JPH0157314B2 - - Google Patents

Description

[Detailed description of the invention]

[Technical Field] The present invention relates to a reflection-type object detection device that detects an object using ultrasonic waves. [Prior Art] For example, in a vehicle, an object detection device is known as a device that detects an obstacle located outside the driver's field of vision and guides the driver. This type of object detection device generally uses ultrasonic waves. In this type of device, an ultrasonic transmitter emits ultrasonic waves of a predetermined intensity in a predetermined direction, the ultrasonic transmitter is kept facing the same direction, and the ultrasonic receiver emits the ultrasonic waves. The transmission time of the reflected ultrasonic wave, that is, the distance between the detection device and the obstacle, is measured by the time it takes for the signal received by the sensor to exceed a predetermined threshold level. By the way, the level of the signal that appears on an ultrasound receiver generally does not change in a square wave pattern.
When the peak value of the received wave is taken, it changes into a gentle curve with rising and falling edges (see Figure 7e). This signal level gradually rises from the time when the first ultrasonic wave generated by energizing the ultrasonic transmitter reaches the ultrasonic receiver. It can be determined that there is an ultrasonic wave only after this signal level exceeds a predetermined threshold level, so the reflected wave will be detected after the rise time has elapsed after the first emitted ultrasonic wave reaches the ultrasonic receiver. It will be determined that there is. If this rise time is constant,
By subtracting the rise time from the detected elapsed time, find the accurate transmission time of the ultrasonic wave,
The accurate distance between the object and the detection device can be determined. However, even if the object is located at the same position, the intensity of the reflected wave varies greatly depending on the object's material, shape, inclination with respect to the detection device, etc. When the intensity of the reflected wave changes, the rise time from when the ultrasound first reaches the receiver until its level reaches the threshold changes accordingly. That is, the time required from emitting ultrasonic waves to determining that there is a reflected wave, that is, the distance between the object and the detection device obtained as a detection result, will be different values for objects at the same distance. In the conventional example, this type of measurement error was quite large, about 10 cm. [Objective] An object of the present invention is to reduce time errors caused by differences in reflected wave levels and to improve measurement information. [Configuration] The rise time is the largest when the reflected wave level slightly exceeds the threshold,
When the reflected wave level is very high, the rise time becomes negligibly small. Therefore, for example, in order to detect objects over a wide distance range, the sensitivity can be adjusted and the sensitivity can be gradually increased from the lowest sensitivity, and the time obtained when the first reflected wave exceeding the threshold level is detected. In a device that generates measurement results, the rise time is long for an object with a low reflected wave level, but the rise time is short for an object with a high reflected wave level, resulting in a large error. Therefore, in the present invention, it is possible to adjust the sensitivity, and even if the reflected wave level exceeds the threshold level at a predetermined sensitivity, measurement is performed at least at another sensitivity, and even when the same object is If a wave that can be considered to be a reflected wave from the obtain. In this way, the difference in rise time can be reduced and measurement errors can be reduced. Furthermore, with this, there is no need to worry about setting the threshold level, and the device can be made without adjustment. If the difference between the measurement times obtained with multiple sensitivities is within a specified value, and the time with the higher sensitivity is smaller (the time is smaller due to the smaller rise time), the measurement times obtained with the same object cannot be measured. It can be determined that the wave is a reflected wave. [Example] Hereinafter, an example of the present invention will be described with reference to the drawings. FIG. 1 shows the appearance of an automobile equipped with an obstacle detection device. Referring to FIG. 1, in this embodiment, ultrasonic transmitters 20a, 30a and ultrasonic receivers 20b, 30b are attached to both ends of a rear damper 2 of an automobile 1, respectively. In this embodiment, an ultrasonic transmitter 20a and an ultrasonic receiver 20b, and an ultrasonic transmitter 30a and an ultrasonic receiver 30b are arranged parallel to each other with an interval of 3 cm. Ultrasonic transmitters 20a, 30a and ultrasonic receiver 2 used in this example
0b and 30b are ultrasonic ceramic microphones EFR-OSB40K2 and Matsushita Electric, respectively.
