Detection system, control device, and detection method

Abstract

To increase the accuracy of detecting a nearby vehicle.SOLUTION: A detection system 100 detects vehicles around a vehicle 1, and includes: at least one ultrasonic sensor 10 provided in the vehicle 1 and a controller 30. The controller 30 includes a control unit for controlling operations of the ultrasonic sensor 10 and a detection unit for detecting a nearby vehicle on the basis of the result of detection by the ultrasonic sensor 10. The control unit changes an irradiation frequency as the frequency of ultrasonic waves radiated from the ultrasonic sensor 10 within a predetermined frequency band when the ultrasonic sensor 10 radiates ultrasonic waves.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a detection system, a control device, and a detection method. [Background Art]

[0002] Conventionally, various techniques for assisting driving by a vehicle driver have been proposed. As a technique for assisting driving by a driver, a technique relating to detection of objects such as surrounding vehicles using a sensor installed in a vehicle has been proposed (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2014-045336 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] Incidentally, as a technique for assisting driving by a driver, there is a technique of detecting surrounding vehicles existing in an area around a vehicle (for example, a blind spot vehicle existing in a blind spot area) using an ultrasonic sensor installed in the vehicle. With such a technique, it is desired to improve the detection accuracy of surrounding vehicles in order to more appropriately assist driving by the driver.

[0005] In view of such problems, an object of the present invention is to provide a detection system, a control device, and a detection method capable of improving the detection accuracy of surrounding vehicles. [Means for Solving the Problem]

[0006] To solve the above problems, the detection system is a detection system for detecting surrounding vehicles in the area surrounding a vehicle, and includes one or more ultrasonic sensors provided on the vehicle and a control device, wherein the control device comprises a control unit for controlling the operation of the ultrasonic sensors and a detection unit for detecting the surrounding vehicles based on the detection results of the ultrasonic sensors, and the control unit changes the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensors, within a predetermined frequency band when ultrasonic waves are irradiated by the ultrasonic sensors. The predetermined frequency band includes a first frequency band and a second frequency band different from the first frequency band. The control unit performs a first irradiation control, which changes the irradiation frequency within the first frequency band, and a second irradiation control, which changes the irradiation frequency within the second frequency band, when the ultrasonic sensor irradiates ultrasonic waves. The control unit then obtains detection results from the ultrasonic sensor. The ultrasonic sensor obtains information regarding the relative position of the point where the irradiated ultrasonic waves are reflected with respect to the vehicle, based on the ultrasonic reception results, using an acquisition unit.

[0007] To solve the above problems, the control device is a control device for detecting surrounding vehicles in the area surrounding a vehicle, comprising: a control unit that controls the operation of one or more ultrasonic sensors provided on the vehicle, and a detection unit that detects the surrounding vehicles based on the detection results of the ultrasonic sensors, wherein the control unit changes the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensors, within a predetermined frequency band when ultrasonic waves are irradiated by the ultrasonic sensors. The predetermined frequency band includes a first frequency band and a second frequency band different from the first frequency band. The control unit performs a first irradiation control, which changes the irradiation frequency within the first frequency band, and a second irradiation control, which changes the irradiation frequency within the second frequency band, when the ultrasonic sensor irradiates ultrasonic waves. The control unit then obtains detection results from the ultrasonic sensor. The ultrasonic sensor obtains information regarding the relative position of the point where the irradiated ultrasonic waves are reflected with respect to the vehicle, based on the ultrasonic reception results, using an acquisition unit.

[0008] To solve the above problems, the detection method is a method for detecting surrounding vehicles in an area surrounding a vehicle, and includes a first step of controlling the operation of one or more ultrasonic sensors provided on the vehicle, and a second step of detecting the surrounding vehicles based on the detection results of the ultrasonic sensors, wherein in the first step, when ultrasonic waves are irradiated by the ultrasonic sensors, the irradiation frequency, which is the frequency of the ultrasonic waves irradiated from the ultrasonic sensors, is changed within a predetermined frequency band. The predetermined frequency band includes a first frequency band and a second frequency band different from the first frequency band. The control unit performs a first irradiation control to change the irradiation frequency within the first frequency band and a second irradiation control to change the irradiation frequency within the second frequency band when the ultrasonic sensor irradiates ultrasonic waves, thereby acquiring detection results from the ultrasonic sensor. The ultrasonic sensor acquires information regarding the relative position of the point where the irradiated ultrasonic waves are reflected with respect to the vehicle, based on the ultrasonic reception results, using an acquisition unit. [Effects of the Invention]

