WO2018221393A1 - 超音波センサ及び物体検知システム - Google Patents

超音波センサ及び物体検知システム Download PDF

Info

Publication number
WO2018221393A1
WO2018221393A1 PCT/JP2018/020078 JP2018020078W WO2018221393A1 WO 2018221393 A1 WO2018221393 A1 WO 2018221393A1 JP 2018020078 W JP2018020078 W JP 2018020078W WO 2018221393 A1 WO2018221393 A1 WO 2018221393A1
Authority
WO
WIPO (PCT)
Prior art keywords
wave
transmission
sensor
phase
exploration
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/JP2018/020078
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
充保 松浦
岳人 原田
晃治 蘆江
優 小山
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
Original Assignee
Denso 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 filed Critical Denso Corp
Priority to DE112018002740.6T priority Critical patent/DE112018002740B4/de
Publication of WO2018221393A1 publication Critical patent/WO2018221393A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to an ultrasonic sensor and an object detection system.
  • an ultrasonic sensor that transmits an ultrasonic wave as an exploration wave, receives a reflected wave reflected by an object, and detects a distance and relative speed with the object has been realized.
  • the present disclosure has been made in order to solve the above-described problem.
  • the main purpose of the present disclosure is to enable ultrasonic waves that can further stabilize the search wave after switching when the phase or the like is switched during transmission of the search wave. It is to provide a sensor.
  • the present disclosure is an ultrasonic sensor that transmits an exploration wave at every predetermined transmission opportunity, has a piezoelectric element, and transmits electric power to the piezoelectric element to resonate and transmit the exploration wave.
  • Unit a transmission circuit that supplies power to the piezoelectric element, and in one transmission opportunity, the transmission circuit is driven to transmit the exploration wave from the transmission unit, and after a predetermined time has elapsed from the start of transmission of the exploration wave,
  • a transmission control unit that drives the transmission circuit by switching transmission characteristics including at least one of phase, frequency, period, and amplitude, the transmission control unit from the transmission circuit at the time of switching the transmission characteristics An off period in which the supply of power to the element is interrupted is provided.
  • the off period is provided when the transmission characteristics are switched, the vibration of the transmission characteristics before switching in the piezoelectric element tends to contract during the off period.
  • the transmission of the exploration wave after switching the transmission characteristics can be started in a more stable state.
  • the exploration wave is transmitted by supplying power from the capacitor, the capacitor can be charged using the off period. Therefore, it is possible to supply sufficient power to the piezoelectric element for transmitting the exploration wave after switching the transmission characteristics, and to transmit the exploration wave after switching the transmission characteristics in a more stable state. Can do.
  • FIG. 1 is a diagram showing a configuration of an object detection system
  • FIG. 2 is a diagram illustrating a configuration of a transmission / reception circuit.
  • FIG. 3 is a diagram showing the amplitude and phase when no off period is provided
  • FIG. 4 is a diagram showing the amplitude and phase when an off period is provided
  • FIG. 5 is a diagram illustrating a transmission phase of the object detection system according to the second embodiment
  • FIG. 6 is a diagram illustrating a transmission phase of the object detection system according to the third embodiment
  • FIG. 7 is a diagram illustrating a transmission phase of the object detection system according to the fourth embodiment.
  • FIG. 1 is a diagram showing a configuration of an object detection system
  • FIG. 2 is a diagram illustrating a configuration of a transmission / reception circuit.
  • FIG. 3 is a diagram showing the amplitude and phase when no off period is provided
  • FIG. 4 is a diagram showing the amplitude and phase when an off period is provided
  • FIG. 5 is a diagram
  • FIG. 8 is a diagram illustrating a transmission phase of the object detection system according to the fifth embodiment.
  • FIG. 9 is a diagram illustrating a transmission phase of the object detection system according to the sixth embodiment.
  • FIG. 10 is a diagram illustrating a transmission phase of the object detection system according to the seventh embodiment.
  • FIG. 11 is a diagram illustrating a transmission phase of the object detection system according to the eighth embodiment.
  • FIG. 12 is a diagram illustrating a modification of the object detection system according to the eighth embodiment.
  • FIG. 13 is a diagram illustrating a transmission frequency of the object detection system according to the ninth embodiment.
  • FIG. 14 is a diagram illustrating a transmission frequency of the object detection system according to the tenth embodiment,
  • FIG. 15 is a diagram illustrating a transmission frequency of the object detection system according to the eleventh embodiment.
  • FIG. 16 is a diagram illustrating a transmission frequency of the object detection system according to the twelfth embodiment.
  • the object detection system is mounted on a vehicle that is a moving body, and includes an ultrasonic sensor.
  • the ultrasonic sensor transmits an exploration wave that is an ultrasonic wave at every predetermined transmission / reception opportunity, receives a reflected wave reflected by an object existing around the moving body as a reception wave, and transmits the received wave from the transmission of the exploration wave.
  • the distance between the vehicle and the object is obtained by measuring the time until reception. Then, when the distance between the vehicle and the object is shorter than a predetermined distance, the vehicle driver is notified of the approach to the object, or a braking device provided in the vehicle is operated.
  • FIG. 1 is a configuration diagram of an object detection system according to the present embodiment.
  • the object detection system includes an ultrasonic sensor 10 and an ECU 21 that is communicably connected to the ultrasonic sensor 10.
  • a plurality of ultrasonic sensors 10 are arranged at intervals, and when an exploration wave is transmitted from one ultrasonic sensor 10 and the exploration wave is reflected by a surrounding object, the reflected wave is The sound wave sensor 10 can receive signals. That is, the ultrasonic sensor 10 can receive both the direct wave that is the reflected wave of the exploration wave transmitted by itself and the indirect wave that is the reflected wave of the exploration wave transmitted by another sensor.
