Object detection device

Abstract

To avoid interference of an ultrasonic wave surely even when other vehicle loads the same object detection device as an own vehicle.SOLUTION: An object detection device of an embodiment is the object detection device that is loaded in a vehicle, and detects an object existing around the vehicle. The object detection device comprises: a control unit that controls to make a transreceiving unit transmitting a transmission wave, and receiving a reception wave generating because the transmission wave is reflected upon the object transmit the transmission wave at a prescribed transmission timing; and a determination unit that determines a random time serving as a standby time for shifting the transmission timing in accordance with a shift position serving as a position of a shift lever changing a transmission of a vehicle. The control unit is configured to control the transreceiving unit so as to transmit the transmission wave at a new transmission timing delaying the transmission timing by the determined random time.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] FIELD An embodiment of the present invention relates to an object detection device. [Background technology]

[0002] In vehicle control systems and the like, object detection devices are used that detect objects present around the vehicle by transmitting transmission waves such as ultrasonic waves from the vehicle and receiving reception waves (reflected waves) generated when the transmission waves are reflected by the object.

[0003] In such an object detection device, if the timing of transmitting ultrasonic waves between the subject vehicle and another vehicle has a certain relationship, interference may occur in which the ultrasonic waves transmitted by the other vehicle are mistaken for those transmitted by the subject vehicle. Conventional technology avoids such interference by changing the timing of transmitting ultrasonic waves from the subject vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6413620 [Patent Document 2] Japanese Patent Application Publication No. 2018-59826 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the subject vehicle is experiencing interference, the other vehicle is also experiencing interference from the subject vehicle's ultrasonic waves. Therefore, with this conventional technology, if the subject vehicle and the other vehicle are both equipped with the same object detection device that uses the same interference avoidance method, the subject vehicle and the other vehicle may end up avoiding interference with each other, resulting in the timing of transmitting ultrasonic waves coinciding, and thus making it impossible to avoid interference. [Means for solving the problem]

[0006] The object detection device according to an embodiment is mounted on a vehicle and detects an object present around the vehicle, and includes a control unit that controls a transceiver unit to transmit a transmission wave at a predetermined transmission timing and receive a reception wave generated when the transmission wave is reflected by the object, and a control unit that controls a transmission unit to switch a transmission of the vehicle. for a determination unit that determines a random time, which is a waiting time for shifting the transmission timing, according to the shift position, and the control unit controls the transceiver unit to transmit the transmission wave at a new transmission timing that is delayed by the determined random time. The determination unit determines the random time of the transmission wave from the transceiver unit provided at the front of the vehicle and the random time of the transmission wave from the transceiver unit provided at the rear of the vehicle to be different times, and when the shift position indicates forward movement, determines the first random time and the second random time so that the first random time, which is the random time of the transmission wave from the transceiver unit provided at the front of the vehicle, is shorter than the second random time, which is the random time of the transmission wave from the transceiver unit provided at the rear of the vehicle.

[0007] With this configuration, for example, even if another vehicle is equipped with the same object detection device as the vehicle itself, the random time is delayed depending on the shift position, making it possible to reliably avoid ultrasonic interference.

[0009] With this configuration, for example, when another vehicle is equipped with the same object detection device as the own vehicle, it becomes possible to more reliably avoid ultrasonic interference even when the own vehicle is following the other vehicle.

[0011] With this configuration, for example, when the vehicle is moving forward, it is possible to perform object detection with higher accuracy and to reliably avoid interference of ultrasonic waves.

[0012] In addition, in the object detection device of the embodiment, the determination unit further determines the first random time and the second random time so that, when the shift position indicates reverse, the first random time is longer than the second random time.

[0013] With this configuration, for example, when the vehicle is backing up, it is possible to perform object detection with higher accuracy and to reliably avoid interference of ultrasonic waves.