[0009] According to the present invention, it is possible to improve the detection accuracy of surrounding vehicles. [Brief explanation of the drawing]

[0010] [Figure 1]This is a schematic diagram showing the general configuration of a vehicle equipped with a detection system according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. [Figure 3] This figure shows how a vehicle located in the blind spot to the left rear of a vehicle according to an embodiment of the present invention is detected. [Figure 4] This flowchart shows an example of the processing flow performed by the control device according to an embodiment of the present invention. [Figure 5] This figure shows an example of the change in irradiation frequency when ultrasonic waves are irradiated by an ultrasonic sensor according to an embodiment of the present invention. [Figure 6] This figure shows an example of the detection range for the first irradiation control and the detection range for the second irradiation control when ultrasonic waves are irradiated by an ultrasonic sensor according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. The dimensions, materials, and other specific numerical values ​​shown in these embodiments are merely illustrative to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0012] <Configuration of the detection system> The configuration of the detection system 100 according to an embodiment of the present invention will be described with reference to Figures 1 to 3.

[0013] Figure 1 is a schematic diagram showing the general configuration of a vehicle 1 on which the detection system 100 is installed. Vehicle 1 is a four-wheeled automobile. However, vehicle 1 is merely one example of a vehicle according to the present invention, and the vehicle according to the present invention may be a vehicle with a number of wheels other than four, for example, a unicycle, a two-wheeled vehicle, a three-wheeled vehicle, an electric cart, a buggy, a truck or a bus, etc.

[0014] The detection system 100 is a system that detects surrounding vehicles present in an area around a vehicle 1 (for example, the vehicle 2 in FIG. 3 described later). As shown in FIG. 1, the detection system 100 includes an ultrasonic sensor 10, a display device 20, and a control device 30.

[0015] The ultrasonic sensor 10 emits ultrasonic waves toward the outside of the vehicle 1, and receives the ultrasonic waves reflected by an object. In the example of FIG. 1, as the ultrasonic sensors 10, a first ultrasonic sensor 10a, a second ultrasonic sensor 10b, a third ultrasonic sensor 10c, and a fourth ultrasonic sensor 10d are provided on the vehicle 1.

[0016] The first ultrasonic sensor 10a is provided on the front side of the left side portion of the vehicle 1. The first ultrasonic sensor 10a emits ultrasonic waves toward the left direction of the vehicle from the front side of the left side portion of the vehicle 1. The second ultrasonic sensor 10b is provided on the front side of the right side portion of the vehicle 1. The second ultrasonic sensor 10b emits ultrasonic waves toward the right direction of the vehicle from the front side of the right side portion of the vehicle 1. The third ultrasonic sensor 10c is provided on the rear side of the right side portion of the vehicle 1. The third ultrasonic sensor 10c emits ultrasonic waves toward the right direction of the vehicle from the rear side of the right side portion of the vehicle 1. The fourth ultrasonic sensor 10d is provided on the rear side of the left side portion of the vehicle 1. The fourth ultrasonic sensor 10d emits ultrasonic waves toward the left direction of the vehicle from the rear side of the left side portion of the vehicle 1.

[0017] However, the number of the ultrasonic sensors 10 provided on the vehicle 1 is not limited to the example shown in FIG. 1. It is sufficient that one or two or more ultrasonic sensors 10 are provided on the vehicle 1. Nevertheless, for the vehicle 1 which is a four-wheeled vehicle, it is preferable that four or more ultrasonic sensors 10 are provided. Further, the arrangement of the ultrasonic sensors 10 provided on the vehicle 1 is not limited to the example shown in FIG. 1. More specifically, the ultrasonic sensors 10 are arranged on a bumper. This suppresses blocking of the ultrasonic waves emitted from the ultrasonic sensors 10 by projections or the like of the vehicle body, and allows the irradiation range to be expanded.

