JPH046883B2 - - Google Patents
Info
- Publication number
- JPH046883B2 JPH046883B2 JP56165925A JP16592581A JPH046883B2 JP H046883 B2 JPH046883 B2 JP H046883B2 JP 56165925 A JP56165925 A JP 56165925A JP 16592581 A JP16592581 A JP 16592581A JP H046883 B2 JPH046883 B2 JP H046883B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- incident
- obstacle
- incident light
- 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
- 238000001514 detection method Methods 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【発明の詳細な説明】
《産業上の利用分野》
この発明は自動車の障害物検出装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION <<Industrial Application Field>> The present invention relates to an obstacle detection device for an automobile.
《従来の技術》
一般に自動車の障害物検出装置は、運転者の死
角領域にある障害物を自動的に検出して、自動車
が障害物に衝突するのを防止するためのものであ
り、従来この種の装置として、発光器から所定周
期で点滅する光を発射するとともに、受光器によ
つて受光した入射光の周期が上記所定周期か否か
判別することにより、該入射光が上記発光器から
の光が障害物により反射されたものか否かを判別
し、正確に障害物を検出できるようにしたものが
ある(特開昭53−85025号公報参照)。<Prior Art> In general, an automobile obstacle detection device is used to automatically detect obstacles in the driver's blind spot and prevent the automobile from colliding with the obstacles. This type of device emits light that blinks at a predetermined period from a light emitter, and determines whether or not the period of incident light received by a light receiver is within the predetermined period. There is a device that can accurately detect obstacles by determining whether or not the light is reflected by an obstacle (see Japanese Patent Laid-Open No. 53-85025).
《発明が解決しようとする課題》
しかるにこの従来の障害物検出装置は、死角領
域のどの部分に障害物があるかを検出すものであ
り、障害物までの距離は判別できないという欠点
があつた。[Problem to be solved by the invention] However, this conventional obstacle detection device detects in which part of the blind spot area the obstacle is located, and has the disadvantage that it cannot determine the distance to the obstacle. .
ここで、少なくとも1個の発光素子と多数個の
受光素子とを用い、望ましくは多数個の受光素子
群を繰返し走査し、受光素子に入力される光量の
相対的変化に注目して距離を測定する「距離計」
(特開昭56−608号公報)が提案されている。この
考案は、発光素子と受光素子とを用いた距離計に
おいて、多数個の受光素子を含む受光素子群と、
該受光素子群の少なくとも一側に配された発光素
子と、光の入・出射位置を定める2つの針穴とを
有し、発光素子から発射され物体で反射して特定
の受光素子で検出されるまでの光路により、物体
までの距離を計測するようにしている。 Here, at least one light-emitting element and a large number of light-receiving elements are used, preferably a large number of light-receiving element groups are repeatedly scanned, and the distance is measured by paying attention to the relative change in the amount of light input to the light-receiving element. "Distance meter"
(Japanese Unexamined Patent Publication No. 56-608) has been proposed. This invention is based on a rangefinder using a light emitting element and a light receiving element, including a light receiving element group including a large number of light receiving elements,
It has a light emitting element disposed on at least one side of the light receiving element group and two needle holes that determine the input and output positions of the light, and the light emitted from the light emitting element is reflected by an object and detected by a specific light receiving element. The distance to the object is measured by the optical path taken to the object.
ところで、上記提案にあつては、1つの針穴を
利用して各受光素子へ反射光を導くようにしてい
るため、次のような問題があると考えられる。 By the way, in the above proposal, since one needle hole is used to guide the reflected light to each light receiving element, the following problems are considered to occur.
まず、上記構成において測距精度を確保するた
めには、単一の針穴を通過した反射光を、各受光
素子へ大きく振り分ける必要があり、針穴と受光
素子群との間に相当の距離を確保する必要があつ
た。従つて、この提案にあつては、測距方向の寸
法が大きくなり、殊に、この距離計を自動車に搭
載した場合には、測距方向(障害物方向)への車
体からの突出量が大きくなつて、車載装置として
は好ましいものではない。 First, in order to ensure distance measurement accuracy in the above configuration, it is necessary to largely distribute the reflected light that has passed through a single needle hole to each light receiving element, and there is a considerable distance between the needle hole and the group of light receiving elements. It was necessary to ensure that Therefore, with this proposal, the dimensions in the distance measurement direction will be large, and especially when this distance meter is mounted on a car, the amount of protrusion from the vehicle body in the distance measurement direction (toward the obstacle) will be large. This increases the size of the device, making it undesirable as an on-vehicle device.
