JPH03246413A - Vehicle distance detector - Google Patents

Abstract

PURPOSE:To properly control the quantity of reception of light of each photodetector by finding the sum of the absolute values of spatial differential values of brightness of the respective picture elements obtained by dividing an image by the photodetectors and adjusting a light-receiving time to such length that the sum is maximum. CONSTITUTION:Charges accumulated in the respective photodetectors in respective arrays 42 of 1st and 2nd CCD line sensors 30 and 32 are transferred to a shift register 68 through a switching element array 64 every time a transfer pulse falls. Charges corresponding to the quantity of light which is incident for a light receiving time TR are accumulated in each element 40. The time TR is varied between an upper and a lower limit value and adjusted to the length with which an image is picked up excellently. Namely, a computer 70 finds the sum of voltages outputted by the respective elements 40 of the sensor 30 as the total brightness, which is compared with a predetermined proper range. When the total brightness is lower (higher) than the lower (upper) limit value of the proper range, a positive (negative) correcting quantity DELTATR is added to the current time TR to calculate the next time TR.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a distance detection device for a vehicle that is installed in a vehicle and detects the distance between the vehicle and an object. The present invention relates to a technique for capturing an image of a target object well regardless of the object.

The following is already known as one of the conventional vehicle distance detection devices. As described in Japanese Utility Model Application Publication No. 19709/1983, (a) each light-receiving element generates and accumulates electric charge according to the intensity of incident light; (b) pixel signal generating means that generates a pixel signal corresponding to the amount of charge accumulated in each of the plurality of light receiving elements during the light receiving time; , (C) distance determining means for determining the amount of deviation between the two images respectively captured by the two imaging means based on the pixel signals, and determining the distance according to the amount of deviation. ing.

Problems to be Solved by the Invention The brightness of an object is not always constant, but rather usually changes. Therefore, in some cases, light brighter than the light that can be detected may enter the photodetector, or
Dark light may be incident, and in this case, it is not possible to accurately image the object. Due to these circumstances,
In order to ensure that the light-receiving element always captures a good image regardless of the brightness or darkness of the image containing the object, it is important to appropriately control the amount of light received by each light-receiving element during the light-receiving time. It is.

As a method of controlling the amount of received light, for example, aperture control can be considered, in which each imaging means is provided with a variable aperture commonly used in cameras and the like, and the effective diameter of the variable aperture is controlled. However, since a variable diaphragm is usually constructed mainly of movable parts, when it is installed and used in a vehicle, there is a risk that normal operation may not be achieved due to vehicle body vibrations, etc.

Based on the above findings, the present invention can control the amount of received light,
The object of this invention is to provide a distance detection device for a vehicle that is suitable for use in a vehicle.

Means for Solving the Problems And, the gist of the present invention is to provide a distance detection device for a vehicle including the two image pickup means pixel signal generation device and distance determination means such that the light reception time can change the brightness within the image. This is because a light reception time adjustment means is provided to adjust the length to be as large as possible.

Note that the light reception time adjustment means, for example, divides the image into a plurality of pixels, one corresponding to each light receiving element, calculates the sum of the absolute values of the spatial differential values of the luminance at each pixel, and determines the light reception time so that the sum is the most It can be adjusted to a larger length. Furthermore, the one with the largest absolute value of the spatial differential value is selected from among the plurality of pixels as the reference pixel, and the light reception time is adjusted to the length where the absolute value of the spatial differential value of that reference pixel is the largest. You can also do that.

Functions and Effects of the Invention In the apparatus of the present invention configured as described above, the amount of light received by each light receiving element is controlled by adjusting the light receiving time by the light receiving time adjusting means. Since this light reception time adjustment means can be realized by adding a simple electronic circuit or changing a computer control program, it is no longer essential to use movable parts to control the amount of light reception. Therefore, according to the present invention, the received light amount control is less susceptible to the effects of vehicle body vibrations, etc., and stable light received amount control is realized, which results in the effect that distance detection accuracy is improved.

The amount of deviation between the two images respectively captured by the two imaging means can be determined as follows, for example.