[0018] The display device 20 has a display function for visually displaying information. Examples of the display device 20 include a liquid crystal display and the like.

[0019] The control device 30 includes a CPU (Central Processing Unit) which is an arithmetic processing device, a ROM (Read Only Memory) which is a storage element that stores programs and arithmetic parameters used by the CPU, and a RAM (Random Access Memory) which is a storage element that temporarily stores parameters that change as appropriate during execution by the CPU, and the like.

[0020] FIG. 2 is a block diagram showing an example of the functional configuration of the control device 30. As shown in FIG. 2, the control device 30 includes, for example, an acquisition unit 31, a control unit 32, and a detection unit 33. The control device 30 also communicates with each device of the detection system 100.

[0021] The acquisition unit 31 acquires detection results from the ultrasonic sensor 10. For example, the acquisition unit 31 acquires detection results from a first ultrasonic sensor 10a, a second ultrasonic sensor 10b, a third ultrasonic sensor 10c, and a fourth ultrasonic sensor 10d, respectively. Note that in the present specification, acquisition of information may include extraction or generation of information and the like.

[0022] The control unit 32 controls the operations of the ultrasonic sensor 10 and the display device 20. For example, the control unit 32 performs control related to ultrasonic irradiation by the first ultrasonic sensor 10a, the second ultrasonic sensor 10b, the third ultrasonic sensor 10c, and the fourth ultrasonic sensor 10d. Further, for example, the control unit 32 performs control related to display by the display device 20.

[0023] The detection unit 33 detects surrounding vehicles based on the detection results of the ultrasonic sensor 10. Surrounding vehicles are vehicles that are in the area surrounding vehicle 1. The following mainly describes an example in which the detection unit 33 detects a vehicle in the blind spot as a surrounding vehicle, but surrounding vehicles are not limited to vehicles in the blind spot. A vehicle in the blind spot is a vehicle that is in the blind spot area around vehicle 1. The blind spot area is an area that is not included in the area that can be seen by the driver of vehicle 1 (for example, the area that the driver can see directly, and the area that the driver can see indirectly through the mirrors of vehicle 1). In other words, the blind spot area is an area that is difficult for the driver of vehicle 1 to see and is a blind spot.

[0024] Figure 3 shows how a vehicle in the blind spot located to the left rear of vehicle 1 is detected. In the example in Figure 3, vehicle 1 is traveling in lane L1, the rightmost of the two adjacent lanes L1 and L2. Lane L1 corresponds to the lane in which vehicle 1 is traveling. Lane L2 corresponds to the adjacent lane to the lane in which vehicle 1 is traveling (lane L1). Vehicle 2 is located to the left rear of vehicle 1, traveling in lane L2. Vehicle 2 is a four-wheeled automobile.

[0025] As shown in Figure 3, the detection range 11 of each ultrasonic sensor 10 extends radially from the side of the vehicle 1. Specifically, the detection range 11a of the first ultrasonic sensor 10a extends radially from the front left side of the vehicle 1 to the left. The detection range 11b of the second ultrasonic sensor 10b extends radially from the front right side of the vehicle 1 to the right. The detection range 11c of the third ultrasonic sensor 10c extends radially from the rear right side of the vehicle 1 to the right. The detection range 11d of the fourth ultrasonic sensor 10d extends radially from the rear left side of the vehicle 1 to the left. Note that the shapes of each detection range 11 in Figure 3 are shown schematically for ease of understanding, and the actual shapes of each detection range 11 are not limited to the shapes in Figure 3.

[0026] In the detection system 100, blind spots are included in these multiple detection ranges 11. Therefore, even if a vehicle (i.e., a blind spot vehicle) is located in the blind spot area of ​​vehicle 1, at least a portion of the blind spot vehicle will be located within the detection range 11 of one of the ultrasonic sensors 10. The detection unit 33 can detect objects within the detection range 11 of the ultrasonic sensor 10 based on the detection results of the ultrasonic sensor 10, and thus can detect the blind spot vehicle. In the example in Figure 3, vehicle 2 is located within the detection range 11b of the fourth ultrasonic sensor 10d. Therefore, the detection unit 33 can detect vehicle 2 as a blind spot vehicle based on the output result of the fourth ultrasonic sensor 10d. Details of the blind spot vehicle detection process will be described later.

