Obstacle detection device, obstacle detection method, and computer-readable medium

1 . An obstacle detection device comprising:

a transmission circuit, which, in operation, transmits a transmitted wave signal subjected to frequency modulation;

a reception circuit, which, in operation, receives a signal externally;

an object detection circuit, which, in operation, detects an object existing in a wave transmission direction of the transmitted wave signal, based on a reflected wave of the transmitted wave signal received by the reception circuit;

an interference detection circuit, which, in operation, detects, as interference, another transmitted wave signal transmitted from another transmission circuit different from the transmission circuit, based on the signal received by the reception circuit; and

a determination circuit, which, in operation, determines a frequency modulation pattern to be applied to the transmitted wave signal and a transmission timing of the transmitted wave signal, based on detection results of the object detection circuit and the interference detection circuit, wherein

the transmission circuit repeatedly transmits the transmitted wave signal,

the object detection circuit detects a change in a distance from the transmission circuit to the object based on the reflected wave repeatedly received by the reception circuit, and

the interference detection circuit detects a change in an interference position indicating a position from the transmission circuit to the interference, based on the signal repeatedly received by the reception circuit.

2 . The obstacle detection device according to claim 1 ,

wherein the determination circuit determines the frequency modulation pattern to be a first pattern, when the object is detected, and determines the frequency modulation pattern to be a second pattern different from the first pattern, when the object is not detected.

3 . The obstacle detection device according to claim 1 ,

wherein the determination circuit delays the transmission timing when it is detected that the interference position comes closer to the transmission circuit, and accelerates the transmission timing when it is detected that the interference position goes away from the transmission circuit.

4 . The obstacle detection device according to claim 1 ,

wherein the object detection circuit detects the object based on a change amount of signal intensity of the reflected wave and a first threshold corresponding to the change amount of the signal intensity of the reflected wave.

5 . The obstacle detection device according to claim 4 ,

wherein the interference detection circuit detects short-distance interference indicating the interference occurring near the transmission circuit and long-distance interference indicating the interference occurring far from the transmission circuit.

6 . The obstacle detection device according to claim 5 ,

wherein the interference detection circuit detects the short-distance interference based on the change amount of the signal intensity of the signal and a second threshold corresponding to the change amount of the signal intensity of the signal, and

a third threshold for detecting the long-distance interference based on the change amount of the signal intensity of the signal and the third threshold corresponding to the change amount of the signal intensity of the signal is different from the second threshold.

7 . The obstacle detection device according to claim 6 ,

wherein the second threshold is a value larger than the first threshold, and the third threshold is a value smaller than the first threshold.

8 . An obstacle detection method by an obstacle detection device including a transmission circuit, which, in operation, transmits a transmitted wave signal subjected to frequency modulation and a reception circuit, which, in operation, receives a signal externally, the method comprising:

detecting an object existing in a wave transmission direction of the transmitted wave signal, based on a reflected wave of the transmitted wave signal received by the reception circuit;

detecting, as interference, another transmitted wave signal transmitted from another transmission circuit different from the transmission circuit, based on the signal received by the reception circuit; and

determining a frequency modulation pattern to be applied to the transmitted wave signal and a transmission timing of the transmitted wave signal, based on a detection result of the object and a detection result of the interference, wherein

the transmission circuit repeatedly transmits the transmitted wave signal,

a change in a distance from the transmission circuit to the object is detected based on the reflected wave repeatedly received by the reception circuit, and

a change in an interference position indicating a position from the transmission circuit to the interference is detected based on the signal repeatedly received by the reception circuit.

9 . The obstacle detection method according to claim 8 ,

wherein the frequency modulation pattern is determined to be a first pattern, when the object is detected, and the frequency modulation pattern is determined to be a second pattern different from the first pattern, when the object is not detected.

10 . The obstacle detection method according to claim 8 , wherein

the transmission timing is delayed when it is detected that the interference position comes closer to the transmission circuit, and

the transmission timing is accelerated when it is detected that the interference position goes away from the transmission circuit.

11 . The obstacle detection method according to claim 8 ,

wherein the object is detected based on a change amount of signal intensity of the reflected wave and a first threshold corresponding to the change amount of the signal intensity of the reflected wave.

12 . The obstacle detection method according to claim 11 ,

wherein short-distance interference indicating interference occurring near the transmission circuit and long-distance interference indicating interference occurring far from the transmission circuit are detected.

13 . The obstacle detection method according to claim 12 , wherein

the short-distance interference is detected based on a change amount of signal intensity of the signal and a second threshold corresponding to a change amount of signal intensity of the signal, and

a third threshold for detecting the long-distance interference based on the change amount of the signal intensity of the signal and the third threshold corresponding to the change amount of the signal intensity of the signal is different from the second threshold.

14 . The obstacle detection method according to claim 13 ,

wherein the second threshold is a value larger than the first threshold, and the third threshold is a value smaller than the first threshold.

15 . A non-transitory computer-readable medium on which programmed instructions to be executed by a computer of an obstacle detection device including a transmission circuit, which, in operation, transmits a transmitted wave signal subjected to frequency modulation and a reception circuit, which, in operation, receives a signal externally, are stored, wherein the programmed instructions, when executed by the computer, cause the computer to perform:

detecting an object existing in a wave transmission direction of the transmitted wave signal based on a reflected wave of the transmitted wave signal received by the reception circuit;

detecting, as interference, another transmitted wave signal transmitted from another transmission circuit different from the transmission circuit, based on the signal received by the reception circuit; and

determining a frequency modulation pattern to be applied to the transmitted wave signal and a transmission timing of the transmitted wave signal, based on a detection result of the object and a detection result of the interference, wherein

the transmission circuit repeatedly transmits the transmitted wave signal,

a change in a distance from the transmission circuit to the object is detected based on the reflected wave repeatedly received by the reception circuit, and

a change in an interference position indicating a position from the transmission circuit to the interference is detected based on the signal repeatedly received by the reception circuit.