It is EFR-RSB40K2. For example, as shown in FIG. 2, if there is an obstacle 3 behind the automobile 1, the ultrasonic waves emitted from the ultrasonic transmitter are reflected by the obstacle 3, and the reflected waves reach the ultrasonic receiver. Therefore, the distance between the detection device and the obstacle 3 can be measured by measuring the time from when the ultrasonic wave is emitted until the resulting reflected wave is received. FIG. 3 shows a block diagram of the electric circuit of the obstacle detection device mounted on the vehicle of FIG. 1. This will be explained with reference to FIG. The ultrasonic transmitters 20a and 30a are driven by drive circuits 50 and 70, respectively.
is connected to the output end of the ultrasonic receiver 20b.
A discriminating circuit 6 is provided at the output terminal of 30b and 30b, respectively.
0 and 80 are connected. Drive circuits 50 and 70 and discrimination circuits 60 and 80 are connected to microcomputer 90, respectively. Microcomputer 90 used in this example
is Intel's 8-bit single-chip microcomputer 8748. 90a is a crystal oscillator for generating clock pulses which are the basis of the operation of the microcomputer. Reference numeral 40 denotes a starting circuit, which is composed of a starting switch 41 and a waveform shaping circuit 42. The start switch 41 is of a self-reset type and has normally open contacts. The start switch 41 is arranged on the operation panel of the driver's seat. 100 is a buzzer circuit, and a buzzer 102 constituting the buzzer circuit is connected to an output port of a microcomputer 90 via a buzzer drive circuit 101. 110 is a distance display circuit that displays the distance between the vehicle body and an obstacle. The distance display circuit 110 includes a 7-segment display 111 with three digits. The display 111 is dynamically driven by a segment drive circuit 112 and a digit drive circuit 113. 120 is a warning circuit. FIG. 4 shows a specific configuration of the drive circuit 50 shown in FIG. 3. In addition, in FIG. 3, the drive circuits 50 and 7
0 have the same configuration, a description of the configuration of the drive circuit 70 will be omitted. Referring to FIG. 4, this circuit includes an inverter 53. It is equipped with a driving transistor, a step-up transformer T, etc. The input terminal of the inverter 53 is connected to the microcomputer 90.
is connected to a predetermined output port of the A pulse signal Sp that controls the activation of the ultrasonic transmitter 20a is applied to this signal line. This pulse signal
Sp is applied to the primary side of the step-up transformer T via the driving transistor. When a pulse signal is applied to the primary side of the transformer T, the secondary side is
A signal with an amplitude of about 100V is generated. This boosted 40KHz signal is applied to the ultrasonic transmitter 20a. As will be described later, the pulse signal Sp is generated by the microcomputer 90 using software. In particular, in this example, the software adjusts the number of pulses per measurement of the pulse signal Sp that energizes the ultrasonic transmitter in accordance with the set sensitivity.
In other words, when the number of pulses is small, the amplitude of the ultrasonic wave output from the ultrasonic transmitter changes greatly depending on the number of pulses of the signal Sp (Fig. 7b and 1).
(see table). Therefore, in this embodiment, the number of pulses of the signal Sp is changed depending on whether the sensitivity data is an even number or an odd number, and thereby the level of the ultrasound output from the ultrasound transmitter is adjusted in two stages. to adjust the detection sensitivity. In this example, the detection sensitivity is the signal
Adjustment is possible in eight stages by a combination of two-stage adjustment by adjusting the number of pulses of Sp and four-stage gain adjustment of the variable gain amplifier 62, which will be described later.

[Table] FIG. 5 shows a specific configuration of the discrimination circuit 60 shown in FIG. 3. Note that since the discrimination circuits 60 and 80 have the same configuration, a description of the discrimination circuit 80 will be omitted. This will be explained with reference to FIG. Ultrasonic receiver 20b
is connected to the amplifier circuit 61 of the discrimination circuit 60. The amplifier circuit 61 includes three stages of cascade-connected narrowband amplifiers A1, A2, and A3. Each of the amplifiers A1, A2, and A3 is an inverting amplifier composed of an operational amplifier, and a parallel resonant circuit composed of a capacitor and an electric coil resonating at 40 KHz is connected to each feedback path. 62 is a variable gain amplifier. This variable gain amplifier 62 is composed of an operational amplifier 62a, an analog switch (analog multiplexer) AS, and a large number of resistors. variable gain amplifier 6
2, this circuit connects the 2-bit control inputs C0 and C of the analog switch AS.
