US 12,313,737 B2
Object detection apparatus and object detection method
Yu Koyama, Nisshin (JP); Mitsuyasu Matsuura, Nisshin (JP); Satoru Noro, Kariya (JP); and Tetsuya Aoyama, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Dec. 22, 2021, as Appl. No. 17/645,570.
Application 17/645,570 is a continuation of application No. PCT/JP2020/021774, filed on Jun. 2, 2020.
Claims priority of application No. 2019-118735 (JP), filed on Jun. 26, 2019.
Prior Publication US 2022/0113404 A1, Apr. 14, 2022
Int. Cl. G01S 15/52 (2006.01); G01S 15/931 (2020.01)
CPC G01S 15/523 (2013.01) [G01S 15/52 (2013.01); G01S 15/931 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An object detection apparatus that is configured to detect an object in a vicinity of a moving body to which it is mounted, the object detection apparatus comprising one or more processors configured to implement:
a drive-signal generating unit that is provided so as to generate a drive signal that drives a transmitting unit that includes a transmitter that transmits a transmission wave that is an ultrasonic wave externally, and output the drive signal to the transmitting unit; and
a detecting unit that is provided to detect the object based on a reception signal that corresponds to a reception result of a receiver that receives a reception wave that includes a reflected wave from the object of the transmission wave, wherein
the drive-signal generating unit
generates a first drive signal that is the drive signal that corresponds to a first transmission wave that is included in a plurality of transmission waves that are continuously transmitted from a start of a transmission process of the transmission wave to an end of the transmission process, the first transmission wave encoded based on waveform patterns, and the drive-signal generating unit outputs the first drive signal to the transmitting unit, and
generates a second drive signal that is the drive signal that corresponds to a second transmission wave that is included in the plurality of transmission waves and transmitted after the first transmission wave, and the drive-signal generating unit outputs the second drive signal to the transmitting unit, and
the detecting unit performs reception determination regarding the reflected wave based on a frequency signal that corresponds to a waveform pattern of the reception signal and a reference signal that corresponds to a waveform pattern of the first drive signal, wherein
the detecting unit
includes a frequency-shift detecting unit that detects a frequency shift amount between the transmission wave and the reflected wave based on a relative velocity between the moving body and the object, and
performs the reception determination regarding the reflected wave that corresponds to the second transmission wave based on the frequency shift amount that is detected from the reflected wave that corresponds to the first transmission wave.