Object detection device

Abstract

An object detection device is provided with: a plurality of transmission / reception units each of which transmits a transmission wave and receives a reflected wave; and a road surface reflection intensity calculation unit that calculates a road surface reflection intensity on the basis of reflected waves received by each of a pair of transmission / reception units that are disposed at the same height and have a bilaterally symmetrical positional relationship in the shape of the moving body among the plurality of transmission / reception units. Calculating a first road surface reflection intensity, which is the intensity of the road surface reflection wave received by one of the pair of transmitting and receiving units, and a second road surface reflection intensity, which is the intensity of the road surface reflection wave received by the other of the pair of transmitting and receiving units; and an abnormality detection unit that detects an abnormality in at least one of the pair of transmission / reception units on the basis of the difference between the first road surface reflection intensity and the second road surface reflection intensity.

Description

Technical Field

[0001] This invention relates to an object detection device. Background Technology

[0002] In mobile bodies such as vehicles, object detection devices use information such as time of flight (TOF) and Doppler shift obtained from transceivers of ultrasonic waves to detect obstacles present around the mobile body. In such detection devices, as a technique for detecting abnormalities in the transceiver unit transmitting ultrasonic waves, a method is disclosed that transmits ultrasonic waves of different frequencies from the transceiver unit and determines whether the transceiver unit has an abnormality based on the frequency components of the reflected waves received by the transceiver unit (Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-54580 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in existing technologies, generating units with different frequency components sometimes leads to structural complexity and increased costs. Furthermore, even if anomalies occur in the transceiver unit, their effects may not be reflected in the frequency components.

[0008] The present invention was made in view of the above circumstances, and provides an object detection device capable of detecting abnormalities in a transceiver unit with high precision using a simple structure.

[0009] Technical solutions to the problem

[0010] One aspect of the present invention is an object detection device that detects obstacles existing around a moving body based on the intensity of reflected waves generated by the reflection of a transmitted wave from a moving body by an object. The object detection device comprises: a plurality of transceivers, each of which transmits a transmitted wave and receives a reflected wave; a road surface reflection intensity calculation unit that calculates the intensity of the reflected wave from the road surface received by one transceiver in a pair of transceivers positioned symmetrically within the shape of the moving body and at the same height, i.e., a first road surface reflection intensity, and the intensity of the reflected wave from the road surface received by the other transceiver in the pair, i.e., a second road surface reflection intensity, based on the reflected waves received by each of the transceivers in a pair of transceivers; and an anomaly detection unit that detects an anomaly in at least one of the transceivers in the pair of transceivers based on the difference between the first road surface reflection intensity and the second road surface reflection intensity.

[0011] Invention Effects

[0012] According to the present invention, an object detection device is provided that can detect abnormalities of the transceiver unit with high accuracy with a simple structure. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating an example of the structure of the vehicle according to the first embodiment.

[0014] Figure 2 This is a diagram illustrating an example of the structure of the vehicle control system according to the first embodiment.

[0015] Figure 3 This is a diagram illustrating an example of a distance calculation method based on the Time-of-Flight (TOF) method according to the first embodiment.

[0016] Figure 4 This is a diagram illustrating an example of the functional structure of the object detection device according to the first embodiment.

[0017] Figure 5 This is a diagram illustrating an example of the road surface reflection intensity in the first embodiment.

[0018] Figure 6 This is a flowchart illustrating an example of the processing in the object detection apparatus according to the first embodiment.

[0019] Figure 7 This is a diagram showing an example of the diffusion reflection region involved in the second embodiment.

[0020] Figure 8 This is a flowchart illustrating an example of the processing in the object detection apparatus according to the second embodiment. Detailed Implementation

[0021] The embodiments of the present invention will now be described with reference to the accompanying drawings. The structure of the embodiments described below, as well as the functions and effects brought about by the structure, are merely examples, and the present invention is not limited to the following description.

