JP2005231468A - Obstruction detector in rear of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstruction detector in the rear of a vehicle to prevent an ill effect of a step on the vehicle by informing detection of the step as soon as detecting the step (obstruction) in the rear of the vehicle when the vehicle retreats. <P>SOLUTION: This obstruction detector is arranged on a rear part 5 of the vehicle 1, detects a distance to the obstruction in the rear of it by a distance measuring sensor 6 and informs the distance by a notification means when the distance reaches a set value in retreating. The distance measuring sensor 6 is provided free to selectively set and change its direction to a rear obstruction detecting position to detect the obstruction in the rear of the vehicle and to a step detecting position to detect the step 24 below the vehicle. A computation control means is set to inform the distance L to an occupant by operating and controlling the notification means when the measured distance L detected by the distance measuring sensor 6 changes larger than a prescribed value α relative to a standard distance L<SB>0</SB>to the flat ground 3 from the distance measuring sensor 6 when the distance L to the ground 25 from the distance measuring sensor 6 is measured by directing the distance measuring sensor 6 to the step detecting position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an obstacle detection device for a vehicle rear that detects an obstacle such as a step behind the vehicle when the vehicle is moving backward and notifies an occupant of an obstacle detection state.

<Conventional example 1>
Conventionally, a support device for confirming the rear end of a vehicle has been proposed in order to avoid an adverse effect caused by an obstacle behind the vehicle when the vehicle is moving backward. As one of the confirmation support devices of this type, light is projected from both corners of the rear end of the vehicle onto the ground below the vehicle, and a display line indicating the angular position of the rear end of the vehicle is displayed on the ground. And it has the structure which grasps | ascertains a vehicle rear end by visually observing the projected display line using a side mirror (for example, refer patent document 1).

<Conventional example 2>
Further, as another example of a device for confirming the rear of the vehicle, there is a device in which a vehicle rear confirming device serving as a mark is provided in advance on the side of the vehicle that is in the vicinity of the line connecting the projection position downward from the rear end of the vehicle and the door mirror. . And it is the structure which recognizes that the ground on the extension line of the vehicle rear end confirmation apparatus which can be seen from a side mirror is a vehicle rear end position (for example, refer patent document 2).
JP 2002-240622 A JP 2002-240623 A

  However, in the conventional example 1, since the rear end of the vehicle is confirmed by recognizing the display line projected on the ground, it is difficult to confirm the display line when the display line is displayed at the concave step. Especially in a large vehicle, there is a problem that it is difficult to confirm the display portion because the length in the vehicle body direction is large.

  In addition, although the above-mentioned concave step depends on the shape, there is no problem if the size is less than an allowable step that allows the vehicle to escape even if the vehicle wheel falls, but a large step such as a groove. In this case, since the display line is difficult to confirm as described above, there has been a problem that the vehicle wheel is derailed to the step portion and the vehicle cannot escape by itself.

  Furthermore, in the conventional example 1, since the rear end position of the vehicle is grasped within a range that can be seen with the side mirror, even if there is a step such as a groove on the rear side of the vehicle that cannot be seen with the side mirror, There was a big problem that it could not be detected.

  Next, in the conventional example 2, since the vehicle rear end recognition device has a structure that does not move, due to factors such as the angle of the side mirror and the height of the driver, on the extension line of the vehicle rear end confirmation device that is visible from the side mirror There is a problem that the ground of the vehicle does not always coincide with the rear end position of the vehicle. Further, as to the range in which the side mirror cannot be seen, there is a big problem that the step on the rear side of the vehicle cannot be detected as in the first conventional example.

  The present invention detects an obstacle such as a step behind the vehicle when the vehicle is moving backward, notifies the occupant of the obstacle detection, and prevents an obstacle for the vehicle from being adversely affected by the obstacle. The object is to provide a detection device.

