JP3106876B2 - Vehicle ranging device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Detailed description of the invention]

[0002]

2. Description of the Related Art Conventionally, when detecting an obstacle around a vehicle, a triangular distance measuring device using a distance measuring sensor has been used. Here, the distance measurement sensor is located on the side or diagonal side of the vehicle,
Reflected light from an object (other vehicle) 2 existing in the front-rear direction is received, and distance information of the reflected light is arithmetically processed to obtain distance information. For example, the triangular distance measuring devices shown in FIGS. 10 and 11 basically include first and second sensors S1 and S2 each including a distance measuring sensor mounted on the vehicle 1 (only one of the sensors is shown in FIG. 11). ) And C connected to both sensors
It comprises a sensor output control circuit 7 composed of a PU or the like and a distance determination circuit 8. The sensor output control circuit 7 calculates a distance corresponding to the reflected light sequentially taken in, and the distance signal is selected by the distance determination circuit 8 at predetermined time intervals to determine the distance at each time interval. To output the distance measurement information.

As shown in FIG. 11, the first and second sensors S1 and S2 have a pair of lenses 5 and 6 arranged in the vertical direction of the vehicle body, and two sets of photosensors arranged opposite to the lenses. Arrays 3 and 4 are provided. The lenses 5 and 6 condense reflected light from the object (vehicle) 2 with respect to natural light, and project object images on the photosensor arrays 3 and 4, respectively. The photosensor arrays 3 and 4 include, for example, line sensors in which a plurality of photodiodes are arranged in a line, and output a sensor signal based on the projected object image to the sensor output control circuit 7. Sensor output control circuit 7
Functions as distance measuring means for measuring the distance to another vehicle.

The distance measuring means includes a photosensor array 3,
4 and the number and size of windows appropriately set are previously input as window information. The distance measuring means quantizes the sensor signal input from the photodiode in the set window, calculates the phase difference between the two object images based on the quantized data by the external light triangular method, and calculates the object 2 based on the phase difference. The distance information to the distance determination circuit 8 is output.
The distance determination circuit 8 extracts and determines, for example, the shortest distance information from a plurality of input distance information based on a predetermined algorithm, and uses this as the distance information.
Output to The traveling vehicle control circuit 9 compares the respective distance information under a predetermined time difference, eliminates uncorrelated signals as disturbances, adopts only accurate distance information, and compares the distance information with the object to be measured. It is used for displaying the distance of the vehicle, calculating the relative speed, and performing other controls.

As described above, in the triangular distance measuring apparatus, a plurality of first and second
The second sensors S1 and S2 are individually attached to respective parts of the vehicle, and the distance measurement information of each sensor is individually handled, and then the calculation of the distance measurement reservoir is performed in the traveling vehicle control circuit 9.
An example of such an apparatus is disclosed by the present applicant in Japanese Patent Application No. 6-70.
No. 574 in the application and the drawings. Here, an object image is projected on each of the photosensor arrays 3 and 4, and at that time, by appropriately adjusting the number of windows and the window size, an erroneous detection that occurs between the object and a distant guardrail or the like is caused. A decrease in distance measurement accuracy can be eliminated.

When it is desired to automatically detect the distance between a vehicle running in the lane next to the host vehicle and the parallel running vehicle using such a triangular distance measuring device, the vehicle travels at night when the surroundings of the vehicle are dark. In such a case, the illuminance of the target object decreases, the level of light reflected from the target object decreases, and it takes time for the first and second sensors S1 and S2 to react. It becomes stable and lowers reliability. Therefore, auxiliary light control as shown in FIG. 12 is assumed.

[0007] That is, the auxiliary light control circuit resets the sensor detection start timer at step a1, and starts the measurement, all PD waits for input of the response signal S _PD, the input previous step of step a2 the PD reaction detecting sensor 18 Go to step a3, otherwise go to step a4.

In step a3, all P
The time until the D response signal _SP is obtained is a predetermined value of 100.
Steps a2 and a3 are repeated until (msec) elapses, and before elapse, steps a2 to a4
Proceeds to step a1 assuming that the surroundings of the vehicle are bright. Conversely, when proceeding from step a3 to step a5, it is conceivable that the surroundings of the vehicle are dark and the auxiliary light is turned on to prevent a decrease in the illuminance of the object and maintain the distance measurement accuracy.

