A vehicle sets a first determination region of a first obstacle and a second determination region, on the basis of a position of the first obstacle. The second determination region is located at a position farther than the first determination region. A reliability of the second obstacle is set to a first reliability in a case where a position of a second obstacle falls outside the first determination region and falls outside the second determination region. The reliability of the second obstacle is set to a second reliability higher than the first reliability in a case where the position of the second obstacle falls within the first determination region or falls within the second determination region. Braking is applied to the vehicle body and/or acceleration of the vehicle body is suppressed, on the basis of the reliability of the second obstacle and the position of the second obstacle.

An object detection device includes first and second detectors each configured to detect an object by transmitting an ultrasonic wave in a moving direction of the moving object and receiving a reflected wave of the ultrasonic wave, a second detector, a memory, and a hardware processor coupled to the memory, and configured to: determine that an obstacle is present in the moving direction of the moving object, based on object detection results by the first and second detectors; determine crossing of the obstacle based on object detection results by the first and second detectors in a state in which it is being determined that the obstacle is present; and cause a driving controller mounted on the moving object, to release driving restriction control of restricting movement of the moving object when determining the crossing, or prohibit the driving controller from releasing the driving restriction control under a predetermined condition.

A position detection system using a sensor, including a sensor unit including a plurality of sensors for transmitting a transmission signal or receiving a reflection signal reflected from an obstacle and configured to acquire a time of flight (TOF) of the received reflection signal, a storage unit configured to pre-store a position map of the obstacle for respective sensors depending on the TOF of the reflection signal on a grid map including a plurality of cells, and a position estimator configured to estimate a position of the obstacle based on the TOF of the reflection signal received by the sensor unit and the position map of the obstacle pre-stored in the storage unit.

Time of flight between two or more ultrasonic transceivers is measured using known delays. First and second transceivers are duty cycled, each having a respective receive period that is less than a measurement period during which the transceivers are configured to receive transmissions. An ultrasonic trigger pulse is transmitted by the first transceiver. The second transceiver, upon receiving the trigger pulse, transmits an ultrasonic response pulse after a first predefined delay time that is known to the first transceiver and greater than the receive period of the second transceiver. Subsequently, the first transceiver receives the ultrasonic response pulse and determines a receive time. The first transceiver determines the distance between the first transceiver and the second transceiver from a speed of sound, an elapsed time between the time of transmission of the trigger pulse and the receive time, and the first predetermine delay time.

An autonomous vehicle includes a first ultrasonic sensor and a second ultrasonic sensor that is included in a daisy chain with the first ultrasonic sensor, wherein the first ultrasonic sensor is electrically connected to the second ultrasonic sensor in the daisy chain by way of a twisted pair wire. The autonomous vehicle further includes an electronic control unit (ECU) for the first ultrasonic sensor and the second ultrasonic sensor, the ECU is included in the daisy chain with the first ultrasonic sensor and the second ultrasonic sensor, wherein the ECU is electrically connected to the first ultrasonic sensor and the second ultrasonic sensor by way of the twisted pair wire, and further wherein the ECU is in bidirectional communication with the first ultrasonic sensor and the second ultrasonic sensor by way of differential signaling over the twisted pair wire.

Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

In an object detection device to be installed to a vehicle and detect an object outside the vehicle, a position calculator sets multiple candidate points representing a candidate position of the object, based on positions of feature points extracted from a first image captured at a first time. The multiple candidate points are set to be denser within a detection range set based on a distance to the object detected by the ultrasonic sensor than outside the detection range. The position calculator estimates positions of the multiple candidate points at a second time which is after the first time, based on the positions of the multiple candidate points and movement information of the vehicle, and calculates the position of the object by comparing the estimated positions of the multiple candidate points at the second time and the positions of the feature points extracted from a second image captured at the second time.

An object of the invention is to provide an ultrasonic CT device in which a reflected signal or the like from an object disposed close to transducers is received, and a reception signal thereof can be received by a receiver while transceivers whose number is smaller than the number of the transducers are used. The ultrasonic CT device includes: a transducer array in which a plurality of transducers are arranged; transceivers whose number is smaller than the number of the transducers; and a transmission transducer selector and a reception transducer selector disposed for each of the transceivers. While a transmitter included in the transceiver is selectively connected to any of the transducers in the transducer array by the transmission transducer selector, a receiver included in the transceiver is selectively connected to any of the transducers in the transducer array by the reception transducer selector.

Embodiments of the present invention relates to a self-moving apparatus and a method for controlling same, the self-moving apparatus including: a housing; a movement module for driving the housing to move; an ultrasonic module configured to transmit an ultrasonic signal and receive an echo signal formed through reflection of an obstacle; and a control module installed on the housing and connected to the ultrasonic module, to implement an ultrasonic detection function by processing the echo signal, thereby controlling a movement mode of the movement module. The control module can control disabling of the ultrasonic detection function according to a received preset signal.

A topside buoy system is disclosed for relaying a status of a diver between a monitoring station and a diver's wearable device and scuba tank pod. The communication may be carried by sonar signals underwater and may be transmitted by short-range communication methods through air. An application on the command station may display diver status information and may receive and transmit messages between the command station and the wearable device of the diver via the topside buoy. The diver location data may be determined relative to the topside buoy by determining a time delay of the sonar signal between the wearable device and the topside buoy, by a plurality of transducers configured to detect an angle from which the sonar signal originated, and a depth of the diver included in the sonar signal.