JP2013019798A - Laser radar system, and method for attaching the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser radar attached to a vehicle, the laser rader being capable of reducing the possibility of a ghost being detected as a subject owing to leaking light.SOLUTION: A laser rader system 1 comprises a laser radar 10 and a processed component 80. The laser radar 10 emits laser light toward provided angular areas LA and RA through an optical element including lenses, and detects a subject by receiving the reflected laser light. A reflectance reduction process is applied to an area of the outside surface of the processed component 80, or of the outside surface of a vehicle to which the laser radar 10 is attached, with the area overlapping leak ranges LE and RE. With the emission of laser light toward the provided angular areas LA and RA, the leak areas LE and RE receive laser light with smaller intensity than that of the laser light emitted toward the provided angular areas LA and RA, in which the leak areas LE and RE are adjacent to the provided angular areas LA and RA.

Description

  The present invention relates to a laser radar system that detects an object based on a result of outputting and receiving a laser beam, and a laser radar mounting method.

  2. Description of the Related Art Conventionally, a laser radar mounted on an automobile, which emits a laser beam within a specified angle range including a reference axis as a center, a light receiving unit that receives a laser beam reflected by an object, and a light emitting unit. A laser radar is known that includes a control unit that detects a distance to an object that reflects the laser beam and a direction in which the object exists based on the laser beam received and the laser beam received by the light receiving unit (for example, Patent Document 1).

  In this type of laser radar, generally, the light emitting unit includes a laser diode that outputs laser light, and an optical element centered on a lens that focuses or diffuses the laser light output by the laser diode within a specified angle range. It has. On the other hand, the light receiving unit includes at least one light detector that outputs a signal having a level corresponding to the intensity of the received reflected light, and the control unit has a predetermined signal level output from the light detector. If it is equal to or greater than the threshold value, it is determined that the object exists within the specified angle range.

JP 2009-103482 A

  By the way, the laser light emitted from the light emitting unit as described above may be diffusely reflected on the lens surface or in the lens, and as shown in FIG.

  Here, FIG. 8 is a diagram showing, in time series, a process in which the control unit detects an object based on the signal level from the photodetector, and FIG. 8A shows a reflection within the mole range. FIG. 8B is a diagram illustrating a signal level when an object having a high rate (for example, a water droplet) does not exist, and FIG. 8B illustrates an object having a high reflectivity within the mole range (for example, a water droplet, hereinafter, high reflection). It is a figure showing a signal level when there is an object).

  Usually, the intensity of the laser beam irradiated to the mole range is weaker than the intensity of the laser beam irradiated within the specified angle range. For this reason, when the highly reflective object does not exist within the mole range, as shown in FIG. 8A, the intensity of the reflected light (that is, laser light) β from the mole range is less than the threshold value. Unlike the reflected light α at the object existing in the specified angle range, it is not detected as an object.

  However, when a highly reflective object exists within the mole range, as shown in FIG. 8B, the intensity of the laser light β ′ reflected by the highly reflective object is equal to or greater than a threshold value and is actually within the specified angle range. There is a problem that an object (ghost) not to be detected is erroneously detected as an object existing within a specified angle range.

  This problem is likely to occur when the laser radar is attached to the automobile so that the mole range irradiated with the laser light overlaps with a part of an exterior part (bumper or the like) constituting the outer shell of the automobile.

  Accordingly, an object of the present invention is to reduce the detection of a ghost as an object in a laser radar attached to an automobile.

A first invention made to achieve the above object relates to a laser radar system including a laser radar and a reduction processing member.
In the laser radar system according to the first aspect of the invention, the laser radar includes a light emitting unit that emits laser light over at least one specified angle range via an optical element including a lens, and a light receiving unit that receives the reflected laser light. And an object detection unit that detects an object reflecting the laser beam based on the intensity of the laser beam irradiated by the light emitting unit and the intensity of the laser beam received by the light receiving unit.

  The reduction processing member includes at least a mole range of the outer surface of the automobile to which the laser radar is attached so that the prescribed angle range overlaps the prescribed irradiation range that is a range defined along at least a part of the outer periphery of the automobile. It is a member that has been subjected to a reflectance reduction process that reduces the reflectance in the range of the overlapping outer surface.

  The mole range is a range in which a laser beam having an intensity smaller than the intensity of the laser beam irradiated to the specified angle range is irradiated with the laser beam irradiation to the specified angle range. Is a range adjacent to.

