JP6836155B2 - Obstacle detection device for vehicles - Google Patents

Description

The present invention relates to an obstacle detection device for vehicles.

Conventionally, Patent Document 1 has provided a vehicle obstacle detection device that determines whether or not to notify an obstacle according to the time from the timing of a transmitted wave by a microphone that transmits and receives ultrasonic waves to the timing of receiving a reflected wave. It is described in.

Japanese Unexamined Patent Publication No. 2016-85043

The inventor of the present application has assumed that a user who uses such an obstacle detection device for a vehicle will inquire that he / she has notified that there is no obstacle. The situation in which the user feels that "the notification was made even though there are no obstacles" is called unnecessary notification. In a situation where the user feels "notified when there are no obstacles", the vehicle obstacle detection device may simply be out of order, or the vehicle obstacle detection device is operating normally. In some cases, the operation is different from the operation intended by the user.

In order to identify the cause of unnecessary notification in response to such an inquiry, information indicating the operating state of the vehicle obstacle detection device and information indicating the operating environment of the vehicle obstacle detection device are constantly recorded in the storage medium. However, that would result in a huge amount of recorded data.

In view of the above points, it is an object of the present invention to provide a technique for efficiently recording data for identifying the cause of unnecessary notification.

The invention according to claim 1 for achieving the above object is an index according to the time from the transmission timing of the transmitted wave by the microphone (11) for transmitting and receiving ultrasonic waves to the receiving timing of the reflected wave by the microphone. Based on the determination unit (150) that determines whether or not to notify the obstacle, and the determination unit (5) that notifies the obstacle based on the determination that the determination unit notifies the obstacle. Information indicating the operating state of the vehicle obstacle detection device and the vehicle obstacle detection device based on the notification processing unit (155) and the determination unit determining that the obstacle detection device is to perform the notification. A factor recording unit (670) for storing at least one of the information indicating the operating environment of the above is stored in the storage medium (43), and the determination unit determines that the obstacle is not notified. If this is the case, the factor recording unit is an obstacle detection device for vehicles that avoids the process of recording the notification factor information in the storage medium.
Further, the invention according to claim 4 is an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) for transmitting and receiving ultrasonic waves to the receiving timing of the reflected wave by the microphone. A notification process for causing the notification device (5) to notify the obstacle based on the determination unit (150) for determining whether or not to notify the obstacle and the determination unit for determining whether to notify the obstacle. Based on the determination of the unit (155) and the determination unit to notify the obstacle, information indicating the operating state of the vehicle obstacle detection device and the operating environment of the vehicle obstacle detection device are shown. Within the reverberation comparison time after the factor recording unit (670) that stores the notification factor information including at least one of the information in the storage medium (43) and the transmission end timing after the transmission wave transmission by the microphone is completed. Based on the fact that the reception level of the microphone is below the threshold, the detection of the reflected wave is started, and the reception level of the microphone does not fall below the threshold within the reverberation comparison time after the end timing of the transmission. In this case, the factor recording unit includes a detection unit (14) that starts detection of the reflected wave based on the elapsed time after the transmission end timing exceeds the reverberation comparison time. An obstacle detection device for vehicles that stores the notification factor information in the storage medium based on the determination that the unit notifies the obstacle and the temperature outside the vehicle interior of the vehicle is equal to or lower than the reference temperature. is there.
Further, the invention according to claim 8 is an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) for transmitting and receiving ultrasonic waves to the receiving timing of the reflected wave by the microphone. A notification process for causing the notification device (5) to notify the obstacle based on the determination unit (150) for determining whether or not to notify the obstacle and the determination unit for determining whether to notify the obstacle. Based on the determination of the unit (155) and the determination unit to notify the obstacle, the information indicating the operating state of the vehicle obstacle detection device and the operating environment of the vehicle obstacle detection device are shown. A factor recording unit (670) for storing notification factor information including at least one of the information in the storage medium (43) is provided, and the determination unit reflects the transmitted wave from the microphone from the transmission timing of the microphone. Based on the fact that the detection distance based on the index according to the time until the wave reception timing is continuously acquired for the notification reference number of times, it is determined that the obstacle is notified, and the factor recording unit is the determination unit. Stores the notification factor information in the storage medium based on the determination that the person performs notification of an obstacle and that all of the detection distances acquired by the notification reference number of times are a predetermined short distance. , An obstacle detection device for vehicles.
The invention according to claim 10 is an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) for transmitting and receiving ultrasonic waves to the receiving timing of the reflected wave by the microphone. A notification process for causing the notification device (5) to notify the obstacle based on the determination unit (150) for determining whether or not to notify the obstacle and the determination unit for determining whether to notify the obstacle. Based on the determination of the unit (155) and the determination unit to notify the obstacle, the information indicating the operating state of the vehicle obstacle detection device and the operating environment of the vehicle obstacle detection device are shown. A factor recording unit (670) for storing notification factor information including at least one of the information in a storage medium (43) is provided, the microphone is a first microphone, and the factor recording unit is the determination unit. Determines to notify an obstacle, and based on the condition that the additional condition is satisfied, the notification factor information is stored in the storage medium, and the additional condition is a second other than the first microphone. After the transmitted wave is transmitted from the first microphone without transmitting the transmitted wave by the microphone, one of the first microphone and the second microphone receives the reflected wave and the other receives the reflected wave. It is an obstacle detection device for vehicles, which is a condition that it does not receive waves.

In this way, the factor recording unit records the notification factor information based on the determination that the notification is performed, so that the notification factor information for finding the cause of the unnecessary notification of the vehicle obstacle detection device can be efficiently obtained. Can be recorded. In fact, by doing so, the amount of data to be recorded can be reduced as compared with the case where the notification factor information is constantly recorded. Moreover, since the notification factor information is recorded by selecting the case where it is determined that the notification is to be performed, there is a high possibility that the cause of the unnecessary notification can be identified as compared with the case where the amount of data to be recorded is simply reduced. Become. That is, it is possible to efficiently record the data for identifying the cause of the unnecessary notification.

The reference numerals in parentheses in the above and claims indicate the correspondence between the terms described in the claims and the concrete objects described in the embodiments described later and which are examples of the terms. is there.

It is a block diagram of the obstacle detection device for a vehicle in 1st Embodiment. It is a figure which shows the arrangement of an ultrasonic sensor. It is a block diagram of an ultrasonic sensor. It is a flowchart of a main process. It is a figure which shows the usage state of the ultrasonic sensor in the transmission / reception processing of each group. It is a flowchart of transmission / reception processing. It is a flowchart of a notification factor recording process. It is a flowchart of temperature characteristic map recording processing in 2nd Embodiment.

(First Embodiment)
Hereinafter, the first embodiment will be described. As shown in FIG. 1, the vehicle obstacle detection device according to the present embodiment is mounted on the vehicle and has a right ultrasonic sensor 1R, a central right ultrasonic sensor 1RC, a central left ultrasonic sensor 1LC, and a left ultrasonic sensor 1L. , A camera 3, a control ECU 4, and a notification device 5.

The right ultrasonic sensor 1R, the central right ultrasonic sensor 1RC, the central left ultrasonic sensor 1LC, and the left ultrasonic sensor 1L are arranged on the bumper at the front end of the vehicle as shown in FIG. More specifically, the left ultrasonic sensor 1L in the left corner of the front end, the central left ultrasonic sensor 1LC on the left side in the central part of the front end, the central right ultrasonic sensor 1RC on the right side in the central part of the front end, and the right ultrasonic sensor 1R in the right corner of the front end. Is placed.

