OBJECT DETECTION SYSTEM AND OBJECT DETECTION METHOD

Abstract

To shorten the time for detecting an object and achieve highly accurate object detection.SOLUTION: An object detection system 100 includes a plurality of distance measurement sensors 20, a wave transmission control section 12B, and a determination section 12E. The plurality of distance measurement sensors 20 each has a wave transmitter 22 for transmitting ultrasonic waves and a wave receiver 24 for receiving reflected ultrasonic waves reflected at an object B and detects the object B according to the reflected waves. The plurality of distance measurement sensors 20 is provided at different positions in a vehicle 1. The wave transmission control section 12B sets one of the distance measurement sensors 20 as a top of a wave transmission order. A detection range 30 of the one of the distance measurement sensors covers a region including the object B preliminary detected when power supply to the vehicle 1 is started. The wave transmission control section repeats cyclic wave transmission control C to cause each of the plurality of distance measurement sensors 20 to emit ultrasonic waves sequentially in the wave transmission order. The determination section 12E determines the object B as a detection target object when any one of the plurality of distance measurement sensors 20 has detected the object B a predetermined number of times.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an object detection system and an object detection method. [Background technology]

[0002] Conventionally, a system is known that detects objects around a vehicle using a sensor mounted on the vehicle. For example, a system is known that uses a radar device to scan a detection range at every predetermined control cycle to suppress erroneous judgments, and judges an object detected a predetermined number of times or more as an object to be judged as a target object for contact judgment. In addition, a technology is disclosed that reduces the number of judgments when an object is detected using an image of an infrared camera, thereby shortening the object detection time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-247829 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, since the number of judgments is varied, it is sometimes difficult to achieve highly accurate object detection. In other words, in the conventional technology, it is difficult to reduce the detection time and achieve highly accurate object detection.

[0005] An object detection system and an object detection method that can reduce detection time and achieve highly accurate object detection are provided. [Means for solving the problem]

[0006] The object detection system according to the present disclosure includes a plurality of distance measuring sensors, a wave transmission control unit, and a determination unit. The plurality of distance measuring sensors have a wave transmission unit that transmits ultrasonic waves and a wave receiving unit that receives ultrasonic waves reflected by an object, and detects an object according to the reflected waves. The plurality of distance measuring sensors are provided at different positions on the vehicle. Wave transmission control The part When power supply to the vehicle is started, When an execution condition is satisfied, that is, when the vehicle state of the vehicle indicates a predetermined state, a total wave transmission control is performed to transmit ultrasonic waves from a plurality of the distance measuring sensors belonging to a predetermined group, and the total wave transmission control The distance measuring sensor having a detection range including an area including a pre-detected object is set at the head of the wave transmission order, and periodic wave transmission control is repeated to sequentially transmit ultrasonic waves from each of the plurality of distance measuring sensors in the wave transmission order. The part When any one of the plurality of distance measuring sensors detects an object a predetermined number of times, the object is determined to be a detected object. Effect of the Invention

[0007] According to the object detection system and object detection method disclosed herein, it is possible to reduce the detection time and achieve highly accurate object detection. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an object detection system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram illustrating an example of the configuration of the distance measuring sensor according to the embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the object detection system according to the embodiment. [Figure 4] FIG. 4 is a hardware configuration diagram illustrating an example of the object detection device according to the embodiment. [Figure 5A] FIG. 5A is an explanatory diagram showing an example of conventional wave transmission control. [Figure 5B] FIG. 5B is an explanatory diagram showing an example of conventional wave transmission control. [Figure 6A] FIG. 6A is an explanatory diagram illustrating an example of wave transmission control according to an embodiment. [Figure 6B] FIG. 6B is an explanatory diagram illustrating an example of wave transmission control according to the embodiment. [Figure 7]FIG. 7 is an explanatory diagram illustrating an example of wave transmission control according to the embodiment. [Figure 8] FIG. 8 is an explanatory diagram illustrating an example of wave transmission control according to the embodiment. [Figure 9] FIG. 9 is an explanatory diagram illustrating an example of wave transmission control according to the embodiment. [Figure 10] FIG. 10 is an explanatory diagram illustrating an example of transmission control according to an embodiment. [Figure 11] FIG. 11 is an explanatory diagram illustrating an example of wave transmission control according to the embodiment. [Figure 12] FIG. 12 is an explanatory diagram illustrating an example of a plurality of vehicles equipped with the object detection device according to the embodiment. [Figure 13] FIG. 13 is a flowchart illustrating an example of the flow of information processing according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of an object detection system and an object detection method according to the present disclosure will be described with reference to the accompanying drawings.

[0010] FIG. 1 is a schematic diagram showing an example of an object detection system 100 according to the present embodiment.

[0011] The object detection system 100 includes an object detection device 10 and a plurality of distance measuring sensors 20. The object detection device 10 is a device that detects objects around a vehicle 1. In this embodiment, the object detection device 10 will be described as being mounted on the vehicle 1 as an example.

[0012] The vehicle 1 is provided with a plurality of distance measuring sensors 20.

[0013] The distance measuring sensor 20 is a sensor that detects objects around the vehicle 1. In this embodiment, the distance measuring sensor 20 has a detection distance of, for example, several centimeters to several meters, and detects the presence or absence of an object at a relatively short distance and the distance to the object. In this embodiment, an embodiment will be described in which the distance measuring sensor 20 is an ultrasonic sensor as an example. The ultrasonic sensor has a wave transmitting function of transmitting ultrasonic waves of 20 kHz to 100 kHz as transmission waves, and a wave receiving function of receiving ultrasonic waves reflected by an object as reflected waves.

[0014] In this embodiment, the vehicle 1 is equipped with distance measurement sensors 20FL, 20FLC, 20FRC, 20FR, 20RL, 20RLC, 20RRC, and 20RR as distance measurement sensors 20. These multiple distance measurement sensors 20 are provided at different positions on the vehicle 1. In addition, the detection ranges 30 of the multiple distance measurement sensors 20 are adjusted so that at least a portion of them do not overlap.

[0015] Distance measurement sensor 20FL, distance measurement sensor 20FLC, distance measurement sensor 20FRC, and distance measurement sensor 20FR are provided on the front side of vehicle 1. Distance measurement sensor 20FL and distance measurement sensor 20FR are provided in corner portions on the front side of vehicle 1. Distance measurement sensor 20FL is provided in the left corner portion of the front side of vehicle 1. Distance measurement sensor 20FR is provided in the right corner portion of the front side of vehicle 1. Distance measurement sensor 20FLC is provided near the center left of the front side of vehicle 1. Distance measurement sensor 20FRC is provided near the center right of the front side of vehicle 1.

[0016] The detection range 30FL of the distance measurement sensor 20FL, the detection range 30FLC of the distance measurement sensor 20FLC, the detection range 30FRC of the distance measurement sensor 20FRC, and the detection range 30FR of the distance measurement sensor 20FR are arranged so as to be at least partially non-overlapping. Note that the detection ranges 30 of the multiple distance measurement sensors 20 may be arranged so as to be partially overlapping.

[0017] Distance measurement sensor 20RL, distance measurement sensor 20RLC, distance measurement sensor 20RRC, and distance measurement sensor 20RR are provided on the rear side of vehicle 1. Distance measurement sensor 20RL and distance measurement sensor 20RR are provided in corner portions on the rear side of vehicle 1. Distance measurement sensor 20RL is provided in the left corner portion of the rear side of vehicle 1. Distance measurement sensor 20RR is provided in the right corner portion of the rear side of vehicle 1. Distance measurement sensor 20RLC is provided near the center left of the rear side of vehicle 1. Distance measurement sensor 20RRC is provided near the center right of the rear side of vehicle 1.

