Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses.

An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.

An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.

An ultrasonic sensing system includes a comparator, an analog-to-digital converter (ADC) coupled to the comparator, and a processor coupled to the comparator and the ADC. The comparator is configured to compare an input signal with a triggering value and trigger proximity measurement in response to an amplitude of the input signal being greater than the triggering value. The ADC is configured to convert the input signal to a digital signal. The processor is configured to, in response to the proximity measurement being triggered, determine a peak time point when a peak amplitude is received based on the digital signal and calculate a distance based on the peak time point. The peak time point is different from a time point when the proximity measurement is triggered.

An ultrasonic sensing system includes a comparator, an analog-to-digital converter (ADC) coupled to the comparator, and a processor coupled to the comparator and the ADC. The comparator is configured to compare an input signal with a triggering value and trigger proximity measurement in response to an amplitude of the input signal being greater than the triggering value. The ADC is configured to convert the input signal to a digital signal. The processor is configured to, in response to the proximity measurement being triggered, determine a peak time point when a peak amplitude is received based on the digital signal and calculate a distance based on the peak time point. The peak time point is different from a time point when the proximity measurement is triggered.

An ultrasonic sensing system includes an ultrasonic receiver configured to receive an ultrasonic signal and a gain-adjustable amplifier operably coupled to the ultrasonic receiver. The gain-adjustable amplifier is configured to amplify the ultrasonic signal according to a variable gain determined based at least in part on a value of a timer that corresponds to a measuring distance.

An ultrasonic sensing system includes an ultrasonic receiver configured to receive an ultrasonic signal and a gain-adjustable amplifier operably coupled to the ultrasonic receiver. The gain-adjustable amplifier is configured to amplify the ultrasonic signal according to a variable gain determined based at least in part on a value of a timer that corresponds to a measuring distance.

Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses.

Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses.

Sensors, sensor controllers, and sensor control methods may employ an echo- magnification technique to improve threshold-based echo detection. In one illustrative embodiment, a sensor controller includes: a transmitter, a receiver, and a processing circuit coupled to the transmitter and to the receiver. The transmitter drives a piezoelectric element to generate acoustic bursts. The receiver senses a response of the piezoelectric element to echoes of each acoustic burst. The processing circuit is operable to apply echo-detection processing to the response by: identifying an interval of the response representing at least a portion of a potential echo; deriving a modified response from the response by selectively magnifying the response during said interval; and using the modified response to detect an echo.