WO2023282265A1 - 物体検出装置、物体検出方法、及びプログラム - Google Patents
物体検出装置、物体検出方法、及びプログラム Download PDFInfo
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- 238000000034 method Methods 0.000 title description 9
- 238000010521 absorption reaction Methods 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims description 98
- 230000005540 biological transmission Effects 0.000 claims description 70
- 238000013016 damping Methods 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 26
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
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- 230000006870 function Effects 0.000 description 4
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- 230000002123 temporal effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
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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
- G01S7/52003—Techniques for enhancing spatial resolution of targets
-
- 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
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- 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
-
- 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
Definitions
- the present disclosure relates to an object detection device, an object detection method, and a program.
- an object detection device that detects objects existing around a vehicle based on the results of transmission and reception of ultrasonic waves by an ultrasonic sensor mounted on the vehicle.
- Ultrasonic waves attenuate while propagating in the air, but this attenuation of ultrasonic waves changes depending on the air conditions (temperature and humidity of the air). For this reason, the object detection accuracy of the object detection device may change under the influence of air conditions.
- one of the problems of the present disclosure is to obtain an object detection device, an object detection method, and a program that can suppress the influence of air conditions on the accuracy of object detection.
- An object detection device as an example of the present disclosure includes an ultrasonic wave transmitted by a first transmitting/receiving unit among a plurality of transmitting/receiving units capable of transmitting/receiving ultrasonic waves and directly received by a second transmitting/receiving unit.
- the intensity of the direct wave at the second transmitting/receiving unit, and the reflected wave received by the transmitting/receiving unit which is a reflected wave of the ultrasonic wave transmitted from the first transmitting/receiving unit reflected by an object.
- an acquisition unit that acquires the intensity of the object, calculates an air absorption attenuation coefficient of the ultrasonic wave based on the intensity of the direct wave, and calculates the air absorption attenuation coefficient of the ultrasonic wave based on the air absorption attenuation coefficient and the intensity of the reflected wave and a detection unit that detects the
- the air absorption attenuation coefficient of the ultrasonic wave is calculated, and the object is detected based on the air absorption attenuation coefficient and the intensity of the reflected wave, so the accuracy of object detection is affected by the air condition. can be suppressed.
- the detection unit acquires a first threshold corresponding to the air absorption attenuation coefficient, and determines that the object exists when the intensity of the reflected wave is equal to or greater than the first threshold. judge.
- the first threshold is a value corresponding to the air absorption attenuation coefficient, so the accuracy of object detection is improved compared to the case where the first threshold is a fixed value.
- the object detection device includes, for example, the plurality of transmission/reception units, and each of the plurality of transmission/reception units has a transducer that performs both transmission and reception of the ultrasonic waves.
- the transmitting/receiving section can be simplified compared to a configuration in which a transducer for transmitting ultrasonic waves and a transducer for receiving ultrasonic waves are separate in the transmitting/receiving section.
- the acquisition unit acquires the intensity of the direct wave for each of the plurality of transmission/reception units, and the detection unit calculates an average value of the intensities of the plurality of direct waves. Then, the air absorption attenuation coefficient is calculated based on the average value.
- the second transmitting/receiving unit is positioned next to the first transmitting/receiving unit.
- the distance between the first transmitting/receiving section and the second transmitting/receiving section can be relatively shortened, so that the direct wave path can be secured relatively easily.
- the object detection device for example, three or more of the transmitting/receiving units are provided, and the second transmitting/receiving unit is other than the transmitting/receiving unit closest to the first transmitting/receiving unit among the plurality of the transmitting/receiving units. is.
- the second transmission/reception unit is the transmission/reception unit closest to the first transmission/reception unit among the plurality of transmission/reception units
- the distance between the first transmission/reception unit and the second transmission/reception unit Because the distance between the Therefore, the accuracy of calculation of the air absorption attenuation coefficient can be improved.
- the detection unit does not determine whether the object exists when the intensity of the direct wave is equal to or less than a second threshold, and the second threshold is the air It does not change even if the absorption attenuation coefficient is changed.
- the intensity of the direct wave is less than or equal to the second threshold, it is not determined whether or not an object exists. In addition, there is no false detection of objects.