  • the ultrasonic sensor 10 includes a communication unit 11 that communicates with the ECU 21, a transmission control unit 12 that receives a search wave transmission control start signal from the communication unit 11, and performs transmission control of the search wave, and the transmission control unit.
  • 12 includes a transmission circuit 13 driven by 12. The transmission circuit 13 is driven by a drive signal from the transmission control unit 12, and driving power with a predetermined frequency is supplied to the transmission / reception unit 14.
  • the transmission control unit 12 receives the modulation signal from the modulation unit 17 and transmits a drive signal based on the modulation signal to the transmission circuit 13.
  • the modulation unit 17 acquires a pulse train composed of a plurality of pulses from the signal generation unit 16, and changes the phase for each pulse train of the pulse signal in accordance with a code sequence composed of a combination of a plurality of codes. Then, the pulse train whose phase has been changed is input to the transmission control unit 12 as a modulation signal.
  • the transmission / reception unit 14 has a known configuration including a piezoelectric element.
  • Drive power with a predetermined frequency is supplied from the transmission circuit 13 to the piezoelectric element, and the piezoelectric element oscillates with the drive power, thereby transmitting an ultrasonic wave as an exploration wave.
  • the reflected wave which is a reflected ultrasonic wave, enters the transmission / reception unit 14.
  • a device that generates ultrasonic waves such as another ultrasonic sensor exists in the vicinity, ultrasonic waves or the like emitted from the device or the like enter the transmission / reception unit 14.
  • Such ultrasonic waves emitted from other devices are referred to as interference waves.
  • the piezoelectric element included in the transmission / reception unit 14 is vibrated by the received wave, generates an electric signal having a frequency equal to the frequency of the received wave and a voltage proportional to the amplitude of the received wave.
  • the electric signal generated by the piezoelectric element is input to the receiving circuit 15.
  • the transmission circuit 13, the transmission / reception unit 14, and the reception circuit 15 configured as described above will be described in detail with reference to FIG.
  • the transmission circuit 13 includes a first coil 131 having a center tap and a second coil 132 that is magnetically coupled to the first coil 131.
  • One ends of switches 133 and 134 are connected to both ends of the first coil 131, and the other ends of the switches 133 and 134 are connected to a grounding part.
  • a power source 136 is connected to the center tap of the first coil 131 via a resistor 135.
  • One end of a capacitor 137 is connected between the center tap of the first coil 131 and the resistor 135, and the other end of the capacitor 137 is connected to a grounding part.
  • the second coil 132 of the transmission circuit 13 is connected to the transmission / reception unit 14 via the reception circuit 15. Specifically, one end of the second coil 132 is connected to one end of the piezoelectric element 141 constituting the transmission / reception unit 14 via the resistor 151, and the other end of the second coil 132 is connected to the other end of the piezoelectric element 141. Has been.
  • a capacitor 152 and a resistor 153 are connected in parallel from the piezoelectric element 141 side.
  • a noise filter circuit is configured by the capacitor 152 and the resistor 153, and an electric signal in a predetermined frequency band output from the piezoelectric element 141 is allowed to pass therethrough, and an electric signal outside the predetermined frequency band is removed.
  • the electrical signal that has passed through the noise filter circuit is output from the voltage output unit 154.
  • the electric signal output from the receiving circuit 15 is input to the phase calculation unit 18 and the distance calculation unit 20.
  • the phase calculation unit 18 acquires a signal used for demodulating the received wave from the demodulator 19 and demodulates the received wave. Specifically, a sine wave signal and a cosine wave signal used for quadrature demodulation are obtained, and the received wave signal is multiplied by the sine wave signal to obtain an in-phase component, and the received wave signal is cosine wave.
  • the quadrature component is obtained by multiplying the signal. Then, the phase of the received wave is obtained based on the obtained in-phase component and quadrature phase component.
  • the distance calculation unit 20 obtains the time from the transmission time of the exploration wave to the reception time of the reception wave, and multiplies half the time by the speed of sound as the distance from the object. Information regarding the transmission time of the exploration wave is acquired from the transmission control unit 12. On the other hand, the reception time of the reception wave is the time when the voltage value acquired from the reception circuit 15 exceeds a predetermined threshold.
  • the phase calculated by the phase calculation unit 18 and the distance calculated by the distance calculation unit 20 are transmitted from the communication unit 11 to the ECU 21.
  • the communication unit 22 of the ECU 21 sends the acquired phase and distance to the determination unit 23.
  • the determination unit 23 compares the acquired phase with the phase of the exploration wave. If the difference between the acquired phase and the phase of the exploration wave is within a predetermined value, the received wave is reflected from the exploration wave. Judge as a wave. Further, the ECU 21 uses the acquired distance to notify the driver of the vehicle of the approach to a surrounding object, or to perform braking control to prevent a collision with the object.
  • the transmission control unit 12 of the ultrasonic sensor 10 performs control to change the phase of the exploration wave after a predetermined time has elapsed since the start of exploration wave transmission. More specifically, if the phase at which the search wave transmission is started is 180 °, the search wave is transmitted after the predetermined time has been inverted to 0 °.
  • the phase of the exploration wave can be referred to as a transmission characteristic
  • the phase of the reception wave can be referred to as a reception characteristic.
  • the phase calculation unit 18 that calculates the phase of the received wave can be referred to as a characteristic acquisition unit.
