# US 11,999,353 B2 · Detection device for detecting road surface information related to movable body and control thereof

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- Number: US 11,999,353 B2
- Document ID: US11999353B2
- Status: Granted
- Kind: B2
- Application number: 17/666,771
- Filed: 2022-02-08
- Published: 2022-08-11
- Granted: 2024-06-04
- Earliest claimed: 2021-02-09
- Assignees: Aisin Corporation
- Applicants: Aisin Corporation
- Inventors: Ippei Sugae; Kosuke Wakita
- Web page: https://patentgrep.com/patent/US11999353B2

## CPC

- B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences}
- B60W 40/06: Road conditions
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
- B60W 2554/4049: Relationship among other objects, e.g. converging dynamic objects
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT

## Abstract

An object detection device includes: a transmission and reception unit configured to transmit a transmission wave from a movable body moving on a road surface and receive a reflected wave from an object; and a generation unit configured to generate road surface information regarding a change in the road surface based on a difference between echo information indicating a change over time in an intensity of the reflected wave received by the transmission and reception unit and reference echo information indicating a predetermined change over time in an intensity of a reflected wave from the road surface.

## Claims

### Claim 1

An object detection device comprising:
a transmission and reception unit configured to transmit a transmission wave from a movable body moving on a road surface and receive a reflected wave from a road surface; and
a generation unit configured to generate road surface information regarding a change in the road surface based on a difference between echo information indicating a change over time in an intensity of the reflected wave reflected from the road surface and received by the transmission and reception unit and predetermined reference echo information indicating a predetermined change over time in an intensity of a reflected wave from a predetermined road surface,
wherein the generation unit generates the road surface information based on a difference between a predetermined reference road surface detection period of the predetermined reference echo information which is a reference time period where the intensity is equal to or higher than a predetermined road surface threshold value in the predetermined reference echo information, and a road surface detection period which is a time period during which the intensity of the reflected wave is equal to or higher than the predetermined road surface threshold value in the echo information.

### Claim 2 (depends on 1)

The object detection device according to claim 1, wherein
the generation unit generates the road surface information indicating that a frictional resistance of the road surface is less than a predetermined friction of the predetermined road surface when a time point at which the intensity in the echo information becomes lower than the predetermined road surface threshold value from a state in which the intensity is equal to or higher than the predetermined road surface threshold value is detected during the road surface detection period as compared to a time point at which the intensity in the predetermined echo information becomes lower than the predetermined road surface threshold value from a state in which the intensity is equal to or higher than the predetermined road surface threshold value in the predetermined reference road surface detection period.

### Claim 3 (depends on 1)

The object detection device according to claim 1, wherein
the generation unit generates the road surface information indicating that a frictional resistance of the road surface is greater than a predetermined friction of the predetermined road surface when a time point at which the intensity in the echo information becomes equal to or higher than the predetermined road surface threshold value from a state in which the intensity is lower than the road surface threshold value is detected during the road surface detection period as compared to a time point at which the intensity in the predetermined echo information becomes higher than the predetermined road surface threshold value from a state in which the intensity is equal to or higher than the predetermined road surface threshold value in the predetermined reference road surface detection period.

### Claim 4 (depends on 1)

The object detection device according to claim 1, wherein
the echo information is generated based on an average value of the intensities acquired by a plurality of the transmission and reception units.