[0014] In addition, the object detection device of the embodiment further includes a memory unit that stores random information in which the first random time and the second random time are defined for each shift position, and the determination unit determines the first random time and the second random time based on the shift position and the random information.

[0015] This configuration makes it possible, for example, to easily and more reliably avoid interference of ultrasonic waves. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a top view illustrating an example of a configuration of a vehicle according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of a hardware configuration of the vehicle control system according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing an example of the functional configuration of the object detection device according to this embodiment. [Figure 4A] FIG. 4A is a diagram showing an example of a random table when the shift position is D, which indicates forward movement. [Figure 4B] FIG. 4B is a diagram showing an example of a random table when the shift position is R, which indicates reverse. [Figure 4C] FIG. 4C is a diagram showing an example of a random table when the shift position is P, which indicates parking. [Figure 5] FIG. 5 is a flowchart showing an example of the procedure of the ultrasonic wave transmission process according to this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of ultrasonic wave transmission timings shifted by random times in a conventional object detection device. [Figure 7] FIG. 7 is a diagram showing an example of ultrasonic wave transmission timings shifted by random times in a conventional object detection device. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The configurations of the embodiments described below and the actions and effects brought about by the configurations are merely examples, and the present invention is not limited to the following description.

[0018] 1 is a top view showing an example of the configuration of a vehicle 1 according to an embodiment. The vehicle 1 is an example of a moving body on which an object detection device according to this embodiment is mounted. The object detection device according to this embodiment is a device that detects objects present around the vehicle 1 based on information such as TOF (Time Of Flight) and Doppler shift acquired by transmitting a transmission wave from the vehicle 1 and receiving a reception wave (reflected wave) generated when the transmission wave is reflected by an object.

[0019] The object detection device according to this embodiment is connected to a plurality of transceivers 21A to 21L. Hereinafter, when it is not necessary to distinguish between the plurality of transceivers 21A to 21L, they will be referred to as transceiver 21.

[0020] Each transceiver 21 is installed on the vehicle body 2, which is the exterior of the vehicle 1, and transmits ultrasonic waves (an example of a transmitted wave) toward the outside of the vehicle body 2, and receives reflected waves from objects outside the vehicle body 2 as received waves. In the example shown in Fig. 1, four transceivers 21A to 21D are arranged at the front end of the vehicle body 2, four transceivers 21E to 21H are arranged at the rear end, two transceivers 21I and 21J are arranged on the right side, and two transceivers 21K and 21L are arranged on the left side. Note that the number and installation locations of the transceivers 21 are not limited to this example.

[0021] 2 is a block diagram showing an example of a hardware configuration of a vehicle control system 50 according to an embodiment. The vehicle control system 50 performs processing for controlling the vehicle 1 based on information output from a transmission / reception unit 21. The vehicle control system 50 according to this embodiment mainly includes an ECU (Electronic Control Unit) 100, a plurality of transmission / reception units 21, a brake system 221, a buzzer 222, an engine 223, and a shift sensor 224.

[0022] The ECU 100 and each transmitter / receiver 21 are connected by an in-vehicle network, LIN (Local Interconnect Network) 240. The ECU 100 is also connected by an in-vehicle network, CAN (Controller Area Network) 230, to each of the brake system 221, the buzzer 222, the engine 223, and the shift sensor 224.

[0023] Each transmitting / receiving unit 21 includes a vibrator 211 configured using a piezoelectric element or the like, an amplifier, etc., and realizes transmission and reception of ultrasonic waves by the vibration of the vibrator 211. Specifically, each transmitting / receiving unit 21 transmits ultrasonic waves generated in response to the vibration of the vibrator 211 as a transmission wave, and detects the vibration of the vibrator 211 caused by a reflected wave (received wave) of the transmission wave reflected by an object such as an obstacle O or a road surface RS. The vibration of the vibrator 211 is converted into an electrical signal, and based on the electrical signal, it is possible to obtain information such as a TOF corresponding to the distance from the transmitting / receiving unit 21 to the obstacle O and Doppler shift information corresponding to the relative speed of the obstacle O.