[0022] (First Implementation)

[0023] Figure 1 This diagram illustrates an example of the structure of the vehicle 1 according to the first embodiment. The vehicle 1 is an example of a moving body equipped with the object detection device of this embodiment. The object detection device of this embodiment is a device that detects obstacles existing around the vehicle 1 based on information such as TOF (Time of Flight) and Doppler displacement acquired through the transmission and reception of ultrasonic waves.

[0024] The object detection device of this embodiment includes a plurality of transceiver units 21A to 21L. Hereinafter, unless it is necessary to distinguish between the plurality of transceiver units 21A to 21L, it will sometimes be referred to as transceiver unit 21. Each transceiver unit 21 is installed on the vehicle body 2, which is an external component of the vehicle 1, and transmits ultrasonic waves to the outside of the vehicle body 2, and receives ultrasonic waves generated by reflections of these ultrasonic waves by objects located on the outside of the vehicle body 2. Hereinafter, ultrasonic waves transmitted from the transceiver unit 21 will sometimes be referred to as transmitted waves, and ultrasonic waves generated by reflections of transmitted waves by objects will sometimes be referred to as reflected waves.

[0025] exist Figure 1 In the example shown, four transceivers 21A to 21D are arranged at the front end of the vehicle body 2, four transceivers 21E to 21H are arranged at the rear end, two transceivers 21I and 21J are arranged on the right side of the vehicle body, and two transceivers 21K and 21L are arranged on the left side of the vehicle body.

[0026] Furthermore, in the example shown here, the transceiver units 21A, 21B, 21E, 21F, 21I, and 21J on the right half of the vehicle body 2 and the transceiver units 21C, 21D, 21G, 21H, 21K, and 21L on the left half of the vehicle body 2 are respectively positioned symmetrically on the left and right sides. Additionally, the pair of transceiver units 21 in the symmetrical position are respectively positioned at the same height. Furthermore, this same height includes a height within the allowable error range that does not substantially affect the processing for detecting anomalies in the transceiver units 21, as described later.

[0027] Specifically, a pair of transceivers 21A and 21D are positioned symmetrically about the centerline C, which extends from the center of the vehicle body 2 in the left-right (width) direction and forward-backward direction, with each position at the same height from the road surface. A pair of transceivers 21B and 21C are positioned symmetrically about the centerline C, with each position at the same height from the road surface. A pair of transceivers 21I and 21K are positioned symmetrically about the centerline C, with each position at the same height from the road surface. A pair of transceivers 21E and 21H are positioned symmetrically about the centerline C, with each position at the same height from the road surface. A pair of transceivers 21F and 21G are positioned symmetrically about the centerline C, with each position at the same height from the road surface. A pair of transceivers 21J and 21L are positioned symmetrically about the centerline C, with each position at the same height from the road surface. However, the number and position of the transceivers 21 are not limited to this example.

[0028] Figure 2This diagram illustrates an example of the structure of the vehicle control system 10 according to the first embodiment. The vehicle control system 10 performs processing for controlling the vehicle 1 based on information output from the object detection device 11. The vehicle control system 10 according to this embodiment includes the object detection device 11 and the ECU 12.

[0029] The object detection device 11 includes a plurality of transceiver units 21 and a control unit 22. Each transceiver unit 21 includes an oscillator 31 with a structure such as a piezoelectric element, an amplifier, etc., and transmits and receives ultrasonic waves through the vibration of the oscillator 31. Specifically, each transceiver unit 21 transmits ultrasonic waves generated corresponding to the vibration of the oscillator 31 as transmitted waves, and detects the vibration of the oscillator 31 caused by reflected waves from objects such as obstacles O and road surfaces G. The obstacle O is an object that should be detected among objects existing around the vehicle 1, such as other vehicles, road accessories, walls, people, curbs, and wheel stops. The vibration of the oscillator 31 is converted into an electrical signal, and the Time of Flight (TOF) corresponding to the distance from the transceiver unit 21 to the obstacle O and the Doppler displacement corresponding to the relative velocity between the vehicle 1 and the obstacle O can be obtained based on the electrical signal.

