JP2016206084A - Obstacle detection device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the possibility of a light reflected by an obstacle located outside of a vehicle and heading toward a light-receiving part interfering with a light-shading member and the possibility of a light reflected by the inner surface, etc., of a window part of the vehicle heading toward the light-receiving part, and also to make applicable to the window parts of various types of vehicles while lowering manufacturing costs.SOLUTION: An obstacle detection device according to the present invention comprises a bracket 11A secured to the inner surface of a window part provided in a vehicle and an optical unit 20 attachable/removable to and from the bracket. The optical unit has a housing 21 attachable/removable to and from the bracket and a light-receiving part 27 secured to the housing. A portion of the bracket constitutes a support part the surface of which facing the window part is parallel to the window part when the bracket is secured to the window part. The obstacle detection device is further provided with a first light-shading member 18 located outside the range of incident beams of light entering the light-receiving part and secured to the counterface surface of the support part in such a manner as to come in contact with the inner surface of the window part.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an obstacle detection device for a vehicle that is attached to, for example, an inner side surface of a front wind of a vehicle.

In recent years, vehicles equipped with a pre-crash safety system (hereinafter referred to as “PCS”) have become widespread.
The PCS includes an optical obstacle detection device for detecting an obstacle around the vehicle (for example, another vehicle or a pedestrian located in front of the vehicle), and a brake device based on the detection result of the obstacle detection device. And an electric control device for controlling.

FIG. 10 shows one conventional example of this type of optical obstacle detection apparatus.
The obstacle detection device 110 includes a bracket 111 fixed to the inner surface (rear surface) of the front window 140 indicated by a solid line, and an optical unit 120 that is detachably supported by the bracket 111.
The bracket 111 has a light transmission hole 112a.
The optical unit 120 includes a housing 121, an infrared light emitting unit 122 fixed to the housing 121, and an infrared light receiving unit 127 fixed to the housing 121.

The infrared light emitting unit 122 emits infrared light forward. Therefore, the infrared outgoing light beam L1 emitted from the infrared light emitting unit 122 passes through the front window 140 and travels forward of the front window 140. For example, when another vehicle (hereinafter referred to as “front vehicle”) is located in front of a vehicle equipped with PCS (hereinafter sometimes referred to as “PCS-equipped vehicle”), the front window 140 is The transmitted outgoing light beam L1 is reflected backward by the vehicle ahead and becomes a reflected light beam L2. The reflected light beam L2 passes through the front window 140 and the light transmission hole 112a and is received by the infrared light receiving unit 127.
Then, the electric control device mounted on the PCS-equipped vehicle and connected to the obstacle detection device 110 calculates the distance from the PCS-equipped vehicle to the preceding vehicle.

  If the distance to the preceding vehicle determined by the electric control device is shorter than a predetermined distance set in advance, the electric control device activates the brake device of the PCS-equipped vehicle.

  By the way, a part of the emitted light beam L1 emitted from the infrared light emitting unit 122 (see L1a in FIG. 10) is diffusely reflected by the inner surface of the front window 140 and the peripheral members of the front window 140 without passing through the front window 140. Furthermore, there is a possibility of passing through the gap between the front window 140 and the bracket 111 toward the infrared light receiving unit 127. If a part of the emitted light beam L1 is received by the infrared light receiving unit 127, the electric control device erroneously determines that there is an obstacle at a position that is far away from the PCS-equipped vehicle forward by a very close distance.

Therefore, in the obstacle detection device 110 of FIG. 10, a light shielding member 118 made of an elastic body is provided on the surface of the housing 121, and this light shielding member 118 is brought into contact with the inner surface of the front window 140 through the light transmission hole 112a. That is, the gap between the front window 140 and the bracket 111 is filled with the light shielding member 118.
Therefore, even if a part of the infrared outgoing light beam L1 emitted from the infrared light emitting unit 122 is irregularly reflected by the inner surface of the front window 140 or the like, the reflected infrared ray can be prevented from being received by the infrared light receiving unit 127. . That is, it is possible to reduce the possibility that the electric control device makes the above-mentioned erroneous determination.

Japanese Patent Application No. 2005-22643

  The inclination angle and curvature of the front window 140 differ for each vehicle type. For example, the inclination angle and the curvature of the front window 140 shown by phantom lines in FIG. 10 are different from those of the front window 140 shown by solid lines in FIG.

In order to reliably detect an obstacle located in front of the PCS-equipped vehicle, the postures (tilt angles) of the infrared light emitting unit 122 and the infrared light receiving unit 127 are made constant regardless of the tilt angle and curvature of the front window 140. There is a need.
Therefore, even when the obstacle detection device 110 is attached to the front window 140 indicated by the phantom line, the postures of the infrared light emitting unit 122 and the infrared light receiving unit 127 are obstructed by the front window 140 indicated by the solid line in FIG. It is necessary to be the same as when the detection device 110 is provided.

