JP3328582B2 - Inter-vehicle distance measurement device - Google Patents
Inter-vehicle distance measurement deviceInfo
- Publication number
- JP3328582B2 JP3328582B2 JP14546298A JP14546298A JP3328582B2 JP 3328582 B2 JP3328582 B2 JP 3328582B2 JP 14546298 A JP14546298 A JP 14546298A JP 14546298 A JP14546298 A JP 14546298A JP 3328582 B2 JP3328582 B2 JP 3328582B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- light
- inter
- radio wave
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自動車に搭載さ
れ、先行車までの車間距離を計測する車間距離計測装置
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance measuring device mounted on an automobile and measuring an inter-vehicle distance to a preceding vehicle.
【０００２】[0002]
【従来の技術】従来より、先行車までの距離を計測し、
前方車両へ近づきすぎた場合に警報を発生する装置、あ
るいはこれらの先行車との距離を維持しつつ、もしくは
衝突を避けながら車両を走行させるシステムが研究・開
発されている。このような走行システムのための距離を
計測する手段として、特開平４―２８９４８２号公報に
見られるような電波レーダや、特公昭６１−６３４９号
公報に見られる光レーダが開発されてきている。電波レ
ーダは、雨や雪等の悪環境下での動作性能が光レーダよ
り優れているという特徴を持っている。2. Description of the Related Art Conventionally, a distance to a preceding vehicle has been measured,
Research and development have been made on a device that generates an alarm when the vehicle approaches the preceding vehicle too much, or a system that drives the vehicle while maintaining the distance to the preceding vehicle or avoiding a collision. As means for measuring the distance for such a traveling system, a radio wave radar as disclosed in JP-A-4-289482 and an optical radar as disclosed in JP-B-61-6349 have been developed. The radio radar has a feature that its operation performance in a bad environment such as rain or snow is superior to the optical radar.
【０００３】これらの車間距離計測装置では、自車前方
の正面方向を走行する先行車を確実に捉えるため、車両
に搭載する際には、照射するレーダのビームの中心線を
車両の中心線に対して一致させる必要がある。そのため
の手段として、照査されたビームを反射する被検出物を
車両前方の所定の位置に設置し、その被検出物からの反
射波の状態に基づいて、照射するビームの光軸が車両の
中心線と一致するように調整する方法が、特開平８−３
２７７２２号公報などで知られている。[0003] In these inter-vehicle distance measuring devices, in order to reliably detect a preceding vehicle traveling in the front direction in front of the own vehicle, when mounted on a vehicle, the center line of the beam of the radiating radar is aligned with the center line of the vehicle. Need to match. As a means for this, an object that reflects the illuminated beam is installed at a predetermined position in front of the vehicle, and based on the state of the reflected wave from the object, the optical axis of the irradiated beam is set at the center of the vehicle. Japanese Patent Laid-Open No. Hei 8-3
No. 27722, and the like.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、電波レ
ーダの場合、ビーム広がり角が大きく、ビーム照射方向
を確実に検出するためには、電波を反射する被検出物を
車両前方の離れた位置（例えば50m）に設置する必要が
あり、ビーム軸調整のための広いスペースが必要となる
という問題があった。However, in the case of a radio wave radar, the beam divergence angle is large, and in order to reliably detect the beam irradiation direction, an object that reflects the radio wave must be placed at a remote location in front of the vehicle (for example, 50m), which requires a large space for beam axis adjustment.
【０００５】本発明の目的は、車両に搭載する電波レー
ダの探査ビーム照射方向の調整を狭いスペースでも簡便
に短時間で行うことのできる車間距離計測装置およびそ
の搭載方法、並びに、該車間距離計測装置を備える走行
制御装置あるいは車両を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide an inter-vehicle distance measuring apparatus and a method of mounting the inter-vehicle distance measuring apparatus, which can easily adjust the irradiation direction of a search beam of a radio wave radar mounted on a vehicle even in a small space in a short time. An object of the present invention is to provide a travel control device or a vehicle including the device.
【０００６】また、本発明の他の目的は、電波レーダの
レドーム表面の汚れや機器の不良等に起因する先行車の
検出能力の低下等を自己診断する手段を備える車間距離
計測装置、該車間距離計測装置の計測結果を用いて先行
車の近接を監視する近接警報発生装置、該車間距離計測
装置の計測結果を用いて先行車を追従する走行制御を行
う走行制御装置、あるいは、これらの装置を備える車両
を提供することにある。Another object of the present invention is to provide an inter-vehicle distance measuring apparatus having means for self-diagnosing a decrease in detection capability of a preceding vehicle due to dirt on a radome surface of a radio wave radar or defective equipment, etc. Proximity alarm generation device that monitors the proximity of the preceding vehicle using the measurement result of the distance measurement device, travel control device that performs travel control that follows the preceding vehicle using the measurement result of the inter-vehicle distance measurement device, or these devices A vehicle provided with:
【０００７】[0007]
【課題を解決するための手段】上記目的は、電波レーダ
のビームの照射方向に平行にビーム幅の細い光を送光す
る装置を備え、これら装置を一体となった筐体に収め、
車両進行方向前方の所定位置に設置した受光センサで送
光信号を検出し、その状態に基づいて筐体の方向を外部
から調整可能とする手段を持つことを特徴とする車間距
離計測装置で達成できる。また、電波レーダと同一の筐
体内に、電波レーダの照射方向と平行に光を送光する装
置と、反射波を受光する装置を備え、車両指向方向前方
の所定位置に設置した反射物で反射されて戻ってくる光
信号を受光装置で検出し、その状態に基づいて筐体の方
向を外部から調整可能とする手段を持つことを特徴とす
る車間距離計測装置で達成できる。The object of the present invention is to provide a device for transmitting light having a small beam width in parallel with the direction of irradiation of a beam of a radio wave radar.
This is achieved by an inter-vehicle distance measuring device having means for detecting a light transmission signal with a light receiving sensor installed at a predetermined position in front of the vehicle traveling direction and enabling the direction of the housing to be adjusted from the outside based on the state. it can. Also, in the same housing as the radio wave radar, a device that transmits light parallel to the irradiation direction of the radio wave radar and a device that receives reflected waves are provided. The inter-vehicle distance measuring device is characterized in that it has a means for detecting the returned optical signal with the light receiving device and enabling the direction of the housing to be adjusted from the outside based on the state.
【０００８】また、上記目的を達成するために本発明
は、車間距離計測装置において、自車の前方に電波を発
して自車と先行車との車間距離を検出する電波レーダ
と、前記電波レーダの電波送信方向に光を送光する送光
部とを備えることを特徴とする。In order to achieve the above object, the present invention relates to an inter-vehicle distance measuring apparatus, comprising: a radio wave radar for emitting a radio wave in front of the own vehicle to detect an inter-vehicle distance between the own vehicle and a preceding vehicle; And a light transmitting unit for transmitting light in the radio wave transmission direction.
【０００９】ここで、前記電波レーダおよび前記送光部
を一体的に保持すると共に、両者を車両に装着するため
の保持部と、前記電波レーダの電波送信方向が当該車両
の進行方向と略一致するように、前記一体的に保持され
た前記電波レーダおよび前記送光部の当該車両に対する
装着方向を調整可能とする姿勢調整部とをさらに備える
ことが好ましい。Here, the holding unit for holding the radio wave radar and the light transmitting unit integrally and mounting both of them on a vehicle, and the radio wave transmission direction of the radio wave radar substantially coincides with the traveling direction of the vehicle. Preferably, the apparatus further includes a posture adjustment unit configured to adjust a mounting direction of the radio wave radar and the light transmitting unit that are integrally held with the vehicle.
【００１０】また、前記保持部が前記送光部を着脱可能
に保持するための部材を備える構成としてもよい。[0010] The holding section may include a member for detachably holding the light transmitting section.
【００１１】また、前記送光部が、光ビームを照射する
光照射手段と、前記光ビームの広がり角を調整する広が
り角調整手段とを備える構成としてもよい。Further, the light transmitting section may include a light irradiating means for irradiating a light beam, and a spread angle adjusting means for adjusting a spread angle of the light beam.
【００１２】また、上記本発明による車間距離計測装置
において、前記一体的に保持されている前記電波レーダ
および前記送光部の、電波信号および光ビームの照射口
を覆うカバー部材をさらに備え、前記カバー部材の、前
記送光部の照射口に対向する部分を少なくとも含む領域
が、前記送光部からの光を透過する部材で構成されてい
ることが好ましい。Further, in the above-mentioned distance measuring apparatus according to the present invention, the apparatus further comprises a cover member for covering an irradiation port of a radio signal and a light beam of the radio wave radar and the light transmitting unit held integrally. It is preferable that a region of the cover member including at least a portion facing the irradiation port of the light transmitting unit is formed of a member that transmits light from the light transmitting unit.
【００１３】また、前記送光部から送光した光が前方の
物体で反射され、戻ってくる光を受光する受光部と、前
記受光部で受光した光強度に基づいて、前記カバー部材
を透過し前方の物体で反射され戻ってくる光路上の光学
的状態に起因する前記電波レーダの検出能力の低下また
は故障の可能性の有無を判断する自己診断部と、前記自
己診断部の判断結果を運転者へ告知する告知部とをさら
に備える構成としてもよい。The light transmitted from the light transmitting unit is reflected by an object in front of the light transmitting unit, and the light receiving unit receives the returning light. The light transmitting unit transmits the light based on the light intensity received by the light receiving unit. A self-diagnosis unit that determines whether the detection capability of the radio wave radar is degraded or a possibility of failure is caused by an optical state on an optical path reflected and returned by a forward object, and a determination result of the self-diagnosis unit. It may be configured to further include a notification unit that notifies the driver.