[0024] 2 illustrates a configuration in which both transmission of transmission waves and reception of reception waves are performed using a single oscillator 211, but the configuration of the transmitter / receiver 21 is not limited to this. For example, the transmitter and receiver may be separated, such as a configuration in which an oscillator for transmitting transmission waves and an oscillator for receiving reception waves are separately provided.

[0025] The ECU 100 is a unit that executes various processes for controlling the vehicle 1 based on various types of information. By sending control signals via the CAN 230, the ECU 100 can control the brake system 221, the engine 223, etc., and output sound to the buzzer 222. The ECU 100 can also receive detection results from the shift sensor 224, etc., via the CAN 230.

[0026] 2, the ECU 100 includes a CPU (Central Processing Unit) 130, an SSD (Solid State Drive) 121, a ROM (Read Only Memory) 122, and a RAM (Random Access Memory) 123. The ECU 100 is an example of an object detection device. The ECU 100 may also be referred to as an object detection device 100.

[0027] The CPU 130 can execute various types of arithmetic processing and control, such as outputting an alarm to the buzzer 222, detecting an object, and determining whether or not there is interference with an object. The ROM 122 is a non-volatile storage device. A program is stored in the ROM 122 in advance. The CPU 130 can read out the program stored in the ROM 122 and execute arithmetic processing in accordance with the program.

[0028] The RAM 123 temporarily stores various data used in the calculations of the CPU 130. The SSD 121 is a rewritable nonvolatile storage unit, and can store data even when the power of the ECU 100 is turned off. The CPU 130, ROM 122, RAM 123, etc. can be integrated in the same package. The ECU 100 may be configured to use other logic calculation processors, such as a DSP (Digital Signal Processor), logic circuits, etc., instead of the CPU 130. A HDD (Hard Disk Drive) may be provided instead of the SSD 121, or the SSD 121 and the HDD may be provided separately from the ECU 100.

[0029] The brake system 221 is, for example, an ABS (Anti-lock Brake System) that prevents the brakes from locking, an ESC (Electronic Stability Control) that prevents the vehicle 1 from skidding when cornering, an electric brake system that increases braking force (performing brake assist), or a BBW (Brake By Wire) system.

[0030] The engine 223 is a prime mover that drives the vehicle 1 . The buzzer 222 is provided inside the vehicle 1 and outputs an alarm. The shift sensor 224 detects the shift position, which is the position of a shift lever that switches the transmission of the vehicle 1, and notifies the ECU 100 of the detected position.

[0031] Next, the functional configuration of the object detection device (ECU) 100 will be described. Fig. 3 is a block diagram showing an example of the functional configuration of the object detection device 100 according to this embodiment. As shown in Fig. 3, the object detection device 100 according to this embodiment has a functional configuration mainly including a sound wave control unit 150, a vehicle state estimation unit 160, a notification control unit 162, a vehicle information management unit 163, and a braking control unit 164.

[0032] The vehicle state estimation unit 160 estimates various states of the vehicle 1. The notification control unit 162 issues a notification by outputting an alarm from the buzzer 222 when the vehicle 1 is approaching an object, that is, when the detection distance calculation unit 1521 (described later) determines that the distance to the object is equal to or shorter than a predetermined distance based on ultrasonic waves transmitted and received by the transmitter / receiver unit 21 (described later) by the abnormality detection unit 1522 (described later). The vehicle information management unit 163 manages various information about the vehicle 1. The braking control unit 164 controls braking by the brake system 221.

[0033] The ultrasonic wave control unit 150 controls the transmission of ultrasonic waves by the transmitting / receiving unit 21 and manages information based on the reflected waves received by the transmitting / receiving unit 21. As shown in FIG. 3, the ultrasonic wave control unit 150 includes a transmission / reception control unit 1510 and a transmission / reception information management unit 1520.