For example, if each imaging means is equipped with a light-receiving element row in which a plurality of light-receiving elements are lined up in a row, the above two images are sequentially shifted by one light-receiving element and superimposed, and each time the shift is The mismatch degree representing the degree to which the two images do not match each other is calculated, and after the required number of times of smoothing is completed, the shift amount corresponding to, for example, the smallest one among the multiple mismatch degrees obtained for each shift amount is calculated. is taken as the amount of deviation between the two images. Therefore, by implementing the present invention, if the light reception time is adjusted to a length that makes the change in brightness within the image as large as possible, the change in the degree of mismatch between the images with respect to the unit shift amount of the two images is sufficient. As the size increases, it becomes possible to match the two images with high accuracy, and this also provides the effect of improving detection accuracy.

Embodiments Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

The inter-vehicle distance detecting device according to the embodiment of the present invention includes a main body section 10 shown in the second section and a signal processing section 12 shown in FIG. The main body part 10 is attached to the center of the front end of the own vehicle.

A reference plane is assumed to be in the main body part 10, and it is attached so that the reference plane is parallel to the horizontal plane of the own army.

The main body 10 includes a pair of mirrors 14 and 16 and a prism 1.
8, a pair of lenses 20.22, and a pair of apertures 24.2
6, a first CCD line sensor 30, and a second CCD line sensor 32 (hereinafter simply referred to as sensor 30.32).
are arranged along the reference plane and symmetrically with respect to a reference axis extending in the longitudinal direction of the own vehicle. The two surfaces of the prism 18 that sandwich its apex angle are reflective surfaces 3, respectively.
6°38, and the reflecting surfaces 36 and 38 are both arranged along the reference plane and symmetrically with respect to the reference axis. Also, mirrors 14.1 facing each other
The reflective surfaces 36 and 38 of the prism 18 are parallel to each other.

Each sensor 30, 32 is equipped with a light-receiving element row 42 in which n□ light-receiving elements 40 are arranged in a row, and these light-receiving element rows 42 are perpendicular to the reference axis and parallel to the left-right direction of the own vehicle. arranged along one plane. Each light receiving element 40 generates and accumulates a larger amount of charge as the light incident thereon is brighter. Multiple light receiving elements 40
An element number n from 1 to n WAX is assigned for each sensor 30 and 32, respectively.

In the main body section IO configured as described above, light directed toward the main body section 10 from the vehicle in front of the own vehicle is transmitted through the mirror 14.
．． Reflective surface 36 of prism 18. Lens 20 and aperture 2
4 and enters the sensor 30, and the mirror 1
6. Reflective surface 38 of prism 18. The light passes through the lens 22 and the aperture 26 in this order and enters the sensor 32 . Each sensor 30,
Reference numeral 32 captures an image of the vehicle in front in an imaging area corresponding to n□ light receiving elements 40 belonging to each sensor 30, 32, that is, an imaging area that forms a band shape and extends in the horizontal direction.

As is clear from the above explanation, the mirror 14 prism 1
8 reflective surface 36. Lens 20. Aperture 24 and sensor 3
0 of the light receiving element rows 42 constitute the first imaging means 50, and the mirrors 16.0 constitute the first imaging means 50. Reflective surface 38 of prism 18. Lens 22. The aperture 26 and the light-receiving element array 42 of the sensor 32 constitute the second imaging means 52.

As shown in FIG. 3, the sensor 30 further includes a switching element array 64 in which the same number of switching elements 62 as the number nMAX of the light receiving elements 40 is assembled, and a CCD shift register in which the same number of capacitors 66 as the number nMAX of the light receiving elements 40 is assembled. (hereinafter simply referred to as a register) 68.

When one transfer pulse is input to the switching element array 64, the plurality of switching elements 62 are turned off all at once.
By switching from the FF state to the ON state, the charges accumulated in the n and 4AX light receiving elements 40 are transferred all at once to the corresponding capacitors 66.

Further, when one shift pulse is input to the register 68, the charge accumulated in each capacitor 66 is transferred to the immediately adjacent capacitor 66 (the capacitor 66 directly below in the figure).
).

The input of the shift pulse is performed the same number of times as the number of light receiving elements 40 nNAX for each input of the transfer pulse.
The charges accumulated in the n MAX capacitors 66 are sequentially taken out to the outside from the most downstream (lowest in the figure) to the most upstream (uppermost in the figure). Although not shown, the sensor 32
Also includes a switching element array 64 and a register 68.

