OBSTACLE DETECTION DEVICE

摘要

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

主权项

1. An obstacle detection device comprising:
a plurality of ultrasonic sensors detecting an obstacle by transmitting an ultrasonic wave and receiving a reflected wave of the ultrasonic wave transmitted; and a detection control unit detecting an object using one of at least two of the ultrasonic sensors as a transmission sensor that transmits an ultrasonic wave and the other of the at least two of the ultrasonic sensors as a reception sensor that receives the ultrasonic wave transmitted by the transmission sensor and reflected, wherein the ultrasonic sensor used as the transmission sensor and the ultrasonic sensor used as the reception sensor are attached to a surface of a vehicle body at different heights from a ground so that a difference of the heights between the ultrasonic sensor used as the transmission sensor and the ultrasonic sensor used as the reception sensor is a predetermined threshold height, the predetermined threshold height is defined based on twice a height of a bump on the ground as a non-detection object that is not to be detected, and the detection control unit determines that the object is the bump on the ground as the non-detection object, on condition that, when the transmission sensor transmits the ultrasonic wave to an area where the object exists, a reception result received from the reception sensor does not satisfy a predetermined detection condition for detecting the obstacle.