[0027] However, the blind spot vehicle to be detected is not limited to the example in Figure 3. For example, the blind spot vehicle to be detected may be a vehicle located to the right rear of vehicle 1. Also, for example, the blind spot vehicle to be detected may be a vehicle located to the left or right of vehicle 1.

[0028] <Detection System Operation> The operation of the detection system 100 according to an embodiment of the present invention will be described with reference to Figures 4 to 6.

[0029] Figure 4 is a flowchart showing an example of the processing flow performed by the control device 30. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4.

[0030] When the control flow shown in Figure 4 is initiated, in step S102, the control unit 32 performs an irradiation process to cause the ultrasonic sensors 10 to emit ultrasonic waves. Specifically, the control unit 32 performs the irradiation process for each of the ultrasonic sensors 10: the first ultrasonic sensor 10a, the second ultrasonic sensor 10b, the third ultrasonic sensor 10c, and the fourth ultrasonic sensor 10d. The detection system 100 improves the accuracy of detecting vehicles in blind spots by implementing improvements to the irradiation process. Details of this irradiation process will be described later.

[0031] Following step S102, in step S103, the acquisition unit 31 acquires the detection results of the ultrasonic sensors 10. Specifically, the control unit 32 acquires detection results from each of the ultrasonic sensors 10: the first ultrasonic sensor 10a, the second ultrasonic sensor 10b, the third ultrasonic sensor 10c, and the fourth ultrasonic sensor 10d.

[0032] The ultrasonic sensor 10 acquires (specifically generates) information regarding the relative position of the point where the emitted ultrasonic waves are reflected (hereinafter also referred to as the detection point) with respect to the vehicle 1, based on the ultrasonic wave reception results. The acquisition unit 31 can then acquire information indicating the relative position of each sequentially detected detection point with respect to the vehicle 1, based on the detection results of the ultrasonic sensor 10 obtained in this way. Thus, the detection results of the ultrasonic sensor 10 include information regarding the relative position of each detection point detected by the ultrasonic sensor 10 with respect to the vehicle 1.

[0033] Following step S103, in step S104, the detection unit 33 performs a detection process to detect vehicles in blind spots based on the detection results of the ultrasonic sensors 10. Specifically, in the detection process, the detection unit 33 determines whether or not a vehicle in a blind spot exists within the detection range 11 of each ultrasonic sensor 10, based on the detection results of each ultrasonic sensor 10: the first ultrasonic sensor 10a, the second ultrasonic sensor 10b, the third ultrasonic sensor 10c, and the fourth ultrasonic sensor 10d. More specifically, the detection unit 33 uses information indicating the relative position of each detection point with respect to the vehicle 1, obtained based on the detection results of each ultrasonic sensor 10, to determine whether or not a vehicle in a blind spot exists within the detection range 11 of each ultrasonic sensor 10.

[0034] Following step S104, in step S105, the control unit 32 performs a notification process to inform the driver of vehicle 1 of the presence of a vehicle in the blind spot, and then returns to step S102. For example, if a vehicle in the blind spot is detected in step S104, the control unit 32 displays information about the detected vehicle in the blind spot on the display device 20 during the notification process. The information about the detected vehicle in the blind spot may be, for example, information indicating the presence of a vehicle in the blind spot, and may further include information indicating the position of the detected vehicle in the blind spot (for example, information indicating the relative distance and relative direction). Such a notification process makes the rider aware of the presence of a vehicle in the blind spot, thereby improving safety. Note that the notification process is not limited to the example of being performed by display, but may also be performed by audio output in addition to display, or by audio output instead of display.

