WO2017022443A1 - 超音波式物体検知装置 - Google Patents

超音波式物体検知装置 Download PDF

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Publication number
WO2017022443A1
WO2017022443A1 PCT/JP2016/070824 JP2016070824W WO2017022443A1 WO 2017022443 A1 WO2017022443 A1 WO 2017022443A1 JP 2016070824 W JP2016070824 W JP 2016070824W WO 2017022443 A1 WO2017022443 A1 WO 2017022443A1
Authority
WO
WIPO (PCT)
Prior art keywords
rear door
vehicle
unit
predetermined range
detection device
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2016/070824
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
岳人 原田
充保 松浦
強志 安藤
大林　幹生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
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 Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Publication of WO2017022443A1 publication Critical patent/WO2017022443A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J5/00—Doors
    • B60J5/10—Doors arranged at the vehicle rear
    • 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
    • G01S15/04—Systems determining presence of a target
    • 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

Definitions

  • the present invention relates to an ultrasonic object detection device that detects an object behind a vehicle.
  • Patent Document 1 a distance from an obstacle is calculated using a back sonar provided in a bumper disposed at the rear of the vehicle, and the back is determined according to the calculated distance.
  • a technique for controlling door opening drive is disclosed.
  • the present invention has been made to solve the above-mentioned problems, and its main purpose is to suppress erroneous detection of the rear door as an object behind the vehicle and to correctly detect the object behind the vehicle.
  • An ultrasonic object detection device is provided.
  • the present invention is an ultrasonic object detection device applied to a vehicle capable of opening and closing a rear door by an actuator.
  • the ultrasonic object detection device is installed at a rear portion of the vehicle other than the rear door, transmits a transmission signal as a pulsed ultrasonic wave to the rear of the vehicle, and transmits a reflection signal as a reflected wave from the object.
  • a transmission / reception unit for receiving, a determination unit for determining whether an object exists in a predetermined range behind the vehicle based on the reflected signal, using a threshold value, and an open / closed state recognition unit for recognizing the open / closed state of the rear door Are provided.
  • the determination unit changes the threshold value in a direction that makes it difficult to determine that the object exists, on the condition that the opening / closing state recognition unit recognizes that the rear door is being opened / closed. To do.
  • the ultrasonic object detection device is applied to a vehicle in which a rear door can be opened and closed by an actuator.
  • a transmission / reception unit is installed in addition to the rear door at the rear of the vehicle.
  • This transmission / reception unit transmits pulsed ultrasonic waves to the vehicle rear as a transmission signal, and receives a reflection signal as a reflected wave from an object.
  • the determination unit determines whether an object is present within a predetermined range behind the vehicle based on the reflection signal, using a threshold value.
  • the determination unit makes a determination while the rear door is open / closed, the ultrasonic wave transmitted by the transmission / reception unit is reflected by the rear door being opened / closed, and the object falls within a predetermined range behind the vehicle. If it exists, the determination unit may make an erroneous determination. For this reason, a determination part changes a threshold value in the direction which makes it difficult to determine that an object exists, on the condition that the opening / closing state recognition part recognizes that the rear door is being opened / closed. As a result, the rear door is less likely to be recognized as an object existing within a predetermined range behind the vehicle, and erroneous detection of the rear door as an object behind the vehicle can be suppressed.
  • FIG. 1 is a diagram showing a main configuration of a vehicle 100 equipped with an ultrasonic object detection device 13 according to the present embodiment. As shown in FIG. 1, the vehicle 100 is provided with a rear door 10 for opening and closing the rear portion of the vehicle 100.
  • the rear door 10 is opened and closed by an actuator 11.
  • the rear door 10 can be opened and closed manually.
  • the actuator 11 opens and closes the rear door 10 based on a drive signal from the opening / closing command unit 12.
  • the opening / closing command unit 12 includes a main switch, a remote control device, and the like.
  • the opening / closing command unit 12 When a driver or the like operates the opening / closing command unit 12, the opening / closing command unit 12 generates a drive signal and transmits it to the actuator 11.
  • the drive signal for the rear door 10 is continuously transmitted from the opening / closing command unit 12 while the driver or the like is operating the opening / closing command unit 12.
  • the actuator 11 receives a drive signal for the rear door 10 and opens / closes the rear door 10 based on the received drive signal.
  • the opening / closing command unit 12 also transmits a drive signal for the rear door 10 to the ultrasonic object detection device 13.
  • the main switch is disposed on a console panel in the vehicle 100, for example.
  • the remote control device corresponds to, for example, a wireless remote control device that can be carried by a driver.
  • the ultrasonic object detection device 13 includes a control unit 20, a transmission circuit unit 21, a back sonar 22, a reception circuit unit 23, a reflected wave measurement unit 24, a notification determination processing unit 25, and a voice notification.
  • the transmission circuit unit 21, the back sonar 22 and the reception circuit unit 23 are collectively referred to as transmission / reception units (21, 22, 23).
  • the control unit 20 transmits a signal to the transmission circuit unit 21 to transmit an ultrasonic pulse-shaped ultrasonic signal from the back sonar 22 to the rear of the vehicle 100. At this time, the control unit 20 transmits a signal informing the reflected wave measurement unit 24 that an ultrasonic signal transmission command has been issued.
