WO2020105093A1 - Dispositif de détection d'obstacle - Google Patents

Dispositif de détection d'obstacle

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Publication number
WO2020105093A1
WO2020105093A1 PCT/JP2018/042677 JP2018042677W WO2020105093A1 WO 2020105093 A1 WO2020105093 A1 WO 2020105093A1 JP 2018042677 W JP2018042677 W JP 2018042677W WO 2020105093 A1 WO2020105093 A1 WO 2020105093A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
average range
range
average
distance
Prior art date
Application number
PCT/JP2018/042677
Other languages
English (en)
Japanese (ja)
Inventor
侑己 浦川
井上　悟
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020552060A priority Critical patent/JP6808113B2/ja
Priority to PCT/JP2018/042677 priority patent/WO2020105093A1/fr
Publication of WO2020105093A1 publication Critical patent/WO2020105093A1/fr

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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an obstacle detection device.
  • Patent Document 1 calculates a difference value between a first distance value (a1) corresponding to the primary reflected wave and a second distance value (a2) corresponding to the secondary reflected wave, and the difference with respect to time.
  • the height of the obstacle is determined based on the change in the value of.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide an obstacle detection device capable of accurately determining the height of an obstacle.
  • the obstacle detection device of the present invention groups a direct wave and an indirect wave transmitted / received by a distance sensor to calculate a range between a rising time and a falling time of a received signal in each group, and a range.
  • An averaging processing unit that calculates an average range by averaging, and a height determination unit that determines the height of an obstacle by comparing the average range with a threshold value are provided.
  • FIG. 1A is an explanatory diagram showing an example of an installation position of a distance sensor in a vehicle, and is a diagram showing a state seen from the rear of the vehicle.
  • FIG. 1B is an explanatory diagram illustrating an example of installation positions of distance sensors in a vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle.
  • FIG. 3 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle.
  • FIG. 3A is an explanatory diagram illustrating an example of groups including direct waves and indirect waves.
  • FIG. 3B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 4A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 4B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 5A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 5B is an explanatory diagram showing an example of transmission signals and reception signals in the group.
  • FIG. 6A is an explanatory diagram showing an example of another group including a direct wave and an indirect wave.
  • FIG. 6B is an explanatory diagram showing an example of transmission signals and reception signals in the group. It is explanatory drawing which shows the example of the direct wave and indirect wave used as the object of grouping. It is explanatory drawing which shows the example of an average range.
  • FIG. 10A is a block diagram showing a hardware configuration of an electronic control unit including the obstacle detection device according to the first embodiment.
  • FIG. 10B is a block diagram showing another hardware configuration of the electronic control unit.
  • 3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment.
  • 3 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the first embodiment.
  • 7 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle.
  • 9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment. 9 is a flowchart showing the operation of the electronic control unit including the obstacle detection device according to the second embodiment.
  • FIG. 1A is an explanatory diagram showing an example of the installation position of a distance sensor in a vehicle, and is an explanatory diagram showing a state seen from the rear of the vehicle.
  • FIG. 1B is an explanatory diagram illustrating an example of the installation position of the distance sensor in the vehicle, and is an explanatory diagram illustrating a state viewed from above the vehicle.
  • the distance sensor 2 will be described with reference to FIG.
  • a vehicle 1 is provided with a plurality of distance sensors 2. More specifically, four distance sensors 2_roll, 2_ril, 2_rr, 2_or are provided at the rear end of the vehicle 1.
  • Each of the distance sensors 2 is composed of, for example, an ultrasonic type distance sensor or a radio wave type distance sensor.
  • the distance sensors 2_roll, 2_rr and the distance sensors 2_ril, 2_rr are installed at different positions in the left-right direction of the vehicle 1 (hereinafter referred to as “vehicle width direction”, which is the direction along the Y axis in the drawing). is there.
  • vehicle width direction which is the direction along the Y axis in the drawing.
  • the distance sensors 2_roll and 2_lor installed outside in the vehicle width direction may be referred to as “outside installed distance sensors”.
  • the distance sensors 2_ril and 2_rr installed on the inner side in the vehicle width direction may be referred to as “inside installed distance sensors”.
  • the distance sensors 2_roll, 2_orr and the distance sensors 2_ril, 2_rr are installed at different positions in the vertical direction of the vehicle 1 (hereinafter referred to as “vehicle height direction”, which is the direction along the Z axis in the drawing). ..
  • vehicle height direction which is the direction along the Z axis in the drawing.
  • the distance sensors 2_roll, 2_or installed at higher positions may be referred to as “high-side installed distance sensors”.
  • the distance sensors 2_ril and 2_rr installed at lower positions may be referred to as “low side installation distance sensors”.
  • the ultrasonic waves or radio waves transmitted and received by the individual distance sensors 2 are collectively referred to as “search waves”.
  • the search wave reflected by the obstacle O outside the vehicle 1 is referred to as “reflected wave”.
  • the transmission wave and the reception wave are referred to as “direct wave”.
  • the transmission wave and the reception wave are referred to as “indirect waves”.
  • the obstacle O when the height of the obstacle O is high enough to contact the bumper portion of the vehicle 1, the obstacle O is referred to as a "running obstacle".
  • the traveling obstacle is, for example, a wall or a pole.
  • the obstacle O when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the obstacle O is high enough to be overcome by the vehicle 1, the obstacle O is Road obstacles ".
  • the road obstacle is, for example, a curb or a wheel stopper.
  • the obstacle O when the height of the obstacle O is so low that the bumper portion of the vehicle 1 cannot be contacted with the obstacle O and the vehicle 1 is easy to get over the obstacle O, the obstacle O is " Road obstacles ".
