Hth1 and second threshold value Hth2 which are predetermined values. (S108).
  • the ECU 20 functions as a reception time estimation unit (reception time estimation means).
  • the distance between the distance measuring sensor 10 and the object is calculated (S109), and a series of processing ends.
  • the distance between the distance measuring sensor 10 and the object can be obtained from the estimated reception time T0.
  • the distance between the distance measuring sensor 10 and the object may be obtained by a value obtained by subtracting the transmission start time Ts of the exploration wave from the estimated reception time T0.
  • the calculated estimated reception time T0 may be corrected by the offset.
  • the object detection device has the following effects.
  • the distance detection accuracy decreases.
  • the influence of this decrease in detection accuracy becomes more significant as the distance between the distance measuring sensor 10 and the object is smaller. That is, the distance calculation error increases for a short-distance object that is required to calculate the distance more accurately.
  • the waveform of the reflected wave is approximated as a triangle, and the peak value H is zero by using the first threshold value Hth1 and the second threshold value Hth2, and the first time T1 and the second time T2.
  • a certain time is estimated as the estimated reception time T0. For this reason, the difference between the reception start time Tx and the estimated reception time T0 is reduced, and the distance between the distance measurement sensor 10 and the object can be obtained more accurately.
  • the object detection device has the same overall configuration as the object detection device according to the first embodiment, and the processing for obtaining the estimated reception time T0 is partially different.
  • FIG. 6 shows the principle of calculating the estimated reception time T0 in this embodiment.
  • the first threshold value Hth1 is used as in the first embodiment, but the second threshold value Hth2 is not used, and the predetermined time ⁇ T has elapsed since the first time T1 when the peak value H exceeded the first threshold value Hth1. Later, the second peak value H2 is acquired. Then, the estimated reception time T0 is calculated by the following equation (3) using the first threshold value Hth1, the second peak value H2, the first time T1, and the predetermined time ⁇ T with respect to the above equation (1). .
  • FIG. 7 is a flowchart showing distance calculation processing according to the present embodiment.
  • S201 to S204 the same processes as those in S101 to S104 of the first embodiment are performed, and the first time T1 is acquired. Subsequently, it is determined whether or not a predetermined time ⁇ T has elapsed from the first time T1 (S205). If the predetermined time ⁇ T has not elapsed since the first time T1 (S205: NO), the time is added (S206).
  • the ECU 20 functions as a second acquisition unit (second acquisition means), and the peak value H at that time is set to the second wave. Obtained as the high value H2 (S207).
  • the estimated reception time T0 is calculated by the above equation (3) using the acquired first time T1 and second peak value H2, and the first threshold value Hth1 and the predetermined time ⁇ T that are predetermined values. (S208).
  • the ECU 20 functions as a reception time estimation unit (reception time estimation means).
  • the distance between the distance measuring sensor 10 and the object is calculated (S209), and the series of processing ends.
  • the object detection device has the following effects in addition to the effects exhibited by the object detection device according to the first embodiment.
  • the second threshold value Hth2 is also used in addition to the first threshold value Hth1, the peak value H of the reflected wave is low depending on the material of the object reflecting the exploration wave, and the peak value of the peak value H of the reflected wave is the second value. It may be lower than the threshold value Hth2.
  • the second threshold value Hth2 is not provided, and the second peak value H2 after the lapse of the predetermined time ⁇ T from the first time T1 is used, so that the peak value H of the reflected wave has the first threshold value Hth1. If it exceeds, the estimated reception time T0 can be calculated.
  • the object detection device has the same overall configuration as the object detection device according to the first embodiment, and the processing for obtaining the estimated reception time T0 is partially different.
  • FIG. 8 shows the principle of calculating the estimated reception time T0 in this embodiment.
  • the first threshold value Hth1 is used as in the first embodiment, but the second threshold value Hth2 is not used, and the peak value Hp, which is the value when the peak value H becomes maximum, is acquired.
  • the estimated reception time T0 is calculated using the fact that the time from the estimated reception time T0 until the peak value H reaches the peak value Hp is equal to the transmission time Tb of the exploration wave. That is, the estimated reception time T0 is calculated by the following equation (4) using the first threshold value Hth1, the peak value Hp, the first time T1, and the transmission time Tb with respect to the above equation (1).
  • FIG. 9 is a flowchart showing distance calculation processing according to the present embodiment. First, in S301 to S304, the same processing as that of the first embodiment is performed to obtain the first time T1.
  • the peak value H is acquired and held for each control period, and the peak value H is compared with the peak value H in the previous control period. At this time, if the peak value H is larger than the peak value H of the previous control cycle, it is determined that the peak value Hp is not reached (S305: NO), and the determination of S305 is performed again in the next control cycle. On the other hand, if it is determined that the peak value H is a peak (S305: YES), the ECU 20 functions as a second acquisition unit (second acquisition means), and the peak value H of the control cycle before that control cycle is the peak value. Obtained as Hp (S306).
  • the estimated reception time T0 is calculated by the above equation (4) using the acquired first time T1 and peak value Hp, and the first threshold value Hth1 and transmission time Tb, which are predetermined values (S307).
  • the ECU 20 functions as a reception time estimation unit (reception time estimation means).
  • the distance between the distance measuring sensor 10 and the object is calculated (S308), and a series of processing ends.
  • the object detection apparatus has the following effects in addition to the effects exhibited by the object detection apparatus according to the first embodiment.
  • the peak value Hp of the reflected wave peak value H becomes low depending on the material of the object reflecting the exploration wave, etc. It may be lower than 2 threshold value Hth2.
  • the estimated reception time T0 can be calculated if the peak value H of the reflected wave exceeds the first threshold value Hth1.
  • the object detection device according to the present embodiment has the same overall configuration as the object detection device according to the first embodiment, and the processing for obtaining the estimated reception time T0 is partially different.
  • FIG. 10 shows the principle of calculating the estimated reception time T0 in this embodiment.