[0018] The detection range 30RL of the distance measurement sensor 20RL, the detection range 30RLC of the distance measurement sensor 20RL, the detection range 30RRC of the distance measurement sensor 20RRC, and the detection range 30RR of the distance measurement sensor 20RR are arranged so as to be at least partially non-overlapping. Note that the detection ranges 30 of the multiple distance measurement sensors 20 may be arranged so as to be partially overlapping.

[0019] The number and arrangement of the distance measuring sensors 20 provided on the vehicle 1 are not limited to the above. For example, the vehicle 1 may be configured with 1 to 3 or 4 or more distance measuring sensors 20 provided on the front portion of the vehicle 1, 1 to 3 or 4 or more distance measuring sensors 20 provided on the rear portion of the vehicle 1, and one or more distance measuring sensors 20 provided on the side portion of the vehicle 1.

[0020] Each of the plurality of distance measuring sensors 20 detects an object within its respective detection range 30, and outputs object detection result information to the object detection device .

[0021] The object is an object that can be detected by the distance measuring sensor 20. That is, in this embodiment, the object is an object that generates a reflected wave that reflects an ultrasonic wave transmitted from the distance measuring sensor 20.

[0022] 2 is a schematic diagram of an example of the configuration of the distance measuring sensor 20. The distance measuring sensor 20 includes a wave transmitting unit 22, a wave receiving unit 24, and a controller 26. The wave transmitting unit 22 and the wave receiving unit 24 are communicatively connected to the controller 26. The controller 26 is communicatively connected to the object detection device 10.

[0023] The transmitting unit 22 transmits ultrasonic waves. The receiving unit 24 receives ultrasonic waves reflected by an object. The transmitting unit 22 and the receiving unit 24 transmit ultrasonic waves and receive reflected waves, for example, via a piezoelectric element or the like. The controller 26 controls the transmission timing, transmission period, and frequency of ultrasonic waves transmitted from the transmitting unit 22. The controller 26 also measures the distance to the object by measuring the time from when the transmitting unit 22 transmits ultrasonic waves to when the receiving unit 24 receives the reflected waves. When the controller 26 detects an object, it outputs detection result information including object detection information indicating the detection of the object and distance information indicating the distance to the object to the object detection device 10.

[0024] Continuing the explanation, returning to Fig. 1, the vehicle 1 may further be provided with an imaging device 40 and a radar .

[0025] The image capturing device 40 captures an image of the periphery of the vehicle 1 and obtains captured image data. In the following description, the captured image data will be simply referred to as a captured image. The image capturing device 40 outputs the acquired captured image to the object detection device 10.

[0026] In this embodiment, the vehicle 1 is provided with the imaging devices 40F and 40R. The imaging device 40F is provided on the front side of the vehicle 1 and obtains an image of the front side of the vehicle 1. The imaging device 40R is provided on the rear side of the vehicle 1 and obtains an image of the rear side of the vehicle 1. The number and arrangement of the imaging devices 40 provided on the vehicle 1 are not limited to the above embodiment.

[0027] The radar 42 detects objects around the vehicle 1 and measures the distance between the objects and the vehicle 1. The radar 42 detects objects around the vehicle 1 by scanning with millimeter waves, which are electromagnetic waves. In this embodiment, the vehicle 1 is provided with radar 42F and radar 42R as the radar 42.

[0028] The radar 42F is provided on the front side of the vehicle 1 and detects objects on the front side of the vehicle 1 by scanning the front side around the vehicle 1. The radar 42R is provided on the rear side of the vehicle 1 and detects objects on the rear side of the vehicle 1 by scanning the rear side around the vehicle 1. Note that the number and arrangement of the radars 42 provided on the vehicle 1 are not limited to the above-mentioned form.

[0029] Next, the functional configuration of the object detection system 100 will be described in detail.

[0030] FIG. 3 is a block diagram of an example of a functional configuration of the object detection system 100.

[0031] The vehicle 1 is equipped with a distance measurement sensor 20, an imaging device 40, a radar 42, a G sensor 44, a steering angle sensor 46, a driving control unit 48, an operation unit 50, a meter computer 52, a memory unit 54, and an object detection device 10.

[0032] The distance measuring sensor 20, the image capturing device 40, the radar 42, the G sensor 44, the steering angle sensor 46, the driving control unit 48, the meter computer 52, the storage unit 54, and the object detection device 10 are communicatively connected via a bus 56. The bus 56 may be, for example, a local area network such as a Controller Area Network (CAN).

[0033] The G sensor 44 measures the acceleration of the vehicle 1 and outputs the measurement result to the object detection device 10. In the present embodiment, a form in which the G sensor 44 outputs the measurement result including the vehicle speed and acceleration of the vehicle 1 to the object detection device 10 will be described as an example.

[0034] The steering angle sensor 46 detects the steering angle of a steering wheel provided on the vehicle 1, and outputs it to the object detection device 10 as steering angle information.

[0035] The driving control unit 48 is an ECU (Engine Control Unit) that controls the driving of the vehicle 1. The driving control unit 48 is communicably connected to an operation unit 50. The driving control unit 48 controls the driving devices of the vehicle 1, such as the engine and the motor, and the transmission of the vehicle 1, in response to operation information by the user received from the operation unit 50.

[0036] The operation unit 50 is operated by a driver who is a user. The operation unit 50 includes, for example, an ignition switch 50A, a shift lever 50B, an accelerator pedal 50C, and a brake pedal 50D. Note that the operation unit 50 mounted on the vehicle 1 is not limited to these.

[0037] The driving control unit 48 controls the drive device and transmission system devices of the vehicle 1 according to operation information of the ignition switch 50A, shift position information of the shift lever 50B, accelerator pedal operation information of the accelerator pedal 50C, and brake pedal information of the brake pedal 50D. In this embodiment, the driving control unit 48 outputs the operation information of the ignition switch 50A and the shift position information of the shift lever 50B to the object detection device 10.

[0038] The operation information of the ignition switch 50A is, for example, information representing an instruction to supply power to each part of the electric system of the vehicle 1, an instruction to start the engine of the vehicle 1, etc. Upon receiving the instruction to supply power to each part of the electric system of the vehicle 1, the traveling control unit 48 starts supplying power to the electronic devices mounted on the vehicle 1. Furthermore, upon receiving the instruction to start the engine of the vehicle 1, the traveling control unit 48 starts the engine of the vehicle 1.

[0039] The shift position information of the shift lever 50B is information that indicates the position of the shift lever 50B. The shift position information is information that indicates the shift position, such as parking, reverse, neutral, and forward driving (drive).

[0040] The meter computer 52 has an information notification function for users such as the driver. The information notification function is a display function for displaying information, a sound output function for outputting a sound representing the information, etc. The display function is, for example, a combination meter device for notifying the driver by display. The sound output function is, for example, an alarm sound generating device for notifying the driver by a buzzer or sound.

[0041] The storage unit 54 stores various types of data. The storage unit 54 is, for example, a semiconductor memory element such as a random access memory (RAM), a flash memory, a hard disk, an optical disk, etc. The storage unit 54 may be composed of one or more storage media.

[0042] Next, the object detection device 10 will be described in detail.

[0043] FIG. 4 is a diagram illustrating an example of a hardware configuration of the object detection device 10. As shown in FIG.

[0044] The object detection device 10 has a hardware configuration using a normal computer, in which a CPU (Central Processing Unit) 11A, a ROM (Read Only Memory) 11B, a RAM 11C, an I / F 11D, etc. are interconnected via a bus 11E.

[0045] The CPU 11A is a calculation device that controls the object detection device 10 of this embodiment. The ROM 11B stores programs and the like that realize various processes by the CPU 11A. The RAM 11C stores data necessary for various processes by the CPU 11A. The I / F 11D is an interface for transmitting and receiving data.

[0046] A program for executing information processing executed by object detection device 10 of this embodiment is provided by being pre-installed in ROM 11B or the like. Note that the program executed by object detection device 10 of this embodiment may be provided by being recorded in a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disk (DVD) in a format that can be installed in object detection device 10 or in a format that can be executed by object detection device 10.

