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公开(公告)号：US10371805B2
公开(公告)日：2019-08-06
申请号：US15515525
申请日：2015-10-21
摘要： 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 determination device 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 determination device 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.
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公开(公告)号：US09864057B2
公开(公告)日：2018-01-09
申请号：US15329493
申请日：2015-07-14
摘要： An ultrasonic object detection device includes: a first echo prolongation determination unit that sequentially determines whether a measured echo time of an ultrasonic sensor is prolonged from a reference echo time; a second echo prolongation determination unit that determines whether an addition echo time is prolonged from the reference echo time when the measured echo time is not prolonged from the reference echo time, and the ultrasonic sensor detects a reflected wave, the addition echo time being obtained by adding, to the measured echo time, a time from termination of an echo to termination of a first reflected wave; and a short distance object detection unit that determines that an object is disposed within a short distance so as to receive the reflected wave while the echo is not terminated when one of the measured echo time or addition echo time is prolonged from the reference echo time.
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公开(公告)号：US20170219698A1
公开(公告)日：2017-08-03
申请号：US15515525
申请日：2015-10-21
CPC分类号： G01S7/526 , G01S7/52006 , G01S7/529 , G01S15/025 , G01S15/87 , G01S15/93 , G01S15/931 , G01S2015/938 , G08G1/16
摘要： 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 determination device 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 determination device 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.
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公开(公告)号：US20170322304A1
公开(公告)日：2017-11-09
申请号：US15329493
申请日：2015-07-14
摘要： An ultrasonic object detection device includes: a first echo prolongation determination unit that sequentially determines whether a measured echo time of an ultrasonic sensor is prolonged from a reference echo time; a second echo prolongation determination unit that determines whether an addition echo time is prolonged from the reference echo time when the measured echo time is not prolonged from the reference echo time, and the ultrasonic sensor detects a reflected wave, the addition echo time being obtained by adding, to the measured echo time, a time from termination of an echo to termination of a first reflected wave; and a short distance object detection unit that determines that an object is disposed within a short distance so as to receive the reflected wave while the echo is not terminated when one of the measured echo time or addition echo time is prolonged from the reference echo time.
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公开(公告)号：US10948592B2
公开(公告)日：2021-03-16
申请号：US15515557
申请日：2015-10-21
发明人： Mitsuyasu Matsuura , Tsuyoshi Ando , Takayuki Hiromitsu , Motonari Ohbayashi , Hironobu Ishijima
IPC分类号： G01S15/00 , G01S15/46 , G01S15/87 , G01S15/931 , G01S7/56
摘要： An obstacle detection apparatus for vehicles includes: a first probe wave sensor detecting a direct wave distance as a distance to an obstacle by transmitting a probe wave and receiving a reflection wave of the probe wave reflected by the obstacle; a second probe wave sensor receiving the reflection wave to detect an indirect wave distance as a distance to the obstacle by receiving the reflection wave; an approach determinator determining whether the obstacle is present between the first probe wave sensor and the second probe wave sensor and whether the obstacle is approaching the vehicle; and a distance determinator determining an obstacle distance to be less than or equal to a predetermined distance range when the indirect wave distance falls out of the distance range as the obstacle is present between the first probe wave sensor and the second probe wave sensor and the obstacle is approaching the vehicle.
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公开(公告)号：US20170242120A1
公开(公告)日：2017-08-24
申请号：US15515537
申请日：2015-10-21
CPC分类号： G01S15/931 , G01S7/527 , G01S7/56 , G01S7/62 , G01S15/46 , G01S15/878 , G01S2015/938
摘要： An obstacle detection apparatus for vehicles includes: a first ultrasonic sensor for detecting a distance to an obstacle; a second ultrasonic sensor at a position of the vehicle for receiving a reflection wave from the obstacle of an ultrasonic wave from the first ultrasonic wave; a notifier that gives a notification of detecting the obstacle present within a preset distance in one or more of predetermined notification areas including a first notification area for the first ultrasonic sensor, and a second notification area for the second ultrasonic sensor detects the obstacle for the vehicle; and a controller that controls contents to be notified by the notifier. Furthermore, the controller determines whether a first indirect wave distance and a second indirect wave distance are used to determine whether to give the notification of detecting the obstacle in the first notification area.