【００１４】上記他の目的を達成するために本発明は、
車間距離計測装置で計測された車間距離値を利用して先
行車追従走行制御を行う走行制御手段および先行車へ近
づきすぎた場合に警報を発生する近接警報発生手段の少
なくとも一方とを備える装置において、前記車間距離計
測装置が、電波レーダと前記送光部と、前記送光部から
送出する光の送光タイミングを制御する送光タイミング
制御部と、前記送光タイミングと前記受光部で受光した
光の受光タイミングとの時間差から、該受光した光を反
射した前方の物体までの距離を計測する光距離計測部
と、前記車間距離計測装置の電波レーダで計測された距
離値と前記光距離計測部で計測された距離値とを比較
し、該比較結果に応じて、前記走行制御手段および前記
近接警報発生手段のうち当該装置に備えられている手段
の動作を制御する判断部とを備える。[0014] To achieve the above and other objects, the present invention provides:
An apparatus including at least one of a traveling control unit that performs a preceding vehicle following traveling control using an inter-vehicle distance value measured by an inter-vehicle distance measurement device and a proximity alarm generating unit that generates an alarm when the vehicle is too close to the preceding vehicle. The inter-vehicle distance measurement device receives a radio wave radar and the light transmitting unit, a light transmitting timing control unit that controls a light transmitting timing of light transmitted from the light transmitting unit, and the light transmitting timing and the light receiving unit. An optical distance measuring unit that measures a distance to a forward object that reflects the received light from a time difference between the light receiving timing and a distance value measured by a radio radar of the inter-vehicle distance measuring device and the optical distance measurement And comparing the distance value measured by the section with the result of the comparison, and determining, according to the comparison result, the operation of one of the travel control unit and the proximity alarm generation unit provided in the device. Provided with a door.
【００１５】ここで、前記判断部において、前記電波レ
ーダで計測された距離値と前記光距離計測部で計測され
た距離値とが実質的に異なる場合、前記走行制御手段お
よび前記近接警報発生手段のうち当該装置に備えられて
いる手段が、短い方の距離値を用いて動作するように制
御する構成としてもよい。[0015] Here, when the distance value measured by the radio wave radar and the distance value measured by the optical distance measurement unit are substantially different in the determination unit, the travel control unit and the proximity alarm generation unit. Of these, the means provided in the device may be configured to control to operate using the shorter distance value.
【００１６】また、前記判断部に、前記電波レーダで計
測された車間距離値と前記光距離計測部で計測された車
間距離値とが、実質的に異なる状態が予め定めた時間以
上継続しているかを判定手段を設け、前記判定手段によ
り前記状態が予め定めた時間以上継続していると判定さ
れた場合には、当該装置の故障と判断してその旨を運転
者に告知する告知手段を備える構成としてもよい。Further, the determination unit may determine that the inter-vehicle distance value measured by the radio wave radar and the inter-vehicle distance value measured by the optical distance measurement unit are substantially different from each other for a predetermined time or more. Determining means, and when the determining means determines that the state has continued for a predetermined time or more, a notifying means for determining that the device is malfunctioning and notifying the driver of the failure is provided. A configuration may be provided.
【００１７】また、上記本発明による装置が、前記近接
警報発生手段が少なくとも備えられ、予め定めた距離を
近接警報発生のしきい値とし、該しきい値を基準として
近接警報の発するべきかどうかの判定を行う近接警報発
生装置として機能する場合で、前記判断部において、前
記電波レーダでは車間距離が計測され、かつ、前記光距
離計測部では車間距離が計測されない場合には、前記近
接警報発生手段でその時点で設定されている前記近接警
報発生判定の基準となるしきい値よりも大きい値を新た
なしきい値として再設定させ、該再設定されたしきい値
を用いて前記近接警報発生の判定を行わせる構成として
もよい。Further, the apparatus according to the present invention is provided with at least the proximity alarm generating means, wherein a predetermined distance is used as a threshold value for generating a proximity alarm, and whether a proximity alarm should be issued based on the threshold value is determined. In the case of functioning as a proximity alarm generating device that performs the determination of the following, when the inter-vehicle distance is measured by the radio wave radar in the determination unit and the inter-vehicle distance is not measured by the optical distance measurement unit, the proximity alarm is generated. Means for resetting a value larger than a threshold value which is set at that time as a reference for the proximity alarm occurrence determination as a new threshold value, and using the reset threshold value to generate the proximity alarm May be determined.
【００１８】また、上記本発明による装置が、前記走行
制御手段が少なくとも備えられ、追従対象となる先行車
との間に維持すべき車間距離を予め定めた方法により設
定する走行制御装置として機能する場合で、前記判断部
において、前記電波レーダでは車間距離が計測され、か
つ、前記光距離計測部では車間距離が計測されない場合
には、前記予め定めた方法により設定した車間距離より
も大きい車間距離が前記先行車との間で維持されるよう
に、前記先行車への追従走行制御を実施させる構成とし
てもよい。Further, the apparatus according to the present invention is provided with at least the traveling control means, and functions as a traveling control apparatus for setting an inter-vehicle distance to be maintained with a preceding vehicle to be followed by a predetermined method. In the case, when the inter-vehicle distance is measured by the radio wave radar and the inter-vehicle distance is not measured by the optical distance measurement unit, the inter-vehicle distance is larger than the inter-vehicle distance set by the predetermined method. The vehicle may be controlled to follow the preceding vehicle so that the vehicle is maintained between itself and the preceding vehicle.
【００１９】また、上記目的は、上述したような本発明
の車間距離計測装置あるいは車間距離計測装置を備える
装置を搭載したことを特徴とする車両により達成され
る。Further, the above object is attained by a vehicle equipped with the above-described inter-vehicle distance measuring device or the device provided with the inter-vehicle distance measuring device as described above.
【００２０】また、上記目的は、電波レーダを備える車
間距離計測装置の車両への搭載方法において、前記車両
の前方の予め定めた位置に受光センサを配置し、前記電
波レーダの電波照射方向へ光ビームを照射し、前記照射
された光ビームを前記受光センサにより受光し、前記受
光センサで受光した光の検出強度に基づいて、前記電波
レーダの電波照射方向が前記車両の中心線と一致するよ
うに、前記電波レーダの搭載方向を調整することにより
達成される。Further, the above object is to provide a method of mounting an inter-vehicle distance measuring device provided with a radio radar on a vehicle, wherein a light receiving sensor is arranged at a predetermined position in front of the vehicle, and light is emitted in a radio wave irradiation direction of the radio radar. Irradiating a light beam, receiving the irradiated light beam by the light receiving sensor, based on a detection intensity of the light received by the light receiving sensor, so that a radio wave irradiation direction of the radio wave radar coincides with a center line of the vehicle. In addition, it is achieved by adjusting the mounting direction of the radio wave radar.
【００２１】また、上記本発明による搭載方法におい
て、前記受光センサの代わりに光の反射部材を配置し、
前記照射された光ビームが前記反射部材により反射さ
れ、戻ってきた光を受光センサにより受光することで、
電波レーダの照射方向を調整する構成としてもよい。In the mounting method according to the present invention, a light reflecting member is disposed instead of the light receiving sensor.
The irradiated light beam is reflected by the reflecting member, and the returned light is received by a light receiving sensor.
A configuration for adjusting the irradiation direction of the radio wave radar may be adopted.
【００２２】[0022]
【発明の実施の形態】以下に本発明の実施形態を図１か
ら図９を用いて説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.
【００２３】図１は、本発明を適用した車間距離計測装
置の一実施形態の構成を示す図である。本実施形態の装
置は、電波レーダ１と、送光部８と、これらを一体的に
保持すると共に車両２０へ装着するための筐体７とを備
えている。電波レーダ１は、送信アンテナ２、受信アン
テナ３、送信部４、受信部５、および、電波レーダ信号
処理部６から構成される。FIG. 1 is a diagram showing a configuration of an embodiment of an inter-vehicle distance measuring apparatus to which the present invention is applied. The device according to the present embodiment includes a radio wave radar 1, a light transmitting unit 8, and a housing 7 for holding these integrally and mounting them to a vehicle 20. The radio radar 1 includes a transmission antenna 2, a reception antenna 3, a transmission unit 4, a reception unit 5, and a radio radar signal processing unit 6.
【００２４】電波レーダ１は、車両２０の前面に筐体７
を介して取り付けられ、送信部４から出力される信号を
送信アンテナ２からミリ波帯の電波として、車両２０の
進行方向前方に向かって放射する。さらに、前方に存在
する車両や障害物等の物体から反射されてくる電波を受
信アンテナ３で受信し、電波レーダ信号処理部６で信号
処理を施し、前方の車両までの車間距離および相対速
度、障害物までの距離等を計測し、該計測結果を車間距
離情報として出力する。The radio wave radar 1 has a housing 7 on the front of the vehicle 20.
And radiates a signal output from the transmission unit 4 from the transmission antenna 2 toward the front in the traveling direction of the vehicle 20 as a millimeter wave band radio wave. Further, a radio wave reflected from an object such as a vehicle or an obstacle present ahead is received by the receiving antenna 3 and subjected to signal processing by a radio wave radar signal processing unit 6, so that the inter-vehicle distance and the relative speed to the vehicle in front are calculated. The distance to the obstacle is measured, and the measurement result is output as inter-vehicle distance information.
【００２５】なお、本実施形態で使用する電波レーダ１
の構成はこれに限定されるものではなく、ある特定の方
向へ電波のビームを送ることで先行車との距離を検出で
きるものであれば、その他の構成としても構わない。The radio wave radar 1 used in this embodiment
Is not limited to this, and any other configuration may be used as long as it can detect the distance to the preceding vehicle by transmitting a radio wave beam in a specific direction.