The resistor selected according to the signal from the microcomputer 90 applied to the operational amplifier 6
2a as a feedback resistor, and amplifies the signal with an amplification degree determined by the resistor and the input resistor rin.
That is, the amplification degree G of this circuit 62 is expressed by the following equation, assuming that the combined resistance rt of the feedback resistors connected between the inverting input terminal and the output terminal of the operational amplifier 62a is rt. G=-rt/rin...(1) Analog switch AS has its ports X0,
1, X2 and X3 is selected by a 2-bit gain setting signal applied to control input terminals C0 and C1, and the selected port and common port Y0 are electrically connected. For example, if the data of the gain setting signal is "0" which becomes L and L for input terminals C0 and C1, respectively, port X0 is selected and the combined resistance rt becomes r0, so the gain G is - It becomes r0/rin. Similarly, when the data of the gain setting signal is "1", "2" and "3", ports X1, X2 and X3 are selected respectively, and the combined resistances rt are r0+r1 and r0+
They become r1+r2 and r0+r1+r2+r3. Therefore, the gain G of the variable gain amplifier 62 can be set in four stages by the gain setting signal. In this embodiment, the maximum gain when the gain setting signal data is "3" is set to about 128 times the minimum gain when the gain setting signal data is "0". 63 is a signal processing circuit that determines the presence or absence of an AC analog electric signal and applies a binary signal according to the result to a predetermined input port of the microcomputer 90. The signal waveforms of each part of the circuit are as shown in FIG. 7a. In other words, operational amplifier
OP1 is a normal amplifier, and when it receives ultrasonic waves, the output terminal of OP1 has a signal corresponding to the ultrasonic waveform.
An electrical signal V1 with a frequency of 40KHz appears. The operational amplifier OP2 is an analog comparator, and compares the level of the signal V1 with a predetermined threshold level, and outputs a binary signal V2 according to the magnitude thereof. This binary signal is connected to the output terminal of the operational amplifier OP2, and is smoothed by a rectifier/smoothing circuit consisting of a diode, a capacitor, and a resistor. The signal V3 thus obtained is compared with a predetermined threshold value by an analog comparator consisting of an operational amplifier OP3, and a binary signal V4 corresponding to the magnitude thereof is outputted from OP3. A circuit connected to the output terminal of the operational amplifier OP3 is an interface circuit provided to match the level of the signal V4 with the input level of the microcomputer 90. The operation of the microcomputer 90 is shown in FIGS. 6a, 6b, 6c, and 6d. First, the general operation will be explained with reference to FIG. 6a. When the power is turned on, the output port is set to a predetermined initial level (non-energized level) and the memory is cleared.
Check the status of the input port and wait for the activation switch 41 to be turned on. When the start switch 41 is turned on, an obstacle detection subroutine is executed. When this subroutine is executed, if an obstacle exists, the measured distance data is stored in the register RB, so if there is distance data, that data is displayed on the display 110. In addition, the buzzer 102 and lamp 12 may be installed as necessary.
1 is energized. Next, the obstacle detection subroutine will be explained. Roughly speaking, first, the sensitivity G is set to the lowest level, ultrasonic waves are emitted, and the process waits until the discrimination circuit 60 or 80 determines that "ultrasonic waves are being received." When "ultrasonic waves are being received", the time data from when the ultrasound was emitted is read. The ultrasonic waves are emitted by executing the ultrasonic emitting subroutine shown in FIG. 6d. The ultrasonic emission subroutine will be explained. to register RC,
Store sensitivity data G. In this example the sensitivity is 8
Since it can be adjusted in stages, the sensitivity data G takes values in the range of 0 to 7. Shift the data in register RC one bit toward the lower bit. In other words, divide the data value by 2. When this is done, the least significant bit data is set to the carry flag. If the sensitivity data G is an even number, the carry flag becomes "0", but if it is an odd number, the carry flag becomes "1". If the carry flag is “0”, that is, an even number, the value N is stored in register RD.