[0035] Here, the details of the irradiation process performed by the control unit 32 (step S102 in the flowchart of Figure 4) will be explained with reference to Figures 5 and 6. As will be explained below, the control unit 32 can change the irradiation frequency when ultrasonic waves are irradiated by the ultrasonic sensor 10 (i.e., during the irradiation process). The irradiation frequency is the frequency of the ultrasonic waves irradiated from the ultrasonic sensor 10. In the detection system 100, in order to realize the irradiation frequency control described below, a type of sensor capable of changing the irradiation frequency is used as the ultrasonic sensor 10.

[0036] Figure 5 shows an example of the change in irradiation frequency during ultrasonic irradiation by the ultrasonic sensor 10. In Figure 5, the horizontal axis represents time and the vertical axis represents frequency. Figure 5 shows an example of the change in irradiation frequency during a single irradiation process. As shown in Figure 5, the control unit 32 changes the irradiation frequency within a predetermined frequency band FB when ultrasonic irradiation is performed by the ultrasonic sensor 10 (i.e., during the irradiation process). The predetermined frequency band FB is a band between a preset upper frequency limit and a preset lower frequency limit. In the example in Figure 5, the predetermined frequency band FB is a frequency band with frequency F1 as the lower frequency limit and frequency F2 as the upper frequency limit. The predetermined frequency band FB may be the same for all ultrasonic sensors 10, or it may be different for each ultrasonic sensor 10.

[0037] In the example shown in Figure 5, the irradiation process begins at time T1. From time T1 onward, the ultrasonic irradiation by the ultrasonic sensor 10 continues. Subsequently, the irradiation process ends at time T2. At time T1, the irradiation frequency is frequency F2. From time T1 onward, the irradiation frequency continuously decreases at a predetermined rate. Subsequently, at time T2, the irradiation frequency becomes frequency F1. Thus, in the example shown in Figure 5, the control unit 32 continuously changes the irradiation frequency within a predetermined frequency band FB when the ultrasonic sensor 10 irradiates with ultrasound.

[0038] In the example shown in Figure 5 described above, the control unit 32 continuously decreases the irradiation frequency at a predetermined rate of decrease during the irradiation process. However, the transition of the irradiation frequency during the irradiation process is not limited to the example in Figure 5. For example, the control unit 32 may continuously increase the irradiation frequency at a predetermined rate of increase during the irradiation process, or it may increase or decrease the irradiation frequency at a predetermined period. Also, for example, the control unit 32 may change the irradiation frequency discontinuously (for example, in steps to mutually discrete frequencies) during the irradiation process.

[0039] As described above, in the detection system 100, the control unit 32 changes the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensor 10, within a predetermined frequency band FB when the ultrasonic sensor 10 irradiates ultrasonic waves.

[0040] Here, various types of noise may be present in the surrounding environment of the ultrasonic sensor 10. If the irradiation frequency of the ultrasonic sensor 10 matches the frequency of the noise present in the surrounding environment of the ultrasonic sensor 10, it becomes difficult to distinguish between the ultrasonic waves emitted from the ultrasonic sensor 10 and the noise in the detection results of the ultrasonic sensor 10. Therefore, if the irradiation frequency of the ultrasonic sensor 10 remains constant, the detection accuracy of vehicles in blind spots may decrease due to the noise present in the surrounding environment of the ultrasonic sensor 10.

[0041] On the other hand, in the detection system 100, since the irradiation frequency of the ultrasonic sensor 10 changes within a predetermined frequency band FB, even if the irradiation frequency of the ultrasonic sensor 10 temporarily matches the frequency of noise occurring in the surrounding environment of the ultrasonic sensor 10, the detection result of such a frequency can be excluded as an invalid detection result, and the detection result of other frequencies can be used as an effective detection result. As a result, the reduction in the detection accuracy of vehicles in blind spots due to noise occurring in the surrounding environment of the ultrasonic sensor 10 is suppressed, and the detection accuracy of vehicles in blind spots can be improved.

[0042] From the perspective of further improving the accuracy of detecting vehicles in blind spots, it is preferable that the control unit 32 performs irradiation control using a plurality of predetermined frequency bands FB that are different from each other when the ultrasonic sensor 10 irradiates with ultrasound. An example in which a first irradiation control using a first frequency band FB1 and a second irradiation control using a second frequency band FB2 are performed will be described below with reference to Figure 6.