[0034] The transmission and reception control unit 1510 controls the transmission and reception of ultrasonic waves by the transmission and reception unit 21. The transmission and reception control unit 1510 includes a wave transmission control unit 1511, a random time determination unit 1512, and a random table 1513, as shown in FIG.

[0035] The wave transmission control unit 1511 controls the transmitting and receiving unit to transmit ultrasonic waves at a predetermined transmission timing. More specifically, the wave transmission control unit 1511 controls the transmitting and receiving unit 21 to transmit ultrasonic waves at new transmission timing obtained by delaying the transmission timing by a random time determined by a random time determination unit 1512 (described later). Here, the random time is a waiting time for shifting the transmission timing of the ultrasonic waves. The wave transmission control unit 1511 is an example of a control unit.

[0036] Random time determination unit 1512 receives, from shift sensor 224, an input of the shift position detected by shift sensor 224. Then, random time determination unit 1512 determines a random time according to the input shift position. Random time determination unit 1512 is an example of a determination unit.

[0037] Specifically, the random time determination unit 1512 refers to the random table 1513 and determines different times for the random time of the ultrasonic waves as transmission waves from the transceivers 21A to 21D provided at the front of the vehicle 1 and the random time of the ultrasonic waves from the transceivers 21E to 21H provided at the rear of the vehicle 1, depending on the shift position.

[0038] Random table 1513 is stored in a storage medium such as SSD 121. Random table 1513 defines, for each shift position, a random time (an example of a first random time) for the transmission waves from transceivers 21A to 21D provided at the front of vehicle 1 and a random time (an example of a second random time) for the transmission waves from transceivers 21E to 21H provided at the rear of vehicle 1.

[0039] 4A to 4C are diagrams showing examples of random tables according to this embodiment. Fig. 4A is a diagram showing an example of the random table when the shift position is D, which indicates forward movement. Fig. 4B is a diagram showing an example of the random table when the shift position is R, which indicates reverse movement. Fig. 4C is a diagram showing an example of the random table when the shift position is P, which indicates parking.

[0040] 4A to 4C, the random time for Fr (front) is the random time (first random time) of the transmission waves (i.e., ultrasonic waves) from the transmitting / receiving units 21A to 21D provided at the front of the vehicle 1, and the random time for Rr (rear) is the random time (second random time) of the transmission waves (i.e., ultrasonic waves) from the transmitting / receiving units 21E to 21H provided at the rear of the vehicle 1. Also, three random times are set for each, and any random time can be selected from these.

[0041] As shown in Fig. 4A, when the shift position is D, the random time of Fr (first random time) is set to be shorter than the random time of Rr. Also, as shown in Fig. 4B, when the shift position is R, the random time of Fr (first random time) is set to be longer than the random time of Rr.

[0042] Therefore, by referring to the random table 1513, the random time determination unit 1512 determines the random time of Fr and the random time of Rr when the shift position is D, which indicates forward movement, so that the random time of the transmission wave from the Fr transceiver unit 21, i.e., the transceiver units 21A to 21D provided at the front of the vehicle 1, is shorter than the random time of the transmission wave from the Rr transceiver unit 21, i.e., the transceiver units 21E to 21H provided at the rear of the vehicle 1.

[0043] In addition, by referring to the random table 1513, the random time determination unit 1512 determines the random time of Fr and the random time of Rr so that, when the shift position is R indicating reverse, the random time of the transmission wave from the Fr transceiver unit 21, i.e., the transceiver units 21A to 21D provided at the front of the vehicle 1, is longer than the random time of the transmission wave from the Rr transceiver unit 21, i.e., the transceiver units 21E to 21H provided at the rear of the vehicle 1.

[0044] The transmission and reception information management unit 1520 manages information based on the reflected wave received by the transmission and reception unit 21. The transmission and reception information management unit 1520 includes a detection distance calculation unit 1521 and an abnormality detection unit 1522, as shown in FIG.