  Therefore, when the obstacle detection device 110 is provided in the front window 140 indicated by the phantom line, the distance from the housing 121 of the optical unit 120 to the inner surface of the front window 140 becomes longer. Therefore, in this case, in order to bring the light shielding member 118 fixed to the housing 121 into contact with the inner surface of the front window 140, it is necessary to configure the light shielding member 118 as a long member as shown by the phantom line in FIG.

However, when the light shielding member 118 becomes longer, as shown in FIG. 10, the reflected light beam L2 that passes through the front window 140 and travels toward the infrared light receiving unit 127 interferes with the light shielding member 118 and cannot reach the infrared light receiving unit 127. There is a fear.
Therefore, there is a possibility that the PCS cannot detect the preceding vehicle as an obstacle even though the preceding vehicle is located in front of the PCS-equipped vehicle.

  The present invention has been made to address the above problems. That is, one of the objects of the present invention is reflected by an obstacle located outside the vehicle and reflected by the possibility of interference between the light traveling toward the light receiving portion and the light shielding member and the inner surface of the vehicle window. An object of the present invention is to provide a vehicle obstacle detection device that can be applied to a window portion of various types of vehicles while reducing the possibility of light traveling toward the light receiving unit and reducing the manufacturing cost.

In order to achieve the above object, a vehicle obstacle detection device according to the present invention includes a bracket fixed to an inner surface of a window portion made of a translucent material provided in a vehicle, and an optical unit detachable from the bracket. And comprising
The optical unit is
A housing supported by the bracket;
A light receiving portion fixed to the housing and facing the inner surface of the window portion while forming a gap;
It is an obstacle detection device for vehicles which has.

Furthermore, the vehicle obstacle detection device
A support portion that forms part of the bracket and has a surface that faces the window portion parallel to the window portion when the bracket is fixed to the window portion;
A first light-shielding member positioned outside the range of the incident light beam incident on the light-receiving unit and fixed in a manner to contact the inner surface of the window unit with respect to the facing surface of the support unit;
Is provided.

  The first light shielding member fixed to the bracket is brought into contact with the inner surface of the window portion. Therefore, it is possible to reduce the possibility that the light reflected by the inner surface of the window portion or the like passes toward the light receiving portion side through the bracket and the window portion. In other words, it is possible to increase the possibility that the light receiving unit can receive only the reflected light reflected by the obstacle located outside the vehicle without receiving the reflected light reflected by the inner surface of the window part or the like.

Furthermore, a part of the bracket serves as a support portion whose surface facing the window portion is parallel to the window portion when the bracket is fixed to the window portion.
Therefore, the first light shielding member is brought into contact with the inner surface of the window portion without increasing the size of the first light shielding member by changing the shape of the support portion of the bracket in accordance with the shape of the window portion (for example, an inclination angle or a curvature). It becomes possible. Therefore, it is possible to prevent the light reflected by the obstacle located outside the vehicle and traveling toward the light receiving unit from interfering with the first light shielding member. That is, the light receiving unit can receive the reflected light reflected by the obstacle more reliably.

  In this specification, the term “parallel” for representing the positional relationship between the window portion and the support portion is a concept including not only “completely parallel” but also “substantially parallel”.

  In this way, the light receiving part can reliably receive the reflected light reflected by the obstacle without receiving the reflected light reflected by the inner surface of the window part, etc. It can be detected reliably.

It is possible to prepare a plurality of types of brackets in which the shape of the support portion is changed according to the shape of the window portion, and to configure the vehicle obstacle detection device by combining these brackets with off-the-shelf optical units. In general, a bracket is an inexpensive member compared to an optical unit including a housing and a light receiving unit. Therefore, in this case, the manufacturing cost of the vehicle obstacle detection device can be kept low.
It is theoretically possible to change the shape of the housing of the optical unit in accordance with the shape of the window (for example, the inclination angle and the curvature), and then provide a light shielding member corresponding to the first light shielding member on the housing. is there. However, the optical unit is generally more expensive than the bracket. Therefore, when the design of the optical unit is changed, it is difficult to keep the manufacturing cost of the vehicle obstacle detection device low.

You may provide the 2nd light-shielding member fixed to the said housing in the aspect which is located out of the range of the said incident light beam, and contacts the said bracket.
If it does in this way, the possibility that the light reflected by the inner surface etc. of a window part will go to the light-receiving part side through between a housing and a bracket can be made low.

  At least one of the first light shielding member and the second light shielding member may be an elastic body.

  If it does in this way, it will become easy to make the 1st shading member and the 2nd shading member contact in the state of contact to the window part. Therefore, it is possible to further reduce the possibility that the light reflected by the inner surface of the window portion or the like is directed to the light receiving portion side.

The bracket is
A body part to which the housing can be attached and detached;
An adapter detachably attached to the main body and having the support portion;
May be provided.