The right ultrasonic sensor 1R can detect an obstacle in the space region diagonally forward to the right of the vehicle. The center right ultrasonic sensor 1RC can detect an obstacle in the space area slightly to the right of the front center of the vehicle. The center left ultrasonic sensor 1LC can detect an obstacle in the space area slightly to the left of the front center of the vehicle. The left ultrasonic sensor 1L can detect an obstacle in the space region diagonally forward to the left of the vehicle. A part of the area where the center right ultrasonic sensor 1RC can detect an obstacle and a part of the area where the center left ultrasonic sensor 1LC can detect an obstacle overlap.

As shown in FIG. 3, each of the right ultrasonic sensor 1R, the central right ultrasonic sensor 1RC, the central left ultrasonic sensor 1LC, and the left ultrasonic sensor 1L has a microphone 11, a transmission circuit 12, a reception circuit 13, and a control unit 14. , Has a communication interface 15.

The microphone 11 vibrates in response to a pulse signal applied from the transmission circuit 12 to generate an ultrasonic transmission wave, and transmits the transmission wave to the outside. The microphone 11 also receives ultrasonic waves coming in from the outside. The microphone 11 outputs a reception level indicating the magnitude of the received ultrasonic waves to the reception circuit 13. The ultrasonic wave received by the microphone 11 may be a reflected wave generated by the above-mentioned transmitted wave hitting an obstacle and reflected, or may be another ultrasonic wave.

The transmission circuit 12 generates a pulse signal when a transmission instruction signal is input from the control unit 14, and outputs the pulse signal to the microphone 11. The microphone 11 is driven by this pulse signal to transmit a pulsed transmitted wave.

The receiving circuit 13 performs amplification and A / D conversion on the signal input from the microphone 11, and outputs the signal after amplification and A / D conversion (hereinafter referred to as a reflected wave signal) to the control unit 14. ..

When the control unit 14 acquires the transmission command transmitted from the control ECU 4 from the communication interface 15, the control unit 14 outputs a transmission instruction signal to the transmission circuit 12. Further, the control unit 14 may acquire a reception command transmitted from the control ECU 4 from the communication interface 15. The reception command is a command instructing that only the reception wave is performed without transmitting the transmission wave. The ultrasonic sensor next to the ultrasonic sensor that received the reception command sends the transmitted wave.

Further, the control unit 14 calculates the distance to the object based on the time difference from the transmission timing of the transmission wave to the timing of receiving the reflected wave at the reception level equal to or higher than the object detection threshold. 1/2 of the value obtained by multiplying this time difference by the speed of sound is the distance to the obstacle. The distance detected in this way is hereinafter referred to as a detection distance. The control unit 14 transmits the calculated detection distance to the control ECU 4.

As the transmission timing of the transmission wave used for calculating the time difference, the time when the control unit 14 finally acquires the transmission command or the reception command is used. Therefore, the transmission timing of the transmitted wave may be the transmission timing of the transmitted wave by the microphone 11 belonging to the same ultrasonic sensor as the control unit 14, or the microphone 11 belonging to the ultrasonic sensor different from the control unit 14. It may be the transmission timing of the transmitted wave by.

At the time when the reflected wave above the object detection threshold is received, the reflected wave signal first sets the object detection threshold in the reflected wave detection period starting from the detection start timing of the reflected wave after the timing when the transmission wave ends. It is the time when it is exceeded.

In the control unit 14 that has received the transmission command, the timing at which the output of the pulse wave from the transmission circuit 12 to the microphone 11 is completed is used as the timing at which the transmission of the transmission wave is completed. In the control unit 14 that has received the reception command, as the timing at which the transmission wave has been transmitted, a period in which a predetermined period has elapsed since the reception command was received is used.

Hereinafter, the timing at which the transmission of the transmitted wave ends is referred to as the transmission end timing. This pulse wave is a signal for transmitting a transmission wave to the microphone 11.

Hereinafter, the timing at which the transmission of the transmitted wave ends is referred to as the transmission end timing. This pulse wave is a signal for transmitting a transmission wave to the microphone 11.

Here, the time from the transmission end timing to the reflected wave detection start timing is the same as the reverberation comparison time for removing the influence of the reverberation or shorter than the reverberation comparison time. Reverberation means that the diaphragm constituting the microphone 11 vibrates even after the output of the transmitted wave due to the output of the transmitted wave by the microphone 11.

That is, the control unit 14 starts detecting the reflected wave based on the fact that the reception level of the microphone becomes equal to or lower than the reverberation threshold within the reverberation comparison time after the wave transmission end timing by the microphone 11.

Further, when the reception level of the microphone 11 does not fall below the reverberation threshold within the reverberation comparison time after the wave transmission end timing, the control unit 14 exceeds the reverberation comparison time after the wave transmission end timing. Based on this, the detection of the reflected wave is started. By doing so, obstacles can be detected even when the reverberation and the reflected wave overlap. The reverberation threshold value may be the same value as the object detection threshold value or may be a value different from the object detection threshold value.

The reverberation comparison time may be a fixed value or may be changed by learning. The earlier the reverberation comparison time ends, the faster the reflected wave signal can be received, and the closer obstacles can be detected. In addition, the length of continuous reverberation varies depending on the usage environment of the vehicle obstacle detection device. From this, it is possible to detect obstacles at a closer distance by learning the time until the end of reverberation in real time.

The upper limit of the detection distance is several meters or more, and the size of the transmitted wave transmitted by the microphone 11 and the gain of the receiving circuit 13 are set so that an obstacle located at the upper limit of the detection distance can be detected. ing. When the upper limit of the detection distance is set to several meters or more, the distance between the ultrasonic sensors adjacent to each other is smaller than the upper limit of the detection distance. Therefore, each ultrasonic sensor can receive a reflected wave, that is, an indirect wave, which is generated by reflecting a transmitted wave transmitted by an ultrasonic sensor adjacent to its own unit by an obstacle. In each ultrasonic sensor, when the transmitted wave transmitted by the own unit receives the reflected wave generated by being reflected by an obstacle, the reflected wave is a direct wave.

The communication interface 15 transmits the detection distance calculated by the control unit 14 to the communication interface 40 of the control ECU 4. Further, the communication interface 15 receives the transmission command and the reception command transmitted by the communication interface 40 of the control ECU 4, and outputs the transmission command and the reception command to the control unit 14.

The GPS receiver 2 receives signals from a plurality of GPS satellites and identifies the current position of its own unit (that is, the current position of the vehicle) based on the received signals. The camera 3 is a device that repeatedly (for example, 30 times per second) captures a range in which an obstacle can be detected by any one of the ultrasonic sensors 1R, 1RC, 1LC, and 1L around the vehicle.

The control ECU 4 has a communication interface 40, a CPU 41, a RAM 42, and a flash memory 43. The communication interface 40 is an interface circuit for communicating with the communication interface 15 of the ultrasonic sensors 1R, 1RC, 1LC, and 1L. The CPU 41 communicates with the control unit 14 of the ultrasonic sensors 1R, 1RC, 1LC, and 1L via the communication interface 40 and the communication interface 15 of the ultrasonic sensors 1R, 1RC, 1LC, and 1L. All communication between the control ECU 4 and the ultrasonic sensors 1R, 1RC, 1LC, and 1L described below is performed via the communication interface 40 and the communication interface 15.