[0009]

The object of the invention is to be Solved by Toko filtration, Japanese Patent Application No. 6
In the technology disclosed in the application and the drawings of No. 70574 , a photosensor is provided in which reflected light from an object to be measured is received by a pair of lenses and collected on a pair of photosensor arrays provided opposite to both lenses. The distance to the object to be measured can be measured based on the output from the array.However, when the illuminance around the vehicle decreases, such as when driving at night, the sensor response takes time as described above, and the distance measurement accuracy decreases. . Further, it is assumed that the auxiliary light control as shown in FIG. In this case, if the object is in a stopped state, it prevents a decrease in illuminance,
It is presumed that it is possible to hold the ranging accuracy, but following between problems occur when using this traveling vehicle.

That is, when the shape of the irradiation surface of the object (vehicle) is a plain single plane, the phase difference information of the two object images included in the sensor signals input from the photosensor arrays 3 and 4 is unclear. When distance information is calculated from this phase difference, the distance measurement accuracy is reduced. Therefore, it is assumed that a random slit used in a camera is used as the auxiliary light. In this case, sufficient brightness cannot be obtained, and sufficient distance measurement performance cannot be obtained for a fine horizontal stripe pattern due to a random slit due to the presence of relative vibration with a measurement object in a vehicle. There is also a problem. Claim 1 and contract
An object of the invention according to claim 2 is to provide a vehicle capable of detecting a distance measurement sensor with high accuracy by turning on the auxiliary light to prevent a response delay of the distance measurement sensor even when the surrounding illuminance during traveling is low. The object of the present invention is to provide a distance measuring device.

[0011]

In order to achieve the above-mentioned object, the invention according to claim 1 receives light reflected from an object on a side of a vehicle by a pair of lenses so as to correspond to both lenses. A distance measuring device that collects light on a pair of photo sensor arrays provided and measures a distance to the object to be measured based on an output from the photo sensor array; An auxiliary light source that emits an auxiliary light, and an ambient state detecting unit that indirectly detects the brightness around the vehicle,
Auxiliary light control means for turning on the auxiliary light source when it is determined that the surroundings of the vehicle are dark based on the output of the surrounding situation detection means, wherein the auxiliary light source emits auxiliary light having a horizontal stripe pattern. It is characterized by comprising. According to a second aspect of the present invention, in the vehicle distance measuring apparatus according to the first aspect, the surrounding situation detecting means detects a time.
Time detecting means, wherein the auxiliary light control means detects
Judging that the surroundings of the vehicle is dark when the time corresponds to night
It is characterized by the following.

[0012]

[0013]

[0014]

According to the first aspect of the present invention, the auxiliary light control means turns on the auxiliary light source when the surroundings of the vehicle are determined to be dark based on the output of the surrounding condition detecting means, and the auxiliary light source has an auxiliary light having a horizontal stripe pattern. To emit light. For this reason, even if the relative speed of the measurement object on the side of the vehicle with respect to the own vehicle is large, since the auxiliary light of the horizontal stripe pattern is used, it is possible to detect even when the irradiation surface is plain, and the measurement object originally has The horizontal stripes can be easily seen, and the surrounding condition detecting means indirectly detects the brightness around the vehicle and emits the auxiliary light even in a dark state, so that the distance measuring performance can be effectively secured. Claim
The invention of claim 2 is a vehicle distance measuring apparatus according to claim 1, wherein, in particular, a time detecting means is used as the surrounding situation detecting means, and the auxiliary light control means, when the detected time corresponds to night,
Since it is determined that the surroundings of the vehicle are dark, the auxiliary light can be reliably emitted at night.

[0015]

[0016]

FIG. 1 shows a vehicle ranging apparatus according to the present invention. Here, the vehicle distance measuring device includes many of the same members as those described with reference to FIGS. 10 and 11, and the same members are denoted by the same reference numerals, and the description thereof will be simplified. Here, the vehicle distance measuring device includes a plurality of first and second sensors S shown in FIG.
1 and S2, each sensor output control circuit 7 connected to each sensor, and a distance determination circuit 8. The distance measurement information of the circuit is output to the traveling vehicle control circuit 9. First and second sensors S
1, S2 is a front fender B which is an outer wall member of the vehicle.
(See FIG. 3). As shown in FIG.
The distance between both sensors in the front-rear direction is set to d, and the sensor receives reflected light from an object (another vehicle) 2 that is located diagonally ahead of the vehicle.

