JP6086488B2 - Object detection device - Google Patents

Description

  The present invention provides an object detection that outputs a transmission wave to a region where an object to be detected can appear, and detects a distance to the object based on a reflected wave that is reflected by the object and returns. Relates to the device.

  Patent Document 1 aims to realize high-frequency ranging of a short-distance object while having a wide measurement range with a single sensor ([0005], summary). In order to achieve the object, Patent Document 1 discloses a transmission element 2 that transmits ultrasonic waves to an object, a drive circuit (microcomputer 16) that outputs a drive signal to the transmission element 2, and a reflected wave from the object. A receiving element 3 for receiving, and a signal processing circuit (microcomputer 16) for detecting a distance between the receiving object 3 and a signal from the receiving element 3, wherein the signal processing circuit transmits a transmission wave based on a plurality of transmission patterns. And the distance to the object is calculated based on the correlation between the plurality of transmission patterns and the signal from the receiving element 3 (summary).

  Moreover, in patent document 1, a short distance ranging process and a long distance ranging process are simultaneously performed in parallel based on a plurality of transmission signal patterns. In the short distance ranging process, a transmission signal pattern having a short period is generated, and in the long distance ranging process, a transmission signal pattern having a long period is generated ([0013], FIG. 2).

  Further, in Patent Document 1, since it is necessary to suppress interference between short-distance and long-distance transmission signal patterns, the value shown in Equation (5) of Patent Document 1 is set for all delay times l ( 6) It is necessary to satisfy the equation ([0018]).

JP 2009-222445 A

  As described above, Patent Document 1 mentions the necessity of suppressing interference between short-distance and long-distance transmission signal patterns, but there is room for improvement in terms of suppression of interference and prevention of false detection.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide an object detection apparatus that can reliably prevent erroneous detection.

  An object detection apparatus according to the present invention includes a transmitter that outputs a combined transmission wave of a first transmission wave for a short-distance region and a second transmission wave for a long-distance region with respect to an area where an object to be detected can appear. A receiver that receives a reflected wave that is reflected back from the object among the combined transmission waves, and from a time when the transmitter outputs the combined transmission wave to a time when the receiver receives the reflected wave A distance detecting unit that detects a distance to the object according to a delay time of the first object, wherein the distance detecting unit obtains the distance to the object existing in the long-distance region. A value detected by the receiver at a timing when a transmission wave is transmitted is excluded.

  According to the present invention, when the distance to an object existing in the long-distance area is obtained, the value detected by the receiver at the timing when the first transmission wave for the short-distance area is transmitted is excluded. As a result, it is possible to exclude the output of the receiver based on the first transmission wave (direct wave) that reaches the receiver directly from the transmitter instead of the reflected wave. Therefore, it is possible to prevent erroneous detection based on the first transmission wave as a direct wave when obtaining the distance to the object existing in the long-distance region.

  The transmitter may output the first transmission wave after a period longer than a reverberation time determined according to the output magnitude of the second transmission wave. As a result, it is possible to prevent the object existing in the short distance region from being detected due to the reflected wave from the short distance region being buried by the reverberation of the second transmission wave for the long distance region.

  Alternatively, the transmitter may output the first transmission wave at the end of the reverberation time determined according to the output magnitude of the second transmission wave. As a result, even if the first transmission wave is output during the reverberation time, the reverberation of the second transmission wave ends when the receiver receives the first transmission wave. For this reason, it becomes possible to prevent the object existing in the short distance region from being detected by the reflection wave from the short distance region being buried by the reverberation of the second transmission wave for the long distance region. Further, according to the above, the first transmission wave is output during the reverberation time of the second transmission wave. For this reason, it is possible to output the first transmission wave earlier compared to the case where the first transmission wave is output after a period longer than the reverberation time determined according to the output magnitude of the second transmission wave. It becomes.

  The transmitter may make the output time of the second transmission wave longer than the output time of the first transmission wave. As a result, when the first transmission wave for the short-distance region is output, even if the first transmission wave directly reaches the receiver from the transmitter, the output time of the first transmission wave and the subsequent reverberation time are shortened. . For this reason, in the receiver, it is possible to prevent the reflected wave of the object existing in the long-distance region from being buried in the first transmission wave.

  The distance detection unit is for a short-distance region based on a first transmission wave pattern signal that is output from a transmitter control unit that controls the transmitter and indicates a pattern of the first transmission wave, and an output signal from the receiver A cross-correlation value is calculated, a distance to the object existing in the short-distance region is calculated based on the calculated cross-correlation value for the short-distance region, and output from the transmitter control unit and of the second transmission wave A long-distance area cross-correlation value is calculated based on a second transmission wave pattern signal indicating a pattern and an output signal from the receiver, and exists in the long-distance area based on the calculated long-distance area cross-correlation value A distance to the object may be calculated.

  Thereby, it becomes possible to reduce the influence of the noise that has entered the reflected wave by using the cross-correlation values for the short-distance region and the long-distance region. Further, when the output time of the second transmission wave for the long-distance region is made longer than the output time of the first transmission wave for the short-distance region, the reflected wave becomes the first by using the cross-correlation value for the long-distance region. It is possible to determine whether the transmission wave or the second transmission wave is used. That is, when calculating the cross-correlation value for the long-distance region, for example, when using binarized data based on the amplitude of the reflected wave, a time in which “1” indicating that the amplitude exceeds a predetermined amplitude threshold value continues for a predetermined time It is possible to determine whether or not the threshold value is exceeded. Therefore, it is possible to exclude the reflected wave based on the first transmission wave when calculating the long-distance region cross-correlation value.

  The object detection device includes a speed detection unit that detects a movement speed of a moving body on which the object detection device is mounted, and the distance detection unit determines whether to detect the distance. A speed threshold which is a threshold may be set, and the distance may be detected when the moving speed falls below the speed threshold, and the distance detection may be stopped when the moving speed exceeds the speed threshold.

  When the distance is detected using the cross-correlation value in the moving body, an error may occur in the cross-correlation value due to the Doppler effect accompanying the movement of the moving body. According to the present invention, when the moving speed of the moving body is lower than the speed threshold, that is, when the moving speed of the moving body is relatively low, the distance to the object is detected using the cross-correlation value. For this reason, even when the cross-correlation value is used in the moving body, the distance detection accuracy can be kept relatively high.