【００２６】送光部８は、電波レーダ１のビームの送信
中心軸方向と平行に光を送光するよう、電波レーダ１と
共に筐体７に取り付けられている。送光部８から送光す
る光の波長は特に限定されるものではないが、従来のレ
ーザレーダで用いられるような波長帯のレーザ光や可視
光等を用いることができる。送光部８は、例えば発光ダ
イオードやレーザ装置により構成する。The light transmitting section 8 is attached to the housing 7 together with the radio wave radar 1 so as to transmit light parallel to the transmission center axis direction of the beam of the radio wave radar 1. Although the wavelength of the light transmitted from the light transmitting unit 8 is not particularly limited, laser light or visible light in a wavelength band used in a conventional laser radar can be used. The light transmitting unit 8 is configured by, for example, a light emitting diode or a laser device.
【００２７】筐体７は、例えば図２に示すように、筐体
本体７０と、筐体本体７０を車両２０に取り付けるため
の支持台３０と、車両２０に対する筐体本体７０の姿勢
を調整可能とする回転機構とを備えている。本例では、
回転機構は、垂直及び水平方向の回転軸３３、３４で回
転可能となっており、各回転軸方向の回りに回転させる
ためのギア３１、３２が設けられている。また、送信ア
ンテナ２及び受信アンテナ３の前面は外部環境にさらさ
れるため、電波が透過できる不透明のカバー（レドー
ム）３５で覆われている。さらに、本例では、レドーム
３５の一部に、送光部８から出力される光が通過できる
材質で構成される送光用窓９が設けられ、送光部８の前
面に配置されている。As shown in FIG. 2, for example, the housing 7 has a housing main body 70, a support 30 for attaching the housing main body 70 to the vehicle 20, and an adjustable posture of the housing main body 70 with respect to the vehicle 20. And a rotation mechanism. In this example,
The rotation mechanism is rotatable about vertical and horizontal rotation shafts 33 and 34, and gears 31 and 32 for rotating around the respective rotation shafts are provided. The front surfaces of the transmitting antenna 2 and the receiving antenna 3 are covered with an opaque cover (a radome) 35 through which radio waves can be transmitted since the front surfaces are exposed to an external environment. Furthermore, in this example, a light transmitting window 9 made of a material through which light output from the light transmitting unit 8 can pass is provided in a part of the radome 35, and is disposed on the front surface of the light transmitting unit 8. .
【００２８】本実施形態の車間距離計測装置において、
電波レーダ１の軸調整を行う際には、まず筐体７を車両
２０へ取り付ける。また、筐体７の送光部８の前方
（例：１ｍ）で車両２０の進行方向延長線上に、送光部
８からの光を検出する受光センサ２１を、筐体７と地上
高が同じとなるよう設置する。次に、受光センサ２１の
出力が最大となるように、筐体７のギア３１、３２を回
転軸３３、３４の周りで回転させることで、車両２０に
対する筐体７の方向を調整する。受光センサ２１により
最大出力が検出された方向で、筐体７を固定して軸調整
を終了する。In the inter-vehicle distance measuring apparatus according to the present embodiment,
When adjusting the axis of the radio radar 1, first, the housing 7 is attached to the vehicle 20. Further, a light receiving sensor 21 for detecting light from the light transmitting unit 8 is provided in front of the light transmitting unit 8 of the housing 7 (e.g., 1 m) on an extension of the traveling direction of the vehicle 20. Set up so that. Next, the direction of the housing 7 with respect to the vehicle 20 is adjusted by rotating the gears 31 and 32 of the housing 7 around the rotation shafts 33 and 34 so that the output of the light receiving sensor 21 is maximized. The housing 7 is fixed in the direction in which the maximum output is detected by the light receiving sensor 21, and the axis adjustment ends.
【００２９】この時、例えば図１に示すように、外部か
ら送光制御信号で送光部８からの送光のON／OFF制御を
可能とする構成としてもよい。このような構成によれ
ば、送光部８の送光動作を不要なときには中止あるいは
制限することができる。At this time, for example, as shown in FIG. 1, a configuration may be adopted in which ON / OFF control of light transmission from the light transmitting unit 8 can be performed by a light transmission control signal from the outside. According to such a configuration, the light transmitting operation of the light transmitting unit 8 can be stopped or restricted when unnecessary.
【００３０】また、送光部８を筐体７の内部に設ける代
わりに、図３に示すように、筐体７に送光部８を着脱可
能に取り付けるための取付用ガイド３６を設け、軸調整
時にのみ筐体７に送光部８を装着する構成としてもよ
い。このような構成により、本実施形態では軸調整時以
外は不要となる送光部８を取り外すことができるため、
車間距離計測装置の軽量化、低コスト化を図ることがで
きる。Further, instead of providing the light transmitting section 8 inside the housing 7, as shown in FIG. 3, a mounting guide 36 for detachably mounting the light transmitting section 8 on the housing 7 is provided. The light transmitting unit 8 may be attached to the housing 7 only during adjustment. With such a configuration, in this embodiment, the unnecessary light transmitting unit 8 can be removed except at the time of axis adjustment.
The inter-vehicle distance measuring device can be reduced in weight and cost.
【００３１】また、電波レーダの構成として、送信アン
テナ２と受信アンテナ３とを共用し、送受信をひとつの
アンテナで実行する構成としてもよい。Further, as the configuration of the radio wave radar, the transmission antenna 2 and the reception antenna 3 may be shared, and the transmission and reception may be performed by one antenna.
【００３２】また、本実施形態では、電波レーダ１およ
び送光部８とを一体的に保持する筐体本体７０と、筐体
本体７０を２軸方向に回転可能に支持する支持台３０お
よび回転機構とを用いて、車両２０に搭載を行っている
が、電波レーダ１および送光部８を車両２０に搭載する
手段は本実施形態の例に限定されるものではない。電波
レーダ１が送信する電波の主照射方向と既知の関係にあ
る方向に光を送出する送光部８を、少なくとも軸調整時
には電波レーダ１と一体的に保持し、かつ、車両２０に
対する両者の位置を上記既知の関係を保持した状態で変
更することができるものであれば、図２に示す構成以外
の機構を用いてもよい。Further, in the present embodiment, the housing main body 70 integrally holding the radio wave radar 1 and the light transmitting section 8, the support base 30 for supporting the housing main body 70 so as to be rotatable in two axial directions, and the rotating body Although the mechanism is mounted on the vehicle 20 using the mechanism, the means for mounting the radio wave radar 1 and the light transmitting unit 8 on the vehicle 20 is not limited to the example of the present embodiment. A light transmitting unit 8 for transmitting light in a direction having a known relationship with a main irradiation direction of a radio wave transmitted by the radio wave radar 1 is held integrally with the radio wave radar 1 at least at the time of axis adjustment, and A mechanism other than the configuration shown in FIG. 2 may be used as long as the position can be changed while maintaining the known relationship.
【００３３】本発明を適用した車間距離計測装置の他の
実施形態を図４を用いて説明する。Another embodiment of the inter-vehicle distance measuring apparatus to which the present invention is applied will be described with reference to FIG.
【００３４】本実施形態の装置は、上記図１の実施形態
の車間距離計測装置において、送光部８内部に、ビーム
の広がり角を可変とする光学系を使用したものである。
送光部８以外の構成は上記図１の実施形態と同一であ
り、それら構成については同一の符号を付し、ここでの
説明は省略する。The apparatus of this embodiment uses an optical system in the light transmitting section 8 in which the beam divergence angle is variable, in the inter-vehicle distance measuring apparatus of the embodiment of FIG.
The configuration other than the light transmitting unit 8 is the same as that of the above-described embodiment of FIG.
【００３５】具体的には、例えば図４に示すように、送
光部８では、発光部２０から出た光をレンズ２１で集め
て送光するが、レンズ２１の位置を可変とするためのレ
ンズ移動機構２２をさらに設けることで、送光部８から
送出される光のビーム広がり角を変化させている。本例
では、レンズ移動機構２２にはレンズ２１の保持位置を
変化させるアクチュエータ（不図示）が備えられてお
り、該アクチュエータは、外部から入力されるビーム広
がり角制御信号により駆動制御され、レンズ２１の保持
位置を変化させる構成となっている。なお、アクチュエ
ータを用いず、手動によりレンズ位置を変化させる構成
としてもよい。Specifically, as shown in FIG. 4, for example, in the light transmitting section 8, the light emitted from the light emitting section 20 is collected and transmitted by the lens 21, but the position of the lens 21 is made variable. By further providing the lens moving mechanism 22, the beam spread angle of the light transmitted from the light transmitting unit 8 is changed. In this example, the lens moving mechanism 22 is provided with an actuator (not shown) for changing the holding position of the lens 21, and the actuator is driven and controlled by a beam divergence angle control signal input from the outside. Is changed. Note that a configuration may be used in which the lens position is manually changed without using an actuator.