[0030] In addition, Figure 2 The example shown illustrates a structure where both the transmitting and receiving waves utilize a single transducer 31, but the structure of the transceiver unit 21 is not limited to this. For example, it could be a structure where the transmitting and receiving sides are separate, such as a structure where a transducer for transmitting the wave and a transducer for receiving the reflected wave are provided separately.

[0031] The control unit 22 includes an input / output device 41, a storage device 42, and a processor 43. The input / output device 41 is an interface device that enables the control unit 22 to transmit and receive information with external devices (transceiver unit 21, ECU 12, etc.). The storage device 42 includes main storage devices such as ROM (Read Only Memory) and RAM (Random Access Memory), and auxiliary storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive). The processor 43 is an integrated circuit that performs various processes to implement the functions of the control unit 22. For example, it can utilize structures such as a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array) that operate according to a program. The processor 43 performs various arithmetic and control processes by reading and executing programs stored in the storage device 42.

[0032] ECU 12 is a unit that executes various processes for controlling vehicle 1 based on information obtained from object detection device 11, etc. ECU 12 includes an input / output device 51, a storage device 52, and a processor 53. The input / output device 51 is an interface device that enables the ECU 12 to transmit and receive information with external mechanisms (object detection device 11, drive mechanism, braking mechanism, steering mechanism, transmission mechanism, in-vehicle display, speaker, various sensors, etc.). The storage device 52 includes main storage devices such as ROM and RAM, and auxiliary storage devices such as HDD and SSD. The processor 53 is an integrated circuit that executes various processes to implement the functions of ECU 12; for example, it can utilize a CPU, ASIC, FPGA, or other similar architecture. The processor 53 reads the program stored in the storage device 52 and performs various arithmetic and control processes.

[0033] Figure 3 This is a diagram illustrating an example of the distance calculation method based on the TOF method in the first embodiment. Figure 3 The envelope L is shown, representing the temporal variation of the intensity (signal level) of the ultrasonic waves transmitted and received by the transceiver unit 21. Figure 3 In the graph shown, the horizontal axis corresponds to time (TOF), and the vertical axis corresponds to the intensity of the ultrasonic waves transmitted and received by the transceiver unit 21 (the magnitude of the vibration of the transducer 31).

[0034] The envelope L shows the temporal variation of the intensity representing the magnitude of the vibration of oscillator 31. From Figure 3The envelope L shown can be used to read the following: by driving oscillator 31 from time t0 and oscillating for time Ta, the transmission of the transmitted wave is completed at time t1. During the time Tb from there until time t2, the oscillation of oscillator 31 continues while decaying due to inertia. Therefore, in Figure 3 In the graph shown, time Tb corresponds to the so-called reverberation time.

[0035] The envelope L, starting at timing t0 from the start of wave transmission, reaches a peak value t4 after time Tp, where the magnitude of the vibration of oscillator 31 exceeds the threshold Th. This threshold Th is a value set to distinguish whether the vibration of oscillator 31 is caused by the reception of reflected waves from obstacle O or by the reception of reflected waves from objects other than obstacle O (such as road surface G). While the threshold Th is presented as a fixed value here, it can also be a variable value that varies depending on the situation. Vibrations with peak values ​​exceeding the threshold Th can be considered to be caused by the reception of reflected waves from obstacle O.

[0036] In this example, the envelope L represents the vibration attenuation of oscillator 31 after time t4. Therefore, time t4 corresponds to the time when the reception of the reflected wave from obstacle O is completed; in other words, it corresponds to the time when the last transmitted wave sent at time t1 returns as a reflected wave.

[0037] Furthermore, in the envelope L, timing t3, which is the starting point of the peak of timing t4, corresponds to the timing at which the reflected wave from obstacle O begins to be received; in other words, it corresponds to the timing at which the transmitted wave initially sent at timing t0 returns as a reflected wave. Therefore, the time ΔT between timing t3 and timing t4 is equal to the time Ta, which is the transmission time of the transmitted wave.

