WO2022239470A1 - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
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- WO2022239470A1 WO2022239470A1 PCT/JP2022/012030 JP2022012030W WO2022239470A1 WO 2022239470 A1 WO2022239470 A1 WO 2022239470A1 JP 2022012030 W JP2022012030 W JP 2022012030W WO 2022239470 A1 WO2022239470 A1 WO 2022239470A1
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- 238000001514 detection method Methods 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 26
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- 238000000034 method Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 5
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- 238000012986 modification Methods 0.000 description 4
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- 230000008569 process Effects 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Definitions
- the present disclosure relates to an object detection device.
- object detection devices are used that detect objects existing around the vehicle by transmitting and receiving ultrasonic waves.
- a technique is used to distinguish between obstacles to be avoided and low steps that need not be avoided.
- One of the problems to be solved by the present disclosure is to provide an object detection device capable of estimating the height of an object using ultrasonic waves.
- An object detection device as an example of the present disclosure includes an acquisition unit that acquires distance information indicating the distance from a predetermined portion to an object based on the intensity of a reflected wave generated by an ultrasonic wave reflected by the object; and a generation unit that generates step information indicating the height of the object based on the pair of distance information detected in .
- the height of an object can be estimated using ultrasonic waves.
- the pair of distance information may include first distance information corresponding to the distance from the predetermined portion to the upper end of the object, and second distance information corresponding to the distance from the predetermined portion to the lower end of the object.
- the intensity of the reflected wave corresponding to the upper end of the object and the intensity of the reflected wave corresponding to the lower end of the object may appear relatively strong.
- the height of an object can be estimated with high accuracy by using such reflection characteristics of ultrasonic waves.
- the generation unit indicates the height of the object that is lower than the installation height based on the first distance information, the second distance information, and the installation height indicating the height from the road surface of the transmission/reception unit that transmits/receives the ultrasonic wave. Generate step information.
- the height of an object that is lower than the installation height of the transmitter/receiver can be estimated with high accuracy.
- the acquisition unit may acquire a pair of distance information based on reflected waves received by one reception unit.
- the pair of distance information may include distance information corresponding to a peak at which the intensity of the reflected wave exceeds the threshold within the time interval.
- a pair of distance information can be arbitrarily selected by setting a threshold.
- the generating unit calculates a third distance from the point of contact between the perpendicular line extending in the vertical direction from the transmitting/receiving unit and the road surface to the lower end of the object based on the second distance indicated by the second distance information and the installation height. 1 Calculate the height difference between the upper end of the object and the transmitting/receiving unit based on the first distance and the third distance indicated by the distance information, and calculate the height of the object based on the difference between the installation height and the height difference. good too.
- the height of the object can be calculated with high accuracy.
- FIG. 1 is a top view showing an example of the configuration of the vehicle according to the embodiment.
- FIG. 2 is a block diagram showing an example of the configuration of the vehicle control device according to the embodiment.
- FIG. 3 is a block diagram illustrating an example of the functional configuration of the object detection device according to the embodiment;
- FIG. 4 is a diagram showing an example of a method of acquiring distance information from echo information in the embodiment.
- FIG. 5 is a diagram showing an example of a situation when calculating the height of an object in the embodiment.
- FIG. 6 is a diagram showing an example of echo information corresponding to the situation shown in FIG. 5 in the embodiment.
- FIG. 7 is a flowchart illustrating an example of processing in the object detection device according to the embodiment;
- FIG. 1 is a top view showing an example of the configuration of the vehicle 1 according to the embodiment.
- a vehicle 1 is an example of a moving object on which the object detection device according to the present embodiment is mounted.
- the object detection device according to this embodiment detects the surroundings of the vehicle 1 based on TOF (Time Of Flight), Doppler shift information, etc. acquired by transmitting ultrasonic waves from the vehicle 1 and receiving reflected waves from the object. It is a device that detects objects (other vehicles, structures, pedestrians, road surfaces, etc.) that exist in the vehicle.
- TOF Time Of Flight
- Doppler shift information etc. acquired by transmitting ultrasonic waves from the vehicle 1 and receiving reflected waves from the object.
- It is a device that detects objects (other vehicles, structures, pedestrians, road surfaces, etc.) that exist in the vehicle.