【００３６】本実施形態の装置の軸調整を行う際には、
上記図１の実施形態と同様に、筐体７を車両２０へ取り
付け、筐体７の送光部８の前方で車両２０の進行方向延
長線上に、受光センサ２１を、筐体７と地上高が同じと
なるよう設置する。次に、送光部８へビーム広がり角制
御信号を送り、送光部８のビーム広がり角が広くなるよ
うに設定する（例：広がり角６度）。この状態で上記図
１の実施形態と同様に、ギア３１、３２を回転させ、受
光センサ２１の出力が最大となるよう調整する。次に、
送光部８へビーム広がり角制御信号を送り、ビーム広が
り角を狭くする（例：広がり角0.3度）。再び、受光セ
ンサ２１の出力が最大となるように、ギア３１、３２を
回転させ、車両２０に対する筐体７の方向を調整する。When adjusting the axis of the apparatus of this embodiment,
As in the embodiment of FIG. 1 described above, the housing 7 is attached to the vehicle 20, and the light receiving sensor 21 is positioned in front of the light transmitting unit 8 of the housing 7 on an extension of the traveling direction of the vehicle 20. Is set to be the same. Next, a beam divergence angle control signal is sent to the light transmitting unit 8, and the beam diverging angle of the light transmitting unit 8 is set to be wide (eg, the divergence angle is 6 degrees). In this state, the gears 31 and 32 are rotated to adjust the output of the light receiving sensor 21 to the maximum, as in the embodiment of FIG. next,
A beam divergence angle control signal is sent to the light transmitting unit 8 to narrow the beam divergence angle (example: divergence angle 0.3 degrees). Again, the gears 31 and 32 are rotated so that the output of the light receiving sensor 21 is maximized, and the direction of the housing 7 with respect to the vehicle 20 is adjusted.
【００３７】このように送光部８からの光ビームの広が
り角を変化させつつ軸調整を行うことで、概略調整を行
った後に微細な調整を行うことが可能となり、その結
果、筐体７の方向を簡便に精度よく調整できる。As described above, by performing the axis adjustment while changing the spread angle of the light beam from the light transmitting unit 8, it is possible to perform the fine adjustment after the rough adjustment, and as a result, the housing 7 Can be easily and accurately adjusted.
【００３８】なお、本実施形態では、送光部８から送出
される光ビームの最初の広がり角を６度、次の広がり角
を０.３度としているが、本発明はこれらの角度に限定
されるものではない。例えば、１００ｍ先の先行車を検
出しようとする場合、電波ビーム１の取付精度は０.２
〜０.５度となる必要がある。このため、最終的な光ビ
ームの広がり角度が上記取付精度の範囲内となるような
角度とすることができれば、上述した６度、０.３度以
外の角度を用いても良い。In the present embodiment, the first divergence angle of the light beam transmitted from the light transmitting section 8 is 6 degrees and the next divergence angle is 0.3 degrees. However, the present invention is limited to these angles. It is not done. For example, when trying to detect a preceding vehicle 100 m away, the mounting accuracy of the radio beam 1 is 0.2.
It must be 0.5 degrees. For this reason, an angle other than the above-mentioned 6 degrees and 0.3 degrees may be used as long as the angle at which the final spread angle of the light beam falls within the range of the mounting accuracy described above can be used.
【００３９】本発明を適用した車間距離計測装置の他の
実施形態について図５、６を用いて説明する。Another embodiment of the inter-vehicle distance measuring apparatus to which the present invention is applied will be described with reference to FIGS.
【００４０】本実施形態では、上記図１の実施形態のよ
うに受光センサ２１を用いず、送光部８から送出される
光を反射するための反射装置２３を用いて軸調整を行う
ものである。In this embodiment, the axis adjustment is performed by using a reflecting device 23 for reflecting the light transmitted from the light transmitting section 8 without using the light receiving sensor 21 as in the embodiment of FIG. is there.
【００４１】本実施形態の装置は、図５、６に示すよう
に、上記図１の実施形態において、筐体７の内部に、電
波レーダ１および送光部８に加えて、受光用窓１０、受
光部１１、送光信号制御部１２、および受光信号計測部
１３を備える。上記図１の実施形態と同一の構成につい
ては同じ符号を付し、その説明を省略する。As shown in FIGS. 5 and 6, the apparatus of this embodiment is different from the embodiment of FIG. 1 in that, in addition to the radio wave radar 1 and the light transmitting section 8, the light receiving window 10 , A light receiving unit 11, a light transmission signal control unit 12, and a light reception signal measuring unit 13. The same components as those in the embodiment of FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted.
【００４２】本実施形態において電波レーダ１の軸調整
を行う場合は、車両２０へ筐体７を取り付け、車両２０
の前方に、車両２０の進行方向に対して垂直となるよう
反射装置２３を設置する。送光部８が車両２０の進行方
向に平行に光を送光する場合は、反射装置２３で反射さ
れた光が、受光用窓１０を通過して受光部１１で受光さ
れる。受光部１１で受光する信号強度を受光信号計測部
１３で計測し、受光信号の強さが最大となるようギア３
１、３２を回転させ、筐体７の方向を調整する。ここ
で、送光信号制御部１２から送光部８へ送光タイミング
信号を送り、送光部８から送光する光に変調をかける。When the axis of the radio wave radar 1 is adjusted in this embodiment, the housing 7 is attached to the vehicle 20 and the
A reflection device 23 is installed in front of the vehicle so as to be perpendicular to the traveling direction of the vehicle 20. When the light transmitting unit 8 transmits light in parallel with the traveling direction of the vehicle 20, the light reflected by the reflecting device 23 passes through the light receiving window 10 and is received by the light receiving unit 11. The intensity of the signal received by the light receiving unit 11 is measured by the received light signal measuring unit 13 and the gear 3 is adjusted so that the intensity of the received light signal is maximized.
By rotating 1, 32, the direction of the housing 7 is adjusted. Here, a light transmission timing signal is transmitted from the light transmission signal control unit 12 to the light transmission unit 8, and the light transmitted from the light transmission unit 8 is modulated.
【００４３】以上の構成によれば、軸調整時に送光部８
から送出され反射装置２３で反射された信号を受光部１
１で受光する際、受光信号を雑音に対して強くし、計測
精度を向上させることができる。According to the above configuration, the light transmitting unit 8 is adjusted at the time of axis adjustment.
The signal transmitted from the light source and reflected by the reflection device 23 is
When the light is received at 1, the light receiving signal can be made strong against noise, and the measurement accuracy can be improved.
【００４４】本発明を適用した走行制御装置の一実施形
態につき図７を用いて説明する。An embodiment of the travel control device to which the present invention is applied will be described with reference to FIG.
【００４５】本実施形態の走行制御装置は、先行車との
車間距離を適当に保ちながら走行する先行車追従走行制
御を実行する先行車追従走行モードと、先行車との車間
距離がある特定の値以下になった場合に警報を発する近
接警報発生モードとを少なくとも備えるものとする。The traveling control device according to the present embodiment includes a preceding vehicle following traveling mode for executing a preceding vehicle following traveling control in which the vehicle travels while appropriately maintaining the following distance to the preceding vehicle, and a specific distance between the preceding vehicle and the preceding vehicle. At least a proximity alarm generation mode for issuing an alarm when the value becomes equal to or less than the value.
【００４６】具体的には、本実施形態の装置は、図７に
示すように、上記図５の実施形態の構成に加えて、送光
部８から送出した光により先行車との車間距離を計測す
るための距離計測部１４と、電波レーダ１から出力され
る車間距離情報および距離計測部１４から出力される車
間距離情報を受け付け、該受け付けた情報に基づいて後
述する各種の判断処理を行う判断部４０と、判断部４０
の判断結果に応じて先行車追従走行制御を行う先行車追
従走行制御部４１と、判断部４０の判断結果を運転者等
に警告、表示する警報部４２、表示部４３とを備える。
なお、上記図５の実施形態と同一の構成については、同
一の符号を付し、その説明は省略する。More specifically, as shown in FIG. 7, in addition to the configuration of the above-described embodiment of FIG. The distance measuring unit 14 for measurement and the inter-vehicle distance information output from the radio wave radar 1 and the inter-vehicle distance information output from the distance measuring unit 14 are received, and various determination processes described later are performed based on the received information. The judgment unit 40 and the judgment unit 40
The vehicle control system includes a preceding vehicle following travel control unit 41 that performs preceding vehicle following traveling control in accordance with the determination result, and an alarm unit 42 and a display unit 43 that warn and display the determination result of the determination unit 40 to a driver or the like.
The same components as those in the embodiment of FIG. 5 are denoted by the same reference numerals, and description thereof will be omitted.
【００４７】本実施形態の走行制御装置では、送光部８
から送光する光を送光信号制御部１２から送られる送光
タイミング信号で制御する。送られた光が、前方の車両
や障害物などの車両前方の物体から反射されて返ってく
る光を受光部１１で受光し、該受光信号の信号強度を受
光信号計測部１３で計測する。変調をかけた送光のタイ
ミングと、受光信号計測部１３で計測した受光のタイミ
ングの時間差を計測することにより、距離計測部１４で
前方の反射物体までの距離を計測する。電波レーダ１で
計測される距離情報と、距離計測部１４で計測される距
離情報を、判断部４０へ送る。In the traveling control device of the present embodiment, the light transmitting section 8
Is controlled by a light transmission timing signal transmitted from the light transmission signal control unit 12. The transmitted light is reflected by an object in front of the vehicle such as a vehicle or an obstacle in front of the vehicle, and the returned light is received by the light receiving unit 11, and the signal intensity of the received light signal is measured by the received light signal measuring unit 13. By measuring the time difference between the modulated light transmission timing and the light reception timing measured by the light reception signal measurement unit 13, the distance measurement unit 14 measures the distance to the front reflective object. The distance information measured by the radio wave radar 1 and the distance information measured by the distance measurement unit 14 are sent to the determination unit 40.