[0045] The detection distance calculation unit 1521 calculates the distance to the object based on the transmitted wave transmitted by the transmitting / receiving unit 21 and the reflected wave received. Here, a known method is used to calculate the distance.

[0046] The abnormality detection unit 1522 detects abnormalities in the vehicle 1, etc. In this embodiment, the abnormality detection unit 1522 determines that an object is approaching when the distance calculated by the detection distance calculation unit 1521 is equal to or shorter than a predetermined distance. Furthermore, the abnormality detection unit 1522 detects whether or not ultrasonic waves are interfering based on the distance calculated by the detection distance calculation unit 1521. For example, when the abnormality detection unit 1522 detects that the distance calculated by the detection distance calculation unit 1521 is equal to or shorter than a predetermined threshold three times in succession, it determines that ultrasonic waves are interfering. Note that the method for detecting ultrasonic wave interference is not limited to this.

[0047] Next, the ultrasonic wave transmission process performed by the object detection device 100 according to this embodiment configured as above will be described. 5 is a flowchart showing an example of the procedure of the ultrasonic wave transmission process according to this embodiment. This transmission process is performed when the vehicle 1 starts traveling and each time a gear shift is detected by the shift sensor 224.

[0048] First, the random time determination unit 1512 acquires the current shift position from the shift sensor 224 (S11). Then, the random time determination unit 1512 determines whether the shift position is D or not (S12). If the shift position is D (S12: Yes), the random time determination unit 1512 selects the random table for shift D shown in FIG. 4A as the random table for Fr (front) and Rr (rear) (S13).

[0049] If the shift position is not D in S12 (S12: No), the random time determination unit 1512 determines whether the shift position is R (S14). If the shift position is R (S14: Yes), the random time determination unit 1512 selects the random table for shift R shown in FIG. 4B as the random table for Fr (front) and Rr (rear) (S15).

[0050] If the shift position is not R in S14 (S14: No), the random time determination unit 1512 determines whether the shift position is P (S16). If the shift position is P (S16: Yes), the random time determination unit 1512 selects the random table for shift P shown in FIG. 4C as the random table for Fr (front) and Rr (rear) (S17).

[0051] If the shift position is not P in S16 (S16: No), the random time determination unit 1512 selects the random tables corresponding to the previous shift position as the random tables for Fr (front) and Rr (rear) (S18).

[0052] Once a random table has been selected in S13, S15, S17, or S18 in this manner, the random time determination unit 1512 acquires and determines the random time set in the selected random table (S19). Next, the wave transmission control unit 1511 controls the transceiver unit 21 to transmit ultrasonic waves at timings shifted by the random time determined in S19, causing the transceiver unit 21 to transmit ultrasonic waves at timings shifted by the random time (S20).

[0053] Conventionally, a vehicle transmits ultrasonic waves to detect an object, and if the distance to the object is within a predetermined distance, a buzzer issues an alarm. However, if the timing of ultrasonic transmission between the vehicle and another vehicle is in a certain relationship, when the vehicle receives ultrasonic waves transmitted by the other vehicle, the ultrasonic waves may be mistakenly recognized as a reflected wave of the ultrasonic waves transmitted by the vehicle, resulting in interference. For example, if the vehicle and another vehicle simultaneously transmit ultrasonic waves, the vehicle may mistakenly recognize the ultrasonic waves returning from half the distance as a reflected wave. Therefore, if the object is in a short distance and is mistakenly recognized as being within the buzzer output range, the buzzer may be erroneously output.

[0054] Therefore, to avoid false recognition due to such interference, conventional object detection devices have a method of determining that interference is occurring if they detect the same distance continuously for more than a predetermined threshold. For example, an object detection device may determine that interference is occurring if it detects a distance of 30 cm three times in a row. If interference is determined to be occurring, the object detection device can avoid continuous detection of the same distance by shifting the timing of ultrasonic wave transmission.