次に、受光素子群への反射光導入部の構成が穴
で構成されており、これは、単一の穴で多数の受
光素子それぞれへ光を導こうとする発想に基づく
ものと考えられる。従つて、この穴には、多方向
から自由に反射光を入射させるという技術的前提
がある。ところで、このような前提で構成された
上記提案の距離計を車載装備した場合を考える
と、自動車がおかれる環境、すなわち太陽光や車
載装備のストツプランプ、バツクランプ、周辺の
街路灯、他車のランプ等、様々な光が存在する環
境では、上記の穴からこれら光が多方向から自由
に受光素子に向かつて進入することとなり、受光
素子部分では、障害物からの反射光にこれら光が
干渉し、受光素子による検出光量が適切なもので
はなくなると考えられる。上述したように、従来
の自動車用障害物検出装置において、発光器から
発射する光を所定周期で点滅させるようにしてい
るのは、このような様々な光と、発光器からの光
とを判別するための構成であり、このように自動
車のおかれる環境を考慮した場合には、多方向か
ら自由に光が導入される穴によつて反射光導入部
を構成することは、距離計の適切な作動を確保す
る上で、好ましいものではない。 Next, the structure of the reflected light introduction part to the light receiving element group is composed of holes, and this is thought to be based on the idea that light is guided to each of the large number of light receiving elements with a single hole. Therefore, there is a technical premise that this hole allows reflected light to freely enter from multiple directions. By the way, if we consider the case where the above-proposed rangefinder configured on this premise is installed in a car, the environment in which the car is placed, that is, the sunlight, the stop lamp and cross lamp of the car equipment, surrounding street lights, and the lamps of other cars. In an environment where various types of light exist, these lights will freely enter the light receiving element from multiple directions through the hole described above, and at the light receiving element, these lights will interfere with the light reflected from obstacles. , it is thought that the amount of light detected by the light receiving element will no longer be appropriate. As mentioned above, in conventional automobile obstacle detection devices, the light emitted from the light emitter flashes at a predetermined period to distinguish between these various types of light and the light from the light emitter. Considering the environment in which the car is placed, it is not appropriate for the rangefinder to configure the reflected light introducing section with holes that allow light to freely enter from multiple directions. This is not desirable in terms of ensuring proper operation.
本発明は、以上のような従来の課題に鑑みて創
案されたものであり、その目的は、装置のコンパ
クト化を図つて車両への搭載性を向上できると共
に、自動車のおかれる環境に相応した適切な測距
性能を確保できる自動車の障害物検出装置を提供
することにある。 The present invention was devised in view of the above-mentioned conventional problems, and its purpose is to make the device more compact so that it can be easily mounted on a vehicle, and to make it suitable for the environment in which the vehicle is placed. An object of the present invention is to provide an obstacle detection device for a vehicle that can ensure appropriate ranging performance.
《課題を解決するための手段》
本発明は、自動車の車体外方に向けて光を放射
する発光器と、該発光器を所定周期で点させる駆
動回路と、上記発光器に対して並列に配列されて
入射光を受光する複数の受光器と、各受光器それ
ぞれの上記発光器からの離隔距離が大きくなるに
従つて、それぞれの上記放射光軸と成す角度が順
次大きく設定され、該設定角度で入射される入射
光を各受光器に個別に案内しつつ、該設定角度以
外の入射光の各受光器に対する干渉を阻止する複
数の入射光ガイド筒体と、各受光器が受光した入
射光の周期が上記所定周期と同一であることを判
別して出力信号を出力する複数の信号判別回路
と、これら信号判別回路からの出力信号により障
害物までの距離を表示する表示装置とを備えたこ
とを特徴とする。<Means for Solving the Problems> The present invention provides a light emitter that emits light toward the outside of the vehicle body, a drive circuit that turns on the light emitter at a predetermined period, and a drive circuit that connects the light emitter in parallel to the light emitter. A plurality of light receivers are arranged to receive incident light, and as the separation distance of each light receiver from the light emitter increases, the angle formed by each of the light receivers with the light emitting axis is sequentially set to be larger. A plurality of incident light guide cylinders individually guide incident light incident at different angles to each receiver, while preventing interference of incident light at angles other than the set angle with respect to each receiver; It includes a plurality of signal discrimination circuits that discriminate whether the period of light is the same as the predetermined period and outputs an output signal, and a display device that displays the distance to the obstacle based on the output signals from these signal discrimination circuits. It is characterized by:
《作用》
本発明の作用について述べると、所定周期で点
滅する光を、発光器から放射させると共、各受光
器それぞれの発光器からの離隔距離が大きくなる
に従つて、発光器からの放射光軸と成す角度が順
次大きく設定された複数の入射光ガイド筒体を介
して、複数の受光器に個別に入射光を受光させ
る。そして、各受光器で受光した入射光が上記所
定周期と同一であつて、障害物からの反射光であ
ることを信号判別手段で判別させ、この判別に基
づく出力信号を表示装置に入力して、障害物の存
在及びその障害物までの距離を表示させるように
なつている。<<Operation>> To describe the operation of the present invention, light that blinks at a predetermined period is emitted from the emitter, and as the separation distance from each light receiver from the emitter increases, the radiation from the emitter increases. Incident light is individually received by a plurality of light receivers through a plurality of incident light guide cylinders whose angles with the optical axis are set to be successively larger. Then, the signal determining means determines that the incident light received by each light receiver has the same period as the predetermined period and is reflected light from an obstacle, and an output signal based on this determination is input to the display device. , the presence of obstacles and the distance to the obstacles are displayed.