(the number of pulses of Sp), and if the carry flag is “1”, that is, an odd number, the value N is set in the register RD.
Set +γ. Set the data of the register RC (1/2 of the sensitivity data) to the output port, and set the gain data to the analog switch AS of the variable gain amplifier 62. For example, if the sensitivity data is 6, a value of 3 (both signal lines C0 and C1 are "1") is set in the variable gain amplifier 62, and the gain of the amplifier 62 is maximized. Next, set the signal line (Sp) to high level H, wait for 12.5 μsec, set the signal line (Sp) to low level L, wait for 12.5 μsec, and register The contents of RD are decremented by 1 and this process is repeated until the contents of RD become 0. In other words, a pulse signal with a period of 25 μsec and a duty of 50% is output for the number of waves corresponding to the value stored in the register RD. Therefore, when the sensitivity data G is an odd number, more pulses Sp are output in one ultrasonic emission process than when it is an even number. As mentioned above, the signal
Since the level of the ultrasonic wave output from the ultrasonic transmitter changes depending on the number of pulses of Sp, when the sensitivity data G is an odd number, the sensitivity is higher than when it is an even number. In this example, the gain ratio between each step of the variable gain amplifier 62 is kept constant, and the pulse signal
Sensitivity ratio K between when the number of Sp is N and when the number of Sp is N+γ
is set to be the 1/2 power of the gain ratio between each step of the variable gain amplifier 62. . In other words, the sensitivity of the entire device when the sensitivity data G is 0 is
If Go, the sensitivity data G is 1, 2, 3, 4,
The sensitivity of the entire device at 5, 6 and 7 is Go・K, Go・K ² , Go・K ³ , Go・K ⁴ , Go・K, respectively.
K ⁵ , Go·K ⁶ and Go·K ⁷ are K times each other. After emitting ultrasonic waves, first set an interval timer to count the time that has elapsed since the ultrasonic waves were emitted. When an ultrasonic wave is emitted, a relatively low-level noise wave appears at a predetermined timing at the output terminal of the variable gain amplifier 62 due to a direct wave or the like that is not caused by reflection. Also, if there is an object in a certain position,
Due to the ultrasonic waves reflected thereby, reflected waves appear at a timing corresponding to the distance between the object and the detection device. The level of reflected waves varies greatly depending on the distance, material, shape, etc. of the object. If the level of the reflected wave is clearly higher than the noise wave such as the direct wave,
Before the noise wave appears, the level of the reflected wave with low sensitivity exceeds the threshold level Vth (voltage applied to the negative input terminal of OP2), so the wave that exceeds the threshold level Vth first Although the distance of the object can be determined from the time it appears, for example, if the level of the reflected wave is lower than the noise wave as shown in FIG. 7c, there is a possibility that the noise wave will be erroneously detected. Therefore, in this embodiment, the timing T _KL at which a noise wave appears is determined in advance, and when this timing comes, a check is made to see if there is a wave that exceeds the threshold level Vth. Wait until it runs out (to point P1). Furthermore, in this embodiment, when the gain (sensitivity) G is greater than or equal to the predetermined value Gc, timing T _KH (slightly larger than T _KL ) is used instead of timing T _KL . Moreover, in the noise wave, a plurality of peaks W1 and W2 often appear as shown in FIG. 7d due to the superposition of a plurality of waves. In this case, if the threshold level Vth falls between the two peak levels and the valley level between them, the peak of the second noise wave will appear after the wave that appeared at timing T _KL disappears as described above. There is a possibility that W2 will appear and be detected at the timing of point P2. Therefore, in this embodiment, the sensitivity ratio K between each sensitivity step is set to be larger than the ratio (VH/VL) between the maximum peak level VH and the lowest valley level VL that can occur in a noise wave. Noise waves and reflected waves are distinguished by performing time measurements multiple times with different sensitivities. In other words, even if the peaks and troughs of the noise wave cross the threshold level Vth, as shown by the solid line in Figure 7d, if the sensitivity is increased by one level, the sensitivity will be as shown by the dashed line. Since the level of the trough of the noise wave becomes larger than the threshold level Vth,
If the noise wave appearing at timing T _KL falls below the threshold level, the second and subsequent peaks of the noise wave will no longer be detected. Therefore, if we compare these resulting time data, we get
It can be determined whether the data is valid or not based on their magnitude and the difference between them. In addition, time data is detected as the time from when the interval timer is started until the level of the reflected wave W3 (see Figure 7e) exceeds the threshold level Vth. If the level of W3 is different, the rise time (t1-t0 or t2-t0) required from the timing t0 when the reflected wave W3 first arrives until the level of the reflected wave exceeds the threshold level Vth will be different.