- An object detection method as an example of the present disclosure is an object detection method executed by an object detection device, wherein ultrasonic waves transmitted by a first transmission/reception unit among a plurality of transmission/reception units capable of transmitting/receiving ultrasonic waves are wherein the intensity of the direct wave directly received by the second transmitting/receiving unit at the second transmitting/receiving unit and the ultrasonic wave transmitted from the first transmitting/receiving unit are reflected by an object acquiring an intensity of the reflected wave received by the transmitting/receiving unit, which is a reflected wave; calculating an air absorption attenuation coefficient of the ultrasonic wave based on the intensity of the direct wave, and calculating the air absorption attenuation coefficient; and the intensity of the reflected wave.
- the air absorption attenuation coefficient of the ultrasonic wave is calculated, and the object is detected based on the air absorption attenuation coefficient and the intensity of the reflected wave, so the accuracy of object detection is affected by the air condition. can be suppressed.
- a program as an example of the present disclosure causes a computer to transmit ultrasonic waves transmitted by the first transmitting/receiving unit among a plurality of transmitting/receiving units capable of transmitting/receiving ultrasonic waves and directly received by the second transmitting/receiving unit.
- intensity of the direct wave received by the second transmitting/receiving unit; an acquisition unit that acquires wave intensity; an air absorption attenuation coefficient of the ultrasonic wave based on the intensity of the direct wave; and based on the air absorption attenuation coefficient and the intensity of the reflected wave It functions as a detection unit that detects an object.
- the air absorption attenuation coefficient of the ultrasonic wave is calculated, and the object is detected based on the air absorption attenuation coefficient and the intensity of the reflected wave, so the accuracy of object detection is affected by the air condition. can be suppressed.
- 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 echo information when detecting an object in the embodiment.
- FIG. 5 is a diagram showing differences in echo information due to differences in air conditions in the embodiment.
- FIG. 6 is a diagram showing an example of echo information in a reference air condition in the embodiment.
- FIG. 7 is a diagram showing an example of echo information in an air condition different from the reference air condition in the embodiment.
- 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
- FIG. 8 is a diagram showing an example of echo information and reflected wave thresholds in a reference air condition in the embodiment.
- FIG. 9 is a diagram showing an example of echo information and a reflected wave threshold in an air condition different from the reference air condition in the embodiment.
- FIG. 10 is a diagram showing an example of echo information and a reflected wave threshold in an air condition different from the reference air condition in the embodiment.
- FIG. 11 is a diagram illustrating an example of air absorption attenuation coefficient information according to the embodiment;
- FIG. 12 is a diagram illustrating an example of reflected wave threshold information according to the embodiment.
- FIG. 13 is a diagram showing an example of echo information in an air condition different from the reference air condition in the embodiment.
- FIG. 14 is a flowchart illustrating an example of processing (object detection method) executed by 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 vehicle on which the object detection device according to the present embodiment is mounted.
- the object detection device according to the present embodiment transmits ultrasonic waves from the vehicle 1 and receives the reflected waves from the object. Based on TOF (Time Of Flight), Doppler shift information, etc. It is a device for detecting existing objects.
- TOF Time Of Flight
- Doppler shift information etc. It is a device for detecting existing objects.
- 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. .
- 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. .
- a plurality of (for example, four) transmitting/receiving units 21A to 21D are arranged at the front end of the vehicle body 2, and a plurality of (for example, four) transmitting/receiving units 21E to 21H are arranged at the rear end. ing.
- the positions of the plurality of transmitting/receiving units 21A to 21D in the width direction of the vehicle 1 are different. Further, the positions of the plurality of transmitting/receiving units 21E to 21H in the width direction of the vehicle 1 are different. 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 accordance with the vibration of the transducer 31 as a transmission wave, and the transmission wave is reflected by the object O, resulting in vibration of the transducer 31.
- the object O includes an object O with which the vehicle 1 should avoid contact and a road surface G on which the vehicle 1 travels.
- the vibration of the vibrator 31 is converted into an electric signal, and echo information indicating a temporal change in the intensity (amplitude) of the reflected wave from the object O can be acquired based on the electric signal.