殊に、本発明にあつては、従来のように単一の
針穴で複数の受光素子に入射光を振り分けるもの
と異なり、複数の受光器それぞれに対応させて、
個別に入射光を導入する複数の入射光ガイド筒体
を備えたので、光を振り分けるための距離を設定
する必要がなく、装置をコンパクト化することが
でき、車体から測距方向(障害物方向)への突出
量を削減できて、車載装置として好ましく適用す
ることができる。 In particular, in the present invention, unlike the conventional method in which incident light is distributed to a plurality of light receiving elements using a single needle hole, the light is distributed to each of the plurality of light receiving elements,
Equipped with multiple incident light guide cylinders that individually introduce incident light, there is no need to set distances for distributing the light, making the device more compact. ), and can be preferably applied as an on-vehicle device.
またさらに本発明にあつては、受光器への入射
光導入部分を、従来のような針穴とは異なり、設
定角度で入射される入射光を各受光器に個別に案
内し且つ設定角度以外の入射光の各受光器に対す
る干渉を阻止する筒状の入射光ガイド筒体で構成
したので、これら筒体の有する相当長さの内壁面
が光の進入の障壁となつて、様々な光が多方向か
ら自由に受光器に向かつて進入することを規制で
き、これら光と障害物から反射された入射光と
が、受光器部分で干渉することを未然に防止でき
る。 Furthermore, in the present invention, unlike the conventional needle hole, the part for introducing the incident light to the light receiver is configured to individually guide the incident light incident at a set angle to each light receiver, and to introduce the incident light at a set angle other than the set angle. Since the structure is composed of cylindrical incident light guide cylinders that prevent the interference of incident light to each receiver, the considerable length of the inner wall surface of these cylinders acts as a barrier to the entry of light, and various types of light are prevented from entering. It is possible to restrict the light from entering the light receiver freely from multiple directions, and it is possible to prevent these lights and incident light reflected from obstacles from interfering with each other at the light receiver.
《実施例》
以下、本発明の一実施例を図について説明す
る。<<Example>> Hereinafter, an example of the present invention will be described with reference to the drawings.
第1図及び第2図は、本発明の一実施例による
自動車の障害物検出装置を示す。図において、1
は自動車の車体後端に固定されたセンサユニツ
ト、2はセンサユニツト1のケーシングであり、
該ケーシング2内には、上下方向に支持板3が固
定され、該支持板3の下部には、自動車の車体外
方に向けて光を放射する赤外線ランプ4が取付け
られ、該赤外線ランプ4の上方には、入射光を受
光する赤外線フオトダイオード5,6,7が赤外
線ランプ4に対して上下方向に並列に配列して、
取付けられている。またケーシング2の外面壁下
部には、赤外線ランプ4からの赤外線を自動車後
方に水平面H内で放射させるための筒状の放射口
部2aが形成され、この放射口部2aの上方に
は、各赤外線フオトダイオード5,6,7それぞ
れの赤外線ランプ4からの離隔距離が大きくなる
に従つてそれぞれの上記放射光軸(図中、水平面
Hで示す)と成す角度0°,θ1,θ2(但し、θ2>θ1
)
が順次大きく設定されて、該設定角度0°,θ1,θ2
で入射される入射光を各赤外線フオトダイオード
5,6,7に個別に案内しつつ、該設定角度0°,
θ1、θ2以外の入射光の各赤外線フオトダイオード
5,6,7に対する干渉を阻止する複数の入射光
ガイド筒体2b,2c,2dが形成されている。 1 and 2 show an obstacle detection device for a motor vehicle according to an embodiment of the present invention. In the figure, 1
is a sensor unit fixed to the rear end of the car body, 2 is a casing of sensor unit 1,
A support plate 3 is fixed in the vertical direction inside the casing 2, and an infrared lamp 4 that emits light toward the outside of the vehicle body is attached to the lower part of the support plate 3. Above, infrared photodiodes 5, 6, and 7 that receive incident light are arranged in parallel in the vertical direction with respect to the infrared lamp 4.
installed. Further, a cylindrical radiation opening 2a is formed in the lower part of the outer wall of the casing 2 to radiate infrared rays from the infrared lamp 4 to the rear of the vehicle within a horizontal plane H. Above this radiation opening 2a, each As the distance between each of the infrared photodiodes 5, 6, and 7 from the infrared lamp 4 increases, the angles formed with the respective radiation optical axes (indicated by horizontal plane H in the figure) of 0°, θ 1 , θ 2 ( However, θ 2 > θ 1
)
are sequentially set larger, and the set angles are 0°, θ 1 , θ 2
While guiding the incident light incident at the angle to each infrared photodiode 5, 6, 7 individually,
A plurality of incident light guide cylinders 2b, 2c, and 2d are formed to prevent interference of incident light other than θ 1 and θ 2 with respect to each infrared photodiode 5, 6, and 7.
第3図は本実施例の装置の電気回路図を示し、
図において、1,4,5,6,7は上述のセンサ
ユニツト、赤外線ランプ及び赤外線フオトダイオ
ードであり、8は所定周波数、例えば45Hzの信号
を発振する発振器、9は発振器8の発振周波数で
上記赤外線ランプ4を点滅させる駆動回路、1
0,11,12は上記赤外線フオトダイオード
5,6,7の出力信号を増幅する増幅器、13,
14,15は上記増幅器10,11,12の出力
のうち上記45Hzの信号のみを通過させる帯域通過
フイルタ(以下BPFという)、16,17,18
はBPF13,14,15の出力と基準電圧19
とを比較する比較器であり、上記増幅器10,1
1,12、BPF13,14,15及び比較器1
6,17,18によつて、それぞれ上記赤外線フ
オトダイオード5,6,7が受光した入射光の周
期が上記所定周波数と同一周波数であつて、該入
射光が上記赤外線ランプ4から発射され障害物で
反射された赤外線であることを判別して出力信号
を出力する信号判別回路20a,20b,20c
を構成している。21,22,23は上記信号判
別回路20a,20b,20cの出力によつてそ
れぞれ点灯する表示素子、26はこれからなる表
示装置、24はバツテリ、25は自動車の変速機
を後進位置に操作したときオンするリバーススイ
ツチ、Vccは上記各回路に供給される駆動電源で
ある。 FIG. 3 shows an electrical circuit diagram of the device of this embodiment,
In the figure, 1, 4, 5, 6, and 7 are the above-mentioned sensor unit, infrared lamp, and infrared photodiode, 8 is an oscillator that oscillates a signal at a predetermined frequency, for example, 45 Hz, and 9 is the oscillation frequency of the oscillator 8, which is described above. A drive circuit for blinking an infrared lamp 4, 1
0, 11, 12 are amplifiers for amplifying the output signals of the infrared photodiodes 5, 6, 7; 13;
14 and 15 are band pass filters (hereinafter referred to as BPF) that pass only the 45 Hz signal among the outputs of the amplifiers 10, 11, and 12; 16, 17, and 18;
are the outputs of BPF13, 14, 15 and the reference voltage 19
It is a comparator for comparing the amplifiers 10 and 1 with the amplifiers 10 and 1.
1, 12, BPF13, 14, 15 and comparator 1
6, 17, and 18 indicate that the period of the incident light received by the infrared photodiodes 5, 6, and 7 is the same as the predetermined frequency, and that the incident light is emitted from the infrared lamp 4 and hits the obstacle. Signal discrimination circuits 20a, 20b, 20c that discriminate infrared rays reflected by and output signals.
It consists of Reference numerals 21, 22, and 23 indicate display elements that light up in response to the outputs of the signal discrimination circuits 20a, 20b, and 20c, respectively; 26 indicates a display device; 24 indicates a battery; and 25 indicates when the transmission of the automobile is operated to the reverse position. The reverse switch that is turned on, Vcc, is the drive power supplied to each of the above circuits.
次に動作について説明する。 Next, the operation will be explained.
この障害物検出装置では、自動車の変速機を後
進位置に操作すると、リバーススイツチ25がオ
ンし、該装置に駆動電源Vccが給電される。する
とまず発振器8が周波数45Hzで発振し、駆動回路
9は上記周波数で赤外線ランプ4を点滅させ、赤
外線ランプ4はケーシング2の放射口部2aを介
して自動車後方に赤外線を発射する。一方赤外線
フオトダイオード5,6,7はそれぞれケーシン
グ2の入射光ガイド筒体2b,2c,2dを介し
て入射される異なる角度0°,θ1,θ2の光を受光し
て、該ダイオード5,6,7にはその光量に応じ
た電流が流れ、該フオトダイオード5,6,7の
両端電圧は増幅器10,11,12によつてそれ
ぞれ増幅された後、比較器16,17,18に入
力される。そして今、自動車の後方に障害物がな
い場合には、上記赤外線ランプ4が放射した赤外
線はフオトダイオード5,6,7には戻つて来な
いので、上記フオトダイオード5,6,7に入射
する光があつたとしてもそれは太陽光や電灯の光
等の上記発射光以外のものであり、該フオトダイ
オード5,6,7の出力信号には上記周波数45Hz
と同一周波数の成分は含まれていない。従つて
BPF13,14,15の出力信号は基準電圧1
9以下となり、比較器16,17,18の出力は
ロウとなつて表示素子21,22,23は点灯し
ない。殊に発射光以外の光に対して本実施例で
は、入射光ガイド筒体2b,2c,2dにより、
設定角度0°,θ1,θ2で入射される入射光は各赤外
線フオトダイオード5,6,7に個別に案内され
る一方、設定角度0°,θ1,θ2以外の入射光は、こ
の筒体2b,2c,2dの有する相当長さの内壁
面が障壁となつて、フオトダイオード5,6,7
側への進入が未然に防止されることになる。 In this obstacle detection device, when the transmission of the automobile is operated to the reverse position, the reverse switch 25 is turned on and the drive power Vcc is supplied to the device. Then, the oscillator 8 first oscillates at a frequency of 45 Hz, the drive circuit 9 causes the infrared lamp 4 to blink at the above frequency, and the infrared lamp 4 emits infrared rays to the rear of the automobile through the radiation opening 2a of the casing 2. On the other hand, the infrared photodiodes 5, 6, and 7 receive light at different angles of 0°, θ 1 , and θ 2 that are incident through the incident light guide cylinders 2b, 2c, and 2d of the casing 2, respectively, and , 6, and 7 flow in accordance with the amount of light, and the voltages across the photodiodes 5, 6, and 7 are amplified by amplifiers 10, 11, and 12, respectively, and then sent to comparators 16, 17, and 18. is input. Now, if there is no obstacle behind the car, the infrared rays emitted by the infrared lamp 4 do not return to the photodiodes 5, 6, and 7, and therefore enter the photodiodes 5, 6, and 7. Even if there is light, it is something other than the above-mentioned emitted light, such as sunlight or electric light, and the output signals of the photodiodes 5, 6, and 7 have the above-mentioned frequency of 45Hz.
