WO2024024477A1 - 物体検知装置、物体検知方法 - Google Patents

物体検知装置、物体検知方法 Download PDF

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Publication number
WO2024024477A1
WO2024024477A1 PCT/JP2023/025441 JP2023025441W WO2024024477A1 WO 2024024477 A1 WO2024024477 A1 WO 2024024477A1 JP 2023025441 W JP2023025441 W JP 2023025441W WO 2024024477 A1 WO2024024477 A1 WO 2024024477A1
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WO
WIPO (PCT)
Prior art keywords
signal
wave
object detection
detection device
section
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/025441
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English (en)
French (fr)
Japanese (ja)
Inventor
彰吾 中村
優 小山
哲也 青山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Soken Inc
Original Assignee
Denso Corp
Soken Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp, Soken Inc filed Critical Denso Corp
Priority to DE112023003230.0T priority Critical patent/DE112023003230T5/de
Priority to JP2024536933A priority patent/JPWO2024024477A1/ja
Publication of WO2024024477A1 publication Critical patent/WO2024024477A1/ja
Priority to US19/035,418 priority patent/US20250164625A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement 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
    • 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
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement 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
    • G01S7/523—Details of pulse systems
    • G01S7/524—Transmitters
    • 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
    • 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

Definitions

  • the present disclosure relates to an object detection device and an object detection method.
  • thermally excited sonar transmits a frequency-modulated transmission wave in the 10kHz to 50kHz band, and determines whether an object is a person based on the frequency characteristics of the reflected wave from the object.
  • Patent Document 1 There are known methods that do this (for example, see Patent Document 1).
  • An object of the present disclosure is to provide an object detection device and an object detection method that can stably detect objects.
  • the object detection device is a transmitting unit that transmits a long pulse signal having a pulse width of a predetermined time or more as a transmission wave that is an ultrasonic wave; a receiving unit that obtains a received signal corresponding to a reflected wave of the transmitted wave by an object; A signal processing unit that obtains a beat signal based on the received signal and detects an object based on the beat signal, The signal processing unit generates a signal corresponding to the fluctuation of the composite wave that occurs when receiving a reflected wave and a wave with a frequency different from the reflected wave, or a signal that corresponds to the fluctuation of the reflected wave that occurs when the distance from the object changes.
  • the signal corresponding to the fluctuation of the reflected wave is determined as a beat signal.
  • the configuration is such that a long pulse signal with a long pulse width is transmitted as a transmission wave, it is possible to increase the sound pressure level of the transmission wave and improve the S/N ratio of the reception signal. . Therefore, it is possible to stably detect objects that have a low reflectance of ultrasonic waves or objects that are likely to cause interference between reflected waves due to multi-point reflection.
  • the transmitted wave is a long pulse signal
  • the peak portion of the beat appears more easily in the beat signal than when the transmitted wave is a short pulse signal. This greatly contributes to stable object detection.
  • the object detection method is Sending a long pulse signal having a pulse width of a predetermined time or more as a transmission wave that is an ultrasonic wave; obtaining a received signal corresponding to a reflected wave of the transmitted wave by an object; Determining a beat signal based on the received signal and detecting an object based on the beat signal, Detecting an object involves detecting a reflected wave and a signal corresponding to the fluctuation of the composite wave that occurs when a wave with a different frequency from the reflected wave is received, or a phase difference between the reflected waves that occurs when the distance to the object changes. A signal corresponding to the fluctuation of the reflected wave caused by is determined as a beat signal.
  • FIG. 1 is a plan view showing a schematic configuration of a vehicle equipped with an on-vehicle system that constitutes an object detection device according to a first embodiment.
  • FIG. 2 is a block diagram showing a schematic functional configuration of the in-vehicle system according to the first embodiment.
  • FIG. 3 is an explanatory diagram for explaining received waves.
  • FIG. 2 is an explanatory diagram for explaining a composite wave of a transmitted wave and a reflected wave.
  • FIG. 3 is an explanatory diagram for explaining changes in the amplitude of a composite wave due to vibrations, microtremors, etc. of an object.
  • FIG. 3 is an explanatory diagram for explaining a change in the amplitude of a composite wave due to movement of an object.
  • FIG. 1 is a plan view showing a schematic configuration of a vehicle equipped with an on-vehicle system that constitutes an object detection device according to a first embodiment.
  • FIG. 2 is a block diagram showing a schematic functional configuration of the in-ve
  • FIG. 2 is an explanatory diagram for explaining a signal transmitted from a transmitter.
  • FIG. 3 is an explanatory diagram for explaining a received signal received by a receiving section.
  • FIG. 3 is an explanatory diagram for explaining a reception signal received by a receiving section when a short pulse signal is transmitted as a transmission wave.
  • FIG. 2 is an explanatory diagram for explaining a reception signal received by a receiving section when a long pulse signal is transmitted as a transmission wave.
  • FIG. 3 is an explanatory diagram for explaining the pulse width of a long pulse signal.
  • FIG. 3 is an explanatory diagram for explaining a trial calculation result of a pulse width and a speed of an object that can be detected.
  • FIG. 3 is an explanatory diagram for explaining the amplitude waveform of a signal component included in a beat signal when a long pulse signal is used as a transmission wave.
  • FIG. 3 is an explanatory diagram for explaining the root mean square amplitude waveform of signal components included in a beat signal when a long pulse signal is used as a transmission wave.
  • FIG. 3 is an explanatory diagram for explaining how to obtain the velocity of an object based on the Doppler shift frequency.