  In this way, when it is necessary to change the design of the bracket according to the inclination angle and curvature of the window, only the adapter to which the first light shielding member is fixed needs to be changed. Accordingly, it is possible to further reduce the manufacturing cost of the obstacle detection device as compared with the case where the design of the entire bracket is changed.

The optical unit is
An infrared light emitting unit for emitting infrared light to an obstacle located at a position away from the optical unit;
Receiving the infrared rays reflected by the obstacle and constituting the light receiving portion; and
May be provided.

  In this way, the distance from the optical unit to the obstacle can be measured.

The optical unit is
You may provide the imaging part which can image the obstruction located in the position away from the said optical unit, and comprises the said light-receiving part.

  In this way, the optical unit can recognize the type of obstacle. That is, it becomes possible to recognize whether the obstacle is a car, a pedestrian, or an object other than these by using the image data captured by the optical unit.

  Other objects, other features and attendant advantages of the present invention will be readily understood from the description of the embodiments of the present invention described with reference to the following drawings.

It is the perspective view seen from the front of the obstacle detection device for vehicles of type 1 concerning the embodiment of the present invention, and a front window. It is the disassembled perspective view seen from the front of the obstacle detection apparatus for vehicles. It is the perspective view seen from the front which isolate | separates and shows a bracket in two parts. It is the perspective view seen from the front of the obstacle detection device for vehicles when the axis of rotation of the optical unit is assembled in the bearing crevice of a bracket. It is the perspective view seen from the front of the obstacle detection device for vehicles of a completed state. It is sectional drawing which follows the VI-VI arrow line of FIG. It is sectional drawing which follows the VII-VII arrow line of FIG. It is a figure similar to FIG. 6 of the type 2 vehicle obstacle detection apparatus. It is sectional drawing which follows the IX-IX arrow line of FIG. It is sectional drawing equivalent to FIG. 6 of the obstacle detection apparatus for vehicles of a prior art example.

Hereinafter, an obstacle detection device for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The obstacle detection device of the present embodiment can be classified into two types corresponding to two vehicle types, respectively. In the following description, a type 1 obstacle detection device that can be attached to a type 1 vehicle and a type 1 vehicle will be described first, followed by a type 2 obstacle that can be attached to a type 2 vehicle and a type 2 vehicle. The object detection device will be described.

A type 1 vehicle (hereinafter referred to as a “first vehicle”) includes a front window 40A (window) shown in FIGS.
The front window 40A is formed of a translucent material (for example, glass, resin, etc.). As shown in FIGS. 1 and 6, the front window 40 </ b> A is inclined with respect to the vehicle body in such a manner that the front window 40 </ b> A is located in front of the vehicle body from the top to the bottom. However, as shown in FIG. 6, the inclination of the upper part of the front window 40A is fairly gentle. Further, as shown in FIG. 7, the cross-sectional shape when the front window 40A is cut in a horizontal plane is not a linear shape extending in the left-right direction, but a gently curved shape protruding outward.

  Further, the first vehicle includes a brake device capable of exerting a braking force on each wheel, a brake actuator for operating the brake device, and a vehicle speed detection device for detecting its own vehicle speed. (Both not shown). The brake actuator is linked to a brake pedal provided in the vehicle. When the driver depresses the brake pedal with his / her foot, the brake actuator is activated. Then, since a brake actuator operates each brake device, a braking force reaches each wheel corresponding from each brake device.

  Further, the first vehicle is provided with an alarm device (not shown).

The first vehicle further includes an electric control device (not shown; hereinafter referred to as “control device”) connected to a brake actuator, a vehicle speed detection device, and an alarm device.
“Access determination data” is stored in the memory of the control device. The “approach determination data” is data indicating that the brake device or the like is operated when the distance between the first vehicle traveling forward and the obstacle located in front of the first vehicle is further shortened. is there.

As shown in FIGS. 2 to 6, the obstacle detection device 10 </ b> A that can be attached to the first vehicle includes a bracket 11 </ b> A and an optical unit 20 that can be attached to and detached from each other.
The bracket 11A is an integrally molded product made of hard resin. The bracket 11A is a frame whose overall shape is substantially rectangular. The ceiling plate 12 of the bracket 11A is provided with a substantially rectangular light transmission hole 12a as a through hole.

  Upward support protrusions 12b protrude from the front end portions of the left and right sides of the ceiling plate 12 of the bracket 11A (see FIG. 3). Further, the lower surfaces of the front end plate-like portions 12c extending in the left-right direction are supported in a fixed state by the upper ends of the left and right support protrusions 12b. And the front half part of the front end plate-shaped part 12c is comprised by 13 A of support parts.

The outer peripheral portion of the bracket 11A includes a front wall portion 14a, a pair of left and right side wall portions 14b, and a rear wall portion 14c. Bearing recesses 15 are provided in the vicinity of the front ends of the left and right side wall portions 14b of the bracket 11A. A rectangular hole 14a1 is formed in the vicinity of the left end portion of the front wall portion 14a.
Almost the entire top surface of the ceiling plate 12 is an adhesive surface 16.
Further, lock holes 17 are formed in the left and right side wall portions 14b.