The signal processing section 12 is connected to a computer 7 as shown in the figure.
0. The computer 70 is a CPU (not shown)
, ROM, RAM, bus, input interface and output interface. As shown in the figure, the input interface is connected to the analog signal output terminal of the register 68 of each sensor 30, 32 via each A/D converter 72. On the other hand, the output interface is connected to a shift pulse input terminal of each register 68 via each shift pulse generator 74, a transfer pulse input terminal of each switching element array 64 via each transfer pulse generator 76, and a warning device 88 via a driver 86. It is connected. The warning device 88 is activated when the current distance between the own troops and the vehicle in front is insufficient in relation to the current speed of the own troops' vehicles, and notifies the driver of this fact.

The ROM of the computer 70 includes transfer pulse supply routines shown in flowcharts in FIGS. 4 to 7, respectively.
Various control programs are stored, including an image data capture routine, an inter-vehicle distance detection routine, and a light reception time correction routine. Further, as shown in FIG. 3, the RAM includes a first image memory for storing first image data representing a first image captured by the sensor 30, and
2, and a current light reception time memory and a next light reception time memory for respectively storing the current light reception time and the next light reception time, which will be described later. is provided.

Next, the operation will be explained. First, a schematic explanation will be given based on FIG. 8.

The charges accumulated in the n-1 light receiving elements 40 belonging to each light receiving element row 42 are transferred to the register 68 through the switching element row 64 all at once each time the transfer pulse is extinguished, that is, each time the transfer pulse falls. will be forwarded to.

Furthermore, the number of light receiving elements 40 n1. The same number of shift pulses as lAX are sent to the register 6 of each sensor 30, 32.
8 at predetermined time intervals, and accordingly, analog signals representing charges accumulated in each of the n W2N light receiving elements 40 are sequentially taken out from the register 68 one by one. The analog signal is converted into a digital signal by the A/D converter 72, and the digital signal is sent to the first . The first image memory is stored in the second image memory. It is stored as second pixel data. The shift pulse is transmitted to light receiving element 4.
If the same number of 0s are generated as the number n MAX, then the first.
The second image memory has n associated with the sensors 30 and 32, respectively.
MAX number 1. The second pixel data is stored, and the first . Each set of second pixel data is
, is the second image data.

Since the transfer pulse is generated every time the light receiving time TR elapses, each light receiving element 40 accumulates a charge corresponding to the amount of light incident thereon during the light receiving time T, l. The light reception times T and l can be changed between an upper limit and a lower limit, and are adjusted to a length that allows the image including the vehicle in front to be captured well regardless of the brightness or darkness of the image. ing.

A method for adjusting the light reception time T will be schematically explained.

First, the sum of the voltages output by each light receiving element 40 belonging to the sensor 30 is determined as the overall brightness of the first image. Thereafter, the overall brightness is compared with a predetermined appropriate range. The appropriate range is determined, for example, to be a range that includes the sum of the appropriate voltages output by each light receiving element 40 in a state where all the light receiving elements 40 belonging to the sensor 30 can best perform imaging, and is sufficiently close to the sum. If the current first image has overall brightness within the appropriate range, as shown in FIG. 9, for example, it is determined that the brightness of the first image is just right and the light reception time TR is not changed. As shown in FIG. 10, if the overall brightness is lower than the lower limit of the appropriate range, it is determined that the first image is too dark, and a positive correction amount ΔT is applied to the current light reception time T,l. The next light reception time TR is calculated by the addition, and if the overall brightness is higher than the upper limit of the appropriate range, for example, as shown in FIG. 11, it is determined that the first image is too bright. Then, the next light reception time TR is calculated by adding the negative correction amount ΔTR to the current light reception time T, l, that is, by subtracting Tll from the current light reception time TR to the positive correction amount. . Incidentally, on each side of FIGS. 9 to 11, the maximum voltage of the light receiving element 40 is 5■, and the appropriate voltage is 2.5■.

Note that the upper limit value of the light reception time TR is determined, for example, to a size that allows the light receiving element 40 to properly image the vehicle in front even when the image of the vehicle in front is formed only by the headlights of the own team at night; For example, the lower '1@ value is for each sensor 30, 32.
All the analog signals of the plurality of light receiving elements 40 belonging to A
The time required for conversion to a digital signal by the /D converter 72 is determined to be longer than the time required for conversion to a digital signal.

Hereinafter, the operation of this embodiment will be explained in detail based on FIGS. 4 to 7.