[0043] Figure 6 shows an example of the detection range 11-1 for the first irradiation control and the detection range 11-2 for the second irradiation control when ultrasonic waves are irradiated by the ultrasonic sensor 10. Note that the shapes of each detection range 11 in Figure 6 are shown schematically for ease of understanding, as with Figure 3 described above, and the actual shapes of each detection range 11 are not limited to the shapes in Figure 6. The first frequency band FB1 used in the first irradiation control and the second frequency band FB2 used in the second irradiation control are different frequency bands. In the example in Figure 6, the control unit 32 performs a first irradiation control that changes the irradiation frequency within the first frequency band FB1 and a second irradiation control that changes the irradiation frequency within the second frequency band FB2 when ultrasonic waves are irradiated by the ultrasonic sensor 10 (i.e., during the irradiation process).

[0044] For example, in the first irradiation control, the control unit 32 continuously changes the irradiation frequency within the first frequency band FB1, and in the second irradiation control, it continuously changes the irradiation frequency within the second frequency band FB2. The control unit 32 then alternately executes these first and second irradiation controls. However, as described above, the control unit 32 may also change the irradiation frequency discontinuously (for example, in steps to mutually discrete frequencies) in each irradiation control of the first and second irradiation controls. Furthermore, the order in which the first and second irradiation controls are executed can be changed as appropriate.

[0045] As shown in Figure 6, the detection range 11-1 for the first irradiation control using the first frequency band FB1 and the detection range 11-2 for the second irradiation control using the second frequency band FB2 are different from each other. For example, in the example in Figure 6, the detection range 11-1 for the first irradiation control is a range that extends long in a direction parallel to the irradiation surface 12 of the ultrasonic sensor 10 (left-right direction in Figure 6). On the other hand, the detection range 11-2 for the second irradiation control is a range that extends long in a direction perpendicular to the irradiation surface 12 of the ultrasonic sensor 10 (up-down direction in Figure 6). The irradiation surface 12 of the ultrasonic sensor 10 is the surface of the ultrasonic sensor 10 that is irradiated with ultrasound. The reason why the detection range 11-1 for the first irradiation control and the detection range 11-2 for the second irradiation control are different is that the ease with which sound waves are transmitted in space differs depending on the frequency of the sound waves. For example, the lower the frequency of the sound waves, the easier it is for them to travel.

[0046] As explained above, in the example shown in Figure 6, the control unit 32 performs a first irradiation control that changes the irradiation frequency within the first frequency band FB1 and a second irradiation control that changes the irradiation frequency within the second frequency band FB2 when the ultrasonic sensor 10 irradiates with ultrasound (i.e., during the irradiation process). As a result, blind spot vehicles can be detected in both detection ranges 11, which are the detection range 11-1 of the first irradiation control using the first frequency band FB1 and the detection range 11-2 of the second irradiation control using the second frequency band FB2. Therefore, the accuracy of detecting blind spot vehicles can be further improved.

[0047] In the example shown in Figure 6 described above, the predetermined frequency band FB includes a first frequency band FB1 and a second frequency band FB2 that is different from the first frequency band FB1. In other words, two types of frequency bands are used as the predetermined frequency band FB. However, in addition to the first frequency band FB1 and the second frequency band FB2, other frequency bands different from these may also be used as the predetermined frequency band FB. In other words, three or more types of frequency bands may be used as the predetermined frequency band FB.

[0048] <Effectiveness of the detection system> The effects of the detection system 100 according to an embodiment of the present invention will be described.