  • the first threshold value Hth1 is used, but the second threshold value Hth2 is not used, and the processing for obtaining the peak value H is performed every predetermined time ⁇ T.
  • the processing for obtaining the peak value H is performed for a section that can be approximated to a straight line, that is, a section where the rate of increase of the peak value H is constant, and the estimated reception time T0 is calculated using the highest peak value H in that section. To do.
  • FIG. 10 shows the principle of calculating the estimated reception time T0 in this embodiment.
  • the first threshold value Hth1 is used, but the second threshold value Hth2 is not used, and the processing for obtaining the peak value H is performed every predetermined time ⁇ T.
  • the processing for obtaining the peak value H is performed for a section that can be approximated to a straight line, that is, a section where the rate of increase of the peak value H is constant, and the estimated reception time T0 is calculated using
  • the second to fifth peak values H2 to H5 are acquired each time a predetermined time ⁇ T elapses after the peak value H exceeds the first threshold value Hth1 at the first time T1
  • the time when the fifth peak value H5 is acquired is the time obtained by adding 4 ⁇ T to the first time T1.
  • the fourth peak value H4 is an interval that can be approximated to a straight line
  • the fifth peak value H5 is outside the interval that can be approximated to a straight line. Therefore, the fourth peak value H4 and the time when the fourth peak value H4 is acquired are used for calculating the estimated reception time T0.
  • the estimated reception time T0 is calculated by the following equation (5) using the acquired first time T1, the n-th peak value Hn, and the predetermined time ⁇ T with respect to the above equation (1).
  • FIG. 11 is a flowchart showing distance calculation processing according to the present embodiment. First, in S401 to S404, the same processing as that in the first embodiment is performed to obtain the first time T1.
  • the addition of the number n of acquisitions of the crest value H is started (S405), and it is determined whether or not n times the predetermined time ⁇ T has elapsed from the first time T1 (S406). If n times the predetermined time ⁇ T has not elapsed since the first time T1 (S406: NO), the time is added (S407). On the other hand, if it is determined that a time n times the predetermined time ⁇ T has elapsed from the first time T1 (S406: YES), the (n + 1) peak value H (n + 1), which is the peak value H at that time, is acquired. (S408). At this time, the ECU 20 functions as a second acquisition unit (second acquisition means).
  • the process proceeds to a process of acquiring the third peak value H3.
  • the (n + 1) th increase rate ⁇ H (n + 1) which is the difference between the (n + 1) th peak value H (n + 1) and the nth peak value Hn. ) Is calculated (S411). Then, it is determined whether or not the difference between the (n + 1) th increase rate ⁇ H (n + 1) and the nth increase rate ⁇ Hn is a value that can be approximated to zero (S412).
  • the estimated reception time T0 is calculated by the above equation (5) using the nth peak value Hn (S413).
  • the ECU 20 functions as a reception time estimation unit (reception time estimation means).
  • the distance between the distance measuring sensor 10 and the object is calculated (S414), and the series of processing ends.
  • the object detection device has an effect similar to that of the second embodiment.
  • the object detection device according to the present embodiment has the same overall configuration as the object detection device according to the first embodiment, and the processing for obtaining the estimated reception time T0 is partially different.
  • FIG. 12 shows the principle of calculating the estimated reception time T0 in this embodiment.
  • the first threshold value Hth1 is used, and the peak value H is acquired every predetermined time ⁇ T.
  • the process of acquiring the peak value H is performed up to the vicinity of the peak value.
  • the function f (T) which is a function of the time T, is obtained from the first threshold value Hth1, the predetermined time ⁇ T, and the obtained first time T1, and the second to (n + 1) th peak values H2 to H (n + 1). Ask. And the estimated reception time T0 is calculated
  • FIG. 13 is a flowchart showing processing according to the present embodiment.
  • S501 to S508 the same processes as in S401 to S408 of the fourth embodiment are performed, and the first time T1 and the second to (n + 1) th peak values H2 to H (n + 1) are acquired.
  • the ECU 20 functions as a first acquisition unit (first acquisition unit) and a second acquisition unit (second acquisition unit). Subsequently, whether or not the (n + 1) peak value H (n + 1) is a peak value is determined by the same processing as S305 of the third embodiment (S509).
  • the function f (T) is obtained (S512).
  • the ECU 20 functions as a waveform estimation unit (waveform estimation means).
  • the estimated reception time T0 is calculated (S512).
  • the ECU 20 functions as a reception time estimation unit (reception time estimation means).
  • the function f (T) may be any function that can approximate the shape of the reflected wave, and can be approximated by a polynomial function, a square root function, a sine function, or the like.
  • the function f (T) is obtained using the peak value H up to the vicinity of the peak value, the slope of a section that can be approximated to a straight line may be approximated using a plurality of peak values H.
  • the function f (T) is a linear function.
  • the object detection device has an effect similar to that of each of the above embodiments.
  • a reception time estimation apparatus can be used besides an object detection apparatus.
  • the present invention can be applied to a device that receives a wave such as a radio wave transmitted from another device and performs processing based on the reception time.
  • the ultrasonic wave is used as the exploration wave.
  • waves other than the ultrasonic wave such as a sound wave and a radio wave, can be used as the exploration wave.
  • the object detection device is mounted on the vehicle 30, but the mounting target may be a moving body other than the vehicle, such as an airplane, a ship, a robot, or the like. Further, it may be mounted on a fixed object, and may be used to measure the distance between the fixed object and an object around the fixed object. In addition, it may be worn or carried by a person, and can also be used to inform a person of the approach of a surrounding object.
  • the first reception time T1 and the peak value Hp are acquired to calculate the estimated reception time T0.
  • the processing may be partially changed as follows. That is, the peak value Hp is acquired, and the peak time Tp that is the time when the peak value Hp is acquired is acquired. Then, using the fact that the time from the reception start time Tx to the peak time Tp is equal to the transmission time Tb, the estimated reception time T0 is calculated by the following equation (6).
  • the ECU 20 receives a peak time acquisition unit (peak time acquisition unit) that acquires the peak time Tp, and a reception time estimation unit (reception) that calculates the estimated reception time T0 based on the transmission time Tb and the acquired peak time Tp. Time estimation means).
  • the process of acquiring the peak value Hp and the peak time Tp may be started on condition that the first threshold value Hth1 is exceeded, and the first time T1 may not be acquired.
  • T0 Hp ⁇ Tb (6)