[0038] As described above, in order to determine the distance from the ultrasonic transceiver 21 to the obstacle O using Time-of-Flight (TOF), it is necessary to calculate the time Tf between the timing t0 when the transmitted wave begins to be transmitted and the timing t3 when the reflected wave begins to be received. This time Tf can be obtained by subtracting the time ΔT, which is equal to the transmission time Ta, from the time Tp, which is the difference between timing t0 and the timing t4 when the reflected wave intensity exceeds the threshold Th and reaches its peak.

[0039] The timing t0 at which the transmitted wave begins can be easily determined as the timing at which the object detection device 200 begins operation, and the transmission time Ta of the transmitted wave can be preset by setting, etc. Therefore, by determining the timing t4 at which the intensity of the received reflected wave reaches a peak value of Th or higher, the distance from the vehicle 1 (the transceiver unit 21, which serves as the ultrasonic wave source and receiver) to the obstacle O can be calculated. Furthermore, the above calculation method is merely an example; the distance from the vehicle 1 to the obstacle O can also be calculated using known or novel methods as appropriate.

[0040] Figure 4 This diagram illustrates an example of the functional structure of the object detection device 11 according to the first embodiment. The object detection device 11 (control unit 22) of this embodiment includes an echo information generation unit 101, a road surface reflection intensity calculation unit 102, an anomaly detection unit 103, and an output unit 104. These functional units can be, for example, transmitted through... Figure 2 The object detection device 11 shown is implemented through the cooperation of its hardware and software (programs, etc.). In addition, at least some of these functional parts can also be implemented by dedicated hardware (circuit).

[0041] The echo information generation unit 101 generates echo information representing the temporal variation of the intensity of the reflected wave for each transceiver unit 21 based on information acquired from the transceiver unit 21. The echo information may include, for example... Figure 3 The data for the envelope L shown.

[0042] The road surface reflection intensity calculation unit 102 calculates a first road surface reflection intensity and a second road surface reflection intensity based on the reflected waves (echo information representing the temporal changes of the reflected waves) received by each of a pair of transceivers 21 (e.g., transceivers 21A, 21D, 21B, 21C, etc.) that are symmetrically positioned within the shape of the vehicle 1 (vehicle body 2) and set at the same height. The first road surface reflection intensity is the intensity of the road surface reflected wave (a reflected wave generated by the road surface reflecting a transmitted wave sent from one transceiver 21) (e.g., transceiver 21A) received by one of the transceivers 21 (e.g., transceiver 21A). The second intensity is the intensity of the road surface reflected wave (a reflected wave generated by the road surface reflecting a transmitted wave sent from another transceiver 21) received by the other transceiver 21 (e.g., transceiver 21B) received by the other transceiver 21 (e.g., transceiver 21B).

[0043] The anomaly detection unit 103 detects an anomaly in at least one of the pair of transceiver units 21 based on the difference between the first road surface reflection intensity and the second road surface reflection intensity. For example, if the difference between the first road surface reflection intensity and the second road surface reflection intensity is greater than a preset threshold, the anomaly detection unit 103 determines that an anomaly exists in at least one of the pair of transceiver units 21.

[0044] Even when the pair of transceivers 21 are in normal condition, there is still an error between the first road surface reflection intensity and the second road surface reflection intensity due to the structural conditions of each transceiver 21. These structural conditions could be, for example, minor deviations in the installation position during assembly, or the characteristics of the oscillator 31. Therefore, the anomaly detection unit 103 can also correct the aforementioned difference used for anomaly detection based on at least one of the first and second road surface reflection intensities under normal conditions, thereby reducing the impact of the error between the first and second road surface reflection intensities generated between the normal pair of transceivers 21. Furthermore, this correction of the difference can also be achieved by correcting at least one of the first and second road surface reflection intensities used for anomaly detection.