A first light shielding member 18 made of an elastic body is fixed to the upper surface of the support portion 13A of the bracket 11A via an adhesive (not shown). The first light shielding member 18 is a sponge. Note that rubber or the like can be used as the elastic body constituting the first light shielding member 18.
The first light shielding member 18 is a member extending in the left-right direction, and its overall length is shorter than the left-right dimension of the bracket 11A.

  The bracket 11 </ b> A to which the first light shielding member 18 is fixed is fixed to the upper part of the inner surface (that is, the rear surface) of the front window 40 </ b> A via an adhesive (not shown) applied to a plurality of locations on the bonding surface 16.

  When the bracket 11A is fixed to the inner surface of the front window 40A, as shown in FIG. 6, the support portion 13A and the bonding surface 16 face the inner surface of the front window 40A. However, since the front window 40A has a curved shape as described above, minute gaps S1 are formed between the inner surface of the front window 40A and the support portion 13A and between the inner surface of the front window 40A and a plurality of locations on the bonding surface 16. (See FIG. 6).

  Further, as shown in FIG. 6, a surface 13A1 facing the front window 40A of the support portion 13A of the bracket 11A is parallel to the front window 40A. In other words, the support portion 13A of the bracket 11A is shaped so that the facing surface 13A1 is parallel to the front window 40A when the bracket 11A is fixed to the front window 40A. Therefore, even if the height (that is, the vertical dimension) of the first light shielding member 18 is not so large, the first light shielding member 18 contacts the inner surface of the front window 40A. Moreover, since the first light shielding member 18 is an elastic body, the first light shielding member 18 is brought into surface contact in close contact with the inner surface of the front window 40A while being elastically deformed in the compression direction along the curvature of the front window 40A ( (See FIG. 7).

  The optical unit 20 includes a housing 21 that is an integrally molded product made of resin and that forms the outer shape of the optical unit 20. As illustrated, the bottom surface and the top surface of the housing 21 are not parallel to each other. Further, the front-rear dimension of the housing 21 is slightly smaller than the front-rear distance between the front wall part 14a and the rear wall part 14c of the bracket 11A, and the left-right dimension of the housing 21 is slightly smaller than the left-right distance between the left and right side wall parts 14b of the bracket 11A. small.

An infrared light emitting unit 22 is fixed near the left end of the front end surface of the housing 21. The infrared light emitting unit 22 includes a fixed lens 23 and a light source (not shown) located immediately after the lens 23.
Therefore, the infrared rays generated by the light source travel forward while being diffused by the lens 23. The range A1 (see FIG. 6) of the infrared light flux L1 emitted by the infrared light emitting unit 22 is defined by the emission angle of the lens 23, and the size thereof is constant.

A light speed non-interference recess 25 having a substantially rectangular shape in plan view is provided on the upper surface of the housing 21.
An infrared light receiving portion 27 (light receiving portion) is fixed to the left half portion of the rear end surface of the light speed non-interfering concave portion 25. The infrared light receiving unit 27 includes a fixed lens 28 and a light receiving element (not shown) positioned immediately after the lens 28. This light receiving element is constituted by a PSD (position sensitive detector).
The light receiving element of the infrared light receiving unit 27 receives infrared light emitted forward from the infrared light emitting unit 22 and reflected backward by an obstacle positioned in front of the optical unit 20. The maximum range A2 of the reflected infrared light beam L2 (incident light beam) incident on the infrared light receiving unit 27 is defined by the angle of view of the lens 28. This maximum range is a constant size that does not interfere with the surfaces of the housing 21 and the light speed non-interference recess 25. As is well known, when the distance from the obstacle that reflects infrared light to the infrared light receiving unit 27 changes, the light receiving position of the reflected light beam L2 on the light receiving surface of the PSD changes.

An imaging unit 30 (light receiving unit) is fixed in the vicinity of the right end of the rear surface of the light speed non-interference recess 25. The imaging unit 30 includes a fixed lens 31 and an imaging element (not shown) located immediately after the lens 31.
The imaging device of the imaging unit 30 receives a reflected light beam, which is natural light reflected backward by an obstacle positioned in front of the optical unit 20 and transmitted through the lens 31. The maximum range of the reflected light beam (incident light beam) incident on the imaging unit 30 is defined by the angle of view of the lens 31 of the imaging unit 30. This maximum range is a constant size that does not interfere with the surfaces of the housing 21 and the light speed non-interference recess 25.

Near the front ends of the left and right side surfaces of the housing 21, a rotating shaft 33 is formed so as to be coaxial with each other and extend in the left-right direction.
Further, lock claws 34 located behind the rotating shaft 33 are provided on the left and right side surfaces of the housing 21, respectively.

