Ultrasonic system and vehicle equipped with the same

Abstract

To solve the problem in which there is room for consideration regarding communication of data related to reflected waves.SOLUTION: An ultrasonic system (X) includes a first control circuit (2), ultrasonic sonar modules (4xa to 4xd), and a first communication path (3). The ultrasonic sonar modules (4xa to 4xd) include: an ultrasonic sonar (5x); a second control circuit (7) configured to be able to analyze reflected wave data based on reflected waves (RW) detected by the ultrasonic sonar (5x) and transmit analysis results to the ultrasonic sonar (5x); and a second communication path (6) for establishing communication between the ultrasonic sonar (5x) and the second control circuit (7).SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The invention disclosed herein relates to an ultrasound system and a vehicle equipped therewith. [Background technology]

[0002] 2. Description of the Related Art Conventionally, ultrasonic systems are known that detect obstacles by generating ultrasonic waves and detecting reflected waves from the obstacles.

[0003] As an example of the related prior art, Patent Document 1 can be mentioned. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-091893

[0005] [overview] The ultrasound system disclosed in Patent Document 1 leaves room for further consideration regarding communication of data related to reflected waves.

[0006] The ultrasonic system disclosed herein includes a first control circuit, an ultrasonic sonar module, and a first communication path. The first control circuit is configured to generate a control signal. The ultrasonic sonar module is configured to be able to communicate with the first control circuit. The first communication path establishes communication between the first control circuit and the ultrasonic sonar module. The ultrasonic sonar module includes an ultrasonic sonar, a second control circuit, and a second communication path. The ultrasonic sonar is configured to be able to emit ultrasonic waves to the outside in response to the control signal and to be able to detect reflected waves of the ultrasonic waves. The second control circuit is configured to be able to analyze reflected wave data based on reflected waves detected by the ultrasonic sonar and transmit the analysis results to the ultrasonic sonar. The second communication path establishes communication between the ultrasonic sonar and the second control circuit.

[0007] The vehicle disclosed in this specification is equipped with an ultrasonic system having the above-described configuration. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of an ultrasound system Y. [Figure 2] FIG. 2 is a timing chart showing the envelope waveform of the reflected wave RW and the determination signal S2. [Figure 3] FIG. 3 is a diagram illustrating an ultrasound system X, a vehicle 100X, and a reflecting object 200 according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a block diagram showing the configuration of the ultrasound system X. [Figure 5] FIG. 5 is a block diagram showing the configuration of the ultrasonic sonar 5x. [Figure 6] FIG. 6 is a graph showing the envelope EW of the reflected wave RW included in the reflected wave data. [Figure 7] FIG. 7 is a block diagram showing the configuration of an ultrasound system X according to the second embodiment. [Figure 8] FIG. 8 is a block diagram showing the configuration of an ultrasonic sonar module 4xa according to the second embodiment. [Figure 9] FIG. 9 is a timing chart showing the transmission order of the analysis result signal S5 and the voltage level of the control signal S1. [Figure 10] FIG. 10 is a timing chart showing the transmission order of the analysis result signal S5 and the voltage level of the control signal S1 when the pulse frequency of the control signal S1 is set short.

[0009] [Detailed explanation] First, ultrasound system Y will be described as a comparative example to ultrasound system X of the present disclosure. Next, problems with the comparative example will be described, followed by a description of ultrasound system X of the present disclosure.

[0010] <Comparative Example Ultrasound System Y> FIG. 1 is a block diagram showing the configuration of an ultrasonic system Y. The ultrasonic system Y is configured to be able to detect the presence or absence of a reflecting object (obstacle). Specifically, the ultrasonic system Y emits ultrasonic waves and detects the reflected waves of the ultrasonic waves to detect the presence or absence of a reflecting object (more specifically, the presence or absence of a reflecting object within a predetermined range). The ultrasonic system Y is mounted on a vehicle (not shown). The ultrasonic system Y will be described in detail below.

[0011] As shown in FIG. 1, the ultrasound system Y includes a CPU (Central Processing Unit) 2, ultrasound sonar modules 4ya to 4yd, and a first communication path 3.

[0012] The CPU 2 generates a predetermined control signal S1 and inputs it to the ultrasonic sonar modules 4ya to 4yd to control the ultrasonic sonar modules 4ya to 4yd.

[0013] The first communication path 3 is a communication path that establishes communication between the CPU 2 and the ultrasonic sonar modules 4ya to 4yd. The first communication path 3 is a communication path that complies with a first communication standard with a relatively slow communication speed (for example, LIN (Local Interconnect Network) communication, DSI (Distributed System Interface) communication, serial communication, or a communication standard with a communication speed similar to these).

[0014] The first communication path 3 establishes communication by connecting the CPU 2 to each of the ultrasonic sonar modules 4ya to 4yd in a daisy chain manner.

[0015] Since the ultrasonic sonar modules 4ya to 4yd have the same configuration, only the ultrasonic sonar module 4ya will be described, and for the ultrasonic sonar modules 4yb to 4yd, the same reference numerals will be used to designate the common configuration, and individual descriptions will be omitted.

[0016] The ultrasonic sonar module 4ya includes an ultrasonic sonar 5y. The ultrasonic sonar 5y includes a piezoelectric element (not shown) that can emit ultrasonic waves and detect reflected waves. The ultrasonic sonar 5y emits ultrasonic waves and detects reflected waves in response to a control signal S1 input from the CPU 2.

[0017] The ultrasonic sonar 5y generates an envelope waveform in response to the detected reflected wave. The ultrasonic sonar 5y also generates various types of event information from the generated envelope waveform. The event information includes the first timing when the value of the envelope waveform (hereinafter referred to as the "envelope value") exceeds a threshold n1, the second timing when the envelope value falls below the threshold n1 after the first timing, the third timing when the envelope value reaches its maximum, and the fourth timing when the envelope value reaches its minimum, as well as the envelope values ​​at each of the first to fourth timings.