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif d'estimation de temps de réception (20) qui estime le temps auquel la réception d'une onde transmise avec une durée prédéfinie servant de possibilité de transmission a commencé en tant que temps de réception estimé. Le dispositif d'estimation de temps de réception est pourvu de : une première unité d'acquisition pour acquérir un premier temps qui est un temps auquel la valeur de pic d'onde d'une onde reçue a dépassé une première valeur seuil ; une seconde unité d'acquisition pour acquérir une seconde valeur de pic d'onde et un second temps qui est associé à la seconde valeur de pic d'onde, ladite seconde valeur de pic d'onde étant la valeur de pic d'onde de l'onde à un moment prédéfini après le premier temps et dans une période dans laquelle la valeur de pic d'onde de l'onde augmente et atteint une valeur de crête ; et une unité d'estimation de temps de réception qui, sur la base de la première valeur seuil, de la seconde valeur de pic d'onde, du premier temps, et du second temps, calcule le temps auquel la valeur de pic d'onde de l'onde change de zéro en tant que temps de réception estimé.
PCT/JP2015/005302 2014-10-22 2015-10-21 Dispositif d'estimation de temps de réception WO2016063531A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-215101 2014-10-22
JP2014215101A JP2016080651A (ja) 2014-10-22 2014-10-22 受信時刻推定装置

