JPH038685B2 - - Google Patents
Info
- Publication number
- JPH038685B2 JPH038685B2 JP58251742A JP25174283A JPH038685B2 JP H038685 B2 JPH038685 B2 JP H038685B2 JP 58251742 A JP58251742 A JP 58251742A JP 25174283 A JP25174283 A JP 25174283A JP H038685 B2 JPH038685 B2 JP H038685B2
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- vehicle
- distance
- unevenness
- detection device
- 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
- 238000001514 detection method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 21
- 239000000725 suspension Substances 0.000 description 10
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 1
- 238000001444 catalytic combustion detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
Description
【発明の詳細な説明】
技術分野
本発明は、自動車の進行方向における前方路面
の凹凸状態を検知する車両用前方路面状態検知装
置に関する。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a front road surface condition detection device for a vehicle that detects unevenness of a road surface in front of the vehicle in the direction of travel of the vehicle.
従来技術
最近、路面の凹凸状態に応じて自動車における
サスペンシヨンの強度調整を行なわせるようにし
たシステムが開発されているが、従来のものにあ
つては自動車が実際に走行している現在の路面に
おける凹凸状態を検知してフイードバツク制御を
行なわせるようにしており、路面の凹凸状態に応
じたサスペンシヨンの強度調整をなす際の制御遅
れが否めないものになつている。Prior Art Recently, a system has been developed that adjusts the strength of the suspension of a car depending on the unevenness of the road surface. Feedback control is performed by detecting the unevenness of the road surface, which inevitably causes a delay in control when adjusting the strength of the suspension according to the unevenness of the road surface.
目 的
本発明は以上の点を考慮してなされたもので、
自動車の進行方向における前方路面の凹凸状態を
予知してフイードフオワードによる遅れのないサ
スペンシヨンなどの足廻り一般の最適制御を行な
わせることができるようにした車両用前方路面状
態検知装置を提供するものである。Purpose The present invention was made in consideration of the above points, and
Provided is a front road surface condition detection device for a vehicle that is capable of predicting the unevenness of the road surface in front of the vehicle in the direction of travel of the vehicle and performs optimal control of the suspension in general, such as suspension without delay due to feed forward. It is something to do.
構 成
以下、添付図面を参照して本発明の一実施例に
ついて詳述する。Configuration An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
第１図は本発明の車両用前方路面状態検知装置
による前方路面状態の検知原理を示すもので、自
動車１の前部に指向性をつたレーザビームを前方
一定距離の路面上に照射させる発光部およびその
路面からの反射光を受光する受光部をもつた三角
測量法を利用して距離測定を行なう光学式距離セ
ンサ２を設け、その距離センサ２による測定距離
が一定の場合には前方路面が平担ａであり、また
その測定距離が一定よりも長い場合には前方路面
が凹部ｂになつており、短かい場合には前方路面
が凸部ｃになつていることをそれぞれ検知するよ
うにしている。 FIG. 1 shows the principle of detecting the front road surface condition by the vehicle front road surface condition detection device of the present invention, in which a light emitting unit irradiates a directional laser beam onto the road surface at a certain distance in front of the front of the automobile 1. An optical distance sensor 2 is provided that measures distance using the triangulation method and has a light receiving part that receives reflected light from the road surface.When the distance measured by the distance sensor 2 is constant, the road surface in front is If the measured distance is flat (a) and the measured distance is longer than a certain value, it is detected that the road surface ahead is a concave part (b), and if it is shorter than a certain value, it is detected that the road surface in front of the vehicle is a convex part (c). ing.
第２図は本発明による車両用前方路面状態検知
装置の一実施例を示すもので、指向性をもつたレ
ーザビームを一定方向に発射して対象物（この場
合は路面）３からの反射光を受光してそれとの間
の距離を測定する光学式距離センサ２と、その測
定結果にもとづいて前方路面の凹凸状態を判定す
る路面状態判定回路４とによつて構成されてい
る。 FIG. 2 shows an embodiment of the vehicle front road condition detection device according to the present invention, in which a directional laser beam is emitted in a fixed direction to detect reflected light from an object (in this case, the road surface) 3. The optical distance sensor 2 includes an optical distance sensor 2 that receives light and measures the distance therebetween, and a road surface condition determination circuit 4 that determines the unevenness of the road ahead based on the measurement results.