  On the other hand, when the moving speed of the moving body exceeds the speed threshold, that is, when the moving speed of the moving body is relatively high, the distance detection using the cross-correlation value is stopped. For this reason, when the accuracy of the cross-correlation value is not ensured, the distance detection can be stopped.

  According to the present invention, it is possible to prevent erroneous detection more reliably.

It is a block diagram which shows the structure of the vehicle carrying the object detection apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the whole process of the said object detection apparatus, and shows roughly the example of the several signal output in that case. It is a figure which shows an example of the control signal output to a transmitter from an object detection electronic control apparatus. It is a figure for demonstrating the said control signal. It is a figure for demonstrating the problem which should be considered when synthesize | combining a 1st transmission wave and a 2nd transmission wave. It is a figure which shows an example of the relationship between the transmission frequency (pulse wave period) and reception frequency of an ultrasonic sensor, and the transmission sensitivity and reception sensitivity of an ultrasonic sensor. It is a flowchart which sets a pulse bundle period. It is a figure for demonstrating the output space | interval (pulse bundle period) of a 1st transmission wave and a 2nd transmission wave. It is a figure which shows an example of the reflected wave signal which is an output signal of a receiver. It is a figure which shows an example of the filter signal which is an output signal of a filter. It is a flowchart (detail of S4 of FIG. 2) of the distance detection process for long-distance areas. It is a figure explaining a mode that the direct input part and reverberation part of a said 1st transmission wave are excluded. It is a figure which shows an example of the relationship between the delay time from the output of a transmission wave to reception of a reflected wave, the distance to a detection object, and a cross-correlation value. It is a flowchart (detail of S5 of FIG. 2) of the distance detection process for short distance area | regions.

A. Embodiment 1 FIG. Configuration [1-1. overall structure]
FIG. 1 is a block diagram showing a configuration of a vehicle 10 (hereinafter also referred to as “own vehicle 10”) equipped with an object detection device 12 according to an embodiment of the present invention. In addition to the object detection device 12, the vehicle 10 includes a vehicle behavior stabilization system 14, an electric power steering system 16 (hereinafter referred to as “EPS system 16”), and a vehicle speed sensor 18.

  The object detection device 12 detects various objects (for example, another vehicle, a person, and a wall) that appear around the host vehicle 10. Then, the object detection device 12 detects a distance L from the host vehicle 10 to the detected object 100 (hereinafter referred to as “detected object 100”).

  An electronic control device 20 (hereinafter referred to as “vehicle behavior stabilization ECU 20”) of the vehicle behavior stabilization system 14 executes vehicle behavior stabilization control, and is turned on a curved road through control of a brake system (not shown). The behavior of the vehicle 10 is stabilized.

  The electronic control device 22 (hereinafter referred to as “EPS ECU 22”) of the EPS system 16 executes steering assist control, and is a constituent element of an electric power steering device {an electric motor, a torque sensor, and a steering angle sensor (all shown in FIG. Etc.) assists the steering by the driver.

  The vehicle speed sensor 18 detects the vehicle speed V [km / h] of the vehicle 10 and outputs it to the object detection device 12.

[1-2. Object detection device 12]
As shown in FIG. 1, the object detection device 12 includes an ultrasonic sensor 30, a filter 32, and an object detection electronic control device 34 (hereinafter referred to as “object detection ECU 34” or “ECU 34”).

(1-2-1. Ultrasonic sensor 30)
The ultrasonic sensor 30 includes a transmitter 40 that outputs a synthetic transmission wave Wt (hereinafter also referred to as “transmission wave Wt”) that is an ultrasonic wave to the outside of the vehicle 10, and a detection object 100 (for example, other object) of the transmission wave Wt. And a receiver 42 that receives the reflected wave Wr that is reflected back to the vehicle.

  The transmitter 40 outputs a transmission wave Wt based on a control signal Sc (drive signal) from the ECU 34. The transmission wave Wt is a combination of the first transmission wave W1 for the short distance region and the second transmission wave W2 for the long distance region. As will be described later, the transmission wave Wt is a burst wave composed of a bundle of pulse waves 60 (see FIG. 4). The transmitter 40 of the present embodiment fixes the output direction of the transmission wave Wt. However, it is also possible to change the output direction of the transmission wave Wt (for example, to scan the transmission wave Wt).

  The receiver 42 outputs a voltage corresponding to the received reflected wave Wr (received wave) to the ECU 34 as an output signal (hereinafter referred to as “reflected wave signal Sr”).

  The ultrasonic sensor 30 is disposed on the front side of the vehicle 10 (for example, the front bumper 44 and / or the front grill). In addition to the front side or instead of the front side, the vehicle 10 may be disposed on the rear side (for example, the rear bumper and / or the rear grille) or on the side (for example, the side of the front bumper 44).

  In addition, although one ultrasonic sensor 30 is shown in FIG. 1, the vehicle 10 may have a plurality of ultrasonic sensors 30. In this case, for example, they can be arranged symmetrically on the front side of the vehicle 10.

  In FIG. 1, the transmitter 40 and the receiver 42 are described as separate bodies, but the vibrator of the transmitter 40 and the vibrator of the receiver 42 are the same or common. The vibrator of the transmitter 40 and the vibrator of the receiver 42 may be different.

  As will be described later, a sensor such as a millimeter wave radar or a laser radar may be used instead of the ultrasonic sensor 30.

(1-2-2. Filter 32)
The filter 32 performs filter processing for distance detection on the output signal (reflected wave signal Sr) of the receiver 42 and outputs it to the ECU 34 as a filter signal Sf. The distance detection filter processing is processing performed on the reflected wave signal Sr so that the ECU 34 has a signal suitable for calculating the distance L from the vehicle 10 to the detection object 100. Specifically, the filter 32 of the present embodiment performs bandpass filter processing and envelope processing (details will be described later).

  The filter signal Sf is an analog signal, but is converted into a digital signal by an analog / digital converter (not shown) provided in the ECU 34 and used in the ECU 34.