  • FIG. 2 is a block diagram showing a schematic functional configuration of an in-vehicle system according to a second embodiment.
  • FIG. 2 is an explanatory diagram for explaining the influence of directly received transmitted waves on received waves.
  • FIG. 3 is an explanatory diagram for explaining the influence of a directly received transmission wave on a undulation signal.
  • FIG. 7 is a block diagram showing a schematic functional configuration of an in-vehicle system according to a third embodiment.
  • FIG. 7 is an explanatory diagram for explaining transmission waves of the in-vehicle system according to the fourth embodiment.
  • FIG. 7 is an explanatory diagram for explaining amplification factors of a long pulse signal and a short pulse signal in the in-vehicle system according to the fourth embodiment.
  • FIG. 7 is an explanatory diagram for explaining transmission waves of the in-vehicle system according to the fifth embodiment. It is a block diagram showing a rough functional composition in an in-vehicle system concerning a 6th embodiment.
  • 3 is a flowchart showing the flow of control processing executed by the drive control section.
  • the in-vehicle system 1 is mounted on a vehicle C as a moving object.
  • the vehicle C is a so-called four-wheeled vehicle, and includes a box-shaped vehicle body C1 that is approximately rectangular in plan view.
  • the shape of each part of the vehicle C in a "planar view” refers to the shape when the vehicle C is stably placed on a horizontal surface so that it can run and the part is viewed from the same direction as the direction of gravity. It is.
  • the vehicle C equipped with the in-vehicle system 1 according to the present embodiment is hereinafter referred to as the "own vehicle".
  • the vehicle overall length direction is a direction that is perpendicular to the vehicle width direction and perpendicular to the vehicle height direction.
  • the vehicle height direction is a direction that defines the vehicle height of the host vehicle, and is a direction parallel to the direction in which gravity acts when the host vehicle is stably mounted on a horizontal surface so as to be able to travel.
  • "front”, “rear”, “left”, “right”, and “top” are defined as indicated by arrows in FIG. That is, the vehicle overall length direction is synonymous with the longitudinal direction.
  • the vehicle width direction has the same meaning as the left-right direction.
  • the in-vehicle system 1 includes an electronic control device 2 and an ultrasonic sensor 3.
  • the electronic control device 2 is an in-vehicle microcomputer that may also be referred to as an ECU, and includes a CPU (not shown), a ROM, a RAM, a nonvolatile rewritable memory, and the like.
  • ECU is an abbreviation for Electronic Control Unit.
  • a nonvolatile rewritable memory is a memory that can rewrite information while the power is on, but retains information that cannot be rewritten while the power is off, and is, for example, a flash ROM.
  • ROM, RAM, and non-volatile rewritable memory are non-transitory tangible storage media.
  • the electronic control device 2 is mounted inside the vehicle body C1.
  • the electronic control device 2 is connected to the ultrasonic sensor 3 so as to be able to exchange information via an in-vehicle information communication line.
  • a plurality of ultrasonic sensors 3 are mounted on the host vehicle.
  • the electronic control device 2 reads and executes a control program stored in a ROM or a nonvolatile rewritable memory to control the operation of the in-vehicle system 1, including the timing of ultrasonic transmission and reception operations in each of the plurality of ultrasonic sensors 3.
  • the in-vehicle system 1 constituting the object detection device detects an object B around the own vehicle based on the results of transmission and reception of ultrasonic waves by the ultrasonic sensor 3 while being mounted on the own vehicle. configured to detect.
  • a first front sensor 3A, a second front sensor 3B, a third front sensor 3C, and a fourth front sensor 3D as ultrasonic sensors 3 are installed on the front bumper of the host vehicle, that is, the bumper C2 on the front side of the vehicle body C1. It is installed.
  • a first rear sensor 3E, a second rear sensor 3F, a third rear sensor 3G, and a fourth rear sensor 3H as ultrasonic sensors 3 are installed on the rear bumper of the host vehicle, that is, the bumper C2 on the rear side of the vehicle body C1. It is installed.
  • the first front sensor 3A is provided at the right end of the front bumper so as to transmit a transmission wave to the right front of the own vehicle.
  • the second front sensor 3B is arranged between the first front sensor 3A and the vehicle center line LC in the vehicle width direction so as to transmit a transmission wave substantially in front of the own vehicle.
  • the third front sensor 3C is arranged at a position substantially symmetrical to the second front sensor 3B across the vehicle center line LC.
  • the third front sensor 3C is arranged between the vehicle center line LC and the fourth front sensor 3D in the vehicle width direction so as to transmit a transmission wave substantially in front of the host vehicle.
  • the fourth front sensor 3D is arranged at a position substantially symmetrical to the first front sensor 3A across the vehicle center line LC.
  • the fourth front sensor 3D is provided at the left end of the front bumper so as to transmit a transmission wave to the left front of the host vehicle.
  • the first rear sensor 3E is provided at the right end of the rear bumper so as to transmit a transmission wave to the right rear of the own vehicle.
  • the second rear sensor 3F is arranged between the first rear sensor 3E and the vehicle center line LC in the vehicle width direction so as to transmit a transmission wave substantially toward the rear of the own vehicle.
  • the third rear sensor 3G is arranged at a position substantially symmetrical to the second rear sensor 3F across the vehicle center line LC.
  • the third rear sensor 3G is arranged between the vehicle center line LC and the fourth rear sensor 3H in the vehicle width direction so as to transmit a transmission wave substantially toward the rear of the host vehicle.
  • the fourth rear sensor 3H is arranged at a position substantially symmetrical to the first rear sensor 3E across the vehicle center line LC.