[0018] The ultrasonic sonar 5y generates a determination signal S2. The determination signal S2 includes the event information described above. Specifically, when the value of the envelope waveform is equal to or less than the threshold value n1, the ultrasonic sonar 5y maintains the voltage value of the determination signal S2 at a predetermined high level. Furthermore, when the value of the envelope EW is greater than the threshold value n1, the ultrasonic sonar 5y drops the voltage value of the determination signal S2 to a low level. This will be specifically described with reference to FIG. 2.

[0019] Figure 2 is a timing chart showing the envelope waveform of the reflected wave and the determination signal S2. Before the arrival of time t11 shown in Figure 2, when the value of the envelope EW is below the threshold value n1, the determination signal S2 is maintained at a high level. When time t11 arrives and the value of the envelope EW exceeds the threshold value n1, the determination signal S2 falls to a low level. Thereafter, when time t13 arrives and the value of the envelope EW falls below the threshold value n1, the determination signal S2 rises to a high level. Thereafter, when time t14 arrives and the value of the envelope EW exceeds the threshold value n1 again, the determination signal S2 falls to a low level. Thereafter, when time t15 arrives and the value of the envelope EW falls below the threshold value n1, the determination signal S2 rises to a high level.

[0020] The ultrasonic sonar 5y can transmit the determination signal S2 to the CPU2. The CPU2 detects the above-described event information according to the determination signal S2. Based on this event information, the CPU2 determines the presence or absence of a reflector.

[0021] <Consideration on Communication between CPU2 and Ultrasonic Sonar Modules 4ya to 4yd> By the way, in recent years, there has been a demand for realizing an object identification function assuming scenarios such as automatic parking. The object identification function here is an analysis function of identification information including, for example, not only the presence or absence of the above-described reflector but also the type of object, the size of the object, the distance to the object, and the accuracy information thereof. However, in the ultrasonic system as described above (corresponding to the ultrasonic system Y described above), it has been difficult to realize the object identification function for the following reasons.

[0022] To realize the object identification function described above, it is necessary to analyze the data of the reflected waves detected by each ultrasonic sonar using a processing unit such as a CPU. Here, communication between the CPU of the ultrasonic system and each ultrasonic sonar module (corresponding to the aforementioned ultrasonic sonar modules 4ya to 4yd) is carried out using only one communication path (corresponding to the aforementioned first communication path 3). As described above, this communication path complies with a communication standard with a relatively slow communication speed. Therefore, in order to communicate a relatively large amount of data (e.g., equivalent to all the data of the reflected waves detected by the ultrasonic sonar 5y) between the CPU and each ultrasonic sonar module, a relatively long communication time is required, making it difficult to realize the identification function.

[0023] In order to shorten communication time, compressing and decompressing the data communicated between the CPU and each ultrasonic sonar module, or thinning out the data, results in a decrease in the accuracy of object identification.

[0024] Furthermore, the communication path (corresponding to the first communication path described above) connecting multiple ultrasonic sonar modules (corresponding to ultrasonic sonar modules 4ya to 4yd described above) is wired over a relatively wide area of ​​the vehicle. Therefore, changing the communication standard of this communication path may complicate the vehicle structure or require redesign due to specification changes, leading to increased costs.

[0025] To address this problem, the ultrasound system X of the present disclosure can suppress a decrease in object identification accuracy while reducing the amount of communication between the CPU and each ultrasonic sonar module. The ultrasound system X according to each embodiment of the present disclosure will be described in detail below. Note that the ultrasound system X according to each embodiment of the present disclosure includes components in common with the aforementioned ultrasound system Y. Therefore, the same reference numerals are used to designate the common components, and descriptions thereof will be omitted.

[0026] <Regarding the Ultrasound System X of the First Embodiment According to the Present Disclosure> FIG. 3 is a diagram illustrating an ultrasonic system X, a vehicle 100X, and a reflecting object 200 according to an embodiment of the present disclosure. FIG. 4 is a block diagram illustrating the configuration of the ultrasonic system X. As shown in FIGS. 3 and 4, the vehicle 100X includes an ECU 1 and the ultrasonic system X. The ECU 1 is a means for performing overall electrical control of the vehicle 100X. The ultrasonic system X is controlled by the ECU 1.

[0027] The ultrasound system X includes a CPU 2, a first communication path 3, a rear side system Xa, a front side system Xb, and a second communication path 6.

[0028] The CPU 2 generates a predetermined control signal S1 and inputs it to the rear system Xa and the front system Xb to control the rear system Xa and the front system Xb. The control signal S1 includes an address code and a command code. The address code is a code that indicates an object to be controlled by the control signal S1 (ultrasonic sonar modules 4xa to 4xh, which will be described later). The command code is a code that indicates a command (including an operation command and a read command, which will be described later) to be executed by the object to be controlled.

[0029] The first communication path 3 is a communication path that establishes communication between the CPU 2 and the rear system Xa and the front system Xb (more specifically, each of the ultrasonic sonar modules 4xa to 4xh described below). The first communication path 3 is a communication path that complies with a first communication standard with a relatively slow communication speed (for example, LIN communication, DSI communication, serial communication, or a communication standard with a communication speed similar to these).

[0030] The first communication path 3 establishes communication by connecting the CPU 2 to each of the ultrasonic sonar modules 4xa to 4xd in a daisy chain configuration. Similarly, the first communication path 3 establishes communication by connecting the CPU 2 to each of the ultrasonic sonar modules 4xe to 4xh in a daisy chain configuration.

[0031] For ease of explanation, the communication line of the first communication path 3 that connects the CPU 2 and the ultrasonic sonar module 4xa will be referred to as the first communication line 3a, and the communication lines that connect each of the ultrasonic sonar modules 4xa to 4xd will be referred to as the second communication line 3b.

[0032] The rear system Xa includes ultrasonic sonar modules 4xa to 4xd. The front system Xb includes ultrasonic sonar modules 4xe to 4xh. The ultrasonic sonar modules 4xa to 4xh are configured to be able to communicate with the CPU 2 via the first communication path 3. The rear system Xa and the front system Xb basically have a common configuration. For this reason, the rear system Xa will be described in detail here, and a description of the front system Xb will be omitted. Similarly, the ultrasonic sonar modules 4xa to 4xh also have a common configuration, so only the ultrasonic sonar module 4xa will be described, and the ultrasonic sonar modules 4xb to 4xh will be assigned the same reference numerals and individual description will be omitted.

