# US 12,216,203 B2 · Object detection device

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- Number: US 12,216,203 B2
- Document ID: US12216203B2
- Status: Granted
- Kind: B2
- Application number: 18/326,765
- Filed: 2023-05-31
- Published: 2023-09-28
- Granted: 2025-02-04
- Earliest claimed: 2020-12-02
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Yu Koyama; Kohei Kozuki
- Web page: https://patentgrep.com/patent/US12216203B2

## CPC

- G01S 15/04: Systems determining presence of a target
- G01S 7/52: of systems according to group G01S15/00
- G01S 7/534: Details of non-pulse systems {(short-range imaging G01S7/52017)}
- G01S 7/536: Extracting wanted echo signals
- G01S 15/32: using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S 7/52004: {Means for monitoring or calibrating (short-range imaging G01S7/5205)}
- G01S 15/931: of land vehicles
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

An object detection device includes a transceiver that transmits ultrasonic waves encoded with frequency modulation and receives an ultrasonic wave and outputs a reception signal, a first quadrature detector that generates and outputs a complex reception signal based on quadrature detection of the reception signal, a second quadrature detector that generates and outputs a complex reference signal based on quadrature detection of the reference signal, a correlation filter that performs correlation detection between the complex reception signal and the complex reference signal and outputs a correlation signal, and a code determiner that determines a code included in the reception signal based on the correlation signal.

## Claims

### Claim 1

An object detection device comprising:
a transceiver that transmits ultrasonic waves encoded with frequency modulation and receives an ultrasonic wave and outputs a reception signal;
a first quadrature detector that generates and outputs a complex reception signal based on quadrature detection of the reception signal;
a second quadrature detector that generates and outputs a complex reference signal based on quadrature detection of the reference signal;
a correlation filter that performs correlation detection between the complex reception signal and the complex reference signal and outputs a correlation signal; and
a code determiner that determines a code included in the reception signal based on the correlation signal.

### Claim 2 (depends on 1)

The object detection device according to claim 1, further comprising:
a first normalizer that normalizes the complex reference signal such that its amplitude is constant, wherein
the correlation filter performs correlation detection between the complex reception signal and the complex reference signal normalized by the first normalizer.

### Claim 3 (depends on 2)

The object detection device according to claim 2, further comprising:
a second normalizer that normalizes the complex reception signal such that its amplitude is constant, wherein
the correlation filter performs correlation detection between the complex reception signal normalized by the second normalizer and the complex reference signal normalized by the first normalizer.

### Claim 4 (depends on 3)

The object detection device according to claim 3, further comprising:
a corrector that corrects the correlated signal, wherein
the second normalizer normalizes the complex reception signal by dividing the complex reception signal by its original amplitude,
the corrector corrects the correlation signal by multiplying the correlation signal by the amplitude of the complex reception signal before being normalized, and
the code determiner determines the code included in the reception signal based on the correlation signal corrected by the corrector.

### Claim 5 (depends on 1)

The object detection device according to claim 1, further comprising:
a first phase rotator that rotates a phase of the complex reception signal; and
a second phase rotator that rotates a phase of the complex reference signal, wherein
the correlation filter performs correlation detection between the complex reception signal rotated in phase by the first phase rotator and the complex reference signal rotated in phase by the second phase rotator.

### Claim 6 (depends on 5)

The object detection device according to claim 5, wherein
the first phase rotator rotates the phase of the normalized complex reception signal.

### Claim 7 (depends on 5)

The object detection device according to claim 5, wherein
the second phase rotator rotates the phase of the normalized complex reference signal.

### Claim 8 (depends on 5)

The object detection device according to claim 5, wherein
the first phase rotator and the second phase rotator change an amount of phase rotation according to a predefined condition.

### Claim 9 (depends on 1)

The object detection device according to claim 1, wherein
the first quadrature detector down-samples and outputs the complex reception signal, and
the second quadrature detector down-samples and outputs the complex reference signal.

### Claim 10 (depends on 1)

The object detection device according to claim 1, wherein
a frequency of the ultrasonic wave transmitted from the transceiver and a frequency of the reference signal are different from a resonant frequency of the transceiver.