  • the road surface obstacle is, for example, a step.
  • FIG. 2 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the first embodiment is provided in a vehicle.
  • the obstacle detection device 100 of the first embodiment will be described with reference to FIG.
  • the transmission control unit 11 supplies a predetermined signal (hereinafter referred to as “transmission signal”) TS to each distance sensor 2 to cause each distance sensor 2 to transmit a search wave. More specifically, the transmission control unit 11 sequentially supplies the transmission signals TS_rol, TS_ril, TS_rr, and TS_lor to the four distance sensors 2_roll, 2_ril, 2_rr, and 2_or when the vehicle 1 is moving backward. The four distance sensors 2_roll, 2_ril, 2_rir, and 2_ror sequentially transmit search waves.
  • transmission signal a predetermined signal
  • the reception control unit 12 acquires a signal RS (hereinafter, referred to as “reception signal”) RS corresponding to a reception wave by each distance sensor 2.
  • a signal RS hereinafter, referred to as “reception signal”
  • detection threshold value a predetermined threshold value
  • the time T_down at which the individual reception signal RS falls below the detection threshold is referred to as the “falling time”.
  • the reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with a detection threshold value.
  • the grouping processing unit 13 sets a plurality of groups G by grouping the direct wave DW and the indirect wave IW transmitted and received by the plurality of distance sensors 2.
  • the range calculator 14 calculates the range R between the times T_up_first and T_down_last in each group G based on the rising time T_up_first of the first received signal RS and the falling time T_down_last of the last received signal RS in each group G. It is a thing.
  • the distance calculation unit 15 calculates the average value T_up_ave of the rising times T_up_ril, T_up_rir of the reception signal RS corresponding to the reception waves by the inside installation distance sensors 2_ril, 2_rr in each group G.
  • the distance calculation unit 15 calculates the distance D corresponding to the calculated average value T_up_ave by the so-called “TOF method”. That is, the distance D corresponds to an estimated value of the distance between the vehicle 1 and the obstacle O.
  • TOF method so-called “TOF method”.
  • the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll.
  • the distance sensor 2_roll transmits the search wave.
  • the distance sensor 2_roll can receive the direct wave DW_roll_roll.
  • the distance sensor 2_ril can receive the indirect wave IW_ril_roll
  • the distance sensor 2_rr can receive the indirect wave IW_rr_rol
  • the distance sensor 2_or can receive the indirect wave IW_ror_roll. It is a thing.
  • the reception control unit 12 can acquire the reception signal RS_roll_roll corresponding to the direct wave DW_roll_roll.
  • the reception control unit 12 is capable of acquiring the reception signal RS_ril_roll corresponding to the indirect wave IW_ril_rol, and capable of acquiring the reception signal RS_rr_rol corresponding to the indirect wave IW_rr_rol, and indirect. It is possible to obtain the reception signal RS_ror_roll corresponding to the wave IW_ror_roll.
  • the grouping processing unit 13 sets a group G_roll including the direct wave DW_roll_roll and the indirect waves IW_ril_roll, IW_rr_roll (see FIG. 3A). That is, the grouping processing unit 13 excludes the indirect wave IW_lor_roll (not shown) from the group G_roll.
  • the indirect wave IW_ror_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_roll that transmitted the search wave among the plurality of distance sensors 2.
  • the range calculation unit 14 calculates the range R_roll in the group G_roll based on the rising time T_up_first of the received signal RS_rol_rol and the falling time T_down_last of the received signal RS_rr_rol.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the received signal RS_ril_rol and the rising time T_up_rr of the received signal RS_ril_rol.
  • the distance calculation unit 15 calculates the distance D in the group G_roll, that is, the distance D corresponding to the range R_roll, based on the calculated average value T_up_ave.
  • the transmission controller 11 supplies the transmission signal TS_ril to the distance sensor 2_ril.
  • the distance sensor 2_ril transmits a search wave.
  • the distance sensor 2_ril can receive the direct wave DW_ril_ril.
  • the distance sensor 2_roll can receive the indirect wave IW_roll_ril
  • the distance sensor 2_rir can receive the indirect wave IW_rir_ril
  • the distance sensor 2_ror can receive the indirect wave IW_ror_ril. It is a thing.
  • the reception control unit 12 can obtain the reception signal RS_ril_ril corresponding to the direct wave DW_ril_ril.
  • the reception control unit 12 can obtain the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_ril, and can obtain the reception signal RS_rr_ril corresponding to the indirect wave IW_rr_ril, and indirectly.
  • the reception signal RS_ror_ril corresponding to the wave IW_ror_ril can be acquired.
  • the grouping processing unit 13 sets a group G_ril including the direct wave DW_ril_ril and the indirect waves IW_roll_ril, IW_rr_ril (see FIG. 4A). That is, the grouping processing unit 13 excludes the indirect wave IW_ror_ril (not shown) from the group G_ril.
  • the indirect wave IW_ror_ril to be excluded is received by the distance sensor 2_ror installed at the farthest position from the distance sensor 2_ril that has transmitted the search wave among the plurality of distance sensors 2.
  • the first reception signal RS is the reception signal RS_ril_ril and the last reception signal RS is the reception signal RS_roll_ril (see FIG. 4B).
  • the range calculation unit 14 calculates the range R_ril in the group G_ril based on the rising time T_up_first of the reception signal RS_ril_ril and the falling time T_down_last of the reception signal RS_rol_ril.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_ril of the reception signal RS_ril_ril and the rising time T_up_ril of the reception signal RS_ril_ril.