(1-2-3. Object Detection ECU 34)
(1-2-3-1. Overall Configuration of Object Detection ECU 34)
The object detection ECU 34 includes an input / output unit, a calculation unit, and a storage unit (all not shown) as a hardware configuration. The input / output unit includes the analog / digital converter. The storage unit includes a RAM (Random Access Memory) and a ROM (Read Only Memory).

  Further, the ECU 34 includes a transmitter control unit 50 and a distance detection unit 52 as functional components (functions realized by the calculation unit).

(1-2-3-2. Transmitter control unit 50)
The transmitter control unit 50 controls the output of the transmitter 40 by transmitting a control signal Sc to the transmitter 40. The transmitter controller 50 outputs a control signal Sc, which is a pulse signal (burst signal), at a predetermined period (details will be described later with reference to FIGS. 3 and 4).

(1-2-3-3. Distance detection unit 52)
The distance detection unit 52 detects the distance L from the vehicle 10 to the detection object 100 based on the filter signal Sf. The distance detection unit 52 of the present embodiment calculates the distance L using cross-correlation processing (details will be described later).

2. Control [2-1. Overall Processing of Object Detection Device 12]
FIG. 2 is a flowchart showing an overall process of the object detection apparatus 12 and schematically showing an example of a plurality of signals output at that time. In step S <b> 1, the object detection device 12 outputs the combined transmission wave Wt from the transmitter 40. The combined transmission wave Wt is a combination of the first transmission wave W1 for the short distance region and the second transmission wave W2 for the long distance region. The output combined transmission wave Wt is reflected by an object (detected object 100 (for example, another vehicle)) that appears in the detection area of the ultrasonic sensor 30, and returns to the object detection device 12 as a reflected wave Wr. The detection area here includes a short distance area and a long distance area. For example, the short distance area refers to an area that exceeds 0 m and 4 m or less, and the far distance area refers to an area that exceeds 4 m and 10 m or less, for example.

  In step S <b> 2, the object detection device 12 receives the reflected wave Wr by the receiver 42, and outputs the reflected wave signal Sr corresponding to the reflected wave Wr from the receiver 42 to the filter 32. As will be described later, the reflected wave signal Sr includes noise such as reverberation.

  In step S3, the filter 32 performs a distance detection filter process on the reflected wave signal Sr and outputs a filter signal Sf.

  In step S4, the distance detection unit 52 performs a distance detection process for the long distance region based on the filter signal Sf. The distance detection process for the long-distance area is a process for detecting the distance L from the vehicle 10 to the detection object 100 in the long-distance area, and details will be described later with reference to FIG.

  In step S5, the distance detection unit 52 performs a short distance region distance detection process based on the filter signal Sf. The short distance area distance detection process is a process of detecting the distance L from the vehicle 10 to the detection object 100 in the short distance area, and details will be described later with reference to FIG.

  In step S6, the object detection device 12 determines the distance L detected by the distance detection unit 52 as a result of the distance detection processing (S4, S5) for the long distance area and the short distance area, and the EPS system. 16 is output. The vehicle behavior stabilization system 14 and the EPS system 16 perform processing using the result.

  In the distance detection process for the long-distance area and the short-distance area in this embodiment, a cross-correlation value C described later is used. When the vehicle speed V of the vehicle 10 is high, the cross-correlation value C is likely to be affected by the Doppler effect in the reflected wave Wr, and the accuracy may be reduced.

  Therefore, in this embodiment, a vehicle speed threshold value THv for determining whether or not to execute the process of FIG. 2 is set. Then, when the vehicle speed V detected by the vehicle speed sensor 18 is lower than the vehicle speed threshold value THv, the process of FIG. 2 is executed. When the vehicle speed V is higher than the vehicle speed threshold value THv, the process of FIG. The vehicle speed threshold value THv can be set to any value of 5 to 30 km / h, for example.

[2-2. Output of transmission wave Wt (S1 in FIG. 2)]
(2-2-1. Overview)
FIG. 3 is a diagram illustrating an example of the control signal Sc output from the object detection ECU 34 to the transmitter 40. FIG. 4 is a diagram for explaining the control signal Sc. As shown in FIG. 4, the control signal Sc (driving signal) is output as a pulse bundle 62 (burst wave) in which a plurality of pulse waves 60 having a width Wp and an amplitude Ap are continuously output. . Hereinafter, the period of the pulse wave 60 in the pulse bundle 62 is referred to as “pulse wave period Cp”, and the period of the pulse bundle 62 is referred to as “pulse bundle period Cb”. When the number of pulse waves 60 included in the pulse bundle 62 is Np, the width of the pulse bundle 62 (hereinafter referred to as “width Wb”) is Cp × Np− (Cp−Wp).

  The vibrator (for example, piezoelectric element) of the transmitter 40 to which the control signal Sc is input vibrates according to the pulse wave 60 and outputs a transmission wave Wt as an ultrasonic wave.

  In the present embodiment, the wavelength of the transmission wave Wt is changed between the long distance area and the short distance area. That is, the pulse wave period Cp of the long-distance region pulse wave 60 is set so as to realize the resonance frequency f1 of the vibrator of the transmitter 40. Further, the pulse wave cycle Cp of the pulse wave 60 for the short distance region is set so as to realize the frequency f2 lower than the resonance frequency f1. In other words, the frequency (burst frequency) of the second transmission wave W2 as a burst wave is made equal to the resonance frequency f1, and the frequency (burst frequency) of the first transmission wave W1 is made equal to the frequency f2.

  As shown in FIG. 3, the width Wb of the pulse bundle 62 is changed between the long distance region and the short distance region. That is, the width Wb is widened (the output time is lengthened) in the second transmission wave W2 for the long distance region, and the width Wb is narrowed (the output time is shortened) in the first transmission wave W1 for the short distance region. The width Wb may be the same for the long distance area and the short distance area.

  The pulse bundle period Cb is variable according to the presence or absence of the detection object 100. That is, as compared with the case where the detection object 100 exists, when the detection object 100 does not exist, the pulse bundle cycle Cb (hereinafter referred to as “cycle Cw1”) of the first transmission wave W1 for the short-distance region is lengthened. The pulse bundle period Cb (hereinafter referred to as “period Cw2”) of the second transmission wave W2 for the long-distance region is shortened.