  • the transmission circuit 13 is controlled to transmit an exploration wave having a phase of 0 ° from the subsequent time t12. In this case, the control of the transmission circuit 13 whose phase is 180 ° is completed after a half cycle (1 / 2T) after the energization of the piezoelectric element 141 is completed, and the phase becomes 0 °.
  • the interval between the energization having a phase of 180 ° and the energization having a phase of 0 ° is 1 cycle (T).
  • the piezoelectric element 141 vibrates at a phase of 180 °, and it is necessary to stop the vibration and to vibrate at a phase of 0 °.
  • the electric power stored in the capacitor 152 is decreasing, it takes time until the vibration at the phase of 0 ° is stabilized, and accordingly, the amplitude peak is also reduced.
  • the transmission control unit 12 does not supply power to the piezoelectric element 141 after a predetermined time has elapsed since the start of transmission of the exploration wave when transmitting the exploration wave. Establish a period.
  • the length of the off period is four times one period.
  • the amplitude and phase of the exploration wave in this case will be described with reference to FIG.
  • the amplitude shown in FIG. 4 represents an amplitude envelope.
  • control at which the phase of the exploration wave becomes 180 ° is started at time t21, the off period is set from time t22 to time t23, and the control is switched to control at which the phase of the exploration wave becomes 0 ° at time t23.
  • the transmission of the exploration wave is terminated at t24.
  • the amplitude increases accordingly, and an exploration wave having a phase of 180 ° is transmitted.
  • the off period is started at the subsequent time t22 and the energization to the piezoelectric element 141 is stopped, the amplitude is reduced and the capacitor 152 is charged. Since the length of the off period is four periods (4T) from the end of the control at which the phase becomes 180 °, the start of the exploration wave transmission control at the phase of 0 ° is the control of the phase at 180 °. It is 4.5 cycles (4.5T) after the end.
  • the capacitor 152 Since the off period is provided in this way, the capacitor 152 is charged in this off period. In addition, the amplitude is attenuated during this off period. As a result, as shown in FIG. 4, the phase stabilizes in the vicinity of 0 ° in the range from time t23 to time t24.
  • the peak value of the amplitude after the off period is substantially equal to the peak value of the amplitude before the off period.
  • the length of the off period is four times the period of the exploration wave, but the length of the off period is not limited to this. That is, the length of the off period may be set longer than the first predetermined multiple of the exploration wave cycle and shorter than the second predetermined multiple. In this case, the first predetermined multiple may be set based on the time until a sufficient charge for driving the piezoelectric element 141 is accumulated in the capacitor 152. The second predetermined multiple What is necessary is just to set based on time until an electric charge is saturated. In other words, the length of the off period is determined by the capacitance of the capacitor 152, the current supplied from the power source 136 to the capacitor 152, and the like.
  • the length of the off period is longer than the first predetermined multiple of the exploration wave cycle, the amplitude is sufficiently small at the start of transmission of the exploration wave after switching the transmission characteristics, and the charging time for the capacitor 152 is increased. Can be secured sufficiently. Also, if the length of the off period is shorter than the second predetermined multiple of the period of the exploration wave, the length of one transmission opportunity can be limited, and a sufficient period for receiving the reception wave can be secured. it can.
  • the transmission control unit 12 may switch the presence or absence of an off period for each transmission opportunity.
  • the transmission / reception wave is transmitted and the reflected wave is received by one transmission / reception unit 14, the reflected wave cannot be received during the transmission of the search wave. That is, as the length of one transmission opportunity becomes longer, the start of the period in which the received wave can be received becomes later, which means that it becomes impossible to detect an object at a short distance.
  • an off period is provided for switching transmission characteristics, the length of one transmission opportunity becomes longer, and detection of an object at a short distance becomes more difficult.
  • the ultrasonic sensor according to this embodiment has the following effects.
  • the capacitor 152 can be charged using the off period. Therefore, sufficient power can be supplied to the piezoelectric element 141 for transmitting the exploration wave after phase switching, and transmission of the exploration wave after switching transmission characteristics can be performed in a more stable state. Can do.
  • the arrangement of ultrasonic sensors included in the object detection system is embodied.
  • the arrangement of the ultrasonic sensors included in the object detection system will be described.
  • first to fourth front sensors 31 to 34 are provided in front of the vehicle in order from the left side, spaced apart from each other (adjacent).
  • first to fourth rear sensors 41 to 44 are provided at intervals (adjacent to each other) in order from the left side.
  • First and second left side sensors 51 and 52 are provided on the left side of the vehicle in order from the front side at intervals (adjacent), and on the right side of the vehicle, the first, Two right side sensors 61, 62 are provided with a gap therebetween.
  • the first front sensor 31 and the first left side sensor 51 are provided adjacent to each other.
  • the fourth front sensor 34 and the first right side sensor 61 are provided adjacent to each other.
  • the first rear sensor 41 and the second left side sensor 52 are provided adjacent to each other.
  • the fourth rear sensor 44 and the second right side sensor 62 are provided adjacent to each other.
  • the first to fourth front sensors 31 to 34, the first left side sensor 51, and the first right side sensor 61 are attached to the front bumper of the vehicle.
  • the first to fourth rear sensors 41 to 44, the second The left side sensor 52 and the second right side sensor 62 are attached to the rear bumper of the vehicle.
  • Specific configurations of the first to fourth front sensors 31 to 34, the first to fourth rear sensors 41 to 44, the first and second left side sensors 51 and 52, and the first and second right side sensors 61 and 62 are as follows.
