Object detecting apparatus

• US 10,451,734 B2
• Filed: 10/20/2015
• Issued: 10/22/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation
• Inventors: Fukuman, Masumi, Ohbayashi, Motonari, Kida, Akihiro
• Primary Examiner(s): Baghdsaryan, Hovhannes
• Application Number:
  US14/918,330
• Publication Number:
  US 20160116591A1
• Time in Patent Office: 1,463 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 radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50

Abstract

An object detecting apparatus includes a distance calculator that calculates a distance to the object, a wave height acquirer that acquires a respective peak value of the plurality of reflected waves, and multiple reflection determiner. When a reflected wave for which a first distance to the object is calculated to be the smallest in the reflected waves is defined as a first wave, and another reflected wave to which a second distance is calculated as twice or more integer times the first distance calculated for the first wave and a difference of the peak value relative to the first wave which is larger than a predetermined value is present in the reflected waves, the multiple reflection determiner determines that multiple reflection is occurring in a second wave or thereafter.

Claims

1. An object detecting apparatus that detects a position of an object by transmitting probe waves in surroundings and receiving reflected waves of the probe waves as detected information of the object, comprising:

a distance calculator that calculates a distance to the object by using a plurality of reflected waves in response to the plurality of reflected waves being received for a single transmission time of the probe waves;

a wave height acquirer that acquires a respective peak value of the plurality of reflected waves;

a multiple reflection determiner; and

a plurality of distance measuring sensors, used to obtain wave reflections from object detection ranges, the distance measuring sensors being separated in position to allow for triangulation and disposed such that at least a portion of the object detection ranges of adjoining distance measuring sensors overlap, the object detection ranges being areas from which the distance measuring sensors receive a reflected wave of the probe waves,

wherein, the multiple reflection determiner is configured to wait a predetermined time after receiving a first reflected wave for a second reflected wave,

wherein, the multiple reflection determiner is configured to determine that multiple reflection is occurring in the second wave or thereafter based on a first reflected wave for which a first distance to the object is calculated as the smallest among the plurality of reflected waves, which is defined as a first wave, and based on the second reflected wave to which a second distance is calculated as twice or more integer times the first distance calculated for the first wave, and further based on a peak value of the second reflected wave indicating an attenuation larger than an attenuation caused by the second distance,

wherein, the distance calculator calculates the distance to the object by using the first reflected wave and the second reflected wave in response to the difference between a peak value of the first reflected wave and the peak value of the second reflected wave being less than a wave height threshold.

2. The object detecting apparatus according to claim 1, the object detecting apparatus further comprising:

an excluder configured to exclude the second wave or thereafter from being used to calculate the position of the object as a result of the multiple reflection determiner determining that the multiple reflection is occurring.

3. The object detecting apparatus according to claim 2, wherein,

based on the second wave for which the second distance is twice the first distance calculated by the first wave and the difference of the peak value relative to the first wave which is larger than the predetermined value being present in the plurality of reflected waves, and based on a third wave to which a third distance is three times the first distance calculated by the first wave being present in the plurality of reflected waves, the excluder is configured to exclude a reflected wave of the second wave from being used to calculate the position of the object.

4. The object detecting apparatus according to claim 1, the object detecting apparatus further comprising:

a calculator configured to calculate a position of an imaginary object by using the reflected waves of the second wave or thereafter in response to the multiple reflection determiner determining that multiple reflection is occurring.

5. The object detecting apparatus according to claim 1, wherein,

the object detecting apparatus is applied to a system provided with the plurality of distance measuring sensors for transmitting the probe waves and receiving the reflected wave;

and

the object detecting apparatus further comprising;

a stopper configured to stop calculation of the position using the reflected wave received by the distance measuring sensor to which the multiple reflection is occurring, based on a determination by the multiple reflection determiner that multiple reflection is occurring.