[0049] The detection system 100 includes one or more ultrasonic sensors 10 provided on the vehicle 1 and a control device 30. The control device 30 includes a control unit 32 that controls the operation of the ultrasonic sensors 10 and a detection unit 33 that detects surrounding vehicles (in the above example, vehicles in the blind spot) based on the detection results of the ultrasonic sensors 10. The control unit 32 is configured to change the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensors 10, within a predetermined frequency band FB when the ultrasonic sensors 10 emit ultrasonic waves. With this configuration, even if a part of the irradiation frequency of the ultrasonic sensors 10 temporarily matches the frequency of noise occurring in the surrounding environment of the ultrasonic sensors 10, surrounding vehicles can be detected by utilizing the detection results from other frequencies that do not match the frequency of the noise. Therefore, the decrease in the detection accuracy of surrounding vehicles due to noise occurring in the surrounding environment of the ultrasonic sensors 10 is suppressed, and the detection accuracy of surrounding vehicles can be improved. Furthermore, in this configuration, by changing the irradiation frequency of the ultrasonic waves emitted from the ultrasonic sensor 10 within a predetermined frequency band FB, it is possible to irradiate different irradiation ranges for each frequency based on the different ultrasonic characteristics (e.g., directivity, attenuation, etc.) that result from different frequencies, thereby improving the detection accuracy of surrounding vehicles.

[0050] Preferably, in the detection system 100, the predetermined frequency band FB includes a first frequency band FB1 and a second frequency band FB2 that is different from the first frequency band FB1. The control unit 32 performs a first irradiation control, which changes the irradiation frequency within the first frequency band FB1, and a second irradiation control, which changes the irradiation frequency within the second frequency band FB2, when ultrasonic waves are irradiated by the ultrasonic sensor 10. As a result, surrounding vehicles can be detected in both the detection range 11-1 of the first irradiation control using the first frequency band FB1 and the detection range 11-2 of the second irradiation control using the second frequency band FB2. Therefore, the detection accuracy of surrounding vehicles can be further improved.

[0051] Preferably, in the detection system 100, the control unit 32 continuously changes the irradiation frequency within a predetermined frequency band FB when the ultrasonic sensor 10 irradiates with ultrasound. This allows the irradiation frequency to be changed without any frequencies being missed within the predetermined frequency band FB, thereby more effectively suppressing a decrease in the detection accuracy of surrounding vehicles due to noise in the surrounding environment of the ultrasonic sensor 10. Therefore, the detection accuracy of surrounding vehicles can be further improved.

[0052] Preferably, in the detection system 100, the ultrasonic sensor 10 includes a first ultrasonic sensor 10a provided on the front left side of the vehicle 1, a second ultrasonic sensor 10b provided on the front right side of the vehicle 1, a third ultrasonic sensor 10c provided on the rear right side of the vehicle 1, and a fourth ultrasonic sensor 10d provided on the rear left side of the vehicle 1, and ultrasonic waves are emitted by the ultrasonic sensors 10 in the front left, front right, rear left, and rear right directions of the vehicle 1. As a result, a wide area around the vehicle 1 can be included in the detection range 11 of these ultrasonic sensors 10. Therefore, surrounding vehicles can be detected over a wide area around the vehicle 1, and the detection accuracy of surrounding vehicles can be further improved.

[0053] Preferred embodiments of the present invention have been described above with reference to the attached drawings. However, it goes without saying that the present invention is not limited to the embodiments described above, and that various modifications or alterations within the scope of the claims also fall within the technical scope of the present invention.

[0054] For example, the processes described using flowcharts in this specification do not necessarily have to be executed in the order shown in the flowcharts. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted.

[0055] Furthermore, for example, the series of control processes performed by the detection system 100 described above may be implemented using software, hardware, or a combination of software and hardware. The programs constituting the software are pre-stored in a storage medium provided inside or outside the information processing device, for example. [Explanation of Symbols]

[0056] 1 vehicle 2 vehicles (surrounding vehicles) 10 Ultrasonic Sensors 10a First ultrasonic sensor 10b Second ultrasonic sensor 10c Third ultrasonic sensor 10d Fourth ultrasonic sensor 30 Control device 31 Acquisition Department 32 Control Unit 33 Detection unit 100 detection systems FB predetermined frequency band FB1 First frequency band FB2 Second frequency band