  • the configuration is the same as that of the ultrasonic sensor 10 in the first embodiment. That is, the sensors 31 to 34, 41 to 44, 51, 52, 61 and 62 have a common configuration.
  • the sensor that transmits the exploration wave with the phase changed is illustrated with a triangle
  • the sensor that transmits the exploration wave with the phase not changed is illustrated with a circle. That is, the first to fourth front sensors 31 to 34 and the first to fourth rear sensors 41 to 44 are set to transmit the exploration wave having a changed phase, and the first and second left side sensors 51, 52 and the first and second right side sensors 61 and 62 are set to transmit a search wave that does not change the phase.
  • the sensors adjacent to each other at an interval can receive the reflected wave of the exploration wave transmitted by another sensor in addition to the reflected wave of the exploration wave transmitted by itself.
  • the left front sensor group of the vehicle that is, the first front sensor 31, the second front sensor 32, and the first left side sensor 51 will be described.
  • the right front sensor group, the left rear sensor group, and the right rear sensor group of the vehicle have the same functions as the left front sensor group of the vehicle, and will not be specifically described.
  • the first front sensor 31 can receive the reflected wave based on the search wave of the second front sensor 32 in addition to the reflected wave of the search wave transmitted by itself. 1
  • the reflected wave based on the exploration wave of the left side sensor 51 can be received.
  • the first left side sensor 51 can receive the reflected wave of the exploration wave of the first front sensor 31 in addition to the reflected wave of the exploration wave transmitted by itself.
  • the first front sensor 31 and the second front sensor 32 are set to transmit a search wave whose phase is changed, and the first left side sensor 51 transmits a search wave whose phase is not changed.
  • the first front sensor 31 and the first left side sensor 51 provided adjacent to each other in the vehicle transmit exploration waves having different phases (transmission characteristics).
  • the presence / absence of the change in the phase of the exploration wave is set in this way, when the second front sensor 32 and the first left side sensor 51 transmit the exploration wave, the reflection incident on the first front sensor 31 is reflected. It can be determined from which sensor the wave is based on the exploration wave transmitted.
  • the reflected wave incident on the first front sensor 31 is based on the exploration wave transmitted from which sensor. It can be determined, and it can be determined whether the reflected wave incident on the first left side sensor 51 is based on the exploration wave transmitted from which sensor.
  • the configuration of the entire object detection system is the same as that of the second embodiment, and a part of the transmission phase in each sensor is different from that of the second embodiment.
  • the object detection system which concerns on this embodiment is demonstrated.
  • the sensor that transmits the exploration wave whose phase is changed is illustrated by a triangle
  • the sensor that transmits the exploration wave that does not change the phase is illustrated by a circle. That is, the first to fourth front sensors 31 to 34, the second left side sensor 52, and the second right side sensor 62 are set to transmit the exploration wave having a changed phase.
  • the rear sensors 41 to 44, the first left side sensor 51, and the first right side sensor 61 are set to transmit a search wave that does not change the phase.
  • the first left side sensor 51 can receive the reflected wave of the exploration wave transmitted by the adjacent second left side sensor 52, and the second left side sensor 52 is adjacent.
  • the reflected wave of the exploration wave transmitted by the first left side sensor 51 can be received.
  • the first right side sensor 61 can receive the reflected wave of the exploration wave transmitted by the adjacent second right side sensor 62, and the second right side sensor 62 can receive the exploration wave transmitted by the adjacent first right side sensor 61.
  • the reflected wave can be received.
  • the phase of the exploration wave transmitted from the first left side sensor 51 is not changed and the phase of the exploration wave transmitted from the second left side sensor 52 is changed, the first left side sensor 51, and In each of the second left side sensors 52, it is possible to determine which sensor is the reflected wave of the exploration wave.
  • the phase of the exploration wave transmitted from the first right side sensor 61 is not changed and the phase of the exploration wave transmitted from the second right side sensor 62 is changed, the first right side sensor 61 and In each of the second right side sensors 62, it is possible to determine which sensor is the reflected wave of the search wave.
  • the left front sensor group, the right front sensor group, the left rear sensor group, and the right rear sensor group of the vehicle have the same functions as those in the second embodiment. Is omitted.
  • the object detection system according to the present embodiment has an effect similar to that of the first embodiment.
  • three or more left side sensors may be provided, and the transmission phases (transmission characteristics) of adjacent exploration waves may be different from each other. That is, at least two sensors (object detection devices) are provided adjacent to each other on the left side of the vehicle, and the transmission characteristics of the adjacent sensors in the at least two sensors may be different from each other. The same applies to the right side sensor.
  • the configuration of the entire object detection system is the same as that of the second embodiment, and a part of the transmission phase in each sensor is different from that of the second embodiment.
  • the object detection system according to the present embodiment will be described with reference to FIG.
  • the sensor that transmits the exploration wave whose phase is changed is illustrated by a triangle
  • the sensor that transmits the exploration wave that does not change the phase is illustrated by a circle.
  • the first, second front sensors 31, 32, the third, fourth rear sensors 43, 44, the second left side sensor 52, and the first right side sensor 61 are set to transmit the exploration wave with the phase changed.
  • the third and fourth front sensors 33 and 34, the first and second rear sensors 41 and 42, the first left side sensor 51, and the second right side sensor 62 transmit a search wave that does not change the phase. Is set.
  • the sensor group in front of the vehicle that is, the first to fourth front sensors 31 to 34 will be described.