  In the laser radar system according to the first aspect of the invention, the reflectance reduction process is performed on the outer surface of the automobile that overlaps the mole range. As shown in FIG. The intensity of the reflected light B ″ is reduced. As a result, according to the present invention, it is possible to reduce erroneous detection of a ghost as an object existing within the specified angle range even if a highly reflective object (that is, a water droplet) exists within the mole range.

Further, the reduction processing member in the first invention may be a sheet-like member whose surface is subjected to water repellent processing as the reflectance reduction processing (Claim 2).
If it is such 1st invention, a water droplet will adhere to the surface of the said exterior component by attaching the sheet-like member as a reduction process member to the exterior component which is the existing member which comprises the outer shell of a motor vehicle. Can be reduced. As a result, according to the present invention, it is possible to reduce the arrival of reflected light with high intensity from the mole range, and water droplets (that is, ghosts) existing in the mole range are erroneously detected as objects existing in the specified angle range. Can be reduced.

Further, the reduction processing member in the first invention may be an exterior part constituting the outer surface of the automobile, which has been subjected to water repellent treatment as the reflectance reduction processing.
If it is such a 1st invention, it can be made to function as a reduction process member by performing a water-repellent process to the existing exterior components. As a result, it is possible to reduce water droplets from adhering to the surface of the exterior part.

  By the way, when the own vehicle enters an intersection with poor visibility, a situation confirmation system for confirming the situation of other vehicles passing through the intersection is considered. In this situation confirmation system, it is necessary to have a configuration for detecting other vehicles or the like passing through an intersection. As this configuration, a laser radar in which at least one of the left and right ranges with respect to the traveling direction of the own vehicle is a specified angle range is used. Can be considered.

  In this case, the laser radar may be attached to the back surface of the license plate installed in front of the automobile so that the leakage range is formed at least on the vehicle body side of the host vehicle with respect to the prescribed angle range. ).

  If the mounting position of the laser radar is the back of the license plate, the laser radar can be easily attached to the automobile not only at the automobile manufacturing stage but also after the automobile is completed. As a result, the situation confirmation system can be easily installed after the automobile is completed.

  As described above, when the laser radar is fixed to the back surface of the license plate installed in front of the automobile, the laser radar leakage range is likely to overlap with a part of the bumper installed in front of the automobile.

For this reason, in this invention, it is preferable that the member which performs a reflectance reduction process is a bumper installed in front of a motor vehicle (Claim 5).
When the light receiving section in the laser radar is configured by arranging at least two or more photodetectors that output a signal of a level corresponding to the intensity of the received reflected light adjacently on a straight line, The light receiving unit easily receives reflected light (that is, laser light) from the mole range at the light receiving unit. In this case, the object detection unit is configured to detect the azimuth of the object according to the arrangement position of each photodetector that has received the reflected light (Claim 6), and is actually within a specified angle range. There is a high possibility that an object that is not (i.e., ghost) is erroneously detected as an object that exists within a specified angle range.

  However, if the present invention is applied to a laser radar system having a laser radar as described above, it is possible to more reliably reduce erroneous detection of a ghost as an object existing within a specified angle range.

The second invention made to achieve the above object relates to a mounting method for mounting a laser radar having a light emitting portion, a light receiving portion, and an object detecting portion on an automobile.
In the mounting method of the second invention, in the mounting step, the laser radar is mounted on the vehicle so that the specified angle range coincides with the specified irradiation range which is a range specified along the outer periphery of the vehicle. Then, in the processing execution step, a reflectance reduction process for reducing the reflectance is executed in a range that overlaps the mole range of the exterior part constituting the outer shell of the automobile to which the laser radar is attached in the attachment step (claim). 7).

  However, the mole range referred to here is a range in which the laser beam having a smaller intensity than the intensity of the laser beam irradiated to the specified angle range is irradiated with the laser beam irradiation to the specified angle range, It is a range adjacent to the specified angle range.

  According to the laser radar attached to the automobile by such an attachment method, the intensity of reflected light from the mole range can be reduced. As a result, it is possible to reduce erroneous detection of an object that does not actually exist within the mole range, that is, a ghost as an object that exists within the specified angle range.