  The present invention has been made in view of the above circumstances, and the present invention includes a distance measuring sensor disposed at the rear of a vehicle for detecting a distance to an obstacle behind the vehicle, and the distance measuring sensor. Calculation control means for obtaining a distance to the obstacle in response to the distance measurement signal, and notification means for notifying that the calculated distance is less than a set value when the vehicle is reversely controlled by the calculation control means. An obstacle detection device for the rear of the vehicle, wherein the distance measuring sensor selectively selects a rear obstacle detection position for detecting an obstacle behind the vehicle and a step detection position for detecting a step below the vehicle. The setting control unit is provided so that the setting can be changed, and the calculation control unit measures the distance from the distance measurement sensor to the ground with the distance measurement sensor facing the step detection position, and the measurement distance detected by the distance measurement sensor. Said When changing a predetermined value or more with respect to a reference distance from distance sensors to flat ground, is characterized in that it is set so as to notify the occupant by operating controls said notification means.

  In the invention configured as described above, when the vehicle is moving backward, the distance measuring sensor that has detected an obstacle behind the vehicle is positioned at a step detection position that detects a step below the vehicle, and the distance from the distance measuring sensor to the ground. Therefore, when this measured distance changes by more than a predetermined value from the reference distance from the distance measuring sensor to the flat ground, this is notified to the occupant by the notification means, and the side mirror It is possible to prevent an adverse effect on the vehicle due to a step on the rear side of the vehicle that cannot be seen.

  Further, since the step below the vehicle is detected by the distance measuring sensor that detects an obstacle behind the vehicle, the step detection system can be constructed at low cost.

  According to the present invention, when the vehicle is moving backward, the distance measuring sensor that has detected an obstacle behind the vehicle is set at the step detection position that detects the step below the vehicle, and the distance from the distance measuring sensor to the ground is set. Vehicles that cannot be seen by the side mirror when the measurement distance changes by a predetermined value or more than the reference distance from the distance measurement sensor to the flat ground. It is possible to prevent an adverse effect on the vehicle due to a step on the rear side.

  Further, since the step below the vehicle is detected by the distance measuring sensor that detects an obstacle behind the vehicle, the step detection system can be constructed at low cost.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 shows the rear side of the vehicle 1 and the rear wheel 2. A rear obstacle 4 is present on the flat ground 3 behind the vehicle. As shown in FIG. 2, a rear bumper 5 as a rear end portion of the vehicle body 1a is provided with a distance measuring sensor 6 for measuring the distance between the rear bumper 5 and the rear obstacle 4.

  In this embodiment, an ultrasonic sensor 6 is used as the distance measuring sensor, and an ultrasonic wave 8 is output from the sensing unit 7 of the ultrasonic sensor 6. The ultrasonic sensor 6 and the rear obstacle are obtained by calculating and measuring the detection time of the ultrasonic wave 8 reflected by the ultrasonic wave 8 output from the ultrasonic sensor 6 by being reflected by the rear obstacle 4. The distance L to 4 is measured.

  Note that the distance measuring sensor is not necessarily limited to the ultrasonic sensor 6, and for example, the distance L can be measured using a radio wave having a short wavelength.

  The detail of the A section in FIG. 2 is shown in FIG. A rear bumper 5 as a rear end portion of the vehicle 1 is provided with a cylindrical holding portion 10 having an opening 9 on the outside.

  A first cylindrical rod 11 that houses the ultrasonic sensor 6 is disposed inside the holding portion 10. At the rear end portion of the first cylindrical rod 11, an opening portion 12 that is continuously open on the rear side (right side in FIG. 3) and the lower side is formed.

  The ultrasonic sensor 6 has a substantially circular shape in a side view, and a part of the peripheral surface faces the opening 12. Further, the ultrasonic sensor 6 is rotatable about the support shaft 13. The sensing unit 7 of the ultrasonic sensor 6 includes a rear obstacle detection position P1 (see FIG. 3) in which the sensing unit 7 faces the rear obstacle 4 and a step detection position P2 in the downward direction (see FIG. 5). ) And can be rotated.

  A rear end portion of a cylindrical housing 14 having a stopper 14 a is fixed inside the holding portion 10. The first cylindrical rod 11 is inserted in a second cylindrical rod 15 having a stopper 15a so as to extend and contract. The second cylindrical rod 15 is further inserted into the housing 14 so as to be extendable and contractible.

  The first cylindrical rod 11, the housing 14, the second cylindrical rod 15, and the like constitute a support member 16 that supports the ultrasonic sensor 6 so that it can expand and contract.