  • the sensor group on the rear side of the vehicle, that is, the first to fourth rear sensors 41 to 44 have the same functions as the sensor group on the front side of the vehicle, and a detailed description thereof will be omitted.
  • the second front sensor 32 can receive a reflected wave based on the search wave of the adjacent first front sensor 31 in addition to the reflected wave of the search wave transmitted by itself.
  • the reflected wave based on the exploration wave of the adjacent third front sensor 33 can be received.
  • the third front sensor 33 can receive the reflected wave of the exploration wave of the adjacent second front sensor 32 in addition to the reflected wave of the exploration wave transmitted by itself, and the adjacent fourth forward sensor 34. It is possible to receive the reflected wave of the exploration wave.
  • the first and second front sensors 31 and 32 are set to transmit the exploration wave with the phase changed, and the third and fourth front sensors 33 and 34 transmit the exploration wave without changing the phase. It is set to send.
  • the first front sensor 31 and the third front sensor 33 transmit the exploration wave
  • the reflected wave incident on the second front sensor 32 It is possible to determine which sensor is based on the exploration wave transmitted from which sensor.
  • the second front sensor 32 and the fourth front sensor 34 transmit the exploration wave
  • the reflected wave incident on the third front sensor 33 is based on the exploration wave transmitted from any sensor. Can be determined.
  • the incident reflected wave is transmitted from which sensor in each of the second front sensor 32 and the third front sensor 33. Whether it is based on the exploration wave can be determined.
  • the left front sensor group, the right front sensor group, the left rear sensor group, and the right rear sensor group of the vehicle have the same functions as those in the second embodiment. Is omitted.
  • the object detection system according to the present embodiment has an effect similar to that of the first embodiment.
  • the transmission phases (transmission characteristics) of adjacent exploration waves may be different from each other. That is, at least two sensors (object detection devices) may be provided adjacent to each other at the front end of the vehicle, and the transmission characteristics of the adjacent sensors in the at least two sensors may be different from each other. The same applies to the sensor provided at the rear end of the vehicle.
  • the first setting (shown in FIG. 8A) in which the transmission phase is set similarly to the second embodiment and the second setting in which the transmission phase is different from that in the second embodiment (FIG. 8B). ) are used by switching between them.
  • the exploration wave that does not change the phase is transmitted.
  • the sensor that transmits the exploration wave that does not change the phase is assumed to transmit the exploration wave that changes the phase. That is, the first to fourth front sensors 31 to 34 and the first to fourth rear sensors 41 to 44 are set to transmit the exploration wave without changing the phase. 52 and the first and second right side sensors 61 and 62 are set to transmit the exploration wave while changing the phase.
  • the switching between the first setting and the second setting is performed every predetermined period. In this case, it may be set as a predetermined period that transmission / reception control is performed once by each sensor, or may be set as a predetermined period that transmission / reception control is performed multiple times by each sensor. Good.
  • the object detection system according to the present embodiment has the following effects.
  • the ultrasonic sensor that transmits exploration waves that share a common phase change in the vicinity of the object detection system, it receives the exploration waves transmitted from other ultrasonic sensors and receives its own exploration waves. May be misrecognized as a reflected wave.
  • the presence / absence of a phase change is switched every predetermined period, the presence / absence of a phase change can be different from the presence / absence of a phase change of another ultrasonic sensor. , Interference can be suppressed.
  • the phase of each sensor is changed, and the changed phases are a first phase, a second phase, and a third phase, respectively.
  • the sensor that transmits the exploration wave in the first phase is illustrated by a triangle
  • the sensor that transmits the exploration wave in the second phase is illustrated by a circle
  • the sensor that transmits the exploration wave in the third phase Is shown by a square. That is, the first to fourth front sensors 31 to 34 and the first to fourth rear sensors 41 to 44 are set to transmit the exploration wave in the first phase, and the first and second left side sensors 51 and 52 are set. Is set to transmit the exploration wave in the third phase, and the first and second right side sensors 61 and 62 are set to transmit the exploration wave in the second phase.
  • the object detection system according to this embodiment has the following effects in addition to the effects exhibited by the object detection system according to the second embodiment.
  • the left side of one vehicle and the right side of the other vehicle are close to each other. At this time, the closer the distance between the vehicles is, the easier it is to receive the exploration waves transmitted from the sensors of other vehicles.
  • the vehicles are arranged side by side and are provided on other vehicles.
  • the determination unit 103 determines that the received wave is caused by the exploration wave or the like of another object detection system and does not use it for its own distance measurement. can do. Accordingly, it is possible to suppress crosstalk when a vehicle including an object detection system having a configuration equivalent to that of the present embodiment lies side by side.
  • first to fourth front sensors 31 to 34 are omitted, the first to fourth rear sensors 41 to 44 are omitted, the first to fourth front sensors 31 to 34, and the first to fourth rear sensors. 41 to 44 may be omitted.
  • the configuration of the entire object detection system is the same as that of the second embodiment, and a part of the transmission phase in each sensor is different from that of the second embodiment.
  • the object detection system according to the present embodiment will be described with reference to FIG.
  • the first phase, the second phase, and the third phase are used.
  • the sensor that transmits the exploration wave in the first phase is illustrated by a triangle