A second light shielding member 35 made of an elastic material is fixed to the front end portion of the upper surface of the housing 21 with an adhesive (not shown). The second light shielding member 35 is a sponge. Note that rubber or the like can be used as the elastic body constituting the second light shielding member 35.
The second light shielding member 35 is a member extending in the left-right direction, and its entire length is shorter than the left-right dimension of the light transmission hole 12a of the housing 21 and the bracket 11A.

As shown in FIG. 4, the optical unit 20 to which the second light shielding member 35 is fixed is integrated with the bracket 11A by engaging the left and right rotating shafts 33 with the left and right bearing recesses 15 of the bracket 11A in a rotatable manner. It becomes.
When the rear portion of the optical unit 20 is rotated upward about the left and right rotation shafts 33, as shown in FIGS. 5 and 6, the upper portion of the optical unit 20 becomes the front wall portion 14a, the side wall portion 14b, and the rear wall of the bracket 11A. It is stored in the internal space surrounded by the portion 14c. Further, the second light shielding member 35 is in surface contact with the lower surface of the rear portion of the front end plate-like portion 12c while being elastically deformed in the compression direction along the lower surface shape of the rear portion of the front end plate-like portion 12c (see FIG. 6). . Further, the left and right lock claws 34 of the optical unit 20 are fitted in the left and right lock holes 17 of the bracket 11A. As a result, the assembled state of the bracket 11A and the optical unit 20, that is, the completed state of the obstacle detection device 10A is maintained by the lock claw 34 and the lock hole 17.

  When the obstacle detection device 10A is completed, the infrared light emitting unit 22 is positioned immediately after the rectangular hole 14a1 of the front wall portion 14a. Further, the light speed non-interference concave portion 25, the infrared light receiving portion 27, and the imaging portion 30 of the optical unit 20 face the front window 40A through the light transmission hole 12a of the bracket 11A while forming a gap.

  Further, the second light shielding member 35 and the first light shielding member 18 are configured to transmit the infrared outgoing light beam L1 emitted from the infrared light emitting unit 22, the infrared reflected light beam L2 incident on the infrared light receiving unit 27, and the reflected light beam incident on the imaging unit 30, respectively. Located outside. In other words, since the second light shielding member 35 and the first light shielding member 18 are short members, they can be arranged at positions where they do not interfere with the emitted light beam and the reflected light beam.

Among the configurations described above, the optical unit 20, the control device, the brake device, the brake actuator, and the alarm device are components of the PCS.
This PCS operates as follows.

When the infrared light emitting unit 22 emits infrared rays while the first vehicle is traveling forward, the infrared rays travel forward through the rectangular hole 14a1 of the front wall portion 14a. Further, as shown in FIG. 6, the infrared light beam L1 passes through the front window 40A without interfering with the bracket 11A, and proceeds forward of the front window 40A.
Therefore, if the front vehicle is located in front of the first vehicle, the infrared emitted light beam L1 emitted from the infrared light emitting unit 22 is reflected backward by the front vehicle. The reflected infrared reflected light beam L2 passes rearward through the front window 40A and then travels rearward through the light transmission hole 12a without interfering with the first light shielding member 18. The reflected light beam L2 is received by the infrared light receiving unit 27 without interfering with the surface of the light speed non-interfering recess 25. Then, the control device connected to the infrared light receiving unit 27 calculates the distance from the infrared light receiving unit 27 to the vehicle ahead based on the light receiving position on the PSD light receiving surface of the infrared light receiving unit 27.

  If the controller determines that “the distance from the infrared light receiving unit 27 to the obstacle is longer than the distance represented by the approach determination data” during the forward traveling of the first vehicle, the first vehicle continues the forward traveling as it is. .

On the other hand, while the first vehicle is traveling forward, the control device determines that “the current vehicle speed is within a predetermined range” and “the distance from the infrared light receiving unit 27 to the obstacle is shorter than the distance represented by the approach determination data”. If so, the control device sends a signal to the brake actuator. Then, since the brake actuator operates, each brake device exerts a braking force on the wheels even when the driver does not step on the brake pedal. As a result, the speed of the first vehicle decreases, and in some cases, the first vehicle stops.
As is well known, the detectable distance of an obstacle by infrared rays is short, and the distance is, for example, about 10 m. Therefore, the “distance represented by the approach determination data” is set to about 8 m, for example.

  By the way, a part of the infrared outgoing light beam L1 emitted from the infrared light emitting unit 22 does not pass through the front window 40A but is diffusely reflected by the inner surface of the front window 40A. A part of the irregularly reflected light is directed toward the minute gap S1 between the front end plate-like portion 12c and the inner surface of the front window 40A, or toward the minute gap S2 between the housing 21 and the front end plate-like portion 12c. There is a possibility.