- the object detection device has a plurality of transmission/reception units 21A to 21H (hereinafter abbreviated as transmission/reception unit 21 when there is no need to distinguish between the plurality of transmission/reception units 21A to 21H).
- Each transmission/reception unit 21 is installed on the vehicle body 2 as the exterior of the vehicle 1, transmits ultrasonic waves (transmission waves) toward the outside of the vehicle body 2, and receives reflected waves from objects existing outside the vehicle body 2.
- four transmitting/receiving units 21A to 21D are arranged at the front end of the vehicle body 2
- four transmitting/receiving units 21E to 21H are arranged at the rear end. Note that the number and installation positions of the transmitting/receiving units 21 are not limited to the above example.
- FIG. 2 is a block diagram showing an example of the configuration of the vehicle control device 10 according to the embodiment.
- a vehicle control device 10 includes an object detection device 11 and an ECU 12 .
- the vehicle control device 10 performs processing for controlling the vehicle 1 based on information output from the object detection device 11 .
- the object detection device 11 includes a plurality of transmission/reception units 21 and a control unit 22.
- Each transmission/reception unit 21 includes a transducer 31 configured using a piezoelectric element or the like, an amplifier, and the like, and realizes transmission and reception of ultrasonic waves by vibration of the transducer 31 .
- each transmitting/receiving unit 21 transmits an ultrasonic wave generated in response to the vibration of the transducer 31 as a transmission wave, and transmits the vibration of the transducer 31 caused by the reflected wave of the transmission wave reflected by an object.
- the object includes an object O with which the vehicle 1 should avoid contact, a road surface G on which the vehicle 1 travels, and the like.
- the vibration of the vibrator 31 is converted into an electric signal, and echo information indicating the temporal change in the intensity (amplitude) of the reflected wave from the object can be acquired based on the electric signal. Based on the echo information, distance information such as TOF corresponding to the distance from the transmitter/receiver 21 (vehicle body 2) to the object can be acquired.
- the echo information may be generated based on data acquired by one transmitting/receiving unit 21, or may be generated based on multiple data acquired by each of the multiple transmitting/receiving units 21.
- echo information about an object existing in front of the vehicle body 2 is two or more pieces of data acquired by two or more of the four transceivers 21A to 21D (see FIG. 1) arranged in front of the vehicle body 2. (eg, average value, etc.).
- the echo information about an object existing behind the vehicle body 2 is obtained by two or more of the four transceivers 21E to 21H (see FIG. 1) arranged behind the vehicle body 2. It may be generated based on data.
- the configuration in which both the transmission of the transmission wave and the reception of the reflected wave are performed using a single transducer 31 is illustrated. It is not limited.
- a transmitting unit for transmitting transmitted waves and a receiving unit for receiving reflected waves are separated, such as a configuration in which a transducer for transmitting transmitted waves and a transducer for receiving reflected waves are separately provided. configuration may be used.
- the control unit 22 includes an input/output device 41, a storage device 42, and a processor 43.
- the input/output device 41 is an interface device that transfers data between the control unit 22 and the outside (transmitting/receiving unit 21, ECU 12, etc.).
- the storage device 42 includes main storage devices such as ROM (Read Only Memory) and RAM (Random Access Memory), and auxiliary storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive).
- the processor 43 is an integrated circuit that executes various processes for realizing the functions of the control unit 22. For example, a CPU (Central Processing Unit) that operates according to a program, an ASIC (Application Specific Integrated Circuit) designed for a specific application. and the like.
- the processor 43 reads and executes programs stored in the storage device 42 to perform various arithmetic processing and control processing.
- the ECU 12 is a unit that executes various processes for controlling the vehicle 1 based on various information acquired from the object detection device 11 and the like.
- the ECU 12 has an input/output device 51 , a storage device 52 and a processor 53 .
- the input/output device 51 is an interface device that transfers data between the ECU 12 and external mechanisms (object detection device 11, driving mechanism, braking mechanism, steering mechanism, transmission mechanism, in-vehicle display, speaker, etc.).
- the storage device 52 includes main storage devices such as ROM and RAM, and auxiliary storage devices such as HDD and SSD.
- the processor 53 is an integrated circuit that executes various processes for realizing the functions of the ECU 12, and can be configured using, for example, a CPU, an ASIC, or the like.