  • the sensor that transmits the exploration wave in the second phase is illustrated by a circle
  • the sensor that transmits the exploration wave in the third phase Is shown by a square. That is, the first to fourth front sensors 31 to 34 are set to transmit the exploration wave in the second phase, and the first to fourth rear sensors 41 to 44 transmit the exploration wave in the third phase.
  • the first and second left side sensors 51 and 52 and the first and second right side sensors 61 and 62 are set to transmit the exploration wave in the first phase.
  • the object detection system according to this embodiment has the following effects in addition to the effects exhibited by the object detection system according to the second embodiment.
  • the determination unit 103 can determine that the received wave is caused by the exploration wave or the like of another object detection system, and can not use it for its own distance measurement. Therefore, it is possible to suppress interference when a vehicle including an object detection system having a configuration equivalent to that of the present embodiment is arranged vertically.
  • the configuration of the entire object detection system is the same as that of the second embodiment, and a part of the transmission phase in each sensor is different from that of the second embodiment.
  • the object detection system according to the present embodiment will be described with reference to FIG.
  • the first phase, the second phase, and the third phase are used.
  • the sensor that transmits the exploration wave in the first phase is illustrated by a triangle
  • the sensor that transmits the exploration wave in the second phase is illustrated by a circle
  • the sensor that transmits the exploration wave in the third phase Is shown by a square. That is, the first front sensor 31, the fourth front sensor 34, the first rear sensor 41, and the fourth rear sensor 44 are set to transmit the exploration wave in the first phase.
  • the rear sensor 42, the first left side sensor 51, and the second right side sensor 62 are set to transmit the exploration wave in the second phase.
  • the second front sensor 32, the third rear sensor 43, and the second left side sensor It is assumed that the sensor 52 and the first right side sensor 61 transmit the exploration wave in the third phase.
  • the self transmission phase and the adjacent phases are different in any sensor. Therefore, even when the exploration wave is transmitted from any one of the sensors and the adjacent sensors, it is possible to determine which received wave is the reflected wave of the exploration wave of which sensor. This means that even if exploration waves are transmitted almost simultaneously from all sensors, it is possible to determine in which sensor the received wave is the reflected wave of the exploration wave of each sensor.
  • the first front sensor 31, the third front sensor 33, the first right side sensor 61, the second rear sensor 42, the fourth rear sensor 44, and the second left side sensor 52 are in the first phase.
  • (Transmission characteristics) is set to transmit the exploration wave
  • the right side sensor 62 may be set to transmit the exploration wave with the second phase (transmission characteristic).
  • the second front sensor 32, the third front sensor 33, the second rear sensor 42, and the third rear sensor 43 are omitted, or the first left side sensor 51, the second left side sensor 52, and the first right side are omitted.
  • the sensor 61 and the second right side sensor 62 may be omitted. That is, at least eight sensors (object detection devices) are provided adjacent to each other on the outer peripheral edge of the vehicle, and the transmission characteristics of the adjacent sensors in the at least eight sensors may be different from each other.
  • the first setting (shown in FIG. 13A) and the second setting (shown in FIG. 13B) are switched and used.
  • the second front sensor 32, the third rear sensor 43, the second left side sensor 52, and the first right side sensor 61 generate an exploration wave in the first phase.
  • the third front sensor 33, the second rear sensor 42, the first left side sensor 51, and the second right side sensor 62 are set to transmit the exploration wave in the second phase. Yes.
  • the 1st front sensor 31, the 4th front sensor 34, the 1st back sensor 41, and the 4th back sensor 44 which were shown with the broken line do not transmit an exploration wave.
  • the sensor that transmits the exploration wave in the first setting does not transmit the exploration wave, and the sensor that does not transmit the exploration wave in the first setting.
  • the fourth front sensor 34 and the first rear sensor 41 are set to transmit the exploration wave in the first phase
  • the first front sensor 31 and the fourth rear sensor 44 transmit the exploration wave in the second phase. It is set as something to do.
  • a second front sensor 32, a third front sensor 33, a second rear sensor 42, a third rear sensor 43, a first left side sensor 51, a second left side sensor 52, a first right side sensor 61, and The second right side sensor 62 does not transmit an exploration wave.
  • the switching between the first setting and the second setting is performed every predetermined period. In this case, it may be set as a predetermined period that transmission / reception control is performed once by each sensor, or may be set as a predetermined period that transmission / reception control is performed multiple times by each sensor. Good.
  • the object detection system according to the present embodiment has the following effects.
  • the second front sensor 32 and the first left side sensor 51 having different transmission characteristics are provided with a gap therebetween. For this reason, based on the reception characteristic acquired by the first front sensor 31, it is determined which of the second front sensor 32 and the first left side sensor 51 is the reflected wave of the search wave having the transmission characteristic. can do. The same applies to the right front sensor group, the left rear sensor group, and the right rear sensor group of the vehicle.
  • the transmission frequency of the exploration wave can be different from the transmission frequency of the exploration wave of other ultrasonic sensors, and interference can be suppressed.
  • the first setting (shown in FIG. 14A) and the second setting (shown in FIG. 14B) are switched and used.
  • the setting is the same as that in FIG. 13A of the ninth embodiment.
  • the first right sensor 61 transmits the exploration wave in the second phase.
  • the second right side sensor 62 is set to transmit the exploration wave in the first phase. That is, the first left side sensor 51, the second left side sensor 52, the first right side sensor 61, and the second right side sensor 62 always transmit a search.