  However, the first light shielding member 18 positioned in front of the minute gap S1 fills the gap between the support portion 13A of the bracket 11A and the inner surface of the front window 40A. Further, the second light shielding member 35 fills the gap between the rear portion of the front end plate-like portion 12 c and the housing 21. Therefore, even if a part of the infrared rays is reflected by the inner surface of the front window 40A or the like, the possibility that the reflected infrared rays pass through the minute gap S1 and is received by the infrared light receiving unit 27 is low. Similarly, it is unlikely that the reflected infrared light passes through the minute gap S2 between the rear portion of the front end plate-like portion 12c and the housing 21 and is received by the infrared light receiving portion 27. That is, there is a low possibility that the control device determines that the front window 40A is “an obstacle located at a position slightly away from the optical unit 20”. Therefore, the control device erroneously determines that “the obstacle is present” even though there is no obstacle at a position shorter than the distance indicated by the approach determination data from the first vehicle. That is low.

  Further, since the first light shielding member 18 is a short member, the infrared reflected light beam L2 is reliably received by the infrared light receiving unit 27 without interfering with the first light shielding member 18.

  Thus, the infrared light receiving unit 27 can reliably receive the infrared light reflected by the vehicle ahead without receiving the infrared light reflected by the inner surface or the like of the front window 40A. Thus, the vehicle ahead can be reliably detected.

  Further, when the front vehicle is located in front of the first vehicle, the image sensor of the imaging unit 30 of the obstacle detection apparatus 10A can capture the subject image, which is natural light reflected backward by the front vehicle, at high speed and intermittently (for example, 30 Times / second) and image data is transmitted to the control device.

As in the case of infrared rays, natural light also reflects toward the minute gap S1 between the support portion 13A and the front window 40A after being reflected by the inner surface of the front window 40A, or to the gap S2 between the rear portion of the front end plate-like portion 12c and the housing 21. There is a possibility of heading. However, also in this case, the second light shielding member 35 and the first light shielding member 18 reduce the possibility that the reflected natural light passes through the minute gap S1 and / or the minute gap S2 and is received by the imaging unit 30. .
Therefore, it is possible to reduce the possibility that a ghost is generated in the image data of the image capturing unit 30 due to the image sensor of the image capturing unit 30 receiving these reflected lights.

The imaging element captures the subject as a “subject image” representing the shape of the subject. Furthermore, there is a low possibility that a ghost will occur in the image data output by the image sensor. Therefore, the control device that has received the image data can recognize the type of the subject imaged by the image sensor using a known pattern matching method. In other words, the control device can recognize whether the obstacle positioned in front of the first vehicle is a vehicle ahead, a pedestrian, or another object.
Furthermore, the image pickup device can pick up an image of an obstacle away from the optical unit 20 by a certain distance (for example, 60 m) so that the control device can recognize the obstacle.

When the control device recognizes that the imaging data transmitted from the image sensor represents an obstacle and the control device determines that “the current vehicle speed is within a predetermined range”, the control device Sends a signal to the alarm device to cause the alarm device to output an alarm.
When the warning device issues a warning, it is possible to alert the driver that there is some obstacle in front of the first vehicle. Therefore, when a driver who has received a warning presses the brake pedal, for example, a vehicle traveling at a high speed (for example, 80 km / h) can be decelerated to a low speed (for example, a speed of 30 km / h or less). .

  Since the imaging unit 30 is a “monocular camera”, the control device that has received the imaging data of the imaging unit 30 cannot detect the distance from the imaging unit 30 to the subject (that is, the obstacle). Therefore, even if the control device receives imaging data from the imaging device of the imaging unit 30, based on the information from the infrared light receiving unit 27, “the distance from the infrared light receiving unit 27 to the obstacle is the approach determination data. The brake device is activated only when it is determined that the distance is shorter than the indicated distance.

  Next, a type 2 obstacle detection device mounted on a type 2 second vehicle and a type 2 vehicle will be described.

A type 2 vehicle (hereinafter referred to as a “second vehicle”) differs from the first vehicle in the front window 40B.
The material of the front window 40B (window) of the second vehicle is the same as that of the front window 40A. As shown in FIG. 8, similarly to the front window 40A, the front window 40B is inclined with respect to the vehicle in such a manner that the front window 40B is positioned further forward from the upper side toward the lower side. However, the inclination angle of the front window 40B is larger than that of the front window 40A. As shown in FIG. 9, the cross-sectional shape when the front window 40B is cut in a horizontal plane is a gently curved shape that protrudes outward from the vehicle, similar to the front window 40A. However, the degree of curvature (curvature) is slightly different from that of the front window 40A.

The obstacle detection device 10B mounted on the second vehicle includes a bracket 11B and an optical unit 20.
The optical unit 20 of the obstacle detection device 10B is the same as the optical unit 20 of the obstacle detection device 10A.