The CPU 41 executes a program recorded in the flash memory 43 or a ROM (not shown), and uses the RAM 42 and the flash memory 43 as a work area during the execution. When the CPU 41 executes various programs described later, the control ECU 4 realizes processing according to the program. The RAM 42 is a volatile storage medium, and the flash memory 43 is a non-volatile storage medium. The amount of data that can be written per unit time and the amount of data that can be read per unit time are larger in the RAM 42 than in the flash memory 43.

The RAM 42 includes an area used as a ring buffer 42a. Further, the flash memory 43 also includes an area used as the ring buffer 43a.
Data is cyclically recorded in the ring buffers 42a and 43a. That is, data is additionally recorded in the empty areas in the ring buffers 42a and 43a in the order of addresses, and when the empty areas are exhausted, the newly added data is overwritten with the oldest data.

The notification device 5 is controlled by the control ECU 4 and notifies the occupants in the vehicle interior of the vehicle by using one or both of the image and the sound.

Hereinafter, the processing realized by the control ECU 4 will be described. When the CPU 41 executes a predetermined program, the control ECU 4 periodically and repeatedly executes the main process shown in FIG. In one main process, the control ECU 4 first performs group G1 transmission / reception processing in step 100, then performs group G2 transmission / reception processing in step 200, and then performs group G3 transmission / reception processing in step 300. After step 300, the process returns to step 100.

In each of the group G1 transmission / reception processing, the group G2 transmission / reception processing, and the group G3 transmission / reception processing, the control ECU 4 causes the transmission wave to be transmitted from at least one ultrasonic sensor among the ultrasonic sensors 1R, 1RC, 1LC, and 1L, and ultrasonic waves are transmitted. Attempts to receive reflected waves with two ultrasonic sensors out of sensors 1R, 1RC, 1LC, and 1L.

Specifically, as shown in FIG. 5, in the group G1 transmission / reception processing, in the group G1 transmission / reception processing, the central right ultrasonic sensor 1RC transmits a transmitted wave, and the central right ultrasonic sensor 1RC receives a reflected wave. The center left ultrasonic sensor 1LC is controlled to receive the indirect wave of this transmitted wave. That is, in the group G1 transmission / reception processing, the central right ultrasonic sensor 1RC is used for receiving the direct wave, and the central left ultrasonic sensor 1LC is used for receiving the indirect wave.

Further, in the group G2 transmission / reception processing, the control ECU 4 causes the right ultrasonic sensor 1R and the left ultrasonic sensor 1L to send a transmitted wave, and the right ultrasonic sensor 1R and the left ultrasonic sensor 1L to receive a reflected wave. To control. That is, in the group G2 transmission / reception processing, both the right ultrasonic sensor 1R and the left ultrasonic sensor 1L are used for receiving the direct wave.

Further, in the control ECU 4, in the group G3 transmission / reception processing, the central left ultrasonic sensor 1LC transmits a transmitted wave, the central left ultrasonic sensor 1LC receives the reflected wave, and the central right ultrasonic sensor 1RC receives this transmitted wave. Control to receive the indirect wave of. That is, in the group G3 transmission / reception processing, the central left ultrasonic sensor 1LC is used for receiving the direct wave, and the central right ultrasonic sensor 1RC is used for receiving the indirect wave.

The control ECU 4 executes the transmission / reception processing shown in FIG. 6 in each of the group G1 transmission / reception processing, the group G2 transmission / reception processing, and the group G3 transmission / reception processing. The transmission / reception processing shown in FIG. 6 is realized by the CPU 41 executing a predetermined program.

First, in step 105, the control ECU 4 transmits a reception command to any of the ultrasonic sensors 1R, 1RC, 1LC, and 1L. The transmission target of the reception command is all the ultrasonic sensors used for receiving the direct wave in the current transmission / reception processing and all the ultrasonic sensors used for receiving the indirect wave in the current transmission / reception processing. For example, in the group G1 transmission / reception processing, the transmission target of the reception command is only the center right ultrasonic sensor 1RC and the center left ultrasonic sensor 1LC.

As a result, in each of the ultrasonic sensors to which the reception command is transmitted, the control unit 14 acquires the reception command via the communication interface 15. Then, based on the acquisition, as described above, the detection distance is calculated based on the time difference from the acquisition time of the reception command to the timing of receiving the reflected wave at the reception level equal to or higher than the object detection threshold.

Normally, there are no ultrasonic waves around the vehicle that are noisy for obstacle detection. Therefore, in the normal case, the control unit 14 does not detect the reflected wave at the reception level equal to or higher than the object detection threshold value during the predetermined waiting time from the acquisition time of the reception command. Therefore, the control unit 14 does not transmit the detection distance to the control ECU 4. This waiting time is sufficiently longer than the reverberation comparison time.

On the other hand, unlike usual, it is assumed that ultrasonic waves that cause noise for obstacle detection exist around the vehicle. Examples of such ultrasonic waves include ultrasonic waves emitted from vending machines, ultrasonic waves emitted from parking lot entrance / exit gates, and the like. In such a case, in the ultrasonic sensor to which the reception command is transmitted, the reception level of the microphone 11 becomes the object detection threshold even though the microphone 11 does not transmit the transmission wave. As a result, the control unit 14 of the ultrasonic sensor detects the reflected wave at the reception level equal to or higher than the object detection threshold value from the time when the reception command is acquired until the predetermined waiting time elapses. Therefore, the control unit 14 transmits the detection distance to the control ECU 4. In this scene, the object detection threshold serves as a noise reference value.

After transmitting the reception command in step 105, the control ECU 4 proceeds to step 110, waits for the detection distance to be received from the ultrasonic sensor for the above-mentioned standby time or longer, and then waits for the detection distance to be received from the ultrasonic sensor. Is determined whether or not one or more are received. If one or more detection distances have not been received, it is a normal state without noise, and the process proceeds to step 120. If one or more detection distances have been received, there is noise, and the process proceeds to step 115.

In step 115, the noise flag in the RAM 42 is set to on. At the start of transmission / reception processing, this noise flag is initialized to off. Following step 115, the process proceeds to step 120.

In step 120, the control ECU 4 transmits only the transmission command, or both the transmission command and the reception command, to any of the ultrasonic sensors 1R, 1RC, 1LC, and 1L. The transmission target of the transmission command is all ultrasonic sensors used for receiving direct waves in this transmission / reception process. The transmission target of the reception command is all ultrasonic sensors used for receiving indirect waves in this transmission / reception processing.

For example, in the group G1 transmission / reception processing, the transmission target of the transmission command is only the center right ultrasonic sensor 1RC, and the transmission target of the reception command is only the center left ultrasonic sensor 1LC. Further, for example, in the group G2 transmission / reception processing, the transmission target of the transmission command is only the right ultrasonic sensor 1R and the left ultrasonic sensor 1L, and there is no transmission target of the reception command.

As a result, in each of the ultrasonic sensors to which the transmission command is transmitted, the control unit 14 acquires the transmission command via the communication interface 15. Then, based on the acquisition of this transmission command, the transmission instruction signal is output to the transmission circuit 12 belonging to the same ultrasonic sensor. As a result, the transmission circuit 12 generates a pulse signal and outputs the pulse signal to the microphone 11 belonging to the same ultrasonic sensor. The microphone 11 is driven by this pulse signal and transmits a transmission wave having the same frequency as the pulse signal. A reflected wave is generated by the transmitted wave being reflected by hitting an object (for example, an obstacle) around the vehicle. This reflected wave reaches the microphone 11 which is the transmission source of the transmitted wave that generated the reflected wave as a direct wave. Further, the reflected wave may reach the microphone 11 other than the source of the transmitted wave that generated the reflected wave as an indirect wave.