  Note that the width Wp of the pulse wave 60, the pulse wave period Cp, the width Wb of the pulse bundle 62, and the pulse bundle period Cb are all set by the transmitter control unit 50 of the object detection ECU 34.

  Further, the transmitter control unit 50 outputs the first and second transmission wave pattern signals Sp1 and Sp2 indicating the patterns Pw1 and Pw2 of the first transmission wave W1 and the second transmission wave W2 to the distance detection unit 52, respectively. The first and second transmission wave pattern signals Sp1 and Sp2 are used for distance detection (cross-correlation processing) in the distance detection unit 52. In the present embodiment, the patterns Pw1 and Pw2 of the first transmission wave W1 and the second transmission wave W2 are, for example, binarized data indicating the width Wb and the pulse bundle cycle Cb of the pulse bundle 62 (in other words, the control signal Sc A pattern indicating an envelope). Alternatively, the patterns Pw1 and Pw2 of the first transmission wave W1 and the second transmission wave W2 may be the same as the pattern indicated by the control signal Sc.

(2-2-2. Width Wp and Pulse Wave Period Cp of Pulse Wave 60)
FIG. 5 is a diagram for explaining problems to be considered when the first transmission wave W1 and the second transmission wave W2 are combined. In the example of FIG. 5, a transmission wave (for example, the second transmission wave W2) having a relatively wide width Wb of the pulse bundle 62 is output from the transmitter 40 until time t1 to t2, and reverberation occurs from time t2 to t3. Yes. Further, the period from the time point t1 to the time point t4 is a range that can be taken by the reflected wave Wr from the short distance region. In FIG. 5, about half of the possible range of the reflected wave Wr from the short distance region is affected by the second transmission wave W2. For this reason, it is not possible to accurately detect the distance L in the short distance region.

  Therefore, in the present embodiment, the pulse wave period Cp of the pulse wave 60 is set in consideration of the output characteristics of the ultrasonic sensor 30.

  FIG. 6 is a diagram illustrating an example of the relationship between the transmission frequency (pulse wave period Cp) and reception frequency of the ultrasonic sensor 30 and the transmission sensitivity and reception sensitivity of the ultrasonic sensor 30. As shown in FIG. 6, the transmission sensitivity and the reception sensitivity of the ultrasonic sensor 30 are the highest when the transmission frequency and the reception frequency of the ultrasonic sensor 30 are the resonance frequency f1. Further, as the transmission frequency and the reception frequency of the ultrasonic sensor 30 are separated from the resonance frequency f1, the transmission sensitivity and the reception sensitivity are lowered.

  Therefore, in the present embodiment, the pulse wave period Cp of the long-distance region pulse wave 60 is set so as to realize the resonance frequency f1 of the vibrator of the transmitter 40. As a result, the output (amplitude) of the second transmission wave W2 is relatively increased so that the reflected wave Wr from the long-distance region can be used to detect the distance L.

  Further, the pulse wave cycle Cp of the pulse wave 60 for the short distance region is set so as to realize the frequency f2 lower than the resonance frequency f1. As a result, the output (amplitude) of the first transmission wave W1 is made relatively small so that the reflected wave Wr from the short distance region can be used for the detection of the distance L.

  In addition, in the present embodiment, the width Wp of the long-distance region pulse wave 60 is set to be relatively wider than the width Wp of the short-distance region pulse wave 60.

(2-2-3. Setting of pulse bundle cycle Cb)
FIG. 7 is a flowchart for setting the pulse bundle cycle Cb. In step S <b> 11, the transmitter control unit 50 determines whether or not the detected object 100 exists in the short distance area or the long distance area. This determination is made based on a signal (object presence / absence signal So) from the distance detection unit 52.

  When the detected object 100 does not exist in either the short distance area or the long distance area (S11: NO), in step S12, the transmitter control unit 50 determines the pulse bundle cycle Cb of the second transmission wave W2 for the long distance area. The (cycle Cw2) is made the shortest, and the pulse bundle cycle Cb (cycle Cw1) of the first transmission wave W1 for the short-distance region is made the longest. In other words, the number of the second transmission waves W2 is increased most, and the number of the first transmission waves W1 is decreased most.

  When the detection object 100 exists in either the short distance area or the long distance area (S11: YES), in step S13, the transmitter control unit 50 determines whether the detection object 100 exists in the long distance area. To do.

  When the detected object 100 exists in the long-distance area (S13: YES), in step S14, the transmitter control unit 50 lengthens the cycle Cw2 and shortens the cycle Cw1 compared to step S12. In other words, compared to step S12, in step S14, the number of second transmission waves W2 is reduced and the number of first transmission waves W1 is increased.

  When the detection object 100 does not exist in the long distance area (S13: NO), the detection object 100 exists in the short distance area. In this case, in step S15, the transmitter control unit 50 makes the cycle Cw2 the longest and makes the cycle Cw1 the shortest. In other words, the number of second transmission waves W2 is reduced most, and the number of first transmission waves W1 is increased most. Making the cycle Cw2 the longest may include stopping the output of the second transmission wave W2.

(2-2-4. Output interval between first transmission wave W1 and second transmission wave W2)
FIG. 8 is a diagram for explaining an output interval (pulse bundle period Cb) between the first transmission wave W1 and the second transmission wave W2. In the example of FIG. 8, after the second transmission wave W2 is output at time t11, the first transmission wave W1 is transmitted at time t13 and time t16. Further, at the subsequent time point t18, the second transmission wave W2 is output. As described above, in the example of FIG. 8, two first transmission waves W1 are output after one second transmission wave W2 is output in one cycle of the transmission wave Wt, and one second transmission is performed. The wave W2 is output.

  As shown in FIG. 8, when the second transmission wave W2 is output at time t11, the reverberation time Tr2 during which reverberation occurs until time t12 is obtained. During the reverberation time Tr2, the distance detection unit 52 cannot accurately detect the distance L. Therefore, in the present embodiment, the range from the time point t12 to the time point t14 is a range in which the distance L is detected for the long-distance region (a long-distance region detection range Rf).

  On the other hand, the time points t13 to t15 are set as a range (short range detection range Rn) in which the distance L is detected for the short range. A range Rn between time points t13 and t15 corresponds to the first transmission wave W1 (first first transmission wave W1) immediately after the second transmission wave W2 is output. Also, the time points t16 to t17 are set as a short-range detection range Rn corresponding to the second first transmission wave W1.