Here, as shown in FIG. 4, an auxiliary light unit 13 is provided in each of the first and second sensors S1 and S2 (only the sensor unit on the first sensor S1 side is shown). The first and second sensors S1 and S2 are provided with each sensor unit. Reference numeral 21 in FIGS.
Denotes a light-shielding plate for preventing stray light from the auxiliary light unit 13 from directly entering both sensor sides. The auxiliary light unit 13 employs an LED having an emission wavelength suitable for the reaction characteristics of the first and second sensors S1 and S2, the power of which is sufficient for irradiating the parallel running vehicle among the electro-optical characteristics. You. Moreover, here, the configuration is such that a distribution pattern of the auxiliary light as shown in FIG. 5 is obtained. That is, the auxiliary light unit 13 irradiates the object side with the auxiliary light R having a pattern in which a single horizontal stripe (dark portion) D is provided at the center as shown in FIG. In addition, even if the relative speed of the measuring object 2 with respect to the own vehicle is large, since the auxiliary light of the pattern of the horizontal stripes D is used, the horizontal stripes originally existing on the measuring object are easily seen, and the irradiation surface of the object is solid. In this case, it is possible to eliminate a decrease in distance measurement accuracy and to secure distance measurement performance. Here, the symbol E indicates a sensor detection range.

As shown in FIGS. 3 and 4, each sensor unit (only the sensor unit on the first sensor S1 side) is housed in a box-shaped casing 20, and a flange portion is formed in the opening 23 of the front fender B. 26 are opposed to each other and fixed to the vehicle body base via a bracket (not shown). The casing 20 is formed of an aluminum case main body 22 and a plate-like lid (not shown) that closes an opening thereof, and includes a long-hole-shaped accommodation chamber 24. A transparent plate 25 made of an acrylic resin is attached to the outer opening of the case body 22 to allow the transmission of light inside and outside the storage chamber 24 and prevent water and dust from entering the storage chamber 24. With respect to the X1 line that is long in the vehicle width direction, which is a direction perpendicular to the flange portion 37, the center line direction of the storage chamber 24 is arranged in the first direction (see the inclination angle θ1).

The first and second sensors S1 and S2 are composed of a pair of lenses 5 and 6, and two sets of photosensor arrays 3 and 4 arranged to face the lenses.
Collects reflected light from an object (vehicle) 2 and projects an object image on each of the photosensor arrays 3 and 4, and controls sensor output based on the projected object image by the photosensor arrays 3 and 4. The signal is output to the circuit 7. Here, the optical axes Ls and Lr of the first sensor S1 and the auxiliary light unit 13 are arranged at an inclination angle θ with respect to the X1 line in the vehicle width direction of the vehicle, and the second sensor S2 and the auxiliary light unit 13 are arranged at the second angle. The optical axes are arranged in the direction (the inclination angle θ1 with respect to the X1 line in the vehicle width direction), and the optical axes on the first and second sensors S1 and S2 are arranged in parallel.

For example, as shown in FIG.
It is assumed that the own vehicle equipped with the sensors S1 and S2 collects reflected light from an object (vehicle) 2 at an interval of 4 m while traveling at a distance of 15 m to the guardrail. In this case, during overtaking, as shown in FIG. 6, the distance signal y _1n of the first sensor S1 is changed to y2 at time t11 and to time t2.
12 In y3, return at time t13 returns to y3, the distance signal y _2n of the second sensor S21 is on at time t21 y2, the at t22 y3, so that the back at the time t23 returns to y3.

FIG. 8 shows an example in which the first and second sensors S1 and S2 are attached to the front and rear fenders. S2 is mounted, or the optical axis is directed in a second direction (not shown) different from the first direction (the inclination angle θ1 with respect to the X1 line in the vehicle width direction), and two in the same casing. A structure in which sensors are arranged may be adopted. Each sensor output control circuit 7 functions as distance measuring means for measuring the distance to another vehicle. This distance measuring means quantizes a sensor signal input from a photodiode in a window set in advance on each of the photosensor arrays 3 and 4,
The phase difference between the two object images is calculated based on the quantized data by the external light triangular method, the distance to the object 2 is measured from the phase difference, and output to the distance determination circuit 8. The distance determination circuit 8 extracts and determines, for example, the shortest distance information from a plurality of input distance information based on a predetermined algorithm, and uses this as the current distance signals y _{1n and} y _2n.
Output to