[0055] 6 and 7 are diagrams showing an example of ultrasonic wave transmission timing shifted by a random time in a conventional object detection device. As shown in Fig. 6, for example, if ultrasonic waves are transmitted at intervals of 168 ms and interference is determined, the object detection device can avoid interference by transmitting ultrasonic waves every 172 ms, shifting the interval by a random time of 4 ms.

[0056] However, when a vehicle receives ultrasonic waves from another vehicle, the other vehicle often also receives ultrasonic waves from the vehicle. Consider a case where two vehicles are equipped with an object detection device that uses the same method as the conventional interference avoidance processing. In this case, even if the object detection device detects interference and shifts the transmission timing of the ultrasonic waves of the vehicle, if the other vehicle also shifts its transmission timing using the same method, the transmission timings may again coincide, causing interference, as shown in Figure 7.

[0057] In contrast, in this embodiment, the random time determination unit 1512 determines the random time, which is a waiting time for shifting the transmission timing, in accordance with the shift position, which is the position of the shift lever that switches the transmission of the vehicle 1, and the wave transmission control unit 1511 controls the transmitter / receiver 21 to transmit ultrasonic waves at new transmission timing that is delayed by the determined random time. Therefore, according to this embodiment, even if another vehicle is equipped with the same object detection device as the host vehicle, the random time is delayed in accordance with the shift position, making it possible to reliably avoid ultrasonic wave interference.

[0058] Furthermore, in this embodiment, the random time determination unit 1512 determines different times for the random times of the ultrasonic waves from the transceivers 21A to 21D provided at the front of the vehicle 1 and the random times of the ultrasonic waves from the transceivers 21E to 21H provided at the rear of the vehicle 1. Therefore, according to this embodiment, even if another vehicle is equipped with the same object detection device as the host vehicle, and further, the random times of the transceivers 21A to 21D at the front of the vehicle 1 and the random times of the transceivers 21E to 21H at the rear of the vehicle 1 will be different, so that ultrasonic wave interference can be avoided more reliably even when the host vehicle is following another vehicle.

[0059] Furthermore, in this embodiment, when the shift position is D, which indicates forward movement, the random time determination unit 1512 determines the random time of Fr (front) and the random time of Rr so that the random time of Fr (front), i.e., the random time (first random time) of the ultrasonic waves from the transceiver unit 21 provided at the front of the vehicle 1, is shorter than the random time of Rr (rear), i.e., the random time (second random time) of the ultrasonic waves from the transceiver unit 21 provided at the rear of the vehicle 1. Therefore, according to this embodiment, when the vehicle 1 is moving forward, the random time of Fr is shorter than the random time of Rr, so that the transmission timing of the ultrasonic waves at Fr is earlier than the transmission timing of the ultrasonic waves at Rr, making it possible to perform object detection with higher accuracy and reliably avoid ultrasonic wave interference.

[0060] Furthermore, in this embodiment, when the shift position is R, which indicates reverse, the random time determination unit 1512 determines the random time of Fr (front) and the random time of Rr so that the random time of Fr (front), i.e., the random time (first random time) of the ultrasonic waves from the transceiver unit 21 provided at the front of the vehicle 1, is longer than the random time of Rr (rear), i.e., the random time (second random time) of the ultrasonic waves from the transceiver unit 21 provided at the rear of the vehicle 1. Therefore, according to this embodiment, when the vehicle 1 is reversed, the random time of Fr is longer than the random time of Rr, and therefore the transmission timing of the ultrasonic waves at Rr is earlier than the transmission timing of the ultrasonic waves at Fr, making it possible to perform object detection with higher accuracy and reliably avoid ultrasonic wave interference.

[0061] Furthermore, this embodiment includes an SSD 121 that stores a random table 1513 in which a random time for Fr and a random time for Rr are determined for each shift position, and a random time determination unit 1512 determines a random time for Fr and a random time for Rr based on the shift position and the random table 1513. Therefore, according to this embodiment, the random time can be determined by switching the random table, making it possible to easily and more reliably avoid interference of ultrasonic waves.