When the power of the computer 70 is turned on, first, the current light reception time memory stores the predetermined first light reception time, the next light reception time memory also stores the first light reception time, and the value of the elapsed time is set to 0. Initial settings are made. Note that the initial light reception time is, for example, a length that allows good imaging when it is assumed that the brightness of the image including the vehicle in front is a statistical average value. After that, Figures 4 to 7
Each routine in the figure is executed.

The transfer pulse supply routine shown in FIG. 4 is executed at regular intervals. Each time this routine is executed, first step 3 is executed.
1 (hereinafter simply referred to as Sl; the same applies to other steps), an increment Δt (equal to the execution cycle of this routine) is added to the current value of the elapsed time t, and in S2,
The current light reception time T, l is read from the current light reception time memory, and it is determined whether the current value of the elapsed time t is greater than or equal to the current light reception time TR. Otherwise, the result of the determination is NO, and one execution of this routine ends. Thereafter, as a result of repeating the execution of this routine many times, if the current value of the elapsed time t reaches the current light reception time TR, the determination result in S2 becomes YES, and in S3, each of the transfer pulse generators 76 Then, a transfer pulse supply signal is issued, each of which supplies a transfer pulse to the switching element array 64 of each sensor 30, 32. After that, in S4, the next light reception time T, is read from the next light reception time memory in the RAM, and is stored in the current light reception time memory as a new current light reception time T,l, and in S5, the value of the elapsed time t is set to 0. will be restored.

The image data import routine shown in FIG. 5 is also executed at regular intervals. First, it is determined in Sll whether or not the transfer pulse is extinguished, and if not, the result of the determination is No.
Thus, one execution of this routine is completed. On the other hand, if the transfer pulse is extinguished, the determination result in 311 becomes YES, and in S12, each sensor 3
The value of the element number n of the light receiving elements 40 belonging to 0 and 32 is set to 1. Thereafter, in S13, each shift pulse generator 74 sends a shift pulse to each sensor 30.
, 32 registers on the 6th day, and in S14, each A/D converter 72 receives an A/D conversion signal that converts the analog signal taken out from each register 68 into a digital signal. A signal is given.

Subsequently, in S15, the digital signals from each A/D converter 72 are converted to the first . The data is stored in the second image memory as 1.degree. second pixel data, and the value of the element number n is incremented by 1 in S16. Thereafter, in S17, it is determined whether the value of the element number n is larger than the number nMAX of light receiving elements 40. If not, the result of the determination is NO and the process returns to step 313, but if so, the result of the determination is YES and one execution of this routine ends.

The inter-vehicle distance detection routine shown in FIG. 6 is also executed at regular intervals. First, in S20, it is waited until the A/D conversion is no longer in progress, and if the A/D conversion is no longer in progress, the first . The first and second image data are read out from the second image memory, and then in S22, the first and second image data are read out from the second image memory. The amount of deviation between the two images captured by the sensors 30 and 32 is determined from the second image data. Then, in S23, the current inter-vehicle distance corresponding to the amount of deviation is determined according to the correspondence relationship between the amount of deviation (not shown) and the inter-vehicle distance, and in S24, the current inter-vehicle distance is determined from the safe inter-vehicle distance corresponding to the current vehicle speed of the host vehicle. It is determined whether the length is short or not. If so, the result of the determination is YES, and the driver is informed of this fact via the warning device 88 in S25; otherwise, the result of the determination is NO, and the warning device 88 is stopped in S26. This completes one execution of this routine.

The light reception time correction routine shown in FIG. 7 is executed every time, for example, one minute passes. The inter-vehicle distance detection routine shown in FIG. 6 is designed not to be executed frequently. When this routine is executed each time, first, in 5100, it is waited until A/D conversion is no longer in progress, and when A/D conversion is no longer in progress, the first image data is read from the first image memory in 5101, and then, At 5102, the sum of voltages represented by each pixel data belonging to the first image data is calculated as the overall brightness. continue,
At 5103, the overall brightness and the appropriate range are compared with each other. This time, assuming that the overall brightness is within the appropriate range, the light reception time is T.

One execution of this routine ends without any correction.