- a TOF or the like corresponding to the distance from the transmitter/receiver 21 (vehicle body 2) to the object O can be obtained based on the echo information.
- 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.
- the echo information about the object O existing in front of the vehicle body 2 is obtained by two or more of the four transceivers 21A to 21D (see FIG. 1) arranged in front of the vehicle body 2. It may be generated based on data (eg, average values, etc.).
- the echo information about the object O existing behind the vehicle body 2 is acquired by two or more of the four transceivers 21E to 21H (see FIG. 1) arranged behind the vehicle body 2. may be generated based on the data of
- 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. For example, a configuration in which a transmitting side and a receiving side are separated, such as a configuration in which a transducer for transmitting a transmitted wave and a transducer for receiving a reflected wave are separately provided, 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 for realizing transmission and reception of information between the control unit 22 and the outside (the transmission/reception unit 21, the 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. etc.
- 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 for realizing transmission and reception of information between the ECU 12 and external mechanisms (object detection device 11, drive 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 includes, for example, a CPU and an ASIC.
- the processor 53 reads programs stored in the storage device 52 and executes various kinds of arithmetic processing and control processing.
- FIG. 3 is a block diagram showing an example of the functional configuration of the object detection device 11 according to the embodiment.
- An object detection device 11 according to this embodiment includes an acquisition unit 101 and a detection unit 102 . These functional components 101 and 102 are realized by cooperation of hardware components of the object detection device 11 illustrated in FIG. 2 and software components such as firmware and programs.
- the acquisition unit 101 acquires various types of information. For example, the acquisition unit 101 processes data acquired by the transmission/reception unit 21 and generates various information. The acquisition unit 101 performs, for example, amplification processing, filtering processing, line processing, etc. on the electrical signal corresponding to the vibration of the transducer 31, and obtains the intensity (amplitude) of the reflected wave transmitted by the transmission/reception unit 21 and reflected by the object over time. generates echo information indicative of a change in dynamics. Based on the echo information, the TOF corresponding to the object O existing around the vehicle 1 is detected, and the distance from the transmitter/receiver 21 (vehicle body 2) to the object O (hereinafter also referred to as object distance) is calculated or obtained. . The acquisition unit 101 acquires the object distance for each transmission and reception of the transmission wave and the reception of the reflected wave of the transmission/reception unit 21 . That is, the acquisition unit 101 can acquire the object distance multiple times.
- FIG. 4 is a diagram showing an example of echo information when object O is detected in the embodiment.
- FIG. 4 exemplifies a line L11 as echo information indicating temporal changes in the intensity of the ultrasonic waves transmitted and received by the transmitter/receiver 21 .
- the horizontal axis corresponds to time (TOF)
- the vertical axis corresponds to the intensity (amplitude value) of ultrasonic waves transmitted and received by the transmitter/receiver 21 .
- a line L11 indicates the change over time of the strength indicating the magnitude of vibration of the vibrator 31 . From this line L11, the vibrator 31 is driven and oscillated for the time Ta from timing t0, and the transmission of the transmission wave is completed at timing t1. It can be read that the vibration of the child 31 continues while damping. Therefore, in the graph shown in FIG. 4, time Tb corresponds to so-called reverberation time.
- the line L11 reaches a peak when the amplitude of the vibration of the oscillator 31 is equal to or greater than the reflected wave threshold Th1 at timing t4, which is the time Tp after the timing t0 at which transmission of the transmission wave is started.
- This reflected wave threshold Th1 is either the vibration of the oscillator 31 caused by receiving the reflected wave from the detection target object O (another vehicle, a structure, a pedestrian, etc.), or the detection target. This value is set to identify whether it is caused by receiving a reflected wave from an object other than the object O (for example, the road surface G).
- a vibration having a peak equal to or greater than the reflected wave threshold Th1 can be considered to be caused by receiving a reflected wave from the object O to be detected.
- the reflected wave threshold Th1 is an example of a first threshold.
- the line L11 in this example indicates that the vibration of the vibrator 31 is attenuated after timing t4. Therefore, 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 object O starts, in other words, the transmission wave first transmitted at timing t0 returns as the reflected wave. Respond to the coming timing. 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.
