JPH03164345A - Obstacle detecting device - Google Patents

Abstract

PURPOSE:To clearly detect an obstacle in the preset region in the straight advance direction of a vehicle by providing a means judging that the obstacle exists only when the obstacle is detected by two or more of four laser ray projection and ultrasonic transmitting means provided in the straight advance direction of the vehicle. CONSTITUTION:Laser ray oscillation signals outputted from light projecting/ receiving circuits 3a and 3b respectively are converted into laser rays and illuminated by light emitting elements 6a and 6b, the reflected light is received by circuits 3a and 3b via light receiving elements 7a and 7b respectively, and an obstacle in front of a vehicle 5 is detected. When ultrasonic signals are outputted from transmitting/receiving circuits 4a and 4b, ultrasonic signals are converted into ultrasonic waves by transmission sensors 9a and 9b respectively and transmitted, the reflected waves are received by circuits 4a and 4b via receiving sensors 10a and 10b respectively, and the obstacle in front of the vehicle 5 is detected. A controller 2 judges that the obstacle exists only when the obstacle is detected by two or more of transmitting sensors 9a and 9b and light emitting elements 6a and 6b.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to improvement of an obstacle detection device, and more specifically, to an obstacle detection device that can clearly detect obstacles within a predetermined area in front (or behind) of a vehicle. Regarding the detection device. [Prior Art] Generally, an obstacle detection device that detects an obstacle using ultrasonic waves includes a transmitting sensor and a receiving sensor. The obstacle detection device is provided, for example, at the front end of the vehicle. This obstacle detection device detects obstacles in front of the vehicle by transmitting ultrasonic waves from the transmitting sensor and receiving the reflected waves by the receiving sensor. Figure 4 shows ultrasonic waves (e.g. 20
The figure shows an obstacle detection area A of an example of one pair of obstacle detection devices 5l that transmit signals (up to 40kHz) to detect obstacles. This ultrasonic wave generally has a wide beam angle and also generates side ropes B as shown in this figure, so it can only detect the distance to the obstacle within the obstacle detection area A, and the position of the obstacle can be clearly determined. cannot be specified. In addition, an obstacle detection device that detects an obstacle using a laser beam emits a laser beam from a light emitting element, and detects the obstacle by receiving the reflected light by a light receiving element. In this obstacle detection device, the position of the obstacle can be clearly identified due to the straightness of the laser beam, but the detection area of the obstacle is linear and narrow. FIG. 5 shows an example in which the obstacle detection device 52 is installed in the front 6s section of the vehicle, and the direction of laser beam projection is made variable by a motor or the like, so that the obstacle detection area has a planar shape as shown in the shaded area C. It is. [Problems to be Solved by the Invention] In the obstacle detection device 52, the obstacle detection area is wide as described above, but due to the straightness of the laser beam, for example, D. Obstacles in area E cannot be detected. Furthermore, since the direction of laser beam projection is variable, control becomes complicated and costs increase. It is also possible to arrange a large number of light emitting elements at the front end of the vehicle without making the projection direction of the laser beam variable, but this would be expensive and impractical. In addition, in the obstacle detection device 51, as described above, due to the occurrence of side lobes B etc., the obstacle detection area A
For example, the obstacle 53 that is outside the width of the vehicle traveling straight can be detected, and the position of the obstacle 53 cannot be clearly identified. It is not possible to accurately determine whether The same applies when the obstacle detection device is installed at the rear end of the vehicle to detect obstacles behind the vehicle as it retreats. Therefore, an object of the present invention is to provide an obstacle detection device that can clearly detect obstacles within a predetermined area in the direction in which a vehicle is traveling straight. [Means for Solving the Problems] In order to achieve the above object, the present invention provides a front (or rear)
An obstacle detection device that is installed at the end of the vehicle and detects obstacles in front (or behind) the vehicle by transmitting ultrasonic waves and receiving the reflected waves, or by emitting laser light and receiving the reflected light. , a pair of laser beam projecting means disposed at the right and left ends of the front (or rear) end of the vehicle, respectively, and provided substantially in the direction in which the vehicle travels straight; and the right and left ends of the front (or rear) end of the vehicle. A pair of ultrasonic wave transmitting means each disposed inside the vehicle and substantially in the direction in which the vehicle travels straight ahead, and two or more of the four means of the above-mentioned laser beam projecting means and ultrasonic wave transmitting means. The obstacle detection device is characterized by being equipped with obstacle discrimination means that determines that an obstacle exists only when the obstacle is detected. [Function] This obstacle detection device is protected as described above, so that the book being read is detected by two or more of the four (4) means of the laser beam projecting means and the ultrasonic transmitting means. For example, when a written document is detected by two ultrasonic transmitting means, the obstacle discriminating means determines that the same obstacle is present by the two ultrasonic transmitting means. It is possible to detect obstacles in the central part of the vehicle in the straight forward direction, which is the overlapping area of the detection range. Since the width of the overlapping area is narrow, the obstacle can be clearly detected. ) When an obstructing book is detected, The obstacle discrimination means detects the right (left) in the vehicle straight forward direction, which is the overlapping area of the obstacle detection ranges of these two means.