  • the distance calculation unit 15 calculates the distance D in the group G_ril, that is, the distance D corresponding to the range R_ril, based on the calculated average value T_up_ave.
  • the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr.
  • the distance sensor 2_rr transmits the search wave.
  • the distance sensor 2_rr can receive the direct wave DW_rr_rr.
  • the distance sensor 2_roll can receive the indirect wave IW_roll_ri
  • the distance sensor 2_ril can receive the indirect wave IW_ril_rir
  • the distance sensor 2_or can receive the indirect wave IW_ror_rr. It is a thing.
  • the reception control unit 12 can obtain the reception signal RS_rr_rr corresponding to the direct wave DW_rir_r.
  • the reception control unit 12 is capable of acquiring the reception signal RS_roll_ril corresponding to the indirect wave IW_roll_rr, and capable of acquiring the reception signal RS_ril_rr corresponding to the indirect wave IW_ril_rr, and indirect. It is possible to obtain the received signal RS_ror_rr corresponding to the wave IW_ror_rir.
  • the grouping processing unit 13 sets a group G_rir including the direct wave DW_rir_rir and the indirect wave IW_rir_rir and IW_ror_rir (see FIG. 5A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_rr (not shown) from the group G_rr.
  • the indirect wave IW_roll_rr to be excluded is received by the distance sensor 2_roll installed at the farthest position with respect to the distance sensor 2_rr that transmitted the search wave among the plurality of distance sensors 2.
  • the first received signal RS is the received signal RS_rir_rr and the last received signal RS is the received signal RS_ror_rir (see FIG. 5B).
  • the range calculation unit 14 calculates the range R_rir in the group G_rir based on the rising time T_up_first of the reception signal RS_rir_r and the falling time T_down_last of the reception signal RS_ror_rir.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_rr and the rising time T_up_ril of the received signal RS_ril_rir.
  • the distance calculation unit 15 calculates the distance D in the group G_rr, that is, the distance D corresponding to the range R_rr, based on the calculated average value T_up_ave.
  • the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror.
  • the distance sensor 2_or transmits the search wave.
  • the distance sensor 2_or can receive the direct wave DW_or_or.
  • the distance sensor 2_rol can receive the indirect wave IW_roll_ror
  • the distance sensor 2_ril can receive the indirect wave IW_ril_ror
  • the distance sensor 2_rir can receive the indirect wave IW_rir_ror. It is a thing.
  • the reception control unit 12 can acquire the reception signal RS_ror_ror corresponding to the direct wave DW_ror_ror.
  • the reception control unit 12 is capable of acquiring the reception signal RS_roll_ror corresponding to the indirect wave IW_roll_ror, and is capable of acquiring the reception signal RS_ril_ror corresponding to the indirect wave IW_ril_ror, and indirectly. It is possible to acquire the reception signal RS_rr_ror corresponding to the wave IW_rir_ror.
  • the grouping processing unit 13 sets the group G_ror including the direct wave DW_ror_ror and the indirect wave IW_ril_ror, IW_rir_ror (see FIG. 6A). That is, the grouping processing unit 13 excludes the indirect wave IW_roll_ror (not shown) from the group G_ror.
  • the indirect wave IW_roll_roll to be excluded is received by the distance sensor 2_roll installed at the farthest position from the distance sensor 2_lor that has transmitted the search wave among the plurality of distance sensors 2.
  • the range calculation unit 14 calculates the range R_ror in the group G_ror based on the rising time T_up_first of the received signal RS_ror_ror and the falling time T_down_last of the received signal RS_ril_rr.
  • the distance calculation unit 15 also calculates an average value T_up_ave of the rising time T_up_rr of the received signal RS_rr_ror and the rising time T_up_ril of the received signal RS_ril_ror.
  • the distance calculation unit 15 calculates the distance D in the group G_ror, that is, the distance D corresponding to the range R_ror based on the calculated average value T_up_ave.
  • the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, and the distance calculation unit 15 repeatedly execute these processes when the vehicle 1 is moving backward. Accordingly, the plurality of ranges R_roll, the plurality of distances D corresponding to the plurality of ranges R_roll in a one-to-one relationship, the plurality of ranges R_ril, and the plurality of distances D in a one-to-one correspondence with the plurality of ranges R_ril.
  • FIG. 7 shows a list of direct waves DW and indirect waves IW that are the targets of grouping by the grouping processing unit 13.
  • the indirect waves IW_ror_roll, IW_ror_ril, IW_roll_rir, and IW_roll_ror are excluded from the grouping target by the grouping processing unit 13. Thereby, the variation of the range R calculated by the range calculation unit 14 can be reduced.
  • the estimation accuracy of the distance between the vehicle 1 and the obstacle O can be improved.
  • the rear end of the vehicle 1 usually has a curved shape. Therefore, the outer installation distance sensors 2_roll, 2_or in the front-rear direction of the vehicle 1 (hereinafter, referred to as the “vehicle length direction”, which is the direction along the X axis in the drawing) is more than the inner installation distance sensors 2_ril, 2_rr. It is arranged on the rear side, that is, on the back side. Therefore, if the rise times T_up_rol and T_up_or of the reception signal RS corresponding to the waves received by the outside installed distance sensors 2_roll and 2_or are used to calculate the distance D, an error occurs in the estimation of the distance between the vehicle 1 and the obstacle O. there's a possibility that.
  • the average range calculation unit 16 calculates an average value (hereinafter, referred to as “average range”) R_ave of the range R in each of the N distance sections ⁇ D_1 to ⁇ D_N based on the distance D calculated by the distance calculation unit 15. Is.
  • N is an integer of 2 or more.