またその光学式距離センサ２としては、変調器
２２において電源２０からのレーザ駆動信号をパ
ルス発生器２１からの一定周期をもつたパルス信
号により変調させ、その変調信号によりレーザ発
光器（半導体レーザ）２３を駆動させるレーザ駆
動部と、レーザ発光器２３からコリメートレンズ
２４を介して指向性をもつて発射され、対象物３
による反射された変調ビームが受光レンズ２５お
よび光学フイルタ２６を介して入射するように設
けられたホトダイオード、CCDなどの光電変換
素子がアレイ状に配設された光学位置センサ２７
と、そのセンサ２７からの時系列的に出力される
信号を増幅して復調する増幅および復調器２８
と、その復調された信号が光学位置センサ２７の
何番目の素子から出力されたかを解続して対象物
３との間の距離に応じたデータを出力するエンコ
ーダ２９とによつて構成されている。なお、その
光学位置センサ２７にあつては光学軸に対して垂
直になるように多数の光電変換素子Ｐ１〜Pnが
配設されており、対象物３との間の距離が変化す
ることによりその反射光を受光する光電変換素子
の位置が変化するようになつている。しかしてこ
のように構成された光学式距離センサ２にあつて
は、特にその発光部から変調されたレーザビーム
を発射させて対象物３からの反射光をその受光部
で復調して距離測定を行なわせるようにしている
ために外乱光の影響を受けることなく、またその
光学位置センサ２７として光電変換素子をライン
状に配設したものを用いているために比較的低パ
ワーのビーム出力によつても精度良く対象物３と
の間の距離を測定することができるものとなる。 In addition, the optical distance sensor 2 uses a modulator 22 to modulate a laser drive signal from a power source 20 with a pulse signal having a constant period from a pulse generator 21, and the modulation signal to generate a laser emitter (semiconductor laser). 23, and the laser emitter 23 emits the laser beam with directionality through the collimating lens 24,
An optical position sensor 27 in which photoelectric conversion elements such as photodiodes and CCDs are arranged in an array so that the modulated beam reflected by the beam enters through a light receiving lens 25 and an optical filter 26.
and an amplification and demodulator 28 that amplifies and demodulates the signals outputted in time series from the sensor 27.
and an encoder 29 that determines which element of the optical position sensor 27 the demodulated signal is output from and outputs data according to the distance to the object 3. There is. In addition, in the optical position sensor 27, a large number of photoelectric conversion elements P1 to Pn are arranged perpendicular to the optical axis, and as the distance to the object 3 changes, the photoelectric conversion elements P1 to Pn change. The position of the photoelectric conversion element that receives reflected light is changed. However, in the optical distance sensor 2 configured in this way, the distance can be measured by emitting a modulated laser beam from the light emitting part and demodulating the reflected light from the object 3 by the light receiving part. Since the optical position sensor 27 uses a line-shaped photoelectric conversion element, the optical position sensor 27 uses a relatively low-power beam output. Therefore, the distance to the object 3 can be measured with high accuracy.
しかしてこのように構成された本発明による車
両用前方路面状態検知装置では、光学式距離セン
サ２を自動車１の前部に取り付けてその前方一定
の距離の路面上を変調されたレーザビームにより
照射させ、その反射光を受光して増幅、復調、エ
ンコードの各処理をなして距離の長短を測定させ
るようにすれば、その測定データにもとづいて路
面状態判定回路４により自動車１の前方路面の凹
凸状態を検知することができるようになる。 However, in the forward road surface condition detection device for a vehicle according to the present invention configured as described above, the optical distance sensor 2 is attached to the front of the vehicle 1, and a modulated laser beam is irradiated onto the road surface at a certain distance in front of the optical distance sensor 2. If the reflected light is received and amplified, demodulated, and encoded to measure the length of the distance, the road surface condition determination circuit 4 determines the unevenness of the road surface in front of the vehicle 1 based on the measured data. It becomes possible to detect the state.