  The ultrasonic sensor 6 can be extended from the rear bumper 5 by the extension of the support member 16. However, when detecting the rear obstacle 4 behind the vehicle as shown in FIG. As shown in FIG. 2 and FIG. 3, it is in a position retracted inside the rear bumper 5 of the vehicle 1.

  In this state, the distance L from the rear bumper 5 to the rear obstacle 4 is detected by measuring the time for outputting the ultrasonic wave 8 from the ultrasonic sensor 6 and inputting the reflected wave.

  Next, a structure for detecting a step difference behind the vehicle will be described with reference to FIGS.

  As shown in FIGS. 4 and 5, when detecting a step behind the vehicle, the sensing unit 7 of the ultrasonic sensor 6 is set to a position facing the vehicle lower side by an action described later. A stopper 11 a for restricting the rotation of the ultrasonic sensor 6 is provided at the tip of the first cylindrical rod 11.

  A stopper 17 for restricting the rotation of the ultrasonic sensor 6 is provided on the circumferential surface of the ultrasonic sensor 6. The stopper 17 is in a position rotated counterclockwise by 90 ° from the stopper 11a when the sensing portion 7 of the ultrasonic sensor 6 faces the rear of the vehicle as shown in FIG.

  In FIG. 3, a cutout 19 is provided on the circumferential surface of the ultrasonic sensor 6 on the side opposite to the stopper 17. One end portion 20 a of the timing belt 20 is rotatably attached to the end portion of the notch 19 on the stopper 17 side by a support shaft 21.

  The timing belt 20 is made of a material having a high buckling strength and has teeth 22 on one surface. By forward and reverse rotation of a later-described timing gear 26 (see FIG. 9) meshing with the teeth 22, the ultrasonic sensor 6 rotates to a rear obstacle detection position P1 in FIG. 3 and a step detection position P2 shown in FIG. It is set to be movable.

  The position of the support shaft 21 is deviated from the horizontal axis (x-axis) of the support shaft 13 by an angle θ (for example, approximately 20 °). Therefore, as shown in FIG. 5, when the pressing force in the direction of the arrow 33a is applied to the timing belt 20, the arrow 34 is moved until the stopper 17 comes into contact with the stopper 11a, that is, the ultrasonic sensor 6 is moved to the level difference detection position P2. It can be rotated in the clockwise direction as shown by.

  When the ultrasonic sensor 6 is further pressed by the timing belt 20 after the ultrasonic sensor 6 is set to the level difference detection position P2, the first cylindrical rod 11 gradually extends from the second cylindrical rod 15. .

  FIG. 7 shows an enlarged view of a portion C which is a connection portion between the first cylindrical rod 11 and the housing 14. As shown in FIG. 7, the second cylindrical rod 15 is extended from the housing 14 by the stopper 11 b of the first cylindrical rod 11 engaging with the stopper 14 a of the housing 14.

  A stopper similar to the stopper 11b is also provided on the inner end side of the second cylindrical rod 15, and this stopper engages with a stopper 14a (see FIG. 5) of the housing 14 so that the second cylinder. The extension of the rod 15 is also stopped. As shown in FIG. 7, a harness for transmitting and receiving signals between the ultrasonic sensor 6 and a calculation control means described later is provided in the support member 16 including the first cylindrical rod 11 and the second cylindrical rod 15. 18 is provided.

  6 and 8 show a state in which the extension of the support member 16 is finished and the ultrasonic sensor 6 is set to a predetermined value. In FIG. 8, reference numeral 24 denotes a step behind the vehicle 1, and the distance from the ultrasonic sensor 6 to the ground 25 of the step 24 is detected by the ultrasonic sensor 6.

In FIG. 8, L ₀ is the distance from the ultrasonic sensor 6 to the flat ground, L is the distance from the ultrasonic sensor 6 to the ground 25 of the step 24, and α is the flat ground 3 to the ground of the step 24 at the step 24. The distances up to 25 (the amount of change in L) are shown.

  Next, drive means for operating the rotation of the ultrasonic sensor 6 and the expansion and contraction of the support member 16 will be described with reference to FIG.