  • the fourth rear sensor 3H is provided at the left end of the rear bumper so as to transmit a transmission wave to the rear left of the host vehicle.
  • the ultrasonic sensor 3 is configured to transmit ultrasonic waves to the outside of the own vehicle. Further, the ultrasonic sensor 3 detects the object B existing in the surroundings based on the received signal corresponding to the received wave including the reflected wave of the transmitted wave by the object B, and also acquires the distance to the object B. It is composed of
  • the ultrasonic sensor 3 includes a transmitting/receiving section 4 and a signal processing section 5.
  • the transmitting/receiving section 4 and the signal processing section 5 are supported by a single sensor housing made of synthetic resin or the like.
  • the ultrasonic sensor 3 includes only one transmitting/receiving section 4, and is configured so that the transmitting/receiving section 4 performs a transmitting/receiving function. That is, the transmitting/receiving section 4 has a function as a transmitting section 40A that transmits a transmitted wave to the outside, and a function as a receiving section 40B that receives a received wave.
  • one transmitter/receiver 4 includes a transmitter 40A and a receiver 40B.
  • the transmitting section 40A and the receiving section 40B may be realized integrally by a common transducer, or may be realized separately.
  • the transmitter 40A includes a speaker 41 and a transmitter circuit 42.
  • the speaker 41 transmits a transmission wave that is an ultrasonic wave.
  • the transmitting circuit 42 is provided to drive the speaker 41 based on the input drive signal, thereby causing the speaker 41 to emit a transmission wave in the ultrasonic band.
  • the transmitting circuit 42 includes a digital/analog conversion circuit and the like. That is, the transmission circuit 42 is configured to perform processing such as digital/analog conversion on the drive signal output from the signal processing section 5 and apply the generated AC voltage to the speaker 41.
  • the receiving section 40B includes a microphone 43 and a receiving circuit 44.
  • the microphone 43 receives ultrasonic waves including reflected waves of the transmitted waves from the object B.
  • the receiving circuit 44 is provided to generate a received signal corresponding to the reception result of the ultrasound at the microphone 43 and to output the generated received signal to the signal processing section 5 .
  • the receiving circuit 44 includes an amplifier circuit, an analog/digital conversion circuit, and the like. That is, the receiving circuit 44 performs signal processing such as amplification and analog/digital conversion on the voltage signal input from the microphone 43 to generate a received signal according to the frequency, phase, and amplitude of the received ultrasound. is configured to generate and output .
  • the receiving section 40B of this embodiment is arranged so as to be able to directly receive the transmission wave transmitted from the transmitting section 40A.
  • the microphone 43 of the receiving section 40B is arranged adjacent to the speaker 41 of the transmitting section 40A.
  • the receiving unit 40B receives a composite wave of the transmitted wave and the reflected wave as a received wave.
  • the signal processing unit 5 detects the object B based on the received signal acquired by the receiving unit 40B.
  • the signal processing section 5 includes a signal generation section 51 , a detection section 52 , an amplitude conversion section 53 , a filter 54 , and a sensor control section 6 .
  • the signal generation section 51 is provided to generate a drive signal that drives the transmission section 40A.
  • the drive signal is a signal for driving the transmitter 40A to transmit a transmission wave from the speaker 41.
  • the detection unit 52 is provided to perform various signal processing such as orthogonal detection processing on the received signal output from the receiving circuit 44. Further, the detection section 52 is provided to output processed signals, which are the results of various signal processing, to the amplitude conversion section 53 and the like.
  • the receiving section 40B of this embodiment is arranged so as to be able to directly receive the transmission wave transmitted from the transmitting section 40A. Therefore, the receiving unit 40B receives a combined wave of the transmitted wave and the reflected wave.
  • This composite wave includes a "beat component" with fluctuations as shown in FIG. 4 due to the frequency difference between the reflected wave and a wave (transmitted wave in this example) having a frequency different from the reflected wave. Further, a phase difference occurs in the reflected wave when the distance from the object B changes, and due to this, a "beat component” with fluctuation is added to the reflected wave. This "beat component" changes according to the movement of object B. For example, as shown in FIG.
  • the signal processing unit 5 is configured to obtain a "beat signal” including a “beat component” based on the received signal, and to detect the object B based on the "beat signal”.
  • the signal processing unit 5 of this embodiment generates a signal corresponding to the fluctuation of a composite wave that occurs when receiving a reflected wave and a wave with a frequency different from the reflected wave, or a signal that corresponds to a reflection that occurs when the distance to the object B changes.
  • a signal corresponding to the fluctuation of the reflected wave due to the phase difference of the waves is determined as a "beat signal”.
  • the term "beat signal” in this specification includes not only signals corresponding to fluctuations (so-called "beat") that occur when waves of different frequencies are combined, but also reflected waves caused by phase differences between reflected waves. The signal corresponding to the fluctuation of is included.
  • the amplitude conversion section 53 performs envelope processing to obtain a "beat signal" corresponding to the amplitude change of the received signal based on the signal obtained by the processing in the detection section 52.
  • the amplitude converter 53 identifies, for example, the envelope of the amplitude waveform as shown in the upper part of FIG. 2 and FIG. Output to.
  • the filter 54 removes low frequency components included in the amplitude signal using a high pass filter HPF.
  • the filter 54 may be composed of a band pass filter BPF instead of a high pass filter HPF as long as it can pass a band corresponding to the "beat component".