  As is apparent from FIG. 8, the long-range detection range Rf and the first short-range detection range Rn overlap in time. Therefore, the reflected wave Wr of the first transmission wave W1 may be detected in the distance detection process for the long-distance region (FIG. 11), and erroneous detection may occur. Therefore, in the distance detection process for the long-distance area, a measure for avoiding the erroneous detection is taken (details will be described later with reference to FIG. 11).

  As shown in FIG. 8, the output timing of the first transmission wave W1 is set avoiding the reverberation time Tr2 of the second transmission wave W2. In other words, the first transmission wave W1 is output after a period longer than the reverberation time Tr2.

[2-3. Reception of reflected wave Wr (S2 in FIG. 2)]
FIG. 9 is a diagram illustrating an example of a reflected wave signal Sr that is an output signal of the receiver 42. As described above, in the present embodiment, the transducer of the transmitter 40 and the transducer of the receiver 42 are the same or common. For this reason, the vibrator of the receiver 42 detects the vibration of the vibrator of the transmitter 40 when the transmission wave Wt is output. Accordingly, the output signal (reflected wave signal Sr) of the receiver 42 reflects the vibration of the vibrator of the transmitter 40 when the transmission wave Wt is output.

  When a plurality of ultrasonic sensors 30 are provided, a transmission wave Wt from a transmitter 40 of one ultrasonic sensor 30 (first ultrasonic sensor) is a receiver of another ultrasonic sensor 30 (second ultrasonic sensor). 42 may be received.

  In FIG. 9, the output of the transmission wave Wt (ultrasonic wave) is started from the transducer of the transmitter 40 at time t21, and the output of the transmission wave Wt is continued until time t22. Even if the output of the transmission wave Wt is terminated at time t22, the reflected wave signal Sr is not sufficiently lowered for a predetermined time including time t23. This is a so-called reverberation phenomenon, which occurs when the vibrator of the transmitter 40 continues to vibrate mechanically even after the control signal Sc as an electric signal is stopped. The reverberation times Tr1 and Tr2 change according to the output magnitude of the transmission wave Wt (first transmission wave W1 and second transmission wave W2). Therefore, the reverberation times Tr1 and Tr2 can be estimated or set according to the setting of the control signal Sc.

  The rise of the reflected wave signal Sr at time t24 in FIG. 9 is due to the actual reflected wave Wr. Therefore, by detecting the time (hereinafter referred to as “delay time Td”) from the output time (time t21) of the transmission wave Wt to the reception time (time t24) of the reflected wave Wr, the vehicle 10 to the detection object 100 is detected. The distance L can be calculated.

That is, when it is assumed that the velocity of the ultrasonic wave traveling in the air (sound velocity c) is a constant value, the distance L can be calculated by the following equation (1).
Distance L = c × delay time Td / 2 (1)

  Note that a temperature sensor (not shown) may be provided to correct the sound speed c according to the outside air temperature.

[2-4. Filter processing (S3 in FIG. 2)]
(2-4-1. Overview of filter processing)
The filter processing is signal processing for distance detection that the filter 32 performs on the reflected wave signal Sr. The filter 32 of the present embodiment performs bandpass filter processing and envelope processing as filter processing.

(2-4-2. Bandpass filter processing)
The band-pass filter process (hereinafter also referred to as “BPF process”) is a filter process that passes only the frequency of the transmission wave Wt (hereinafter referred to as “transmission wave frequency ft”) and its neighboring values in the reflected wave signal Sr. . The signal after the bandpass filter processing is referred to as “bandpass filter signal Sbpf” or “BPF signal Sbpf”.

  As described above, in this embodiment, the transmission wave frequency ft is switched between the resonance frequency f1 and the lower frequency f2. Moreover, it is preferable that the neighborhood value mentioned above includes both a value larger and smaller than the transmission wave frequency ft. However, it may be only one of a value larger or smaller than the transmission wave frequency ft. Alternatively, the BPF process may pass only the transmission wave frequency ft.

  As described above, in the present embodiment, the process of FIG. 2 is executed when the vehicle 10 is relatively slow, and the process of FIG. 2 is stopped when the vehicle 10 is relatively fast. For this reason, even if the pass frequency region in the BPF process is used as the transmission wave frequency ft and its neighboring value, it can be sufficiently utilized for detecting the distance L.

  By performing the BPF process as described above, it is possible to remove noise included in the reflected wave signal Sr other than the transmission wave frequency ft and its neighboring values and improve the accuracy of distance detection.

(2-4-3. Envelope processing)
The envelope process is a filter process for generating an envelope (envelope) based on the BPF signal Sbpf. The signal after the envelope processing becomes an output signal (filter signal Sf) from the filter 32.

  FIG. 10 is a diagram illustrating an example of a filter signal Sf that is an output signal of the filter 32. As described with reference to the reflected wave signal Sr in FIG. 9, the time point t31 in FIG. 10 corresponds to the output start time point of the transmission wave Wt. The output of the transmission wave Wt continues until time t32. There is reverberation between time points t32 and t33. The time t24 corresponds to the reception time of the reflected wave Wr.

  Accordingly, the time t31 to t34 is the delay time Td, and the distance L from the vehicle 10 to the detected object 100 can be calculated based on the delay time Td (however, in this embodiment, the cross-correlation value C Is used.)

[2-5. Distance detection process for long-distance area (S4 in FIG. 2)]
FIG. 11 is a flowchart of the distance detection process for the long-distance area (details of S4 in FIG. 2). In step S21, the distance detection unit 52 acquires patterns Pw1 and Pw2 (first and second transmission wave pattern signals Sp1 and Sp2) of the first transmission wave W1 and the second transmission wave W2 from the transmitter control unit 50, respectively. . In the present embodiment, the patterns Pw1 and Pw2 of the first transmission wave W1 and the second transmission wave W2 are binarized data indicating the width Wb of the pulse bundle 62 and the pulse bundle period Cb. For example, a period in which the pulse bundle 62 (burst wave) is output (that is, the width Wb) is “1”, and a period in which the pulse bundle 62 is not output is “0”.