【００４８】判断部４０では、電波レーダ１と送光部８
からの光による距離情報が同一であるとみなせる場合
は、該距離情報を用いて処理を行う。本実施形態の走行
制御装置が車間距離を適当に保ちながら走行する先行車
追従走行モードの場合には、前記距離情報に基づいて、
先行車追従走行制御部４１から車両２０の駆動系の各部
へ制御信号を送ることで、適当な車間距離を保つよう制
御する。また、車間距離がある特定の値以下になった場
合に警報を発する近接警報発生モードの場合には、予め
設定した車間距離をしきい値として、該しきい値より車
間距離が小さくなった場合には、警報部４２により警報
を発生させるか、あるいは、表示装置４３によりその旨
を示す表示を出力する。In the judgment section 40, the radio wave radar 1 and the light transmitting section 8
If it can be considered that the distance information by the light from is the same, the processing is performed using the distance information. In the case of the preceding vehicle following travel mode in which the travel control device of the present embodiment travels while appropriately maintaining the inter-vehicle distance, based on the distance information,
By transmitting a control signal from the preceding vehicle following travel control section 41 to each section of the drive system of the vehicle 20, control is performed to maintain an appropriate inter-vehicle distance. In addition, in the proximity alarm generation mode in which an alarm is issued when the inter-vehicle distance becomes equal to or less than a specific value, a predetermined inter-vehicle distance is set as a threshold, and the inter-vehicle distance becomes smaller than the threshold. , An alarm is generated by the alarm unit 42, or a display indicating this is output by the display device 43.
【００４９】判断部４０に入力される電波レーダと光に
よる距離情報が異なる場合は、短い方の距離情報を用い
て、上述した近接警報の発生や先行車追従走行を行う。
さらに、電波レーダ１と光による距離情報が異なる状態
が所定時間以上継続する場合、装置の故障の可能性が高
いと判断部４０で判断し、警報部４２や表示装置４３で
運転者に対し、装置の故障の可能性を伝える。When the radio wave radar and the distance information by light input to the judgment unit 40 are different from each other, the above-mentioned proximity warning is generated and the preceding vehicle follows the vehicle using the shorter distance information.
Further, when the state in which the distance information is different from that of the radio wave radar 1 and the light continues for a predetermined time or more, the determination unit 40 determines that the possibility of the device failure is high, and the warning unit 42 and the display device 43 provide the driver with: Communicate the possibility of equipment failure.
【００５０】電波レーダ１から距離情報が出力されるに
も関わらず、光による距離情報が距離計測部１４から出
力されない場合は、天候の悪化やレドーム前面への泥や
雪の付着により光が前方車両まで届かない場合であると
判断部４０で判断する。この場合、警報部４２あるいは
表示装置４３から発せられる警報は、上記予め設定した
車間距離より遠い距離において警報を発生させる。ま
た、先行車追従走行制御の実行中の場合は、追従走行に
おける車間距離を通常の場合（電波および光による車間
距離情報が実質的に同一とみなされる場合）よりも広げ
るよう、先行車追従走行制御部４１から車両駆動系へ制
御信号を送信する。When the distance information is not output from the distance measuring unit 14 in spite of the fact that the distance information is output from the radio wave radar 1, the light travels forward due to the deterioration of the weather or the adhesion of mud or snow to the front of the radome. The determination unit 40 determines that the vehicle does not reach the vehicle. In this case, the warning issued from the warning unit 42 or the display device 43 generates a warning at a distance longer than the preset inter-vehicle distance. In addition, when the preceding vehicle following travel control is being executed, the preceding vehicle following travel is performed so as to increase the inter-vehicle distance in the following traveling as compared with the normal case (when the inter-vehicle distance information by radio waves and light is considered to be substantially the same). A control signal is transmitted from the control unit 41 to the vehicle drive system.
【００５１】上記図７の実施形態の走行制御装置が近接
警報発生モードにある場合における判断部４０での処理
フローを図８を用いて説明する。なお、本処理に先立
ち、警報を発すべき車間距離の値を予め設定しておくも
のとする。The processing flow in the judgment section 40 when the traveling control device of the embodiment of FIG. 7 is in the proximity alarm generation mode will be described with reference to FIG. Prior to this processing, the value of the inter-vehicle distance at which a warning should be issued is set in advance.
【００５２】本処理では最初、ステップ１００で、電波
レーダ１を用いて距離を計測し、距離情報Raを求める。
次に光を使った距離計測をステップ１０１で実行し、距
離情報Rbを求める。これらの電波レーダと光による距離
情報Ra、Rbをステップ１０２で比較する。両者の差が所
定値e1以下の場合は、ステップ１０３において、距離情
報Raと予め設定した車間距離とを比較し、距離情報Raが
該予め定めた車間距離以下となった場合には近接警報を
発生する。In this process, first, at step 100, the distance is measured using the radio wave radar 1 to obtain distance information Ra.
Next, distance measurement using light is executed in step 101 to obtain distance information Rb. In step 102, the radio wave radar and the distance information Ra and Rb by light are compared. When the difference between the two is equal to or less than the predetermined value e1, in step 103, the distance information Ra is compared with a preset inter-vehicle distance, and when the distance information Ra is equal to or less than the predetermined inter-vehicle distance, a proximity alarm is issued. appear.
【００５３】ステップ１０２において、電波レーダ１と
光による距離情報が異なると判定された場合は、ステッ
プ１０４で、光での計測距離が所定値e2以下であるか、
もしくは計測値が出力されていないかを判定する。光で
の距離計測値が出力されており、かつその値が所定値e2
以上である場合は、ステップ１０５へ進み、車間距離計
測値の短い方の値を距離情報として使用し、近接警報を
発生すべきかどうかの判定を行い、該判定結果に応じて
警報を発生する。If it is determined in step 102 that the distance information between the radio radar 1 and the light is different, it is determined in step 104 whether the measured distance by light is equal to or less than a predetermined value e2.
Alternatively, it is determined whether a measured value has not been output. The distance measurement value by light is output, and the value is the predetermined value e2
If so, the process proceeds to step 105, in which the shorter value of the inter-vehicle distance measurement value is used as the distance information, it is determined whether or not a proximity warning should be generated, and a warning is generated according to the determination result.
【００５４】ステップ１０４で、光での計測距離が所定
値e2未満であるか、もしくは計測値が出力されていない
と判断された場合は、悪天候の可能性もある。このた
め、ステップ１０６へ進み、予め設定した車間距離より
離れた距離を近接警報発生の判断に用いるしきい値とし
て新たに設定し、該新たに設定したしきい値とステップ
１００で計測した電波レーダ１による距離情報Raとを比
較し、該比較結果に応じて警報を発生させる。If it is determined in step 104 that the measured distance with light is less than the predetermined value e2, or that no measured value has been output, there is a possibility of bad weather. Therefore, the process proceeds to step 106, in which a distance greater than a predetermined inter-vehicle distance is newly set as a threshold used for determining the proximity alarm, and the newly set threshold and the radio wave radar measured in step 100 are set. 1 is compared with the distance information Ra, and an alarm is generated according to the comparison result.
【００５５】また、ステップ１０７で、電波レーダと光
による距離情報が異なる状態が所定時間以上継続してい
るかを判断し、所定時間以上継続している場合は、装置
の故障の可能性が高いため、ステップ１０８で運転者に
対し警報部４２や表示部４３を介して当該装置の故障の
可能性を伝えて、本処理を終了する。In step 107, it is determined whether or not the state in which the distance information between the radio wave radar and the light is different has continued for a predetermined time or more. If the state has continued for a predetermined time or more, there is a high possibility that the device will fail. In step 108, the driver is informed of the possibility of failure of the device via the alarm unit 42 and the display unit 43, and the process ends.
【００５６】上記図７の実施形態の走行制御装置が先行
車追従走行制御モードにある場合における判断部４０で
の処理フローを図９を用いて説明する。The processing flow in the judgment section 40 when the traveling control device of the embodiment of FIG. 7 is in the preceding vehicle following traveling control mode will be described with reference to FIG.
【００５７】本処理のステップ２００〜２０２での処理
は、上記図８のステップ１００〜１０２の処理とそれぞ
れ同じである。The processing in steps 200 to 202 of this processing is the same as the processing in steps 100 to 102 in FIG.
【００５８】ステップ２０２で電波レーダ１による距離
情報Raと光による距離情報Rbとの差が所定値以下の場合
は、距離計測動作が正常に行われていると判断し、ステ
ップ２０３において、予め定めた通常の設定車間距離で
先行車追従制御を実行する。ここで予め定めた通常の設
定車間距離とは、距離計測動作が正常に行われていると
判断された場合、すなわち、距離計測値が信頼できるも
のと判断された場合に、行われる先行車追従制御処理で
用いられるもので、例えば、ある一定以上の速度では速
度に比例する距離を、それ以下ではある一定の距離をそ
れぞれ車間距離と設定する。If the difference between the distance information Ra by the radio wave radar 1 and the distance information Rb by light is equal to or smaller than a predetermined value in step 202, it is determined that the distance measurement operation is normally performed. The preceding vehicle following control is executed at the normal set inter-vehicle distance. Here, the predetermined normal set inter-vehicle distance refers to the following vehicle following when it is determined that the distance measurement operation is normally performed, that is, when it is determined that the distance measurement value is reliable. It is used in the control processing. For example, a distance proportional to the speed is set as an inter-vehicle distance when the speed is equal to or higher than a certain value, and a certain distance is set when the speed is less than a certain value.
【００５９】ステップ２０２において、電波レーダ１と
光による距離情報とが異なると判定された場合は、ステ
ップ２０４で、光での計測距離Rbが所定値e2以下である
か、もしくは計測値が出力されていないかを判定する。
光での距離計測値Rbが出力されており、かつその値が所
定値e2以上である場合はステップ２０５で、車間距離計
測値の短い方の値を使用して先行車追従制御を実行す
る。If it is determined in step 202 that the radio wave radar 1 and the distance information by light are different, in step 204, the measured distance Rb by light is equal to or less than a predetermined value e2, or the measured value is output. Is not determined.