[0045] The output unit 104 outputs the detection results of the anomaly detection unit 103 in a preset method. The method of outputting the detection results can be appropriately determined according to the specifications of the vehicle 1, for example, if an anomaly is determined to exist, an alarm can be output to output devices such as the in-vehicle display and speakers, or a signal indicating that an anomaly has occurred can be output to the ECU 12.

[0046] Figure 5 This is a diagram illustrating an example of the road surface reflection intensity Ia in the first embodiment. In Figure 5 The image shows the envelope La obtained when the transceiver unit 21 transmits and receives ultrasonic waves normally while the vehicle 1 is stationary.

[0047] In such an envelope La, such as Figure 5 As shown, a peak value P appears, caused by road surface reflection waves from directly below the location of the transceiver unit 21. The distance Da corresponding to this peak value P is approximately the same as the height of the transceiver unit 21 above the road surface. Furthermore, if the transceiver unit 21 is in normal operation, the road surface reflection intensity Ia corresponding to this peak value P is a relatively stable value. In addition, the distance Da may vary slightly from its position directly below the transceiver unit 21 due to the directivity of the ultrasonic waves transmitted from the transceiver unit 21.

[0048] The object detection device 11 of this embodiment uses the road surface reflection intensity Ia as described above to detect anomalies in a pair of transceivers 21 that are symmetrically positioned and set at the same height. That is, when both transceivers 21 are in normal condition, the road surface reflection intensity Ia (first road surface reflection intensity) of one transceiver 21 (e.g., transceiver 21A) is approximately the same as the road surface reflection intensity Ia (second road surface reflection intensity) of the other transceiver 21 (e.g., transceiver 21D). Conversely, when at least one of the transceivers 21 is abnormal, the difference between the road surface reflection intensity Ia (first road surface reflection intensity) of one transceiver 21 and the road surface reflection intensity Ia (second road surface reflection intensity) of the other transceiver 21 becomes larger. In other words, when the difference between the first and second road surface reflection intensities is greater than a threshold, it can be determined that at least one of the transceivers 21 is abnormal.

[0049] Figure 6 This is a flowchart illustrating an example of the processing in the object detection apparatus 11 according to the first embodiment. In step S101, when the transceiver unit 21 starts transmitting and receiving ultrasonic waves, in step S102, the echo information generation unit 101 generates echo information for one of the pair of transceivers (here, transceiver units 21A and 21D) (transceiver unit 21A and transceiver unit 21D). This echo information can be, for example... Figure 5 The information shown includes the envelope La.

[0050] In step S103, the road surface reflection intensity calculation unit 102 calculates the difference ΔI between the first road surface reflection intensity Ia corresponding to one transceiver unit 21A and the second road surface reflection intensity Ia corresponding to another transceiver unit 21D based on the generated echo information.

[0051] In step S104, the anomaly detection unit 103 determines whether the difference ΔI is greater than the threshold K1. In step S104, if the difference ΔI is not greater than the threshold K1 (S104: No), the anomaly detection unit 103 determines that the transceiver units 21A and 21D are normal, and this routine ends.

[0052] In step S104, if the difference ΔI is greater than the threshold K1 (S104: Yes), in step S105, the anomaly detection unit 103 determines that at least one of the transceiver units 21A and 21D is abnormal, and in step S106, the output unit 104 outputs an anomaly signal indicating the occurrence of the anomaly.

[0053] As described above, according to this embodiment, anomalies in the pair of transceivers are detected based on the difference between the road surface reflection intensities (first road surface reflection intensity and second road surface reflection intensity) of the respective transceivers located in a symmetrical position and at the same height. Therefore, anomalies in the transceivers can be detected with high precision using a simple structure.