Claims

1. A detection system (100) for detecting surrounding vehicles (2) present in the area surrounding a vehicle (1), One or more ultrasonic sensors (10) are provided on the vehicle (1), Control device (30), Includes, The control device (30) is A control unit (32) controls the operation of the ultrasonic sensor (10), A detection unit (33) detects the surrounding vehicle (2) based on the detection result of the ultrasonic sensor (10), Equipped with, The control unit (32) changes the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensor (10), within a predetermined frequency band (FB) when the ultrasonic sensor (10) irradiates ultrasonic waves. The predetermined frequency band (FB) includes a first frequency band (FB1) and a second frequency band (FB2) that is different from the first frequency band (FB1). The control unit (32) alternately performs a first irradiation control, which changes the irradiation frequency within the first frequency band (FB1), and a second irradiation control, which changes the irradiation frequency within the second frequency band (FB2), when ultrasonic waves are irradiated by the ultrasonic sensor (10), in a single ultrasonic sensor (10), in order to acquire detection results from the ultrasonic sensor (10). The ultrasonic sensor (10) acquires information regarding the relative position of the point from which the emitted ultrasonic waves are reflected with respect to the vehicle (1) using an acquisition unit (31) based on the ultrasonic wave reception result. Detection system.

2. The ultrasonic sensor (10) is A first ultrasonic sensor (10a) that emits ultrasonic waves toward the front left of the vehicle (1), A second ultrasonic sensor (10b) irradiates ultrasonic waves toward the front right of the vehicle (1), A third ultrasonic sensor (10c) that irradiates ultrasonic waves toward the rear left of the vehicle (1), A fourth ultrasonic sensor (10d) that irradiates ultrasonic waves toward the rear right of the vehicle (1), including, The detection system according to claim 1.

3. The detection system according to claim 1 or 2, wherein the detection range (11) of the ultrasonic sensor (10) extends radially from the side of the vehicle (1) to the side.

4. A control device (30) for detecting surrounding vehicles (2) in the area surrounding a vehicle (1), A control unit (32) that controls the operation of one or more ultrasonic sensors (10) provided in the vehicle (1), A detection unit (33) detects the surrounding vehicle (2) based on the detection result of the ultrasonic sensor (10), Equipped with, The control unit (32) changes the irradiation frequency, which is the frequency of the ultrasonic waves emitted from the ultrasonic sensor (10), within a predetermined frequency band (FB) when the ultrasonic sensor (10) irradiates ultrasonic waves. The predetermined frequency band (FB) includes a first frequency band (FB1) and a second frequency band (FB2) that is different from the first frequency band (FB1). The control unit (32) performs a first irradiation control to change the irradiation frequency within the first frequency band (FB1) and a second irradiation control to change the irradiation frequency within the second frequency band (FB2) when the ultrasonic sensor (10) irradiates with ultrasound, thereby acquiring detection results from the ultrasonic sensor (10). The ultrasonic sensor (10) acquires information regarding the relative position of the point from which the emitted ultrasonic waves are reflected with respect to the vehicle (1) using an acquisition unit (31) based on the ultrasonic wave reception result. Control device.

5. A method for detecting surrounding vehicles (2) in the area surrounding a vehicle (1), A first step of controlling the operation of one or more ultrasonic sensors (10) provided on the vehicle (1), A second step involves detecting the surrounding vehicle (2) based on the detection result of the ultrasonic sensor (10), Includes, In the first step, when the ultrasonic sensor (10) irradiates ultrasonic waves, the irradiation frequency, which is the frequency of the ultrasonic waves irradiated from the ultrasonic sensor (10), is changed within a predetermined frequency band (FB). The predetermined frequency band (FB) includes a first frequency band (FB1) and a second frequency band (FB2) that is different from the first frequency band (FB1). The control unit (32) alternately performs a first irradiation control, which changes the irradiation frequency within the first frequency band (FB1), and a second irradiation control, which changes the irradiation frequency within the second frequency band (FB2), when ultrasonic waves are irradiated by the ultrasonic sensor (10), in a single ultrasonic sensor (10), in order to acquire detection results from the ultrasonic sensor (10). The ultrasonic sensor (10) acquires information regarding the relative position of the point from which the emitted ultrasonic waves are reflected with respect to the vehicle (1) using an acquisition unit (31) based on the ultrasonic wave reception result. Detection method.

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