[0047] Returning to FIG. 3, the explanation will be continued.

[0048] The object detection device 10 controls the transmission of ultrasonic waves from each of the multiple distance measuring sensors 20.

[0049] 5A and 5B are explanatory diagrams of an example of conventional wave transmission control. Fig. 5A and Fig. 5B show an example of conventional wave transmission control of a plurality of distance measuring sensors 20 provided on the rear side of a vehicle 1.

[0050] If ultrasonic waves are transmitted simultaneously from multiple distance measuring sensors 20, it may be impossible to distinguish which distance measuring sensor 20 transmitted the reflected ultrasonic wave from, resulting in a decrease in the accuracy of measuring the distance to object B. For this reason, ultrasonic waves are transmitted sequentially from multiple distance measuring sensors 20 to detect object B.

[0051] For example, as shown in Fig. 5A, ultrasonic waves are transmitted in the order of distance measurement sensor 20RLC, distance measurement sensor 20RRC, distance measurement sensor 20RL, and distance measurement sensor 20RR. Distance measurement sensor 20RL and distance measurement sensor 20RR are provided at the corners, which are both ends in the vehicle width direction of vehicle 1, respectively, and are less susceptible to interference, so ultrasonic waves are transmitted simultaneously.

[0052] Furthermore, in order to prevent erroneous detection due to noise or the like and to improve reliability, when the same object B is detected a predetermined number of times or more, a process is performed to identify this object B as a detected object.

[0053] For example, assume a situation in which an object B is present within a detection range 30RL of a distance measuring sensor 20RL as shown in Fig. 5A. Also assume a situation in which, when the same distance measuring sensor 20 detects object B three or more times, this object B is determined to be a detected object.

[0054] In this case, as shown in Fig. 5B, the object B is detected three times by the distance measurement sensor 20RL due to the ultrasonic wave transmissions by the distance measurement sensor 20RL and the distance measurement sensor 20RR at the final wave transmission timings of the first cycle C1, the second cycle C2, and the third cycle C3. That is, the object B located within the detection range 30RL of the distance measurement sensor 20RL is identified as the detected object by the final ultrasonic wave transmission by the distance measurement sensor 20RL and the distance measurement sensor 20RR in the third cycle C3. For this reason, in the conventional technology, the two transmissions from each of the distance measurement sensor 20RLC and the distance measurement sensor 20RRC in the first cycle C1 were unnecessary transmissions X.

[0055] For this reason, in the conventional technology, it may take a long time to determine that an object B is detected. In other words, in the conventional technology, it is difficult to reduce the detection time for object B.

[0056] Continuing the explanation by returning to Fig. 3, the object detection device 10 of the present embodiment is a device that realizes a reduction in the detection time of the object B and a high-precision object detection.

[0057] In detail, the object detection device 10 includes a processing unit 12. The processing unit 12 executes various information processing operations. For example, the CPU 11A reads a program from the ROM 11B onto the RAM 11C and executes the program, thereby realizing each of the later-described functional units of the processing unit 12 on the computer.

[0058] The processing unit 12 includes a vehicle state acquisition unit 12A, a wave transmission control unit 12B, a detection result acquisition unit 12C, an object detection unit 12D, a determination unit 12E, and a drive control unit 12F. Some or all of the vehicle state acquisition unit 12A, the wave transmission control unit 12B, the detection result acquisition unit 12C, the object detection unit 12D, the determination unit 12E, and the drive control unit 12F may be realized by, for example, having a processing device such as the CPU 11A execute a program, that is, by software, or by hardware such as an IC (Integrated Circuit), or by using both software and hardware. In addition, at least one of the vehicle state acquisition unit 12A, the wave transmission control unit 12B, the detection result acquisition unit 12C, the object detection unit 12D, the determination unit 12E, and the drive control unit 12F may be mounted on an external information processing device communicatively connected to the object detection device 10 via a network or the like.

[0059] The vehicle state acquisition unit 12A acquires information representing the vehicle state of the vehicle 1.

[0060] The information representing the vehicle state is information representing the state of the vehicle 1. The information representing the vehicle state includes, for example, the vehicle speed, acceleration, steering angle information, operation information of the ignition switch 50A, and shift position information of the vehicle 1. Note that the information representing the vehicle state may be information that includes at least the operation information of the ignition switch 50A and the shift position information.

[0061] In this embodiment, the vehicle state acquisition unit 12A acquires measurement result information of the vehicle speed and acceleration of the vehicle 1 from the G sensor 44. The vehicle state acquisition unit 12A also acquires steering angle information from the steering angle sensor 46. The vehicle state acquisition unit 12A also acquires operation information of the ignition switch 50A and shift position information of the shift lever 50B from the driving control unit 48.

[0062] The vehicle state acquisition unit 12A acquires the vehicle speed, acceleration, steering angle information, operation information of the ignition switch 50A, and shift position information as information representing the vehicle state.

[0063] The wave transmission control unit 12B places the distance measuring sensor 20, whose detection range 30 is an area including object B that is pre-detected when power supply to the vehicle 1 is started, at the head of the wave transmission order, and repeats periodic wave transmission control to cause each of the multiple distance measuring sensors 20 to transmit ultrasonic waves sequentially in the wave transmission order.

[0064] The term "pre-detection" means detecting the object B before performing the periodic wave transmission control. The periodic wave transmission control will be described in detail later.

[0065] The wave transmission control unit 12B performs advance detection at least when power supply to the vehicle 1 is started. In this embodiment, the wave transmission control unit 12B performs advance detection when an execution condition is satisfied, that is, when power supply to the vehicle 1 is started and when the vehicle state of the vehicle 1 represents a predetermined state.

[0066] The execution condition is a pre-detection execution condition. The wave transmission control unit 12B determines whether or not the execution condition is satisfied by using information indicating the vehicle state acquired by the vehicle state acquisition unit 12A.

[0067] In detail, the wave transmission control unit 12B determines whether or not the operation information of the ignition switch 50A included in the information representing the vehicle state acquired by the vehicle state acquisition unit 12A is information representing an instruction to supply power to each part of the electric system of the vehicle 1. If the information representing an instruction to supply power is included, the wave transmission control unit 12B determines that the execution condition is satisfied. In other words, the wave transmission control unit 12B determines that the execution condition is satisfied when power supply to the vehicle 1 is started.

[0068] The wave transmission control unit 12B may determine whether or not the operation information of the ignition switch 50A included in the information representing the vehicle state acquired by the vehicle state acquisition unit 12A includes information representing an engine start instruction for the vehicle 1. The wave transmission control unit 12B may determine that the execution condition is satisfied when the information representing the vehicle state includes information representing an engine start instruction for the vehicle 1.

[0069] In addition, the wave transmission control unit 12B determines that the execution condition is satisfied when the shift position information of the shift lever 50B included in the information indicating the vehicle state acquired by the vehicle state acquisition unit 12A indicates information different from the previously acquired shift position information. In other words, the wave transmission control unit 12B determines that the execution condition is satisfied when the shift lever 50B is operated and the shift position is changed by an operation instruction from the user.

[0070] The wave transmission control unit 12B may further determine that the execution condition is satisfied when at least one of the vehicle speed, the acceleration, and the steering angle information of the vehicle 1 satisfies a predetermined condition.

[0071] The wave transmission control unit 12B executes advance detection of the object B when it is determined that the vehicle state of the vehicle 1 satisfies the execution condition.

[0072] In this embodiment, the wave transmission control unit 12B performs full wave transmission control for causing the multiple distance measuring sensors 20 to transmit ultrasonic waves, thereby detecting the object B in advance.