In the second invention, in the processing execution step, attachment of a sheet-like member having a water-repellent surface may be executed as the reflectance reduction processing.
According to such a laser radar mounting method, it is possible to reduce adhesion of water droplets having high reflectivity to the exterior parts (parts overlapping the mole range) of the automobile. As a result, it is possible to reduce the arrival of reflected light having a high intensity from the mole range, and it is possible to more reliably reduce erroneous detection of a ghost as an object existing within the specified angle range.

In the process execution step, the water repellent process may be executed as a reflectance reduction process.
According to such a laser radar mounting method, it is possible to reduce adhesion of water droplets having high reflectivity to the exterior parts (parts overlapping the mole range) of the automobile.

  In the mounting process according to the second aspect of the invention, at least one of the left and right ranges with respect to the traveling direction of the host vehicle is defined as a prescribed irradiation range, and at least the mole range is formed on the vehicle body side of the subject vehicle relative to the prescribed angle range You may attach a laser radar to the back surface of the license plate installed ahead (Claim 10).

  According to such a laser radar attachment method, the laser radar can be easily attached to the automobile not only at the automobile manufacturing stage but also after the automobile is completed. As a result, the situation confirmation system can be easily installed after the automobile is completed.

  As described above, when the laser radar is fixed to the back of the license plate installed in front of the automobile, the laser radar leakage range may overlap with a part of the bumper installed in front of the automobile. high.

  For this reason, in this invention, it is preferable to perform a reflectance reduction process to the bumper installed ahead of a motor vehicle.

It is a figure which shows the motor vehicle carrying the laser radar system to which this invention was applied. It is a figure which shows the attachment structure of a laser radar. It is a block diagram which shows schematic structure of a laser radar. FIG. 4A is a block diagram illustrating a schematic configuration of the light emitting unit and the light receiving unit, FIG. 4A is a diagram illustrating a schematic configuration of the light emitting unit, and FIG. 4B is a diagram illustrating a schematic configuration of the light receiving unit. . It is a figure which shows the prescription | regulation angle range and the mole range which a laser beam is irradiated from a light emission part. It is a figure which shows the range of the exterior components which perform a reflectance reduction process in embodiment. It is a figure explaining the subject of a prior art. FIG. 8A and FIG. 8B are diagrams for explaining the problems of the prior art, and FIG. 8C illustrates the effects of the present invention. It is a figure explaining. FIG. 9A is a block diagram illustrating a modified example of the light unit and the light receiving unit, FIG. 9A is a diagram illustrating a modified example of the light emitting unit, and FIG. 9B is a diagram illustrating a modified example of the light receiving unit.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing an automobile equipped with a laser radar system 1 to which the present invention is applied.

Hereinafter, an automobile equipped with the laser radar system 1 is also referred to as a host vehicle AM.
The laser radar system 1 includes a laser radar 10 installed in front of the host vehicle AM and a process in which a reflectance reduction process for reducing the reflectivity is performed on at least a part of an exterior part constituting the outer shell of the host vehicle AM. And a finished member 80.
<About laser radar>
Next, the laser radar will be described.

  The laser radar 10 detects at least the distance to an object and the direction in which the object is located by irradiating the prescribed angle ranges LA and RA with laser light as a search wave and receiving reflected light of the search wave. It is. In the present embodiment, the laser radar 10 is applied to a situation confirmation system that, for example, confirms the situation of other vehicles passing through the intersection when the host vehicle AM enters an intersection with poor visibility.

  Therefore, as shown in FIG. 2, the laser radar 10 is attached to the back surface of the number plate 7 provided in front of the host vehicle AM. Specifically, the laser radar 10 includes a fastening element (for example, a screw element 12 or 13 inserted in the case 11 after each part of the laser radar 10 is stored in the case 11). It is attached to the bumper 8 in front of the host vehicle AM together with the license plate 7 using screws and bolts). At this time, the laser radar 10 is located on both the left and right sides with respect to the traveling direction of the host vehicle AM, and each of the specified angle ranges LA and RA is included in each of the specified irradiation ranges defined along the outer periphery of the host vehicle AM. It is attached so as to overlap.

The case 11 is provided with an irradiation light passage hole 14 through which the laser light from the laser radar 10 passes and a reflected light receiving hole 15 through which the reflected light passes.
As shown in FIG. 3, the laser radar 10 mounted in this manner emits laser light and emits laser light to the specified angle ranges LA and RA, and laser light reflected by an object. And light receiving units 30 and 50 for receiving the reflected light. Further, the laser radar 10 measures the time from when the light emitting units 20 and 40 irradiate the laser light to when the light receiving units 30 and 50 receive the reflected light, and the light receiving intensity at the light receiving units 30 and 50. The detection circuits 61 and 62 for generating the measurement data and the light emission signal for irradiating the laser light from the light emitting units 20 and 40 are output, and the detection data based on the measurement data generated by the detection circuits 61 and 62 The control part 65 which produces | generates is provided.