  • the average range calculation unit 16 calculates the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or in each distance section ⁇ D. To do.
  • the average range calculation unit 16 calculates the average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
  • FIG. 8 shows an example of average values R_roll_ave, R_ril_ave, R_rir_ave, R_ror_ave and an average range R_ave_all in each of the three distance sections ⁇ D_N, ⁇ D_N-1, and ⁇ D_N-2.
  • the size of each distance section ⁇ D is set to a constant value ( ⁇ - ⁇ ).
  • the lower limit of the size is 0.05 meters
  • the upper limit of the size is 10 meters.
  • the amount of deviation between the distance sections ⁇ D adjacent to each other is set to an arbitrary value ⁇ .
  • the lower limit value of the shift amount is 0.05 meters
  • the upper limit value of the shift amount is 5 meters. That is, the distance sections ⁇ D adjacent to each other may partially overlap each other.
  • a distance section ⁇ D including a smaller distance D in a combination of two distance sections ⁇ D among the N distance sections ⁇ D_1 to ⁇ D_N is referred to as a “short distance section”, and a distance section including a larger distance D. ⁇ D is called a “long distance section”.
  • the average range R_ave in the short distance section is referred to as a “short distance section average range”
  • the average range R_ave in the long distance section is referred to as a “long distance section average range”.
  • a two-dimensional map M having a first axis (for example, a horizontal axis) corresponding to a short distance section average range and a second axis (for example, vertical axis) corresponding to a long distance section average range is referred to as “average range”. "Map”.
  • the plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
  • the distance section ⁇ D_N is a short distance section
  • the distance section ⁇ D_N -1 is a long distance section.
  • the distance section ⁇ D_N is a short distance section. Further, the distance section ⁇ D_N-2 is a long distance section.
  • the distance section ⁇ D_N-1 is close. It is a distance section
  • the distance section ⁇ D_N-2 is a long distance section.
  • the threshold comparison unit 18 determines the height of the obstacle O by comparing the average range R_ave plotted by the plot processing unit 17 with a predetermined threshold Th. More specifically, the threshold comparing unit 18 compares the plotted average range R_ave with the two thresholds Th_1 and Th_2, so that the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. It is to determine which of the two.
  • the threshold Th_1 is referred to as a “first threshold” and the threshold Th_2 is referred to as a “second threshold”.
  • FIG. 9 shows an example of a state in which the average range R_ave is plotted on the average range map M.
  • a circle ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle.
  • a triangle mark ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle.
  • the cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
  • the distribution range of the average range R_ave in the average range map M varies depending on the height of the obstacle O. Therefore, the height of the obstacle O can be determined using the threshold Th in the average range map M. More specifically, using the first threshold value Th_1 and the second threshold value Th_2, it is possible to determine whether the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle. That is, the first threshold Th_1 is a threshold for determining whether or not the obstacle O is a road surface obstacle.
  • the second threshold Th_2 is a threshold for determining whether the obstacle O is a traveling obstacle.
  • the warning signal output unit 19 outputs a predetermined signal (hereinafter referred to as “warning signal”) to the warning output device 3 when the threshold comparison unit 18 determines that the obstacle O is a traveling obstacle. ..
  • the warning output device 3 outputs a warning to an occupant of the vehicle 1 when the warning signal output unit 19 outputs a warning signal.
  • the warning output device 3 includes, for example, a display or a speaker. When the warning output device 3 is configured by a display, the warning output by the warning output device 3 is based on image display on the display. When the warning output device 3 is configured by a speaker, the warning output by the warning output device 3 is a voice output from the speaker.
  • a transmission / reception control unit 21 is configured by the transmission control unit 11 and the reception control unit 12.
  • the grouping processing unit 13 and the range calculating unit 14 constitute a range measuring unit 22.
  • the distance calculation unit 15 and the average range calculation unit 16 constitute an averaging processing unit 23.
  • the plot processing unit 17 and the threshold comparison unit 18 constitute a height determination unit 24.
  • the range measurement unit 22, the averaging processing unit 23, and the height determination unit 24 constitute an obstacle detection device 100.
  • the warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100 are provided in an electronic control unit (hereinafter referred to as “ECU”) 4.
  • ECU electronice control unit
  • the ECU 4 has a processor 41 and a memory 42.
  • the ECU 4 includes a transmission control unit 11, a reception control unit 12, a grouping processing unit 13, a range calculation unit 14, a distance calculation unit 15, an average range calculation unit 16, a plot processing unit 17, a threshold value comparison unit 18, and a warning signal.
  • a program for functioning as the output unit 19 is stored.
  • the processor 41 reads and executes the program stored in the memory 42, the transmission control unit 11, the reception control unit 12, the grouping processing unit 13, the range calculation unit 14, the distance calculation unit 15, the average range calculation unit 16, The functions of the plot processing unit 17, the threshold comparison unit 18, and the warning signal output unit 19 are realized.
  • the ECU 4 has a processing circuit 43.
  • the function is realized by the dedicated processing circuit 43.
  • the ECU 4 has a processor 41, a memory 42 and a processing circuit 43 (not shown).
  • the processor 41 and the memory 42 Some of the functions are realized by the processor 41 and the memory 42, and the remaining functions are realized by the dedicated processing circuit 43.
  • the processor 41 uses, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, and a DSP (Digital Signal Processor).
  • a CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • microprocessor a microcontroller
  • DSP Digital Signal Processor
  • the memory 42 uses, for example, at least one of a semiconductor memory and a magnetic disk. More specifically, the memory 42 is a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory-Memory), an EEPROM (Electrically Organized Memory), or an EEPROM (Electrically Accessible Memory). At least one of State Drive) or HDD (Hard Disk Drive) is used.