[0073] The full wave transmission control is a control for transmitting ultrasonic waves from the multiple distance measurement sensors 20 mounted on the vehicle 1. The distance measurement sensors 20 that are the subject of the full wave transmission control may be all the distance measurement sensors 20 mounted on the vehicle 1, or may be multiple distance measurement sensors 20 that belong to a predetermined group.

[0074] For example, in the object detection device 10, the distance measuring sensors 20 belonging to a group corresponding to an execution condition are set in advance. Then, when it is determined that the execution condition is satisfied, the wave transmission control unit 12B performs full wave transmission control to transmit ultrasonic waves from all of the distance measuring sensors 20 belonging to the group corresponding to the determined execution condition, thereby detecting the object B in advance.

[0075] For example, the object detection device 10 stores in the storage unit 54 an execution condition and identification information of the distance measuring sensor 20 that belongs to the group corresponding to the execution condition in association with each other.

[0076] Specifically, for example, the storage unit 54 pre-stores the execution condition "start power supply to the vehicle 1" in association with the identification information of the distance measurement sensors 20FL, 20FLC, 20FRC, and 20FR provided on the front side of the vehicle 1. The storage unit 54 also pre-stores the execution condition "shift position information "reverse"" in association with the identification information of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR provided on the rear side of the vehicle 1. The storage unit 54 also pre-stores the execution condition "shift position information "forward driving (drive)"" in association with the identification information of the distance measurement sensors 20FL, 20FLC, 20FRC, and 20FR provided on the front side of the vehicle 1.

[0077] The wave transmission control unit 12B identifies the distance measurement sensors 20 that belong to the group corresponding to the determined execution condition by reading the identification information of the distance measurement sensors 20 that correspond to the determined execution condition from the storage unit 54. Then, the wave transmission control unit 12B performs full wave transmission control to transmit ultrasonic waves from the identified distance measurement sensors 20.

[0078] The distance measurement sensors 20 belonging to the group corresponding to the execution condition are not limited to the above-mentioned form. In the present embodiment, a form in which the above-mentioned identification information is associated with the distance measurement sensors 20 belonging to the group corresponding to the execution condition and stored in the storage unit 54 will be described as an example.

[0079] By transmitting ultrasonic waves from the multiple distance measuring sensors 20 under full wave transmission control, the object B is detected in advance.

[0080] In detail, the detection result acquisition unit 12C acquires detection result information from each of the multiple distance measurement sensors 20. As described above, the detection result information includes object detection information indicating object detection and distance information indicating the distance to the object. If an object is not detected, the distance measurement sensor 20 may output detection result information including information indicating non-detection of an object to the object detection device 10.

[0081] The object detection unit 12D calculates the position of the object B using the detection result information acquired from each of the multiple distance measuring sensors 20. The object detection unit 12D outputs the detection result information acquired from the detection result acquisition unit 12C, information indicating the position of the object B, and identification information of the distance measuring sensor 20 that transmitted the detection result information to the wave transmission control unit 12B and the determination unit 12E.

[0082] The wave transmission control unit 12B identifies the ranging sensor 20 identified by the identification information of the ranging sensor 20 that transmitted the detection result information including object detection information representing object detection, as the ranging sensor 20 whose detection range 30 is an area including the pre-detected object B.

[0083] The wave transmission control unit 12B repeats periodic wave transmission control with the distance measuring sensor 20, whose detection range 30 is an area including the object B detected in advance, at the head of the wave transmission order.

[0084] Repeating the periodic wave transmission control means periodically and repeatedly executing a series of wave transmission controls in which ultrasonic waves are sequentially transmitted from each of the multiple distance measuring sensors 20 in a predetermined wave transmission order.

[0085] The wave transmission control unit 12B sets the distance measuring sensor 20 that has detected the object B in advance as the distance measuring sensor 20 that transmits ultrasonic waves at the head of the wave transmission order in each period in the periodic wave transmission control. Then, the wave transmission control unit 12B repeats the periodic wave transmission control C with the distance measuring sensor 20 at the head of the wave transmission order.

[0086] The determination unit 12E determines object B as a detected object when any one of the distance measuring sensors 20 detects object B a predetermined number of times. Determining as a detected object means that object B detected by the distance measuring sensor 20 is determined as detected object B to be used for post-processing by the drive control unit 12F or the like.

[0087] The predetermined number of times used to determine object B as a detected object may be determined in advance. In this embodiment, a case where the predetermined number of times is three times will be described as an example. Note that the predetermined number of times may be any number of times, and is not limited to three times. In addition, in this embodiment, the "predetermined number of times" will be described as meaning the number of times used to determine object B as a detected object.

[0088] 6A and 6B are explanatory diagrams of an example of the wave transmission control of this embodiment. In FIG. 6A and FIG. 6B and the explanatory diagram of the wave transmission control described later, unless otherwise specified, a scene in which the shift position information of the shift lever 50B satisfies the execution condition representing "reverse" is shown as an example. In addition, in FIG. 6A and FIG. 6B and the explanatory diagram of the wave transmission control described later, as a distance measurement sensor 20 belonging to a group corresponding to the execution condition representing "reverse", a form in which the wave transmission control is performed for the distance measurement sensor 20RL, the distance measurement sensor 20RLC, the distance measurement sensor 20RRC, and the distance measurement sensor 20RR provided on the rear side of the vehicle 1 is shown as an example. In addition, in FIG. 6A and FIG. 6B, a scene in which an object B exists in the detection range 30RL of the distance measurement sensor 20RL is shown as an example. In FIG. 6B, the horizontal axis represents time t.

[0089] For example, when the shift position information of the shift lever 50B satisfies an execution condition indicating “reverse”, the wave transmission control unit 12B performs wave transmission control F on all of the multiple distance measurement sensors 20 so that ultrasonic waves are transmitted from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR (step S10).

[0090] The total wave transmission control F by the wave transmission control unit 12B transmits ultrasonic waves from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR. For example, as shown in Fig. 6B, in the total wave transmission control F, ultrasonic waves are simultaneously transmitted from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR at the same timing and for the same wave transmission period.

[0091] 6A and 6B, the distance measuring sensor 20RL detects an object B by advance detection under the full wave transmission control F. Therefore, the wave transmission control unit 12B sets the distance measuring sensor 20RLC that detected the object B by advance detection as the distance measuring sensor 20 that transmits ultrasonic waves at the head of the wave transmission order in each period in the periodic wave transmission control C.

[0092] Then, the wave transmission control unit 12B repeats periodic wave transmission control C, starting with the distance measurement sensor 20RLC that has detected object B in advance, to sequentially transmit ultrasonic waves in a predetermined wave transmission order from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR that belong to the group corresponding to the shift position information "reverse" of the shift lever 50B, which is the execution condition.

[0093] For example, assume that the wave transmission order is predetermined to be the distance measurement sensor 20RLC, the distance measurement sensor 20RRC, the distance measurement sensor 20RL, and the distance measurement sensor 20RR. In this case, the wave transmission control unit 12B repeats periodic wave transmission control C (steps S11 to S13) in which ultrasonic waves are transmitted in the order of the distance measurement sensor 20RL, the distance measurement sensor 20RR, the distance measurement sensor 20RLC, and the distance measurement sensor 20RRC, starting with the distance measurement sensor 20RL that detected the object B by pre-detection.

[0094] By repeating the periodic wave transmission control C, the distance measurement sensor 20RL and the distance measurement sensor 20RR transmit ultrasonic waves at the beginning of each of the periodic wave transmission control C in the first cycle C1, the second cycle C2, and the third cycle C3, as shown in Fig. 6B. As described above, in this embodiment, the case where the predetermined number of times is three times is described as an example. Therefore, when ultrasonic waves are transmitted from the distance measurement sensor 20RL and the distance measurement sensor 20RR at the first transmission timing of the third cycle C3, the determination unit 12E determines that the object B located in the detection range 30RL detected by this transmission is the detected object.