When the microphone 11 that is the source of the transmitted wave receives the direct wave, the microphone 11 outputs an electric signal representing the direct wave to the receiving circuit 13 belonging to the same ultrasonic sensor, and the receiving circuit 13 outputs the electric signal. The reflected wave signal corresponding to the signal is output to the control unit 14 belonging to the same ultrasonic sensor.

Then, as described above, the control unit 14 calculates the detection distance based on the time difference from the acquisition time of the transmission command to the timing of receiving the direct wave of the reception level equal to or higher than the object detection threshold.

If there is an obstacle in the detection range of the ultrasonic sensor, the control unit 14 detects a reflected wave having a reception level equal to or higher than the object detection threshold within the waiting time from the time when the transmission command is acquired. At this time, the control unit 14 transmits the detection distance to the control ECU 4. This detection distance is an index according to the time from the transmission timing of the transmitted wave by the microphone 11 of the ultrasonic sensor to the reception timing of the reflected wave by the microphone 11.

If there is no obstacle in the detection range of the ultrasonic sensor, the control unit 14 does not detect a reflected wave having a reception level equal to or higher than the object detection threshold within the waiting time from the time when the transmission command is acquired. At this time, the control unit 14 transmits the reverberation time, not the detection distance, to the control ECU 4. This reverberation time is the time from the timing when the transmission wave of the ultrasonic sensor to the microphone 11 ends (that is, the transmission end timing) to the timing when the output level of the microphone 11 becomes equal to or less than the reverberation threshold. ..

Further, in each of the ultrasonic sensors to which the reception command is transmitted, the control unit 14 acquires the reception command via the communication interface 15. Then, based on the acquisition of the reception instruction, it waits for the reception of the indirect wave. When the microphone 11 belonging to the same ultrasonic sensor as the control unit 14 receives the indirect wave, the microphone 11 outputs an electric signal representing the direct wave to the receiving circuit 13 belonging to the same ultrasonic sensor. Then, the receiving circuit 13 outputs a reflected wave signal corresponding to the electric signal to the control unit 14. Then, the control unit 14 calculates the detection distance as described above based on the reflected wave signal. As described above, the detection distance is calculated based on the time difference from the time when the reception command is acquired to the timing when the indirect wave at the reception level equal to or higher than the object detection threshold is received.

If there is an obstacle in the detection range of the ultrasonic sensor, the control unit 14 detects a reflected wave having a reception level equal to or higher than the object detection threshold within the waiting time from the time when the transmission command is acquired. At this time, the control unit 14 transmits the detection distance to the control ECU 4. This detection distance depends on the time from the transmission timing of the transmitted wave by the microphone 11 of the ultrasonic sensor for direct wave reception to the reception timing of the reflected wave by the microphone 11 of the ultrasonic sensor for indirect wave reception. It is an index.

The control ECU 4 subsequently waits in step 125 for receiving the above-mentioned standby time or longer, detection distance or reverberation time from the ultrasonic sensor. After that, the pair of the detection distance and the reverberation time received in the waiting time and the identifier of the ultrasonic sensor of the receiving source of the detection distance or the reverberation time is recorded in the ring buffer 42a of the RAM 42. As a result, the latest sensing information and the past sensing information are recorded in the ring buffer 42a by a maximum of the data capacity of the ring buffer 42a. The sensing information is data including one or more pairs recorded as described above. Each of the one or more pairs is a pair of a detection distance and an ultrasonic sensor identifier, or a pair of a reverberation time and an ultrasonic sensor identifier.

Subsequently, in step 130, it is determined whether or not only one of the direct wave and the indirect wave is missing based on the latest sensing information.

When the ultrasonic sensor at the destination of the transmission command detects the direct wave, but the ultrasonic sensor at the destination of the reception command does not detect the indirect wave, but only the indirect wave is missing. Applicable. The case where the ultrasonic sensor at the destination of the reception command detects the indirect wave even though the ultrasonic sensor at the destination of the transmission command does not detect the direct wave corresponds to the case where only the direct wave is missing. ..

Here, the microphone 11 of the ultrasonic sensor used for receiving direct waves is used as the first microphone, and the microphone 11 of the ultrasonic sensor used for receiving indirect waves is used as a second microphone other than the first microphone. And. In this case, after the transmitted wave is transmitted from the first microphone without being transmitted by the second microphone, the first microphone receives the direct wave and the second microphone receives the indirect wave. The case where the wave is not received corresponds to the case where only the indirect wave is missing. Further, after the transmitted wave is transmitted from the first microphone without being transmitted by the second microphone, the first microphone does not receive the direct wave and the second microphone is an indirect wave. Corresponds to the case where only the direct wave is missing.

When the ultrasonic sensor at the destination of the transmission command detects the direct wave and the ultrasonic sensor at the destination of the reception command detects the indirect wave, it corresponds to the case where neither the direct wave nor the indirect wave is absent. Also, if the ultrasonic sensor at the destination of the transmission command does not detect the direct wave and the ultrasonic sensor at the destination of the reception command does not detect the indirect wave, both the direct wave and the indirect wave are missing. Applicable when there is.

In many cases, when an ultrasonic sensor receives a direct wave, the indirect wave generated by reflecting the transmitted wave transmitted from the ultrasonic sensor is paired with the ultrasonic sensor to receive the indirect wave. The ultrasonic sensor for the wave should receive the wave.

If this is not the case, for example, if only the indirect waves are missing, there is a good chance that there is something wrong with the vehicle obstacle detector, or if not, record the situation for verification. Worth leaving.

Further, for example, if there is a temperature wall of low-temperature and high-temperature air in front of the vehicle, the transmitted wave transmitted from the ultrasonic sensor for receiving direct waves may be reflected by the temperature wall. Depending on the reflection angle at this time, the reflected wave may not return as a direct wave to the ultrasonic sensor for receiving the direct wave, but may return as an indirect wave to the ultrasonic sensor for receiving the indirect wave. In such a case, the user may feel that "the obstacle was notified in the absence of anything".

If only one of the direct and indirect waves is not absent, the process proceeds to step 150. If only one of the direct wave and the indirect wave is missing, the process proceeds to step 135 and the missing flag in the RAM 42 is set to on. At the start of transmission / reception processing, this lack flag is initialized to off. Following step 135, the process proceeds to step 150.

In step 150, it is determined whether or not to notify the obstacle based on the result of the immediately preceding step 120. Specifically, in the immediately preceding step 120, in the current transmission / reception processing and the past transmission / reception processing of the same group as this time, the detection distance is continuously received from a certain ultrasonic sensor for the number of notification reference times or more including this time. It may be determined that the notification is performed only when the notification is performed. Here, the number of notification reference times may be once or a plurality of times. If it is determined that the notification is to be performed, the process proceeds to step 155, and if it is determined that the notification is not performed, the current transmission / reception process is terminated.

In step 155, the control ECU 4 controls the notification device 5 to notify the obstacle. Specifically, for each of the detection distances that caused the determination to perform notification in step 150, the distance range to which the detection distance belongs is specified.