As shown by the solid line in the figure, time data obtained when the reflected wave level slightly exceeds the threshold level Vth, and time data obtained when the reflected wave level is sufficiently larger than the threshold level. So,
The measurement results will vary greatly, and this will result in a distance measurement error. Therefore, in this embodiment, even if a reflected wave is detected, the sensitivity is updated and measurements are performed multiple times, and the results are determined to be due to reflected waves reflected by the same object. in case of,
Among them, the data obtained when the sensitivity is high is selected and the distance is calculated from that data. In other words, when the sensitivity is high, the time required for rise is short, so by always selecting data when the sensitivity is high, the difference between the rise times included in each time data, that is, the distance measurement error, becomes small. The specific operation of the obstacle detection subroutine will be described with reference to FIGS. 6b and 6c, but before that, the functions of typical registers used in the routine will be explained. CN1……Noise wave detection timing (T _KL , T _KH )
Counter CN2 that counts the number of times a wave is detected at a time...Counter Tg max that counts the number of times a wave is detected at times other than the noise wave detection timing...Object measurement period RA...Register RB that holds valid time data... ...Register Tw that holds distance data (measurement results) ...Waiting time α to avoid the effects of noise, ripples, etc. included in the signal ...To determine whether the waves are reflected from the same object or not This is reference time data and is set according to the value of CN2. This value is smaller than the maximum value of the rise time, ie, the time required from when the wave first reaches the receiver until its level reaches the threshold level when the maximum amplitude of the reflected wave is just around the threshold level. tn and tn _-1
Compare the difference with this. β...Reference time data for distinguishing between noise waves such as direct waves and reflected waves tn...Time data obtained from the current measurement tn _-1 ...Time data obtained from the previous measurement Gmax...Sensitivity Maximum value of data (7) CN2max...Maximum value of CN2 After setting the interval timer, wait until the timer value reaches T _KL . Once you reach T _KL ,
Referring to the output level of the signal processing circuit 63, it is checked whether the received level of the ultrasonic wave exceeds the threshold level Vtt. If it exceeds Vth, the value of counter CN1 is incremented by 1 and the ultrasonic reception level waits until it falls below the threshold level Vth. If the reception level is below Vth at timing T _KL ,
Proceed immediately to the next process. Set the value obtained by adding the wait time Tw to the timer value in the register Tmax, and wait until the timer value exceeds the Tmax value. Next, referring to the output level of the signal processing circuit 63, it is checked whether ultrasonic waves have been received (whether or not the reception level exceeds the threshold level Vth). If not received, this check is repeated until the timer value reaches Tg max. If the timer value reaches Tg max before ultrasonic waves are received, the gain data G is increased by one step to increase the sensitivity, and the processing after ultrasonic emission is executed again. When ultrasonic waves are received, first check the contents of counter CN2. Since the contents of the counter CN2 are cleared to 0 for the first time, the value of the timer at that time is stored in the register RA. Since ultrasonic waves have been detected, the contents of counter CN2 are incremented by 1. If the value of counter CN2 is not greater than CN2max,
Wait until the timer value reaches Tg max, update the gain G by one step to increase the sensitivity, and execute the process after ultrasonic emission again. If the contents of counter CN2 are 1 or more when ultrasonic waves are received in step S42, the memory table value α is read according to the contents of CN2. Note that the values α1, α2, α2, stored in the memory table associated with the values 1, 2, 3..., n of the counter CN2
α3...αn are set to satisfy the following relationship. α1＞α2＞α3＞……＞αn In other words, the reflected wave level is at the threshold level for the first time.
