Denso Corporation

Nippon Soken, Inc.

Toyota Jidosha Kabushiki Kaisha

Keiko Akiyama

Mitsuyasu Matsuura

Yasuyuki Okuda

Toshiki Isogai

Takahiko Yoshida

Makiko Sugiura

Motonari Ohbayashi

Taketo Harada

Hiromi Ariyoshi

Hisanaga Matsuoka

Yutaka Aoki

Akio Nakano

Mitsuru Suzuki

In an abnormality detection device for detecting whether there is an abnormality in either of an optical sensor and a camera that are used to detect objects around a vehicle, a correlation value calculation unit calculates a correlation value between at least one of a reflection intensity image that is detected by the optical sensor emitting light toward surroundings of the vehicle and then receiving reflected light of emitted light and a background light image that is detected by the optical sensor receiving light from the surroundings of the vehicle while the optical sensor is emitting no light, and a captured image of the surroundings from the camera. An abnormality determination unit is configured to, in response to the correlation value calculated by the correlation value calculation unit being out of a predefined range, determine that there is an abnormality in either of the optical sensor and the camera.

Abnormality detection device for vehicle

An object detection device equipped at a predetermined height includes a waveform obtaining portion obtaining a wave height value of a reflected wave, a reference value calculation portion calculating a wave height value of a wave reflected from a reference obstacle present at the predetermined height as reference value, a detection value calculation portion calculating a wave height value of a wave reflected from a detection object as detection value, a reference distance calculation portion calculating a reference distance between the reference obstacle and the distance measuring sensor, a detection distance calculation portion calculating a detection distance between the detection object and the distance measuring sensor, a correction portion correcting the reference value and the detection value, and a height calculation portion calculating a height of the detection object relative to the predetermined height according to a relative comparison result of the corrected reference value and the corrected detection value.

Object detection device

An obstacle detection device includes a plurality of ultrasonic sensors and a detection control unit. The detection control unit detects an object by using one of at least two of the ultrasonic sensors as a transmission sensor that transmits an ultrasonic wave and the other of the at least two of the ultrasonic sensors as a reception sensor that receives the ultrasonic wave transmitted by the transmission sensor and reflected. A difference of heights of the one used as the transmission sensor and the other used as the reception sensor attached to a surface of a vehicle body from a ground is a predetermined threshold height that is defined based on twice a height of a bump on the ground as a non-detection object.

Obstacle detection device

An object detection apparatus mounted to a vehicle includes a transmitter, a receiver, a filter, a threshold calculator, and an object determinator. The transmitter transmits a probe wave in pulse form. The receiver receives a reflected wave of the probe wave. The filter passes, among the received reflected wave, only frequencies that are at least smaller than a pulse frequency of the probe wave. Based on an output of the filter, the threshold calculator calculates an objection determination threshold for determining presence and absence of an object. The object determinator determines the presence and absence of the object by using the objection determination threshold calculated by the threshold calculator.

Object detection apparatus and object detection system

A sound wave sensor in a distance detecting system determines a presence or absence of a target object and a distance to the target object by receiving, with a preset sensitivity, a reflected wave obtained from a transmitted sound wave reflected by the target object. A correction value used to correct the sensitivity of the sound wave sensor is obtained from outside the sound wave sensor, and the sensitivity is corrected by using this correction value.

Sound wave sensor, correction value setting device, and distance detecting device

An ultrasonic sensor is disclosed. The ultrasonic sensor includes a piezoelectric element and an acoustic matching member. The piezoelectric element is configured to detect ultrasonic wave transmitted from a transmitter and reflected by a detection target object located in a detection target space. The acoustic matching member is configured to conduct the received ultrasonic wave to the piezoelectric element. The piezo electric element is covered with the acoustic matching member including a principal oscillation portion and a supplement oscillation portion. Thickness of a part of the supplement oscillation portion, the part covering the piezoelectric element, is smaller than a predetermined thickness threshold.

Ultrasonic sensor

A transmission and reception device is located at a predetermined height on a movable object and directed toward an outside. The transmission and reception device includes a transmission unit for repeatedly transmitting sensing waves at a predetermined interval and a reception unit for receiving reflective waves of the sensing waves from a detected object. A peak value detecting unit detects peak values of the received reflective waves and stores the detected peak values. A difference arithmetic unit calculates a difference in the detected peak values with movement of the movable object closer to the detected object. An object determination unit determines the detected object to be a near-road-surface obstacle, which is close to a road surface, when the difference is a negative value. The object determination unit determines the detected object to be an other obstacle than the near-road-surface obstacle when the difference is a positive value.

Obstacle detection apparatus and method for detecting obstacle

In an obstacle detection system, a wave transmitted by a transmitting element and received by receiving elements as a receiving wave includes extraneous waves, which are reflection waves from other than an obstacle, and obstacle reflection waves from an obstacle. It is determined that, an obstacle is present, if the reflection waves are detected as having an amplitude (voltage) greater than a threshold level and a reception time difference between time points at which the amplitude exceeds threshold level at the receiving elements is less than a predetermined time.

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Kariya, Japan

Keiko Akiyama