  • the sensor control unit 6 is connected to the electronic control device 2 so as to be able to communicate information so as to control the operation of the ultrasonic sensor 3 while cooperating with the electronic control device 2. That is, the sensor control section 6 controls the output of the drive signal from the signal generation section 51 to the transmission section 40A, and also detects the object B based on the "beat signal" output from the amplitude conversion section 53 etc. It is configured.
  • the sensor control unit 6 has a configuration as an on-vehicle microcomputer equipped with a CPU, ROM, RAM, nonvolatile rewritable memory, etc. (not shown). That is, the sensor control unit 6 is configured to control the operation of the ultrasonic sensor 3 by reading and executing a control program stored in the storage unit 60 of ROM or nonvolatile rewritable memory.
  • the storage unit 60 is a non-transitional physical storage medium.
  • the sensor control section 6 includes a drive control section 61, a detection section 62, a frequency analysis section 65, and a calculation section 66 as functional configurations implemented on the ultrasonic sensor 3.
  • the drive control section 61 outputs a control signal to the signal generation section 51 to control the transmission state of the transmission wave from the transmission section 40A.
  • the control signal is a signal for controlling the output characteristics of the drive signal output from the signal generating section 51 to the transmitting/receiving section 4, specifically, the output timing, frequency, etc. That is, the drive control section 61 controls the output timing, frequency, etc. of the drive signal generated and output by the signal generation section 51.
  • a short pulse signal with a pulse width of less than a predetermined time is often transmitted as a transmission wave.
  • the short pulse signal has a small pulse width Pw1
  • it is difficult to increase the sound pressure level SL1 as shown on the left side of FIG. 7, for example.
  • the low sound pressure level SL1 causes a decrease in the S/N ratio of the signal received by the receiving section 40B, as shown in the upper left of FIG.
  • the reflected wave of the transmission wave against the object B can detect the object B if the waveform is stable and the amplitude is large, as shown in FIG. 9, for example. If the waveform is distorted due to multipoint reflection and the amplitude is small, it becomes difficult to detect the object B.
  • a long pulse signal having a pulse width longer than a predetermined time has a longer pulse width Pw2 than the pulse width Pw1 of the short pulse signal, so for example, as shown on the right side of FIG. 7, the sound pressure level It becomes easier to increase SL2.
  • the sound pressure level It becomes easier to increase SL2.
  • the amplitude of the reflected wave of the transmitted wave from the object B increases due to an improvement in the S/N ratio, etc.
  • the composite wave of the transmitted wave and the reflected wave has an amplitude of It becomes possible to receive the peaks of the waveform.
  • the inventors conducted an experiment and found that when a long pulse signal is used as a transmitted wave, based on the composite wave of the transmitted wave and the reflected wave and a predetermined first threshold, It has been found that it is possible to determine the presence or absence of objects B such as pedestrians and moving cloth.
  • the drive control unit 61 of this embodiment outputs a control signal to the signal generation unit 51 so that a long pulse signal having a pulse width of a predetermined time or more is transmitted as a transmission wave.
  • the transmission interval of the long pulse signal is not limited to a fixed interval, but may be any interval.
  • the pulse width of the long pulse signal of this embodiment is set so that the peak part of the amplitude waveform of the composite wave can be received.
  • the pulse width of the long pulse signal is set to a time equal to or longer than the minimum period assumed in advance as the period of the "beat signal", as shown in formula F1 in FIG. 11.
  • the period of the "beat signal” is the reciprocal of the minimum frequency f'min of the frequencies of the "beat signal”.
  • the minimum frequency f'min of the frequency of the "beating signal” is determined based on the frequency f of the transmitted wave and the Doppler shift frequency fdopp that occurs depending on the speed difference between the vehicle C and the object B, as shown in formula F2 in FIG. 11. be able to.
  • the pulse width of the long pulse signal is 10 milliseconds, it is possible to detect a bicycle traveling at about 8 km/h, and the pulse width of the long pulse signal is 15 milliseconds. It was found that pedestrians walking at a speed of about 4 km/h can be detected if milliseconds are used. It has also been found that if the pulse width of the long pulse signal is set to 20 milliseconds, it is possible to detect fluctuations in the clothing of a stationary person.
  • the pulse width of the long pulse signal is set to 20 milliseconds or more.
  • the detection unit 62 determines the presence or absence of the object B and the movement of the object B, such as movement or slight movement, based on the “beat signal” obtained by the amplitude conversion unit 53. Specifically, the detection unit 62 includes a first determination unit 63 and a second determination unit 64.
  • the first determination unit 63 determines the presence or absence of object B based on the "beat signal.” For example, as shown in FIG. 10, the first determination unit 63 determines that object B is present when there is a part in the amplitude waveform of the "beat signal" whose amplitude is equal to or greater than the first threshold, and determines that the object B is present when the amplitude waveform of the "beat signal” has a part equal to or greater than the first threshold. If there is no object B, it is determined that there is no object B. Note that the first threshold value is set to an appropriate value based on experiments, simulations, and the like.
  • the second determination unit 64 determines the movement of the object B, including vibration, slight movement, movement, etc., based on the "beat signal" band-limited by the filter 54.
  • the second determination unit 64 extracts a signal component corresponding to the movement of the object B as shown in FIG. 13, for example, by band-limiting the "beat signal” with the filter 54.
  • the second determination unit 64 obtains a signal obtained by averaging the squares of the amplitudes of the signal components that have passed through the filter 54. Thereafter, for example, as shown in FIG. 14, the second determination unit 64 determines that there is movement in the object B when there is a part in the amplitude waveform of the signal that is equal to or higher than the second threshold, and the amplitude is equal to or higher than the second threshold.