  • the processing circuit 43 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), or a SoC (Sonication) system. At least one of the above is used.
  • ASIC Application Specific Integrated Circuit
  • PLD Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • SoC SoC
  • the ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 11A when the vehicle 1 is moving backward.
  • the ECU 4 for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a predetermined value for example, 3 meters
  • step ST1 the transmission control unit 11 supplies the transmission signal TS to each distance sensor 2.
  • the transmission control unit 11 supplies the transmission signal TS_roll to the distance sensor 2_roll.
  • the transmission control unit 11 supplies the transmission signal TS_ril to the distance sensor 2_ril.
  • the transmission control unit 11 supplies the transmission signal TS_rr to the distance sensor 2_rr.
  • the transmission control unit 11 supplies the transmission signal TS_ror to the distance sensor 2_ror.
  • step ST2 the reception control unit 12 acquires the reception signal RS from each distance sensor 2.
  • the reception control unit 12 detects the rising time T_up and the falling time T_down by comparing each reception signal RS with the detection threshold value.
  • step ST3 the grouping processing unit 13 can set the group G corresponding to the distance sensor 2 to which the transmission signal TS is supplied, that is, the group G corresponding to the distance sensor 2 that transmitted the search wave. , Such group G is set.
  • the grouping processing unit 13 sets the group G_roll corresponding to the distance sensor 2_roll.
  • the grouping processing unit 13 sets the group G_ril corresponding to the distance sensor 2_ril.
  • the grouping processing unit 13 sets the group G_rr corresponding to the distance sensor 2_rr.
  • the grouping process part 13 sets the group G_ror corresponding to the distance sensor 2_ror.
  • step ST4 the range calculation unit 14 calculates the range R in the set group G.
  • step ST5 if the distance calculation unit 15 can calculate the distance D corresponding to the calculated range R, the distance calculation unit 15 calculates the distance D.
  • the range R_roll is calculated, and the distance D corresponding to the calculated range R_roll is calculated.
  • the range R_ril is calculated and the distance D corresponding to the calculated range R_ril is calculated.
  • the range R_rr is calculated and the distance D corresponding to the calculated range R_rr is calculated.
  • the range R_ror is calculated, and the distance D corresponding to the calculated range R_ror is calculated.
  • step ST6 the average range calculation unit 16 calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N.
  • the average range calculation unit 16 calculates the average value R_rol_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rir, and the average value R_ror_ave of the range R_or in each distance section ⁇ D. To do.
  • the average range calculation unit 16 calculates the average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave.
  • step ST7 the plot processing unit 17 plots the average range R_ave calculated by the average range calculation unit 16 on the average range map M.
  • the threshold comparison unit 18 determines the height of the obstacle O by comparing the plotted average range R_ave with the threshold Th. More specifically, the threshold comparison unit 18 compares the plotted average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is a road surface obstacle, a road obstacle, or a traveling obstacle. Which of the above is to be determined.
  • step ST9 the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold value comparison unit 18. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
  • four distance sensors 2_fol, 2_fil, 2_fir, and 2_for may be provided at the front end of the vehicle 1. (Not shown).
  • the ECU 4 may execute the same processes as the above processes using the four distance sensors 2_fol, 2_fil, 2_fir, and 2_for when the vehicle 1 is moving forward.
  • the distance sensors 2_fol and 2_for are outer installation distance sensors, and the distance sensors 2_fil and 2_fir are inner installation distance sensors.
  • the distance sensors 2_fol and 2_for are high-side installation distance sensors, and the distance sensors 2_fil and 2_fir are low-side installation distance sensors.
  • the number of the distance sensors 2 installed at the rear end of the vehicle 1 may be two or more, and is not limited to four. Further, the number of the distance sensors 2 installed at the front end of the vehicle 1 may be two or more, and is not limited to four.
  • each distance section ⁇ D may be a constant value.
  • the amount of deviation between the distance sections ⁇ D adjacent to each other may be any value. That is, the distance sections ⁇ D that are adjacent to each other may not completely overlap each other.
  • the number of thresholds Th may be one or more, and is not limited to two. That is, the height determination unit 24 may determine the height of the obstacle O in two or more stages (ie, the obstacle O is a road surface obstacle, a road obstacle or a traveling obstacle). It is not limited to the judgment of which of them).
  • the threshold comparison unit 18 determines whether or not the obstacle O is a road surface obstacle by comparing the average range R_ave plotted in the average range map M with only the first threshold Th_1. Is also good.
  • the threshold comparison unit 18 determines whether the obstacle O is a traveling obstacle by comparing the average range R_ave plotted in the average range map M with only the second threshold Th_2. It may be.
  • the obstacle detection device 100 groups the direct wave DW and the indirect wave IW transmitted / received by the distance sensor 2, and the rise time T_up_first and the fall time of the reception signal RS in each group G.
  • the range measuring unit 22 that calculates the range R between the times T_down_last, the averaging processing unit 23 that calculates the average range R_ave by averaging the range R, and the obstacle O by comparing the average range R_ave with the threshold Th.
  • a height determination unit 24 that determines the height of the.
  • the threshold Th includes a first threshold Th_1 and a second threshold Th_2 that are different from each other, and the height determination unit 24 compares the average range R_ave with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O is It is determined whether the obstacle is a road surface obstacle, a road obstacle or a traveling obstacle.
  • Th the height of the obstacle O can be determined in multiple stages.