[0033] As shown in FIG. 4, the ultrasonic sonar module 4xa includes an ultrasonic sonar 5x and a sub-microcomputer 7.

[0034] The ultrasonic sonar 5x can emit ultrasonic waves UW (see FIG. 3) and detect reflected waves RW (see FIG. 3). The ultrasonic sonar 5x emits ultrasonic waves UW and detects reflected waves RW in response to a control signal S1 input from the CPU 2.

[0035] The ultrasonic sonar 5x generates reflected wave data according to the detected reflected wave RW. The ultrasonic sonar 5x also generates a reflected wave data signal S4 (see FIG. 5) including the reflected wave data and inputs it to the sub-microcomputer 7. The sub-microcomputer 7 can analyze the reflected wave data included in the reflected wave data signal S4 and calculate the analysis results. The sub-microcomputer 7 can also generate an analysis result signal S5 including the analysis results and output it to the ultrasonic sonar 5x. The detailed configuration of the ultrasonic sonar 5x will be described below.

[0036] 5 is a block diagram showing the configuration of an ultrasonic sonar 5x. As shown in FIG. 5, the ultrasonic sonar 5x includes a sonar drive circuit 8, a transformer Tr, and a sensor element 9.

[0037] The sonar drive circuit 8 is a large scale integrated circuit (LSI [Large Scale Integration]). The sonar drive circuit 8 includes a signal processing circuit 16, a driver 12, and a reflected wave data signal generation circuit 13. The sonar drive circuit 8 also includes multiple terminals (first terminal T1 to sixth terminal T6 in FIG. 5) as means for establishing communication with the outside.

[0038] The first terminal T1 is externally connected to an application terminal of a module connected to the CPU2 side of the first communication path 3. Specifically, the first terminal T1 of the ultrasonic sonar module 4xa is connected to the CPU2 via the first communication line 3a. The first terminal T1 of each of the ultrasonic sonar modules 4xb to 4xd is connected to the second terminal T2 of another ultrasonic sonar module 4xa to 4xb via the second communication line 3b.

[0039] The third terminal T3 is connected to a first terminal on the primary side of the transformer Tr. The fourth terminal T4 is connected to a second terminal on the primary side of the transformer Tr. The fifth terminal T5 is connected to a first terminal on the secondary side of the transformer Tr. The sixth terminal T6 is connected to a second terminal on the secondary side of the transformer Tr.

[0040] The signal processing circuit 16 is connected to the first terminal T1 and the second terminal T2. The signal processing circuit 16 can generate a wave transmission signal S3 in response to a control signal S1 input via the first terminal T1. The signal processing circuit 16 also outputs the control signal S1 directly from the second terminal T2. Specifically, the signal processing circuit 16 first references the address code of the input control signal S1 and determines whether it matches its own address. If it matches, the signal processing circuit 16 executes processing according to the command code of the control signal S1 (if the command code is an operation command, the signal processing circuit 16 generates a wave transmission signal S3 and inputs it to the driver 12), while directly outputting the control signal S1 from the second output terminal T2. If the address code does not match its own address, the signal processing circuit 16 simply directly outputs the control signal S1 from the second terminal T2.

[0041] Signal processing circuit 16 also outputs from first terminal T1 the analysis result signal S5 input from sub-microcomputer 7. Signal processing circuit 16 also outputs from first terminal T1 the analysis result signal S5 input to second terminal T2. Details of sub-microcomputer 7 and analysis result signal S5 will be described later.

[0042] The driver 12 is connected to the third terminal T3 and the fourth terminal T4. The driver 12 drives the sensor element 9 via the transformer Tr in response to the transmission signal S3. Specifically, the driver 12 applies a voltage to the primary side of the transformer Tr via the third terminal T3 and the fourth terminal T4 in response to the input transmission signal S3. An electromotive force is generated on the secondary side of the transformer Tr, driving the sensor element 9.

[0043] The sensor element 9 is a piezoelectric element that transmits and receives ultrasonic waves. That is, the sensor element 9 functions as both a sound source of the ultrasonic waves UW and a receiver of the reflected waves RW. The sensor element 9 vibrates based on the applied voltage of the driver 12 (i.e., the electromotive force generated on the secondary side of the transformer Tr) and transmits the ultrasonic waves UW. The sensor element 9 also vibrates (resonates) when it receives the reflected waves RW, and inputs analog signals to the fifth terminal T5 and the sixth terminal T6.

[0044] The reflected wave data signal generation circuit 13 is connected to the fifth terminal T5 and the sixth terminal T6. The reflected wave data signal generation circuit 13 performs A / D conversion on the analog signal output from the sensor element 9 to generate a reflected wave data signal S4. The reflected wave data signal S4 is a digital signal including data about the reflected wave RW received by the sensor element 9 (hereinafter simply referred to as "reflected wave data").

[0045] The second communication path 6 connects the ultrasonic sonar 5x and the sub-microcomputer 7 to establish communication. The second communication path 6 is a high-speed interface compliant with a communication standard (second communication standard) having a higher communication speed than the first communication standard. The above-described reflected wave data signal S4 is transmitted from the reflected wave data signal generation circuit 13 to the sub-microcomputer 7 via the second communication path 6. Note that the second communication path 6 may be a data communication path composed of a plurality of signal lines. Terminals connected to the signal lines of the second communication path 6 are provided in a manner corresponding to the number of signal lines of the second communication path 6 for each of the ultrasonic sonar 5x and the sub-microcomputer 7 (not shown).

[0046] The sub-microcomputer 7 is a large-scale integrated circuit (LSI). The sub-microcomputer 7 generates an analysis result signal S5 based on the input reflected wave data signal S4 and inputs it to the signal processing circuit 16. The data amount of the analysis result signal S5 is smaller than the data amount of the reflected wave data signal S4. The analysis result signal S5 includes various analysis results obtained by the sub-microcomputer 7 analyzing the reflected wave data. Details of the analysis results will be described later.