On the other hand, if the overall luminance is higher than the upper limit of the appropriate range, the sign of the correction amount ΔTR is set to negative in 5104, and then, in 5105, the luminance differential is calculated for each of the plurality of pixels constituting the first image. The value is calculated. The luminance differential value of each pixel is the difference in luminance between that pixel and one pixel adjacent to it. Thereafter, in 5106, the sum of the absolute values of these luminance differential values (hereinafter simply referred to as the sum of luminance differential values; the same applies in the figure) is calculated.

Subsequently, in 5107, the next light reception time TR is read from the next light reception time memory, and the next light reception time T,
A new next light reception time T is obtained by adding a positive or negative correction amount ΔTit to l.

is calculated, and the next light reception time T, l is stored in the next light reception time memory.

For example, the first
If the first image represented by the image data is as shown in FIG. 11, it is determined that the first image is too bright, so the next light reception time TR is set to the current light reception time as shown in FIG. The time T,l is made shorter by a positive correction amount ΔTR. Light reception time T.

The correction is applied once to the initial value of . Note that the effect of this correction is obtained by the computer 60 as shown in the figure.
does not appear in the first image represented by the first image data read out the second time, but appears in the first image represented by the first image data read out the third time.

Thereafter, in 5108, the next A/D conversion is awaited. Once completed, in 5IO9, a first image that is newer than the previous one is read from the first image memory, and the sum of luminance differential values is calculated for the first image, and in 5110, the sum of the luminance differential values is calculated. It is determined whether or not is less than or equal to the previous value. Otherwise, the result of the determination is No and the process returns to 3107.

For example, the first
If the first image represented by the image data is shown in FIG. 11, and the first image represented by the first image data read out the third time is shown in FIG. 12, The first-order differential image of the first image is shown in FIG. 13, and the first-order differential image of the first image is shown in FIG. 14. Comparing the pixels surrounded by circles in FIG. 13 and FIG. 14, it is found that the luminance differential value in the first image is larger than that in the first image. Assuming that the sum of luminance differential values is also the same,
The determination result in step 5110 is NO, and the light reception time Ta is further shortened by a positive correction amount ΔT.

If the light reception time T8 is repeatedly increased or decreased, the sum of the luminance differential values will hardly change between the previous time and the current time, or the current time will be smaller than the previous time. Light reception time Tll
In a state where is too short, as the light reception time TR is shortened, for example, the darkest part of the first image is no longer detected by the light receiving element 40, and the voltage of the light receiving element 40 is maintained at the minimum voltage (for example, OV). On the other hand, since the voltage of the light receiving element 40 in other parts decreases, the sum of the luminance differential values changes from increasing to maintaining or decreasing. In addition, in a state where the light receiving time T is too long, as the light receiving time T is increased, for example, the brightest part of the first image is no longer detected by the light receiving element 40, and the voltage of the light receiving element 40 becomes the maximum voltage ( For example, the voltage of the light receiving element 40 is maintained at 5 V), whereas the voltage of the light receiving element 40 in other parts increases, so that the sum of the luminance differential values changes from increasing to maintaining or decreasing. Therefore, while the execution of steps 5107 to 5110 is repeated, if the determination result in 5110 becomes YES, the next light reception time T stored in the next light reception time memory is stored two times earlier than the next light reception time T currently stored in the next light reception time memory. The light reception time T, l is determined to be a desired length. Subsequently, at 5lll, the next light reception time TR is read from the next light reception time memory, and a positive or negative correction amount Δ is calculated from the next light reception time T□.
The value obtained by subtracting twice TR is stored in the next light reception time memory. This completes one execution of this routine.

For example, as shown in FIG.
If the sum of the luminance differential values of the first image represented by the first image data read out for the fifth time decreases from the previous time, the first image represented by the first image data read out for the fifth time by the computer 70 Since the sum of the luminance differential values is estimated to be appropriate, the light reception time T, l used to obtain the first image, that is, the initial value of the light reception time T + t plus three corrections is the light reception time. This becomes the appropriate value for time T and l.

Under these circumstances, the next light reception time T5 read out by the computer 70 for the sixth time, that is, the initial value of the light reception time TR plus five corrections, is read out this time in order to invalidate the two corrections. Correction amount ΔT when light reception time T is positive
It is lengthened by twice R.

As is clear from the above explanation, in this example,
The part of the computer 70 that executes each routine shown in FIGS. 4 and 5, the switching element array 64, the register 68, the shift pulse generator 74, and the transfer pulse generator 76 constitute pixel signal generation means. computer 7
0, which executes the routine shown in FIG. 7, constitutes a light reception time adjusting means.