[0095] Therefore, the object detection device 10 of this embodiment can determine the object B detected a predetermined number of times by the distance measurement sensor 20RL as a detected object without performing unnecessary wave transmission X from each of the distance measurement sensors 20RLC and 20RRC in the first cycle C1 as in the conventional technology described with reference to Figures 5A and 5B. That is, the object detection device 10 of this embodiment can determine the object B located in the detection range 30RL of the distance measurement sensor 20RL as a detected object without performing unnecessary wave transmission X for two waves as in the conventional technology described with reference to Figures 5A and 5B. Also, when the period of the total wave transmission control F corresponds to the time for transmitting one ultrasonic wave, the object detection device 10 of this embodiment can reduce the time for one wave transmission.

[0096] That is, the object detection device 10 of this embodiment preferentially detects, in the periodic wave transmission control C, the detection range 30 in which object B has been detected by prior detection using the full wave transmission control F. Therefore, the object detection device 10 of this embodiment can shorten the time required to determine object B as a detected object. Furthermore, since the object detection device 10 of this embodiment determines object B as a detected object after it has been detected a predetermined number of times, it is possible to suppress erroneous determinations and determine object B as a detected object with high accuracy.

[0097] Returning to Fig. 3, the description will continue. The drive control unit 12F controls the drive of the vehicle 1 based on the result of the determination by the determination unit 12E.

[0098] For example, the drive control unit 12F controls the driving control unit 48 to avoid contact with the object B determined to be the detected object by the determination unit 12E. For example, the drive control unit 12F controls the driving control unit 48 to drive while avoiding contact with the object B determined to be the detected object. In this case, the driving control unit 48 controls the vehicle 1 to drive while avoiding contact with the object B determined to be the detected object. In addition, the drive control unit 12F controls the driving control unit 48 to stop while avoiding contact with the object B determined to be the detected object. In this case, the driving control unit 48 controls the vehicle 1 to stop while avoiding contact with the object B determined to be the detected object.

[0099] Furthermore, the drive control unit 12F may output information about the object B determined as a detected object by the determination unit 12E to the meter computer 52. For example, the drive control unit 12F may display or output by voice to the meter computer 52 information indicating that the object B is located within the determined detection range 30.

[0100] In addition, there may be cases where a plurality of objects B are detected in advance. In this case, the wave transmission control unit 12B may repeat the periodic wave transmission control C in which the distance measuring sensor 20, whose detection range 30 includes an area including the object B located closest to the vehicle 1, is set to the head of the wave transmission order.

[0101] Fig. 7 is an explanatory diagram of an example of wave transmission control when multiple objects B are detected in advance. Fig. 7 shows an example of a scene in which objects B (objects B1 to B4) are present in each of the detection range 30RL of the distance measurement sensor 20RL, the detection range 30RLC of the distance measurement sensor 20RLC, the detection range 30RRC of the distance measurement sensor 20RRC, and the detection range 30RR of the distance measurement sensor 20RR.

[0102] For example, the wave transmission control unit 12B performs wave transmission control F on all of the distance measurement sensors 20 so that ultrasonic waves are transmitted from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR (step S14).

[0103] By the total wave transmission control F in step S14, the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR each detect the object B. In this way, the object B may be detected in advance by a plurality of distance measurement sensors 20.

[0104] In this case, the wave transmission control unit 12B identifies the object B located closest to the vehicle 1 among the multiple objects B detected in advance. For example, the wave transmission control unit 12B identifies the object B located closest in distance represented by distance information included in the detection result information received from the object detection unit 12D. In the example shown in FIG. 7, the wave transmission control unit 12B identifies the object B2 closest to the vehicle 1. Then, the wave transmission control unit 12B sets the distance measurement sensor 20RLC that detected the object B2 as the distance measurement sensor 20 that transmits ultrasonic waves at the head of the wave transmission order in each period in the periodic wave transmission control C. In other words, the wave transmission control unit 12B sets the distance measurement sensor 20RLC that detected the object B2 located closest to the vehicle 1 by the advance detection as the distance measurement sensor 20 that transmits ultrasonic waves at the head of each period in the periodic wave transmission control C.

[0105] Then, the wave transmission control unit 12B places the distance measurement sensor 20RLC at the head of the wave transmission order and repeats periodic wave transmission control C (steps S15 to S17) in which ultrasonic waves are transmitted sequentially from each of the distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR in a predetermined wave transmission order.

[0106] In this way, when object B is detected in advance by multiple distance measuring sensors 20, the wave transmission control unit 12B repeats the periodic wave transmission control C with the distance measuring sensor 20 whose detection range 30 includes an area including object B located closest to the vehicle 1 as the head of the wave transmission order. Therefore, in this case, the object detection device 10 can preferentially determine object B located in the most dangerous position for the vehicle 1 as the detected object.

[0107] The wave transmission control unit 12B may repeat the periodic wave transmission control C after controlling the distance measuring sensor 20, whose detection range 30 is an area including the object B pre-detected by the full wave transmission control F, to transmit a predetermined number of waves. In other words, the wave transmission control unit 12B may repeat the periodic wave transmission control C after controlling the distance measuring sensor 20, which has pre-detected the object B, to transmit waves the same number of times as the predetermined number used when determining that the object B is a detected object.

[0108] Fig. 8 is an explanatory diagram of an example of wave transmission control. Fig. 8 shows a case where the distance measuring sensor 20RL detects an object B by prior detection using full wave transmission control F. Fig. 8 also shows a flow of wave transmission control in the case where the distance measuring sensor 20RL is controlled to transmit a predetermined number of waves and then periodic wave transmission control C is repeated. In Fig. 8, the horizontal axis represents time t.

[0109] By the total wave transmission control F by the wave transmission control unit 12B, ultrasonic waves are transmitted from the distance measurement sensors 20RLC, 20RRC, 20RL, and 20RR. Then, a scene is assumed in which an object B is detected by the distance measurement sensor 20RL by pre-detection by the total wave transmission control F. In this case, the wave transmission control unit 12B sets the distance measurement sensor 20RL that detected the object B by pre-detection to the head of the wave transmission order, and causes the distance measurement sensor 20RL and the distance measurement sensor 20RR to transmit ultrasonic waves a predetermined number of times (e.g., three times). Then, the wave transmission control unit 12B repeats the periodic wave transmission control C with the distance measurement sensor 20RL that detected the object B by pre-detection set to the head of the wave transmission order.

[0110] In this way, the wave transmission control unit 12B may, at the beginning of the periodic wave transmission control C of the first cycle C1, cause the distance measuring sensor 20RL that detected the object B by pre-detection to continuously transmit ultrasonic waves a predetermined number of times, and then repeat the periodic wave transmission control C with the distance measuring sensor 20RL at the head of the wave transmission order. In this case, the object detection device 10 can further reduce the time required to determine that the object B is a detected object.

[0111] The determination unit 12E determines that object B is the detected object when any one of the multiple distance measuring sensors 20 detects object B a predetermined number of times during the periodic wave transmission control C. That is, the determination unit 12E determines that the distance measuring sensor 20 that detected object B a predetermined number of times by repeating the periodic wave transmission control C is the distance measuring sensor 20 that detected the detected object. Then, the determination unit 12E determines that object B detected by the distance measuring sensor 20 is the detected object.

[0112] Here, when only one distance measuring sensor 20 detects object B by the total wave transmission control F by the wave transmission control unit 12B, it is considered that no interference of reflected waves occurs even if ultrasonic waves are simultaneously transmitted from multiple distance measuring sensors 20 in the total wave transmission control F. For this reason, when one distance measuring sensor 20 detects object B by the total wave transmission control F, the determination unit 12E may count the number of times that object B is detected in the total wave transmission control F as one of the predetermined number of times. In other words, the determination unit 12E may determine that object B is a detected object when any one of the multiple distance measuring sensors 20 detects object B a predetermined number of times during the total wave transmission control F and the periodic wave transmission control C.