[0047] <Regarding communication between the CPU2 and the ultrasonic sonar modules 4xa to 4xd> The CPU2 is controllable to execute processing corresponding to the command code of the control signal S1 for at least any one of the ultrasonic sonar modules 4xa to 4xd.

[0048] If the command code of the control signal S1 is an operation command, the ultrasonic sonar modules 4xa to 4xd indicated by the address codes are instructed to perform a predetermined operation process. The operation process includes a series of operations, including causing the signal processing circuit 16 to generate a transmission signal S3, causing the sensor element 9 to emit ultrasonic waves UW and detect reflected waves RW, causing the reflected wave data signal generation circuit 13 to generate a reflected wave data signal S4, and causing the sub-microcomputer 7 to analyze the reflected wave data. The sub-microcomputer 7 stores the analysis results in a register (not shown) or the like, and prepares to generate an analysis result signal S5 in response to a read command (described later). At the same time, the determination signal S2 may be generated and transmitted from the ultrasonic sonar 4x to the CPU 2. If the command code of the control signal S1 is a read command, the ultrasonic sonar modules 4xa to 4xd indicated by the address codes are instructed to transmit the analysis result signal S5. Each of these operations will be described in more detail below.

[0049] As described above, the first communication path 3 establishes communication by daisy-chaining the ultrasonic sonar modules 4xa to 4xd and the CPU 2. For example, when requesting the ultrasonic sonar module 4xd to perform the above-mentioned operation process, the CPU 2 first outputs a control signal S1 that includes the address code of the ultrasonic sonar module 4xd and the command code of the operation command.

[0050] Ultrasonic sonar module 4xa receives control signal S1 via its first terminal T1. Then, ultrasonic sonar module 4xa references the address code included in the control signal S1 and outputs the control signal S1 via its second terminal T2. Similarly, ultrasonic sonar modules 4xb and 4xc also receive control signal S1 via their first terminal T1 and output the control signal S1 via their second terminal T2.

[0051] When the signal processing circuit 16 of the ultrasonic sonar module 4xd receives the control signal S1 from the first terminal T1, it references the address code and command code included in the control signal S1 and inputs a wave transmission signal S3 to the driver 12. Then, when the sensor element 9 emits an ultrasonic wave UW and detects a reflected wave RW, a reflected wave data signal S4 is transmitted from the reflected wave data signal generation circuit 13 to the sub-microcomputer 7. When the sub-microcomputer 7 receives the reflected wave data signal S4, it analyzes the reflected wave data and generates an analysis result. The analysis result is stored in a register or the like of the sub-microcomputer 7. A large number of analysis results may be accumulated and stored.

[0052] On the other hand, when requesting ultrasonic sonar module 4xd to transmit analysis result signal S5 to CPU 2, first CPU 2 outputs control signal S1 including the address code of ultrasonic sonar module 4xd and the command code of the read command. As described above, control signal S1 is input to ultrasonic sonar module 4xd via ultrasonic sonar modules 4xa to 4xc.

[0053] When the signal processing circuit 16 of the ultrasonic sonar module 4xd receives the control signal S1 via the first terminal T1, it refers to the address code and command code included in the control signal S1. The signal processing circuit 16 then transmits a control signal requesting output of an analysis signal S5 to the sub-microcomputer 7 via the second communication path 6 (not shown). In response to the input of this control signal, the sub-microcomputer 7 reads the analysis result from its own register or the like, generates an analysis result signal S5, and transmits it to the signal processing circuit 16. When the signal processing circuit 16 receives the analysis result signal S5 from the sub-microcomputer 7, it outputs the analysis result signal S5 from the first terminal T1.

[0054] Then, ultrasonic sonar module 4xc receives the analysis result signal S5 via its second terminal T2 and outputs this analysis result signal S5 through its first terminal T1. Similarly, ultrasonic sonar modules 4xb and 4xa receive the analysis result signal S5 through their second terminal T2 and output it through their first terminal T1. In this way, communication is performed between CPU 2 and ultrasonic sonar modules 4xa to 4xd in a daisy chain manner.

[0055] <About the analysis result signal S5> 6 is a graph showing the envelope EW of the reflected wave RW contained in the reflected wave data. As described above, the reflected wave data includes the envelope EW of the reflected wave RW. The sub-microcomputer 7 detects the envelope EW from the input reflected wave data signal S4 and includes various analysis results of the envelope EW in the analysis result signal S5.

[0056] The data (=various analysis results) included in the analysis result signal S5 include, for example, the interval between predetermined timings (the interval W from time t21 to time t23 shown in FIG. 6), the rate of change of the envelope value between predetermined timings (the rate of change Rc from time t22 to time t23 shown in FIG. 6), or the envelope value at a predetermined timing (the envelope value H at time t22 shown in FIG. 6).

[0057] The analysis result signal S5 also includes, for example, identification accuracy information. The identification accuracy information is a numerical representation of the accuracy of object identification. The sub-microcomputer 7 generates the identification accuracy information from the reflected wave data of the reflected wave data signal S4.

[0058] Furthermore, the data included in the analysis result signal S5 includes a difference from at least one analysis result of an ultrasonic sonar module other than itself (if the ultrasonic sonar module itself is ultrasonic sonar module 4xa, then the other ultrasonic sonar modules 4xb to 4xd). For example, when ultrasonic sonar module 4xa receives analysis result signal S5 of ultrasonic sonar module 4xb from its second terminal T2, it transmits this analysis result signal S5 from its ultrasonic sonar 5x to its sub-microcomputer 7. The sub-microcomputer 7 generates its own analysis result signal S5 based on the reflected wave data signal S4 and the analysis result signal S5 of ultrasonic sonar module 4xb (more specifically, the various analysis results included in analysis result signal S5), and transmits it to ultrasonic sonar 5x.

[0059] The data included in the analysis result signal S5 also includes, for example, the difference between the reflected wave data of the reflected wave data signal S4 input before the previous time and the reflected wave data of the reflected wave data signal S4 input after that. This difference is the difference value between the reflected wave data before the previous time and the reflected wave data after that for each piece of data included in the analysis result signal S5.