その際、例えば第３図に示すように、自動車１
の前輪における各タイヤ１１，１２にそれぞれ対
応した車体の前部左、右の各位置に光学式距離セ
ンサ２をそれぞれ取り付けて、自動車１の前方の
一定の距離Ｌにおける各タイヤ１１，１２にそれ
ぞれ対応した路面上の地点Ｘをビーム照射させて
測定したときの各距離測定データにもとづいて路
面状態判定回路４により自動車前方における左、
右の路面凹凸状態の判定をそれぞれ行なわせるよ
うにすれば、自動車１の各タイヤ１１，１２が通
過しようとする各路面の凹凸状態を別途に検知す
ることができるようになる。したがつてこのよう
な場合には特に、その各検知状態に応じて自動車
１の左、右のサスペンシヨンの強度調整をそれぞ
れ独立的にフイードフオワード制御させるとがで
きるようになる。なおその場合、１つの光学式距
離センサ２を設けて左、右のサスペンシヨンの強
度調整を共通に行なわせるようにしてもよいこと
はいうまでもない。具体的には、路面状態判定回
路４からその判定結果に応じたサスペンシヨンの
強度切換指令をサスペンシヨン強度切換機構のア
クチユエータに与えるようにすればよい。なおそ
の場合、路面状態判定回路４としてマイクロコン
ピユータを使用することが考えられる。またサス
ペンシヨンの強度調整のみならず、前方路面の凹
凸状態が検知されたときにはマイクロコンピユー
タにおいて車速センサの出力信号から自動車１の
車速を検出してそれぞれに応じて自動ブレーキ機
構のアクチユエータに適宜ブレーキ指令を与えて
減速させるようなフイードフオワード制御をも行
なわせることができるようになる。また自動車１
の停止時には光学式距離センサ２におけるレーザ
ビームの発射を自動的にストツプさせるような手
段をも容易に行なわせることができるようにな
る。なおレーザビーム以外に、電波、超音波など
のビームを用いた距離センサを使用するようにし
てもよいことはいうまでもない。 At that time, for example, as shown in FIG.
An optical distance sensor 2 is attached to each of the front left and right positions of the vehicle body corresponding to each tire 11, 12 in the front wheels of the vehicle 1, respectively, and Based on the respective distance measurement data obtained by irradiating the corresponding point X on the road surface with a beam, the road surface condition determination circuit 4 determines whether the left,
If the right road surface unevenness state is determined individually, the unevenness state of each road surface that each tire 11, 12 of the automobile 1 is about to pass can be separately detected. Therefore, especially in such a case, it becomes possible to carry out feedforward control of the strength adjustment of the left and right suspensions of the automobile 1, respectively, depending on each detection state. In this case, it goes without saying that one optical distance sensor 2 may be provided to commonly adjust the strength of the left and right suspensions. Specifically, the road surface condition determination circuit 4 may give a suspension strength switching command corresponding to the determination result to the actuator of the suspension strength switching mechanism. In that case, it is conceivable to use a microcomputer as the road surface condition determination circuit 4. In addition to adjusting the strength of the suspension, when irregularities on the road ahead are detected, the microcomputer detects the vehicle speed of the vehicle 1 from the output signal of the vehicle speed sensor, and accordingly commands the actuator of the automatic braking mechanism to brake appropriately. It is now possible to perform feedforward control that gives the vehicle speed and decelerates the vehicle. Also car 1
When the optical distance sensor 2 stops, a means for automatically stopping the laser beam emission from the optical distance sensor 2 can be easily implemented. It goes without saying that a distance sensor using a beam such as a radio wave or an ultrasonic wave may be used in addition to a laser beam.
効 果
以上、本発明による車両用前方路面状態検知装
置にあつては、指向性ををもつたビームを車体前
方の一定距離にある路面上に照射してその反射光
を受信することにより距離の長短を測定する距離
測定手段と、その測定結果に応じて前方路面の凹
凸状態を判定する手段とからなり、距離測定手段
により車両の走行輪が通過しようとする部分にお
ける前方の路面上にビームを照射して、判定手段
により車両の走行輪が通過しようとする部分にお
ける路面の凹凸状態を判定するようにしたもの
で、自動車の進行方向における走行輪が通過しよ
うとする部分の前方路面の凹凸状態を予知してフ
イードフオワードによる遅れのないサスペンシヨ
ンなどの最適制御を行なわせることができるとい
う優れた利点を有している。Effects As described above, in the vehicle front road surface condition detection device according to the present invention, the distance can be determined by irradiating a directional beam onto the road surface at a certain distance in front of the vehicle body and receiving the reflected light. It consists of a distance measuring means for measuring length and a means for determining the unevenness of the road surface in front according to the measurement results. irradiation, and the determination means determines the unevenness of the road surface in the area where the running wheels of the vehicle are about to pass. It has the excellent advantage of being able to predict and perform optimal control such as suspension without delay due to feed forward.
第１図ａ，ｂ，ｃは本発明の車両用前方路面状
態検知装置における前方路面の凹凸状態の検知原
理を示す図、第２図は本発明の一実施例を示すブ
ロツク構成図、第３図は実際の自動車における前
方路面の凹凸の検知状態を示す図である。
１……自動車、２……光学式距離センサ、３…
…対象物、４……路面状態判定回路、２０……レ
ーザ駆動用電源、２１……パルス発生器、２２…
…変調器、２３……レーザ発光器、２４……コリ
メートレンズ、２５……受光レンズ、２６……光
学フイルタ、２７……光学位置センサ、２８……
増幅および復調器、２９……エンコーダ。
Figures 1a, b, and c are diagrams showing the principle of detecting unevenness of the front road surface in the front road surface condition detection device for a vehicle according to the present invention, Figure 2 is a block diagram showing an embodiment of the present invention, and Figure 3 The figure is a diagram showing a detection state of unevenness on the road surface in front of an actual vehicle. 1... Car, 2... Optical distance sensor, 3...