  Note that the light emitting unit 20, the light receiving unit 30, and the detection circuit 61 in the present embodiment irradiate laser light to a specified angular range LA defined on the left side with respect to the traveling direction of the host vehicle AM, and receive reflected light. It functions as the left side light emitting / receiving mechanism 71. In addition, the light emitting unit 40, the light receiving unit 50, and the detection circuit 62 in the present embodiment irradiate laser light to a specified angle range RA defined on the right side with respect to the traveling direction of the host vehicle AM, and receive reflected light. It functions as the right side light emitting / receiving mechanism 72.

Here, FIG. 4A is a diagram illustrating a schematic configuration of the light emitting unit in the present embodiment, and FIG. 4B is a diagram illustrating a schematic configuration of the light receiving unit in the present embodiment.
As shown in FIG. 4A, the light emitting units 20 and 40 include a laser diode (LD) 21 that generates laser light and an LD that generates pulsed laser light in the LD 21 in accordance with a light emission signal from the control unit 65. A drive circuit 22 and an optical element 23 including at least a light-emitting lens that determines the beam width of the laser light generated by the LD 21 are provided. However, the light-emitting lens included in the optical element 23 is configured so that the beam width of the laser light emitted from the LD 21 falls within the specified angular ranges RA and LA.

  The laser light emitted from the LD 21 and applied to the specified angle ranges LA and RA via the optical element 23 sandwiches the specified angle ranges LA and RA, for example, by irregular reflection within the surface of the light-emitting lens and within the light-emitting lens. Irradiation is also applied to the mole ranges LE and RE (see FIG. 1). However, the intensity of the laser light applied to the mole ranges LE and RE is weaker than the intensity of the laser light applied to the specified angle ranges LA and RA.

  As shown in FIG. 4B, the light receiving units 30 and 50 receive the reflected light via the light receiving lens 31 that collects the reflected light and the light receiving lens 31 and have a signal level corresponding to the intensity thereof. A plurality of light receiving elements (PD, that is, photodetectors) 32A to 32n that generate signals and amplifiers 33A to 33a that amplify the light receiving signals from the light receiving elements 32A to 32n are provided. However, the light receiving elements 32A to 32n are arranged adjacent to each other on a straight line, and the light receiving lens 31 is configured to guide the reflected light to one light receiving element 32 according to the incident angle of the reflected light. Yes. That is, the light reception signals from the light receiving elements 32A to 32n and the amplifiers 33A to 33n indicate that the reflected light is received when the reflected light is incident from specific angles (that is, one direction) θx and θz. It becomes a thing.

  Then, as shown in FIG. 5, the laser beams from the light emitting units 20 and 40 pass through the irradiation light passage hole 14 and are irradiated to the specified angle ranges LA and RA. However, the laser light passing through the irradiation light passage hole 14 is also irradiated to the mole ranges LE and RE associated with the specified angle ranges LA and RA, respectively. In the present embodiment, at least a part of the mole ranges LE and RE formed on the vehicle body side relative to the specified angle ranges LA and RA overlap the bumper 8. However, the specified angle ranges LA and RA and the mole ranges LE and RE irradiated with the laser light are ranges that extend in the full length direction (x axis) of the host vehicle AM and the vehicle height direction (z axis) of the host vehicle AM. It is. In other words, it has coordinate axes for detecting the position where the object exists in both the full length direction and the vehicle height direction.

  At the same time, the reflected light passes through the reflected light receiving hole 15 and is received by the light receiving portions 30 and 50, and one light receiving element 32 receiving the reflected light indicates that the reflected light is received (that is, Outputs light reception signal (with high signal level).

