To satisfy the non-detection performance of a non-detection object and to suppress the degradation of the detection performance of a detection object.SOLUTION: A ranging sensor 20 has a transmitting microphone that transmits an ultrasonic wave, a receiving microphone that receives the reflected wave, and a detection and processing circuit that outputs a ranging result including the calculated distance as a ranging result of a detection object if the crest value of the reflected wave is greater than a threshold value. A photographic image acquisition part 12A acquires a photographic image of the area around a vehicle 1. A size calculation part 12B calculates the size of non-detection objects in the photographic image based on the photographic image. An estimated crest value calculation part 12C calculates the estimated crest value that is the estimated crest value of the reflected wave by the non-detection object of the ultrasonic wave based on the size. A threshold calculation part 12D calculates a threshold value that is larger than the estimated wave height as a threshold value corresponding to the distance to the non-detection object. An update part 12E updates the threshold value used by the ranging sensor 20 to the threshold value calculated by the threshold calculation part 12D.SELECTED DRAWING: Figure 3

    【課題】非検知対象物の非検知性能を満たし、且つ検知対象物の検知性能の劣化抑制を図る。【解決手段】測距センサ20は、超音波を送波する送波マイクと反射波を受波する受波マイクと反射波の波高値が閾値以上である場合、算出した距離を含む測距結果を検知対象物の測距結果として出力する検知処理回路と、を有する。撮影画像取得部12Aは、車両1の周辺の撮影画像を取得する。サイズ算出部12Bは、撮影画像に基づいて、撮影画像に含まれる非検知対象物のサイズを算出する。波高推定値計算部12Cは、サイズに基づいて、超音波の非検知対象物による反射波の波高値の推定値である波高推定値を計算する。閾値計算部12Dは、波高推定値より大きい閾値を該非検知対象物までの距離に対応する閾値として計算する。更新部12Eは、測距センサ20で用いる閾値を、閾値計算部12Dで計算した閾値に更新する。【選択図】図3


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    Title :

    OBJECT DETECTION SYSTEM AND OBJECT DETECTION METHOD AND OBJECT DETECTION PROGRAM AND RANGING SENSOR


    Additional title:

    物体検知システム、物体検知方法、物体検知プログラム、および測距センサ


    Contributors:

    Publication date :

    2024-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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