...Target, 4... Road surface condition determination circuit, 20... Laser drive power supply, 21... Pulse generator, 22...
... Modulator, 23 ... Laser emitter, 24 ... Collimating lens, 25 ... Light receiving lens, 26 ... Optical filter, 27 ... Optical position sensor, 28 ...
Amplifier and demodulator, 29...encoder.
Claims (1)
にある路面上に照射してその反射波を受信するこ
とにより距離の長短を測定する距離測定手段と、
その測定結果に応じて前方路面の凹凸状態を判定
する手段とからなり、距離測定手段により車両の
走行輪が通過しようとする部分における前方の路
面上にビームを照射して、判定手段により車両の
走行輪が通過しようとする部分における路面の凹
凸状態を判定するようにしたことを特徴とする車
両前方路面状態検知装置。 ２ 距離測定手段により車両の進行方向に対して
横方向に複数設けられた各走行輪が通過しようと
する部分における前方の路面上にビームをそれぞ
れ照射し、判定手段により各走行輪が通過しよう
とする部分における路面の凹凸状態をそれぞれ独
立して判定するようにしたことを特徴とする前記
第１項の記載による車両前方路面状態検知装置。[Scope of Claims] 1. Distance measuring means for measuring the length of a distance by irradiating a directional beam onto a road surface at a certain distance in front of the vehicle body and receiving the reflected waves;
and a means for determining the uneven state of the road surface in front of the vehicle according to the measurement results. A road surface condition detection device in front of a vehicle, characterized in that it determines the unevenness of a road surface in a portion through which a running wheel is going to pass. 2. The distance measuring means irradiates a beam onto the road surface in front of the portion where each of the running wheels, which are provided laterally to the direction of travel of the vehicle, intends to pass, and the determining means determines whether each running wheel is about to pass. 2. The vehicle front road surface condition detection device according to item 1, wherein the road surface condition detection device according to item 1 is configured to independently determine the unevenness of the road surface at each portion.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25174283A JPS60142209A (en) | 1983-12-28 | 1983-12-28 | Front road surface state detecting device |
| CA000468975A CA1235773A (en) | 1983-12-23 | 1984-11-29 | Device for detecting road surface condition |
| GB08430846A GB2151872B (en) | 1983-12-23 | 1984-12-06 | Detecting road surface condtion |
| FR848419572A FR2557288B1 (en) | 1983-12-23 | 1984-12-20 | DEVICE FOR DETECTING A ROAD SURFACE CONDITION |
| DE3447015A DE3447015C2 (en) | 1983-12-23 | 1984-12-21 | Device for detecting the state of a road surface in the area of a road vehicle |
| US07/005,387 US4781465A (en) | 1983-12-23 | 1987-01-09 | Device for detecting road surface condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25174283A JPS60142209A (en) | 1983-12-28 | 1983-12-28 | Front road surface state detecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60142209A JPS60142209A (en) | 1985-07-27 |
| JPH038685B2 true JPH038685B2 (en) | 1991-02-06 |
Family
ID=17227252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25174283A Granted JPS60142209A (en) | 1983-12-23 | 1983-12-28 | Front road surface state detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60142209A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62195708U (en) * | 1986-06-03 | 1987-12-12 | ||
| JP2008156021A (en) * | 2006-12-21 | 2008-07-10 | Shinko Electric Ind Co Ltd | Conveyance device for long strip |
| DE102010044263A1 (en) * | 2010-09-03 | 2012-03-08 | Daimler Ag | Device and method for controlling an active chassis of a vehicle |
| JP7082853B2 (en) * | 2019-04-25 | 2022-06-09 | Ｊｆｅプラントエンジ株式会社 | Rangefinder, distance measurement method, thickness gauge device and thickness measurement method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5118564A (en) * | 1974-08-06 | 1976-02-14 | Sokkisha | ROMENOTOTSUJIDOKEISOKUSHISUTEMU |
-
1983
- 1983-12-28 JP JP25174283A patent/JPS60142209A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5118564A (en) * | 1974-08-06 | 1976-02-14 | Sokkisha | ROMENOTOTSUJIDOKEISOKUSHISUTEMU |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60142209A (en) | 1985-07-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |