To reduce the calculation time for object detection and improve the real-time property of the object detection by maintaining the accuracy of detecting the distance to an object and the direction of the object at required accuracy in a method of detecting an object using an ultrasonic sensor.
The distance and direction of the object are detected using a receiving element array in which ultrasonic receiving elements are arranged in an array. The transmission and reception (#1) of an ultrasonic wave, the digitization (#2) of a reception signal, and the recording (#3) of the digitized data, are performed. A three-dimensional space, which is the target of the object detection, is divided into an individual small space defined by distance and direction (#4). A delay addition calculation for the object detection is performed for each selected small space (#5). The division and selection of the small space are dynamically performed according to conditions such as whether the object is detected in advance or not, to which range attention is paid, and with what level of resolution the object is being detected. On recalculation or remeasurement, the division number for the three-dimensional space and calculation conditions are changed (#7).
GOTO HIROMICHI
| JPS60249075A | 1985-12-09 | |||
| JPH0236382A | 1990-02-06 | |||
| JP2004223109A | 2004-08-12 | |||
| JPS6279045A | 1987-04-11 |
| WO2004029655A1 | 2004-04-08 |
Katsumi Taguchi
Shinichi Mizuta