Object detecting apparatus

Patent metadata

Field	Value
Publication number	US-2016116591-A1
Application number	US-201514918330-A
Country	US
Kind code	A1
Filing date	Oct 20, 2015
Priority date	Oct 22, 2014
Publication date	Apr 28, 2016
Grant date	—

Abstract

An object detecting apparatus includes a distance calculator that calculates a distance to the object, a wave height acquirer that acquires a respective peak value of the plurality of reflected waves, and multiple reflection determiner. When a reflected wave for which a first distance to the object is calculated to be the smallest in the reflected waves is defined as a first wave, and another reflected wave to which a second distance is calculated as twice or more integer times the first distance calculated for the first wave and a difference of the peak value relative to the first wave which is larger than a predetermined value is present in the reflected waves, the multiple reflection determiner determines that multiple reflection is occurring in a second wave or thereafter.

First claim

What is claimed is:

1 . An object detecting apparatus that detects a position of an object by transmitting probe waves in surroundings and receiving a reflected wave of the probe waves as detected information of the object, comprising:
a distance calculator that calculates a distance to the object by using a plurality of reflected waves when the plurality of reflected waves are received for a single transmission time of the probe waves; a wave height acquirer that acquires a respective peak value of the plurality of reflected waves; and multiple reflection determiner; wherein, when a reflected wave for which a first distance to the object is calculated as the smallest among the plurality of reflected waves is defined as a first wave, and another reflected wave to which a second distance is calculated as twice or more integer times the first distance calculated for the first wave and a difference of the peak value relative to the first wave which is larger than a predetermined value is present in the plurality of reflected waves, the multiple reflection determiner determines that multiple reflection is occurring in a second wave or thereafter.

2 . The object detecting apparatus according to claim 1 ,
the object detecting apparatus further comprises an excluder that excludes the second wave or thereafter from being used to calculate the position of the object when it is determined by the multiple reflection determiner that the multiple reflection is occurring.

3 . The object detecting apparatus according to claim 2 , wherein,
when the second wave for which the second distance is twice the first distance calculated by the first wave and the difference of the peak value relative to the first wave which is larger than the predetermined value is present in the plurality of reflected waves, and when a third wave to which a third distance is three times the first distance calculated by the first wave is present in the plurality of reflected waves, the excluder excludes a reflected wave of the second wave from being used to calculate the position of the object.

4 . The object detecting apparatus according claim 1 , wherein,
when it is determined by the multiple reflection determiner that multiple reflection is occurring, there is further provided a calculator that calculates a position of an object different from the object calculated from the first wave by using the reflected waves of the second wave or thereafter.

5 . The object detecting apparatus according to claim 1 , wherein,
the object detecting apparatus is applied to a system provided with a plurality of distance measuring sensors for transmitting the probe waves and receiving the reflected wave; and when it is determined by the multiple reflection determiner that multiple reflection is occurring, there is further provided a stopper that stops calculation of the position using the reflected wave received by the distance measuring sensor to which the multiple reflection is occurring.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Fukuman Masumi
• Ohbayashi Motonari
• Kida Akihiro

Classifications

• G01S15/931 Primary

  of land vehicles · CPC title

• G01S15/46

  Indirect determination of position data · CPC title

• G01S2015/465

  by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined · CPC title

• G01S2015/938

  in the bumper area · CPC title

• G01S7/527

  Extracting wanted echo signals {(Doppler systems G01S15/50)} · CPC title