Note that the above embodiment is an example of a following distance detecting device used to warn the driver of the fact that if the distance between the own troops and the vehicle in front is insufficient for safe driving, but the following distance detecting device can be used for other purposes. For example, it is also possible to use the present invention in a follow-up driving control device that causes the own vehicle to follow the vehicle in front based on the inter-vehicle distance between the own vehicle and the vehicle in front.

Further, in the embodiment described above, the supply of transfer pulses and shift pulses was controlled by the computer 70, but it may be controlled by an electronic circuit such as a clock. Omitting the supply control of these pulses from the execution contents of the computer 70 is effective in enabling faster detection of the inter-vehicle distance.

Further, in the embodiment described above, the overall brightness of the first surface image is obtained using the sensor 30, and it is determined whether or not the light reception time TI needs to be corrected based on the comparison result between the overall brightness and the appropriate range. However, an illuminance sensor that detects the illuminance in front of the vehicle may be provided, and the illuminance sensor may be used to determine whether or not the light reception time TR needs to be corrected.

In addition, in the embodiment, correction of the light reception time T (which does not mean executing the light reception time correction routine, but means actually changing the light reception time Tll) ensures that the overall brightness of the first image is appropriate. Although this is performed only when it is determined that the overall brightness is out of the appropriate range, the light reception time TR may be corrected without determining whether or not the overall brightness is out of the appropriate range.For example, As shown in the flowchart in FIG. 15, first, in 5200, the light receiving time Tm is changed, regardless of whether it is actually necessary to not change the light receiving time Tm, to increase it, or to decrease it. T, is increased by a positive correction amount ΔTll, and then, in 5201, the amount of change in brightness (for example, the brightness differential value If so, the process returns to 5200 and the light receiving time Tll is increased again. If not, the light receiving time T8 is increased by a positive correction amount ΔTll in 5202. Then, in step 5203, it is determined whether the amount of change in brightness is greater in the image after the reduction than in the image before the reduction, or whether the two are equal; If so, the process may return to 5202 and reduce the light reception time T again, and if not, the process may return to 5200. In other words, it is possible to determine the overall brightness and determine whether it is outside the appropriate range, or to determine whether the direction in which it deviates is too bright or too dark.
It is not essential for carrying out the invention.

Although the embodiments of the present invention have been described above in detail based on the drawings, the present invention can be implemented in various modifications and improvements based on the knowledge of those skilled in the art.

[Brief explanation of drawings]

The first graph is a graph showing an example of light reception time control in the inter-vehicle distance detection device according to an embodiment of the present invention. FIG. 2 is a plan view showing the main body of the inter-vehicle distance detection device. FIG. 3 is a block diagram showing a signal processing section of the inter-vehicle distance detection device. 4 to 7 are flowcharts showing a transfer pulse supply routine, an image data acquisition routine, an inter-vehicle distance detection routine, and a light reception time correction routine, respectively, which are stored in the ROM of the computer in FIG. 3. FIG. 8 is a timing chart for explaining the operation of the inter-vehicle distance detection device. 9 to 14 [D are graphs showing images used to explain the execution of the light reception time correction routine of FIG. 7, respectively. FIG. 15 is a flowchart for explaining how the light reception time is controlled in another embodiment. 30.32: 1st. 2nd CCD line sensor 40: Light receiving element 42: Light receiving element array 50.52: 1st. Second
Imaging means 64 Niswitching element array 8 0 4 6: CCD shift register: Computer: Shift pulse generator: Transfer pulse generator

Claims (1)

[Claims] A vehicle distance detection device installed in a vehicle to detect the distance between the vehicle and an object, each of which generates and accumulates electric charge according to the intensity of incident light. two imaging means comprising a plurality of light receiving elements and each capturing an image including the object; and generating a plurality of pixel signals corresponding to the amount of charge accumulated in each of the plurality of light receiving elements during a light reception time. a pixel signal generating means; a distance determining means for determining the amount of deviation between the two images respectively captured by the two imaging means based on the pixel signals, and determining the distance according to the amount of deviation; and the receiving light. A distance detection device for a vehicle, comprising: a light reception time adjustment means for adjusting the time to a length that maximizes a change in brightness within the image.