JPH06289133A - Optical radar device for vehicle - Google Patents

Abstract

PURPOSE:To provide a vehicle optical radar device which can enlarge a detecting scope through the scanning of a beam ray, and is small-sized and excellent in mounting ability onto a vehicle, and moreover does not cause a sharp increase in manufacturing cost. CONSTITUTION:A vehicle optical radar device is provided with an actuator 16 for moving a light emitting optical system 5 to emit a beam ray B1 sent from a light emitting source 4 forward in a fixed enlarging angle back and forth in a direction perpendicular to its optical axis A. The actuator 16 is arrangedly provided at a position where a reflected beam ray B2 is not interrupted between a light receiving element 8 arrangedly provided beside the light emitting source 4 and a light receiving optical system 9. The beam ray B1 sent from the light emitting source 4 is scanned in a direction perpendicular to the optical axis A by the light emitting system 5 moved back and forth by the actuator 16 to widen a detecting scope in the front of a vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle optical radar device for detecting the distance between a vehicle and a target object in front by irradiating a beam of light.

[0002]

2. Description of the Related Art In a vehicle optical radar device, a pulsed light beam from a light emission source is emitted forward through a light emission optical system, and this light beam is reflected by a target object (for example, a vehicle traveling in front). The distance between the vehicle and the target object is detected by receiving the light on the side of the light receiving element via the light receiving optical system. In such an optical radar device for a vehicle, it is required to widen the detection range as much as possible and sufficiently detect a target object in front. Therefore, for example, after receiving a beam light from a light emitting source with a mirror. By swinging this mirror, the beam light is scanned to widen the detection range (Japanese Utility Model Laid-Open No. 3-95979), a large number of light emitting sources are arranged, and the direction of the beam light from the light emitting sources is gradually increased. The detection range is widened by changing it.

[0003]

However, in the conventional optical radar device for a vehicle in which the beam light is scanned by the swing of the mirror to widen the detection range, the beam light is narrowed due to a safety problem for human eyes. Since it is not possible to narrow down, there is a problem that the mirror and the swinging mechanism of the mirror become large, the entire apparatus becomes large, and the mountability on the vehicle deteriorates. Further, in a conventional optical radar device for a vehicle in which a large number of light emitting sources whose beam directions are slightly different from each other are used to widen the detection range, as the number of light emitting sources increases, the cost of the light emitting sources and their drive circuit parts increases. There is a problem that the cost is greatly increased and the cost of the entire apparatus is increased.

The present invention has been made in order to solve the above-mentioned problems, and the detection range can be expanded by scanning the beam of light, and the size is small, and the mountability on a vehicle is excellent, and the size is large. It is an object of the present invention to provide an optical radar device for a vehicle that does not cause a significant cost increase.

[0005]

According to a first aspect of the present invention, a light beam from a light emitting source is emitted forward at a predetermined divergence angle through a light emitting optical system, and the light beam is reflected by a target object. In a vehicle optical radar device that detects the distance between the target object and the vehicle by receiving the light beam through a light receiving optical system to a light receiving element that is disposed on the side of the light emitting source, An actuator for moving the light emitting optical system or the light emitting source forward and backward by a predetermined amount is provided in a direction orthogonal to the optical axis of the optical system, and the actuator is provided in a space that does not block the reflected beam light between the light receiving optical system and the light receiving element. It is arranged.

A second aspect of the present invention radiates a light beam from a light emitting source forward through a light emitting optical system at a predetermined divergence angle, and receives a light beam reflected by a target object of the light beam. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by causing the light receiving element disposed on the side of the light emitting source to receive light via the optical system for use,
An actuator for advancing and retracting the light emitting optical system or the light emitting source by a predetermined amount is provided in a direction orthogonal to the optical axis of the light emitting optical system, and the actuator emits reflected beam light between the light receiving optical system and the light receiving element. That is, the light-emitting element of the light-emitting source is arranged in parallel in the advancing and retreating direction of the light-emitting source or the light-emitting optical system, while being arranged in a space not blocked.