  • the frequency analysis unit 65 determines the Doppler shift frequency generated by the relative velocity between the receiving unit 40B and the object B based on the “beat signal”. For example, the frequency analysis unit 65 determines the frequency of the signal obtained by band-limiting the “beat signal” with the filter 54 as the “beat frequency f′”, and then calculates the “beat frequency f′” and the frequency of the transmission wave as shown in FIG.
  • the Doppler shift frequency fdopp is determined by applying the formula F3.
  • the calculation unit 66 calculates the velocity vs of the object B based on the Doppler shift frequency fdopp. For example, as shown in formulas F4 and F5 in FIG. 15, there is a certain correlation between the velocity vs of the object B and the Doppler shift frequency fdopp.
  • the calculation unit 66 of this embodiment is configured to obtain the velocity Vs of the object B from the Doppler shift frequency fdopp using a learning model such as a neural network. Note that the calculation unit 66 calculates the speed Vs of the object B by substituting the sound speed V, the speed v0 of the vehicle C, the frequency f of the transmitted wave, and the Doppler shift frequency fdopp into formulas F4, F5, etc. Good too.
  • the electronic control device 2 causes each of the plurality of ultrasonic sensors 3 to repeatedly perform an object detection operation at a predetermined period.
  • the ultrasonic sensor 3 receives a command signal from the electronic control device 2, it repeatedly performs detection processing for the object B at a predetermined period.
  • the sensor control section 6 outputs a control signal to the signal generation section 51 instructing the transmission of a long pulse signal. Then, the signal generating section 51 generates a drive signal based on the control signal, and outputs the generated drive signal toward the transmitting section 40A. As a result, the transmitter 40A is driven, and the transmission wave is transmitted to the outside of the host vehicle.
  • the receiving unit 40B When the reflected wave generated when the transmitted wave is reflected by the object B and the transmitted wave transmitted from the transmitting section 40A reach the receiving section 40B, a combined wave of the reflected wave and the transmitted wave is received by the receiving section 40B.
  • the receiving unit 40B generates a received signal by performing signal processing such as amplification and analog/digital conversion on the voltage signal corresponding to the composite wave, and outputs the received signal to the detection unit 52.
  • the detection unit 52 generates a processed signal including an amplitude signal by performing various signal processing on the received signal, and outputs it to the amplitude conversion unit 53.
  • the detection unit 52 generates a phase signal and an amplitude signal by, for example, quadrature detection processing, and outputs the generated various signals to the amplitude conversion unit 53.
  • the amplitude conversion unit 53 determines a “beat signal” corresponding to the amplitude change of the received signal based on the signal obtained by the processing in the detection unit 52, and outputs the “beat signal” to the sensor control unit 6 or the like.
  • the sensor control section 6 detects the object B based on the "beat signal" output from the amplitude conversion section 53 and the like. Specifically, the sensor control unit 6 detects not only the presence or absence of the object B, but also the movement of the object B and the speed of the object B, based on the "beat signal.”
  • the in-vehicle system 1 described above includes a transmitting section 40A that transmits a long pulse signal as a transmitted wave, a receiving section 40B that acquires a received signal corresponding to a reflected wave, and a " A signal processing unit 5 is provided that detects the object B based on the beat signal.
  • the signal processing unit 5 processes the reflected wave and the fluctuation of the composite wave that occurs when receiving a wave with a frequency different from the reflected wave, or the reflection caused by the phase difference of the reflected wave that occurs when the distance from the object B changes. Obtain wave fluctuations as a "beat signal".
  • the configuration is such that a long pulse signal with a long pulse width is transmitted as a transmission wave, it is possible to increase the sound pressure level of the transmission wave and improve the S/N ratio of the reception signal. . Therefore, it is possible to stably detect object B having a low reflectance of ultrasonic waves or object B which is likely to cause interference between reflected waves due to multi-point reflection.
  • the transmitted wave is a long pulse signal
  • the peak portion of the "beat” is more likely to appear in the "beat signal” than when the transmitted wave is a short pulse signal. This greatly contributes to stable detection of object B.
  • the in-vehicle system 1 of this embodiment has features.
  • the pulse width of the long pulse signal is set to a time longer than the minimum period assumed in advance as the period of the "beat signal". If a long pulse signal with a pulse width set in this manner is used as a transmission wave, the peak portion of the "beat” will more likely appear in the "beat signal", so the detection of the object B by the in-vehicle system 1 can be stabilized.
  • the receiving unit 40B is arranged so as to be able to directly receive the transmission wave transmitted from the transmitting unit 40A. According to this, a composite wave of a transmitted wave and a reflected wave can be obtained without using an adder 55 or a mixer 56, which will be described later, so a "beat signal" can be obtained with a simple configuration.
  • the signal processing unit 5 determines the Doppler shift frequency fdopp generated by the relative velocity with the object B based on the "beat signal".
  • the Doppler shift frequency fdopp has a correlation with the relative velocity between the receiving unit 40B and the object B. Therefore, if the configuration is such that the Doppler shift frequency fdopp is determined, it is possible to grasp the relative velocity between the receiving section 40B and the object B. In particular, when the speed of object B can be determined as in this embodiment, there is an advantage that, for example, it becomes easier to identify whether the detected object B corresponds to a stationary person, a pedestrian, a bicycle, etc. .
  • the signal processing unit 5 determines the movement of the object B, such as vibration, slight movement, or movement, based on the "beat signal". In this way, if it is possible to detect not only the presence or absence of object B but also the movement of object B, for example, it is possible to detect whether detected object B is a person, a living thing such as an animal, or an installation such as a wall. This has the advantage of making it easier to identify the object B.