- the processor 53 reads programs stored in the storage device 52 and executes various kinds of arithmetic processing and control processing.
- the input/output device 41 of the object detection device 11 and the input/output device 51 of the ECU 12 are connected via a bus 60 conforming to a predetermined standard such as CAN (Controller Area Network).
- CAN Controller Area Network
- FIG. 3 is a block diagram showing an example of the functional configuration of the object detection device 11 according to the embodiment.
- the object detection device 11 according to this embodiment includes a signal processing unit 101 , a distance information acquisition unit 102 (acquisition unit), a level difference information generation unit 103 (generation unit), and an output unit 104 .
- These functional components 101 to 104 are realized by cooperation of hardware components of the object detection device 11 illustrated in FIG. 2 and software components such as programs stored in the storage device 42 .
- the signal processing unit 101 performs predetermined processing on the data (the amount of vibration of the transducer 31, etc.) acquired by the transmitting/receiving unit 21, and generates echo information indicating temporal changes in intensity of reflected waves.
- the predetermined processing is, for example, amplification processing, filtering processing, envelope processing, etc. for the electrical signal corresponding to the vibration of the vibrator 31 .
- the distance information acquiring unit 102 calculates the distance from the installation position (an example of the predetermined portion) of the transmitting/receiving unit 21 to an object (target object 0) existing around the vehicle 1. acquire distance information (for example, TOF) indicating The distance information acquisition unit 102 acquires, for example, the TOF corresponding to the timing (peak) at which the intensity of the reflected wave from the object exceeds the threshold.
- distance information for example, TOF
- the step information generation unit 103 generates step information indicating the height of objects existing around the vehicle 1 based on the distance information acquired by the distance information acquisition unit 102 .
- the step information generator 103 calculates the height of the object based on a pair of distance information detected within a predetermined time interval. A method for calculating the height of the object will be described later.
- the output unit 104 outputs the distance information acquired by the distance information acquisition unit 102 and the step information generated by the step information generation unit 104 to the ECU 12 and the like.
- FIG. 4 is a diagram showing an example of a method of acquiring distance information from echo information in the embodiment.
- FIG. 4 exemplifies an envelope L11 (an example of echo information) indicating the temporal change in the intensity of the reflected wave.
- the horizontal axis corresponds to time (TOF)
- the vertical axis corresponds to the intensity of ultrasonic waves transmitted and received by the transmitter/receiver 21 (the amount of vibration of the transducer 31).
- time Tb corresponds to so-called reverberation time.
- the envelope L11 reaches a peak when the magnitude of vibration of the vibrator 31 is equal to or greater than a predetermined threshold value Th at timing t4, which is the time Tp after the timing t0 at which transmission of the transmission wave is started.
- the threshold Th is determined whether the vibration of the vibrator 31 is caused by receiving a reflected wave from the object O (another vehicle, a structure, a pedestrian, etc.), or an object other than the object O (for example, the road surface G etc.).
- the threshold value Th is shown here as a constant value, the threshold value Th may be a variable value that changes according to the passage of time, circumstances, and the like.
- a vibration having a peak equal to or greater than the threshold Th can be considered to be caused by receiving a reflected wave from the object O.
- the timing t4 corresponds to the timing when the reception of the reflected wave from the object O is completed, in other words, the timing when the last transmitted wave at the timing t1 returns as a reflected wave.
- timing t3 which is the starting point of the peak at timing t4 is the timing at which reception of the reflected wave from the object O is started. corresponds to the timing of returning as Therefore, the time ⁇ T between the timing t3 and the timing t4 is equal to the time Ta as the transmission time of the transmission wave.
- the time Tf is the TOF corresponding to the distance from the installation position of the transmitting/receiving section 21 to the object O.
- the time Tf is obtained by subtracting the time ⁇ T equal to the time Ta as the transmission time of the transmitted wave from the time Tp as the difference between the time t0 and the time t4 at which the intensity of the reflected wave peaks after exceeding the threshold Th. can be done.
- the timing t0 when the transmission wave starts to be transmitted can be easily identified as the timing when the object detection device 11 starts to operate, and the time Ta as the transmission time of the transmission wave is predetermined by setting or the like. Therefore, by specifying the timing t4 when the intensity of the reflected wave becomes equal to or greater than the threshold Th and reaches a peak, the time Tf can be calculated, and the distance from the transmitting/receiving section 21 to the object O can be calculated.