Publications (1)

Publication Number Publication Date
WO2016063531A1 true WO2016063531A1 (fr) 2016-04-28

Family

ID=55760590

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/005302 WO2016063531A1 (fr) 2014-10-22 2015-10-21 Dispositif d'estimation de temps de réception

Country Status (2)

Country Link
JP (1) JP2016080651A (fr)
WO (1) WO2016063531A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021139625A (ja) * 2020-03-02 2021-09-16 三菱電機株式会社 物体検知装置

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6267481A (ja) * 1985-09-20 1987-03-27 Matsushita Electric Ind Co Ltd 洗濯機の超音波式距離装置
JPH07181249A (ja) * 1993-12-22 1995-07-21 Keyence Corp 超音波距離測定装置
JPH09236661A (ja) * 1995-12-27 1997-09-09 Denso Corp 距離測定方法及び距離測定装置
JPH1020036A (ja) * 1996-06-28 1998-01-23 Toyota Central Res & Dev Lab Inc 距離測定方法および装置
JP2002350540A (ja) * 2001-05-25 2002-12-04 Denso Corp 超音波の伝播時間算出装置及び車両用障害物検知システム
JP2003156561A (ja) * 2001-11-20 2003-05-30 Japan Radio Co Ltd 超音波距離測定方法及び装置
JP2005069867A (ja) * 2003-08-25 2005-03-17 Matsushita Electric Works Ltd 障害物検出装置
JP2007147332A (ja) * 2005-11-24 2007-06-14 Nippon Signal Co Ltd:The 光測距装置
JP2007256191A (ja) * 2006-03-24 2007-10-04 Hokuyo Automatic Co 測距方法および測距装置
JP2007315892A (ja) * 2006-05-25 2007-12-06 Aisin Seiki Co Ltd 障害物検出装置および受信時刻推測方法
JP2009236775A (ja) * 2008-03-27 2009-10-15 Aisin Seiki Co Ltd 物体検出装置及び当該物体検出装置を用いた車両の開閉制御システム、並びに包絡線の立ち上がり検出方法

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6267481A (ja) * 1985-09-20 1987-03-27 Matsushita Electric Ind Co Ltd 洗濯機の超音波式距離装置
JPH07181249A (ja) * 1993-12-22 1995-07-21 Keyence Corp 超音波距離測定装置
JPH09236661A (ja) * 1995-12-27 1997-09-09 Denso Corp 距離測定方法及び距離測定装置
JPH1020036A (ja) * 1996-06-28 1998-01-23 Toyota Central Res & Dev Lab Inc 距離測定方法および装置
JP2002350540A (ja) * 2001-05-25 2002-12-04 Denso Corp 超音波の伝播時間算出装置及び車両用障害物検知システム
JP2003156561A (ja) * 2001-11-20 2003-05-30 Japan Radio Co Ltd 超音波距離測定方法及び装置
JP2005069867A (ja) * 2003-08-25 2005-03-17 Matsushita Electric Works Ltd 障害物検出装置
JP2007147332A (ja) * 2005-11-24 2007-06-14 Nippon Signal Co Ltd:The 光測距装置
JP2007256191A (ja) * 2006-03-24 2007-10-04 Hokuyo Automatic Co 測距方法および測距装置
JP2007315892A (ja) * 2006-05-25 2007-12-06 Aisin Seiki Co Ltd 障害物検出装置および受信時刻推測方法
JP2009236775A (ja) * 2008-03-27 2009-10-15 Aisin Seiki Co Ltd 物体検出装置及び当該物体検出装置を用いた車両の開閉制御システム、並びに包絡線の立ち上がり検出方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021139625A (ja) * 2020-03-02 2021-09-16 三菱電機株式会社 物体検知装置
JP7068364B2 (ja) 2020-03-02 2022-05-16 三菱電機株式会社 物体検知装置

Also Published As

Publication number Publication date
JP2016080651A (ja) 2016-05-16

Similar Documents

Publication Publication Date Title
JP6412399B2 (ja) 物体検知装置
JP6408860B2 (ja) 物体検知装置
JP6404679B2 (ja) 物体検知装置
WO2016063527A1 (fr) Appareil de détection d'objets du type à ultrasons
JP6474228B2 (ja) 物体検知装置
HRP20171061T1 (hr) Ultrazvučno otkrivanje promjene na površini stjenke
US20160209509A1 (en) Vehicle-dedicated object detection device
EP3130938B1 (fr) Dispositif de détection d'objet et procédé de détection d'objet
KR101819967B1 (ko) 차량의 물체 감지방법
JP6462308B2 (ja) 物体検知装置
JP2010197342A (ja) 物体検出装置
JP2016080650A5 (fr)
JP2015517096A5 (fr)
JP2013124982A (ja) 車両用障害物検出装置
JP6086488B2 (ja) 物体検出装置
JP2019020158A5 (fr)
WO2016063531A1 (fr) Dispositif d'estimation de temps de réception
US20180100921A1 (en) Ultrasonic sensor device and sensing method of ultrasonic sensor device
JP6701069B2 (ja) 物体検知装置
JP2013124986A (ja) 車両用障害物検出装置
JP2019109214A5 (fr)
JP2016031355A (ja) 車両用障害物検知装置
JP7027810B2 (ja) 物体検知装置
KR20130112397A (ko) 센서를 이용한 거리 측정방법
JP2013124980A (ja) 車両用障害物検出装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15852741

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15852741

Country of ref document: EP

Kind code of ref document: A1