Object detection apparatus

• US 10,175,355 B2
• Filed: 10/20/2015
• Issued: 01/08/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Fukuman, Masumi, Ohbayashi, Motonari, Kida, Akihiro
• Primary Examiner(s): Bythrow, Peter M
• Application Number:
  US14/887,625
• Publication Number:
  US 20160116583A1
• Time in Patent Office: 1,176 Days
• CPC Class Codes: G01S 15/46 Indirect determination of position data
• CPC Class Codes: G01S 15/878 wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/465 by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
• CPC Class Codes: G01S 2015/938 in the bumper area
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50

Abstract

An object detection apparatus for detecting an object around a moving object carrying the apparatus by transmitting a probe wave and receiving reflections of the probe wave from the object via a plurality of ranging sensors attached to the moving object. In the apparatus, a position determiner determines whether or not a position of the object calculated by a position calculator based on the reflections received by a pair of adjacent ranging sensors, from one of which is the probe wave is transmitted, is out of an overlapping range of ranges of object detection for the respective adjacent ranging sensors. A position invalidator is configured to, based on the determination made by the position determiner, determine that the object position calculated by the position calculator is invalid.

Claims

1. An object detection apparatus for detecting an object around a moving object having a plurality of ranging sensors attached to the moving object by transmitting a probe wave and receiving reflections of the probe wave from the object via the plurality of ranging sensors, the apparatus comprising:

a first detector configured to detect the object based on a direct wave that is a reflection of the probe wave from the object, the probe wave and the reflection being respectively transmitted and received by a first ranging sensor that is one of the plurality of ranging sensors;

a second detector configured to detect the object based on an indirect wave that is a reflection of the probe wave from the object, the reflection being received by a second ranging sensor that is another one of the plurality of ranging sensors;

a position calculator configured to calculate an object position as a position of the object based on the detections of the first and second detectors according to the principle of triangulation;

a position determiner configured to determine whether or not the object position calculated by the position calculator is out of an overlapping range of a range of direct object detection and a range of indirect object detection, the range of direct object detection being an area where the first ranging sensor can detect the object using the direct wave, the range of indirect object detection being an area where the second ranging sensor can detect the object via the indirect wave; and

a position invalidator configured to, based on the determination made by the position determiner, determine that the object position calculated by the position calculator is invalid.

2. The apparatus of claim 1, wherein the position invalidator is configured to, if it is determined by the position determiner that the object position calculated by the position calculator is out of the overlapping range of the ranges of direct and indirect object detection, determine that the object position calculated by the position calculator is invalid.

3. The apparatus of claim 1, further comprising a range setter configured to variably set the overlapping range of the ranges of direct and indirect object detection based on parameters of an ambient environment around the moving object,

wherein the position determiner is configured to determine whether or not the object position calculated by the position calculator is out of the overlapping range that is variably set by the range setter based on the parameters of the ambient environment around the moving object, and the position invalidator is configured to, based on the determination made by the position determiner, determine that the object position calculated by the position calculator is invalid.

4. The apparatus of claim 2, further comprising:

a receipt determiner configured to determine whether or not at least one of the first and second ranging sensors has received the reflections of the probe wave multiple times after transmission of the probe wave from the first ranging sensor,

wherein if it is determined by the position determiner that the object position calculated by the position calculator using the first received direct wave and the first received indirect wave is out of the overlapping range of the ranges of direct and indirect object detection and then it is determined by the position invalidator that the object position calculated by the position calculator using the first received direct wave and the first received indirect wave is invalid, and then if it is determined by the receipt determiner that at least one of the first and second ranging sensors has received the reflections of the probe wave multiple times after transmission of the probe wave from the first ranging sensor, the position calculator calculates the object position based on a combination of the first direct wave received by the first ranging sensor and the second or subsequent indirect wave received by the second ranging sensor or a combination of the first indirect wave received by the second ranging sensor and the second or subsequent direct wave received by the first ranging sensor,

the apparatus further comprises a position validator configured to, if it is determined by the position determiner that the object position calculated by the position calculator based on the combination of the first direct wave received by the first ranging sensor and the second or subsequent indirect wave received by the second ranging sensor or the combination of the first indirect wave received by the second ranging sensor and the second or subsequent direct wave received by the first ranging sensor is within the overlapping range of the ranges of direct and indirect object detection, determine that the object position calculated by the position calculator is valid.

5. The apparatus of claim 1, wherein each of the plurality of ranging sensors is an ultrasonic sensor capable of transmitting an ultrasonic wave as the probe wave.

6. The apparatus of claim 1, wherein the first and second ranging sensors are a pair of adjacent ranging sensors.

7. The apparatus of claim 1, wherein the apparatus is mounted in the moving object.

8. The apparatus of claim 1, wherein the moving object is a vehicle, and the apparatus is mounted in the vehicle.