Here, a certain detection distance belongs to any of four distance ranges of short distance, medium distance, long distance, and farthest distance. For example, when the detection distance is less than the first distance threshold, it corresponds to a short distance, when it is equal to or more than the first distance threshold and less than the second distance threshold, it corresponds to a medium distance, and it corresponds to the second distance threshold or more and the third distance threshold. If it is less than, it corresponds to a long distance, and if it is equal to or more than the third distance threshold, it corresponds to the farthest distance. The first distance threshold value, the second distance threshold value, and the third distance threshold value may be fixed values or variable values for providing hysteresis.

Then, the control ECU 4 extracts the distance range closest to the vehicle (for example, a short distance) from the specified distance range, and notifies the content according to the extracted distance range. For example, when the notification device 5 is controlled to sound an alarm sound at a predetermined interval, the length of the predetermined interval is made different for each of a short distance, a medium distance, a long distance, and a longest distance.

Subsequently, in step 160, the notification factor recording process is executed. As shown in FIG. 7, in the notification factor recording process, the control ECU 4 first determines in step 610 whether or not the noise flag is on, and if it is on, proceeds to step 670, and if it is off, it proceeds to step 620. Proceed to. In step 620, it is determined whether or not the lack flag is on, and if it is on, the process proceeds to step 670, and if it is off, the process proceeds to step 630.

In step 630, it is determined whether or not short-distance detection is suddenly performed. Specifically, among the detection distances that caused the determination to perform notification in step 150, the following is determined for each of the detection distances corresponding to the short distance.

First, for the ultrasonic sensor that transmitted the detection distance, the detection distances continuously received including this time in the current transmission / reception processing and the past transmission / reception processing of the same group as the current transmission / reception processing are extracted. Then, when all of the extracted detection distances are short distances, it is determined that the short distance detection is suddenly performed. If a part of the extracted detection distance is not a short distance but a medium distance, a long distance, or the longest distance, it is determined that the short distance detection is not suddenly performed.

In normal cases, obstacles gradually approach the vehicle from a distance, so it is unlikely that they will be detected at medium, long, or longest distances and suddenly at short distances. When short-distance detection is suddenly performed, for example, vibration may be generated along the bumper at the front end of the vehicle. Specifically, in a certain transmission / reception process, when the microphone 11 of the ultrasonic sensor for receiving a direct wave transmits a transmitted wave, the vibration of the microphone 11 at that time is transmitted through the bumper instead of in the air to receive an indirect wave. It may be transmitted to the microphone 11 of the ultrasonic sensor for waves. In such a case, the ultrasonic sensor for receiving indirect waves outputs a short-range detection distance even though it does not detect an obstacle.

If the control ECU 4 determines in step 630 that the short-distance detection is suddenly performed, the process proceeds to step 670, and if it determines that the short-distance detection is not suddenly performed, the control ECU 4 proceeds to step 640.

In step 640, it is determined whether or not the wiper for wiping the raindrops adhering to the window of the vehicle (for example, the windshield) is operating. This determination is performed using a well-known wiper operation sensor that detects the operation or non-operation of the wiper. If the wiper is operating, the process proceeds to step 670, and if the wiper is not operating, the process proceeds to step 650.

When it is raining around the vehicle, the transmitted wave may be reflected by the raindrops and the raindrops may be detected as obstacles. In such a case, the user may think that the obstacle was notified even though there was no obstacle.

In addition to this, the weight of the microphone 11 may change due to the raindrops adhering to the surface of the microphone 11. In such a case, the reverberation time of the microphone 11 is extended, which may lead to false detection of obstacles.

In step 650, it is determined whether or not the outside air temperature is equal to or lower than the reference temperature T0. This determination is made using an outside air temperature sensor that detects the temperature outside the vehicle interior (that is, the outside air temperature). This reference temperature is, for example, 0 ° C. If the outside air temperature is below the reference temperature T0, the process proceeds to step 670, and if the outside air temperature is higher than the reference temperature T0, the process proceeds to step 660.

As described above, when the reception level of the microphone 11 does not fall below the threshold value within the reverberation comparison time after the transmission end timing, the control unit 14 of each ultrasonic sensor compares the elapsed time after the transmission end timing. Based on the time being exceeded, the detection of the reflected wave is started. The transmission end timing is the timing at which the transmission of the transmitted wave by the microphone 11 is completed.

In such an operation, when the temperature around the microphone 11 becomes low, the reverberation remains for a long time after the microphone 11 transmits the transmitted wave. In such a case, the ultrasonic sensor often outputs the detection distance even though there are no obstacles. In such a case, the user may think that the obstacle was notified even though there was no obstacle.

In step 660, it is determined whether or not a communication error has occurred. The communication error refers to a communication error between the ultrasonic sensors 1R, 1RC, 1LC, 1L and the control ECU 4. If it is determined that a communication error has occurred, the process proceeds to step 670. If it is determined that no communication error has occurred, the current notification factor recording process is terminated and the current transmission / reception process is terminated.

Whether or not a communication error has occurred is based on, for example, a checksum transmitted from each communication interface 15 of the ultrasonic sensors 1R, 1RC, 1LC, and 1L and included in the data received by the communication interface 40 of the control ECU 4. May be determined. Causes of the communication error include electrical noise transmitted from a device outside the vehicle, electrical noise output from an in-vehicle device (for example, a fog lamp), and the like.

When a communication error occurs, the control content of the control ECU 4 becomes abnormal, and as a result, there is a possibility that an obstacle is notified even though there is no obstacle. In such a case, the user may think that the obstacle was notified even though there was no obstacle.

In step 670, the notification factor information is recorded in the ring buffer 43a of the flash memory 43. As a result, the latest notification factor information and the past notification factor information are recorded in the ring buffer 43a by a maximum of the data capacity of the ring buffer 43a.

Here, the contents of the notification factor information will be described. The recorded notification factor information includes both information indicating the operating state of the vehicle obstacle detection device and information indicating the operating environment of the vehicle obstacle detection device when the obstacle is notified. This information is useful information for later identifying why the notification was performed in the vehicle obstacle detection device.

More specifically, the notification factor information includes the serial number, the time stamp, the number of times the IG is turned on, the vehicle speed, the weather, the outside temperature, the humidity, the shift position, the obstacle detection area, and the obstacle when the obstacle is notified. Includes detection distance, sensing information history, location information, camera information, etc.

The serial number is the serial number of the vehicle obstacle detection device, and is a number assigned to distinguish it from other vehicle obstacle detection devices of the same type. The serial number is recorded in advance in the ROM of the control ECU 4.

The time stamp is the current time. The number of times the IG is turned on is the cumulative number of times the IG of the vehicle has been turned on since the vehicle obstacle detection device was mounted on the vehicle. The number of times the IG is turned on is recorded in the flash memory 43 when the IG of the vehicle is turned on and at the same time the vehicle obstacle detection device is activated.

The vehicle speed is the current traveling speed of the vehicle and is specified based on information from a vehicle speed sensor (not shown). The weather is the current weather at the location of the vehicle. For example, the control ECU 4 estimates that the weather is rainy if the wiper is operating, and that the weather is sunny if the wiper is not operating. Humidity is the humidity outside the vehicle interior of the vehicle, and can be detected by an in-vehicle humidity sensor (not shown). The shift position is the shift position of the transmission of the vehicle and can be detected by a shift position sensor (not shown).