  9, the timing gear 26 is rotatably supported by a support shaft 27 with respect to the vehicle body 1a on the rear side of the housing 14, as shown in FIGS. The support shaft 27 is rotationally driven by a drive motor 29 that can rotate forward and backward.

  The teeth 22 of the timing belt 20 are meshed with the teeth 28 of the timing gear 26. One end (rear end) 20 a of the timing belt 20 is connected to the ultrasonic sensor 6 as described above, and the other end (front end) 20 b of the timing belt 20 is fixed to the timing gear 26 at the fixing portion 31. Has been.

  The timing belt 20, the timing gear 26, and the driving motor 29 constitute driving means 30 that operates the rotation of the ultrasonic sensor 6 and the expansion and contraction of the support member 16.

  When the timing gear 26 rotates in the direction of the arrow 32a due to the forward rotation of the drive motor 29, the timing belt 20 moves in the direction of the arrow 33a to rotate the ultrasonic sensor 6 to the step detection position P2 as described above, and to support it. The member 16 is extended.

  Further, when the timing gear 26 is rotated in the direction of the arrow 32b in a state where the ultrasonic sensor 6 is at the level difference detection position P2, the ultrasonic sensor 6 is rotated to the rear obstacle detection position P1 and the support member 16 is moved. It contracts and is stored inside the rear bumper 5.

  FIG. 10 shows a control device related to the arithmetic control of the obstacle detection device for the rear of the vehicle. The control device 35 has a CPU 36 as arithmetic control means. The control device 35 includes a signal when a transmission (not shown) of the vehicle 1 is in the reverse gear 37, a detection signal from the ultrasonic sensor 6, and the ultrasonic sensor 6 at the rear obstacle detection position P1 and the step detection position. A signal from the selector switch 38 for switching to P2 is input.

  Further, the control device 35 outputs a signal to the drive motor 29 and a signal to the alarm 39 when the distance from the ultrasonic sensor 6 to the rear obstacle 4 becomes a predetermined value or less.

  The alarm 39 emits a warning sound to the occupant when the ultrasonic sensor 6 detects the rear obstacle 4 when the distance L from the ultrasonic sensor 6 to the rear obstacle 4 becomes smaller than a predetermined value β.

Further, when detecting the step 24 by the ultrasonic sensor 6, the alarm 39 detects that the distance L from the ultrasonic sensor 6 to the ground 25 of the step 24 is L from the ultrasonic sensor 6 to the flat ground 3. A warning sound is issued to the occupant when the distance L ₀ changes by a predetermined value or more.

Incidentally, as the alarm 39, when approaching the predetermined value or less rearward obstacle 4 as described above, and alarm sound issuing when the change amount is larger than the predetermined value α with respect to the step 24 is the reference distance L ₀ At the same time, it is possible to display images such as letters and pictograms on the front side of the driver's seat, and to warn with lights such as lamps and LEDs.

  Next, the operation of the obstacle detection device for a vehicle rear configured as described above will be described with reference to the flowchart of FIG.

  In FIG. 11, in step S1, it is determined whether or not the transmission 37 (see FIG. 10) of the vehicle 1 shown in FIG. 1 is in the reverse gear, and if not, the process ends. When the gear is in reverse gear, the process proceeds to step S2, the detection of the rear obstacle 4 by the ultrasonic sensor 6 is started, and the process proceeds to step S3. In step S3, it is determined whether or not the selector switch 38 (see FIG. 10) for detecting the rear obstacle 4 and detecting the step 24 has been pressed. If the selector switch 38 is not pressed, the process proceeds to step S4. The backward movement of the vehicle 1 is started in a state where the rear obstacle 4 in FIG. 1 is detected.

  After the vehicle 1 starts to reverse in step S4, the process proceeds to step S5. If the distance that the rear bumper 5 is allowed to approach the rear obstacle 4 is β, it is determined in step S5 whether the distance L from the rear bumper 5 to the rear obstacle 4 is equal to or less than β.

  In step S5, if the distance L to the rear obstacle 4 is not less than β, the process returns to step S5 to repeat the determination whether the distance L from the rear bumper 5 to the rear obstacle 4 is less than β.