When the distance measurement value Rb by light is output and the value is equal to or more than the predetermined value e2, in step 205, the preceding vehicle following control is executed using the shorter value of the inter-vehicle distance measurement value.
【００６０】ステップ２０４で光での計測距離が所定値
以下であるか、もしくは計測値が出力されていないと判
断された場合は、悪天候の可能性もあるためステップ２
０６で、上述した予め定めた通常の車間距離設定より長
い車間距離を新たな車間距離と設定して先行車追従制御
を実行する。If it is determined in step 204 that the measured distance by light is equal to or less than a predetermined value or that no measured value has been output, there is a possibility of bad weather.
In 06, the following distance set longer than the above-described normal inter-vehicle distance setting is set as a new inter-vehicle distance, and the preceding vehicle following control is executed.
【００６１】さらに、ステップ２０７で、電波レーダ１
と光による距離情報が異なる状態が所定時間以上継続し
ているかを判断し、所定時間以上継続する場合は、装置
の故障の可能性が高いため、ステップ２０８で運転者に
対し装置の故障の可能性を伝えるとともに、ステップ２
０９で先行車追従制御を中止して、本処理を終了する。Further, at step 207, the radio wave radar 1
It is determined whether or not the state in which the distance information by light and the light are different has continued for a predetermined time or more. If the state continues for a predetermined time or more, the possibility of the device failure is high. Step 2
At 09, the preceding vehicle following control is stopped, and the process ends.
【００６２】なお、上記図７の実施形態では、光により
計測された車間距離情報を電波レーダによる車間距離情
報とを比較することで、天候の悪化、レドーム前面の汚
れ、あるいは装置の故障の可能性等を判断する自己診断
機能を備える装置について説明したが、本発明の自己診
断機能を実現する構成はこれに限定されるものではな
く、例えば、上記図１の実施形態において受光部をさら
に設け、該受光部からの出力に応じて、同様な自己診断
を行う構成としてもよい。In the embodiment shown in FIG. 7, the inter-vehicle distance information measured by light is compared with the inter-vehicle distance information by the radio wave radar, thereby making it possible to deteriorate the weather, dirt on the front of the radome, or break down the device. Although the device having the self-diagnosis function for determining the gender and the like has been described, the configuration for realizing the self-diagnosis function of the present invention is not limited to this. For example, a light receiving unit is further provided in the embodiment of FIG. The same self-diagnosis may be performed according to the output from the light receiving unit.
【００６３】より具体的には、例えば、電波レーダで計
測された車間距離から天候が良く、レドーム表面に汚れ
がない場合に予想される反射光の強度レベルを予め推定
しておき、該推定値を基準として計測した受光強度が大
きく低下していれば、天候悪化やレドーム表面の汚れに
より先行車の検出能力が低下している可能性があるとし
て、その旨を運転者に警告する構成としてもよい。More specifically, for example, from the inter-vehicle distance measured by a radio wave radar, the intensity level of reflected light expected when the weather is good and there is no dirt on the radome surface is estimated in advance, and the estimated value is calculated. If the received light intensity measured on the basis of is significantly reduced, the driver may be warned that the detection capability of the preceding vehicle may be reduced due to bad weather or dirt on the radome surface. Good.
【００６４】[0064]
【発明の効果】以上説明したように、本発明によれば、
電波レーダの送信方向に平行に光を送出する手段を車間
距離計測装置や走行制御装置に設けることで、該送出し
たビーム幅の狭い光信号の強度を車両前方の所定位置に
設置した受光センサで計測する等して、電波レーダのビ
ーム送信方向の調整を短時間で行うことができる。As described above, according to the present invention,
By providing a means for transmitting light parallel to the transmission direction of the radio wave radar in the inter-vehicle distance measuring device or the travel control device, the intensity of the transmitted light signal with a narrow beam width is detected by a light receiving sensor installed at a predetermined position in front of the vehicle. Adjustment of the beam transmission direction of the radio wave radar can be performed in a short time, for example, by measuring.
【００６５】さらに、本発明によれば、先行車の検出能
力の低下等を自己診断する手段を備える車間距離計測装
置、該車間距離計測装置の計測結果を用いて先行車との
近づきすぎを監視する近接警報発生装置、該車間距離計
測装置の計測結果を用いて先行車を追従する走行制御を
行う走行制御装置、あるいは、これらの装置を備える車
両を提供することができる。Further, according to the present invention, an inter-vehicle distance measuring device provided with a means for self-diagnosing a decrease in the detection capability of a preceding vehicle, etc., and monitoring too close to a preceding vehicle by using the measurement result of the inter-vehicle distance measuring device. It is possible to provide a proximity alarm generating device, a traveling control device that performs traveling control of following a preceding vehicle using a measurement result of the inter-vehicle distance measuring device, or a vehicle including these devices.
【図１】本発明の一実施形態において、送光部を内部に
持つ電波レーダの例を示す説明図である。FIG. 1 is an explanatory diagram illustrating an example of a radio wave radar having a light transmitting unit therein according to an embodiment of the present invention.
【図２】図１の実施形態において、水平と垂直方向に軸
調整できる電波レーダの筐体の構造例を示す斜視図であ
る。FIG. 2 is a perspective view showing a structural example of a housing of a radio wave radar capable of adjusting axes in horizontal and vertical directions in the embodiment of FIG. 1;
【図３】図１の実施形態において、水平と垂直方向に軸
調整できる電波レーダの筐体の他の構造例を示す斜視図
である。FIG. 3 is a perspective view showing another example of the structure of the housing of the radio wave radar capable of adjusting the axis in the horizontal and vertical directions in the embodiment of FIG. 1;
【図４】本発明の他の実施形態において、ビーム幅が可
変な送光部を内部に持つ電波レーダの例を示す説明図で
ある。FIG. 4 is an explanatory view showing an example of a radio wave radar having a light transmitting section having a variable beam width in another embodiment of the present invention.
【図５】本発明の他の実施形態において、送光部と受光
部を内部に持つ電波レーダの例を示す説明図である。FIG. 5 is an explanatory diagram showing an example of a radio wave radar having a light transmitting unit and a light receiving unit inside in another embodiment of the present invention.
【図６】図５の実施形態において、水平と垂直方向に軸
調整できる電波レーダの筐体の構造例を示す斜視図であ
る。FIG. 6 is a perspective view showing a structural example of a housing of a radio wave radar capable of adjusting axes in horizontal and vertical directions in the embodiment of FIG. 5;
【図７】本発明の他の実施形態において、光での距離計
測手段を内部に持つ電波レーダの例を示す説明図であ
る。FIG. 7 is an explanatory diagram showing an example of a radio wave radar having a distance measuring unit using light in another embodiment of the present invention.
【図８】図７の走行制御装置が近接警報発生モードで動
作している場合の、判断部での処理例を示すフローチャ
ートである。FIG. 8 is a flowchart illustrating a processing example of a determination unit when the travel control device of FIG. 7 operates in the proximity alarm generation mode.
【図９】図７の走行制御装置が先行車追従走行制御モー
ドで動作している場合の、判断部での処理例を示すフロ
ーチャートである。FIG. 9 is a flowchart illustrating an example of processing performed by a determination unit when the travel control device of FIG. 7 is operating in a preceding vehicle following travel control mode.
１…電波レーダ、２…送信アンテナ、３…受信アンテ
ナ、４…送信部、５…受信部、６…電波レーダ信号処理
部、７…筐体、８…送光部、９…送光用窓、１０…受光
用窓、１１…受光部、１２…送光信号制御部、１３…受
光信号計測部、１４…距離計測部、２０…車両、２１…
受光センサ、２２…レンズ移動機構、２３…反射装置、
３０…支持台、３１…ギア、３２…ギア、４０…判断
部、４１…先行車追従制御部、４２…車両駆動系、４３
…表示部、７０…筐体本体。REFERENCE SIGNS LIST 1 radio wave radar, 2 transmission antenna, 3 reception antenna, 4 transmission unit, 5 reception unit, 6 radio wave radar signal processing unit, 7 housing, 8 light transmission unit, 9 light transmission window Reference numeral 10: light receiving window, 11: light receiving unit, 12: light transmitting signal control unit, 13: light receiving signal measuring unit, 14: distance measuring unit, 20: vehicle, 21 ...
Light receiving sensor, 22: lens moving mechanism, 23: reflecting device,
Reference numeral 30: support base, 31: gear, 32: gear, 40: determination unit, 41: preceding vehicle following control unit, 42: vehicle drive system, 43
... Display unit, 70.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 遠藤 芳則 茨城県日立市大みか町七丁目１番１号 株式会社日立製作所 日立研究所内 (72)発明者 藤原 敏雄 茨城県日立市大みか町七丁目１番１号 株式会社日立製作所 日立研究所内 (56)参考文献 特開 平８−5733（ＪＰ，Ａ) 特開 平７−225271（ＪＰ，Ａ) 特開 昭62−162914（ＪＰ，Ａ) 特開 平７−151848（ＪＰ，Ａ) 特開 平２−156184（ＪＰ，Ａ) 特開 昭62−103590（ＪＰ，Ａ) 特開 平７−280925（ＪＰ，Ａ) 特開 平８−29535（ＪＰ，Ａ) 特開 平７−98377（ＪＰ，Ａ) 特開 平７−218618（ＪＰ，Ａ) 特開 平10−104355（ＪＰ，Ａ) 特開 平７−65294（ＪＰ，Ａ) 実開 昭63−174078（ＪＰ，Ｕ) 実開 平５−59922（ＪＰ，Ｕ) 実開 昭59−144483（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) G01S 7/00 - 7/42 G01S 13/00 - 13/95 B60R 21/00 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoshinori Endo 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Within Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Toshio Fujiwara 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 Hitachi, Ltd. Hitachi Research Laboratory (56) References JP-A-8-5733 (JP, A) JP-A-7-225271 (JP, A) JP-A-62-162914 (JP, A) JP JP-A-2-151848 (JP, A) JP-A-2-156184 (JP, A) JP-A-62-103590 (JP, A) JP-A-7-280925 (JP, A) JP-A 8-29535 (JP, A) A) JP-A-7-98377 (JP, A) JP-A-7-218618 (JP, A) JP-A-10-104355 (JP, A) JP-A-7-65294 (JP, A) -174078 (JP, U) Actual opening Hei 5-59922 (JP, U) Open Akira 59-144483 (JP, U) (58 ) investigated the field (Int.Cl. 7, DB name) G01S 7/00 - 7/42 G01S 13/00 - 13/95 B60R 21/00
Claims (14)
距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、 前記電波レーダの軸調整のために前記電波送信方向に光
を送光する送光部と、前記電波レーダおよび前記送光部を一体的に保持すると
共に、両者を車両に、前記軸調整可能に保持する保持部
と、 を備えることを特徴とする車間距離計測装置。 An inter-vehicle detecting a distance between an own vehicle and a preceding vehicle.