The obstacle detection area is information indicating a spatial area in which each of the ultrasonic sensors 1R, 1RC, 1LC, and 1L can detect an obstacle. For example, the obstacle detection area indicates the distinction between diagonally forward right, slightly right front center, slightly left front center, and diagonally left front. This information is recorded in advance in the ROM of the control ECU 4. The obstacle detection distance is the above-mentioned first distance threshold value, second distance threshold value, and third distance threshold value, and this information is recorded in advance in the ROM of the control ECU 4.

The history of sensing information is all the sensing information recorded in the ring buffer 42a of the RAM 42 at the time of execution of step 670. By doing so, not only the information of the detection distance and the reverberation time in the current transmission / reception processing but also the information of the detection distance and the reverberation time in the past multiple transmission / reception processing can be included in the notification factor information.

The information is information on the current position of the vehicle and can be obtained from the GPS receiver 2. In this way, by including the current position of the vehicle in the notification factor information, it is possible to grasp the tendency of the place where the user thinks that the obstacle has been notified even though there is no obstacle. It is also possible to conduct a field survey of the situation of a place where the user thinks that an obstacle has been notified even though there is no obstacle.

The camera information is an image currently taken by the camera 3. By including the camera information in the notification factor information, it is possible to visually grasp what is present in the place where the user thinks that the obstacle was notified even though there is no obstacle. As a result, the response from the service provider to the user's inquiry becomes more persuasive.

By such processing in step 160, it is possible to record information on a scene in which the user is likely to think that an obstacle has been notified even though there is no obstacle, in the ring buffer 43a of the flash memory 43 for a plurality of opportunities. it can. After step 160, the current notification factor recording process ends, and the current transmission / reception process ends.

As described above, whether or not the control ECU 4 notifies the obstacle based on the distance index according to the time from the transmission timing of the transmitted wave by the microphone 11 to the reception timing of the reflected wave by the same microphone 11. To judge. Then, the control ECU 4 causes the notification device 5 to notify the obstacle based on the determination that the notification of the obstacle is performed. Then, the control ECU 4 determines at least one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device based on the determination that the obstacle notification is performed. The notification factor information including the above is stored in the flash memory 43.

In this way, the factor recording unit records the notification factor information based on the determination that the notification is performed, so that the notification factor information for finding the cause of the unnecessary notification of the vehicle obstacle detection device can be efficiently obtained. Can be recorded. In fact, by doing so, the amount of data to be recorded can be reduced as compared with the case where the notification factor information is constantly recorded. Moreover, since the notification factor information is recorded by selecting the case where it is determined that the notification is to be performed, there is a high possibility that the cause of the unnecessary notification can be identified as compared with the case where the amount of data to be recorded is simply reduced. Become. That is, it is possible to efficiently record the data for identifying the cause of the unnecessary notification. Therefore, the user's sense of conviction is improved.

Further, the control ECU 4 determines that the obstacle is notified, and stores the notification factor information in the flash memory 43 based on the fact that the wiper is operating. When it is raining around the vehicle, the transmitted wave may be reflected by the raindrops and the raindrops may be detected as obstacles. In such a case, the user may think that the obstacle was notified even though there was no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

Further, the control ECU 4 determines that the obstacle is notified, and stores the notification factor information in the flash memory 43 based on the fact that the outside air temperature is equal to or lower than the reference temperature T0. As described above, when the ambient temperature of the microphone 11 becomes low, the reverberation remains for a long time after the microphone 11 transmits the transmitted wave. In such a case, the ultrasonic sensor often outputs the detection distance even though there are no obstacles. In such a case, the user may think that the obstacle was notified even though there was no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

Further, the control ECU 4 determines that the obstacle is notified, and is notified based on the fact that the reception level of the microphone becomes equal to or higher than the noise reference value even though the microphone 11 does not transmit the transmission wave. The factor information is stored in the flash memory 43.

If there is an ultrasonic wave around the vehicle that causes noise for obstacle detection, the reception level of the microphone 11 is not transmitted by the microphone 11 in the ultrasonic sensor to which the reception command is transmitted. Is the object detection threshold. In such a case, the user may think that the obstacle was notified even though there was no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

Further, the control ECU 4 determines that the obstacle is notified, and stores the notification factor information in the flash memory 43 based on the occurrence of a communication error between the control ECU and the control ECU. When a communication error occurs, the control content of the control ECU 4 becomes abnormal, and as a result, there is a possibility that an obstacle is notified even though there is no obstacle. In such a case, the user may think that the obstacle was notified even though there was no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

Further, the control ECU 4 determines that the obstacle is notified, and all of the detection distances continuously acquired according to the time from the transmission timing of the transmitted wave by the microphone 11 to the reception timing of the reflected wave are all. When the distance is short, the notification factor information is stored in the flash memory 43.

As described above, when short-distance detection is suddenly performed, for example, vibration may be generated along the bumper at the front end of the vehicle. In such a case, the ultrasonic sensor outputs a short-range detection distance even though it does not detect an obstacle. Then, the user may think that the obstacle was notified even though there was no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

Further, the control ECU 4 determines that the obstacle is to be notified, and stores the notification factor information in the flash memory 43 based on the fact that the additional condition is satisfied. Here, the additional condition is that the lack flag is on. That is, the additional condition is that one of the first microphone and the second microphone is reflected after the transmitted wave is transmitted from the first microphone described above without transmitting the transmitted wave by the second microphone described above. The condition is that the wave is received and the other is not received the reflected wave. That is, it is a condition that the direct wave is detected but the indirect wave is not detected, or the indirect wave is detected but the direct wave is not detected. If you can receive a direct wave but cannot receive an indirect wave, or if you can receive an indirect wave but cannot receive a direct wave, it means that there is something wrong. In such a case, the user may think that the obstacle has been notified even though there is no obstacle. Therefore, if the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from the user.

The control ECU 4 functions as a determination unit by executing step 150, functions as a notification processing unit by executing step 155, and functions as a factor recording unit by executing step 670. Further, the control unit 14 corresponds to the detection unit.

(Second Embodiment)
Next, the second embodiment will be described. In the vehicle obstacle detection device of the present embodiment, the operation of the control ECU 4 is different from that of the first embodiment. Specifically, the control ECU 4 repeatedly and periodically executes the temperature characteristic map recording process shown in FIG. 8 in addition to the above-mentioned main process.

In this temperature characteristic map recording process, the control ECU 4 first determines in step 410 whether or not a predetermined information storage condition is satisfied. If it is satisfied, the process proceeds to step 420, and if it is not satisfied, the current temperature characteristic map recording process is terminated.

In step 420, the temperature characteristic map of each ultrasonic sensor is updated. The temperature characteristic map is data having a one-to-one relationship between the ambient temperature of the corresponding ultrasonic sensor and the reverberation time of the ultrasonic sensor for a plurality of different temperatures. This temperature characteristic map is recorded in the flash memory 43. By creating a temperature characteristic map for each ultrasonic sensor, the relationship between temperature and reverberation time in the actual usage environment can be obtained. After step 420, the current temperature characteristic map recording process is finished.

Here, the predetermined information storage conditions in step 410 will be described. The reverberation accumulation condition is a condition that there is a high possibility that the reverberation time can be measured in an environment in which the microphone 11 does not receive vibrations other than the reverberation. If there is vibration other than reverberation, the vibration may overlap with the reverberation, and in that case, the wrong reverberation time will be measured. Specifically, the information storage condition is a condition that all of the following sub-conditions A, B, C, D, and E are satisfied.

