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 obstacle shape estimating apparatus and a method thereof, includes: a processor configured to receive a the sensing signal from at least one ultrasonic sensor at a predetermined cycle, to generate positions of one or more obstacles according to distance values of an ultrasonic sensor by estimating the distance values of the ultrasonic sensor based on a sensing signal, and to generate obstacle shape information according to positions of remaining obstacles after deleting a position of an obstacle corresponding to a virtual distance value and a position of an obstacle which does not satisfy a validation condition among the positions of the one or more obstacles; and a storage configured to store data and an algorithm driven by the processor, and the obstacle shape information generated by the processor.

An ultrasonic transducer includes a transducer case and an ultrasonic element. The transducer case is formed into a bottomed, cylindrical shape having a side plate portion and a bottom plate portion that seals one end side of the side plate portion in an axial direction to configure a diaphragm. The ultrasonic element is fixedly supported to the bottom plate portion to face an interior space surrounded by the side plate portion and the bottom plate portion. The ultrasonic element is arranged in a position being offset in an in-plane direction orthogonal to the axial direction relative to a center position of the diaphragm in the in-plane direction to be capable of generating a first transmission wave having first directivity characteristics and a second transmission wave having second directivity characteristics that are directivity characteristics differing from the first directivity characteristics and in which sound pressure in the axial direction is decreased.

An object detection system includes a plurality of object detection devices disposed at predetermined intervals. Each object detection device includes a transmission unit configured to transmit a transmission wave on which frequency modulation based on chirp signals that change in a frequency pattern different from that of an initial signal is performed subsequently to frequency modulation based on the initial signal so as to be in a mode different from those in the object detection devices including the adjacent object detection devices, a reception unit configured to receive a reception wave as the transmission wave returned in response to reflection on an object, and a detection processing unit configured to detect information related to the object based on information acquired as a result of transmission and reception of the transmission wave and the reception wave.

An object detection system includes: a transmission unit configured to sequentially transmit a plurality of transmission waves to which identification information different from one another is applied; a reception unit configured to sequentially receive a plurality of reception waves respectively corresponding to the plurality of transmission waves returned in response to reflection by an object after all the plurality of transmission waves are transmitted by the transmission unit; and a detection processing unit configured to detect information related to the object based on a relationship between the plurality of transmission waves and the plurality of reception waves.

An object detection system includes: a plurality of object detection units. The object detection units each include a transmission and reception unit configured to transmit an ultrasonic wave and receive a reflected wave generated by reflection of the ultrasonic wave on an object, a reception circuit unit configured to detect a signal level of the reflected wave received by the transmission and reception unit, a detection unit configured to detect the object by comparing the signal level detected by the reception circuit unit with a predetermined signal threshold value, a temperature sensor configured to detect a temperature of an environment, and a detection sensitivity adjustment unit configured to adjust detection sensitivity of the reception circuit unit based on a second lowest temperature among temperatures detected by the respective temperature sensors in the plurality of object detection units.

A work machine includes a frame, a sensor assembly, and an ultrasonic sensor. The frame includes a first portion and a second portion that includes a front bumper and is configured to pivot with respect to the first portion for steering the work machine. The sensor assembly is positioned on the first portion or the second portion of the frame and is configured to sense data for detection of obstacles within a first area around the work machine. The ultrasonic sensor is positioned on the front bumper of the second portion and is configured to sense data for detection of obstacles within a second area around the work machine, the second area outside the first area when the second portion is in an articulated position with respect to the first portion.

A vehicle ultrasonic sensor and a method of controlling the sensor, the sensor including an ultrasonic transceiver; a storage unit; and a control unit determining a distance to a target based on a transmitted and received ultrasonic wave and judging a detected target to be a proximate target within a certain distance from the ultrasonic transceiver when a ring time of the received ultrasonic wave exceeds a normal ring time in the storage unit.

A method for checking a distance measuring device of a transportation vehicle wherein the distance measuring device has ultrasonic sensors. A functional impairment of at least one ultrasonic sensor, a check is performed to determine whether one of the ultrasonic sensors is maladjusted, and an often occurring source of a fault causing a functional impairment of ultrasonic sensors is considered.

An outside sensor unit includes an outside sensor, a main bracket, a support bracket, a rotation device, and a position adjustment device. The outside sensor detects the outside of a vehicle. The main bracket is attached to a vehicle body. The support bracket supports the outside sensor and is attached to the main bracket. The rotation device has a rotation axis line which is substantially parallel to a roll axis of the vehicle and connects the support bracket and the main bracket together rotatably around the rotation axis line. The position adjustment device is capable of adjusting the relative rotation position between the support bracket and the main bracket around the rotation axis line.