It does not contain components with the same frequency as . accordingly
The output signals of BPF13, 14, 15 are reference voltage 1
9 or less, the outputs of the comparators 16, 17, and 18 become low, and the display elements 21, 22, and 23 do not light up. Especially for light other than emitted light, in this embodiment, the incident light guide cylinders 2b, 2c, and 2d
The incident light incident at set angles of 0°, θ 1 , θ 2 is individually guided to each infrared photodiode 5 , 6 , 7 , while the incident light at set angles other than 0°, θ 1 , θ 2 is The considerable length of the inner wall surface of the cylinders 2b, 2c, 2d acts as a barrier, and the photodiodes 5, 6, 7
Entry to the side will be prevented.
また自動車後方に障害物がある場合には、赤外
線ランプ4が発射した赤外線は障害物に当たつて
反射し、自動車後端のセンサユニツト1に向けて
戻つてくることとなる。今、自動車と障害物間の
距離が遠い場合は、上記反射した赤外線のうち水
平面Hほぼ平行なもののみがセンサユニツト1に
到達する。従つてこの場合フオトダイオード5の
みが障害物で反射された赤外線を受光することと
なり、このフオトダイオード5の出力には周波数
45Hzと同一周波数の成分が多く含まれているので
BPF13の出力は基準電圧19以上となり、比
較器16の出力はハイとなつてこの場合には第4
図に示すように表示素子21のみが点灯する。 Furthermore, if there is an obstacle behind the vehicle, the infrared rays emitted by the infrared lamp 4 will hit the obstacle and be reflected and return toward the sensor unit 1 at the rear end of the vehicle. Now, when the distance between the vehicle and the obstacle is long, only the reflected infrared rays that are substantially parallel to the horizontal plane H reach the sensor unit 1. Therefore, in this case, only the photodiode 5 receives the infrared rays reflected by the obstacle, and the output of the photodiode 5 has a frequency
Since it contains many components of the same frequency as 45Hz,
The output of the BPF 13 becomes higher than the reference voltage 19, and the output of the comparator 16 becomes high.
As shown in the figure, only the display element 21 lights up.
また自動車と障害物間の距離が遠距離でも近距
離でもない中程度の場合は、障害物で反射された
赤外線のうち角度範囲0°〜θ1のものがセンサユニ
ツト1に到達し、下側2つのフオトダイオード
5,6のみが障害物からの赤外線を受光するた
め、この場合は第4図に示すように2つの表示素
子21,22が点灯する。 In addition, when the distance between the car and the obstacle is medium, neither long nor short, the infrared rays reflected by the obstacle in the angle range of 0° to θ1 reach the sensor unit 1, and the lower Since only the two photodiodes 5 and 6 receive the infrared rays from the obstacle, in this case the two display elements 21 and 22 light up as shown in FIG. 4.
さらに自動車と障害物間の距離が近い場合は、
今度は角度範囲0°〜θ2の赤外線がセンサユニツト
1に到達し、全てのフオトダイオード5,6,7
がその赤外線を受光するため、この場合には第4
図に示すように全ての表示素子21,22,23
が点灯することとなり、その結果表示素子21,
22,23の点灯状態を観察することによつて障
害物までの距離を知ることができる。 Furthermore, if the distance between the car and the obstacle is close,
This time, the infrared rays in the angular range 0° to θ 2 reach the sensor unit 1, and all the photodiodes 5, 6, 7
receives the infrared rays, so in this case, the fourth
As shown in the figure, all display elements 21, 22, 23
will light up, and as a result, the display elements 21,
By observing the lighting conditions of 22 and 23, the distance to the obstacle can be known.