  • the average range R_ave includes a short distance section average range and a long distance section average range corresponding to different distance sections ⁇ D, and the height determination unit 24 determines that the first axis and the long distance corresponding to the short distance section average range.
  • the height of the obstacle O is determined by plotting the average range R_ave on the average range map M having the second axis corresponding to the section average range.
  • FIG. 12 is a block diagram showing a state in which an electronic control unit including the obstacle detection device according to the second embodiment is provided in a vehicle.
  • the obstacle detection device 100a according to the second embodiment will be described with reference to FIG. Note that in FIG. 12, the same blocks as the blocks shown in FIG.
  • the average range calculator 16a calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N based on the distance D calculated by the distance calculator 15.
  • the average range calculation unit 16a in each distance section ⁇ D, the average value R_roll_ave of the range R_roll, the average value R_ril_ave of the range R_ril, the average value R_rr_ave of the range R_rr, and the average value R_ror_ave of the range R_or. To calculate.
  • the average range calculation unit 16a averages the calculated average values R_roll_ave, R_ril_ave, R_rir_ave, and R_ror_ave to obtain an average range (hereinafter referred to as “first average range”) R_ave_all in each distance section ⁇ D. calculate. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as “second average range”) R_ave_outer in each distance section ⁇ D by averaging the calculated average values R_roll_ave and R_ror_ave. To do.
  • the first average range R_ave_all is an average of the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the outer installation distance sensors 2_roll, 2_rr and the inner installation distance sensors 2_ril, 2_rr.
  • the second average range R_ave_outer is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the outside installation distance sensors 2_roll and 2_lor.
  • the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ⁇ D by averaging the calculated average values R_roll_ave, R_ril_ave, R_rr_ave, R_ror_ave. In addition to this, the average range calculation unit 16a calculates an average range (hereinafter, referred to as a “third average range”) R_ave_upper in each distance section ⁇ D by averaging the calculated average values R_roll_ave and R_ror_ave. To do.
  • the first average range R_ave_all is obtained by averaging the ranges R_roll, R_ril, R_rr, and R_lor corresponding to the transmission waves from the high-side installation distance sensors 2_rol, 2_rr and the low-side installation distance sensors 2_ril, 2_rr.
  • the third average range R_ave_upper is an average of the ranges R_roll and R_lor corresponding to the transmission waves from the high side installation distance sensors 2_rol and 2_or.
  • FIG. 13 shows an example of the average values R_roll_ave, R_ril_ave, R_ril_ave, R_ror_ave, an example of the first average range R_ave_all, and an example of the second average range R_ave_outer in each of the three distance sections ⁇ D_N, ⁇ D_N-1, and ⁇ D_N-2. And an example of the third average range R_ave_upper. Note that in the example shown in FIG. 13, the outer installation distance sensors 2_roll, 2_lor and the high installation distance sensors 2_roll, 2_or are the same as each other, and the inner installation distance sensors 2_ril, 2_rr and the low installation distance sensor 2_roll. Since 2_ril and 2_ril are the same as each other, the second average range R_ave_outer and the third average range R_ave_upper in the individual distance sections ⁇ D have the same value.
  • the plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M.
  • the plot processing unit 17a has two average range maps M_1 and M_2.
  • the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (hereinafter referred to as “first average range map”) M_1.
  • the plot processing unit 17a also plots the second average range R_ave_outer calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “second average range map”) M_2.
  • the plotting method for each of the first average range map M_1 and the second average range map M_2 is the same as that described in the first embodiment, and thus the repetitive description will be omitted.
  • the plot processing unit 17a has two average range maps M_1 and M_3.
  • the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on one average range map (that is, the first average range map) M_1.
  • the plot processing unit 17a also plots the third average range R_ave_upper calculated by the average range calculation unit 16a on the other average range map (hereinafter referred to as “third average range map”) M_3.
  • the plotting method for each of the first average range map M_1 and the third average range map M_3 is the same as that described in the first embodiment, and therefore the repetitive description will be omitted.
  • the surface portion of the obstacle O that reflects the search wave has an inclination
  • this obstacle O is referred to as an “inclined obstacle”.
  • the tilt obstacle is, for example, a wheel stopper.
  • the type determining unit 31 determines the distribution of the first average range R_ave_all in the first average range map M_1 (hereinafter referred to as “first average range distribution”) and the distribution of the second average range R_ave_outer in the second average range map M_2 (hereinafter “ The second average range distribution ").
  • the type determining unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the second average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the second average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
  • the type determination unit 31 compares the first average range distribution with the distribution of the third average range R_ave_upper in the third average range map M_3 (hereinafter referred to as “third average range distribution”). The type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the third average range distribution. More specifically, the type determination unit 31 determines that the obstacle O is a tilted obstacle when the deviation of the first average range distribution from the third average range distribution is larger than a predetermined value. On the other hand, when the deviation of the first average range distribution from the third average range distribution is less than or equal to a predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle.
  • the threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 when the type determination unit 31 determines that the obstacle O is not a tilted obstacle. That is, the threshold comparing unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the threshold Th (more specifically, the first threshold Th_1 and the second threshold Th_2) to thereby prevent an obstacle. Judge the height of O.
  • the threshold comparison unit 18a uses the second average range map M_2 or the third average range map M_3 to determine the height of the obstacle O. Is to judge. That is, the threshold comparison unit 18a sets the second average range R_ave_outer plotted on the second average range map M_2 or the third average range R_ave_upper plotted on the third average range map M_3 to the threshold Th (more specifically, the first average range R_ave_outer). The height of the obstacle O is determined by comparing with the threshold Th_1 and the second threshold Th_2).
  • the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the second average range map M_2 may be equal to each other or different from each other.