In a third aspect of the present invention, a light beam from a light emitting source is emitted forward through a light emitting optical system at a predetermined divergence angle, and a light beam reflected by a target object of the light beam is received. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by causing the light receiving element disposed on the side of the light emitting source to receive light via the optical system for use,
It is arranged between the light-receiving element and the light-receiving optical system, supports the light-emitting optical system on one side, has the opening for the reflected beam on the other side, and emits light on the body frame. A slider plate movably supported by a predetermined amount in a direction orthogonal to the optical axis of the optical system, elastic means supported by the main body frame and urging the slider plate to one side in the forward and backward direction, and a main body frame. And an electromagnetic coil device which is supported and magnetically attracts the slider plate to the other side in the advancing / retreating direction.

[0008]

In the first aspect of the present invention, since the light-emission optical system is advanced and retracted by the actuator in the direction orthogonal to the optical axis thereof by the predetermined amount, the beam light incident on the light-emission optical system from the light-emission source is generated. After being emitted from the light emitting optical system, is scanned in the moving direction of the light emitting optical system. In this case, the actuator only needs to move the light emitting optical system back and forth, so the structure is simple, and the actuator is placed in a space that does not block the reflected light between the light receiving optical system and the light receiving element. Therefore, the entire device becomes small. In addition,
When the light emitting source is moved back and forth in the direction orthogonal to the optical axis of the light emitting optical system, the same action is obtained.

According to a second aspect of the present invention, in the case of the first aspect, a plurality of light emitting elements of the light emitting source are arranged side by side in the advancing / retreating direction of the light emitting optical system or the like. Can be extended.

According to the third aspect of the present invention, the slider plate supported by the main body frame is advanced and retracted by a predetermined amount in the direction orthogonal to the optical axis of the light emitting optical system via the elastic means and the electromagnetic coil device. Therefore, the light emitting optical system supported on one side of the slider plate is moved relative to the light emitting source in a direction orthogonal to the optical axis thereof, and the light beam incident on the light emitting optical system from the light emitting source emits the light. After leaving the optical system for scanning, scanning is performed in the moving direction of the optical system for light emission. In this case, the slider is arranged between the light receiving optical system and the light receiving element, but since the reflected beam light opening is formed on the other side of the slider plate, it passes through the light receiving optical system. The reflected beam light incident on the light receiving element is not interrupted on the way.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side sectional view of an optical radar device for a vehicle according to an embodiment of the first to third inventions of the present invention, and FIG.
2 is a sectional view taken along line II-II of FIG. 3, FIG. 3 is a sectional view taken along line III-III of FIG. 1, and FIG.

In the figure, 1 is a main body case, 2 is a transparent glass attached to the main body case 1 so as to cover the front side opening 1a of the main body case 1, and 3 is the main body case 1.
A main substrate 4 mounted on the rear side of the parallel to the transparent glass 2 is mounted on one side of the main substrate 3 and is a light emitting source which emits a beam light B1 which is a laser beam in a pulsed manner to the front side. Two light emitting elements 4a, 4a are attached to the light emitting source 4. Reference numeral 5 denotes a light emitting lens which is arranged between the light emitting source 4 and the transparent glass 2 and serves as a light emitting optical system for narrowing the beam light B1 from the light emitting source 4 to a predetermined range. 6 denotes a right side of the main substrate 3 via the terminal 7. It is a sub-board attached to the side. The sub-board 6 is electrically connected to the main board 3 via the terminal 7. 8 is a light source 4
The reflected beam light B which is attached to the sub-board 6 so as to be adjacent to and is reflected by the target object (not shown) and is incident.
2 is a light receiving element that receives light.

Reference numeral 9 denotes a Fresnel lens as an optical system for receiving light, which is attached to the inner surface side of the transparent glass 2 and collects the reflected beam light B2 and allows the light receiving element 8 to receive the reflected beam light B2. Is a pair of support frames which are attached to the light receiving element 8 side and in which a facing groove is formed on the right side portion between the light receiving element 8 and the Fresnel lens 9 on the front side thereof. Reference numeral 10a denotes a right stopper surface which constitutes the right wall of the facing groove, and 10b denotes a left stopper surface which constitutes the left wall of the facing groove. 11 is a support frame 10
Is attached slidably in the left-right direction, which is a direction orthogonal to the axis A of the light-emitting lens 5, and the beam light B1 is attached to the left part thereof.
The slider plate has an opening 11a for the reflected beam light B2 on the right side thereof. The opening 11a of the slider plate 11
The light emitting lens 5 is attached around the holder via a short cylindrical holder 11c.