[0060] In addition, the sub-microcomputer 7 may analyze at least one of the distance to the object 200, the position of the object 200, the size of the object 500, and the type of the object 200 based on the reflected wave data signal S4, and include the analysis result in the analysis result signal S5.

[0061] Each of the ultrasonic sonar modules 4xa to 4xd outputs setting information signals S6a to S6d (see FIG. 9) in addition to the analysis result signal S5 and transmits them to the CPU 2. The setting information signals S6a to S6d store setting values ​​for registers and the like of each of the ultrasonic sonar modules 4xa to 4xd.

[0062] Other data included in the setting information signals S6a to S6d include various types of event information. The event information includes, for example, the first timing (time t21 shown in FIG. 6) when the envelope value exceeds the threshold n1, the second timing (time t23 shown in FIG. 6) when the envelope value falls below the threshold n1 after the first timing, the third timing (time t22 shown in FIG. 6) and envelope value (envelope value H shown in FIG. 6) when the envelope reaches its maximum value, the fourth timing (both not shown) and envelope value when the envelope reaches its minimum value, etc.

[0063] The signal processing circuits 16 of the ultrasonic sonar modules 4xa to 4xd respectively generate setting information signals S6a to S6d. The setting information signals S6a to S6d are transmitted from the ultrasonic sonar modules 4xa to 4xd to the CPU 2 via the first communication path 3 at predetermined timings separate from the transmission timings of the control signal S1 and the analysis result signal S5. For example, the ultrasonic sonar module 4xa may transmit its own setting information signal S6a to the CPU 2 so that it is continuous with the analysis result signal S5.

[0064] <Ultrasound System X According to the Second Embodiment> Next, a second embodiment of the ultrasound system X will be described. Note that the following will describe differences from the first embodiment, and the same components as those in the first embodiment will be assigned the same reference numerals and will not be described.

[0065] Fig. 7 is a block diagram showing the configuration of an ultrasonic system X according to the second embodiment. Fig. 8 is a block diagram showing the configuration of an ultrasonic sonar module 4xa according to the second embodiment. As shown in Figs. 7 and 8, ultrasonic sonar modules 4xa to 4xd according to this embodiment have sub-microcomputers 7 arranged on first communication paths 3 and are connected to CPU 2 in a daisy chain system.

[0066] The sonar drive circuit 8 and the sub-microcomputer 7 of this embodiment are also connected by a first communication path 3, separately from the second communication path 6. The sonar drive circuit 8 further has a seventh terminal T7 as means for establishing communication with the outside. The sub-microcomputer 7 has an eighth terminal T8 and a ninth terminal T9 as means for establishing communication with the outside. The first communication path 3 connects the seventh terminal T7 and the eighth terminal T8 to establish communication between the sonar drive circuit 8 and the sub-microcomputer 7. That is, the seventh terminal T7 is connected to the eighth terminal T8 and the signal processing circuit 16, and the first communication path 3 is a path passing through the first terminal T1, the signal processing circuit 16, the seventh terminal T7, the eighth terminal T8, and the ninth terminal T9 from the CPU 2.

[0067] The ninth terminal T9 is connected to the first terminal T1 of the ultrasonic sonar module (when described in accordance with this figure, the ultrasonic sonar module 4xb) adjacent to the side opposite to the CPU 2 in the first communication path 3. That is, the second communication line 3b connects the ninth terminal T9 of the sub-microcomputer 7 of one ultrasonic sonar module (when described in accordance with this figure, the ultrasonic sonar module 4xa) and the first terminal T1 of the sonar drive circuit 8 of the other ultrasonic sonar module (when described in accordance with this figure, the ultrasonic sonar module 4xb) to establish communication.

[0068] <Regarding communication between the CPU 2 and the ultrasonic sonar modules 4xa to 4xd> When the CPU 2 outputs the control signal S1 from the application end, the ultrasonic sonar module 4xa receives the input of the control signal S1 from the first terminal T1. When the address code included in the control signal S1 indicates its own address, as in the first embodiment, the signal processing circuit 16 inputs the transmission signal S3 to the driver 12. At this time, the signal processing circuit 16 also transmits the control signal S1 to the sub-microcomputer 7. When the sub-microcomputer 7 receives the control signal S1, it waits until the reflected wave data signal S4 is input.

[0069] The reflected wave data signal generation circuit 13 inputs the reflected wave data signal S4 to the sub-microcomputer 7 via the second communication path 6. The sub-microcomputer 7 then generates an analysis result signal S5 corresponding to the reflected wave data signal S4 and inputs it to the sonar drive circuit 8 via the first communication path 3. The sonar drive circuit 8 outputs the input analysis result signal S5 from the first terminal T1.

[0070] If the address code included in the control signal S1 input to the ultrasonic sonar module 4xa does not indicate its own address, the sonar drive circuit 8 transmits the control signal S1 to the sub-microcomputer 7 via the first communication path 3. At this time, the signal processing circuit 16 outputs the control signal S1 input to the first terminal T1 through from the seventh terminal T7 and transmits it to the sub-microcomputer 7. The sub-microcomputer 7 then outputs the control signal S1 from the ninth terminal T9.

[0071] Furthermore, when an analysis result signal S5 is input to the sub-microcomputer 7 from the adjacently connected ultrasonic sonar module (in this figure, ultrasonic sonar module 4xb) via the second communication line 3b, the sub-microcomputer 7 outputs the analysis result signal S5 from the eighth terminal T8. At this time, the sub-microcomputer 7 may directly output the input analysis result signal S5 from the eighth terminal T8. Alternatively, the sub-microcomputer 7 may output an analysis result signal S5 that includes its own analysis result and the analysis results of the other ultrasonic sonar modules 4xb to 4xd. In either case, the sub-microcomputer 7 outputs the analysis result signal S5 in a state in which the analysis result of the reflected wave data of its own ultrasonic sonar 5x can be distinguished from the analysis results of the reflected wave data of the other ultrasonic sonar modules 5x. In either case, the signal processing circuit 16 directly outputs the input analysis signal S5 from the first terminal T1 and transmits it to the CPU 2.