The sub-condition A is that the wiper is stopped (that is, it is not operating). This condition can be determined by using the wiper operation sensor as in step 640 described above. If there is rainfall around the vehicle, as mentioned above, there is a possibility that the reflected waves of raindrops will be received.

Sub-condition B is that the outside air temperature is at least the minimum temperature T1. This minimum temperature T1 corresponds to the minimum temperature at which the microphone 11 can vibrate normally. The minimum temperature T1 may be 0 ° C. or −10 ° C.

The sub-condition C is that the noise flag is turned off in the last transmission / reception processing. If ultrasonic noise is present and overlaps with the reverberation, the wrong reverberation time will be measured.

The sub-condition D is that the lack flag is turned off in the last transmission / reception processing of the group G1 or the group G3. If you can receive the direct wave but not the indirect wave, or if you can receive the indirect wave but cannot receive the direct wave, there is something wrong with it, so the reverberation is wrong. There is a possibility of measuring the time.

The sub-condition E is that the same communication error as determined in step 660 has not occurred. If a communication error occurs, the control ECU 4 may receive an incorrect reverberation time.

Next, updating the temperature characteristic map of each ultrasonic sensor in step 420 will be described. In step 420, the control ECU 4 first reads out all the pairs of the reverberation time and the ultrasonic sensor acquired in step 125 of the last transmission / reception process. Then, in each of the read pairs, the temperature characteristic map corresponding to the ultrasonic sensor in the pair is modified based on the reverberation time described in the pair and the current outside air temperature.

For example, when the reverberation time at the outside air temperature is not recorded in the temperature characteristic map, the control ECU 4 associates the reverberation time in the pair with the outside air temperature and additionally records it in the temperature characteristic map.

Further, for example, when the reverberation time corresponding to the outside air temperature is recorded in the temperature characteristic map, the control ECU 4 has an intermediate value (for example, an average value) between the recorded outside air temperature and the reverberation time in the pair. ) Is calculated. Then, the calculated value is set as a new reverberation time corresponding to the outside air temperature in the temperature characteristic map. With this modification, the reverberation time corresponding to the current outside air temperature in the temperature characteristic map approaches the reverberation time in the pair.

The control ECU 4 may set the reverberation comparison time based on the temperature characteristic map recorded in this way. That is, the control ECU 4 specifies the reverberation time corresponding to the current outside air temperature by applying the current outside air temperature to the temperature characteristic map, and uses the value obtained by adding the margin time to the specified reverberation time as the reverberation comparison time. You may. By doing so, it is possible to learn the reverberation comparison time.

As described above, the control ECU 4 determines the reverberation time from the timing at which the transmission wave of the microphone 11 ends to the reception level of the microphone becoming equal to or lower than the reverberation threshold when the predetermined information storage condition is satisfied. Record with the outside air temperature for each ultrasonic sensor.

By doing so, the relationship between the reverberation time and the temperature can be acquired for each ultrasonic sensor. Since there are individual differences in the characteristics of the ultrasonic sensor, it is possible to grasp the characteristics of each ultrasonic sensor by recording the relationship between the temperature and the reverberation time in the actual usage environment of the ultrasonic sensor in this way. Further, since the temperature characteristic map is updated when a predetermined information storage condition is satisfied, the content of the temperature characteristic map becomes more accurate.

The control ECU 4 of the present embodiment functions as a reverberation characteristic recording unit by executing step 420.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and can be appropriately modified. Further, the above-described embodiments are not unrelated to each other, and can be appropriately combined unless the combination is clearly impossible. Further, in each of the above embodiments, the elements constituting the embodiment are not necessarily essential except when it is clearly stated that they are essential and when it is clearly considered to be essential in principle. Further, in each of the above embodiments, when numerical values such as the number, numerical values, amounts, and ranges of the constituent elements of the embodiment are mentioned, when it is clearly stated that they are particularly essential, and in principle, the number is clearly limited to a specific number. It is not limited to the specific number except when it is done. In particular, when a plurality of values are exemplified for a certain quantity, it is also possible to adopt a value between the plurality of values unless otherwise specified or when it is clearly impossible in principle. .. In addition, in each of the above embodiments, when referring to the shape, positional relationship, etc. of a component or the like, the shape, unless otherwise specified or limited in principle to a specific shape, positional relationship, etc. It is not limited to the positional relationship. In addition, the present invention also allows the following modifications and equal range modifications for each of the above embodiments. In addition, the following modified examples can be independently selected to be applied or not applied to the above embodiment. That is, any combination of the following modifications can be applied to the above embodiment.

(Modification example 1)
In the above embodiment, the control ECU 4 records the notification factor information in the ring buffer 43a of the flash memory 43. However, instead of or in addition to this, the notification factor information may be transmitted to a server outside the vehicle. Communication with the server may be performed via a wide area network such as the Internet, or may be performed via a private network. The server records the received notification factor information in the non-volatile storage medium.

(Modification 2)
In the above embodiment, if the control ECU 4 has an affirmative determination in any of steps 610, 620, 630, 640, 650, and 660 of FIG. 7, the control ECU 4 records the notification factor information in step 670. That is, all of steps 610, 620, 630, 640, 650, and 660 are combined under the OR condition. However, this does not necessarily have to be the case.

For example, how to combine the determinations of steps 610, 620, 630, 640, 650, and 660 may be set by a service provider such as a car dealer or an automobile manufacturer. For example, the setting may be changed so that the notification factor information is recorded only when a positive determination is made in any of steps 610 and 620. Further, for example, the setting may be changed so that the notification factor information is recorded only when a positive determination is made in both steps 630 and 650. Further, for example, all of steps 610, 620, 630, 640, 650, and 660 may be combined under the AND condition.

(Modification 3)
Further, the vehicle obstacle detection device may have a factor recording switch that can be operated by a vehicle occupant. When the control ECU 4 notifies the obstacle in step 155 and the factor recording switch is operated within a predetermined time (for example, 30 seconds) from the start of the notification, the determination result of steps 610 to 660 is obtained. Independently, the notification factor information may be recorded in the ring buffer 43a in step 670. By doing so, when the occupant of the vehicle feels that the notification is unnecessary, the notification factor information is recorded by operating this factor recording switch. If the notification factor information is recorded in such a situation, it is possible to appropriately conduct an investigation for responding to an inquiry from a user.

Further, at this time, the control ECU 4 may stop notifying the obstacle. By doing so, when the occupant of the vehicle feels that the notification is unnecessary, the factor recording switch is operated to stop the notification. Therefore, when the occupant of the vehicle feels that the notification is unnecessary without the user being aware of it, the notification factor information is recorded.

(Modification example 4)
In the above embodiment, the recorded notification factor information is both information indicating the operating state of the vehicle obstacle detection device and information indicating the operating environment of the vehicle obstacle detection device when the obstacle notification is performed. there were. However, this does not necessarily have to be the case. The recorded notification factor information may be only one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device when the obstacle notification is performed. Good.

(Modification 5)
In the above embodiment, the index according to the time from the transmission timing of the transmitted wave by the microphone 11 to the reception timing of the reflected wave by the microphone 11 or another microphone 11 is the detection distance. However, the index may be the time itself, not the detection distance, or may be another quantity that correlates with the time.

(Modification 6)
In the above embodiment, the object detection threshold value and the noise detection threshold value are the same value. However, these two values may be different.