Reference numeral 12 is a movable piece of a magnetic material which is attached to the right end side of the slider plate 11 and whose upper and lower ends are inserted into the opposing grooves of the support frame 10. A gap K is formed on one side of the movable piece 12 in the facing groove. Reference numeral 13 is a pair of magnetic material plates attached to face the inner surface of the front side of the support frame 10, and 14 is an electromagnetic coil device attached to the left end side between the pair of magnetic material plates 13. The electromagnetic coil device 14 includes a core 14a supported between the magnetic plates 13, a bobbin 14b attached to the core 14a, and a coil 14c wound around the bobbin 14b. Magnetic lines of force are generated on the side of the magnetic plate 13 via 14a, and the movable piece 12 is magnetically attracted so as to abut against the left stopper surface 10b side of the opposing groove of the support frame 10.

One end of 15 is attached to the support frame 10 and the other end is attached to the slider plate 11, which biases the slider plate 11 to the right and moves the movable piece 12 to the opposite groove of the support frame 10. A spring member 16 abutted against the stopper surface 10a is composed of a slider plate 11, a magnetic plate 13, an electromagnetic coil device 14, a movable piece 12 and a spring member 15, and the light emitting lens is left and right by a predetermined amount in a constant cycle. It is an actuator to move to. The two light emitting elements 4a, 4a of the light emitting source 4 are arranged in the moving direction of the slider plate 11.

Next, the operation of this vehicle optical radar device will be described. The beam light B1 emitted in a pulse form from the light emitting element 4a of the light emitting source 4 passes through the opening 11a of the slider plate 11, the light emitting lens 5 and the transparent glass 2, and is then narrowed down by the light emitting lens 5 to be narrowed by the vehicle. It is radiated forward. When the emitted beam light B1 is applied to the target object in front, the reflected beam light B2 is emitted.
Is transmitted through the transmission glass 2, the Fresnel lens 9 and the opening 11b of the slider plate 11 of the vehicle optical radar device, and is received by the light receiving element 8 side. And the light beam B
The distance between the vehicle and the target object in front is calculated from the relationship between the time until the reflected beam light B2 is received and the speed of light, and the driver of the vehicle determines the distance to the target object. Recognize.

Now, the slider plate 11 is the spring member 1.
5, the movable piece 12 is positioned at the position where it abuts against the right stopper surface 10a of the facing groove of the support frame 10, but when the coil 14c of the electromagnetic coil device 14 is energized, the core 14a and the magnetic material A magnetic circuit passing through the plate 13 and the movable piece 12 is formed, the movable piece 12 is attracted to the magnetic plate 13 side against the elastic force of the spring member 15, and the left stopper surface 10b of the opposing groove of the support frame 10 is formed. It is struck against the side. The slider plate 11 is moved leftward by the distance of the gap K formed by the movable piece 12 in the facing groove.

Therefore, the light emitting lens 5 is moved to the left by that amount, and among the light beams B1 emitted from the two light emitting elements 4a, 4a of the light emitting source 4, the central light rays L1, L2 passing through the center O of the light emitting lens 5. Will move from the position of the solid line to the position of the two-dot chain line on the left, as shown in FIG. Therefore, the two light emitting elements 4a, 4a of the light emitting source 4 are
The beam light B1 emitted from is scanned leftward at the position of the light emitting lens 5 by the angle at which the central rays L1 and L2 are swung to the position of the two-dot chain line on the left side, and the emission range of the beam light B1 toward the front of the vehicle Will be expanded.

