Obstacle detection apparatus

Patent metadata

Field	Value
Publication number	US-10054683-B2
Application number	US-201515515567-A
Country	US
Kind code	B2
Filing date	Oct 21, 2015
Priority date	Oct 22, 2014
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

An obstacle detection apparatus includes: a transceiver transmitting a transmission wave and receiving an ultrasonic wave; a transmission controller; a receiver circuit detecting a signal level of a receiving wave; a distance calculator sequentially calculating a distance to an object reflecting the transmission wave; a memory storing the distance to the object; an obstacle determinator determining whether the object is an obstacle; and a reception level monitoring device monitoring the signal level of the receiving wave before the transmission wave being transmitted. When the signal level exceeds a predetermined threshold, the obstacle determinator sets a first number of determination data elements to an increased number of determinations for a predetermined period to be used for determining whether the object is the obstacle, as being larger than a second number of determination data elements used when the signal level does not exceed the predetermined threshold.

First claim

The invention claimed is:

1. An obstacle detection apparatus mounted to a vehicle and comprising:
a transceiver that repeatedly transmits a transmission wave as an ultrasonic wave and receives an ultrasonic wave from outside;
a transmission controller that controls the transceiver to transmit the transmission wave;
a receiver circuit that detects a signal level of a receiving wave as the ultrasonic wave received by the transceiver;
a distance calculator that sequentially calculates a distance to an object, which reflects the transmission wave based on a time interval between a time point at which the transmission wave is transmitted from the transceiver and a wave reception time point defined from a signal level of the receiving wave detected by the receiver circuit;
a memory that stores the distance to the object calculated by the distance calculator;
an obstacle determinator that determines whether the object is an obstacle based on the distance to the object stored in the memory and a current distance to the object calculated by the distance calculator; and
a reception level monitoring device that monitors the signal level of the receiving wave detected by the receiver circuit before the transmission controller controls the transceiver to transmit the transmission wave; and
a vehicle speed acquisition device that acquires a vehicle speed of the vehicle,
wherein, when the signal level of the receiving wave monitored by the reception level monitoring device exceeds a predetermined threshold, the obstacle determinator sets a first number of determination data elements to an increased number of determinations for a predetermined period, the first number of determination data elements being a number of data elements of the distance to the object to be used for determining whether the object is the obstacle, the increased number of determinations being larger than a second number of determination data elements to be used for a situation in which the signal level of the receiving wave does not exceed the predetermined threshold,
wherein the obstacle determinator determines whether the vehicle is running based on the vehicle speed acquired by the vehicle speed acquisition device, and
wherein, in response to determining that the vehicle is running, the obstacle determinator sets the first number of determination data elements to the regular number of determinations, which is the second number of determination data elements to be used for the situation in which the signal level of the receiving wave does not exceed the predetermined threshold.

2. The obstacle detection apparatus according to claim 1 ,
wherein, when the current distance to the object calculated by the distance calculator is less than or equal to a preset short distance threshold, the obstacle determinator sets the first number of determination data elements to a regular number of determinations as the second number of determination data elements to be used for the situation in which the signal level of the receiving wave does not exceed the predetermined threshold.

3. The obstacle detection apparatus according to claim 1 ,
wherein, in a case where it is determined that a time interval during which the signal level exceeds the predetermined threshold is not closer to a transmission time interval in which the transceiver transmits the transmission wave even when the signal level of the receiving wave monitored by the reception level monitoring device exceeds the predetermined threshold, the obstacle determinator sets the first number of determination data elements to the regular number of determinations as the second number of determination data elements to be used for the situation in which the signal level of the receiving wave does not exceed the predetermined threshold.

4. The obstacle detection device according to claim 1 , further comprising:
a transmission timing controller that controls transmission timing at which the transmission controller controls the transmission wave to be transmitted, and sequentially changes a cycle of the transmission timing.

5. The obstacle detection apparatus according to claim 1 , wherein:
the transceiver, the transmission controller, and the receiver circuit are arranged at each one of a plurality of ultrasonic sensors;
the reception level monitoring device monitors the signal level of the receiving wave detected by the receiver circuit of each of the plurality of ultrasonic sensors; and
the obstacle determinator sets the first number of determination data elements to the increased number of determinations for a predetermined period in one of the plurality of ultrasonic sensors, which detects the signal level exceeding the predetermined threshold, and in another one of the plurality of ultrasonic sensors adjacent to the one of the plurality of ultrasonic sensors.

6. The obstacle detection apparatus according to claim 5 ,
wherein the obstacle determinator sets the first number of determination data elements to the increased number of determinations for a predetermined period in the plurality of ultrasonic sensors, the first number of determination data elements being determined based on at least one of the plurality of ultrasonic sensors, which detects the signal level exceeding the predetermined threshold.

7. The obstacle detection apparatus according to claim 5 , wherein:
two or more of the plurality of ultrasonic sensors are arranged at one end face of the vehicle; and,
when at least one of the two or more of the plurality of ultrasonic sensors arranged at the one end face of the vehicle detects the signal level exceeding the predetermined threshold, the obstacle determinator sets the first number of determination data elements to the increased number of determinations for a predetermined period in all of the two or more of the plurality of ultrasonic sensors arranged at the one end face of the vehicle.

8. The obstacle detection apparatus according to claim 1 ,
wherein the ultrasonic wave received by the transceiver includes a reflection wave of the transmission wave reflected by the object.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Matsuura Mitsuyasu
• Ando Tsuyoshi
• Hiromitsu Takayuki
• Ohbayashi Motonari
• Ishijima Hironobu

Classifications

• B60R21/00

  Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) · CPC title

• G01S15/87

  Combinations of sonar systems · CPC title

• G01S7/003

  Transmission of data between radar, sonar or lidar systems and remote stations · CPC title

• G01S15/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurement G01S15/32) · CPC title

• G01S15/931 Primary

  of land vehicles · CPC title