In the distance measurement device, a radio wave radar that emits a radio wave in front of the own vehicle to detect an inter-vehicle distance between the own vehicle and a preceding vehicle, and a transmission that transmits light in the radio wave transmission direction for adjusting the axis of the radio wave radar. When the optical unit, the radio wave radar and the light transmitting unit are integrally held,
A holding portion for holding both the vehicle and the shaft so as to be adjustable.
And an inter-vehicle distance measuring device.
距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、前記電波レーダの電波送信方向
に光を送光する送光部とを備え、 前記送光部は、 光をビーム状に送光する手段と、 前記光ビームの広がり角を調整する広がり角調整手段
と、を備えることを特徴とする車間距離計測装置 。2. An inter-vehicle distance for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle.
In the distance measurement device, a radio wave is emitted in front of the own vehicle to determine the inter-vehicle distance between the own vehicle and the preceding vehicle.
The radio radar to be detected and the radio wave transmission direction of the radio radar
A light transmitting unit that transmits light to the light beam , the light transmitting unit transmits light in a beam shape, and a spread angle adjusting unit that adjusts a spread angle of the light beam.
And an inter-vehicle distance measuring device .
距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、前記電波レーダの電波送信方向
に光を送光する送光部と、 前記電波レーダ、および、前記送光部を車両に装着する
ための保持部と、 前記電波レーダの電波送信方向が当該車両の進行方向と
略一致するように、前記一体的に保持された前記電波レ
ーダおよび前記送光部の当該車両に対する装着方向を調
整可能とする姿勢調整部と、を備え前記送光部は、 光をビーム状に送光する手段と、 前記光ビームの広がり角を調整する広がり角調整手段
と、を備えることを特徴とする車間距離計測装置。 3. An inter-vehicle distance for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle.
In the distance measurement device, a radio wave is emitted in front of the own vehicle to determine the inter-vehicle distance between the own vehicle and the preceding vehicle.
The radio radar to be detected and the radio wave transmission direction of the radio radar
A light transmitting unit that transmits light to the vehicle, the radio wave radar, and the light transmitting unit mounted on a vehicle.
Holding unit for transmitting, the radio wave transmission direction of the radio wave radar and the traveling direction of the vehicle
The radio wave laser held integrally so that they substantially coincide with each other.
And the mounting direction of the transmitter and the light transmitter to the vehicle.
A light- sending unit for transmitting light in a beam form; and a divergence angle adjusting unit for adjusting a divergence angle of the light beam.
And an inter-vehicle distance measuring device.
ダおよび前記送光部の、電波信号および光ビームの照射
口を覆うレドームをさらに備え、 前記レドームの、前記送光部の照射口に対向する部分を
少なくとも含む領域が、前記送光部からの光を透過する
部材で構成されていることを特徴とする請求項１に記載
の車間距離計測装置。 4. The radio wave ray held in the integrated manner.
Irradiation of a radio signal and a light beam of the light transmitting unit and the light transmitting unit.
Further comprising a radome that covers the mouth, and a portion of the radome facing the irradiation port of the light transmitting unit.
At least a region that transmits light from the light transmitting unit
2. The structure according to claim 1, wherein the structure is made of a member.
Inter-vehicle distance measuring device.
反射され、戻ってくる光を受光する受光部と、 前記受光部で受光した光強度に基づいて、前記電波レー
ダの検出能力の低下または故障の可能性の有無を判断す
る自己診断部と、 前記自己診断部の判断結果を運転者へ告知する告知部
と、 をさらに備えることを特徴とする請求項４に記載の車間
距離計測装置。 5. The light transmitted from the light transmitting section is transmitted to a vehicle ahead.
A light receiving unit for receiving the reflected and returning light; and a radio wave receiver based on the light intensity received by the light receiving unit.
Judge whether the detection capability of the
Self-diagnosis unit, and a notification unit that notifies the driver of a result of the determination by the self-diagnosis unit.
Vehicle according to claim 4, characterized in that it comprises the, further
Distance measuring device.
反射され、戻ってくる光を受光する受光部をさらに備え
ることを特徴とする請求項１に記載の車間距離計測装
置。 6. The light transmitted from the light transmitting unit is transmitted to a vehicle ahead.
It further includes a light receiving unit that receives the reflected and returning light.
The inter-vehicle distance measuring device according to claim 1, wherein
Place.
車間距離計測装置で計測された車間距離値を利用して先
行車追従走行制御を行う走行制御手段および先行車へ近
づきすぎた場合に警報を発生する近接警報発生手段の少
なくとも一方とを備える装置であって、 前記送光部から送出する光の送光タイミングを制御する
送光タイミング制御部と、 前記送光タイミングと前記受光部で受光した光の受光タ
イミングとの時間差から、該受光した光を反射した前方
の物体までの距離を計測する光距離計測部と、 前記車間距離計測装置の電波レーダで計測された距離値
と前記光距離計測部で計測された距離値とを比較し、該
比較結果に応じて、前記走行制御手段および前記近接警
報発生手段のうち当該装置に備えられている手段の動作
を制御する判断 部とを備えることを特徴とする車間距離
計測装置を備える装置。 7. An inter-vehicle distance measuring apparatus according to claim 6,
Using the inter-vehicle distance value measured by the inter-vehicle distance measurement device,
The traveling control means for performing traveling control following the vehicle
If there is too little proximity alarm generating means to generate an alarm when
At least one of the devices, wherein the device controls light transmission timing of light transmitted from the light transmitting unit.
A light transmission timing control unit, a light reception timing of the light transmission timing and light received by the light reception unit.
From the time difference from the image, the reflected light
An optical distance measuring unit for measuring the distance to an object, and a distance value measured by a radio radar of the inter-vehicle distance measuring device.
And the distance value measured by the optical distance measurement unit,
According to the comparison result, the travel control means and the proximity alarm
Operation of the means provided in the device among the report generation means
And a determining unit for controlling the vehicle distance.
A device equipped with a measuring device.
た距離値と前記光距離計測部で計測された距離値とが実
質的に異なる場合、前記走行制御手段および前記近接警
報発生手段のうち当該装置に備えられている手段が、短
い方の距離値を用いて動作するように制御することを特
徴とする請求項７に記載の車間距離計測装置を備える装
置。 8. The system according to claim 1, wherein the determination unit measures the radio wave radar.
The distance value measured by the optical distance measurement unit
If qualitatively different, the travel control means and the proximity
Of the information generation means provided in the device
Control to operate using the distance value
A device comprising the inter-vehicle distance measuring device according to claim 7.
Place .
距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、 前記電波レーダの電波送信方向に光を送光して、該送光
した光の前方の物体からの反射光から、前記物体までの
距離を計測する光距離計測部と、を備え、かつ、 前記電波レーダで計測された車間距離値と前記光距離計
測部で計測された車間距離値とが、実質的に異なる状態
が予め定めた時間以上継続しているかを判定する判定手
段と、 前記判定手段により前記状態が予め定めた時間以上継続
していると判定された場合には、当該装置の故障と判断
してその旨を運転者に告知する告知手段と、を備えるこ
とを特徴とする車間距離計測装置。 9. An inter-vehicle distance for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle.
In the distance measurement device, a radio wave is emitted in front of the own vehicle to determine the inter-vehicle distance between the own vehicle and the preceding vehicle.
A radio wave radar to be detected, and light transmitted in a radio wave transmission direction of the radio wave radar.
From the reflected light from the object in front of the
An optical distance measuring unit for measuring a distance, and an inter-vehicle distance value measured by the radio radar and the optical distance meter
The inter-vehicle distance value measured by the measuring unit is substantially different
To judge whether has continued for more than a predetermined time
And the state is maintained by the determination means for a predetermined time or more.
If it is determined that the device has
Notification means for notifying the driver to that effect.
And an inter-vehicle distance measuring device.
間距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、 前記電波レーダの電波送信方向に光を送光して、該送光
した光の前方の物体からの反射光から前記物体までの距
離を計測する光距離計測部と、を備え、かつ、 前記計測された車間距離値と、先行車へ近づきすぎた場
合に警報を発生するた めに予め定められたしきい値と
を、比較して、該比較結果に応じて警報を発生する近接
警報発生手段と、 前記電波レーダでは車間距離が計測され、かつ、前記光
距離計測部では車間距離が計測されない場合、その時点
で設定されている前記近接警報発生判定の基準となるし
きい値よりも大きい値を新たなしきい値として再設定す
る手段と、をさらに備えることを特徴とする車間距離計
測装置。 10. A vehicle for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle.