  • the ultrasonic signal transmitted from the back sonar 22 is reflected by the object (referred to as a reflection signal), and the back sonar 22 receives the reflection signal.
  • the reflected signal received by the back sonar 22 is input to the reflected wave measuring unit 24 via the receiving circuit unit 23.
  • the reflected wave measurement unit 24 in the ultrasonic object detection device 13 according to the present embodiment is the time from when the control unit 20 transmits a signal to the transmission circuit unit 21 until the reflected signal is received (reception time). Measure. For this reason, the reflected wave measurement unit 24 corresponds to a reception time calculation unit.
  • the transmission circuit unit 21, the back sonar 22, and the reception circuit unit 23 constitute a transmission / reception unit.
  • the notification determination processing unit determines whether or not the reception time until receiving the reflected signal is smaller than a predetermined value. Thereby, it is determined whether or not an object exists within a predetermined range behind the vehicle 100.
  • the predetermined range is set as a distance range to be alerted by notifying the driver that an object exists behind the vehicle 100. The closer the distance between the back sonar 22 provided at the rear portion of the vehicle 100 and the object existing behind the vehicle 100 is, the closer the interval at which the ultrasonic signal is reflected, that is, reception until the reflected signal is received. Time is shortened. For this reason, since the distance between the back sonar 22 and the object can be estimated based on the reception time, the predetermined value is set as a time corresponding to the upper limit distance of the predetermined range.
  • the notification determination processing unit 25 executes the determination when the determination execution condition is satisfied, and does not execute the determination when the determination execution condition is not satisfied.
  • This determination execution condition is that the shift position input by a shift position sensor (not shown) for detecting the shift position of an automatic transmission (not shown) provided in the vehicle 100 is a reverse position, or that a vehicle speed sensor (see FIG. (Not shown), the vehicle speed input is not higher than a predetermined speed, and the back sonar 22 is not broken.
  • the voice notification unit 26 notifies the driver of the presence of an object by voice or the like.
  • the display notification unit 27 notifies the driver of the presence of an object by displaying on a display or the like.
  • the notification determination processing unit 25 controls operations of the voice notification unit 26 and the display notification unit 27. Therefore, both the voice notification unit 26 and the display notification unit 27 correspond to the first notification unit.
  • the determination execution condition is satisfied and the opening / closing drive of the rear door 10 is performed by the actuator 11 when the notification determination processing unit 25 detects whether an object exists behind the vehicle 100.
  • an overlapping range occurs between the predetermined range and the opening / closing range of the rear door 10.
  • the notification determination processing unit 25 erroneously detects the rear door 10 as an object existing within a predetermined range behind the vehicle 100. There is a risk.
  • the threshold value of the determination is changed in a direction that makes it difficult to determine that the object is present, and then the object is moved to the vehicle 100. It is judged whether it exists in the predetermined range behind. Accordingly, it is possible to suppress erroneous detection of the rear door 10 as an object existing within a predetermined range behind the vehicle 100.
  • control contents performed by the ultrasonic object detection device 13 will be described with reference to the flowchart shown in FIG. Note that the control shown in FIG. 4 is repeatedly executed at a predetermined cycle by the ultrasonic object detection device 13 during the power-on period of the ultrasonic object detection device 13.
  • step S100 the notification determination processing unit 25 determines whether or not a determination execution condition is satisfied. If it is determined that the determination execution condition is not satisfied and therefore it is not in a situation of detecting whether or not an object exists behind the vehicle 100 (S100: NO), this control is terminated. If it is determined that the determination execution condition is satisfied and it is determined whether an object is present behind the vehicle 100 (S100: YES), the process proceeds to step S110.
  • step S ⁇ b> 110 the notification determination processing unit 25 determines whether or not a drive signal for performing the opening / closing drive of the rear door 10 is transmitted from the opening / closing command unit 12 to the actuator 11.
  • step S120 the notification determination processing unit 25 sets a determination threshold value (corresponding to a predetermined number of times) used for determination in step S160 described later to 3 times. Then, the process proceeds to step S130.
  • step S180 the notification determination processing unit 25 sets the determination threshold used for determination in step S160 described later to four times. Then, the process proceeds to step S130.
  • step S130 the reflected wave measuring unit 24 calculates the reception time, and proceeds to step S140.
  • step S140 the notification determination processing unit 25 determines whether or not the reception time calculated in step S130 is shorter than a predetermined value.
  • step S190 the notification determination processing unit 25 determines that the reception time is greater than the predetermined value (S140: NO) If the notification determination processing unit 25 determines that the reception time is greater than the predetermined value (S140: NO), it is determined that there is no object within the predetermined range behind the vehicle 100, and the process proceeds to step S190. In step S ⁇ b> 190, the notification determination processing unit 25 returns the determination continuous count added every time it is determined that an object exists within a predetermined range behind the vehicle 100 to 0. Then, the process proceeds to step S160. On the other hand, when the notification determination processing unit 25 determines that the reception time is shorter than the predetermined value (S140: YES), the process proceeds to step S150. In step S150, assuming that an object exists within a predetermined range behind the vehicle 100, the notification determination processing unit 25 adds the determination continuous count once. Then, the process proceeds to step S160.