- This time Tf is calculated from the time Tp (TOF for the object O) as the difference between the timing t0 and the timing t4 when the reflected wave intensity exceeds the reflected wave threshold value Th1 and peaks, and the time Ta as the transmission time of the transmitted wave. can be obtained by subtracting a time ⁇ T equal to .
- 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 at which the intensity of the reflected wave reaches a peak equal to or higher than the reflected wave threshold value Th1, the distance (object distance) from the transmitting/receiving source to the object O can be obtained.
- the obtaining unit 101 calculates the object distance by, for example, the method described above.
- Ultrasonic waves are affected by the air condition (air temperature and humidity), which is the state of the air in which the ultrasonic waves propagate.
- air condition air temperature and humidity
- the transmission/reception unit 21B is the first transmission/reception unit
- the transmission/reception unit 21A is the second transmission/reception unit.
- each of the transmitter/receivers 21A to 21D may be the first transmitter/receiver
- each of the transmitter/receivers 21A to 21D may be the second transmitter/receiver.
- the set of the first transmission/reception unit and the second transmission/reception unit is a set of transmission/reception units 21 different from each other.
- the plurality of transmitting/receiving sections 21 may be the plurality of transmitting/receiving sections 21E to 21H at the rear end portion of the vehicle body 2.
- FIG. 5 is a diagram showing differences in echo information due to differences in air conditions in the embodiment.
- FIG. 5 exemplifies lines L11a and L11b as echo information indicating temporal changes in intensity of direct waves, which are ultrasonic waves transmitted by the transmitter/receiver 21B and directly received by the transmitter/receiver 21A.
- a line L11a represents the echo information of the direct wave in the reference air condition
- a line L11b represents the direct wave in an air condition different from the reference air condition, specifically an air condition with higher humidity than the reference air condition. Indicates echo information.
- FIG. 5 exemplifies lines L11a and L11b as echo information indicating temporal changes in intensity of direct waves, which are ultrasonic waves transmitted by the transmitter/receiver 21B and directly received by the transmitter/receiver 21A.
- a line L11a represents the echo information of the direct wave in the reference air condition
- a line L11b represents the direct wave in an air condition different from the reference air condition, specifically
- the horizontal axis corresponds to time (TOF), and the vertical axis corresponds to the intensity (amplitude value) of the ultrasonic waves received by the transmitting/receiving section 21 .
- the peak of the intensity of the direct wave on line L11a is at timing ta
- the peak of the intensity of the direct wave on line L11b is at timing tb, which is later than timing ta. That is, the higher the humidity of the air, the slower the speed of the ultrasonic waves.
- the line L11a is for the air temperature and humidity of 25° C. and 40%, respectively
- the line L11b is for the air temperature and humidity of 25° C. and 80%, respectively.
- FIG. 6 is a diagram showing an example of echo information in a reference air condition in the embodiment.
- FIG. 7 is a diagram showing an example of echo information in an air condition different from the reference air condition in the embodiment.
- 6 shows the reference intensity L31 and the direct wave threshold value L32 in addition to the line L11a
- FIG. 7 shows the reference intensity L31 and the direct wave threshold value L32 in addition to the line L11b.
- the reference intensity L31 indicates the intensity of the direct wave in the reference air condition.
- the direct wave threshold L32 is a threshold for detecting a direct wave abnormality. As can be seen from FIGS. 6 and 7, the intensity peak value of the line L11b is smaller than the intensity peak value of the line 11a. becomes smaller.
- the direct wave threshold L32 is an example of a second threshold.
- the reflected wave threshold Th1 is set according to the air condition. Specifically, in this embodiment, the air absorption attenuation coefficient is calculated according to the air condition, and the reflected wave threshold Th1 is set according to the air absorption attenuation coefficient.
- FIG. 8 is a diagram showing an example of echo information and reflected wave thresholds in a reference air condition in the embodiment.
- FIG. 9 is a diagram showing an example of echo information and a reflected wave threshold in an air condition different from the reference air condition in the embodiment.