  • the object detection system according to the present embodiment has an effect similar to that of the ninth embodiment. Furthermore, since the first left side sensor 51, the second left side sensor 52, the first right side sensor 61, and the second right side sensor 62 are always transmitting exploration, they always detect a side object. Can do.
  • the first setting (shown in FIG. 15A) and the second setting (shown in FIG. 15B) are switched and used.
  • the first front sensor 31, the fourth rear sensor 44, the second left side sensor 52, and the first right side sensor 61 generate the exploration wave in the first phase.
  • the third front sensor 33 and the second rear sensor 42 are set to transmit the exploration wave in the second phase.
  • the second front sensor 32, the fourth front sensor 34, the first rear sensor 41, the third rear sensor 43, the first left side sensor 51, and the second right side sensor 62 indicated by broken lines do not transmit the exploration wave.
  • the sensor that transmits the exploration wave in the first setting is not transmitted, and the sensor that does not transmit the exploration wave in the first setting is the exploration wave.
  • the second front sensor 32 and the second right side sensor 62 are set to transmit the exploration wave in the first phase, and the fourth front sensor 34 and the first left side sensor 51 are in the second phase. Is set to send.
  • the first front sensor 31, the third front sensor 33, the second rear sensor 42, the fourth rear sensor 44, the second left side sensor 52, and the first right side sensor 61 indicated by broken lines do not transmit the exploration wave.
  • the switching between the first setting and the second setting is performed every predetermined period. In this case, it may be set as a predetermined period that transmission / reception control is performed once by each sensor, or may be set as a predetermined period that transmission / reception control is performed multiple times by each sensor. Good.
  • the object detection system according to the present embodiment has the following effects.
  • the second front sensor 32 and the first left side sensor 51 having different transmission characteristics are provided with a gap therebetween. For this reason, based on the reception characteristic acquired by the first front sensor 31, it is determined which of the second front sensor 32 and the first left side sensor 51 is the reflected wave of the search wave having the transmission characteristic. can do. Based on the reception characteristic acquired by the third front sensor 33, it can be determined which of the second front sensor 32 and the fourth front sensor 34 is the reflected wave of the search wave having the transmission characteristic. . The same applies to the sensor group on the rear side of the vehicle.
  • the transmission phase of the exploration wave can be different from the transmission phase of the exploration wave of other ultrasonic sensors, and interference can be suppressed.
  • the first setting (shown in FIG. 16A) and the second setting (shown in FIG. 16B) are switched and used.
  • the first left side sensor 51 and the second right side sensor 62 are the second ones. It is set to transmit exploration waves in phase.
  • the second left side sensor 52 and the first right side sensor 61 are the first. It is set to transmit exploration waves in phase. That is, the first left side sensor 51, the second left side sensor 52, the first right side sensor 61, and the second right side sensor 62 always transmit a search.
  • the object detection system according to the present embodiment has an effect similar to that of the eleventh embodiment. Furthermore, since the first left side sensor 51, the second left side sensor 52, the first right side sensor 61, and the second right side sensor 62 are always transmitting exploration, they always detect a side object. Can do.
  • the phase of the exploration wave is switched.
  • the frequency of the exploration wave may be switched.
  • the frequency of the exploration wave can also be referred to as a transmission characteristic and a reception characteristic as with the phase.
  • the phase of the exploration wave is switched, but the off period may be provided without switching the phase of the exploration wave.
  • the off period by providing the off period, a plurality of amplitude envelope peaks are generated. If a plurality of amplitude envelope peaks are generated, a plurality of peaks are also generated for the reflected wave amplitude envelope. Therefore, it is possible to determine whether or not the received wave is a reflected wave of the exploration wave. .
  • the number of peaks of the envelope of the amplitude can also be referred to as transmission characteristics and reception characteristics as with the phase.
  • the length of the off period is a predetermined number of times the period.
  • the length of the off period is longer than the time until the amplitude of the exploration wave falls below the first predetermined value, and the time until the amplitude of the exploration wave falls below the second predetermined value smaller than the first predetermined value. It may be shorter. If the amplitude of the exploration wave is longer than the time until it falls below the first predetermined value, the amplitude is sufficiently small at the start of the exploration wave transmission after switching the transmission characteristics, and the capacitor charging time is sufficient. Can be secured. If the length of the off period is made shorter than the time until the amplitude of the exploration wave falls below the second predetermined value, the length of one transmission opportunity can be limited, and a period during which the received wave can be received is sufficiently secured. be able to.
  • the received wave is distinguished by using a sensor that transmits the exploration wave with the phase changed and a sensor that transmits the exploration wave without changing the phase.
  • the phase may be changed in any of the sensors, and the first phase and the second phase different from each other may be used as the changed phase.
  • the distinction is made by changing the phase in any sensor and using different first to third phases as the changed phases.
  • the sensor in addition to transmitting the first phase and the second phase as the phase after the change, the sensor may be distinguished by using a sensor that does not change the phase.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2018/020078 2017-05-29 2018-05-24 超音波センサ及び物体検知システム Ceased WO2018221393A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112018002740.6T DE112018002740B4 (de) 2017-05-29 2018-05-24 Ultraschallsensor und objekterkennungssystem