以上のような本実施例の装置では、3つの赤外
線フオトダイオード5,6,7が異なる入射角度
0°,θ1,θ2の光を受光し、それによつて障害物ま
での距離を判別してそれを表示するようにしてい
るので、障害物までの距離を容易に知ることがで
きる。 In the device of this embodiment as described above, the three infrared photodiodes 5, 6, and 7 have different incident angles.
Since it receives light at 0°, θ 1 , and θ 2 and determines the distance to the obstacle and displays it, the distance to the obstacle can be easily known.
殊に、本実施例にあつては、従来のように単一
の針穴で複数の受光素子に入射光を振り分けるも
のと異なり、複数の赤外線フオトダイオード5,
6,7それぞれに対応させて、個別に入射光を導
入する複数の入射光ガイド筒体2b,2c,2d
を備えたので、光を振り分けるための距離を設定
する必要がなく、装置をコンパクト化でき、車体
から測距方向(障害物方向)への突出量を削減で
きて、車載装置として好ましく適用することがで
きる。 In particular, in this embodiment, unlike the conventional case in which incident light is distributed to a plurality of light receiving elements using a single needle hole, a plurality of infrared photodiodes 5,
A plurality of incident light guide cylinders 2b, 2c, and 2d that individually introduce incident light in correspondence to each of 6 and 7.
, there is no need to set a distance for distributing the light, the device can be made more compact, and the amount of protrusion from the vehicle body in the ranging direction (towards obstacles) can be reduced, making it suitable for use as an in-vehicle device. I can do it.
なおこの場合、第5図に示すような赤外線フオ
トダイオードへの入射角度に対する検出限界距離
の特性を利用し、入射角度の異なるさらに多くの
赤外線フオトダイオードを設けることによつて、
障害物までの距離をより一層精度よく検出するこ
とが可能である。 In this case, by utilizing the characteristics of the detection limit distance with respect to the incident angle to the infrared photodiode as shown in FIG. 5, and by providing more infrared photodiodes with different incident angles,
It is possible to detect the distance to an obstacle with even greater precision.
また障害物までの距離を判別する方法としては
発光器等を垂直面内においてスキヤニングさせる
ことも考えられるが、この場合は装置の構造が複
雑になつて、あまり好ましくないのに対し、本装
置ではスキヤニングを行なつておらず、発光器等
は固定されているので、装置の構造は非常に簡単
である。 Another way to determine the distance to an obstacle is to scan a light emitting device in a vertical plane, but in this case the structure of the device becomes complicated and is not very desirable. Since scanning is not performed and the light emitting device etc. are fixed, the structure of the device is very simple.
また上記実施例では、赤外線を所定周波数で発
射させ、その障害物からの反射光を識別している
ので、太陽光や電灯の光等による装置の誤動作を
防止でき、その結果自動車後方の障害物を正確に
検出できる。 In addition, in the above embodiment, infrared rays are emitted at a predetermined frequency and the reflected light from obstacles is identified, so malfunctions of the device due to sunlight, electric light, etc. can be prevented, and as a result, obstacles behind the vehicle can be detected. can be detected accurately.
このように所定周波数の光を放射することで障
害物からの反射光以外の光をカツトすることがで
きることに加えて、本実施例では、赤外線フオト
ダイオード5,6,7への入射光導入部分を、従
来のような針穴とは異なり、設定角度0°,θ1,θ2
で入射される入射光を各赤外線フオトダイオード
5,6,7に個別に案内し且つ設定角度0°,θ1,
θ2以外の入射光の各赤外線フオトダイオード5,
6,7に対する干渉を阻止する筒状の入射光ガイ
ド筒体2b,2c,2dで構成したので、これら
筒体の有する相当長さの内壁面が光の進入の障壁
となつて、様々な光が多方向から自由に赤外線フ
オトダイオード5,6,7に向かつて進入するこ
とを規制でき、これら光と障害物から反射された
入射光とが、赤外線フオトダイオード5,6,7
部分で干渉することを未然に防止することができ
る。従つて、自動車がおかれる環境、すなわち太
陽光や車載装備のストツプランプ、バツクラン
プ、周辺の街路灯、他車のランプ等、様々な光が
存在する環境において、本装置による距離計測を
適切なものとすることができる。 In addition to being able to cut out light other than light reflected from obstacles by emitting light of a predetermined frequency in this way, in this embodiment, the part where the incident light enters the infrared photodiodes 5, 6, and 7 is Unlike the conventional needle hole, the setting angle is 0°, θ 1 , θ 2
The incident light is guided to each infrared photodiode 5, 6, and 7 individually, and the set angle is 0°, θ 1 ,
Each infrared photodiode 5 for incident light other than θ 2 ,
Since the structure is composed of cylindrical incident light guide cylinders 2b, 2c, and 2d that prevent interference with 6 and 7, the considerable length of the inner wall surface of these cylinders acts as a barrier to the entry of light, and various types of light are prevented. The infrared photodiodes 5, 6, 7 can be prevented from freely entering the infrared photodiodes 5, 6, 7 from multiple directions, and these lights and the incident light reflected from the obstacles can be prevented from entering the infrared photodiodes 5, 6, 7.