When the electromagnetic coil device 14 is de-energized, the magnetic coil device 14 does not generate magnetic lines of force, so that the movable piece 12 is abutted against the right stopper surface 10a of the opposing groove by the force of the spring member 15. Then, the slider plate 11 is moved rightward by the distance of the gap K and returned to the original position. Therefore, the beam light B1 from the light emitting source 4
Is again the central ray L1, at the position of the light emitting lens 5.
L2 is swung to the position indicated by the solid line on the right side, and is scanned to the right by that amount. Therefore, if the electromagnetic coil device 14 is energized and de-energized periodically at regular intervals, and in synchronization with this, the light emitting element 4a of the light emitting source 4 emits the pulsed beam light B1. The beam light B1 emitted from the lens 5 is scanned left and right in this cycle, and the detection range is expanded.

As described above, the slider plate 11 that supports the light emitting lens 5 through the electromagnetic coil device 14, the magnetic plate 13, the movable piece 12, and the spring member 15 is used.
By providing the small-sized and low-cost actuator 16 that periodically moves the right and left by a predetermined amount, the beam light B1 from the light emitting source 4 can be scanned left and right.
The detection range can be expanded with only a slight increase in cost. Further, since this small actuator 16 is arranged in the space between the Fresnel lens 9 and the light receiving element 8, the entire vehicle optical radar device does not become large, and the vehicle optical radar device is installed in the tower. It is also possible to improve mountability.

In the above embodiment, the light emitting lens 5 is moved left and right with respect to the light emitting source 4 via the actuator 16, but the light emitting lens 5 is supported on the main body case 1 side and the light emitting source 4 is moved. The light source 4 is electrically connected to the main board 3 so as to be movable left and right, and the light source 4 is supported by the slider plate 11 to move the light source 4 left and right with respect to the light emitting lens 5 via the actuator 16. The same effect can be obtained by scanning the light beam B1 left and right.

In the above embodiment, the case where the two light emitting elements 4a of the light emitting source 4 are arranged in the moving direction of the light emitting lens 5 has been described, but the light emitting elements 4a arranged in the moving direction of the light emitting lens 5 and the like. It is also possible to change the scanning density and the scanning range of the light beam B1 by increasing or decreasing the number of. In particular, if the number of light emitting elements 4a is increased, the scanning density and the scanning range can be further increased.

Further, a linear pulse motor type actuator is arranged at a position where the reflected beam light B2 between the Fresnel lens 9 and the light receiving element 8 is not blocked, and this actuator moves the light emitting lens 5 left and right to move the beam light B1 left and right. The same effect can be obtained even if scanning is performed in the same manner. In this case, if the number of stop positions or the moving distance of the light emitting lens 5 is increased, the scanning density can be increased and the scanning range can be further increased. That is, the light beam B from the light emitting source 4 is interlocked with a number of stop positions of the light emitting lens 5.
This is because if 1 is emitted, the scanning density increases correspondingly, and if the left and right movement widths of the light emitting lens 5 and the like increase, the scanning range expands.

[0024]

Since the present invention is constituted as described above, it has the following effects.

According to the first aspect of the present invention, the light beam from the light emitting source is emitted forward at a predetermined divergence angle through the light emitting optical system, and the light beam reflected by the target object is received. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by causing the light receiving element disposed on the side of the light emitting source to receive light via the optical system for use,
An actuator for advancing and retracting the light emitting optical system or the light emitting source by a predetermined amount is provided in a direction orthogonal to the optical axis of the light emitting optical system, and the actuator emits reflected beam light between the light receiving optical system and the light receiving element. Since it is arranged in an unobstructed space, the detection range can be expanded by scanning the light beam by advancing and retracting the light emission optical system or the light emission source.
The device itself does not cause a significant increase in cost, and can be small in size and excellent in mountability on a vehicle.

According to the second aspect of the present invention, the light beam from the light emitting source is emitted forward through the light emitting optical system at a predetermined divergence angle, and the light beam reflected by the target object is received. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by causing the light receiving element disposed on the side of the light emitting source to receive light via the optical system for use,
An actuator for advancing and retracting the light emitting optical system or the light emitting source by a predetermined amount is provided in a direction orthogonal to the optical axis of the light emitting optical system, and the actuator emits reflected beam light between the light receiving optical system and the light receiving element. Since the light emitting element of the light emitting source is arranged in parallel in the advancing and retreating direction of the light emitting source or the light emitting optical system, the same effect as that of the first invention can be obtained and the light emitting element can be provided. As the number of light emitting elements of the source is increased, the scanning density and the scanning range can be widened accordingly.