  In step S22, the distance detection unit 52 binarizes the filter signal Sf indicating the reflected wave Wr according to the value (amplitude). That is, as shown in FIG. 10, a threshold value THsf for the value (amplitude) of the filter signal Sf is set, and when the value exceeds the threshold value THsf, it is “1”, and when the value is less than the threshold value THsf, it is “0”. To do. Here, it is assumed that the threshold value THsf is a fixed value, but the threshold value THsf may be a variable value as shown in paragraph [0016] of FIG. 4 and FIG.

  In step S23, the distance detector 52 excludes the direct input and reverberation of the first transmission wave W1 from the binarized data of the filter signal Sf.

  FIG. 12 is a diagram for explaining a state in which a direct input component and a reverberation component of the first transmission wave W1 are excluded. In step S23 of FIG. 11, the influence of the first transmission wave W1 is excluded from the binarized data of the filter signal Sf. On the other hand, FIG. 12 shows that the influence of the first transmission wave W1 is excluded from the filter signal Sf itself, not the binarized data of the filter signal Sf, for easy understanding. I want to be. As shown in FIG. 12, the influence of the first transmission wave W1 may be excluded from the filter signal Sf itself.

  As a method for excluding the direct input portion and reverberation component of the first transmission wave W1 from the binarized data of the filter signal Sf, for example, the timing at which the first transmission wave W1 is output and the subsequent reverberation time Tr1 are filtered. The binarized data of the signal Sf can be forced to zero. In this case, the timing at which the first transmission wave W1 is output can be known based on the pattern Pw1 (first transmission wave pattern signal Sp1) of the first transmission wave W1. For the subsequent reverberation time Tr1, an actual measurement value or a simulation value is acquired in advance, and the binarized data of the filter signal Sf is set to 0 during the reverberation time Tr1 after the output of the first transmission wave W1 is completed. do it.

  Alternatively, for the number of shifts l corresponding to the timing at which the first transmission wave W1 is output and the subsequent reverberation time Tr1, the calculation of the above equation (2) can be omitted.

  In step S24, the distance detection unit 52 performs the cross-correlation value for the long-distance region based on the pattern Pw2 (binarized data) of the second transmission wave W2 and the binarized data of the reflected wave Wr (filter signal Sf). C (hereinafter also referred to as “cross-correlation value C2”) is calculated. In both the short-distance region and the long-distance region, the cross-correlation value C is calculated using the following equation (2).

  In Expression (2), T (k) is the value of the binarized data of the transmission wave Wt. That is, when the comparison with the second transmission wave W2 is performed in step S24, the pattern Pw2 is binarized data. When the comparison with the first transmission wave W1 is performed in step S33 of FIG. 14 described later, the pattern Pw1 is binarized data. R (k + 1) is the value of the binarized data of the reflected wave Wr (filter signal Sf). l indicates the number of shifts of the reflected wave signal Sr (filter signal Sf) (shift from the output start time of the first transmission wave W1 or the second transmission wave W2), that is, the delay time Td. Alternatively, l may indicate the distance L from the vehicle 10 to the detection object 100. Nd is the number of samplings for one calculation period of the cross-correlation value C.

  For further details of the calculation of the cross-correlation value C, see, for example, Patent Document 1.

  In step S25 of FIG. 11, the distance detection unit 52 calculates the distance L to the detected object 100 based on the cross-correlation value C2 for the long-distance area calculated in step S24. For example, when 1 in Expression (2) is set to indicate the delay time Td, the distance detection unit 52 specifies the shift number l (hereinafter referred to as “shift number lmax”) at which the cross-correlation value C2 becomes the maximum value. Then, the shift number lmax is replaced with the delay time Td.

  In addition, in order to replace the delay time Td, the distance detection unit 52 sets a time corresponding to one shift in advance. Then, the distance L is calculated by substituting the obtained delay time Td into the above equation (1).

  In the above equation (1), if the variable on the right side is only the delay time Td, the distance L is uniquely determined when the shift number lmax is specified. Therefore, the distance detection unit 52 may preset a distance L corresponding to one shift instead of presetting a time corresponding to one shift.

  FIG. 13 is a diagram illustrating an example of the relationship between the delay time Td, the distance L, and the cross-correlation value C. In FIG. 13, when the delay time Td is Td1 (when the distance L is L1), the cross-correlation value C is the largest. For this reason, the distance detection unit 52 determines that the delay time Td is Td1 or the distance L is L1.

[2-6. Distance detection process for short distance area (S5 in FIG. 2)]
FIG. 14 is a flowchart (details of S5 in FIG. 2) of the short-distance area distance detection process. In step S31, the distance detection unit 52 obtains the pattern Pw1 (first transmission wave pattern signal Sp1) of the first transmission wave W1 from the transmitter control unit 50. In the present embodiment, the pattern Pw1 of the first transmission wave W1 is binarized data indicating the width Wb of the pulse bundle 62 and the pulse bundle cycle Cb. For example, a period during which the pulse bundle 62 is output (that is, the width Wb) is “1”, and a period during which the pulse bundle 62 is not output is “0”.

  In step S32, as in step S22 of FIG. 11, the distance detection unit 52 binarizes the filter signal Sf indicating the reflected wave Wr according to its value (amplitude). The calculation result of step S22 may be used as it is.

  In step S33, the distance detector 52 uses the pattern Pw1 (binarized data) of the first transmission wave W1 and the binarized data of the reflected wave Wr (filter signal Sf) to calculate the cross-correlation value for the short distance region. C (hereinafter also referred to as “cross-correlation value C1”) is calculated. In calculating the cross-correlation value C1, the above equation (2) is used.

  In step S34 in FIG. 14, the distance detection unit 52 calculates the distance L to the detected object 100 based on the cross-correlation value C1 for the short-distance region calculated in step S33. Step S34 is the same as step S25 of FIG.

3. As described above, according to the present embodiment, when the distance L to the detection object 100 existing in the long-distance region is obtained, the receiver 42 detects the timing at which the first transmission wave W1 is transmitted. The excluded values are excluded (S23 in FIG. 11, FIG. 12). As a result, not the reflected wave Wr but the output (reflected wave signal Sr) of the receiver 42 based on the first transmission wave W1 (direct wave) for the short-distance region that directly reaches the receiver 42 from the transmitter 40 is excluded. It becomes possible. Therefore, when the distance L to the object 100 existing in the long-distance region is obtained, it is possible to prevent erroneous detection based on the first transmission wave W1 as a direct wave.