[0054] Furthermore, in the above embodiment, the first road surface reflection intensity includes the intensity of road surface reflected waves from the road surface directly below one transceiver unit, and the second road surface reflection intensity includes the intensity of road surface reflected waves from the road surface directly below another transceiver unit. The anomaly detection unit 103 determines that an anomaly exists when the difference ΔI between the first and second road surface reflection intensities is greater than a threshold K1. Since the intensity of road surface reflected waves from the road surface directly below the transceiver unit 21 can be detected with relatively high precision using the directivity of ultrasonic waves, the above structure enables high-precision detection of anomalies in the transceiver unit 21.

[0055] Furthermore, in the above embodiment, the anomaly detection unit 103 corrects at least one of the differential or threshold values ​​used for anomaly detection based on at least one of the first road surface reflection intensity and the second road surface reflection intensity under normal conditions, thereby reducing the influence of the error between the first road surface reflection intensity and the second road surface reflection intensity generated between a normal pair of transceiver units 21. This improves the accuracy of anomaly detection.

[0056] Hereinafter, other embodiments will be described with reference to the accompanying drawings, but descriptions of parts that are the same as or identical to those in the first embodiment will be omitted as appropriate.

[0057] (Second Implementation)

[0058] The object detection device 11 of the second embodiment differs from that of the first embodiment in that it determines whether there is an abnormality not only based on the road surface reflection wave from the road surface directly below the transceiver unit 21, but also based on the road surface reflection wave from the road surface within a pre-set diffusion reflection area.

[0059] Figure 7 This diagram illustrates an example of the diffusion reflection region ΔD according to the second embodiment. The diffusion reflection region ΔD is a region predetermined in a range farther than directly below the pair of transceiver units 21. The diffusion reflection region ΔD is preferably a region where the intensity of the reflected wave (diffused road surface reflected wave) formed by the diffusion reflection of the transmitted wave from the pair of transceiver units 21 by the road surface is relatively high. The region where the intensity of the diffused road surface reflected wave is relatively high varies depending on the directivity of the ultrasonic wave, etc., therefore the diffusion reflection region ΔD should be appropriately set according to the installation position of the transceiver unit 21 used and the characteristics of the ultrasonic wave (frequency components, etc.).

[0060] The diffuse reflection region ΔD illustrated here is the region from distance Db1 to distance Db2. Between the distances Db1 and Db2 defining this diffuse reflection region ΔD and the distance Da corresponding to the aforementioned peak value P (the road surface reflected wave directly below the transceiver unit 21), the relationship Da < Db1 < Db2 holds.

[0061] In this embodiment, the anomaly detection unit 103 determines whether there is an anomaly based on the deviation between the intensity of the reflected wave (diffuse road surface reflected wave) from the road surface within the diffuse reflection region ΔD and that of one transceiver unit (e.g., transceiver unit 21A) and another transceiver unit (e.g., transceiver unit 21D). For example, if the road surface reflection intensity Ia of the road surface directly below is greater than a threshold and the deviation of the intensity of the diffuse road surface reflected wave is greater than a threshold, the anomaly detection unit 103 determines that at least one of the transceiver units 21 is abnormal.

[0062] Figure 8 This is a flowchart illustrating an example of the processing in the object detection device 11 of the second embodiment. In step S201, when the transceiver unit 21 starts transmitting and receiving ultrasonic waves, in step S202, the echo information generation unit 101 generates echo information for one of the two transceivers (transceiver units 21A and 21D, here transceiver unit 21A) and the other transceiver unit (transceiver unit 21D).

[0063] In step S203, the road surface reflection intensity calculation unit 102 calculates the difference ΔI between the first road surface reflection intensity Ia corresponding to one transceiver unit 21A and the second road surface reflection intensity Ia corresponding to another transceiver unit 21D based on the generated echo information.

[0064] In step S204, the road surface reflection intensity calculation unit 102 calculates the deviation S of the intensity of the diffuse road surface reflected wave from the diffuse reflection region ΔD between one transceiver unit 21A and the other transceiver unit 21D based on the generated echo information.