- FIG. 10 is a diagram showing an example of echo information and a reflected wave threshold in an air condition different from the reference air condition in the embodiment.
- 8 is a diagram for the case where the air absorption damping coefficient is the reference value
- FIG. 9 is a diagram for the case where the air absorption damping coefficient is smaller than the reference value
- FIG. It is a figure in the case of being larger than a value.
- 8 to 10 also show reflected wave thresholds Tha, Thb, and Thc.
- the reflected wave threshold Tha is a reference reflected wave threshold Th1
- the reflected wave threshold Thb is a reflected wave threshold Th1 larger than the reflected wave threshold Tha
- the reflected wave threshold Thc is a reflected wave threshold Thc.
- the reflected wave threshold Th1 is smaller than the threshold Tha.
- the air attenuation coefficient is a reference value
- the reference value is used as the reflected wave threshold Th1.
- the reflected wave threshold value Thb which is larger than the reference value, is used as the reflected wave threshold value Th1.
- FIG. 9 when the air attenuation coefficient is smaller than the reference value, the reflected wave threshold value Th2.
- the reflected wave threshold Thc which is smaller than the reference value, is used as the reflected wave threshold Th1. 8 to 10, the peak P1 is not determined to be the object O, and the peak P2 is determined to be the object O, respectively.
- the acquisition unit 101 and the detection unit 102 perform the following operations.
- the acquisition unit 101 acquires direct wave information and reflected wave information.
- the direct wave information is the ultrasonic wave transmitted by the first transmitting/receiving unit 21 among the plurality of transmitting/receiving units 21 capable of transmitting/receiving ultrasonic waves and directly received by the second transmitting/receiving unit. Includes strength (amplitude value) at the transmitter/receiver.
- the reflected wave information includes the intensity of the reflected wave received by the transmitting/receiving unit 21 which is a reflected wave of the ultrasonic wave transmitted from the first transmitting/receiving unit and reflected by the object O.
- the detection unit 102 calculates the air absorption attenuation coefficient of ultrasonic waves based on the intensity of the direct wave, and detects the object O based on the air absorption attenuation coefficient and the intensity of the reflected wave.
- the storage device 42 stores air absorption attenuation coefficient information.
- the air absorption attenuation coefficient information is information indicating an air absorption attenuation coefficient.
- FIG. 11 is a diagram showing an example of the air absorption attenuation coefficient information of the embodiment. As shown in FIG. 11, for example, the air absorption attenuation coefficient information is a table showing the relationship between the direct wave intensity and the air absorption attenuation coefficient. The air absorption attenuation coefficient decreases as the intensity of the direct wave increases.
- the detection unit 102 acquires an air absorption attenuation coefficient corresponding to the intensity of the direct wave from the air absorption attenuation coefficient information.
- the air absorption attenuation coefficient information includes the difference between the intensity with respect to the reference intensity, which is the intensity of the reflected wave in the reference air condition, and the air absorption attenuation coefficient of the reference air condition corresponding to the difference.
- the relationship between the correction value of the absorption attenuation coefficient and the air absorption attenuation coefficient of the ultrasonic wave in the reference air state may be stored.
- the detection unit 102 calculates the difference in intensity of the reflected waves, and acquires the correction value of the air absorption attenuation coefficient corresponding to the calculated difference from the air absorption attenuation coefficient information. Then, the detection unit 102 may use, as the air absorption attenuation coefficient, the obtained reference air absorption attenuation coefficient corrected by the correction value.
- the detection unit 102 acquires a reflected wave threshold Th1 (first threshold) corresponding to the air absorption attenuation coefficient, and the intensity of the reflected wave becomes the reflected wave threshold Th1 ( First threshold value) or more, it is determined that the object O exists.
- the detection unit 102 determines that the object O does not exist when the intensity of the reflected wave is less than the reflected wave threshold Th1 (first threshold) (in the case of the peak P1).
- the reflected wave threshold information is stored in the storage device 42 .
- FIG. 12 is a diagram showing an example of reflected wave threshold information according to the embodiment. As shown in FIG.
- the reflected wave threshold information is a table showing the relationship between the air absorption attenuation coefficient and the reflected wave threshold. As the air absorption attenuation coefficient increases, the reflected wave threshold decreases.