[0072] When all of the ultrasonic sonar modules 4xa to 4xd transmit analysis result signals S5 to the CPU 2, the ultrasonic sonar modules 4xa to 4xd transmit the analysis result signals S5 to the CPU 2 in sequence via the first communication path 3. This sequence may be set in advance. Alternatively, the CPU 2 may determine the sequence at a predetermined timing and generate the control signal S1 to include this sequence. In this case, each of the ultrasonic sonar modules 4xa to 4xd detects the sequence from the input control signal S1 and transmits the analysis result signals S5 to the CPU 2 at a timing that conforms to this sequence.

[0073] 9 is a timing chart showing the transmission order of the analysis result signals S5 and the voltage levels of the control signal S1. In FIG. 9, the analysis result signal S5 transmitted by the ultrasonic sonar module 4xa is indicated by the symbol S5a. Similarly, the analysis result signals S5 transmitted by the ultrasonic sonar modules 4xb to 4xd are indicated by the symbols S5b to S5d, respectively. Furthermore, the control signal S1 in FIG. 9 is shown as a single pulse waveform with the address code, parameters, etc. omitted, focusing only on the read command described above.

[0074] As shown in Figure 9, when the control signal S1 is output, a pulse signal including a read command and the like is generated. Each of the ultrasonic sonar modules 4xa to 4xd detects a pulse signal corresponding to the read command in the control signal S1 and transmits analysis result signals S5a to S5d to the CPU 2. In this figure, the ultrasonic sonar modules 4xa, 4xb, 4xc, and 4xd transmit their own analysis result signals S5 in this order. After transmitting the analysis result signals S5a to S5d, each of the ultrasonic sonar modules 4xa to 4xd subsequently transmits its own setting information signals S6a to S6d to the CPU 2 in the same order.

[0075] 10 is a timing chart showing the transmission order of the analysis result signals S5 and the voltage levels of the control signal S1 when the pulse frequency of the control signal S1 is set short. As shown in FIG. 10, the read command transmission interval (the pulse interval in this diagram) can be set slightly longer than the interval at which all of the ultrasonic sonar modules 4xa-4xd finish transmitting their analysis result signals S5a-S5d, and earlier than the timing at which the ultrasonic sonar module 4xa subsequently starts transmitting the setting information signal S6a. In this case, the ultrasonic sonar modules 4xa-4xd can omit transmitting the setting information signals S6a-S6d, suppressing an increase in communication time and allowing more analysis result signals S5 to be transmitted from the ultrasonic sonar modules 4xa-4xd to the CPU 2 in a short period of time.

[0076] As described above, the ultrasonic system X of each of the above embodiments can analyze the reflected wave data output by the ultrasonic sonar 5x using the sub-microcomputer 7 without transmitting it to the CPU 2, and generate an analysis result signal S5 containing various analysis results. The reflected wave data is a relatively large amount of data, while the analysis results contained in the analysis result signal S5 are a relatively small amount of data. This allows for more advanced analysis of the reflected wave data while suppressing an increase in the amount of data communication between each of the ultrasonic sonar modules 4xa to 4xh and the CPU 2. Therefore, it is possible to provide an ultrasonic system X that has a relatively high-precision object identification function while suppressing a decrease in communication speed.

[0077] As described above, the second communication path 6 complies with the second communication standard, which has a faster communication speed than the first communication standard that complies with the first communication path 3. The reflected wave data is relatively large in volume. Therefore, the reflected wave data can be transmitted from the ultrasonic sonar 5x to the sub-microcomputer 7 while suppressing a decrease in communication speed between the ultrasonic sonar 5x and the sub-microcomputer 7. This in turn allows the sub-microcomputer 7 to analyze a relatively large amount of reflected wave data (i.e., reflected wave data with a large amount of information) while suppressing a decrease in communication speed.

[0078] As described above, the analysis result signal S5 has a smaller data amount than the reflected wave data signal S4, which prevents a decrease in the communication speed between the CPU 2 and each of the ultrasonic sonar modules 4xa to 4xh.

[0079] As described above, the CPU 2 and the ultrasonic sonar modules 4xa to 4xh are connected in a daisy chain manner via the first communication path 3. This allows the analysis results of each of the ultrasonic sonar modules 4xa to 4xh to be consolidated in the CPU 2. This makes it possible to provide an ultrasonic system X with a relatively high-precision object identification function. It also makes it possible to detect the distance between each of the multiple ultrasonic sonar modules (here, the ultrasonic sonar modules 4xa to 4xh) and the object 200. By analyzing each detected distance, it is possible to more accurately analyze not only the linear distance between the object 200 and the vehicle 100X equipped with the ultrasonic system X, but also the location of the object 200.

[0080] As described above, the signal processing circuit 16 checks the address code of the input control signal S1, and if the address does not match its own address, it simply passes the control signal S1 through the second terminal T2. This reduces unnecessary communication between the CPU 2 and the ultrasonic sonar modules 4xa to 4xh, thereby preventing a decrease in communication speed.

[0081] As described above, the CPU 2 can control the output of the analysis result signal S5 to at least one of the ultrasonic sonar modules 4xa to 4xh. In the ultrasonic system X according to the first embodiment, the analysis result is not output from its own sub-microcomputer 7 to the ultrasonic sonar modules 4xa to 4xd with mismatched address codes, thereby preventing a decrease in the communication speed between the CPU 2 and the ultrasonic sonar modules 4xa to 4xh.

[0082] Furthermore, without changing the communication standard of the first communication path 3 to a communication standard with a relatively high communication speed (for example, the above-mentioned second communication standard), it becomes possible to include the analysis results of a large amount of reflected wave data in the analysis result signal S5 and aggregate them in the CPU 2. This makes it possible to achieve an advanced object identification function while suppressing increases in manufacturing costs.

[0083] <Modification> The present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention. For example, although the event information is included in the setting information signals S6a to S6d, it may be included in the analysis result signal S5.

[0084] In addition, the data included in the analysis result signal S5 may include the difference between its own event information and the event information of at least one ultrasonic sonar module other than itself (if its own is ultrasonic sonar module 4xa, at least one of the other ultrasonic sonar modules 4xb to 4xd).