[0113] 9 is an explanatory diagram of an example of wave-transmitting control in the case where the number of detections of the object B by the full wave-transmitting control F is also counted as a predetermined number of times. In FIG. 9, the horizontal axis represents time t.

[0114] Ultrasonic waves are transmitted from the distance measuring sensors 20RLC, 20RRC, 20RL, and 20RR by the total wave transmission control F by the wave transmission control unit 12B. Then, assume that the distance measuring sensor 20RL detects an object B by pre-detection by the total wave transmission control F. In this case, the wave transmission control unit 12B repeats the periodic wave transmission control C with the distance measuring sensor 20RL that detected the object B by pre-detection as the head of the wave transmission order.

[0115] Then, the judgment unit 12E judges object B as a detected object when the total value of the one time that the distance measuring sensor 20RL detects object B by the full wave transmission control F and the number of times that the distance measuring sensor 20RL detects object B by the periodic wave transmission control C reaches a predetermined number.

[0116] In this manner, the determination unit 12E may determine that object B is a detected object when any one of the distance measuring sensors 20 detects object B a predetermined number of times during the full wave-transmission control F and the periodic wave-transmission control C. By counting the number of times object B is detected during the full wave-transmission control F as well, the object detection device 10 can further reduce the time required to determine that object B is a detected object.

[0117] The wave transmission control unit 12B may detect the object B in advance by an object detection sensor other than the distance measurement sensor 20. The object detection sensor other than the distance measurement sensor 20 is, for example, at least one of the image capture device 40 and the radar 42. In this case, the wave transmission control unit 12B may detect the object B in advance by detecting the object B included in the captured image captured by the image capture device 40 and the object B detected by at least one of the radar 42 when an execution condition is satisfied, for example, when the power supply to the vehicle 1 is started.

[0118] Then, the wave transmission control unit 12B may repeat the periodic wave transmission control C in which the distance measuring sensor 20 that has detected the object B by the advance detection is placed at the head of the wave transmission order.

[0119] Fig. 10 is an explanatory diagram of an example of transmission control when an object B is detected in advance by an object detection sensor. In Fig. 10, the horizontal axis represents time t.

[0120] Assume that an object B is detected in the detection range 30RL of the distance measuring sensor 20RL by pre-detection by an object detection sensor such as the image capture device 40. In this case, the wave transmission control unit 12B may repeat the periodic wave transmission control C in which the distance measuring sensor 20RL, whose detection range 30RL is an area including the pre-detected object B, is placed at the head of the wave transmission order.

[0121] Even when pre-detection is performed by an object detection sensor other than the distance measuring sensor 20, the time required to determine that object B is a detected object can be shortened by repeating periodic wave transmission control C with the distance measuring sensor 20RL, whose detection range 30RL is an area including the pre-detected object B, at the head of the wave transmission order.

[0122] As described above with reference to Fig. 6B, Fig. 8, and Fig. 9, the wave transmission control unit 12B may perform control to simultaneously transmit ultrasonic waves from the multiple distance measuring sensors 20 in the total wave transmission control F. Also, the wave transmission control unit 12B may perform control to sequentially transmit ultrasonic waves from the multiple distance measuring sensors 20 at least partially non-overlapping timings in the total wave transmission control F.

[0123] 11 is a diagram illustrating an example of the flow of wave transmission control by the wave transmission control unit 12B. In FIG. 11, the horizontal axis represents time t.

[0124] The wave transmission control unit 12B, for example, by the full wave transmission control F, causes the distance measurement sensors 20RLC, 20RRC, 20RL, and 20RR to transmit ultrasonic waves.

[0125] The wave transmission control unit 12B may sequentially transmit ultrasonic waves from the multiple distance measuring sensors 20 at timings where at least some of the ultrasonic waves do not overlap in the total wave transmission control F. In this case, it is preferable that the wave transmission control unit 12B performs the total wave transmission control F in which ultrasonic waves are transmitted from each of the multiple distance measuring sensors 20 for a wave transmission time Tb that is less than the wave transmission time Ta per one time from the distance measuring sensor 20 in the periodic wave transmission control C, and in which the wave transmission periods of each sensor overlap at least partially.

[0126] In addition, the total wave transmission period Tc of ultrasonic waves from the multiple distance measuring sensors 20 in the full wave transmission control F is preferably less than twice the wave transmission time Ta per one transmission of the distance measuring sensor 20 in the periodic wave transmission control C.

[0127] By setting the transmission time Tb of the ultrasonic waves transmitted from each of the distance measuring sensors 20 in the total wave transmission control F to be shorter than the transmission time Ta per one time of the distance measuring sensor 20 in the periodic wave transmission control C, it is possible to shorten the time of the total wave transmission control F. Therefore, in this case, the object detection device 10 can shorten the time required to determine that the object B is a detected object.

[0128] The wave transmission control unit 12B may divide the distance measuring sensors 20 provided in the vehicle 1 into a plurality of predetermined groups, and control the groups to transmit ultrasonic waves of different frequencies.

[0129] The groups of different frequencies may be the same as the groups corresponding to the execution conditions described above, or may be different. In this embodiment, an embodiment in which the groups of different frequencies are the same as the groups corresponding to the execution conditions described above will be described as an example.

[0130] The wave transmission control unit 12B presets frequencies for each distance measuring sensor 20 belonging to a group, the frequencies being different between groups.

[0131] For example, the wave transmission control unit 12B classifies in advance the multiple distance measurement sensors 20 provided on the vehicle 1 into a group consisting of distance measurement sensors 20FL, 20FLC, 20FRC, and 20FR provided on the front side of the vehicle 1, and a group consisting of distance measurement sensors 20RL, 20RLC, 20RRC, and 20RR provided on the rear side of the vehicle 1. Then, the wave transmission control unit 12B sets in advance ultrasonic waves of different frequencies between the groups for each of the distance measurement sensors 20 belonging to these multiple groups.

[0132] During each of the full wave-transmission control F and periodic wave-transmission control C, the wave-transmission control unit 12B controls so as to transmit ultrasonic waves of different frequencies for each group.

[0133] Fig. 12 is an explanatory diagram of an example of a plurality of vehicles 1 equipped with an object detection device 10 of this embodiment. Fig. 12 shows vehicle 1A and vehicle 1B as examples that are traveling forward in the traveling direction (arrow Z direction). Vehicle 1A and vehicle 1B are examples of vehicles 1.

[0134] For example, assume that vehicle 1A and vehicle 1B are traveling forward in the direction of arrow Z and each of all of the distance measuring sensors 20 provided on vehicle 1 transmits an ultrasonic wave. Even in such a case, the wave transmission control unit 12B controls each of the groups into which the distance measuring sensors 20 are classified to transmit ultrasonic waves of different frequencies, thereby suppressing interference with receiving ultrasonic waves transmitted from other vehicles 1.

[0135] Specifically, for example, it is assumed that the frequencies of the ultrasonic waves transmitted from each of the multiple distance measurement sensors 20 provided in the vehicle 1 are all the same. In this case, the ultrasonic waves transmitted from the distance measurement sensors 20 (distance measurement sensor 20RL, distance measurement sensor 20RLC, distance measurement sensor 20RRC, distance measurement sensor 20RR) provided on the rear side of the vehicle 1A and the ultrasonic waves transmitted from the distance measurement sensors 20 (distance measurement sensor 20FL, distance measurement sensor 20FLC, distance measurement sensor 20FRC, distance measurement sensor 20FR) provided on the front side of the vehicle 1B have the same frequency, and therefore interference may occur.