- the detection unit 102 acquires an air absorption attenuation coefficient corresponding to the air absorption attenuation coefficient from the reflected wave threshold information.
- FIG. 13 is a diagram showing an example of echo information in an air condition different from the reference air condition in the embodiment.
- the detection unit 102 does not determine whether the object O exists when the intensity of the direct wave is equal to or lower than the direct wave threshold value L32 (second threshold value). Note that the direct wave threshold value L32 is not changed even if the air absorption attenuation coefficient is changed.
- the detection unit 102 detects the known distance between the first transmission/reception unit and the second transmission/reception unit, and the distance between the direct wave transmitted from the first transmission/reception unit and received by the second transmission/reception unit.
- the speed of sound of the direct wave is calculated based on the time to (arrival time).
- the detection unit 102 can obtain the humidity of the air by a known method based on the speed of sound, the attenuation coefficient of air absorption, and the frequency of the direct wave.
- FIG. 14 is a flowchart showing an example of processing (object detection method) executed by the object detection device 11 according to the embodiment.
- the acquisition unit 101 acquires reflected wave information and direct wave information (S1).
- the detection unit 102 determines whether the direct wave intensity, which is the intensity of the direct wave, is equal to or greater than the direct wave threshold (S2).
- the process proceeds to S7 and performs error processing without determining whether the object O exists.
- the error processing is, for example, notification that an abnormality has occurred in the transmitting/receiving unit 21 (transmitting/receiving ultrasonic waves).
- the abnormality of the transmitter/receiver 21 is, for example, adhesion of a foreign substance (attachment) to the transmitter/receiver 21, a decrease in sound pressure, a shift in frequency, or the like.
- the detection unit 102 determines that the direct wave intensity is greater than or equal to the direct wave threshold (S2: Yes), it calculates the air attenuation coefficient (S3). Next, the detection unit 102 acquires a reflected wave threshold based on the calculated air attenuation coefficient (S4).
- the detection unit 102 determines whether the reflected wave intensity is greater than the reflected wave threshold (S5).
- the detection unit 102 determines that the object O exists (S6), and returns to S1.
- the detection unit 102 returns to S1 without determining that the object O exists.
- the processes of S1 to S6 are repeatedly executed. In the above processing, the reflected wave information and the object distance may be acquired a plurality of times in S1 and their average may be used. Thereby, the detection accuracy of the object O is further improved.
- the object detection device 11 of this embodiment includes the acquisition unit 101 and the detection unit 102 .
- the acquisition unit 101 acquires a second ultrasonic wave, which is an ultrasonic wave transmitted by the first transmission/reception unit among the plurality of transmission/reception units 21 capable of transmitting/receiving ultrasonic waves and is directly received by the second transmission/reception unit.
- the intensity at the transmitting/receiving unit and the intensity of the reflected wave received by the transmitting/receiving unit 21 which is the reflected wave of the ultrasonic wave transmitted from the first transmitting/receiving unit and reflected by the object O are acquired.
- the detection unit 102 calculates the air absorption attenuation coefficient of the ultrasonic wave based on the intensity of the direct wave, and detects the object O based on the air absorption attenuation coefficient and the intensity of the reflected wave.
- the air absorption attenuation coefficient of ultrasonic waves is calculated, and the object O is detected based on the air absorption attenuation coefficient and the intensity of the reflected wave. It is possible to suppress the influence of humidity. Moreover, according to such a configuration, it is possible to control the reflected wave threshold Th1 according to the reception timing (reception time) of the reflected wave. As a result, it is possible to improve the accuracy of detection of the object O and the accuracy of calculation of the object distance, thereby reducing unnecessary operations of the vehicle 1 . Further, according to such a configuration, it is possible to calculate the air absorption attenuation coefficient of ultrasonic waves without changing the transmitting/receiving section 21 from the conventional one. can be done. Further, according to such a configuration, it is possible to calculate the air absorption attenuation coefficient of ultrasonic waves without affecting the operation of the transmitting/receiving unit 21 during the object detection operation of the transmitting/receiving unit 21 .