[0085] Furthermore, when transmitting the analysis result signal S5 from the ultrasonic sonar modules 4xa to 4xd to the CPU 2, the ultrasonic sonar modules 4xa to 4xd may transmit the signal spontaneously at a predetermined timing, independent of the control signal S1 including the read command. For example, when the sub-microcomputer 7 generates an analysis result in response to the control signal S1 including the operation command, the analysis result signal S5 may be transmitted to the CPU 2 without waiting for the input of the control signal S1 including the read command.

[0086] Furthermore, the ultrasonic sonar 5x may notify the sub-microcomputer 7 that preparation of the reflected wave data has been completed (more specifically, that the envelope EW has been generated and the reflected wave data signal S4 can be output). In this case, the sub-microcomputer 7 may receive this notification and request the ultrasonic sonar 5x to transmit the reflected wave data signal S4 to the sub-microcomputer 7.

[0087] Furthermore, the sub-microcomputer 7 according to the second embodiment may input its own analysis result signal S5 to the sonar drive circuit 8 via the first communication path 3 (more specifically, the seventh terminal T7 and the eighth terminal T8) rather than the second communication path 6. Similarly, the analysis result signal S5 input from another ultrasonic sonar module (for example, ultrasonic sonar modules 4xb to 4xd when the sub-microcomputer 7 itself is ultrasonic sonar module 4xa) may be input to the sonar drive circuit 8 via the first communication path 3.

[0088] <Additional Notes> The ultrasonic system (X) disclosed in the specification includes a first control circuit (2) configured to generate a control signal (S1), ultrasonic sonar modules (4xa to 4xd) configured to be able to communicate with the first control circuit (2), and a first communication path (3) for establishing communication between the first control circuit (2) and the ultrasonic sonar modules (4xa to 4xd). The ultrasonic sonar modules (4xa to 4xd) are configured to include an ultrasonic sonar (5x) configured to be able to emit ultrasonic waves (UW) to the outside in response to the control signal (S1) and to be able to detect reflected waves (RW) of the ultrasonic waves (UW), a second control circuit (7) configured to be able to analyze reflected wave data based on the reflected waves (RW) detected by the ultrasonic sonar (5x) and transmit the analysis results to the ultrasonic sonar (5x), and a second communication path (6) for establishing communication between the ultrasonic sonar (5x) and the second control circuit (7) (first configuration).

[0089] The ultrasonic system (X) according to the first configuration may be configured such that the first communication path (3) conforms to a first communication standard, the second communication path (6) conforms to a second communication standard having a faster communication speed than the first communication standard, the reflected wave data is transmitted from the ultrasonic sonar (5x) to the second control circuit (7) via the second communication path (6), and the analysis results are transmitted from the ultrasonic sonar (5x) to the first control circuit (2) via the first communication path (3) (second configuration).

[0090] In the ultrasonic system (X) according to the first or second configuration, the reflected wave data includes an envelope (EW) of the reflected wave (RW), and the second control circuit (7) is configured to generate an analysis result based on the envelope (EW) that includes at least one of the distance to the reflecting object (200) from which the ultrasonic wave (UW) is reflected, the position of the reflecting object (200), the size of the reflecting object (200), and the type of the reflecting object (200) (third configuration).

[0091] In the ultrasound system (X) according to the third configuration, the second control circuit (7) can detect a first timing (t21) when the value of the envelope (EW) exceeds a predetermined threshold value and a second timing (t23) when the value of the envelope (EW) falls below the threshold value, and may be configured to generate an analysis result including the distance to the reflecting object (200) or the position of the reflecting object (200) based on the first timing (t21) and the second timing (t23) (fourth configuration).

[0092] In the ultrasound system (X) according to the third or fourth configuration, the second control circuit (7) may be configured to generate an analysis result based on at least one of the height (H), slope (Rc), and width (W) of the envelope (EW) waveform (fifth configuration).

[0093] In the ultrasonic system (X) according to any one of the first to fifth configurations, the ultrasonic sonar (5x) emits ultrasonic waves (UW) multiple times in response to the control signal (S1) and detects multiple reflected waves (RW) corresponding to each ultrasonic wave (UW), and the second control circuit (7) is preferably configured to generate an analysis result according to the difference between the multiple reflected wave data based on each reflected wave (RW) (sixth configuration).

[0094] The ultrasonic system (X) according to any one of the first to sixth configurations may be configured to include a plurality of ultrasonic sonar modules (4xa to 4xd), and the first communication path (3) may be configured to establish communication by connecting each ultrasonic sonar module (4xa to 4xd) to the first control circuit (2) in a daisy chain manner (seventh configuration).

[0095] In the ultrasonic system (X) according to the seventh configuration, the second control circuit (7) may be configured to receive analysis results from ultrasonic sonar modules (4xa to 4xd) other than its own ultrasonic sonar module (4xa to 4xd) and analyze the reflected wave data based on the received analysis results (eighth configuration).

[0096] In the ultrasonic system (X) according to the seventh or eighth configuration, the first communication path (3) comprises a first communication line (3a) that connects the first control circuit (2) to one of the plurality of ultrasonic sonar modules (4xa to 4xd) to establish communication, and a second communication line (3b) that connects adjacent ultrasonic sonar modules (4xa to 4xd) on the first communication path (3) to establish communication, and the control signal (S1) includes an address code that indicates the address of each ultrasonic sonar (5x), and when the address code of the control signal (S1) input to the ultrasonic sonar (5x) indicates its own address, the ultrasonic sonar (5x) receives the analysis result from the second control circuit (7) and transmits it to the first control circuit (2), and when the address code of the control signal (S1) input to the ultrasonic sonar (5x) does not indicate its own address, the ultrasonic sonar (5x) transmits the control signal (S1) to the other ultrasonic sonar modules (4xa to 4xd) via the second communication line (3b) (ninth configuration).

[0097] In the ultrasonic system (X) according to the ninth configuration, the second communication line (3b) may be configured to connect the second control circuit (7) of one ultrasonic sonar module (4xa to 4xd) to the ultrasonic sonar (5x) of the other ultrasonic sonar module (4xa to 4xd) to establish communication (tenth configuration).