  On the other hand, although the material of the bracket 11B of the obstacle detection apparatus 10B is the same as that of the bracket 11A, a part of the shape is different from the bracket 11A. Specifically, the shape of the front end plate-like portion 12d supported by the support protrusion 12b is different from the front end plate-like portion 12c of the bracket 11A. And the support part 13B which comprises the front half part of the front end plate-shaped part 12d is extended toward the front diagonally downward as shown in FIG.

The first light shielding member 18 that is the same as the bracket 11A is fixed to the support portion 13B of the bracket 11B with an adhesive.
The second light shielding member 35 is in surface contact with the lower surface of the rear portion of the front end plate-like portion 12d while being elastically deformed in the compression direction along the lower surface shape of the rear portion of the front end plate-like portion 12d.

  A fixing member (not shown) bonded to the bonding surface 16 of the bracket 11B is fixed to the upper part of the inner surface of the front window 40B by bonding. That is, the bracket 11B is fixed to the inner surface of the front window 40B via the fixing member. However, the mounting angle of the bracket 11B with respect to the front window 40B at this time is an angle at which the postures (tilt angles) of the infrared light emitting unit 22, the infrared light receiving unit 27, and the imaging unit 30 are the same as those in the first vehicle.

As shown in FIG. 8, the support portion 13B faces the inner surface of the front window 40B. However, since the front window 40B has a curved shape as described above, a minute gap S1 is formed between the inner surface of the front window 40B and the support portion 13B.
Further, as shown in FIG. 8, a surface 13B1 of the support portion 13B of the bracket 11B facing the front window 40B is parallel to the front window 40B. In other words, the support portion 13B of the bracket 11B is formed so that the facing surface 13B1 is parallel to the front window 40B when the bracket 11B is fixed to the front window 40B. Therefore, even if the height of the first light shielding member 18 is not increased so much, the first light shielding member 18 contacts the inner surface of the front window 40B. Furthermore, since the first light-shielding member 18 is an elastic body, the first light-shielding member 18 is in surface contact with the inner surface of the front window 40B while being elastically deformed in the compression direction along the curvature of the front window 40B ( (See FIG. 9).

  Therefore, the obstacle detection device 10B mounted on the second vehicle can also exhibit the same function as the obstacle detection device 10A of the first vehicle.

  As described above, the obstacle detection devices 10A and 10B according to the present embodiment can change the shapes of the support portions 13A and 13B according to the inclination angle and the curvature of the front windows 40A and 40B to be mounted. Therefore, the first light shielding member 18 can be brought into contact with the front windows 40A and 40B having various inclination angles and curvatures without increasing the length of the first light shielding member 18.

Then, a plurality of types of brackets 11A and 11B in which the shapes of the support portions 13A and 13B are changed in accordance with the shapes of the front windows 40A and 40B in this way are prepared, and these brackets 11A and 11B are connected to the ready-made optical unit 20. If the obstacle detection devices 10A and 10B are configured in combination, the following merits can be obtained.
That is, the brackets 11 </ b> A and 11 </ b> B are generally inexpensive members compared to the optical unit 20 including the housing 21, the infrared light emitting unit 22, the infrared light receiving unit 27, and the imaging unit 30. Therefore, when a plurality of types of obstacle detection devices 10A and 10B are prepared according to the shapes of the front windows 40A and 40B, if the brackets 11A and 11B are redesigned with the optical unit 20 in common, the obstacle detection device Manufacturing costs of 10A and 10B can be kept low.

  In addition, the shape of the housing 21 of the optical unit 20 may be changed according to the shape of the front windows 40A and 40B (for example, the inclination angle and the curvature), and a member corresponding to the first light shielding member 18 may be provided on the housing 21. It is possible in theory. However, the optical unit 20 is generally more expensive than the brackets 11A and 11B. Therefore, when the design of the optical unit 20 is changed, it is difficult to keep the manufacturing costs of the obstacle detection devices 10A and 10B low.

In addition, this invention is not limited to the said embodiment, A various modified example is employable within the scope of the present invention.
For example, when the inclination angle and curvature of the front window to be connected to the obstacle detection device are different from those of the front windows 40A and 40B, the front end plate portions 12c and 12d of the brackets 11A and 11B are matched to the inclination angle and curvature. What is necessary is just to change the shape of (or support part 13A, 13B only).

As shown in FIG. 3, the bracket 11 </ b> A may be divided into two members, a main body part 11 </ b> A <b> 1 to which the optical unit 20 can be attached and detached, and an adapter 11 </ b> A <b> 2 having a support part 13 </ b> A. According to this modification, when it is necessary to change the design of the bracket according to the inclination angle and curvature of the front window, only the adapter 11A2 to which the first light shielding member 18 is fixed needs to be changed. Accordingly, it is possible to further reduce the manufacturing cost of the obstacle detection device as compared with the case where the design of the entire bracket is changed.
In addition, you may divide | segment the bracket 11B and the bracket of the shape different from the bracket 11A and the bracket 11B into two members, a main-body part and an adapter.

