CPC G01S 15/931 (2013.01) | 17 Claims |
1. An object detection system comprising:
a plurality of distance measurement sensors provided at different positions from each other in a vehicle, the plurality of distance measurement sensors each including a wave transmitter configured to emit ultrasonic waves and a wave receiver configured to receive reflected ultrasonic waves reflected at an object, each of the plurality of distance measurement sensors being configured to detect the object in accordance with the reflected ultrasonic waves;
a hardware processor connected to a memory and configured to function as:
a wave transmission control circuit serving to
perform preliminary detection using the plurality of distance measurement sensors in response to a power supply to the vehicle being started,
select one of the plurality of distance measurement sensors that has a detection range where the object is located in the preliminary detection,
set a wave transmission order of the plurality of distance measurement sensors, the selected one of the plurality of distance measurement sensors set as a top of the wave transmission order, and
repeat a cyclic wave transmission control on the plurality of distance measurement sensors, the plurality of distance measurement sensors emit ultrasonic waves sequentially in the wave transmission order in each cyclic wave transmission; and
a determination circuit serving to determine the object as a detection target object in response to any one of the plurality of distance measurement sensors detecting the object a predetermined number of times,
wherein the wave transmission control circuit serves to, in case two or more objects are detected through the preliminary detection, repeat the cyclic wave transmission control after setting, as the top of the wave transmission order, one of the plurality of distance measurement sensors that has a detection range where one of the two or more objects closest to the vehicle is located.
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