  • step S160 the notification determination processing unit 25 determines whether or not the number of consecutive determinations is greater than a determination threshold. If it is determined that the number of consecutive determinations is greater than the determination threshold (S160: YES), it is determined that an object exists within a predetermined range behind the vehicle 100, and the process proceeds to step S170. In step S ⁇ b> 170, the voice notification unit 26 and the display notification unit 27 notify the driver that there is an object behind the vehicle 100. Then, the process returns to step S100. If it is determined that the number of consecutive determinations is smaller than the determination threshold (S160: NO), it is determined that no object is present within the predetermined range behind the vehicle 100, and the process returns to step S100.
  • the voice notification unit 26 and the display notification unit 27 notify the driver that an object is present within a predetermined range behind the vehicle 100 in step S170, in step S110, the opening / closing command unit 12, it is assumed that the notification determination processing unit 25 recognizes that a drive signal has been transmitted. In this case, it is considered difficult to determine the presence of the object by distinguishing the object that has been notified by the voice notification unit 26 and the display notification unit 27 in step S170 from the rear door 10 that is being opened and closed. . For this reason, the voice notification unit 26 and the display notification unit 27 continue to notify until a predetermined time elapses after the notification determination processing unit 25 recognizes that the drive signal has been transmitted by the opening / closing command unit 12.
  • the predetermined time is set as a time necessary for the rear door 10 during the opening / closing drive to pass through the predetermined range.
  • an ultrasonic signal is constantly transmitted from the back sonar 22 toward the rear of the vehicle. At this time, if the reflected signal reflected from the object is received and input by the reflected wave measurement unit 24 and the reception time is calculated, if the determination execution condition is not satisfied, the object is placed behind the vehicle 100. The presence determination of the object is not performed by the notification determination processing unit 25, assuming that it is not a situation where it is detected whether or not an object exists.
  • the notification determination processing unit 25 determines whether or not the rear door 10 is being opened and closed.
  • the notification determination processing unit 25 sets the determination threshold value to four times in order to suppress the occurrence of erroneous detection. In this state, based on the reception time calculated by the reflected wave measurement unit 24, the notification determination processing unit 25 determines whether or not an object exists within a predetermined range behind the vehicle 100.
  • count is added and if the determination continuous frequency exceeds a determination threshold value, the notification determination process part 25 will be carried out. Then, it is determined that an object exists within a predetermined range behind the vehicle 100.
  • the voice notification unit 26 and the display notification unit 27 notify the driver of the presence of the object.
  • the ultrasonic object detection device 13 has the following effects (a) to (e).
  • the notification determination processing unit 25 changes the determination threshold in a direction that makes it difficult to determine that an object is present. Thereby, it becomes difficult to recognize the rear door 10 as an object existing within a predetermined range behind the vehicle 100, and it is possible to suppress erroneous detection of the rear door 10 as an object behind the vehicle.
  • the opening / closing of the rear door 10 is recognized by the notification determination processing unit 25 while the voice notification unit 26 and the display notification unit 27 notify the driver that the object is within a predetermined range behind the vehicle 100.
  • the notification by the voice notification unit 26 and the display notification unit 27 is continued until a predetermined time after the notification determination processing unit 25 recognizes that the drive signal is transmitted by the opening / closing command unit 12. .
  • the opening / closing state of the rear door 10 is recognized.
  • the image captured this time by the back camera 222 is compared with the image previously captured by the back camera.
  • the control unit 20 can recognize the open / closed state of the rear door 10 based on the image taken by the back camera 222.
  • the open / close state of the rear door 10 has been recognized by the notification determination processing unit 25 recognizing that the drive signal is transmitted from the open / close command unit 12.
  • the detected rotation angle is, for example, the rear portion.
  • the control unit 20 can recognize the open / closed state of the rear door 10 based on the rotation angle detected by the rotation angle sensor.
  • the determination threshold value is changed to four times on condition that the notification determination processing unit 25 recognizes that the drive signal is transmitted from the opening / closing command unit 12.
  • the determination threshold value is not limited to four times, and may be changed as appropriate depending on how much speed or frequency the control shown in the flowchart of FIG. 4 is performed.
  • the determination threshold when the control unit 20 does not recognize that the drive signal is transmitted from the opening / closing command unit 12 the control shown in the flowchart of FIG. 4 is performed at what speed or frequency. It will be changed as appropriate according to the situation.
  • the determination threshold value is greatly changed on condition that the notification determination processing unit 25 recognizes that the drive signal is transmitted from the opening / closing command unit 12.