Obstacles at the edges can be detected. Since the overlapping portion is linear and narrow in width, obstacles at the right (left) end of the vehicle in the straight-ahead direction are clearly detected, and obstacles outside the width of the vehicle are not detected. [Examples] Hereinafter, examples embodying the present invention will be explained with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention. FIG. 1 is a block diagram showing an obstacle detection device according to an embodiment of the present invention, FIG. 2 is a schematic diagram showing the obstacle detection state of the E+m book detection device, and FIG. 3 is a block diagram showing the obstacle detection state of the E+m book detection device. It is a discrimination diagram showing an example of object detection processing. This obstacle detection device 1 shown in FIG. 1 is mainly composed of a control section 2 consisting of a micro combinatorial CPU, etc., and a laser beam is projected onto this control section 2 via respective light emitting elements and light receiving elements. Light emitting/receiving circuit 31.3 for receiving light
+, 4. A transmitting/receiving circuit that transmits and receives ultrasonic waves via each transmitting sensor and receiving sensor. , 4, are connected. FIG. 2 shows the obstacle detection device 1 mounted on the front end of the vehicle 5 in order to detect obstacles in front of the vehicle 5, for example. The above light emitting/receiving circuit 3m. 3b respectively connected to the light emitting elements 6m. 6k and light receiving element? ．． ，? ，? , are disposed at the right end and left end of the front end of the vehicle 5, respectively, and are oriented substantially in the straight direction of the vehicle. The above-mentioned pair of light emitting elements 6 and 6b are an example of a laser beam projecting means. When a laser beam oscillation signal is output from each of the light emitting and receiving circuits 3m and 34, the same laser beam oscillation signal is output from each of the light emitting elements sa. sb is converted into a laser beam and projected, and the reflected light is transmitted to each of the above-mentioned light receiving elements 7m.sb. 7b
The same light emitting/receiving circuit 3■. 3, the light was received by vehicle 5.
Obstacles ahead are detected. The straight line 81 8 shown in this figure is the light emitting/receiving circuit 3m.
, 3b are shown. Since this obstacle detection device 1 detects obstacles using a laser beam that travels straight, the obstacle detection area 8.8b in front of the vehicle 5 is linear as described above, and the position of the obstacle can be clearly identified. can do. ? However, the obstacle detection areas 8m, 81. does not spread out in a planar manner, so an obstacle in the center of the vehicle 5 in the straight direction cannot be detected. Therefore, in this obstacle detection device 1, as will be described later, the transmitting/receiving circuit 4. 4& detects obstacles by emitting ultrasonic signals (for example, 20 to 40 kHz). As shown in FIG. 1, in this obstacle detection device 1, the transmitting/receiving circuit 4M. 41, transmitting sensors 9m and 9b, respectively
and receiving sensors 1 0m and 1 0b are connected. The transmitting sensors 9m, 9h and the receiving sensor lO. ,j
As shown in FIG. 2, the ob is disposed inside the right and left front ends of the vehicle 5, respectively, and is oriented substantially in the straight direction of the vehicle. When an ultrasonic signal is output from the transmitting/receiving circuit 41 4b, the ultrasonic signal is converted into an ultrasonic wave and transmitted by the transmitting sensor 9m=9b, and the reflected wave is transmitted to each receiving sensor tOa10.
The same transmission/reception circuit WIr4m. Received on 4b? An obstacle in front of the vehicle 5 is detected. The pair of transmitting sensors 91 and 9b that transmit the ultrasonic waves is an example of ultrasonic transmitting means. The wide area shown in FIG. 2 is 11 m. 11h indicates the obstacle detection area of each of the transmitting/receiving circuits 4m and 4b. Obstacles in the obstacle detection areas 11a and 11b are detected by the ultrasonic waves, but the obstacles in the obstacle detection areas 11a and llb are detected by the ultrasonic waves.