[0062] In the above-described embodiment, the CPU 130 reads and executes programs stored in a storage device such as the ROM 122 or the SSD 121, thereby realizing various functional modules such as the wave transmission control unit 1511, the random time determination unit 1512, the detection distance calculation unit 1521, the abnormality detection unit 1522, the vehicle state estimation unit 160, the notification control unit 162, the vehicle information management unit 163, and the braking control unit 164. However, this is not limited to this. For example, the various functional modules such as the wave transmission control unit 1511, the random time determination unit 1512, the detection distance calculation unit 1521, the abnormality detection unit 1522, the vehicle state estimation unit 160, the notification control unit 162, the vehicle information management unit 163, and the braking control unit 164 can also be realized by independent hardware.

[0063] The object detection program executed by the object detection device 100 of the above embodiment is provided in a state that it is pre-installed in a ROM or the like.

[0064] The object detection program executed by the object detection device 100 of the above embodiment may be configured to be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0065] Furthermore, the object detection program executed by object detection device 100 of the above embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the object detection program executed by object detection device 100 of the above embodiment may be provided or distributed via a network such as the Internet.

[0066] The object detection program executed by the object detection device 100 of the above embodiment has a modular structure including the above-mentioned units (wave transmission control unit 1511, random time determination unit 1512, detection distance calculation unit 1521, abnormality detection unit 1522, vehicle state estimation unit 160, notification control unit 162, vehicle information management unit 163, braking control unit 164, etc.), and in terms of actual hardware, the CPU reads and executes the object detection program from the above-mentioned ROM, thereby loading the above-mentioned units onto the main memory, and the wave transmission control unit 1511, random time determination unit 1512, detection distance calculation unit 1521, abnormality detection unit 1522, vehicle state estimation unit 160, notification control unit 162, vehicle information management unit 163, braking control unit 164, etc. are generated on the main memory.

[0067] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0068] 1 vehicle 21 Transmitter / receiver 50 Vehicle Control System 100 Object detection unit (ECU) 121 SSD 211 Oscillator 150 Sonic control unit 1510 Transmission and reception control section 1511 Transmission control section 1512 Random Time Determination Unit 1513 Random Table 1520 Transmission and Reception Information Management Department 1521 Detection distance calculation unit 1522 Anomaly detection unit 160 Vehicle state estimation unit 162 Notification control unit 163 Vehicle Information Management Department 164 Braking control unit

Claims

1. An object detection device that is mounted on a vehicle and detects objects present around the vehicle, a control unit that controls a transceiver unit that transmits a transmission wave and receives a reception wave generated when the transmission wave is reflected by the object, to transmit the transmission wave at a predetermined transmission timing; a determination unit that determines a random time, which is a waiting time for shifting the transmission timing, in accordance with a shift position for switching a transmission of the vehicle, the control unit controls the transceiver unit to transmit the transmission wave at a new transmission timing obtained by delaying the transmission timing by the determined random time; the determination unit determines the random time of the transmission wave from the transceiver unit provided in the front part of the vehicle and the random time of the transmission wave from the transceiver unit provided in the rear part of the vehicle to be different times, and when the shift position indicates forward movement, determines the first random time and the second random time so that a first random time, which is the random time of the transmission wave from the transceiver unit provided in the front part of the vehicle, is shorter than a second random time, which is the random time of the transmission wave from the transceiver unit provided in the rear part of the vehicle. Object detection device.

2. The determination unit further determines the first random time and the second random time such that, when the shift position indicates reverse, the first random time is longer than the second random time. The object detection device according to claim 1 .

3. a storage unit that stores random information in which the first random time and the second random time are determined for each shift position, the determination unit determines the first random time and the second random time based on the shift position and the random information. The object detection device according to claim 2 .

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