[0065] In step S205, the anomaly detection unit 103 determines whether the difference ΔI is greater than the threshold K1 and whether the deviation S is greater than the threshold K2. In step S205, if the difference ΔI is not greater than the threshold K1 or the deviation S is not greater than the threshold K2 (S205: No), the anomaly detection unit 103 determines that the transceiver units 21A and 21D are normal, and this routine ends.

[0066] In step S205, if the difference ΔI is greater than the threshold K1 and the deviation S is greater than the threshold K2 (S205: Yes), in step S206, the anomaly detection unit 103 determines that at least one of the transceiver units 21A and 21D is abnormal, and in step S207, the output unit 104 outputs an anomaly signal indicating the occurrence of the anomaly.

[0067] As described above, according to this embodiment, not only the intensity difference ΔI of the road surface reflected wave from directly below the transceiver unit 21 is considered, but also the intensity deviation S of the road surface reflected wave from the diffuse reflection region ΔD is considered, thereby determining whether there is an anomaly. This improves the accuracy of anomaly detection.

[0068] Alternatively, one can determine whether there is an anomaly by only considering the deviation S of the intensity of the road surface reflected wave from the diffuse reflection region ΔD, without considering the intensity difference ΔI of the road surface reflected wave from directly below.

[0069] Furthermore, while the above embodiment illustrates a structure that utilizes ultrasonic waves as the transmitted and received waves for obstacle detection, the structure of the object detection device is not limited to this. For example, it could also utilize a structure such as millimeter-wave radar.

[0070] The program that enables a computer (e.g., processor 43, etc.) to execute the processing for implementing the functions of the aforementioned object detection device can be provided as an installable or executable file on a computer-readable recording medium such as a Compact Disc-ROM, floppy disk, CD-R, or Digital Versatile Disc (DVD). Alternatively, the program can also be provided or distributed via a network such as the Internet.

[0071] The embodiments of the present invention have been described above, but the above embodiments and their modifications are merely examples and are not intended to limit the scope of the invention. The above-described new embodiments and modifications can be implemented in various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. The above-described embodiments and modifications are included within the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents.

[0072] [Summary of this implementation method]

[0073] This embodiment has at least the following structure.

[0074] The object detection device (11) of the embodiment detects obstacles around the moving body (1) based on the intensity of the reflected wave generated by the reflection of a transmitted wave from the moving body (1) by an object. The object detection device (11) includes: a plurality of transceivers (21), each of which transmits the transmitted wave and receives the reflected wave; and a road surface reflection intensity calculation unit (102), which calculates the road surface reflection intensity based on a pair of transceivers (21) positioned symmetrically in the shape of the moving body (1) and at the same height. The transceiver unit (21) receives the reflected waves from the road surface (G) and calculates the intensity of the reflected wave received by one of the transceiver units (21), namely the first road surface reflection intensity (Ia), and the intensity of the reflected wave received by the other transceiver unit (21), namely the second road surface reflection intensity (Ia); and the anomaly detection unit (103) detects anomalies in at least one of the transceiver units (21) based on the difference between the first road surface reflection intensity (Ia) and the second road surface reflection intensity (Ia).

[0075] Based on this structure, anomalies in the transceiver unit (21) can be detected with high precision using a simple structure.

[0076] In the object detection device (11) according to the embodiment, for example, the first road surface reflection intensity (Ia) includes the intensity of the reflected wave from the road surface (G) directly below the one transceiver unit (21), and the second road surface reflection intensity (Ia) includes the intensity of the reflected wave from the road surface (G) directly below the other transceiver unit (21). If the difference between the first road surface reflection intensity (Ia) and the second road surface reflection intensity (Ia) is greater than a threshold, the anomaly detection unit (103) determines that an anomaly exists.

[0077] Based on this structure, abnormalities in the transceiver unit (21) can be detected with high precision.

[0078] In the object detection device (11) according to the embodiment, for example, the anomaly detection unit (103) determines whether there is an anomaly based on the deviation between the intensity of the reflected wave from the road surface (G) in a predetermined diffuse reflection area (ΔD) that is farther away from directly below the pair of transceivers (21) and the other transceiver (21).