- the distance information acquisition unit 102 acquires object information (TOF) regarding the target object O by, for example, the method described above.
- FIG. 5 is a diagram showing an example of a situation when calculating the height H of the object 61 in the embodiment.
- FIG. 6 is a diagram showing an example of echo information corresponding to the situation shown in FIG. 5 in the embodiment.
- FIG. 5 illustrates a situation in which the height H of an object 61 existing in front of the vehicle 1 from the road surface G is calculated.
- the height H of the object 61 illustrated here is lower than the installation height H0 of the transmitter/receiver 21 .
- the installation height H0 is the height from the road surface G to a predetermined position of the transmitter/receiver 21 (for example, the center of the diaphragm), and is a known value.
- Two pieces of distance information (TOF) corresponding to both peaks P1 and P2 are treated as a pair of distance information. That is, the pair of distance information includes distance information corresponding to a peak at which the intensity of the reflected wave exceeds the threshold Th within the predetermined time interval Ts.
- the intensity of the reflected wave can also be detected using wave diffraction that occurs when the ultrasonic wave (transmitted wave) is reflected at the corners of the object 61 .
- a pair of distance information can be acquired based on the reflected wave received by one receiving unit. In this way, by using the reflected wave received by one receiving unit, when calculating the installation height based on the distance information, a pair of distance information can be obtained from one piece of data. It is possible to improve the speed of arithmetic processing by 103 .
- the first peak P1 corresponds to the upper end portion 61A (see FIG. 5) of the surface of the object 61 on the vehicle 1 side.
- the second peak P2 corresponds to the lower end portion 61B of the surface of the object 61 on the vehicle 1 side. That is, the distance D1 (an example of the first distance) from the transmitting/receiving section 21 to the upper end portion 61A can be calculated based on TOF (first distance information) calculated from the time tp1 when the first peak P1 is detected. Also, based on TOF (second distance information) calculated from the time tp2 when the second peak P2 is detected, the distance D2 (an example of the second distance) from the transmitting/receiving section 21 to the lower end portion 61B can be calculated.
- TOF first distance information
- the distance D (an example of the third distance) from the point of contact between the perpendicular line V extending vertically from the installation position of the transmitter/receiver 21 and the road surface G to the object 61 can be calculated.
- the height difference H1 between the upper end portion 61A of the object 61 and the transmitting/receiving section 21 can be calculated.
- the step information generating unit 103 calculates the height H of the object 61 by, for example, the method described above, and generates step information indicating the height H.
- the height H of the object 61 existing in front of the vehicle 1 is calculated is exemplified, but the height of the object existing behind the vehicle 1 can also be calculated in the same manner as described above.
- FIG. 7 is a flowchart showing an example of processing in the object detection device 11 according to the embodiment.
- the transmitting/receiving unit 21 transmits/receives ultrasonic waves (S101)
- the signal processing unit 101 acquires echo information from the data acquired by the transmitting/receiving unit 21 (S102).
- the distance information acquisition unit 102 detects peaks exceeding the threshold Th based on the echo information (S103).
- the step information generation unit 103 determines whether two peaks P1 and P2 with the time difference ⁇ Tp equal to or less than the time interval Ts are detected based on the detection result by the distance information acquisition unit 102 (S104). When two peaks P1 and P2 whose time difference ⁇ Tp is equal to or less than the time interval Ts are detected (S104: Yes), the step information generating unit 103 generates the TOF corresponding to the time tp1 when the first peak P1 is detected and the second Based on the TOF corresponding to the time tp2 when the peak P2 is detected, the height H of the object 61 is calculated as described above (S105).
- the output unit 104 outputs the distance information acquired by the distance information acquisition unit 102 and the step information generated by the step information generation unit 103 to the ECU 12 or the like (S106). On the other hand, if the two peaks P1 and P2 with the time difference ⁇ Tp equal to or less than the time interval Ts are not detected (S104: No), the output unit 104 sends only the distance information acquired by the distance information acquisition unit 102 to the ECU 12 or the like. Output (S107).