It is possible to prevent interference between parts. Therefore, distance measurement using this device is not appropriate in the environment in which a car is placed, that is, in an environment where various types of light exist, such as sunlight, stop lamps and cross lamps onboard equipment, surrounding street lights, lamps of other cars, etc. can do.
なお上記実施例では3つの表示素子21,2
2,23の点灯状態の組合わせによつて障害物ま
での距離がわかるようにしているが、これは勿論
信号判別回路20a,20b,20cの出力を論
理演算して各表示素子21,22,23が直接障
害物までの距離を表示するようにしてもよい。 Note that in the above embodiment, three display elements 21, 2
The distance to the obstacle can be determined by the combination of the lighting states of the display elements 21, 22, 23, and 23, which are determined by logic operations on the outputs of the signal discrimination circuits 20a, 20b, 20c. 23 may directly display the distance to the obstacle.
また上記実施例では信号判別回路20a,20
b,20cをBPF13,14,15を用いて構
成したが、この信号判別回路20a,20b,2
0cは入射光が所定周期と同一周期か否かを判別
できるものであれば他の手段を用いて構成しても
よい。また上記実施例では自動車後方の障害物を
検出するようにしたが、この発明はバス等の大型
車において死角領域となる自動車前方の障害物を
検出するようにしてもよい。 Further, in the above embodiment, the signal discrimination circuits 20a, 20
b, 20c are configured using BPFs 13, 14, 15, but these signal discrimination circuits 20a, 20b, 2
0c may be configured using other means as long as it can determine whether the period of the incident light is the same as the predetermined period. Further, in the above embodiment, an obstacle behind the vehicle is detected, but the present invention may be adapted to detect an obstacle in front of the vehicle, which is a blind spot in a large vehicle such as a bus.
《発明の効果》
以上のように本発明に係る自動車の障害物検出
装置によれば、所定周期で点滅する光を発光器か
ら放射させると共に、各受光器それぞれの発光器
からの離隔距離が大きくなるに従つて、発光器か
らの放射光軸と成す角度が順次大きく設定された
複数の入射光ガイド筒体を介して、複数の受光器
に個別に入射光を受光させ、さらに各受光器で受
光した入射光が上記所定周期と同一であつて、障
害物からの反射光であることを信号判別手段で判
別させ、この判別に基づく出力信号を表示装置に
入力して、障害物の存在及びその障害物までの距
離を表示させるようにしたので、適切に障害物の
検出及びその障害物までの距離の判別を行わせる
ことができる。<<Effects of the Invention>> As described above, according to the automobile obstacle detection device according to the present invention, light that flashes at a predetermined period is emitted from the light emitter, and the distance between each light receiver from the light emitter is large. The incident light is individually received by a plurality of light receivers through a plurality of incident light guide cylinders whose angles with the emission optical axis from the light emitter are set to gradually increase, and each light receiver receives the incident light individually. The signal determining means determines that the received incident light has the same period as the predetermined period and is reflected light from an obstacle, and an output signal based on this determination is input to the display device to indicate the presence of the obstacle. Since the distance to the obstacle is displayed, it is possible to appropriately detect the obstacle and determine the distance to the obstacle.
殊に、本発明にあつては、従来のように単一の
針穴で複数の受光素子に入射光を振り分けるもの
と異なり、複数の受光器それぞれに対応させて、
個別に入射光を導入する複数の入射光ガイド筒体
を備えたので、光を振り分けるための距離を設定
する必要がなく、装置をコンパクト化することが
でき、従つて車体から測距方向(障害物方向)へ
の突出量を削減できて車載装置として好ましく適
用することができる。 In particular, in the present invention, unlike the conventional method in which incident light is distributed to a plurality of light receiving elements using a single needle hole, the light is distributed to each of the plurality of light receiving elements,
Since it is equipped with multiple incident light guide tubes that individually introduce incident light, there is no need to set distances for distributing the light, and the device can be made more compact. Since the amount of protrusion in the object direction can be reduced, it can be preferably applied as an in-vehicle device.
またさらに本発明にあつては、受光器への入射
光導入部分を、従来のような針穴とは異なり、設
定角度で入射される入射光を各受光器に個別に案
内し且つ設定角度以外の入射光の各受光器に対す
る干渉を阻止する筒状の入射光ガイド筒体で構成
したので、これら筒体の有する相当長さの内壁面
が光の進入の障壁となつて、様々な光が多方向か
ら自由に受光器に向かつて進入することを規制で
き、これら光と障害物から反射された入射光と
が、受光器部分で干渉することを未然に防止する
ことができ、従つて適切な測距性能を確保するこ
とができる。 Furthermore, in the present invention, unlike the conventional needle hole, the part for introducing the incident light to the light receiver is configured to individually guide the incident light incident at a set angle to each light receiver, and to introduce the incident light at a set angle other than the set angle. Since the structure is composed of cylindrical incident light guide cylinders that prevent the interference of incident light to each receiver, the considerable length of the inner wall surface of these cylinders acts as a barrier to the entry of light, and various types of light are prevented from entering. It is possible to restrict the light from entering the light receiver freely from multiple directions, and it is possible to prevent these lights and the incident light reflected from obstacles from interfering with the light receiver, and therefore to properly It is possible to ensure excellent ranging performance.