[0079] According to this structure, the detection accuracy of anomalies in the transceiver unit (21) can be improved.

[0080] In the object detection device (11) according to the embodiment, for example, the anomaly detection unit (103) corrects at least one of the first road surface reflection intensity (Ia) and the second road surface reflection intensity (Ia) used for anomaly detection based on at least one of the first road surface reflection intensity (Ia) and the second road surface reflection intensity (Ia) under normal conditions, so as to reduce the influence of the error between the first road surface reflection intensity (Ia) and the second road surface reflection intensity (Ia) generated between the pair of transceivers (21) under normal conditions.

[0081] According to this structure, the detection accuracy of anomalies in the transceiver unit (21) can be improved.

[0082] In the object detection device (11) according to the embodiment, for example, the anomaly detection unit (103) determines whether there is an anomaly based on the deviation between the intensity of the reflected wave from the road surface (G) in a pre-set diffuse reflection area (ΔD) that is closer to the distance than directly below the pair of transceivers (21). The diffuse reflection area (ΔD) is set according to at least one of the installation positions of the plurality of transceivers (21) and the characteristics of the transmitted waves transmitted by the plurality of transceivers (21).

[0083] According to this structure, the detection accuracy of anomalies in the transceiver unit (21) can be improved.

[0084] Explanation of reference numerals in the attached figures

[0085] 1…vehicle (moving body), 11…object detection device, 21, 21A~21L…receiving and transmitting unit, 102…road surface reflection intensity calculation unit, 103…anomaly detection unit, Ia…road surface reflection intensity, ΔD…diffusion reflection area.

Claims

1. An object detection device that detects obstacles existing around a moving body based on the intensity of a reflected wave generated by the reflection of a transmitted wave from the moving body by the object, wherein, The object detection device includes: A plurality of transceiver units, each of which transmits the transmitted wave and receives the reflected wave; The road surface reflection intensity calculation unit calculates the intensity of the reflected wave from the road surface received by one of the transceivers in the plurality of transceivers, which are symmetrically positioned in the shape of the moving body and set at the same height, i.e., the first road surface reflection intensity, and the intensity of the reflected wave from the road surface received by the other transceiver in the pair of transceivers, i.e., the second road surface reflection intensity. as well as The anomaly detection unit detects anomalies in at least one of the pair of transceivers based on the difference between the reflection intensity of the first road surface and the reflection intensity of the second road surface.

2. The object detection device according to claim 1, wherein, The first road surface reflection intensity includes the intensity of the reflected wave from the road surface directly below the transceiver. The second road surface reflection intensity includes the intensity of the reflected wave from the road surface directly below the other transceiver. If the difference between the reflection intensity of the first road surface and the reflection intensity of the second road surface is greater than a threshold, the anomaly detection unit determines that an anomaly exists.

3. The object detection device according to claim 2, wherein, The anomaly detection unit determines whether there is an anomaly based on the deviation between the intensity of the reflected wave from the road surface in a pre-defined diffusion reflection area farther away from directly below the pair of transceivers between the one transceiver and the other transceiver.

4. The object detection device according to any one of claims 1 to 3, wherein, The anomaly detection unit corrects at least one of the first road surface reflection intensity and the second road surface reflection intensity during normal operation, as well as the differential value, to reduce the impact of the error between the first road surface reflection intensity and the second road surface reflection intensity generated between the pair of transceivers during normal operation.

5. The object detection device according to claim 1, wherein, The anomaly detection unit determines whether an anomaly exists based on the deviation between the intensity of the reflected wave from the road surface within a pre-defined diffusion reflection area farther away than directly below the pair of transceivers, between the two transceivers. The diffusion reflection region is set according to at least one of the arrangement positions of the plurality of transceivers and the characteristics of the transmitted waves transmitted by the plurality of transceivers.

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