To provide a ranging device capable of appropriately measuring even a range affected by reverberation.SOLUTION: A ranging device includes: a transmission/reception part for transmitting transmission waves and receiving reflection waves generated by the transmission waves; a detection part capable of receiving a reception waveform by detecting reception signals; a feature amount detection part for detecting a feature amount of reflection waves on the basis of a reception waveform; a measurement distance calculation part for calculating a distance from an ultrasonic sensor to an object as a ranging distance on the basis of a feature amount; a prediction distance calculation part for calculating a prediction distance obtained by predicting a measurement distance in a next measurement on the basis of a measurement distance; a detection condition control part for controlling a detection condition regarding detection of a feature amount; and an output control part for outputting one of a measurement distance and a prediction distance as an output value. The ranging device adjusts a detection condition when reflection waves arrive during a reverberation period on the basis of a prediction distance, and outputs a prediction distance as an output value when a condition for outputting the prediction distance as the output value is satisfied.SELECTED DRAWING: Figure 7
【課題】残響の影響のある範囲でもより適切に距離を計測することができる測距装置を提供する。【解決手段】本開示の測距装置では、送信波の送信及び送信波によって生じた反射波の受信を行う送受信部と、受信信号を検波して受信波形を得る検波部と、受信波形に基づいて、反射波の特徴量を検出する特徴量検出部と、特徴量に基づいて超音波センサから物体までの距離を測距距離として算出する測定距離算出部と、測定距離に基づいて次回の測定における測定距離を予測した予測距離を算出する予測距離算出部と、特徴量の検出に関わる検出条件を制御する検出条件制御部と、測定距離または予測距離の一方を出力値として出力する出力制御部とを備え、予測距離に基づいて反射波が残響期間中に到達する場合に検出条件を調整し、予測距離を出力値として出力すべき条件が成立する場合に、予測距離を出力値として出力する。【選択図】図7
RANGING DEVICE
測距装置
2022-10-13
Patent
Electronic Resource
Japanese