第1図は本発明の一実施例による障害物検出装
置を有する自動車の一部側面図、第2図は上記装
置の一部断面側面図、第3図は上記装置の電気回
路図、第4図は障害物までの距離と上記装置の表
示素子の点滅状態との関係を示す図、第5図は赤
外線フオトダイオードへの入射角度に対する検出
限界距離の変化を示す図である。
2b,2c,2d……入射光ガイド筒体、4…
…赤外線ランプ(発光器)、5,6,7……赤外
線フオトダイオード(受光器)、9……駆動回路、
20a,20b,20c……信号判別回路、26
……表示装置。
FIG. 1 is a partial side view of an automobile having an obstacle detection device according to an embodiment of the present invention, FIG. 2 is a partial cross-sectional side view of the device, FIG. 3 is an electric circuit diagram of the device, and FIG. The figure shows the relationship between the distance to an obstacle and the blinking state of the display element of the device, and FIG. 5 shows the change in the detection limit distance with respect to the angle of incidence on the infrared photodiode. 2b, 2c, 2d...incident light guide cylinder, 4...
...Infrared lamp (emitter), 5, 6, 7...Infrared photodiode (receiver), 9...Drive circuit,
20a, 20b, 20c...signal discrimination circuit, 26
...Display device.
Claims (1)
器と、 該発光器を所定周期で点滅させる駆動回路と、 上記発光器に対して並列に配列されて入射光を
受光する複数の受光器と、 各受光器それぞれの上記発光器からの離隔距離
が大きくなるに従つて、それぞれの上記放射光軸
と成す角度が順次大きく設定され、該設定角度で
入射される入射光を各受光器に個別に案内しつ
つ、該設定角度以外の入射光の各受光器に対する
干渉を阻止する複数の入射光ガイド筒体と、 各受光器が受光した入射光の周期が上記所定周
期と同一であることを判別して出力信号を出力す
る複数の信号判別回路と、 これら信号判別回路からの出力信号により障害
物までの距離を表示する表示装置とを備えたこと
を特徴とする自動車の障害物検出装置。[Scope of Claims] 1. A light emitter that emits light toward the outside of the vehicle body; a drive circuit that blinks the light emitter at a predetermined period; and a drive circuit that is arranged in parallel with the light emitter and emits incident light. As a plurality of light receivers receive light, and as the separation distance of each light receiver from the light emitter increases, the angle formed by each of the light receivers with the light emitting axis is set to be larger in turn, and the incident light is incident at the set angle. a plurality of incident light guide cylinders that individually guide light to each light receiver while preventing interference of incident light at angles other than the set angle with respect to each light receiver; The present invention is characterized by comprising a plurality of signal discrimination circuits that output signals after determining whether the signals are the same as the period, and a display device that displays the distance to an obstacle based on the output signals from these signal discrimination circuits. Obstacle detection device for automobiles.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP56165925A JPS5866810A (en) | 1981-10-17 | 1981-10-17 | Obstacle detector for automobile |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP56165925A JPS5866810A (en) | 1981-10-17 | 1981-10-17 | Obstacle detector for automobile |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5866810A JPS5866810A (en) | 1983-04-21 |
JPH046883B2 true JPH046883B2 (en) | 1992-02-07 |
Family
ID=15821610
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP56165925A Granted JPS5866810A (en) | 1981-10-17 | 1981-10-17 | Obstacle detector for automobile |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5866810A (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6040984A (en) * | 1983-08-17 | 1985-03-04 | Fujitsu Ten Ltd | Approaching matter detecting apparatus |
JPS63243776A (en) * | 1987-03-31 | 1988-10-11 | Tokyo Optical Co Ltd | Electrooptical distance meter |
JPS63309879A (en) * | 1987-06-12 | 1988-12-16 | Stanley Electric Co Ltd | Obstacle detecting device for vehicle |
WO1993021497A1 (en) * | 1992-04-10 | 1993-10-28 | Omron Corporation | Apparatus for measuring distance |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS56608A (en) * | 1979-06-16 | 1981-01-07 | Agency Of Ind Science & Technol | Range finder |
-
1981
- 1981-10-17 JP JP56165925A patent/JPS5866810A/en active Granted
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS56608A (en) * | 1979-06-16 | 1981-01-07 | Agency Of Ind Science & Technol | Range finder |
Also Published As
Publication number | Publication date |
---|---|
JPS5866810A (en) | 1983-04-21 |
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