[0098] In the ultrasonic system (X) according to the tenth configuration, the first control circuit (2) is configured to be capable of generating a read signal, the second control circuit (7) is configured to be capable of detecting the read signal via the first communication path (3) and transmitting an analysis result to the first control circuit (2), and each second control circuit (7) of each ultrasonic sonar module (4xa to 4xd) is configured to transmit the analysis result to the first control circuit (2) in the order assigned to each ultrasonic sonar module (4xa to 4xd) upon detecting the read signal (eleventh configuration).

[0099] In the ultrasonic system (X) according to the seventh or eighth configuration, the second communication line (3b) may be configured to connect the ultrasonic sonar (5x) of one ultrasonic sonar module (4xa to 4xd) to the ultrasonic sonar (5x) of the other ultrasonic sonar module (4xa to 4xd) to establish communication (twelfth configuration).

[0100] The ultrasound system (X) according to the second configuration may be configured so that the first communication standard is any one of LIN communication, DSI communication, and serial communication (thirteenth configuration).

[0101] A vehicle (100X) disclosed in the specification may be configured to include an ultrasound system (X) according to any one of the first to thirteenth configurations (fourteenth configuration). [Explanation of symbols]

[0102] 2 CPU 3. First communication path 3a 1st communication line 3b 2nd communication line 4ya~4yd Ultrasonic Sonar Module 5x ultrasonic sonar 5y Ultrasonic Sonar 6 Second communication path 7 Sub-microcomputer 8 Sonar driver circuit 9 Sensor element 12 Drivers 13 Reflected wave data signal generation circuit 16 Signal processing circuit 100X Vehicle 100Y vehicle 200 Reflective object EW Envelope H Envelope Value RW reflected wave Rc rate of change S1 control signal S2 judgment signal S3 Transmission signal S4 Reflected wave data signal S5 Analysis result signal S5a~S5d Analysis result signal S6a~S6d Setting information signals T1~T9 Terminal 1~Terminal 9 Tr transformer UW Ultrasound W spacing X Ultrasound System Xa Rear System Xb front system Y Ultrasound System n1 threshold

Claims

1. a first control circuit configured to generate a control signal; an ultrasonic sonar module configured to be able to communicate with the first control circuit; a first communication path for establishing communication between the first control circuit and the ultrasonic sonar module; Equipped with The ultrasonic sonar module includes: an ultrasonic sonar configured to emit ultrasonic waves to the outside in response to the control signal and to detect reflected waves of the ultrasonic waves; a second control circuit configured to analyze reflected wave data based on the reflected waves detected by the ultrasonic sonar and transmit the analysis results to the ultrasonic sonar; a second communication path for establishing communication between the ultrasonic sonar and the second control circuit; an ultrasound system,

2. the first communication path conforms to a first communication standard; the second communication path conforms to a second communication standard having a communication speed faster than that of the first communication standard, the reflected wave data is transmitted from the ultrasonic sonar to the second control circuit via the second communication path; The ultrasound system of claim 1 , wherein the analysis result is transmitted from the ultrasonic sonar to the first control circuit via the first communication path.

3. the reflected wave data includes an envelope of the reflected wave; 2. The ultrasound system of claim 1, wherein the second control circuit generates the analysis result based on the envelope, the analysis result including at least one of a distance to a reflecting object from which the ultrasound is reflected, a position of the reflecting object, a size of the reflecting object, and a type of the reflecting object.

4. 4. The ultrasound system of claim 3, wherein the second control circuit is capable of detecting a first timing at which the envelope value exceeds a predetermined threshold and a second timing at which the envelope value falls below the threshold, and generates the analysis result including the distance to the reflecting object or the position of the reflecting object based on the first timing and the second timing.

5. The ultrasound system of claim 3 , wherein the second control circuit generates the analysis result based on at least one of a height, a slope, and a width of the envelope waveform.

6. The ultrasonic sonar emits the ultrasonic waves a plurality of times in response to the control signal and detects a plurality of reflected waves corresponding to each of the ultrasonic waves; The ultrasound system according to claim 1 , wherein the second control circuit generates the analysis result according to a difference between the plurality of pieces of reflected wave data based on each of the reflected waves.

7. a plurality of said ultrasonic sonar modules; The ultrasound system of claim 1 , wherein the first communication path is configured to establish communication by connecting each of the ultrasonic sonar modules to the first control circuit in a daisy chain fashion.

8. The ultrasound system of claim 7 , wherein the second control circuit receives the analysis results from the ultrasonic sonar modules other than its own ultrasonic sonar module, and analyzes the reflected wave data based on the received analysis results.

9. The first communication path is a first communication line connecting the first control circuit and one of the plurality of ultrasonic sonar modules to establish communication; a second communication line that connects adjacent ultrasonic sonar modules on the first communication path to establish communication; Equipped with The control signal includes an address code indicating an address of each of the ultrasonic sonars, The ultrasonic sonar If the address code of the control signal input to itself indicates its own address, it receives the analysis result from the second control circuit and transmits it to the first control circuit; The ultrasound system of claim 7, wherein if the address code of the control signal input to the ultrasound system does not indicate its own address, the ultrasound system transmits the control signal to another ultrasound sonar module via the second communication line.

10. The ultrasonic system of claim 9 , wherein the second communication line connects the second control circuit of one of the ultrasonic sonar modules and the ultrasonic sonar of the other of the ultrasonic sonar modules to establish communication.

11. the first control circuit is configured to generate a read signal; the second control circuit is configured to detect the read signal via the first communication path and transmit the analysis result to the first control circuit; The ultrasound system of claim 10, wherein the second control circuit of each of the ultrasonic sonar modules, upon detecting the readout signal, transmits the analysis result to the first control circuit in an order assigned to each of the ultrasonic sonar modules.

12. The ultrasonic system according to claim 7 , wherein the second communication line connects the ultrasonic sonar of one of the ultrasonic sonar modules to the ultrasonic sonar of the other of the ultrasonic sonar modules to establish communication.

13. The ultrasound system of claim 2 , wherein the first communication standard is one of LIN communication, DSI communication, and serial communication.

14. A vehicle comprising an ultrasound system according to any one of claims 1 to 13.

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