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-105944 2017-05-29
JP2017105944A JP6714543B2 (ja) 2017-05-29 2017-05-29 超音波センサ及び物体検知システム

Publications (1)

Publication Number Publication Date
WO2018221393A1 true WO2018221393A1 (ja) 2018-12-06

Family

ID=64454617

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/020078 Ceased WO2018221393A1 (ja) 2017-05-29 2018-05-24 超音波センサ及び物体検知システム

Country Status (3)

Country Link
JP (1) JP6714543B2 (https=)
DE (1) DE112018002740B4 (https=)
WO (1) WO2018221393A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6945773B2 (ja) * 2019-07-22 2021-10-06 三菱電機株式会社 障害物検出装置
JP7282115B2 (ja) * 2021-02-17 2023-05-26 本田技研工業株式会社 運転支援装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005249770A (ja) * 2003-12-17 2005-09-15 Denso Corp 距離検出装置、物体検出装置
US20100182874A1 (en) * 2007-06-28 2010-07-22 Michael Frank Method and device for detection of surroundings
WO2011102130A1 (ja) * 2010-02-18 2011-08-25 パナソニック株式会社 超音波測定方法および超音波測定装置
JP2012181149A (ja) * 2011-03-02 2012-09-20 Denso Corp 超音波検知装置
JP2015191441A (ja) * 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP2017078642A (ja) * 2015-10-20 2017-04-27 株式会社日本自動車部品総合研究所 超音波式物体検知装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4905207A (en) 1988-09-21 1990-02-27 Merrill Engineering Laboratories, Inc. Measuring distances using a plurality of frequencies
DE102012211630A1 (de) 2012-07-04 2014-01-09 Robert Bosch Gmbh Erhöhung der Verfügbarkeit ultraschallbasierter Fahrerassistenzsysteme bei Auftreten von Unterspannung im Fahrzeug

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005249770A (ja) * 2003-12-17 2005-09-15 Denso Corp 距離検出装置、物体検出装置
US20100182874A1 (en) * 2007-06-28 2010-07-22 Michael Frank Method and device for detection of surroundings
WO2011102130A1 (ja) * 2010-02-18 2011-08-25 パナソニック株式会社 超音波測定方法および超音波測定装置
JP2012181149A (ja) * 2011-03-02 2012-09-20 Denso Corp 超音波検知装置
JP2015191441A (ja) * 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP2017078642A (ja) * 2015-10-20 2017-04-27 株式会社日本自動車部品総合研究所 超音波式物体検知装置

Also Published As

Publication number Publication date
JP2018200277A (ja) 2018-12-20
JP6714543B2 (ja) 2020-06-24
DE112018002740B4 (de) 2026-03-26
DE112018002740T5 (de) 2020-02-20

Similar Documents

Publication Publication Date Title
EP2381271B1 (en) Self-tuning acoustic measurement system
CN110596712B (zh) 物体检测装置以及物体检测系统
CN106415311B (zh) 用于检测目标回声的方法、超声传感器装置和机动车辆
KR102546876B1 (ko) 자동차용 초음파 센서 장치를 주파수 변조 여진 신호의 진폭의 시간적 프로파일을 적응시키면서 작동시키는 방법
EP3130938B1 (en) Object detection device and object detection method
US9541642B2 (en) Method and device for determining the position and/or the movement of an object
JP2006284369A (ja) パルスレーダー装置
CN110073242B (zh) 用于运行超声传感器的方法
WO2019012837A1 (ja) 超音波式の物体検出装置
US11150343B2 (en) Object detection system and object detection apparatus
WO2018221393A1 (ja) 超音波センサ及び物体検知システム
US20180164433A1 (en) Ultrasonic sensor
JP2018105700A (ja) 物体検知装置
JP2019197019A (ja) 物体検知装置
JP2018169366A (ja) 物体検知装置、物体検知システム及び移動体
JP6714542B2 (ja) 物体検知システム
CN104508510B (zh) 用于运行超声换能器的方法
JP2019200194A (ja) 物体検知装置および駐車支援装置
US20230336921A1 (en) Ultrasonic generator, transducer, and object detector
US12352854B2 (en) Object detection device
JP6383237B2 (ja) ユーザ検出方法、ユーザ検出装置および画像形成装置
KR101907458B1 (ko) 초음파 센서 장치 및 초음파 센서 장치 제어 방법
CN112805589B (zh) 物体检测装置
JP2020060410A (ja) 音波処理装置、および超音波システム
JP7197030B2 (ja) 距離計測装置

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: 18809217

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 112018002740

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18809217

Country of ref document: EP

Kind code of ref document: A1

WWG Wipo information: grant in national office

Ref document number: 112018002740

Country of ref document: DE