  In step S5, when it is detected that the distance L is equal to or less than β, the process proceeds to step S6, and a warning sound is generated by the alarm 39 in FIG. The vehicle 1 is stopped based on the warning sound (S7). In step S7, when the reverse gear of the truss mission 37 is released, the process proceeds to step S8, and the detection of the rear obstacle 4 ends.

  Next, the effect of step detection by the obstacle detection device for the rear of the vehicle including the ultrasonic sensor 6 will be further described.

 When the transmission 37 in FIG. 10 is in the reverse gear and the changeover switch 38 in FIG. 10 is pressed in step S3, the process proceeds to step S10 and the ultrasonic sensor 6 changes downward.

  That is, in step S10, the ultrasonic sensor 6 at the rear obstacle detection position P1 is rotated to the step detection position P2 in FIG. 5 and turned downward by the driving action of the drive means 30 in FIG. 9 as shown in FIG. Further, the process proceeds to step S11, and the first cylindrical rod 11 and the second cylindrical rod 15 of the support member 16 extend as shown in FIG.

  With the support member 16 extending as described above and the ultrasonic sensor 6 extending from the rear bumper 5 (S11), the process proceeds to step S12, the vehicle 1 in FIG. 8 starts to move backward, and then the process proceeds to step S13. .

In step S13, it is determined whether or not the distance L from the ultrasonic sensor 6 of FIG. 8 to the ground 25 of the step 24 of the step 24 is not less than the height L ₀ + α from the flat ground 3 to the ultrasonic sensor 6. Is done. If the distance L is not equal to or greater than L ₀ + α, the process returns to step S13 again, and the vehicle 1 continues to move backward while being detected by the ultrasonic sensor 6.

In step S13, if it is determined that the distance L from the ultrasonic sensor 6 to the ground 25 of the step 24 is larger than L ₀ + α, the process proceeds to step S14 and a warning sound by the alarm 39 in FIG. Control proceeds to the next step S15. In step S15, it is determined whether or not the occupant has stopped the vehicle 1 based on the warning sound of the alarm 39. If the vehicle 1 is not stopped, the warning sound by the alarm 39 is continuously output in step S14.

  When the vehicle 1 is stopped in step S15, the process proceeds to step S16 to determine whether or not the reverse gear of the transmission 37 in FIG. 10 is released. If the reverse gear is not released, the process returns to step S4. A warning sound is generated by the alarm 39.

  In step S16, when the occupant releases the reverse gear based on the warning sound of the alarm 39, the process goes to step S17, the step detection by the ultrasonic sensor 6 is finished, and the process goes to step S18 to be at the step detection position P2. The ultrasonic sensor 6 is changed to the rear obstacle detection position P1, that is, backward.

  The backward operation of the ultrasonic sensor 6 is performed as follows. When the detection of the ground 25 of the step 24 by the ultrasonic sensor 6 is completed in the step S17, the drive motor 29 in FIG. 9 rotates in the reverse direction to rotate the timing gear 26 in the direction of the arrow 32b, so that the timing belt 20 is moved to the arrow. Moving in the 33b direction, the ultrasonic sensor 6 at the level difference detection position P2 in FIG. 5 is rotated to the rear obstacle detection position P1 in FIG.

  After the ultrasonic sensor 6 turns rearward in step 18, the process proceeds to step S <b> 19, and the support member 16 contracts and is stored in the housing 14 as follows.

  That is, by the further reverse rotation of the timing gear 26 shown in FIG. 9, that is, the action of the driving means 30 in the reverse direction, the first cylindrical rod 11 and the second cylindrical rod 15 of FIG. The ultrasonic sensor 6 is stored in the housing 14 as shown in FIGS. Thereby, operation | movement of the obstacle detection apparatus for vehicle back is complete | finished.

  As described above, when the vehicle 1 moves backward, the ultrasonic sensor 6 detects the ground 25 of the step 24 and measures the distance L. When the change amount of the distance L exceeds the distance α, a warning sound is emitted. Further, it is possible to prevent the phenomenon that the rear wheel 2 of the vehicle 1 is removed from the large step 24 such as a groove or a hole that cannot be seen by the side mirror and cannot escape by itself, and various adverse effects caused thereby.