The inter -vehicle distance measurement device emits radio waves in front of the own vehicle to measure the inter-vehicle distance between the own vehicle and the preceding vehicle.
A radio wave radar to be detected, and light transmitted in a radio wave transmission direction of the radio wave radar.
From the reflected light from the object in front of the reflected light to the object
An optical distance measuring unit for measuring the separation, and the measured inter-vehicle distance value and a value when the vehicle is too close to the preceding vehicle.
A predetermined threshold in order to generate an alarm if
Are compared and a warning is issued in accordance with the comparison result.
The alarm generating means and the radio wave radar measure the distance between vehicles, and
If the distance measurement unit does not measure the following distance,
The reference of the proximity alarm occurrence judgment set in
Reset the value larger than the threshold as a new threshold
Means, further comprising:
Measuring device.
間距離計測装置において、 自車の前方に電波を発して自車と先行車との車間距離を
検出する電波レーダと、 前記電波レーダの電波送信方向に光を送光して、該送光
した光の前方の物体からの反射光から、前記物体までの
距離を計測する光距離計測部と、を備え、かつ、 前記計測された車間距離値と、予め定めた追従対象とな
る先行車との間の維持すべき車間距離と、を利用して先
行車追従走行制御を行う走行制御手段と、を備え、 前記電波レーダでは車間距離が計測され、かつ、前記光
距離計測部では車間距離が計測されない場合、 前記走行制御手段に対して、前記予め定めた方法により
設定した車間距離よりも大きい車間距離を、前記先行車
との間で維持されるように、前記走行制御手段を制御す
る手段と、をさらにを備えることを特徴とする車間距離
計測装置 。11. A vehicle for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle.
The inter -vehicle distance measurement device emits radio waves in front of the own vehicle to measure the inter-vehicle distance between the own vehicle and the preceding vehicle.
A radio wave radar to be detected, and light transmitted in a radio wave transmission direction of the radio wave radar.
From the reflected light from the object in front of the
An optical distance measuring unit for measuring a distance, and the measured inter-vehicle distance value and a predetermined following target
And the distance between vehicles to be maintained
Traveling control means for performing traveling control following the traveling vehicle, wherein the radio wave radar measures an inter-vehicle distance, and
When the inter-vehicle distance is not measured by the distance measurement unit, the travel control means is given by the predetermined method.
The distance between vehicles that is larger than the set distance between vehicles
Control the travel control means so as to be maintained between
Means, further comprising:
Measuring device .
装置を搭載したことを特徴とする車両。 12. The method according to claim 1, wherein
A vehicle equipped with a device.
を備える車間距離計測装置の前記電波レーダの照射方向
調整方法において、 前記車両の前方の予め定めた位置に受光センサを配置
し、 前記電波レーダの電波照射方向へ光ビームを照射し、 前記照射された光ビームを前記受光センサにより受光
し、 前記受光センサで受光した光の検出強度に基づいて、前
記電波レーダの電波照射方向が前記車両の中心線と一致
するように、前記電波レーダの照射方向を調整すること
を特徴とする電波レーダを備える車間距離計測装置の前
記電波レーダの照射方向調整方法。 13. A radio wave radar mounted on a vehicle.
Direction of the radio wave radar of the inter-vehicle distance measuring device equipped with
In the adjusting method, a light receiving sensor is arranged at a predetermined position in front of the vehicle.
And, a light beam is irradiated to the radio wave radiation direction of the radio wave radar, receiving the emitted light beams by the light receiving sensor
And, based on the detected intensity of the light received by the light receiving sensor, before
The direction of radio wave irradiation of the radio radar coincides with the center line of the vehicle
Adjusting the irradiation direction of the radio wave radar so that
In front of an inter-vehicle distance measuring device equipped with a radio radar characterized by
How to adjust the irradiation direction of the radio radar.
を備える車間距離計測装置の前記電波レーダの照射方向
調整方法において、 前記車両の前方の予め定めた位置に光の反射部材を配置
し、 前記電波レーダの電波照射方向へ光ビームを照射し、 前記照射された光ビームが前記反射部材により反射さ
れ、戻ってきた光を受光センサにより受光し、 前記受光センサで受光した光の検出強度に基づいて、前
記電波レーダの電波照射方向が前記車両の中心線と一致
するように、前記電波レーダの照射方向を調整すること
を特徴とする車間距離計測装置が車両に搭載されている
状態での前記電波レーダの照射方向調整方法。 14. A radio wave radar mounted on a vehicle.
Direction of the radio wave radar of the inter-vehicle distance measuring device equipped with
In the adjusting method, a light reflecting member is disposed at a predetermined position in front of the vehicle.
Is reflected by, and the light beam is irradiated to the radio wave radiation direction of the radio wave radar, the irradiated light beam is a reflecting member
The returned light is received by the light receiving sensor, and the light received by the light receiving sensor is detected based on the detection intensity of the light received by the light receiving sensor.
The direction of radio wave irradiation of the radio radar coincides with the center line of the vehicle
Adjusting the irradiation direction of the radio wave radar so that
A vehicle-to-vehicle distance measuring device characterized by the following features:
The method for adjusting the irradiation direction of the radio wave radar in the state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14546298A JP3328582B2 (en) | 1998-05-27 | 1998-05-27 | Inter-vehicle distance measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14546298A JP3328582B2 (en) | 1998-05-27 | 1998-05-27 | Inter-vehicle distance measurement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11337633A JPH11337633A (en) | 1999-12-10 |
| JP3328582B2 true JP3328582B2 (en) | 2002-09-24 |
Family
ID=15385805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14546298A Expired - Lifetime JP3328582B2 (en) | 1998-05-27 | 1998-05-27 | Inter-vehicle distance measurement device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3328582B2 (en) |
Families Citing this family (12)
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| JP2001349937A (en) * | 2000-06-09 | 2001-12-21 | Nec Corp | On-vehicle radar device |
| JP2002162470A (en) * | 2000-11-28 | 2002-06-07 | Nhk Spring Co Ltd | Object detection device and method for setting reference axis thereof |
| JP2002243838A (en) * | 2001-02-09 | 2002-08-28 | Fujitsu Ten Ltd | Method and device for adjusting radar attaching direction |
| JP4550536B2 (en) * | 2004-09-30 | 2010-09-22 | パナソニック株式会社 | Radar equipment |
| US9557415B2 (en) * | 2014-01-20 | 2017-01-31 | Northrop Grumman Systems Corporation | Enhanced imaging system |
| KR101587803B1 (en) * | 2014-10-21 | 2016-01-25 | 주식회사 만도 | Apparatus and Methods for diagnosing defect of sensors |
| US9921307B2 (en) * | 2015-01-30 | 2018-03-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Combined RADAR sensor and LIDAR sensor processing |
| US9880263B2 (en) * | 2015-04-06 | 2018-01-30 | Waymo Llc | Long range steerable LIDAR system |
| JP2018048896A (en) * | 2016-09-21 | 2018-03-29 | パイオニア株式会社 | Measuring device, controller, and computer program |
| JP6816575B2 (en) * | 2017-03-13 | 2021-01-20 | コニカミノルタ株式会社 | Body movement detection device and watching system |
| JP7108692B2 (en) * | 2018-06-20 | 2022-07-28 | パイオニア株式会社 | Range finder and detector |
| WO2022190476A1 (en) * | 2021-03-08 | 2022-09-15 | 住友電気工業株式会社 | Radio wave sensor, and method for adjusting radio wave sensor |
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|---|---|---|---|---|
| JPS59144483U (en) * | 1983-03-10 | 1984-09-27 | 三菱電機株式会社 | target tracking device |
| JPS62103590A (en) * | 1985-10-31 | 1987-05-14 | Mitsubishi Electric Corp | Transmitter/receiver |
| JPS62162914A (en) * | 1986-01-13 | 1987-07-18 | Mitsubishi Electric Corp | Method for mounting matching telescope |
| JPS63174078U (en) * | 1987-02-04 | 1988-11-11 | ||
| JPH02156184A (en) * | 1988-12-07 | 1990-06-15 | Tech Res & Dev Inst Of Japan Def Agency | Transmitting and receiving apparatus |
| IL100175A (en) * | 1991-11-27 | 1994-11-11 | State Of Isreal Ministry Of De | Collision warning apparatus for a vehicle |
| JPH0559922U (en) * | 1992-01-14 | 1993-08-06 | 三菱電機株式会社 | Antenna mounting adjustment mechanism |
| JP3153839B2 (en) * | 1993-08-23 | 2001-04-09 | 三菱電機株式会社 | Preventive safety devices for vehicles |
| JP2993335B2 (en) * | 1993-11-29 | 1999-12-20 | 三菱電機株式会社 | Matching telescope |
| JPH07218618A (en) * | 1994-01-28 | 1995-08-18 | Nikon Corp | Optical axis adjuster for laser radar |
| JPH07225271A (en) * | 1994-02-09 | 1995-08-22 | Mitsubishi Electric Corp | Optical axis alignment device of laser radar, and laser radar apparatus |
| JP3146838B2 (en) * | 1994-04-13 | 2001-03-19 | 日産自動車株式会社 | Distance sensor head |
| JPH085733A (en) * | 1994-06-22 | 1996-01-12 | Hitachi Ltd | Radar equipment |
| JP3145871B2 (en) * | 1994-07-12 | 2001-03-12 | 日産ディーゼル工業株式会社 | Laser radar equipment for vehicles |
| JPH10104355A (en) * | 1996-09-30 | 1998-04-24 | Omron Corp | Range finder |
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- 1998-05-27 JP JP14546298A patent/JP3328582B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH11337633A (en) | 1999-12-10 |
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