- the detection unit 102 acquires a reflected wave threshold Th1 (first threshold) corresponding to the air absorption attenuation coefficient, and detects that the intensity of the reflected wave is equal to or higher than the reflected wave threshold Th1 (first threshold). It is determined that O exists.
- Th1 first threshold
- the reflected wave threshold Th1 has a value corresponding to the air absorption attenuation coefficient, so the detection accuracy of the object O is improved compared to the case where the reflected wave threshold Th1 is a fixed value.
- the object detection device 11 includes a plurality of transmission/reception units 21 .
- Each of the plurality of transmitting/receiving units 21 has a transducer 31 that performs both ultrasonic transmission and ultrasonic reception.
- the transmitting/receiving section 21 can be simplified compared to a configuration in which the transmitting/receiving section 21 has separate transducers for transmitting ultrasonic waves and for receiving ultrasonic waves.
- the second transceiver is located next to the first transceiver.
- the distance between the first transmitting/receiving section 21 and the second transmitting/receiving section 21 can be relatively shortened, so that the direct wave path can be secured relatively easily.
- the detection unit 102 does not determine whether the object O exists when the intensity of the direct wave is equal to or less than the direct wave threshold L32 (second threshold).
- the direct wave threshold L32 is not changed even if the air absorption attenuation coefficient is changed.
- the acquiring unit 101 acquires the intensity of the direct wave for each of the plurality of transmitting/receiving units 21 .
- the acquiring unit 101 acquires the intensity of the direct wave for each of multiple combinations of two transmitting/receiving units among the multiple transmitting/receiving units 21 .
- the detection unit 102 calculates an average value of the obtained intensities of the plurality of direct waves, and calculates (acquires) an air absorption attenuation coefficient corresponding to the average value of the intensities from the air absorption attenuation coefficient information. Further, the detection unit 102 calculates the sound velocities of the plurality of direct waves, and calculates the average value of the plurality of calculated sound velocities.
- the second transmitting/receiving section is other than the transmitting/receiving section 21 closest to the first transmitting/receiving section 21 among the plurality of transmitting/receiving sections 21 .
- the first transceiver is the transceiver 21B
- the second transceiver is the transceiver 21D.
- the second transceiver is the transceiver 21 closest to the first transceiver among the plurality of transceivers 21, the first transceiver and the second transceiver Since the distance between the Therefore, the accuracy of calculation of the air absorption attenuation coefficient can be improved.
- the plurality of transmitting/receiving units 21A to 21D and the plurality of transmitting/receiving units 21E to 21H are arranged symmetrically. Therefore, a predetermined transmitting/receiving unit 21 (for example, transmitting/receiving unit 21B) transmits ultrasonic waves, and a pair of transmitting/receiving units 21 (for example, transmitting/receiving unit 21A) located on the left and right sides of the predetermined transmitting/receiving unit 21 and having the same mounting height. , 21C) from below, and if there is a difference greater than a specified value between the intensities, it may be determined that an abnormality has occurred in the transmitting/receiving section 21 .
- a predetermined transmitting/receiving unit 21 for example, transmitting/receiving unit 21B
- a pair of transmitting/receiving units 21 located on the left and right sides of the predetermined transmitting/receiving unit 21 and having the same mounting height
- a program that causes a computer for example, the processor 43 of the control unit 22, the processor 53 of the ECU 12, etc.
- a computer for example, the processor 43 of the control unit 22, the processor 53 of the ECU 12, etc.
- the processing for realizing various functions in the above-described embodiment can be stored as a file in an installable format or an executable format on a CD (Compact Disc)-ROM, flexible disk (FD), CD-R (Recordable), DVD (Digital Versatile Disk), or other computer-readable recording medium, which can be recorded and provided.
- the program may be provided or distributed via a network such as the Internet.