  Further, the step detection of the step 24 is performed by using the ultrasonic sensor 6 for detecting the rear obstacle 4 that is normally used so that the ultrasonic sensor 6 can face downward, and therefore the dedicated ultrasonic sensor 6 for detecting the step. It is no longer necessary to provide a special obstacle, and the cost of the obstacle detection device for the rear of the vehicle can be reduced.

  Further, switching the ultrasonic sensor 6 between the rear obstacle detection position P1 and the step detection position P2 is very convenient because it can be easily performed by operating the changeover switch 38.

  Further, when the step 24 is detected by the ultrasonic sensor 6, the support member 16 extends to extend the ultrasonic sensor 6 to the rear of the rear bumper 5, so that the step 24 is quickly recognized when the vehicle 1 moves backward. Thus, it is possible to more reliably prevent the adverse effect that the vehicle 1 falls into the step 24.

  In the present embodiment, the step detection by the ultrasonic sensor 6 has been described by taking the concave step 24 as an example. However, the step of the ridge protruding upward from the flat ground 3 is also detected by the ultrasonic sensor 6. Of course, it can be detected.

The obstacle detection device for a vehicle rear according to the embodiment of the invention described above is disposed at the rear part (5) of the vehicle (1) and the distance (L) to the obstacle (4) behind the vehicle (1). ) Detecting a distance sensor (6), a calculation control means (36) for obtaining a distance to the obstacle (4) in response to a distance measurement signal from the distance sensor (6), and the calculation control means (36) has a notifying means (39) for notifying that the calculated distance is equal to or less than a set value (β) when the vehicle (1) is reversely operated. The distance measuring sensor (6) is selectively directed to a rear obstacle detection position (P1) for detecting an obstacle (4) behind the vehicle and a step detection position (P2) for detecting a step (24) below the vehicle. The setting can be changed. The arithmetic control means (36) measures the distance (L) from the distance measuring sensor (6) to the ground (3) with the distance measuring sensor (6) directed toward the step detection position (P2). The measurement distance (L) detected by the distance measuring sensor (6) changes by a predetermined value (α) or more with respect to the reference distance (L ₀ ) from the distance measuring sensor (6) to the flat ground (25). The notification means (39) is controlled to be notified.

According to this configuration, when the vehicle (1) moves backward, the distance measuring sensor (6) that has detected the obstacle (4) behind the vehicle detects the level difference (24) below the vehicle (P2). ) And the distance (L) from the distance measuring sensor (6) to the ground (25) is measured, and this measured distance (L) is flat from the distance measuring sensor (6) to the flat ground (3). When the vehicle is changed by a predetermined value (α) or more than the reference distance (L ₀ ) up to the vehicle, the notification means (39) notifies this, and the vehicle by the step (24) on the rear side of the vehicle that cannot be seen by the side mirror The adverse effect on (1) can be prevented beforehand.

  Further, since the step (24) below the vehicle is detected by the distance measuring sensor (6) that detects the obstacle (4) behind the vehicle (1), the step detection system can be constructed at low cost.

  Further, the obstacle detection device for a vehicle rear according to the embodiment of the present invention drives the distance sensor (6) to the rear obstacle detection position (P1) and the step detection position (P2). (30), and a switch (38) for switching the distance measuring sensor (6) between a rear obstacle detection position (P1) and a step detection position (P2) by operating the driving means (30) by a switching operation. have.

  According to this configuration, the driver can freely switch one distance measurement sensor (6) between the rear obstacle detection position (P1) and the step detection position (P2). Further, since the rear obstacle detection and the step detection can be performed by using one distance measuring sensor (6) by the switching operation of the changeover switch (38), a dedicated measurement for detecting the step (24) is possible. It is not necessary to provide the distance sensor (6), and the cost of the obstacle detection device behind the vehicle can be reduced.