(Modification 7)
In the above embodiment, the ultrasonic sensors 1R, 1RC, 1LC, and 1L are arranged on the front end side of the vehicle. However, the ultrasonic sensor may be arranged at any position such as the rear end position of the vehicle.

(Modification 8)
In the second embodiment, the control ECU 4 performs the temperature characteristic map in step 420 only when the information storage condition that all the sub-conditions A, B, C, D, and E are satisfied is satisfied in step 410 of FIG. To update. That is, the information storage conditions are combined by the AND conditions of the sub-conditions A, B, C, D, and E.

However, this does not necessarily have to be the case. The combination of the sub-conditions A, B, C, D, and E as the information storage conditions may be set by a service provider such as a car dealer or an automobile manufacturer. For example, the setting may be changed so that the notification factor information is recorded only when any of the sub-conditions A and B is satisfied. Further, for example, the setting may be changed so that the notification factor information is recorded only when all of the sub-conditions B, D, and E are satisfied.

1R, 1RC, 1LC, 1L ultrasonic sensor 4 control ECU
11 Microphone 14 Control unit 43 Flash memory

Claims (11)

Judgment as to whether or not to notify an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) that transmits and receives ultrasonic waves to the reception timing of the reflected wave by the microphone. Part (150) and
A notification processing unit (155) that causes the notification device (5) to notify the obstacle based on the determination that the determination unit notifies the obstacle.
Based on the determination that the determination unit notifies the obstacle, at least one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device is provided. A factor recording unit (670) for storing the including notification factor information in the storage medium (43) is provided .
A vehicle obstacle detection device that avoids a process in which the factor recording unit records the notification factor information in the storage medium when the determination unit determines that the obstacle is not notified. The factor recording unit determines that the determination unit notifies an obstacle, and stores the notification factor information in the storage medium based on the fact that the wiper of the vehicle is operating. The vehicle obstacle detection device described in 1. Based on the fact that the reception level of the microphone falls below the threshold within the reverberation comparison time after the transmission end timing after the transmission of the transmitted wave by the microphone is completed, the detection of the reflected wave is started and the transmitted wave is started. If the reception level of the microphone does not fall below the threshold within the reverberation comparison time after the end timing, the reflected wave is based on the fact that the elapsed time after the transmission end timing exceeds the reverberation comparison time. The detection unit (14) for starting the detection of
The factor recording unit stores the notification factor information in the storage medium based on the determination that the determination unit notifies the obstacle and the temperature outside the vehicle interior of the vehicle is equal to or lower than the reference temperature. The vehicle obstacle detection device according to claim 1 or 2. Judgment as to whether or not to notify an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) that transmits and receives ultrasonic waves to the reception timing of the reflected wave by the microphone. Part (150) and
A notification processing unit (155) that causes the notification device (5) to notify the obstacle based on the determination that the determination unit notifies the obstacle.
Based on the determination that the determination unit notifies the obstacle, at least one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device is provided. the notification factor information including, factor recording unit to be stored in the storage medium (43) and (670),
Based on the fact that the reception level of the microphone falls below the threshold within the reverberation comparison time after the transmission end timing after the transmission of the transmitted wave by the microphone is completed, the detection of the reflected wave is started and the transmitted wave is started. If the reception level of the microphone does not fall below the threshold within the reverberation comparison time after the end timing, the reflected wave is based on the fact that the elapsed time after the transmission end timing exceeds the reverberation comparison time. With a detection unit (14) to start the detection of
The factor recording unit stores the notification factor information in the storage medium based on the determination that the determination unit notifies the obstacle and the temperature outside the vehicle interior of the vehicle is equal to or lower than the reference temperature. for causing the vehicle obstacle detecting device. The factor recording unit determines that the determination unit notifies the obstacle, and the reception level of the microphone exceeds the noise reference value even though the microphone does not transmit the transmission wave. The vehicle obstacle detection device according to any one of claims 1 to 4 , wherein the notification factor information is stored in the storage medium based on the above. The factor recording unit determines that the determination unit notifies the obstacle, and the ultrasonic sensor (1R, 1RC, 1LC, 1L) including the microphone, the determination unit, the notification processing unit, and the above. The vehicle according to any one of claims 1 to 5 , which stores the notification factor information in the storage medium based on the occurrence of a communication error with the control ECU (4) including the factor recording unit. Obstacle detector for. The factor recording unit determines that the determination unit notifies the obstacle, and once or once depending on the time from the transmission timing of the transmitted wave by the microphone to the reception timing of the reflected wave by the microphone. The present invention according to any one of claims 1 to 6 , wherein the notification factor information is stored in the storage medium based on the determination that all of the detection distances acquired a plurality of times in succession are a predetermined short distance. Obstacle detection device for vehicles. Judgment as to whether or not to notify an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) that transmits and receives ultrasonic waves to the reception timing of the reflected wave by the microphone. Part (150) and
A notification processing unit (155) that causes the notification device (5) to notify the obstacle based on the determination that the determination unit notifies the obstacle.
Based on the determination that the determination unit notifies the obstacle, at least one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device is provided. A factor recording unit (670) for storing the including notification factor information in the storage medium (43) is provided .
Based on the fact that the determination unit continuously acquires the detection distance based on the index according to the time from the transmission timing of the transmitted wave by the microphone to the reception timing of the reflected wave by the microphone, the notification reference number of times. Judging that the obstacle will be notified,
The factor recording unit determines that the determination unit notifies an obstacle, and determines that all of the detection distances acquired by the notification reference number of times are a predetermined short distance. An obstacle detection device for vehicles that stores factor information in the storage medium. The microphone is the first microphone and
The factor recording unit determines that the determination unit notifies the obstacle, and stores the notification factor information in the storage medium based on the fact that the additional condition is satisfied.
The additional condition is that the transmitted wave is not transmitted by the second microphone other than the first microphone, and the transmitted wave is transmitted from the first microphone, and then the first microphone and the second microphone are transmitted. The vehicle obstacle detection device according to any one of claims 1 to 8 , wherein one of them receives a reflected wave and the other does not receive a reflected wave. Judgment as to whether or not to notify an obstacle based on an index according to the time from the transmission timing of the transmitted wave by the microphone (11) that transmits and receives ultrasonic waves to the reception timing of the reflected wave by the microphone. Part (150) and
A notification processing unit (155) that causes the notification device (5) to notify the obstacle based on the determination that the determination unit notifies the obstacle.
Based on the determination that the determination unit notifies the obstacle, at least one of the information indicating the operating state of the vehicle obstacle detection device and the information indicating the operating environment of the vehicle obstacle detection device is provided. A factor recording unit (670) for storing the including notification factor information in the storage medium (43) is provided .
The microphone is the first microphone and
The factor recording unit determines that the determination unit notifies the obstacle, and stores the notification factor information in the storage medium based on the fact that the additional condition is satisfied.
The additional condition is that the transmitted wave is not transmitted by the second microphone other than the first microphone, and the transmitted wave is transmitted from the first microphone, and then the first microphone and the second microphone are transmitted. An obstacle detection device for vehicles, which is a condition that one of them receives a reflected wave and the other does not receive a reflected wave. It is provided with a reverberation characteristic recording unit (420) that records the reverberation time from the timing at which the transmission wave transmitted by the microphone ends to the reception level of the microphone becoming equal to or lower than the reverberation threshold, together with the temperature outside the vehicle interior. The vehicle obstacle detection device according to claim 1.

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