Since 1lb is wide, it is not possible to clearly identify the location of the same obstacle, so the obstacle detection device 1 performs the following processing to clarify the location. That is, in this Heron book detection device 1, the transmission sensor 9.
. For example, one obstacle l2 shown in FIG. 2 is the transmitting sensor 9.
and 9b, it is determined that the same obstacle 12 is present, as shown in Not in FIG. Similarly, the obstacle 13 shown in the figure is the transmitting sensor 91, 9b.
and the light emitting element 6, so that N in FIG.
As shown in O2, it is determined that the same obstacle exists. Further, an obstacle 14 outside the straight-ahead direction of the vehicle 5 is detected by the transmitting sensor 9b but not by the light emitting element 6I.
It is determined that there is no Therefore, this obstacle detection device 1 can clearly detect obstacles within a predetermined area in front of the vehicle 5 (hatched line area 15 and broken line area 16, 17 in FIG. 2). That is, the areas 11a . . . detected by the pair of transmission sensors 9i, 9b. The area l5 of the overlapping portion of l1h is the area l5 of the vehicle 5.
This is the obstacle detection area in the center of the front. In addition, the transmitting sensor 9. (or 9s,) and the area 111 (or 1lb) detected by the light emitting element 6. (or 6
The area 16 (or 17) that overlaps with the area 81 (or 8h) detected by %, ) is the obstacle detection area at the right (or left) end of the straight-ahead direction of the vehicle 5. The four transmitting sensors 9M. 9t,, light emitting element ea
．． An example of an obstacle discrimination means is a means for realizing a function of determining that an obstacle exists only when an obstacle is detected by two or more transmitting sensors or light emitting elements of the sb. In the above embodiment, a case has been described in which an obstacle in front of the vehicle is detected, but if this obstacle detection device 1 is similarly mounted on the rear end of the vehicle, obstacles in the rear of the vehicle can be clearly detected. (Effects of the Invention) According to the present invention, the device is provided at the front end of the vehicle, and detects obstacles in front of the vehicle by transmitting ultrasonic waves and receiving the reflected waves, or by emitting laser light and receiving the reflected light. In the obstacle detection device, a pair of laser beam projecting means are provided at the right and left ends of the front end of the vehicle, respectively, and are provided substantially in the direction in which the vehicle travels straight; The obstacle is detected by two or more of the four means: a pair of ultrasonic transmitting means, each arranged substantially in the direction in which the vehicle travels straight ahead, and the laser beam projecting means and the ultrasonic transmitting means. An obstacle detecting device is provided, comprising: an obstacle determining means that determines that the obstacle exists only when the obstacle is present. Therefore, obstacles within a predetermined area in the direction in which the vehicle is traveling straight can be clearly detected.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an obstacle detection device according to an embodiment of the present invention, FIG. 2 is a schematic diagram showing an obstacle detection state of the same obstacle detection device, and FIG. 3 is a schematic diagram showing the obstacle detection state of the same obstacle detection device. A discrimination diagram showing an example of obstacle detection processing, Fig. 4 is a schematic diagram showing an obstacle detection area of an example of an obstacle detection device that detects obstacles by transmitting ultrasonic waves, and Fig. 51m is a diagram showing an obstacle detection area using a laser beam. FIG. 2 is a schematic diagram showing an obstacle detection area of an example of an obstacle detection device that detects obstacles. [Explanation of symbols] 1...Obstacle detection device 2...Control unit 3m. 3s+... Light emitter/receiver circuit 4m. 4b... Transmission/reception circuit 6,, 6,... Light emitting element (laser light projecting means) 7,,
7. Light receiving element 91.9 &... Transmitting sensor (ultrasonic wave transmitting means) 10 m
',10&,...receiving sensor

Claims (1)

[Claims] 1. It is installed at the front (or rear) end of the vehicle, and transmits ultrasonic waves and receives the reflected waves, or emits laser light and receives the reflected light, and transmits ultrasonic waves and receives the reflected waves. In the obstacle detection device for detecting obstacles on the front (or rear) side of the vehicle, a pair of laser beam projecting means are respectively disposed at the right and left ends of the front (or rear) end of the vehicle and are provided substantially in the direction in which the vehicle travels straight ahead. and a pair of ultrasonic wave transmitting means disposed inside the right and left ends of the front (or rear) end of the vehicle, respectively, and provided substantially in the direction in which the vehicle travels straight ahead, and the laser beam projecting means and the ultrasonic wave transmitting means. An obstacle detecting device comprising: an obstacle determining means that determines that an obstacle exists only when the obstacle is detected by two or more of the four means of the transmitting means.