  In the obstacle detection device for the rear of the vehicle according to the embodiment of the present invention, a sensor support member (16) that can be expanded and contracted with respect to the rear is attached to the rear portion of the vehicle (1), and the sensor support member (16 ), And the distance measuring sensor (6) is attached to the rear end (20a) of the sensor support member (16). Then, the calculation control means (36) controls the operation of the drive means (30) to extend the sensor support member (16) to the rear of the vehicle and to move the distance measuring sensor (6) to the step detection position (P2). It is trying to point to.

  According to this configuration, since the support member (16) is extended and the distance measuring sensor (6) faces downward when detecting a step difference on the rear side of the vehicle, the step (24) on the rear side of the vehicle can be detected earlier. The adverse effects due to the step (24) can be reliably prevented.

  The driving means (30) includes a timing belt (20) having a rear end portion (20a) attached to the position of the distance measuring sensor (6) capable of rotating the distance measuring sensor (6). The timing belt (20) is wound around the peripheral surface and the other end (20b) of the timing belt (20) is fixed, and the timing gear (26) is forward and reverse. A drive motor (29) for driving may be provided.

  According to this configuration, when the step (24) is detected by the ultrasonic sensor (6), the timing belt (20) is fed out from the timing gear (26) by the rotational drive of the drive motor (29), whereby the support member (16 ) Can be extended rearward of the vehicle, and the distance measuring sensor (6) can be set at the step detection position (P2) with the vehicle facing downward.

It is a side view of a vehicle and a back obstacle at the time of detection of a back obstacle of the obstacle detection device concerning the present invention. It is an enlarged view of the supporting member and ultrasonic sensor part in FIG. It is an enlarged view of the A section in FIG. It is an enlarged view of a support member and an ultrasonic sensor part at the time of level difference detection. It is an enlarged view of the B section in FIG. It is a side view of the extended support member. It is an enlarged view of the C section in FIG. It is a side view of a vehicle and a level difference at the time of level difference detection. It is a side view of the drive means of an ultrasonic sensor and a support member. It is a block diagram of the control apparatus concerning control of the obstacle detection apparatus for vehicles back. It is a flowchart concerning the effect | action of the obstacle detection apparatus for vehicle back.

Explanation of symbols

P1 Rear obstacle detection position P2 Step detection position L Distance from ultrasonic sensor to ground L ₀ Reference distance from ultrasonic sensor to flat ground α Predetermined value of step 1 Vehicle 4 Rear obstacle 5 Rear bumper (rear of vehicle) edge)
6 Ultrasonic sensor (ranging sensor)
16 Support member 30 Drive means 36 Control device (calculation control means)
37 Transmission 38 Switch 39 Alarm (notification)

Claims (3)

  A distance measuring sensor disposed at the rear of the vehicle to detect a distance to an obstacle behind the vehicle; a calculation control means for obtaining a distance to the obstacle by receiving a distance measuring signal from the distance measuring sensor; An obstacle detection device for a vehicle rear having notification means that is operated and controlled by the arithmetic control means and notifies that the calculated distance is equal to or less than a set value when the vehicle moves backward. A direction obstacle detection position for detecting an obstacle behind the vehicle and a step detection position for detecting a step below the vehicle are provided so that the direction can be selectively changed, and the calculation control means includes the distance measurement The distance from the distance measuring sensor to the ground is measured with the sensor facing the step detection position, and the measured distance detected by the distance measuring sensor is equal to or greater than a predetermined value with respect to a reference distance from the distance measuring sensor to the flat ground. Strange And when that obstacle detection device for a vehicle rear, characterized in that it is set so as to inform the passenger of the notification means operation control to.   The distance measuring sensor has a driving means for driving the direction of the distance sensor to the rear obstacle detecting position and the step detecting position, and the driving means is operated by a switching operation to move the distance measuring sensor to the rear obstacle detecting position and the step detecting position. An obstacle detection device for a vehicle rear according to claim 1, further comprising a changeover switch for switching between   A sensor support member that can be extended and contracted rearward is attached to the rear part of the vehicle, and has a driving means that drives the sensor support member to extend and contract, and the distance measuring sensor is attached to a rear end part of the sensor support member, 3. The vehicle rear according to claim 1, wherein the arithmetic control unit controls the operation of the driving unit to extend the sensor support member toward the rear of the vehicle and direct the distance measuring sensor toward the step detection position. Obstacle detection device.

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