The detection circuits 61 and 62 generate and accumulate measurement data each time a light emission signal from the control unit 65 is input, and output the measurement data to the control unit 65 based on a request from the control unit 65.
The detection circuits 61 and 62 detect the phase difference between the light emission signal from the control unit 65 and the light reception signal from the light receiving unit 30 whose signal level is equal to or higher than a predetermined threshold (that is, the round trip time to the reflector). Measure and derive a distance (hereinafter referred to as detection distance) R to the object that reflects the laser beam. At the same time, the detection circuits 61 and 62 specify the azimuth (that is, the angles θx and θz) of the object that reflected the laser light by specifying the amplifier 33 that has output the light reception signal whose signal level is equal to or higher than the threshold value.

The measurement data generated by the detection circuits 61 and 62 is obtained by associating the detection distance R with the angles θx and θz and the signal level of the received light signal.
<About processed parts>
Next, the processed member will be described.

FIG. 6 is a diagram illustrating a range in which the reflectance reduction process is performed on the exterior component.
In the present embodiment, the processed member 80 is obtained by performing a reflectance reduction process for reducing the reflectance on at least a part of the exterior component 90 constituting the outer shell of the host vehicle AM.

  The exterior component 90 in this embodiment is a bumper 8 or a hood (so-called bonnet) 9. The range in which the exterior component 90 is subjected to the reflectance reduction process is a range that overlaps the leakage ranges LE and RE irradiated with the laser light from the laser radar 10 attached to the back surface of the license plate 7.

And the reflectance reduction process in this embodiment is attaching the sheet-like member (henceforth a sheet-like member) 92 by which the water-repellent process was given to the surface. As the water repellent treatment applied to the sheet-like member 92, a known technique for applying a water repellent (silicon resin or fluororesin) to the surface may be used.
<Laser radar system mounting method>
Next, a method for mounting the laser radar system 1 will be described.

  In the mounting method of the laser radar system 1, the laser radar 10 is attached to the bumper 8 in front of the host vehicle AM using a fastening element (for example, screw or bolt) together with the number plate 7 together with the case 11 of the laser radar 10.

Then, the sheet-like member 92 is pasted on the bumper 8 and the hood 9 at least in a range overlapping with the mole ranges LE and RE irradiated with the laser light from the laser radar 10 attached to the host vehicle.
[Effect of the embodiment]
As described above, in the laser radar system 1, the sheet-like member 92 is placed in a range overlapping the mole ranges LE and RE, of the outer surface of the exterior component 90 that is an existing member constituting the outer shell of the automobile AM. The processed member 80 is implement | achieved by attaching.

According to such a treated member 80, it is possible to reduce the adhesion of water droplets to the surface, and the intensity of reflected light (laser light) from the mole range is reduced.
As a result, according to the laser radar system 1, according to the laser radar 10 constituting the laser radar system 1, the reflected light from the mole ranges LE and RE, that is, the ghost is present within the specified angle ranges LA and RA. Erroneous detection as an object to be performed can be reduced.

  Further, in the above embodiment, the laser radar 10 is attached to the back surface of the license plate 7 using a fastening element. Therefore, the laser radar 10 can be easily attached to the automobile not only in the automobile manufacturing stage but also after the automobile is completed. . As a result, the situation confirmation system can be easily installed after the automobile is completed.

  Generally, as described above, at least two or more PDs 32 that output a signal of a level corresponding to the intensity of reflected light received by the light receiving units 30 and 50 in the laser radar 10 are arranged adjacent to each other on a straight line. In the case where the light receiving units 30 and 50 are configured to receive the reflected light (that is, laser light) from the mole ranges LE and RE, the ghost exists in the specified angle ranges LA and RA. It was easy to misdetect as an object.

However, according to the laser radar system 1 of the present embodiment, the intensity of the reflected light (laser light) from the mole ranges LE and RE is lowered in the first place, so that the ghost is present in the specified angle ranges LA and RA. It is possible to more reliably reduce false detection.
[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  For example, in the above embodiment, the laser radar 10 is configured and attached to the automobile AM so that both the left and right directions with respect to the traveling direction of the host vehicle AM are within the specified angle ranges LA and RA. The laser radar 10 may be configured and attached to the automobile AM so that either one of the left and right directions falls within the specified angle range. In this case, it is preferable that the specified angle range is provided in a direction opposite to the direction in which the driver's seat is provided with respect to the traveling direction of the host vehicle AM. Thereby, the driver can recognize an object (for example, another vehicle) existing in the blind spot from the driver's seat.