  • the pulse width of the long pulse signal is set to a time longer than the minimum period assumed in advance as the period of the "beat signal", it does not have to be so.
  • the pulse width of the long pulse signal may be set to be greater than or equal to the period of the Doppler shift frequency fdopp assumed in advance.
  • the signal processing unit 5 is capable of not only determining the presence or absence of object B, but also detecting the movement of object B and the speed of object B, but this need not be the case.
  • the signal processing unit 5 may determine the presence or absence of the object B and may not detect the movement of the object B or the speed of the object B.
  • the signal processing unit 5 of this embodiment is configured to obtain a composite wave of the transmitted wave and the reflected wave by adding a base signal based on the frequency of the transmitted wave to the received signal.
  • the signal processing section 5 includes an adder 55 between the receiving circuit 44 and the detection section 52.
  • the adder 55 adds the base signal generated by the sensor control unit 6 to the received signal generated by the receiving circuit 44 to generate a composite wave of the transmitted wave and the reflected wave.
  • the adder 55 outputs a composite wave of the transmitted wave and the reflected wave to the amplitude converter 53 via a bump-pass filter or the like.
  • the base signal is a digital signal with the same frequency as the transmission wave frequency.
  • an adder 55 is provided between the microphone 43 and the receiving circuit 44, and the adder 55 adds a base signal to the analog signal received by the microphone 43, thereby generating a transmitted wave and a reflected wave.
  • a composite wave of waves may be generated.
  • the base signal may be an analog signal having the same frequency as the frequency of the transmission wave.
  • the signal processing unit 5 is provided with a distance measuring unit 67 that measures the distance to the object B based on the “beat signal” output from the amplitude converting unit 53 and the like. For example, the distance measuring section 67 calculates the distance to the object B based on the reception time when a "beating signal" exceeding a predetermined threshold is detected.
  • the receiving section 40B may directly receive the transmitted wave during the period until the reflected wave reaches the receiving section 40B.
  • the received signal received by the receiving unit 40B includes a signal component corresponding to the directly received transmission wave, as shown in FIG. 17, for example. If such a signal component is included, for example, as shown in the upper part of FIG. 18, the "beat signal" output from the amplitude converter 53 will have an amplitude change corresponding to the directly received transmitted wave in the reflected wave. appear. Such amplitude changes have an adverse effect on the calculation of the distance to the object B by the distance measuring section 67.
  • the signal processing unit 5 stores a signal corresponding to the received signal acquired by the receiving unit 40B while the object B is not detected in the storage unit 60 as a steady signal, and removes the steady signal from the “beat signal”.
  • Object B is detected based on the signal.
  • the steady signal is a signal that corresponds to an amplitude change corresponding to a transmitted wave directly received by a reflected wave in the "beat signal” output from the amplitude converter 53.
  • the steady signal can be obtained by processing a received signal acquired by the receiving section 40B in a state where the object B is not detected by the amplitude converting section 53.
  • the signal processing unit 5 is provided with a signal removal unit 57 between the amplitude conversion unit 53 and the filter 54, which removes the steady signal from the “beat signal”. As shown in the lower part of FIG. 18, the signal output from the signal removal unit 57 has a signal component corresponding to a directly received transmission wave removed.
  • the in-vehicle system 1 of the present embodiment can obtain the same effects as the first embodiment from the same configuration or equivalent configuration as the first embodiment.
  • the in-vehicle system 1 of this embodiment has features.
  • the signal processing unit 5 is configured to obtain a composite wave by adding a base signal based on the frequency of the transmitted wave to the received signal. According to this, the "beat signal" can be obtained by simple calculation using the adder 55. Further, since it is not necessary to arrange the transmitting section 40A and the receiving section 40B adjacently, there is an advantage that the degree of freedom in layout inside the ultrasonic sensor 3 can be easily ensured.
  • the signal processing unit 5 stores a signal corresponding to the received signal acquired by the receiving unit 40B in a state in which the object B is not detected in the storage unit 60 as a steady signal, and removes the steady signal from the “beat signal”. Object B is detected based on the signal. According to this, it is possible to suppress the influence of the transmitted waves directly received by the receiving section 40B on the detection of the object B.
  • the signal processing unit 5 of this embodiment measures the distance to the object B.
  • the signal processing unit 5 can suppress the influence of the transmitted wave directly received by the receiving unit 40B on the measurement of the distance to the object B.
  • the signal processing unit 5 of this embodiment is configured to obtain a composite wave of a transmitted wave and a reflected wave by heterodyne detection using a base signal based on the frequencies of the received signal and the transmitted wave.
  • the signal processing section 5 includes a mixer 56 between the receiving circuit 44 and the detection section 52.
  • the mixer 56 integrates the received signal generated by the receiving circuit 44 with the base signal generated by the sensor control unit 6 to generate a composite wave of the transmitted wave and the reflected wave.
  • the mixer 56 outputs a combined wave of the transmitted wave and the reflected wave to the amplitude converter 53 via a low-pass filter or the like.
  • the in-vehicle system 1 of this embodiment can obtain the same effects as the second embodiment from the same configuration or equivalent configuration as the second embodiment.
  • the in-vehicle system 1 of this embodiment has features.
  • the signal processing unit 5 is configured to obtain a composite wave of the transmitted wave and the reflected wave by heterodyne detection using a base signal based on the frequencies of the received signal and the transmitted wave. According to this, the "beat signal" can be obtained by simple calculation using the mixer 56.