The traveling vehicle control circuit 9 is composed of a well-known microcomputer, and includes an auxiliary light control program and a distance measurement control program (see FIGS. 7 and 8) which will be described later.
The distance signals y _1n, y _2n from the distance determination circuits 8 on the first and second sensors S1 and S2 are input to an input / output circuit (not shown) of the OM. V is input from the vehicle speed sensor 11 and the time signal T is
Input from 6, the light-up signal R small and light is inputted from the light switch 17, detects the more the signal PD reaction detection sensor 18 which outputs a PD response signal S _PD at the output start of each sensor output control circuit 7 And distance indicator 15
The distance signal Y can be output to the drive circuit 14 of FIG. The distance indicator 15 is driven when a parallel running vehicle is detected (when a K flag described later is turned on). Such a traveling vehicle control circuit 9 includes:
In particular, it has the following functions.

That is, the traveling vehicle control circuit 9 determines that the surroundings of the vehicle are dark based on the output of the surrounding situation detecting means A1 and the surrounding situation detecting means A1 for directly or indirectly detecting the brightness around the vehicle. In this case, it functions as an auxiliary light control unit A2 for turning on the auxiliary light unit 13. Here, in particular, the surrounding situation detecting means A1 detects the time signal T from the timer 16 as the time detecting means, and detects the lighting signal R from the headlight or small light light switch 17 as the light lighting detecting means. A predetermined output (PD response signal S from the PD response detection sensor 18)
The time T _PD until _PD ) is obtained is detected by a sensor detection start timer TIM1 described later.

Here, in particular, the auxiliary light control means A2
The detected time T is night (for example, PM6.00 to AM6.
00), it is determined that the surroundings of the vehicle are dark,
Headlight or small light is turned on (lighting signal R
ON), it is determined that the surroundings of the vehicle are dark, and with the auxiliary light unit 13 turned off, the number of times that the reaction time exceeds the specified time T _PDα is counted, and the coefficient value is determined to be a predetermined value. If the number is exceeded, it is determined that the surroundings of the vehicle are dark. Here, the operation of the vehicle ranging apparatus of the present invention will be described with reference to the auxiliary light control program and the ranging display program of FIGS.

When the engine key (not shown) is turned on, the traveling vehicle control circuit 9 starts a main routine (not shown) of the vehicle distance measuring device, and performs an inspection of each function and a failure display when a failure occurs. At predetermined steps during the main routine, the auxiliary light control routine and the distance measurement display routine are respectively reached. In the auxiliary light control routine of FIG. 7, the time signal T from the timer 16 is detected in step s1, and the present time is set to the time before sunset (for example, PM 6.00 to AM PM).
6.00), and proceeds to step s2 before sunset and to step s3 after sunset. When step s2 is reached before sunset, it is further determined whether or not the small light is turned on (lighting signal R on). When step s3 is reached from the time of lighting and after sunset, an ON signal is output to each drive circuit 12 to turn on the auxiliary light unit 13,
The process in this control cycle ends, and the process returns to the main routine.

In the case where the surroundings of the vehicle are bright, when step s4 is reached from step s2, the sensor detection start timer TIM1 is reset in this step, and after the measurement is started, a predetermined output is obtained from the photosensor array. Enter the time T _PD count. In step s5 waits for input of the PD response signal S _PD of the PD reaction detection sensor 18, i.e., it is determined whether the time T _PD from the start of measurement until a predetermined output is obtained in the photosensor array has elapsed , before the input of the PD response signal S _PD, the process proceeds to step s6 when the input to step s7. Step s before inputting PD response signal S _PD
Upon reaching the 7, the sensor detection start timer TIM1 has specified time T _PD alpha, for example, returns to step s5 until greater than 100 (msec), if it exceeds, i.e., PD response signal S
If there is no input of _PD even after 100 (msec), it is determined that the surroundings of the vehicle are dark, and the auxiliary light unit 13 is turned on in step s3.