  Moreover, in the said embodiment, although the laser radar 10 was installed in the back surface of the number plate 7 ahead of the own vehicle AM, the place which installs the laser radar 10 is not restricted to this. That is, the place where the laser radar 10 is installed may be a door outer or a side panel outer attached to the side of the host vehicle AM, or a bumper or a trunk lid attached to the rear of the host vehicle AM. In the former case, the laser radar 10 may be attached so as to irradiate the laser beam to the side of the host vehicle AM, and in the latter case, the laser radar 10 may be attached to irradiate the laser beam behind the host vehicle AM. preferable.

  In these cases, the exterior component 90 on which the reflectance reduction process is executed is an exterior component 90 having a range overlapping the mole range in the vicinity of the place where the laser radar 10 is installed.

  Furthermore, although the laser radar 10 in the above embodiment is applied to the situation confirmation system, the application target of the laser radar 10 is not limited to this, for example, between the own vehicle AM and the preceding vehicle. In an adaptive cruise control system that maintains the distance between vehicles at a specified distance, a braking force is generated when a preceding vehicle is detected or an object existing on the traveling path of the host vehicle AM cannot be avoided. In a pre-crash safety system that winds up a seat belt, the present invention may be applied to detecting an object present on a traveling path.

  Moreover, in the said embodiment, although the sheet-like member 92 was attached as a reflectance reduction process, the processing content of a reflectance reduction process is not restricted to this. For example, a water repellent treatment may be performed on the exterior part 90 in a range overlapping with the mole ranges LE and RE irradiated with the laser light from the laser radar 10, and water droplets are less likely to adhere to the exterior part 90. Fine irregularities may be provided on the surface of the exterior component 90. That is, the reflectance reduction process may be any process as long as the process reduces the reflectance.

  Furthermore, in the said embodiment, although the light emission parts 20 and 40 and the light-receiving parts 30 and 50 were comprised as shown in FIG. 4, the structure of the light-emitting parts 20 and 40 and the light-receiving parts 30 and 50 is the said embodiment. It is not restricted to the structure described in.

  That is, as shown in FIG. 9A, the light emitting units 20 and 40 are supplied via the laser diode (LD) 21, the LD driving circuit 22, the optical element 23 including at least a light emitting lens, and the optical element 23. The rotary polygon mirror 24 having different tilt angles on each surface that reflects the laser beam to be reflected is supported, the rotary polygon mirror 24 is rotatably supported, and the depression angle θz of the laser light is changed along the vehicle height direction. SC drive that realizes scanning of laser light within a specified angle range by driving the scanner mechanism 25 in accordance with the SC drive signal from the scanner mechanism 25 and the controller 65 configured to be capable of A circuit 26 may be provided.

  When the light emitting units 20 and 40 are configured as illustrated in FIG. 9A, the light receiving units 30 and 50 include the light receiving lens 31 and one light receiving element (PD) as illustrated in FIG. 9B. ) 32 and one amplifier 33 for amplifying a light reception signal from one light receiving element 32. That is, in the laser radar 10 including the light emitting units 20 and 40 shown in FIG. 9A and the light receiving units 30 and 40 shown in FIG. 9B, all the specified angle ranges LA and RA are obtained by two-dimensional beam scanning. Thus, it is possible to irradiate a laser beam, and it is possible to detect an object existing within the specified angular ranges LA and RA.

In other words, the light emitting units 20 and 40 and the light receiving units 30 and 50 are configured to irradiate the prescribed angle ranges LA and RA with laser light and receive reflected light of the irradiated laser light, and the detection circuit 61. 62 and the control unit 65 may be configured in any manner as long as the distance R to the reflector and the angles θx and θz can be detected.
[Correspondence between Embodiment and Claims]
Finally, the relationship between the description of the above embodiment and the description of the scope of claims will be described.

  The laser radar 10 in the embodiment corresponds to the laser radar in the description of the claims, and the sheet-like member 92 or the processed member 80 in the embodiment corresponds to the reduction processing member in the claims. . Further, the light emitting units 20 and 40 in the above embodiment correspond to the light emitting unit in the description of the claims, and the light receiving units 30 and 50 in the above embodiment correspond to the light receiving unit in the description of the claims, The detection circuits 61 and 62 and the control unit 65 in the above embodiment correspond to the object detection unit in the claims.