  • the reflected wave measurement unit 24 calculates the reception time a plurality of times, and based on the calculated reception time, the notification determination processing unit 25 changes the reception time change mode. May be created.
  • the notification determination processing unit 25 is an object that exists in a predetermined range behind the vehicle when the created change mode is different from the assumed change mode when reflected by the rear door 10 being opened and closed. Can confirm that it is not the rear door 10. Note that the notification determination processing unit 25 according to this modification corresponds to a confirmation unit.
  • the determination threshold value is greatly changed on condition that the notification determination processing unit 25 recognizes that the drive signal is transmitted from the opening / closing command unit 12.
  • the reflected signal reflected in the range through which the rear door 10 being opened and closed passes within the predetermined range behind the vehicle is when the reflected signal is received.
  • reporting determination process part 25 does not need to implement presence determination of an object. Thereby, when the rear door 10 is being opened and closed, it is possible to suppress erroneous detection of the rear door 10 as an object existing within a predetermined range behind the vehicle.
  • the determination threshold value is greatly changed on condition that the notification determination processing unit 25 recognizes that the drive signal is transmitted from the opening / closing command unit 12.
  • the object presence determination process may be prohibited during a period from when a signal for performing the opening / closing drive of the rear door 10 is transmitted from the opening / closing command unit 12 to the actuator 11 until a predetermined time elapses. . Accordingly, it is possible to suppress erroneous detection of the rear door 10 as an object existing within a predetermined range behind the vehicle.
  • the voice notification unit 26 and the display notification unit 27 since the driver is informed that the presence determination of the object is prohibited by the voice notification unit 26 and the display notification unit 27, the driver is prohibited from determining the presence of the object existing behind the vehicle 100. Can be recognized. Therefore, the voice notification unit 26 and the display notification unit 27 according to this modification correspond to a second notification unit.
  • the notification determination processing unit 25 has determined that an object exists within a predetermined range behind the vehicle 100 on the condition that the reception time calculated by the reflected wave measurement unit 24 is longer than a predetermined value. In this case, the reflected wave measurement unit 24 calculates the distance between the object and the vehicle from the calculated reception time, and the notification determination processing unit 25 determines whether or not the calculated distance between the object and the vehicle is within a predetermined range. May be.
  • the reflected wave measurement unit 24 calculates the reception time, and the notification determination processing unit 25 determines that an object exists within a predetermined range behind the vehicle 100 based on the calculated reception time.
  • the reflected wave measuring unit 24 may calculate a reflected wave voltage corresponding to the reflected signal received via the receiving circuit unit 23. Therefore, the reflected wave measurement unit 24 according to this modification corresponds to a reflected wave voltage calculation unit.
  • the calculated reflected wave voltage varies depending on the distance between the vehicle and the object. Therefore, on the condition that the reflected wave voltage becomes larger than the predetermined voltage by providing the predetermined voltage corresponding to the predetermined value, the notification determination processing unit 25 has the object in the predetermined range behind the vehicle. Can be determined. At this time, if the rear door 10 is being opened and closed, the ultrasonic signal is reflected by the rear door 10 being opened and closed, and there is a possibility that the reflected wave voltage is calculated to be larger than a predetermined voltage. Therefore, the predetermined voltage is increased for a period until a predetermined time elapses on condition that the notification determination processing unit 25 recognizes that the drive signal is transmitted from the opening / closing command unit 12. Accordingly, it is possible to suppress erroneous detection of the rear door 10 as an object existing within a predetermined range behind the vehicle.
  • the notification determination processing unit 25 determines that the object is within a predetermined range behind the vehicle. Also good. If the distance between the object and the vehicle is reduced with the passage of time, the reflected wave voltage is larger than the previously calculated reflected wave voltage. On the other hand, if the rear door 10 is being driven to open, the rear door 10 moves in a direction away from the back sonar 22, so that the currently calculated reflected wave voltage is smaller than the previously calculated reflected wave voltage. It is assumed that For this reason, when the reflected wave voltage currently calculated is larger than the previously calculated reflected wave voltage, the rear door 10 is erroneously detected as an object existing within a predetermined range behind the vehicle. It can be determined that an object is present within a predetermined range behind the vehicle.
  • the actuator 11 opens and closes the rear door 10 during the period of receiving the drive signal.
  • the actuator 11 continues to open and close until the rotation angle of the rear door 10 detected by the rotation angle sensor becomes a predetermined angle based on the drive signal transmitted from the opening / closing command unit 12, for example.
  • the notification determination processing unit 25 recognizes that the drive signal has been transmitted from the command unit 12
  • the determination threshold is largely changed until the predetermined time elapses thereafter, assuming that the rear door 10 is within the predetermined range.
  • after the predetermined time has elapsed by returning the determination threshold value to a state before the rear door 10 is opened and closed, it becomes possible to detect an object existing within a predetermined range behind the vehicle 100 again.