On the other hand, in step s5, the PD response signal S _PD of the PD reaction detection sensor 18 is inputted, in less reached from the start of measurement to 100 (msec), PD response signal S _PD is input It is assumed that the surroundings of the vehicle are bright, and in step s6, the sensor data is stored, the auxiliary light unit 13 is kept off, the processing in this control cycle ends, and the process returns to the main routine. On the other hand, when the distance measurement display routine of FIG. 8 is reached, a distance measurement flag K is set in step b1.
Is not on, the process proceeds to step b2.
Go to 5. In steps b2 and b3, the first and second sensors S
Distance signals y _1n, y _2n from the distance determination circuits 8 on the S1, S2 side
And the previous output y _1n-1 of the difference | y _1n-1 -y _n | and | y
_2n-1 -y _2n | seeking each, one of the differences is determined whether exceeds a predetermined value 0.5 m, and returns to the not the main routine exceed, exceed proceeds to step b4.

Here, for example, when | y _1n-1 −y _n | exceeds the predetermined value 0.5 m and the output of the first sensor S1 changes, and the process proceeds to step b4, the first and second sensors S
The smaller value of the two distance signals _{1n and} y _2n of S1 and S2 is selected to determine the current distance Y. At step b5, the driving circuit 1
4 and the current distance Y is displayed on the display 15,
Proceed to step b6. Note that, instead of the present distance Y display, other control performed by the traveling vehicle control circuit 9, for example, safety confirmation control when changing lanes may be used. Step b6
Then, the elapse of the preset display time is counted, and before the elapse, the K flag is kept on in step b7. After the elapse, the process proceeds to step b8, where the K flag is turned off and the process returns to the main routine. As described above, the vehicle distance measuring apparatus of FIG. 1 performs the auxiliary light unit 13 when it is determined that the surroundings of the vehicle are dark.
Is turned on, and the auxiliary light has a pattern of horizontal stripes D as shown in FIG. 5, so that the original horizontal stripes on the measurement target 2 are easily seen, and the distance measurement accuracy is improved. Moreover, by detecting the brightness of the surroundings of the vehicle directly or indirectly, even when the illuminance during driving is low, the auxiliary light is turned on to prevent a delay in the response of the distance measuring sensor, and the distance measuring performance is improved. Can be secured.

In the above description, the traveling vehicle control circuit 9 performs the auxiliary light control routine of FIG. 7, but may instead perform the auxiliary light control routine of FIG.
The traveling vehicle control circuit 9 here has 10 ring memories (not shown) in advance. In this case, step c1
Then, with the auxiliary light source turned off, the timer values at each time point and the ON / OFF signal of the auxiliary light at each time point are sequentially stored and processed in the ten ring memories. That is, the time from the start of the measurement to the time when the predetermined output is obtained in the photosensor array is sequentially detected, and whether or not the reaction time has exceeded the specified time (the determination of the auxiliary light ON) is stored. Next, in step c2, the number of the on / off signals of each area of the ring memory that is off is coefficientd, and the coefficient value exceeds a predetermined number of times (here, 5 or more) and 100 (msec).
c), it is determined that the surroundings of the vehicle are dark, and the process proceeds to step c8, where the auxiliary light unit 1 is determined.
No. 3 is turned on, and if No, the process proceeds to step c3.

If the surroundings of the vehicle are bright, the process reaches step c3, in which the sensor detection start timer TIM1 is reset, and the time T _PD from when the measurement is started to when a predetermined output is obtained from the photo sensor array is obtained. Enter the count.
In step c4 waits for input of the PD response signal S _PD of the PD reaction detection sensor 18, i.e., from the start of counting to a predetermined output is obtained to the photosensor array time T
_Judge whether _PD (here, 100 _(msec) ) has passed,
Before input of the PD response signal S _PD, the process proceeds to step c6 when the input to the step c7. If before the input of the PD response signal S _PD reaches step c7, the sensor detects the start timer TIM1
There returns to step c4 until greater than 100 (msec), if it exceeds, i.e., the input of the PD response signal S _PD 100
If (msec) has not elapsed, the process proceeds to step c8, where it is determined that the surroundings of the vehicle are dark, the auxiliary light unit 13 is turned on, the processing in this control cycle ends, and the process returns to the main routine.

In this modified example, the processing of steps c1 and c2 functions as the ambient condition detecting means A1, fetches ten data in the ring memory in advance, and sets the vehicle based on the data (the on / off signal of the auxiliary light). It is determined whether the surrounding area is dark or not, and the same operation and effect as those of the apparatus of FIG. 1 can be obtained, so that the apparatus can be relatively simplified.