DESCRIPTION OF SYMBOLS 1 ... Laser radar system 7 ... License plate 8 ... Bumper 9 ... Hood 10 ... Laser radar 11 ... Case 12, 13 ... Screw hole 14 ... Irradiation light passage hole 15 ... Reflection light receiving hole 20 ... Light emission part 22 ... LD drive circuit 23 DESCRIPTION OF SYMBOLS ... Light-emitting lens 24 ... Rotary polygon mirror 25 ... Scanner mechanism part 26 ... SC drive circuit 30 ... Light-receiving part 31 ... Light-receiving lens 32 ... Light-receiving element 33 ... Amplifier 40 ... Light-emitting part 50 ... Light-receiving part 61, 62 ... Detection circuit 65 ... Control 71: Left side light emitting / receiving mechanism 72 ... Right side light emitting / receiving mechanism 80 ... Processed member 90 ... Exterior part 92 ... Sheet-like member AM ... Own vehicle (automobile) LA, RA ... Specified angle range LE, RE ... More range

Claims (11)

A light emitting unit that irradiates laser light over at least one specified angle range via an optical element including a lens, a light receiving unit that receives reflected laser light, and the laser light and the light receiving unit irradiated by the light emitting unit A laser radar having an object detection unit for detecting an object reflecting the laser beam based on the intensity of the laser beam received by
Along with the irradiation of the laser beam to the specified angle range, a range in which the laser beam having a smaller intensity than the intensity of the laser beam irradiated to the specified angle range is irradiated, and a range adjacent to the specified angle range. More range,
Of the outer surface of the automobile to which the laser radar is mounted so that the prescribed angle range overlaps with a prescribed irradiation range that is a range defined along at least a part of the outer periphery of the automobile, at least the outer area that overlaps the mole range. A laser radar system comprising: a reduction processing member that is a member that has been subjected to a reflectance reduction process that reduces the reflectance in a surface range. The reduction processing member is
2. The laser radar system according to claim 1, wherein the reflectance reduction process is a sheet-like member having a water repellent finish on a surface. The reduction processing member is
2. The laser radar system according to claim 1, wherein the laser radar system is an exterior component that constitutes an outer surface of the automobile that has been subjected to water repellent treatment as the reflectance reduction treatment. The laser radar is
At least one of the left and right ranges with respect to the traveling direction of the host vehicle is the prescribed irradiation range,
It is attached to the back surface of the number plate installed in front of the automobile so that the leakage range is formed at least on the vehicle body side of the host vehicle with respect to the prescribed angle range. The laser radar system according to any one of the above. The member subjected to the reflectance reduction treatment is
The laser radar system according to claim 4, wherein the laser radar system is a bumper installed in front of the automobile. The light receiving unit is
At least two or more photodetectors that output a signal of a level corresponding to the intensity of the received laser light are arranged adjacent to each other on a straight line,
The object detection unit is
The laser radar system according to any one of claims 1 to 5, wherein the direction of the object is detected according to an arrangement position of each photodetector that receives the laser light. A light emitting unit that irradiates laser light over at least one specified angle range via an optical element including a lens, a light receiving unit that receives reflected laser light, and the laser light and the light receiving unit irradiated by the light emitting unit A laser radar having an object detection unit for detecting an object that reflects the laser beam based on the intensity of the laser beam received in the mounting method for attaching to a vehicle,
An attachment step of attaching the laser radar to the automobile so that the prescribed angular range matches a prescribed irradiation range which is a range defined along the outer periphery of the automobile;
Along with the irradiation of the laser beam to the specified angle range, a range in which the laser beam having a smaller intensity than the intensity of the laser beam irradiated to the specified angle range is irradiated, and a range adjacent to the specified angle range. More range,
A process execution step of performing a reflectance reduction process for reducing the reflectance in a range overlapping with the mole range of the exterior part constituting the outer shell of the automobile to which the laser radar is mounted in the mounting step. A characteristic mounting method. The process execution step includes
The attachment method according to claim 7, wherein attachment of a sheet-like member having a water repellent finish on the surface is executed as the reflectance reduction process. The process execution step includes
The attachment method according to claim 7, wherein a water repellent process is performed as the reflectance reduction process. The attaching step includes
At least one of the left and right ranges with respect to the traveling direction of the host vehicle is the prescribed irradiation range,
The laser radar is attached to the rear surface of a license plate installed in front of the automobile so that the leakage range is formed at least on the vehicle body side of the host vehicle with respect to the prescribed angle range. The attachment method according to claim 9. The process execution step includes
The mounting method according to claim 10, wherein a bumper installed in front of the automobile is the exterior part.