  • the drive control unit 61 included in the signal processing unit 5 is capable of transmitting long pulse signals and short pulse signals having a pulse width less than a predetermined time as transmission waves.
  • the drive control unit 61 of this embodiment temporally switches between a long pulse signal and a short pulse signal and transmits the signal as a transmission wave from the transmitting unit 40A. For example, as shown in FIG. 20, the drive control unit 61 alternately transmits long pulse signals and short pulse signals as transmission waves from the transmitting unit 40A.
  • the amplification factor of the long pulse signal in the receiving section 40B is smaller than the amplification factor of the short pulse signal.
  • the receiving unit 40B uses the amplification circuit of the receiving circuit 44 to calculate the amplification factor of the signal when receiving the reflected wave from the object B when the long pulse signal is used as the transmitted wave, and The amplification factor of the signal is set to be smaller than the signal amplification factor when receiving the reflected wave from the object B.
  • the in-vehicle system 1 of the present embodiment can obtain the same effects as the first embodiment from the common configuration or equivalent configuration to the first embodiment.
  • the in-vehicle system 1 of this embodiment has features.
  • the signal processing section 5 includes a drive control section 61 that controls the transmission section 40A.
  • the drive control unit 61 is capable of transmitting long pulse signals and short pulse signals as transmission waves. When a short pulse signal is used as a transmission wave, it is easier to ensure accuracy in measuring the distance to the object B compared to when a long pulse signal is used as a transmission wave. For this reason, it is desirable that the drive control section 61 be able to transmit not only long pulse signals but also short pulse signals as transmission waves from the transmitting section 40A.
  • the drive control unit 61 temporally switches between a long pulse signal and a short pulse signal and transmits the signal as a transmission wave from the transmitting unit 40A. In this way, if the long pulse signal and the short pulse signal are switched over time, detection of the object B can be stabilized while ensuring accuracy in measuring the distance to the object B.
  • the amplification factor of the long pulse signal in the receiving section 40B is smaller than the amplification factor of the short pulse signal. According to this, detection of the object B can be stabilized while suppressing power consumption due to an increase in the pulse width of the transmitted wave.
  • the drive control unit 61 of the present embodiment sets the long pulse signal and the short pulse signal to different frequencies, and simultaneously transmits the long pulse signal and the short pulse signal as transmission waves from the transmitting unit 40A.
  • the drive control unit 61 simultaneously transmits a long pulse signal and a short pulse signal having different frequencies from the transmitting unit 40A as transmission waves.
  • the difference between the frequencies of the long pulse signal and the short pulse signal is set to be greater than or equal to the bandwidth of the band pass filter so that they can be separated by the band pass filter.
  • the in-vehicle system 1 of this embodiment can obtain the same effects as the fourth embodiment from the same configuration or equivalent configuration as the fourth embodiment.
  • the in-vehicle system 1 of this embodiment has features.
  • the drive control unit 61 sets the long pulse signal and the short pulse signal to different frequencies, and simultaneously transmits the long pulse signal and the short pulse signal as transmission waves from the transmitting unit 40A. According to this, the detection of object B and the measurement of the distance to object B can be performed at the same time, so the time required for object detection processing can be shortened.
  • the electronic control device 2 of the in-vehicle system 1 is connected to a camera device CD, which is one of the monitoring devices that monitors the surroundings of the vehicle C, through an in-vehicle information communication line so that information can be exchanged. ing.
  • the electronic control device 2 is capable of acquiring the detection result of the object B by the camera device CD from the camera device CD as object detection information.
  • the camera device CD corresponds to "other equipment".
  • the signal processing unit 5 of the ultrasonic sensor 3 is capable of acquiring object detection information from the camera device CD via the electronic control device 2.
  • the drive control unit 61 included in the signal processing unit 5 transmits a long pulse signal as a transmission wave when the object B is detected by the camera device CD.
  • the drive control unit 61 determines whether the object B is detected by the camera device CD in step S10.
  • the determination process in step S10 is performed, for example, based on object detection information acquired from the camera device CD.
  • the drive control unit 61 transmits a long pulse signal as a transmission wave from the transmitting unit 40A in step S20.
  • the sensor control unit 6 then performs various processes including determining the presence or absence of the object B and its movement.
  • the drive control unit 61 skips the process of step S20.
  • the drive control unit 61 may be configured to transmit a short pulse signal as a transmission wave from the transmitting unit 40A when the object B is not detected by the camera device CD.
  • the in-vehicle system 1 of the present embodiment can obtain the same effects as the first embodiment from the common configuration or equivalent configuration to the first embodiment.
  • the in-vehicle system 1 of this embodiment has features.
  • the drive control unit 61 transmits a long pulse signal as a transmission wave when the object B is detected by the camera device CD. Frequent transmission of long pulse signals causes increased power consumption and decreased durability of the in-vehicle system 1, so a long pulse signal is transmitted when object B is detected by camera device CD. It is desirable that the
  • the in-vehicle system 1 of the sixth embodiment may be configured to transmit a long pulse signal as a transmission wave when the object B is detected by a device other than the camera device CD. Further, the in-vehicle system 1 may be configured to transmit at least one of a long pulse signal and a short pulse signal as a transmission wave when the object B is detected by another device.
  • the object detection device of the present disclosure is not limited to the configuration described above, and a portion thereof may be different.
  • the signal processing unit 5 of the ultrasonic sensor 3 executes the object detection process, but the invention is not limited to this.
  • the electronic control device 2 may execute the object detection process. You can leave it there. Further, both the ultrasonic sensor 3 and the electronic control device 2 may cooperate to execute the object detection process.