There is a possibility that there will be a relatively large difference between the time data when Vth is exceeded and the time data measured at the next gain, so the value of counter CN2 is 1.
In the case of , the reference value α1 is set relatively large, and as the value of CN2 becomes larger, the difference in time data becomes smaller, so the reference value is also set smaller. Time data tn _-1 obtained in the previous measurement (with lower sensitivity than the current one) and time data tn obtained this time
Compare with. If tn<tn _-1 and tn+α>tn _-1 , for example, change the time data t1 shown in Figure 7e to tn _-1 and t2 to
As can be understood by associating them with tn, it can be determined that the time data is the result of receiving waves reflected by the same object. If this condition A is satisfied, the current data has a shorter rise time, so the contents of the register RA are updated to the current time data. Further, if the content of the counter CN2 is 2, it is determined whether the following condition B is satisfied. In other words, if the value of counter CN2 is 2, the previously measured time data tn _-1 (contents of RA) is invalid, which corresponds to point P2 where, for example, unnecessary wave W2 was detected as shown by the solid line in Fig. 7d. There is a possibility that it is the actual time data. Therefore, if the content of CN2 is 2, it is determined whether tn-β>tn _-1 (condition B) is satisfied. If time data tn _-1 corresponds to point P2, the time data tn measured this time corresponds to point P
3, it should be larger than tn _-1 by a predetermined value or more. This predetermined value is the reference value β. If condition B is satisfied, the contents of register RA are updated to the current time data (timer value). Also, if neither conditions A nor B are satisfied and the current time data is smaller than the previous time,
For example, there may be a case where an object that generates a large level of reflected waves exists relatively far away, and an object that only generates small reflected waves exists closer to it.In this case, in this example, the current time data is It is regarded as valid, clears counter CN2, updates the contents of register RA to the current time data, and continues measurement. However, if the value of counter CN1 is 1
In this case, the current time data tn is, for example, the 7th d.
Since there is a possibility that the data corresponds to point P2 shown in the figure, this condition is ignored. If any of conditions A, B and tn < tn _-1 are not satisfied, if the value of counter CN2 exceeds its maximum value, or if gain G exceeds its maximum value and there is no valid data in register RA. If it exists, calculate the distance of the object from the time data stored in register RA and send the result to register RB.
Store in. In the embodiment described above, the sensitivity can be adjusted in multiple steps by combining the gain adjustment of the receiving side amplifier and the transmission level adjustment of the ultrasound transmitting side, but the sensitivity can be adjusted in a predetermined step by just adjusting the transmission level of the ultrasound transmitting side. can be carried out. In that case, fine transmission level adjustment is required, but only adjusting the number of pulses as described above provides a relatively low degree of freedom in sensitivity adjustment. In such a case, for example, fine sensitivity adjustment can be performed by utilizing the frequency characteristics of an ultrasonic oscillator, an ultrasonic transmitter, an amplifier, etc. That is, as shown in FIGS. 8a and 8b, the output level of the ultrasonic transmitter and the sensitivity of the ultrasonic transmitter vary greatly depending on the frequency of the signal. Therefore, by adjusting the frequency of the signal that energizes the ultrasonic transmitter, the transmission level, or sensitivity, can be adjusted. To implement this, for example, the ultrasonic emission subroutine of the above embodiment may be modified as shown in FIG. 8c. Note that in the subroutine shown in FIG. 8c, the ultrasonic transmission level is adjusted in only two stages, similar to the embodiment described above. Referring to FIG. 8c, a value (pulse width data) corresponding to the frequency is stored in the register RE, and the time corresponding to this value becomes the high level period and the low level period of the control pulse Sp. In this example, the number N is set to match the center frequency of the ultrasonic transmitter, and the number N+
γ is set to match a frequency shifted by a predetermined amount from the center frequency, so that when the sensitivity data is an even number, the ultrasonic emission level is low, and when the sensitivity data is an odd number, the ultrasonic emission level is high. In addition, in the above embodiment, the ultrasonic emission level is adjusted by adjusting the number of consecutive pulses, but it is also possible to remove a part of the central part from a predetermined number of consecutive pulses, change the interval between pulses, and change the high-level period. The ultrasonic emission level can be similarly adjusted by adjusting the duty between the low level period and the low level period. Further, the adjustment may be made by combining these means, for example, pulse number adjustment and frequency adjustment. [Effects] As described above, according to the present invention, measurements are performed a plurality of times with different sensitivities, and the result is obtained from the measurement value with the smaller error, thereby reducing the distance measurement error.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an automobile equipped with an object detection device according to an embodiment, viewed from the rear. 2 is a plan view showing the rear part of the automobile shown in FIG. 1. FIG. FIG. 3 is a block diagram showing a schematic configuration of the object detection device. FIG. 4 shows the drive circuit 50 shown in FIG.