According to the third aspect of the present invention, the light beam emitted from the light emission source is emitted forward through the light emission optical system at a predetermined divergence angle, and the light beam reflected by the target object is received. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by causing the light receiving element disposed on the side of the light emitting source to receive light via the optical system for use,
It is arranged between the light-receiving element and the light-receiving optical system, supports the light-emitting optical system on one side, has the opening for the reflected beam on the other side, and emits light on the body frame. A slider plate movably supported by a predetermined amount in a direction orthogonal to the optical axis of the optical system, elastic means supported by the main body frame and urging the slider plate to one side in the forward and backward direction, and a main body frame. Since the slider plate is supported and has an electromagnetic coil device that magnetically attracts the slider plate to the other side in the advancing / retreating direction, the detection range can be expanded by scanning the beam light by advancing / retreating the light emitting optical system, and the device itself. However, a large increase in cost does not occur, and it is possible to make it compact and have excellent tower mountability on a vehicle.

[Brief description of drawings]

FIG. 1 is a cross-sectional view of a vehicle optical radar device according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along the line II-II of FIG.

3 is a sectional view taken along the line III-III of FIG.

FIG. 4 is a diagram illustrating a scanning state of a light beam emitted from a light emitting source.

[Explanation of symbols]

 4 Light Emitting Source 4a Light Emitting Element 5 Light Emitting Lens (Light Emitting Optical System) 8 Light Receiving Element 9 Fresnel Lens (Light Receiving Optical System) 11 Slider Plate 14 Electromagnetic Coil Device 15 Spring Member (Elastic Means) 16 Actuator A Optical Axis B1 Beam Light B2 Reflected beam light (reflected light)

Claims (3)

[Claims] 1. A light source radiates a light beam from a light emitting source forward through a light emitting optical system at a predetermined divergence angle, and reflects a light beam reflected by a target object through the light receiving optical system. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by receiving light by the light receiving element disposed on the side of, in the direction orthogonal to the optical axis of the light emitting optical system, An actuator for moving the light emitting optical system or the light emitting source forward and backward by a predetermined amount is provided, and the actuator is arranged in a space that does not block the reflected beam light between the light receiving optical system and the light receiving element. A characteristic optical radar device for a vehicle. 2. A light beam emitted from a light emitting source is emitted forward through a light emitting optical system at a predetermined divergence angle, and a light beam reflected by a target object of the light beam is emitted through the light receiving optical system. In the vehicle optical radar device for detecting the distance between the target object and the vehicle by receiving light by the light receiving element disposed on the side of, in the direction orthogonal to the optical axis of the light emitting optical system, An actuator for advancing and retracting the light emitting optical system or the light emitting source by a predetermined amount is provided, and the actuator is arranged in a space that does not block the reflected beam light between the light receiving optical system and the light receiving element, An optical radar device for a vehicle, wherein a plurality of light emitting elements of the light emitting source are arranged side by side in a direction in which the light emitting source or the light emitting optical system advances and retracts. 3. A light beam emitted from a light emitting source is emitted forward through a light emitting optical system at a predetermined divergence angle, and a light beam reflected by a target object of the light beam is emitted through the light receiving optical system. In a vehicular optical radar device for detecting the distance between the target object and the vehicle by receiving light by a light receiving element disposed on the side of, the light receiving element is arranged between the light receiving element and the light receiving optical system. Is provided, which supports the light-emitting optical system on one side thereof, has an opening for the reflected beam light on the other side, and is provided in the body frame in a direction orthogonal to the optical axis of the light-emitting optical system. A slider plate movably supported by a predetermined amount, elastic means supported by the main body frame to urge the slider plate to one side in the forward and backward direction, and the slider plate supported by the main body frame. And an electromagnetic coil device for attracting magnetic force to the other side in the advancing / retreating direction thereof.