  In the present embodiment, the transmitter 40 transmits the first transmission wave W1 after a period longer than the reverberation time Tr2 determined according to the output magnitude of the second transmission wave W2 (FIG. 8). As a result, it is possible to prevent the object 100 existing in the short distance region from being detected because the reflected wave Wr from the short distance region is buried by the reverberation of the second transmission wave W2 for the long distance region.

  The transmitter 40 makes the output time of the second transmission wave W2 longer than the output time of the first transmission wave W1 (width Wb of the pulse bundle 62) (FIG. 8). Thus, when the first transmission wave W1 for the short-distance region is output, even if the first transmission wave W1 directly reaches the receiver 42 from the transmitter 40, the output time of the first transmission wave W1 and the subsequent time The reverberation time Tr1 is shortened. For this reason, in the receiver 42, it is possible to prevent the reflected wave Wr of the object 100 existing in the long-distance region from being buried in the first transmission wave W1.

  In the present embodiment, the distance detection unit 52 outputs the first transmission wave pattern signal Sp1 that is output from the transmitter control unit 50 that controls the transmitter 40 and indicates the pattern Pw1 of the first transmission wave W1, and the output from the receiver 42. A short-distance region cross-correlation value C1 based on the signal (filter signal Sf) is calculated (S33 in FIG. 14), and a distance L to the object 100 existing in the short-distance region is calculated based on the calculated cross-correlation value C1. (S34). The distance detection unit 52 is based on the second transmission wave pattern signal Sp2 output from the transmitter control unit 50 and indicating the pattern Pw2 of the second transmission wave W2, and the output signal (filter signal Sf) from the receiver 42. A long-distance area cross-correlation value C2 is calculated (S24 in FIG. 11), and a distance L to the object 100 existing in the long-distance area is calculated based on the calculated cross-correlation value C2 (S25).

  Thus, by using the cross-correlation values C1 and C2 for the short-distance region and the long-distance region, it is possible to reduce the influence of noise that has entered the reflected wave Wr. Further, by using the cross-correlation value C2 in combination with the output time of the second transmission wave W2 being longer than the output time of the first transmission wave W1, the reflected wave Wr is changed to the first transmission wave W1 or the second transmission wave. It is possible to determine which of the waves W2 is based on. That is, when calculating the cross-correlation value C2, for example, when using binarized data based on the amplitude of the reflected wave Wr, the time for which “1” indicating that the amplitude exceeds the predetermined amplitude threshold continues for a predetermined time threshold. It is possible to determine whether or not it exceeds. Therefore, when calculating the cross-correlation value C2, the reflected wave Wr based on the first transmission wave W1 can be excluded.

  In the present embodiment, the object detection device 12 includes a vehicle speed sensor 18 (speed detection unit) that detects the vehicle speed V (movement speed) of the vehicle 10 (moving body) on which the object detection device 12 is mounted, and the distance detection unit 52. Sets a vehicle speed threshold value THv for determining whether or not to detect the distance L. When the vehicle speed V falls below the vehicle speed threshold value THv, the distance L is detected. When the vehicle speed V exceeds the vehicle speed threshold value THv, Stop detecting L.

  When the distance L is detected using the cross-correlation value C in a moving object such as the vehicle 10, an error may occur in the cross-correlation value C due to the Doppler effect accompanying the movement of the moving object. According to this embodiment, when the vehicle speed V falls below the vehicle speed threshold value THv, that is, when the vehicle speed V is relatively low, the distance L to the object 100 is detected using the cross-correlation value C. For this reason, even when the cross-correlation value C is used in the vehicle 10, the accuracy of detecting the distance L can be kept relatively high.

  On the other hand, when the vehicle speed V exceeds the vehicle speed threshold value THv, that is, when the vehicle speed V is relatively high, the detection of the distance L using the cross-correlation value C is stopped. For this reason, when the accuracy of the cross-correlation value C is not ensured, the detection of the distance L can be stopped.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description of the present specification. For example, the following configuration can be adopted.

1. Application object In the above-described embodiment, the object detection device 12 is applied to the vehicle 10, but is not limited thereto, and may be applied to another object. For example, the object detection device 12 can be used for a moving body such as a ship or an aircraft. Or you may apply the object detection apparatus 12 to a robot, the monitoring apparatus for security, or a household appliance.

2. Configuration of Object Detection Device 12 [2-1. The entire]
In the above embodiment, the distance L as the output of the object detection device 12 is used in the vehicle behavior stabilization ECU 20 and the EPS ECU 22, but it can also be used for other purposes. For example, it can be used for parking assistance of the vehicle 10 or prevention of erroneous start.

  In the above-described embodiment, the ultrasonic sensor 30 using the transmission wave Wt and the reflected wave Wr that are ultrasonic waves is used. For example, in the distance detection process for the long-distance region, at the timing when the first transmission wave W1 is transmitted. From the viewpoint of excluding the values detected by the receiver 42, sensors such as millimeter wave radar and laser radar can be used.

[2-2. Configuration of Filter 32 and Object Detection ECU 34]
The above embodiment has been described on the assumption that the filter 32 is configured with an analog circuit, and the transmitter control unit 50 and the distance detection unit 52 are configured with digital circuits. However, the filter 32 may be configured by a digital circuit. Further, a part of the transmitter control unit 50 and the distance detection unit 52 may be configured by an analog circuit.

[2-3. Control of Object Detection ECU 34]
In the above embodiment, the frequency (burst frequency) of the second transmission wave W2 is made equal to the resonance frequency f1, and the frequency (burst frequency) of the first transmission wave W1 is made equal to the frequency f2 lower than the resonance frequency f1 (FIG. 3). However, from another viewpoint (for example, from the viewpoint of excluding the value detected by the receiver 42 at the timing when the first transmission wave W1 is transmitted in the distance detection process for the long-distance region), the first transmission wave W1. The frequency (burst frequency) of the second transmission wave W2 may be equal.

