OBJECT DETECTING APPARATUS

• US 20160116591A1
• Filed: 10/20/2015
• Published: 04/28/2016
• 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
• Granted Patent: US 10,451,734 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 a reflected wave 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 when the plurality of reflected waves are 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; and

multiple reflection determiner;

wherein,

when a reflected wave for which a first distance to the object is calculated as the smallest among the plurality of 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 plurality of reflected waves, the multiple reflection determiner determines that multiple reflection is occurring in a second wave or thereafter.

2. The object detecting apparatus according to claim 1,

the object detecting apparatus further comprises an excluder that excludes the second wave or thereafter from being used to calculate the position of the object when it is determined by the multiple reflection determiner that the multiple reflection is occurring.

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

when 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 is present in the plurality of reflected waves, and when a third wave to which a third distance is three times the first distance calculated by the first wave is present in the plurality of reflected waves, the excluder excludes a reflected wave of the second wave from being used to calculate the position of the object.

4. The object detecting apparatus according claim 1, wherein,

when it is determined by the multiple reflection determiner that multiple reflection is occurring, there is further provided a calculator that calculates a position of an object different from the object calculated from the first wave by using the reflected waves of the second wave or thereafter.

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

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

and

when it is determined by the multiple reflection determiner that multiple reflection is occurring, there is further provided a stopper that stops calculation of the position using the reflected wave received by the distance measuring sensor to which the multiple reflection is occurring.