  • Each functional configuration block shown in FIG. 2 etc. is merely a functional configuration block set for convenience in order to contribute to an understanding of the contents of the object detection device of the present disclosure, and is actually distinguishable as software or hardware. It does not have to be configured.
  • the object detection device of the present disclosure is applied to the in-vehicle system 1
  • the object detection device can also be applied to systems other than the in-vehicle system 1.
  • the control unit and its method of the present disclosure are implemented in a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. Good too.
  • the controller and techniques of the present disclosure may be implemented in a dedicated computer provided by a processor configured with one or more dedicated hardware logic circuits.
  • the control unit and the method thereof according to the present disclosure are implemented by a control unit configured by a combination of a processor and memory programmed to execute one or more functions, and a processor configured by one or more hardware logic circuits. It may be implemented with one or more dedicated computers.
  • the computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.
  • the present disclosure includes the following aspects.
  • a transmitter (40A) that transmits a long pulse signal having a pulse width of a predetermined time or more as a transmission wave that is an ultrasonic wave; a receiving unit (40B) that acquires a received signal corresponding to a reflected wave of the transmitted wave by the object (B); a signal processing unit (5) that obtains a beat signal based on the received signal and detects the object based on the beat signal, The signal processing unit generates a signal corresponding to the fluctuation of the composite wave that occurs when receiving the reflected wave and a wave with a frequency different from the reflected wave, or the reflected wave that occurs when the distance to the object changes.
  • An object detection device that obtains a signal corresponding to fluctuation of the reflected wave caused by a phase difference as the beat signal.
  • the signal processing unit is configured to obtain the composite wave by adding a base signal based on the frequency of the transmitted wave to the received signal.
  • the signal processing unit is configured to obtain the composite wave by heterodyne detection using a base signal based on the frequency of the received signal and the transmitted wave.
  • the signal processing unit stores a signal corresponding to the received signal acquired by the receiving unit in a state in which the object is not detected in a storage unit (60) as a steady signal, and removes the steady signal from the beat signal.
  • the object detection device according to the third or fourth aspect, which detects the object based on a signal obtained by detecting the object.
  • the signal processing section includes a drive control section (61) that controls the transmission section, According to any one of the first to seventh aspects, the drive control unit is capable of transmitting the long pulse signal and the short pulse signal having a pulse width less than the predetermined time as the transmission wave.
  • the drive control unit is capable of transmitting the long pulse signal and the short pulse signal having a pulse width less than the predetermined time as the transmission wave.
  • the drive control section sets the long pulse signal and the short pulse signal to different frequencies, and simultaneously transmits the long pulse signal and the short pulse signal from the transmitting section as the transmission wave.
  • the signal processing section includes a drive control section (61) that controls the transmission section, The object according to any one of the first to eleventh aspects, wherein the drive control section transmits the long pulse signal as the transmission wave from the transmission section when the object is detected by another device. Detection device.
  • An object detection method Sending a long pulse signal having a pulse width of a predetermined time or more as a transmission wave that is an ultrasonic wave; obtaining a received signal corresponding to a reflected wave of the transmitted wave by the object (B); determining a beat signal based on the received signal and detecting the object based on the beat signal, By detecting the object, a signal corresponding to the fluctuation of the composite wave that occurs when the reflected wave and a wave with a frequency different from the reflected wave is received, or a signal that corresponds to the fluctuation of the composite wave that occurs when the distance to the object changes.
  • An object detection method that obtains, as the beat signal, a signal corresponding to fluctuations in the reflected waves caused by a phase difference between the reflected waves.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
PCT/JP2023/025441 2022-07-26 2023-07-10 物体検知装置、物体検知方法 Ceased WO2024024477A1 (ja)

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US3975729A (en) * 1957-05-31 1976-08-17 Aeronutronic Ford Corporation Target detecting system
JPS57114997A (en) * 1981-01-07 1982-07-17 Omron Tateisi Electronics Co Traffic flow measuring apparatus
JPH02116775A (ja) * 1988-10-27 1990-05-01 Mazda Motor Corp 速度検出装置
JPH0836056A (ja) * 1994-07-25 1996-02-06 Matsushita Electric Works Ltd 超音波センサ
JPH1073658A (ja) * 1996-08-30 1998-03-17 Ricoh Micro Electron Kk 超音波測定装置
JPH11242078A (ja) * 1997-12-25 1999-09-07 Nippon Signal Co Ltd:The 超音波式速度計測装置

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JPH01223370A (ja) * 1988-03-03 1989-09-06 Nec Corp 包絡線検出ソノブイ
JPH0993041A (ja) * 1995-09-27 1997-04-04 Kenwood Corp 包絡線検波回路
JP2770814B2 (ja) * 1996-05-01 1998-07-02 日本電気株式会社 アクティブソーナー装置

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US3975729A (en) * 1957-05-31 1976-08-17 Aeronutronic Ford Corporation Target detecting system
JPS57114997A (en) * 1981-01-07 1982-07-17 Omron Tateisi Electronics Co Traffic flow measuring apparatus
JPH02116775A (ja) * 1988-10-27 1990-05-01 Mazda Motor Corp 速度検出装置
JPH0836056A (ja) * 1994-07-25 1996-02-06 Matsushita Electric Works Ltd 超音波センサ
JPH1073658A (ja) * 1996-08-30 1998-03-17 Ricoh Micro Electron Kk 超音波測定装置
JPH11242078A (ja) * 1997-12-25 1999-09-07 Nippon Signal Co Ltd:The 超音波式速度計測装置

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