[0136] On the other hand, the wave transmission control unit 12B controls the distance measurement sensors 20 (distance measurement sensor 20RL, distance measurement sensor 20RLC, distance measurement sensor 20RRC, distance measurement sensor 20RR) provided on the rear side of the vehicle 1 and the distance measurement sensors 20 (distance measurement sensor 20FL, distance measurement sensor 20FLC, distance measurement sensor 20FRC, distance measurement sensor 20FR) provided on the front side of the vehicle 1 to transmit ultrasonic waves of different frequencies. By this control, the ultrasonic waves transmitted from the distance measurement sensors 20 (distance measurement sensor 20RL, distance measurement sensor 20RLC, distance measurement sensor 20RRC, distance measurement sensor 20RR) provided on the rear side of the vehicle 1A and the ultrasonic waves transmitted from the distance measurement sensors 20 (distance measurement sensor 20FL, distance measurement sensor 20FLC, distance measurement sensor 20FRC, distance measurement sensor 20FR) provided on the front side of the vehicle 1B have different frequencies, thereby suppressing interference.

[0137] Therefore, even if the wave transmission control unit 12B performs full wave transmission control F and periodic wave transmission control C from all distance measuring sensors 20 mounted on the vehicle 1, regardless of the shift position information of the vehicle 1, it is possible to suppress interference between ultrasonic waves transmitted between different vehicles 1. Therefore, in the object detection system 100, ultrasonic waves can be constantly transmitted from all distance measuring sensors 20 mounted on the vehicle 1, thereby improving responsiveness.

[0138] Next, an example of the flow of information processing executed by the object detection device 10 of this embodiment will be described.

[0139] Fig. 13 is a flowchart showing an example of the flow of information processing executed by the object detection device 10. Note that Fig. 13 illustrates, as an example, the flow of information processing executed when the ignition switch 50A of the vehicle 1 is operated by a user and power supply to the vehicle 1 is started.

[0140] When power supply to the vehicle 1 is started, the wave transmission control unit 12B identifies a group of distance measurement sensors 20 corresponding to the execution condition "start of power supply to the vehicle 1" (step S100). For example, the wave transmission control unit 12B identifies the distance measurement sensors 20FL, 20FLC, 20FRC, and 20FR provided on the front side of the vehicle 1 as the distance measurement sensors 20 corresponding to the execution condition "start of power supply to the vehicle 1".

[0141] Next, the wave transmission control unit 12B performs full wave transmission control F for transmitting ultrasonic waves from all of the distance measuring sensors 20 belonging to the identified group, thereby detecting the object B in advance (step S102).

[0142] The wave transmission control unit 12B determines whether or not an object B has been detected by one of the distance measuring sensors 20 by the total wave transmission control F in step S102 (step S104). If an object B has been detected by one of the distance measuring sensors 20 (step S104: Yes), the process proceeds to step S106.

[0143] In step S106, the wave transmission control unit 12B sets the distance measuring sensor 20 that detected the object B by the advance detection under the full wave transmission control F in step S102 as the distance measuring sensor 20 that transmits ultrasonic waves at the head of the wave transmission order in each period in the periodic wave transmission control C (step S106). Then, the process proceeds to step S110.

[0144] On the other hand, if object B is detected by multiple distance measuring sensors 20 by the total wave transmission control F in step S102 (step S104: No), the process proceeds to step S108. In step S108, the wave transmission control unit 12B sets the distance measuring sensor 20 that detected object B closest to the vehicle 1 as the distance measuring sensor 20 that transmits ultrasonic waves at the head of the wave transmission order in each period in the periodic wave transmission control C (step S108). Then, the process proceeds to step S110.

[0145] In step S110, the wave transmission control unit 12B places the distance measurement sensor 20 set as the head in step S106 or step S108 at the head of the wave transmission order, and starts periodic wave transmission control C, which causes ultrasonic waves to be transmitted sequentially from the multiple distance measurement sensors 20 belonging to the group corresponding to the execution condition in accordance with the wave transmission order (step S110).

[0146] Next, the wave transmission control unit 12B determines whether or not an execution condition is satisfied (step S112). In step S112, the wave transmission control unit 12B determines whether or not the vehicle state acquired by the vehicle state acquisition unit 12A satisfies an execution condition different from the execution condition used when determining the full wave transmission control F in the previous step S102.

[0147] If the determination in step S112 is negative (step S112: No), the process proceeds to step S114.

[0148] In step S114, the determination unit 12E determines whether or not any of the distance measuring sensors 20 has detected the object B a predetermined number of times (step S114). If the determination in step S114 is negative (step S114: No), the process returns to step S112 and continues the periodic wave transmission control C. If the determination in step S114 is positive (step S114: Yes), the process proceeds to step S116.

[0149] In step S116, object B located within the detection range 30 of the distance measuring sensor 20 that has detected object B the predetermined number of times in step S114 is determined as a detected object (step S116).

[0150] The drive control unit 12F controls the drive of the vehicle 1 based on the result of the determination in step S116 (step S118).

[0151] Next, the processing unit 12 judges whether or not to end the wave transmission control process of the distance measurement sensor 20 (step S120). For example, the processing unit 12 executes the judgment of step S120 by judging whether or not a signal indicating the end of the power supply to the vehicle 1 has been input by the user operating the ignition switch 50A, etc. If the judgment of step S120 is negative (step S120: No), the process returns to the above step S112. If the judgment of step S120 is positive (step S120: Yes), the process proceeds to step S122.

[0152] In step S122, the wave transmission control unit 12B ends the periodic wave transmission control C (step S122), and ends this routine.

[0153] On the other hand, if the answer is YES in step S112 (step S112: Yes), the process proceeds to step S124. In step S124, the wave transmission control unit 12B ends the periodic wave transmission control C (step S124). Then, the wave transmission control unit 12B identifies a group of the distance measuring sensors 20 that corresponds to the execution condition determined in step S112 (step S126), and the process proceeds to step S102.

[0154] As described above, the object detection system 100 of this embodiment includes a plurality of distance measuring sensors 20, a wave transmission control unit 12B, and a determination unit 12E. The plurality of distance measuring sensors 20 have a wave transmission unit 22 that transmits ultrasonic waves and a wave receiving unit 24 that receives the ultrasonic waves reflected by the object B, and detect the object B according to the reflected waves. The plurality of distance measuring sensors 20 are provided at different positions on the vehicle 1. The wave transmission control unit 12B sets the distance measuring sensor 20, whose detection range 30 is an area including the object B detected in advance when the power supply to the vehicle 1 is started, to the head of the wave transmission order, and repeats the periodic wave transmission control C in which ultrasonic waves are sequentially transmitted from each of the plurality of distance measuring sensors 20 according to the wave transmission order. When any one of the plurality of distance measuring sensors 20 detects the object B a predetermined number of times, the determination unit 12E determines the object B as a detected object.

[0155] In the conventional technology, periodic wave transmission control is repeatedly performed to sequentially transmit ultrasonic waves from the multiple distance measuring sensors 20 in the wave transmission order with the same distance measuring sensor 20 always at the head. Then, when the same distance measuring sensor 20 detects object B a predetermined number of times or more, the object B is determined as the detected object. For this reason, in the conventional technology, when the distance measuring sensor 20 that transmits ultrasonic waves at a timing other than the beginning of each cycle of the periodic wave transmission control detects object B, unnecessary wave transmission X occurs, and the time required to determine object B as the detected object may become long. In addition, as a conventional technology, a technology is disclosed that, when an object is detected by an image of an infrared camera, reduces the number of times of determination to shorten the object detection time. However, in such a conventional technology, the number of times of determination is changed, so that erroneous determination may occur, and it may be difficult to determine object B as the detected object with high accuracy.

[0156] On the other hand, in the object detection system 100 of this embodiment, the wave transmission control unit 12B sets the distance measurement sensor 20, whose detection range 30 is an area including object B previously detected when power supply to the vehicle 1 is started, at the head of the wave transmission order, and repeats periodic wave transmission control C in which ultrasonic waves are transmitted sequentially from each of the multiple distance measurement sensors 20 in the wave transmission order. Then, when any one of the multiple distance measurement sensors 20 detects object B a predetermined number of times, the determination unit 12E determines that object B is a detected object.