[0032]

As described above, according to the first aspect of the present invention, when it is determined that the surroundings of the vehicle are dark, the auxiliary light having a horizontal stripe pattern is projected, whereby Even if the relative speed of the measurement target is large, the auxiliary light of the horizontal stripe pattern can make the horizontal stripes originally present in the measurement target easily visible, and in particular, indirectly detects the brightness around the vehicle,
For example, when it is on, it is easy to determine that the surroundings are dark,
Sometimes, the auxiliary light is turned on reliably to prevent a delay in the response of the distance measurement sensor, thereby improving the distance measurement accuracy. The invention of claim 2 uses the time detecting means, and the detected time corresponds to night.
If the vehicle is not
Auxiliary light can be projected in the meantime, and the ranging accuracy can be improved.

[0033]

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a vehicle ranging device of the present invention.

FIG. 2 is an explanatory diagram of distance measurement performed by the vehicle distance measurement device of FIG. 1;

1. FIG. 3 is a plan view of the vehicle distance measuring apparatus shown in FIG. 1 in a state where a lid of a sensor unit including a first sensor is removed.

FIG. 4 is a schematic perspective view of a sensor unit used in the vehicle distance measuring device of FIG. 1;

FIG. 5 is an auxiliary light pattern diagram of an auxiliary light unit used in the vehicle distance measuring device of FIG. 1;

FIG. 6 is a diagram for explaining changes over time in output of sensor units S1 and S2 used in the vehicle distance measuring device of FIG. 1;
(A) is a diagram showing distance measurement data of the sensor unit S1 over time, and (b) is a diagram showing distance measurement data of the sensor unit S2 over time.

FIG. 7 is a flowchart of an auxiliary light control program executed by a traveling vehicle control circuit of the vehicle distance measuring device of FIG. 1;

FIG. 8 is a flowchart of a distance measurement display program executed by a traveling vehicle control circuit of the vehicle distance measurement device of FIG. 1;

FIG. 9 is a flowchart of an auxiliary light control program executed by a traveling vehicle control circuit of a vehicle distance measuring device used in a modification of the present invention.

FIG. 10 is a plan view at the time of distance measurement of a traveling vehicle.

FIG. 11 is a schematic configuration diagram of a conventional triangulation device.

FIG. 12 is a flowchart of an auxiliary light control program used in a conventional triangulation device. DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Object (other vehicle) 7 Sensor output control circuit 8 Distance determination circuit 9 Traveling vehicle control circuit 11 Vehicle speed sensor 12 Drive circuit 13 Auxiliary light unit y _1n distance signal y _2n distance signal d Sensor longitudinal distance θ1 vehicle Inclination angle with respect to X1 line in width direction V Own vehicle speed signal S1 First sensor S2 Second sensor D Horizontal stripe R Auxiliary light

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takahiro Maemura 5-33-8 Shiba, Minato-ku, Tokyo / Inside Mitsubishi Motors Corporation (72) Inventor Tadashi Sugawara 5-33 Shiba, Minato-ku, Tokyo 8, Mitsubishi Motors Corporation (72) Inventor Misuzu Yamamoto 5-33-8 Shiba, Minato-ku, Tokyo; Mitsubishi Motors Corporation (72) Inventor Hiroyuki Masuda 4-chome Shimomaruko, Ota-ku, Tokyo No. 21-1, Mitsubishi Motors Engineering Co., Ltd. (56) References JP-A-1-288717 (JP, A) JP-A-4-27814 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 3/06 B60R 21/00 622 G02B ^7/ 28-7/32

Claims (2)

(57) [Claims] 1. A method according to claim 1, wherein the light reflected from the object on the side of the vehicle is received by a pair of lenses and collected on a pair of photosensor arrays provided corresponding to the two lenses. A distance measuring device that measures the distance to the object based on the output, an auxiliary light source that is attached to the distance measuring device and emits auxiliary light to the object, and indirectly detects the brightness around the vehicle Surrounding situation detection hand
And auxiliary light control means for turning on the auxiliary light source when it is determined that the surroundings of the vehicle are dark based on the output of the surrounding condition detection means. The auxiliary light source emits auxiliary light having a horizontal stripe pattern. A ranging device for a vehicle, which is configured to emit light. 2. The vehicle according to claim 1, wherein said surrounding condition detecting means is a time detecting means for detecting a time, and said auxiliary light control means determines that the surroundings of the vehicle are dark when the detected time corresponds to night. The vehicle ranging device according to claim 1, wherein