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  • 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)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
PCT/JP2016/070824 2015-08-03 2016-07-14 超音波式物体検知装置 Ceased WO2017022443A1 (ja)

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JP2015153344A JP6290833B2 (ja) 2015-08-03 2015-08-03 超音波式物体検知装置
JP2015-153344 2015-08-03

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112017006140B4 (de) 2016-12-05 2023-09-07 Denso Corporation Hinderniserfassungsvorrichtung

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7342907B2 (ja) * 2021-03-24 2023-09-12 いすゞ自動車株式会社 検知装置および積載率推定システム

Citations (5)

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Publication number Priority date Publication date Assignee Title
JPS506384Y1 (enExample) * 1970-07-17 1975-02-24
JP2005297636A (ja) * 2004-04-07 2005-10-27 Denso Corp 車両の障害物検出装置
JP2007333609A (ja) * 2006-06-16 2007-12-27 Denso Corp 障害物検知装置
JP2013122163A (ja) * 2011-12-12 2013-06-20 Hyundai Motor Co Ltd 車両用パワーテールゲートの最大開放量設定装置及び方法
JP2014085131A (ja) * 2012-10-19 2014-05-12 Denso Corp 距離検出装置、および距離検出プログラム

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Publication number Priority date Publication date Assignee Title
DE102009021282A1 (de) * 2009-05-14 2010-11-25 GM Global Technology Operations, Inc., Detroit Kraftfahrzeug mit einem Parkassistenzsystem

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Publication number Priority date Publication date Assignee Title
JPS506384Y1 (enExample) * 1970-07-17 1975-02-24
JP2005297636A (ja) * 2004-04-07 2005-10-27 Denso Corp 車両の障害物検出装置
JP2007333609A (ja) * 2006-06-16 2007-12-27 Denso Corp 障害物検知装置
JP2013122163A (ja) * 2011-12-12 2013-06-20 Hyundai Motor Co Ltd 車両用パワーテールゲートの最大開放量設定装置及び方法
JP2014085131A (ja) * 2012-10-19 2014-05-12 Denso Corp 距離検出装置、および距離検出プログラム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112017006140B4 (de) 2016-12-05 2023-09-07 Denso Corporation Hinderniserfassungsvorrichtung

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JP6290833B2 (ja) 2018-03-07

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