- a program that causes a computer for example, the processor 43 of the control unit 22, etc. to execute processing for realizing various functions in the above embodiment is a file in an installable format or an executable format. It can be provided by being recorded on a computer-readable recording medium such as a flexible disk (FD), CD-R (Recordable), DVD (Digital Versatile Disk), or the like. Also, the program may be provided or distributed via a network such as the Internet.
- the object 61 it is possible to detect the presence of the object 61 and estimate the height H of the object 61 using ultrasonic waves. Then, based on the estimated height H of the object 61, it is possible to determine whether the object 61 can be climbed over or should be avoided. This makes it possible to improve the controllability of the vehicle 1 during automatic travel (for example, automatic parking).
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Abstract
Description
Claims (6)
- 超音波が物体に反射されて生じる反射波の強度に基づいて所定部分から前記物体までの距離を示す距離情報を取得する取得部と、
所定の時間間隔内で検出された一対の前記距離情報に基づいて前記物体の高さを示す段差情報を生成する生成部と、
を備える物体検出装置。 - 一対の前記距離情報は、前記所定部分から前記物体の上端部までの距離に対応する第1距離情報と、前記所定部分から前記物体の下端部までの距離に対応する第2距離情報とを含む、
請求項1に記載の物体検出装置。 - 前記生成部は、前記第1距離情報と、前記第2距離情報と、超音波を送受信する送受信部の路面からの高さを示す設置高さとに基づいて、前記設置高さより低い前記物体の高さを示す前記段差情報を生成する、
請求項2に記載の物体検出装置。 - 前記取得部は、一つの受信部によって受信された前記反射波に基づいて一対の前記距離情報を取得する、
請求項1から3のいずれか一項に記載の物体検出装置。 - 一対の前記距離情報は、前記時間間隔内において前記反射波の強度が閾値を超えるピークに対応する前記距離情報を含む、
請求項1から4のいずれか一項に記載の物体検出装置。 - 前記生成部は、前記第2距離情報が示す第2距離と前記設置高さとに基づいて前記送受信部から鉛直方向に延びる垂線と路面との接点から前記物体の下端部までの第3距離を算出し、前記第1距離情報が示す第1距離と前記第3距離とに基づいて前記物体の上端部と前記送受信部との高低差を算出し、前記設置高さと前記高低差との差分に基づいて前記物体の高さを算出する、
請求項3に記載の物体検出装置。
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CN202280019562.3A CN117063088A (zh) | 2021-05-13 | 2022-03-16 | 物体检测装置 |
EP22807176.7A EP4339649A1 (en) | 2021-05-13 | 2022-03-16 | Object detection device |
JP2023520870A JPWO2022239470A1 (ja) | 2021-05-13 | 2022-03-16 | |
US18/280,715 US20240151847A1 (en) | 2021-05-13 | 2022-03-16 | Object detection device |
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JP2021038977A (ja) * | 2019-09-02 | 2021-03-11 | 株式会社Soken | 超音波センサ |
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- 2022-03-16 JP JP2023520870A patent/JPWO2022239470A1/ja active Pending
- 2022-03-16 WO PCT/JP2022/012030 patent/WO2022239470A1/ja active Application Filing
- 2022-03-16 EP EP22807176.7A patent/EP4339649A1/en active Pending
- 2022-03-16 US US18/280,715 patent/US20240151847A1/en active Pending
- 2022-03-16 CN CN202280019562.3A patent/CN117063088A/zh active Pending
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JP2005337954A (ja) * | 2004-05-28 | 2005-12-08 | Secom Co Ltd | センシング装置及び身長測定装置 |
WO2014083787A1 (ja) * | 2012-11-27 | 2014-06-05 | 日産自動車株式会社 | 車両用加速抑制装置及び車両用加速抑制方法 |
JP6026948B2 (ja) | 2013-04-30 | 2016-11-16 | 株式会社デンソー | 障害物検出装置 |
JP2015166705A (ja) * | 2014-03-04 | 2015-09-24 | パナソニックIpマネジメント株式会社 | 障害物検知装置 |
JP2021038977A (ja) * | 2019-09-02 | 2021-03-11 | 株式会社Soken | 超音波センサ |
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JPWO2022239470A1 (ja) | 2022-11-17 |
CN117063088A (zh) | 2023-11-14 |
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