[0157] That is, in the object detection system 100 of this embodiment, the detection range 30 in which object B has been detected by pre-detection can be preferentially detected before the detection ranges 30 of other distance measuring sensors 20 in the periodic wave transmission control C. Therefore, the object detection device 10 of this embodiment can shorten the time required to determine object B as a detected object. Furthermore, since the object detection device 10 of this embodiment determines object B as a detected object after it has been detected a predetermined number of times, it can suppress erroneous determinations and determine object B as a detected object with high accuracy.

[0158] Therefore, the object detection system 100 of the present embodiment can achieve a reduction in detection time and highly accurate object detection.

[0159] Moreover, the object detection system 100 of this embodiment detects the object B in advance by a total wave transmission control F that transmits ultrasonic waves from the multiple distance measuring sensors 20. Therefore, the object detection system 100 of this embodiment can realize both the advance detection and the periodic wave transmission control C by controlling the distance measuring sensors 20. Therefore, in this embodiment, it is possible to provide an object detection system 100 that has versatility that can accommodate adjustments to the mounting positions of sensors and changes in specifications, compared to a case in which advance detection and periodic wave transmission control C are performed using multiple types of sensors. Furthermore, the object detection system 100 of this embodiment can reduce costs.

[0160] In the present embodiment, the object detection device 10 is described as being mounted on the vehicle 1 as an example. However, the object detection device 10 may be configured to be mounted on the outside of the vehicle 1. The object detection device 10 may be communicably connected to various electronic devices provided on the vehicle 1, such as the distance measurement sensor 20, the image capture device 40, the radar 42, the G sensor 44, the steering angle sensor 46, the driving control unit 48, the meter computer 52, and the storage unit 54. For this reason, the object detection device 10 may be mounted on an information processing device provided on the outside of the vehicle 1. In this case, the information processing device on which the object detection device 10 is mounted and the various electronic devices may be configured to be communicable via a network or the like.

[0161] Although the embodiment has been described above, the embodiment is presented as an example and is not intended to limit the scope of the invention. The novel embodiment can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The above embodiment is included in the scope or spirit of the invention, and is included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0162] 1 vehicle 10 Object detection device 12B Transmission control section 12E Judgment section 20 Distance sensor 40 Imaging Equipment 42 Radar 100 Object Detection System

Claims

1. a plurality of distance measuring sensors provided at different positions on the vehicle, each of which has a transmitting unit for transmitting ultrasonic waves and a receiving unit for receiving ultrasonic waves reflected by an object, and detects an object in response to the reflected waves; a wave transmission control unit that performs full wave transmission control for transmitting ultrasonic waves from a plurality of the distance measuring sensors belonging to a predetermined group when an execution condition is satisfied, that is, when power supply to the vehicle is started and when the vehicle state of the vehicle indicates a predetermined state, and that repeats periodic wave transmission control for sequentially transmitting ultrasonic waves from each of the plurality of distance measuring sensors in the wave transmission order, with the distance measuring sensor having a detection range including an area including an object preliminarily detected by the full wave transmission control being placed at the head of the wave transmission order; a determination unit that determines an object as a detected object when any one of the plurality of distance measuring sensors detects the object a predetermined number of times; An object detection system comprising:

2. The transmission control unit includes: When the execution condition is satisfied, the full wave transmission control is performed to transmit ultrasonic waves from the plurality of distance measuring sensors belonging to the group corresponding to the execution condition; repeating the periodic wave transmission control in which the distance measuring sensor having a detection range including an area including the object pre-detected by the full wave transmission control is placed at the head of the wave transmission order, and ultrasonic waves are sequentially transmitted from each of the distance measuring sensors belonging to the group corresponding to the execution condition in accordance with the wave transmission order; The object detection system of claim 1 .

3. The transmission control unit includes: When the execution condition is satisfied, the full wave transmission control is performed to transmit ultrasonic waves from each of the distance measuring sensors belonging to the group for a wave transmission time that is shorter than a wave transmission time per one time from the distance measuring sensor in the periodic wave transmission control, and such that the wave transmission periods overlap at least partially. The object detection system according to claim 1 or 2.

4. a total wave transmission period of the ultrasonic waves from the plurality of distance measuring sensors in the full wave transmission control is less than twice the wave transmission time per one time of the distance measuring sensor in the periodic wave transmission control; The object detection system of claim 3 .

5. The transmission control unit includes: and repeating the periodic wave transmission control after controlling the distance measuring sensor to transmit the predetermined number of waves in a detection range including an area including the object detected in advance by the full wave transmission control. The object detection system according to any one of claims 1 to 4.

6. The transmission control unit includes: When a plurality of objects are detected in advance, the periodic wave transmission control is repeated with the distance measuring sensor having a detection range including an area including an object located closest to the vehicle as the head of the wave transmission order. The object detection system according to any one of claims 1 to 5.

7. The determination unit is When any one of the plurality of distance measuring sensors detects an object the predetermined number of times during the periodic wave transmission control, the object is determined to be the detected object. The object detection system according to any one of claims 1 to 6.

8. The determination unit is when any one of the plurality of distance measuring sensors detects an object a predetermined number of times during the pre-detection and the periodic wave transmission control, the object is determined to be the detected object. The object detection system according to any one of claims 1 to 6.

9. The transmission control unit includes: when an execution condition is satisfied, that is, when power supply to the vehicle is started and when a vehicle state of the vehicle indicates a predetermined state, the periodic wave transmission control is repeated with the distance measuring sensor, the distance measuring sensor having a detection range including an area including the object detected in advance by the object detection sensor, being placed at the head of the wave transmission order. The object detection system of claim 1 .

10. The transmission control unit includes: The distance measuring sensors provided on the vehicle are classified into a plurality of predetermined groups, and each group is controlled so as to transmit ultrasonic waves having a different frequency. The object detection system according to any one of claims 1 to 9.

11. a step of performing a total wave transmission control for transmitting ultrasonic waves from a plurality of distance measuring sensors belonging to a predetermined group when an execution condition is satisfied, the total wave transmission control having a transmitting unit for transmitting ultrasonic waves and a receiving unit for receiving ultrasonic waves reflected by an object, and detecting an object in response to the reflected waves, among the plurality of distance measuring sensors provided at different positions on the vehicle, and when an execution condition is satisfied, that is, when power supply to the vehicle is started and when the vehicle state of the vehicle represents a predetermined state, and placing the distance measuring sensor whose detection range is an area including an object previously detected by the total wave transmission control at the head of the wave transmission order, and repeating a periodic wave transmission control for sequentially transmitting ultrasonic waves from each of the plurality of distance measuring sensors in accordance with the wave transmission order; determining, when any one of the plurality of distance measuring sensors detects an object a predetermined number of times, that object as a detected object; The object detection method includes:

12. The step of repeating the periodic wave transmission control, when the execution condition is satisfied, performs the full wave transmission control to transmit ultrasonic waves from multiple ranging sensors belonging to the group corresponding to the execution condition, and repeats the periodic wave transmission control to transmit ultrasonic waves sequentially from each of the multiple ranging sensors belonging to the group corresponding to the execution condition in the wave transmission order, with the ranging sensor whose detection range is an area including the object pre-detected by the full wave transmission control being placed at the head of the wave transmission order. The object detection method according to claim 11.

13. The step of repeating the periodic wave transmission control, when the execution condition is satisfied, performs the full wave transmission control in which ultrasonic waves are transmitted from each of the plurality of distance measuring sensors belonging to the group for a wave transmission time that is less than a wave transmission time per one time from the distance measuring sensor in the periodic wave transmission control, and such that at least a portion of the transmission periods overlap. The object detection method according to claim 11 or 12.

Images