  In the above embodiment, the width Wb of the pulse bundle 62 is wider in the second transmission wave W2 for the long-distance region than in the first transmission wave W1 for the short-distance region (FIG. 3). However, from another viewpoint (for example, from the viewpoint of excluding the value detected by the receiver 42 at the timing when the first transmission wave W1 is transmitted in the distance detection process for the long-distance region), the first transmission wave W1. The width Wb of the second transmission wave W2 may be the same.

  In the above embodiment, the cross-correlation values C1 and C2 are calculated in the distance detection process for the long distance area and the distance detection process for the short distance area. For example, the timing at which the first transmission wave W1 is transmitted in the distance detection process for the long distance area. From the standpoint of excluding values detected by the receiver 42, the present invention is not limited to this. For example, in both distance detection processes, it is possible to calculate the delay time Td while the amplitude of the filter signal Sf exceeds the amplitude threshold. In this case, transmission of the first and second transmission wave pattern signals Sp1 and Sp2 from the transmitter controller 50 for the purpose of cross-correlation processing to the distance detector 52 becomes unnecessary. However, in order to know the output timing of the first transmission wave W1 in the distance detection process for the long-distance region, the output of the first transmission wave pattern signal Sp1 is necessary.

  In the above embodiment, the envelope processing is performed in the distance detection processing for the long-distance region and the short-distance region. However, for example, from the viewpoint of detecting the distance L, a configuration in which the envelope processing is not performed is possible. In this case, in order to calculate the cross-correlation value C, for example, the control signal Sc itself is used as the first and second transmission wave pattern signals Sp1 and Sp2 transmitted from the transmitter controller 50 to the distance detector 52. It is also possible.

  In the above embodiment, when the vehicle speed V exceeds the vehicle speed threshold value THv, the distance detection process for the long distance region and the short distance region is stopped. However, when the vehicle speed V exceeds the vehicle speed threshold value THv, each distance detection process is performed. Also good. In this case, the process of correcting the Doppler effect can be performed according to the vehicle speed V. In addition, when performing such correction | amendment, the structure which correct | amends according to the vehicle speed V without providing the vehicle speed threshold value THv is also possible.

  In the above embodiment, the transmitter 40 transmits the first transmission wave W1 after a period longer than the reverberation time Tr2 determined according to the magnitude of the output of the second transmission wave W2 (FIG. 8). However, for example, from the viewpoint of avoiding the influence of the reverberation time Tr2, it is not limited to this.

  For example, the transmitter 40 may output the first transmission wave W1 at the end of the reverberation time Tr2 (t12 in FIG. 8) determined according to the magnitude of the output of the second transmission wave W2. Thus, even if the first transmission wave W1 is output during the reverberation time Tr2, the reverberation of the second transmission wave W2 is over when the receiver 42 receives the first transmission wave W1. For this reason, it becomes possible to prevent the detection of the object 100 existing in the short distance area due to the reflection of the reflected wave Wr from the short distance area due to the reverberation of the second transmission wave W2 for the long distance area. Further, according to the above, the first transmission wave W1 is output during the reverberation time Tr2. For this reason, compared with the case where the 1st transmission wave W1 is output after progress of the period longer than the reverberation time Tr2, it becomes possible to output the 1st transmission wave at an early stage.

DESCRIPTION OF SYMBOLS 10 ... Vehicle (moving body) 12 ... Object detection apparatus 18 ... Vehicle speed sensor (speed detection part) 40 ... Transmitter 42 ... Receiver 50 ... Transmitter control part 52 ... Distance detection part 100 ... Detection object (object)
C1 ... Cross-correlation value for short-distance region C2 ... Cross-correlation value THv for long-distance region ... Vehicle speed threshold (speed threshold) L ... Distance to object Sp1 ... First transmission wave pattern signal Sp2 ... Second transmission wave pattern signal Sr ... Reflected wave signal (output signal from receiver) Td ... Delay time Tr1, Tr2 ... Reverberation time V ... Vehicle speed (moving speed)
W1 ... first transmission wave W2 ... second transmission wave Wr ... reflected wave Wt ... composite transmission wave

Claims (3)

A transmitter that outputs a combined transmission wave of a first transmission wave for a short-distance region and a second transmission wave for a long-distance region with respect to a region where an object to be detected can appear;
A receiver that receives the reflected wave that is reflected back from the object out of the combined transmitted wave; and
A distance detection unit that detects a distance to the object according to a delay time from when the transmitter outputs the combined transmission wave to when the receiver receives the reflected wave. And
The transmitter outputs the first transmission wave during the reverberation time at the end of the reverberation time determined according to the output magnitude of the second transmission wave;
The distance detection unit excludes a value detected by the receiver at a timing at which the first transmission wave is transmitted when obtaining a distance to the object existing in the long-distance region. apparatus. The object detection apparatus according to claim 1 ,
The transmitter detects an output time of the second transmission wave longer than an output time of the first transmission wave. A transmitter that outputs a combined transmission wave of a first transmission wave for a short-distance region and a second transmission wave for a long-distance region with respect to a region where an object to be detected can appear;
A receiver that receives the reflected wave that is reflected back from the object out of the combined transmitted wave; and
A distance detection unit that detects a distance to the object according to a delay time from when the transmitter outputs the combined transmission wave to when the receiver receives the reflected wave;
An object detection device comprising:
A speed detection unit that detects a moving speed of a moving body on which the object detection device is mounted;
The distance detector is
When determining the distance to the object existing in the far field, exclude the value detected by the receiver at the timing when the first transmission wave is transmitted,
A short-range cross-correlation value is calculated based on a first transmission wave pattern signal that is output from a transmitter control unit that controls the transmitter and indicates a pattern of the first transmission wave, and an output signal from the receiver. ,
Calculate the distance to the object existing in the short distance area based on the calculated cross correlation value for the short distance area,
Calculating a long-range cross-correlation value based on a second transmission wave pattern signal output from the transmitter control unit and indicating a pattern of the second transmission wave and an output signal from the receiver;
Calculate the distance to the object existing in the long-range area based on the calculated cross-correlation value for the long-range area ,
Set a speed threshold that is a threshold of the moving speed for determining whether to detect the distance;
When the moving speed falls below the speed threshold, the distance is detected.
When the moving speed exceeds the speed threshold, the detection of the distance is stopped .

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