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Abstract
Description
Claims (9)
- 超音波の送受信が可能な複数の送受信部のうち第1の前記送受信部によって送信された超音波であって第2の前記送受信部によって直接受信された直接波の、前記第2の前記送受信部での強度と、前記第1の前記送受信部から送信された前記超音波が物体に反射された反射波であって前記送受信部が受信した前記反射波の強度と、を取得する取得部と、
前記直接波の前記強度に基づいて前記超音波の空気吸収減衰係数を算出し、前記空気吸収減衰係数と前記反射波の前記強度とに基づいて前記物体を検出する検出部と、
を備える物体検出装置。 - 前記検出部は、前記空気吸収減衰係数に応じた第1の閾値を取得し、前記反射波の前記強度が前記第1の閾値以上の場合に前記物体が存在すると判定する、
請求項1に記載の物体検出装置。 - 前記複数の前記送受信部を備え、
前記複数の前記送受信部は、それぞれ、前記超音波の送信と前記超音波の受信との両方を行う振動子を有する、
請求項1又は2に記載の物体検出装置。 - 前記取得部は、前記複数の前記送受信部のそれぞれについて前記直接波の前記強度を取得し、
前記検出部は、複数の前記直接波の前記強度の平均値を算出し、前記平均値に基づいて前記空気吸収減衰係数を算出する、
請求項1~3のうちいずれか一つに記載の物体検出装置。 - 前記第2の前記送受信部は、前記第1の前記送受信部の隣りに位置する、
請求項1~4のうちいずれか一つに記載の物体検出装置。 - 前記送受信部は、3つ以上設けられ、
前記第2の前記送受信部は、前記複数の前記送受信部のうち前記第1の前記送受信部と最も近い前記送受信部以外である、
請求項1~4のうちいずれか一つに記載の物体検出装置。 - 前記検出部は、前記直接波の前記強度が第2の閾値以下の場合には、前記物体が存在するかを判定せず、
前記第2の閾値は、前記空気吸収減衰係数が変更されても、変更されない、
請求項1~6のうちいずれか一つに記載の物体検出装置。 - 物体検出装置で実行される物体検出方法であって、
超音波の送受信が可能な複数の送受信部のうち第1の前記送受信部によって送信された超音波であって第2の前記送受信部によって直接受信された直接波の、前記第2の前記送受信部での強度と、前記第1の前記送受信部から送信された前記超音波が物体に反射された反射波であって前記送受信部が受信した前記反射波の強度と、を取得するステップと、
前記直接波の前記強度に基づいて前記超音波の空気吸収減衰係数を算出し、前記空気吸収減衰係数と前記反射波の前記強度とに基づいて前記物体を検出するステップと、
を含む物体検出方法。 - コンピュータを、
超音波の送受信が可能な複数の送受信部のうち第1の前記送受信部によって送信された超音波であって第2の前記送受信部によって直接受信された直接波の、前記第2の前記送受信部での強度と、前記第1の前記送受信部から送信された前記超音波が物体に反射された反射波であって前記送受信部が受信した前記反射波の強度と、を取得する取得部と、
前記直接波の前記強度に基づいて前記超音波の空気吸収減衰係数を算出し、前記空気吸収減衰係数と前記反射波の前記強度とに基づいて前記物体を検出する検出部と、
として機能させるためのプログラム。
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JPH05223928A (ja) * | 1992-02-14 | 1993-09-03 | Fujitsu Ten Ltd | パルスレーダ |
JP2002131417A (ja) | 2000-10-25 | 2002-05-09 | Matsushita Electric Works Ltd | 障害物検知装置 |
JP2002131428A (ja) | 2000-10-25 | 2002-05-09 | Mitsubishi Electric Corp | 超音波障害物検出装置 |
WO2016063530A1 (ja) * | 2014-10-22 | 2016-04-28 | 株式会社デンソー | 物体検知装置及び車両制御装置 |
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JPH05223928A (ja) * | 1992-02-14 | 1993-09-03 | Fujitsu Ten Ltd | パルスレーダ |
JP2002131417A (ja) | 2000-10-25 | 2002-05-09 | Matsushita Electric Works Ltd | 障害物検知装置 |
JP2002131428A (ja) | 2000-10-25 | 2002-05-09 | Mitsubishi Electric Corp | 超音波障害物検出装置 |
WO2016063530A1 (ja) * | 2014-10-22 | 2016-04-28 | 株式会社デンソー | 物体検知装置及び車両制御装置 |
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