FIG. Figure 5 shows the third
FIG. 2 is an electrical circuit diagram showing the configuration of a discrimination circuit 60 shown in the figure. Figures 6a, 6b, 6c and 6
Figure d shows the microcomputer 90 shown in Figure 3.
1 is a flowchart showing a schematic operation of the Chapter 7a
The figure is a waveform diagram showing the signal waveform of each part of the electric circuit shown in Figure 5, Figure 7b is a waveform diagram showing the correlation between the number of pulses of the energizing pulse Sp and the reflected wave level, and Figure 7c is a waveform diagram showing the correlation between the number of pulses of the energizing pulse Sp and the reflected wave level.
7d and 7e are timing charts showing examples of changes in the reception level of ultrasonic waves.
8a and 8b are graphs showing an example of the frequency characteristics of an ultrasonic transmitter and an ultrasonic transmitter, respectively, and FIG. 8c is a flowchart of an ultrasonic emission subroutine in another embodiment. 1: Car, 2: Rear bumper, 3: Obstacle, 2
0a, 30a: Ultrasonic transmitter (ultrasonic generating means),
20b, 30b: Ultrasonic receiver (ultrasonic receiving means), 40: Starting circuit, 50, 70: Drive circuit,
60, 80: Discrimination circuit, 61: Narrowband amplifier (amplification means), 62: Variable gain amplifier, 63: Signal processing circuit, 90: Microcomputer (electronic control means), 111: Display.

Claims (1)

[Scope of Claims] 1. Ultrasonic wave generating means for generating ultrasonic waves; Urging means for urging the ultrasonic wave generating means; Ultrasonic receiving means disposed near the ultrasonic wave generating means; Said ultrasonic receiving means Amplifying means for amplifying the signal from the means; and amplitude of the signal applied to the urging means, frequency of the signal applied to the urging means, wave number of the signal applied to the urging means, and pulse signal applied to the urging means. the duty, the interval of the pulse signal applied to the biasing means,
comprising a sensitivity adjustment means for adjusting at least one of the amplification degree of the amplification means and a level for determining whether or not ultrasonic waves are received, and when an object detection instruction is given;
The ultrasonic generation means is energized, the sensitivity is updated to determine whether or not ultrasonic waves are received, and the time data from ultrasonic emission to reception is measured at multiple sensitivities, and the reflected waves from the same object are detected. When there is a plurality of time data obtained by Object detection device. 2. When there is time data obtained at multiple sensitivities, the electronic control means may be configured such that the difference between them is within a predetermined value and the time data obtained when the sensitivity is high is the time data obtained when the sensitivity is low. The reflection type object detection device according to claim 1, which determines that the time data is obtained by a reflected wave from the same object if the data is smaller than the time data. 3. The electronic control means starts measurement from the lowest sensitivity upon receiving an object detection instruction, and gradually sets the sensitivity higher, and sets the predetermined value according to the number of times the reflected wave is detected. A reflective object detection device according to scope 2.