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公开(公告)号：US20160116589A1
公开(公告)日：2016-04-28
申请号：US14918304
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detecting apparatus that detects an object using a distance measuring sensor and is mounted in a moving body includes a position calculator that calculates a position of the object relative to the moving body, a speed detector that detects a speed of the moving body, a displacement calculator that calculates an distance moved by the moving body, a relative speed calculator that calculates a relative speed between the moving body and the object, a first determiner that determines whether a position calculation in the position calculator is possible, a second determiner that determines whether the moved distance calculation by the displacement calculator is possible, and an estimator that estimate the position of the object based on a last known position of the object, a last known distance moved by the moving body, or a last known relative speed.
摘要翻译： 使用距离测量传感器检测物体并安装在移动体中的物体检测装置包括：计算物体相对于移动体的位置的位置计算器，检测移动体的速度的速度检测器， 计算由所述移动体移动的距离的位移计算器，计算所述移动体和所述物体之间的相对速度的相对速度计算器，确定位置计算器中的位置计算是否可行的第一判定器， 是否可以通过位移计算器进行移动距离计算，以及估计器，其基于对象的最后已知位置，由移动体移动的最后已知距离或最后已知的相对速度来估计对象的位置。
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公开(公告)号：US20160116588A1
公开(公告)日：2016-04-28
申请号：US14919562
申请日：2015-10-21
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S7/023 , G01S7/52001 , G01S7/52004 , G01S7/527 , G01S15/46 , G01S15/878 , G01S2007/4039 , G01S2007/52009 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus is applied to a movable body including an object detection sensor which transmits a search wave and receives a reflected wave of the search wave as detection information of an object, and detects the object present around the movable body based on the detection information. The apparatus includes a frequency detection section which detects an occurrence frequency of a disturbance signal at the same time within a predetermined transmission time period determined with reference to a transmission period of the search wave, and a disturbance determination section which determines presence or absence of occurrence of disturbance based on the occurrence frequency detected by the frequency detection section.
摘要翻译： 一种物体检测装置被应用于包括物体检测传感器的移动体，所述物体检测传感器发送搜索波并接收搜索波的反射波作为对象的检测信息，并且基于检测信息来检测存在于可移动体周围的物体 。 该装置包括频率检测部分，其在参考搜索波的传输周期确定的预定传输时间段内同时检测干扰信号的出现频率;以及干扰确定部分，其确定是否存在发生 基于由频率检测部检测到的发生频率的干扰。
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公开(公告)号：US20160116584A1
公开(公告)日：2016-04-28
申请号：US14919498
申请日：2015-10-21
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
CPC分类号： G01S15/931 , G01S15/46 , G01S15/878 , G01S2015/465 , G01S2015/938
摘要： An object detection apparatus is installed in a movable body and detects an object. The apparatus includes a first detection section which transmits search waves in a moving direction of the moving object, and receives reflected waves as detection information to detect the object, a second detection section which transmits search waves in the moving direction, and receives reflected waves as detection information, an obstacle determination section which determines that an obstacle is present in the moving direction, based on detection results of the first and second detection sections, and a crossing determination section which determines that the obstacle has crossed, in a state where the obstacle determination section determines that the obstacle is present, if the determination that the obstacle is present is made by continuous detection, and if a state where the object is continuously detected changes to a state where the object is not detected.
摘要翻译： 物体检测装置安装在移动体中并检测物体。 该装置包括：第一检测部，其在移动物体的移动方向上发送搜索波，并且接收反射波作为检测信息以检测物体;第二检测部，其在移动方向上发送搜索波，并将反射波接收为 检测信息，基于第一和第二检测部分的检测结果确定障碍物在移动方向上存在的障碍物确定部分，以及确定障碍物已经越过的交叉判定部分，在障碍物 如果通过连续检测进行了存在障碍物的确定，并且如果连续检测到物体的状态改变为未检测到物体的状态，则确定部确定存在障碍物。
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公开(公告)号：US10175354B2
公开(公告)日：2019-01-08
申请号：US14887623
申请日：2015-10-20
发明人： Masumi Fukuman , Motonari Ohbayashi , Akihiro Kida
摘要： An object detection apparatus for detecting objects around the apparatus by transmitting a probe wave and receiving reflections from the objects. If it is determined that both first and second object positions can be calculated using a combination of first direct and indirect waves and a combination of second direct and indirect waves, respectively, and at least one of third and fourth object positions can be calculated using a combination of the second direct wave and the first indirect wave and a combination of the first direct wave and the second indirect wave, only the first object position is calculated. The second direct wave is received at a first location after receipt of the first direct wave at the first location. The second indirect wave is received at a second location away from the first location after receipt of the first indirect wave at the second location.
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