  • the second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the second average range map M_2 may be equal to each other or different from each other.
  • the first threshold Th_1 in the first average range map M_1 and the first threshold Th_1 in the third average range map M_3 may have the same value or different values.
  • the second threshold Th_2 in the first average range map M_1 and the second threshold Th_2 in the third average range map M_3 may have the same value or different values.
  • FIG. 14A shows an example of a state in which the first average range R_ave_all is plotted on the first average range map M_1 when the obstacle O is a tilted obstacle.
  • FIG. 14B shows an example of a state in which the second average range R_ave_outer is plotted on the second average range map M_2 when the obstacle O is a tilted obstacle.
  • FIG. 3C shows an example of a state in which the third average range R_ave_upper is plotted on the third average range map M_3 when the obstacle O is a tilted obstacle.
  • a circle ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road surface obstacle.
  • a triangle mark ( ⁇ ) indicates a plot position of the average range R_ave when the obstacle O is a road obstacle.
  • the cross mark (x) indicates the plot position of the average range R_ave when the obstacle O is a traveling obstacle.
  • 1 Average range R_ave_all tends to be large. That is, the distributions of circles ( ⁇ ) and triangles ( ⁇ ) in the figure tend to be biased toward the upper right direction in the figure. Therefore, it is difficult to determine the height of the obstacle O using the first average range map M_1.
  • the second average range R_ave_outer is set when the height of the obstacle O is low even when the obstacle O is a slope obstacle (for example, when the obstacle O is a road surface obstacle or a road obstacle). ) Tends to be smaller. Therefore, by using the second average range R_ave_outer, as shown in FIG. 14B, the distribution of circles ( ⁇ ) and triangles ( ⁇ ) in the figure can be widened in the lower left direction in the figure. Therefore, by using the second average range map M_2, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the second average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
  • the third average range R_ave_upper is set even when the obstacle O is a slope obstacle when the height of the obstacle O is low (for example, when the obstacle O is a road surface obstacle or a road obstacle). Tends to be smaller. Therefore, by using the third average range R_ave_upper, as shown in FIG. 14C, the distribution of circles ( ⁇ ) and triangles ( ⁇ ) in the drawing can be widened in the lower left direction in the drawing. Therefore, by using the third average range map M_3, the height of the obstacle O can be determined even when the obstacle O is a tilted obstacle. Further, based on the deviation of the first average range distribution from the third average range distribution, it can be determined whether or not the obstacle O is a tilted obstacle.
  • the distance calculating unit 15 and the average range calculating unit 16a constitute an averaging processing unit 23a.
  • a height determination unit 24a is configured by the plot processing unit 17a and the threshold value comparison unit 18a.
  • the range measurement unit 22, the averaging processing unit 23a, the height determination unit 24a, and the type determination unit 31 constitute an obstacle detection device 100a.
  • the warning signal output unit 19, the transmission / reception control unit 21, and the obstacle detection device 100a are provided in the ECU 4.
  • Each function of the determination unit 31 may be realized by the processor 41 and the memory 42, or may be realized by a dedicated processing circuit 43.
  • the ECU 4 repeatedly executes the processes of steps ST1 to ST5 shown in FIG. 15A when the vehicle 1 is moving backward.
  • the ECU 4 for example, when a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a distance D equal to or less than a predetermined value (for example, 3 meters) is calculated by the processing of step ST5, or over a distance ⁇ D of a predetermined number (that is, N) or more by the processing of steps ST4 and ST5.
  • a predetermined value for example, 3 meters
  • steps ST1 to ST5 shown in FIG. 15A are the same as the processing contents of steps ST1 to ST5 shown in FIG. 11A. Therefore, the repeated description is omitted.
  • step ST6a the average range calculation unit 16a calculates the average range R_ave in each of the N distance sections ⁇ D_1 to ⁇ D_N. More specifically, the average range calculation unit 16a calculates the first average range R_ave_all in each distance section ⁇ D and also calculates the second average range R_ave_outer in each distance section ⁇ D.
  • step ST7a the plot processing unit 17a plots the average range R_ave calculated by the average range calculation unit 16a on the average range map M. More specifically, the plot processing unit 17a plots the first average range R_ave_all calculated by the average range calculation unit 16a on the first average range map M_1 and the second average calculated by the average range calculation unit 16a. The range R_ave_outer is plotted on the second average range map M_2.
  • step ST11 the type determination unit 31 determines whether or not the obstacle O is a tilted obstacle based on the deviation of the first average range distribution from the second average range distribution. More specifically, when the deviation is larger than the predetermined value, the type determination unit 31 determines that the obstacle O is a tilted obstacle (step ST11 “YES”). On the other hand, when the deviation is less than or equal to the predetermined value, the type determination unit 31 determines that the obstacle O is not a tilted obstacle (step ST11 “NO”).
  • the threshold comparison unit 18a determines the height of the obstacle O using the first average range map M_1 in step ST8a. .. That is, the threshold comparison unit 18a compares the first average range R_ave_all plotted in the first average range map M_1 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
  • the threshold comparison unit 18a uses the second average range map M_2 to determine the height of the obstacle O in step ST8b. To judge. That is, the threshold comparison unit 18a compares the second average range R_ave_outer plotted in the second average range map M_2 with the first threshold Th_1 and the second threshold Th_2, so that the obstacle O becomes a road surface obstacle portion or a road obstacle. Alternatively, it is determined whether the obstacle is a traveling obstacle.