  As a distance measuring unit of the optical unit 20, a light emitting unit and a light receiving unit of a millimeter wave radar may be provided instead of the infrared light emitting unit 22 and the infrared light receiving unit 27. In this way, the optical unit 20 can detect the distance to the obstacle farther from the optical unit 20 than the infrared light emitting unit 22 and the infrared light receiving unit 27.

  The imaging unit 30 may be configured by a “compound camera”. In this way, the control device can accurately detect the distance from the imaging unit 30 to the obstacle based on the imaging data captured by the imaging unit 30. Accordingly, in this case, it is possible to omit the distance measuring means (the infrared light emitting unit 22 and the infrared light receiving unit 27 or the light emitting unit and the light receiving unit of the millimeter wave radar) from the optical unit 20. In other words, the control device can be configured to control the brake actuator and the alarm device based on the imaging data of the imaging unit 30.

Even when the imaging unit 30 is a “monocular camera”, the control device can detect the distance to the subject based on the type of subject and the size of the subject specified using the pattern matching method. is there. However, the distance measurement accuracy is low compared to distance measurement using infrared rays or distance measurement using a compound eye camera.
Therefore, in this case, the brake device is operated only when the control device determines that “the distance from the infrared light receiving unit 27 to the obstacle is shorter than the distance represented by the approach determination data” based on the information from the infrared light receiving unit 27. . In other words, when the control device performs distance measurement based only on information from the imaging unit 30 (monocular camera), only the alarm device is operated without operating the brake device.

Instead of providing the imaging unit 30 in the optical unit 20, only distance measuring means (for example, the infrared light emitting unit 22 and the infrared light receiving unit 27, or the light emitting unit and the light receiving unit of the millimeter wave radar) may be provided.
Further, only the imaging unit 30 may be provided without providing the optical unit 20 with a distance measuring unit.

  A light receiving element other than the PSD may be used as the light receiving element of the infrared light receiving unit 27.

  As the first light shielding member 18, an opaque material that bonds the support portions 13 </ b> A and 13 </ b> B and the front windows 40 </ b> A and 40 </ b> B may be used instead of the elastic body. Similarly, as the second light shielding member 35, an opaque material that bonds the support portions 13 </ b> A and 13 </ b> B and the housing 21 may be used instead of the elastic body.

The obstacle detection device may be mounted on a window part different from the front window. For example, an obstacle detection device may be attached to the vehicle back window to detect an obstacle located behind the vehicle.
The obstacle detection device may be mounted on the autonomous driving vehicle.
The control device may operate the alarm device or the brake device only on the condition of the distance to the obstacle (that is, excluding the vehicle speed from the condition).

  After providing the imaging unit 30 and distance measuring means on the side of the obstacle detection device, the support and the first light shielding member are provided on the side of the bracket, and the second light shielding member is provided on the side of the housing 21. Also good.

  10A, 10B ... Obstacle detection device, 11A, 11B ... Bracket, 13A, 13B ... Supporting part, 18 ... First light shielding member, 20 ... Optical unit, 22 ... Infrared light emission , 27... Infrared light receiving part (light receiving part), 30... Imaging part (light receiving part), 35... Second light shielding member, 40 A, 40 B.

Claims (6)

A bracket fixed to an inner surface of a window portion made of a translucent material provided in the vehicle;
An optical unit supported by the bracket;
With
The optical unit is
A housing removable from the bracket;
A light receiving portion fixed to the housing and facing the inner surface of the window portion while forming a gap;
In the vehicle obstacle detection device having
A support portion that forms part of the bracket and has a surface that faces the window portion parallel to the window portion when the bracket is fixed to the window portion;
A first light-shielding member positioned outside the range of the incident light beam incident on the light-receiving unit and fixed in a manner to contact the inner surface of the window unit with respect to the facing surface of the support unit;
An obstacle detection device for a vehicle, comprising: The obstacle detection device for a vehicle according to claim 1,
A second light-shielding member that is located outside the range of the incident light flux and is fixed to the housing in a manner to contact the bracket;
Obstacle detection device for vehicles. In the vehicle obstacle detection device according to claim 1 or 2,
At least one of the first light shielding member and the second light shielding member is an elastic body,
Obstacle detection device for vehicles. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
The bracket is
A body part to which the housing can be attached and detached;
An adapter detachably attached to the main body and having the support portion;
Comprising
Obstacle detection device for vehicles. In the obstacle detection device for vehicles according to any one of claims 1 to 4,
The optical unit is
An infrared light emitting unit for emitting infrared light to an obstacle located at a position away from the optical unit;
Receiving the infrared rays reflected by the obstacle and constituting the light receiving portion; and
Comprising
Obstacle detection device for vehicles. In the vehicle obstacle detection device according to any one of claims 1 to 5,
The optical unit is
Including an imaging unit capable of imaging an obstacle located at a position separated from the optical unit and constituting the light receiving unit;
Obstacle detection device for vehicles.

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