  • step ST9 the warning signal output unit 19 outputs a warning signal according to the determination result by the threshold comparison unit 18a. That is, the warning signal output unit 19 outputs a warning output signal when the obstacle O is determined to be a traveling obstacle. If it is determined that the obstacle O is a road surface obstacle or a road obstacle, the process of step ST9 may be skipped. Alternatively, in this case, different outputs may be executed depending on whether the obstacle O is a road surface obstacle or a road obstacle.
  • the obstacle detection device 100a can employ various modifications similar to those described in the first embodiment.
  • the distance sensor 2 includes the outer installation distance sensor and the inner installation distance sensor whose installation positions in the vehicle width direction are different from each other, and the average range R_ave is the outer installation.
  • the average range map M includes a first average range R_ave_all corresponding to a transmission wave from the distance sensor and the inside installed distance sensor, and a second average range R_ave_outer corresponding to a transmission wave from the outside installed distance sensor.
  • the obstacle detection device 100a includes the first average range map M_1 in which R_ave_all is plotted and the second average range map M_2 in which the second average range R_ave_outer is plotted, and the second average in the second average range map M_2.
  • the obstacle O is a slope obstacle.
  • the height determination unit 24a uses the second average range map M_2 to determine the height of the obstacle O when it is determined that the obstacle O is a tilted obstacle. to decide. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even if the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
  • the distance sensor 2 includes a high-side installation distance sensor and a low-side installation distance sensor whose installation positions in the vehicle height direction are different from each other, and the average range R_ave is the high-side installation distance sensor and the low-side installation distance sensor.
  • the average range map M includes the first average range R_ave_all corresponding to the transmission wave from the installation distance sensor and the third average range R_ave_upper corresponding to the transmission wave from the high side installation distance sensor, and the first average range R_ave_all is plotted.
  • the obstacle detection apparatus 100a includes the first average range map M_1 and the third average range map M_3 in which the third average range R_ave_upper is plotted, and the obstacle detection device 100a includes the third average range R_ave_upper in the third average range map M_3.
  • the deviation of the distribution (first average range distribution) of the first average range R_ave_all in the first average range map M_1 from the distribution (third average range distribution) is larger than a predetermined value
  • the obstacle O is a tilted obstacle.
  • the height determination unit 24a includes the type determination unit 31 that determines the height of the obstacle O using the third average range map M_3. This makes it possible to determine whether or not the obstacle O is a tilted obstacle. Further, even when the obstacle O is an inclined obstacle, the height of the obstacle O can be determined.
  • the invention of the present application is capable of freely combining the embodiments, modifying any constituent element of each embodiment, or omitting any constituent element in each embodiment. ..
  • the obstacle detection device of the present invention can be used, for example, as a driving support device for a vehicle.

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

Abstract

L'invention concerne un dispositif de détection d'obstacle (100) comprenant une unité de mesure de distance (22) permettant de regrouper des ondes directes (DW) et des ondes indirectes (IW) émises et reçues par un capteur de distance (2) et de calculer les distances (R) entre les temps de montée (T_up_first) et les temps de chute (T_down_Last) des signaux de réception (RS) des groupes (G), une unité de traitement de moyenne (23) permettant de calculer une distance moyenne (R_ave) par le calcul de la moyenne des distances (R), et une unité de détermination de hauteur (24) permettant de déterminer la hauteur d'un obstacle (O) par la comparaison de la distance moyenne (R_ave) à un seuil (Th).
PCT/JP2018/042677 2018-11-19 2018-11-19 Dispositif de détection d'obstacle WO2020105093A1 (fr)

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Citations (8)

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Publication number Priority date Publication date Assignee Title
JP2009502636A (ja) * 2005-08-02 2009-01-29 バレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 超音波センサを使用する駐車スペースの奥行き限度を確定する方法およびこの方法を実行するための装置
JP2010197342A (ja) * 2009-02-27 2010-09-09 Nippon Soken Inc 物体検出装置
US20110259106A1 (en) * 2007-08-21 2011-10-27 Niemz Volker Distance sensor and method for determining a distance
WO2013024509A1 (fr) * 2011-08-16 2013-02-21 三菱電機株式会社 Dispositif de détection d'objet
JP2015055571A (ja) * 2013-09-12 2015-03-23 株式会社日本自動車部品総合研究所 物体判定装置
JP2015105915A (ja) * 2013-12-02 2015-06-08 三菱電機株式会社 障害物検知装置
JP2016128769A (ja) * 2015-01-09 2016-07-14 三菱電機株式会社 障害物検出装置および障害物検出方法
WO2018221255A1 (fr) * 2017-05-30 2018-12-06 株式会社デンソー Dispositif de détection d'objet

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009502636A (ja) * 2005-08-02 2009-01-29 バレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 超音波センサを使用する駐車スペースの奥行き限度を確定する方法およびこの方法を実行するための装置
US20110259106A1 (en) * 2007-08-21 2011-10-27 Niemz Volker Distance sensor and method for determining a distance
JP2010197342A (ja) * 2009-02-27 2010-09-09 Nippon Soken Inc 物体検出装置
WO2013024509A1 (fr) * 2011-08-16 2013-02-21 三菱電機株式会社 Dispositif de détection d'objet
JP2015055571A (ja) * 2013-09-12 2015-03-23 株式会社日本自動車部品総合研究所 物体判定装置
JP2015105915A (ja) * 2013-12-02 2015-06-08 三菱電機株式会社 障害物検知装置
JP2016128769A (ja) * 2015-01-09 2016-07-14 三菱電機株式会社 障害物検出装置および障害物検出方法
WO2018221255A1 (fr) * 2017-05-30 2018-12-06 株式会社デンソー Dispositif de détection d'objet

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