JPH09273927A - Measuring apparatus and safety run system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reset a constant used in operations after a measuring apparatus is assembled without correctly adjusting a constant of an optical system, etc., used for operating measuring values to be a design value. SOLUTION: An object to be detected is arranged at a set distance preliminarily registered in a nonvolatile memory 15. A synchronous signal is input to a signal input circuit 17. When the signal input circuit 17 receives the synchronous signal, a correlation operation part 14 is turned to a data memory mode, and detects a shift amount D of right and left images. The correlation operation part 14 obtains a constant Q.f (positional relation data) to be used in operations from a value of the set distance in the nonvolatile memory 15 and the detected shift amount D. The constant is stored in the nonvolatile memory 15. In a distance-measuring mode, the correlation operation part 14 operates a distance L of the object to be detected with the use of the constant Q.f stored in the nonvolatile memory 15.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a measuring device and a safe traveling system. In particular, the present invention relates to a measuring device for measuring a distance to an object to be detected by using a phase difference correlation method, and a safe traveling system using the measuring device.

[0002]

2. Description of the Related Art FIG. 1 shows a schematic configuration of a conventional distance measuring device 1 for measuring a distance to a detected object in a visual field by using a phase difference correlation method, and FIG. 2 shows an optical configuration thereof. .
This distance measuring device 1 uses photodetectors 4a and 4b such as a photo diauto (PD), and as shown in FIG. 2, a first light receiving lens 2a having an equal focal length f.
And the second light receiving lens 2b are spaced apart by a constant base line length Q (a distance between the optical axes 3a and 3b of the first and second light receiving lenses 2a and 2b). First and second photodetectors 4a and 4b are arranged at positions separated from the light receiving lenses 2a and 2b by the focal length f.

However, in the distance measuring device 1 based on the phase difference correlation method, natural light or light emitted from a light projecting element (not shown) is reflected and diffused on the surface of the object to be detected OBJ. , The reflected light r is reflected by the first light receiving lens 2
The light enters the first photodetector 4a through the first optical path passing through a, and simultaneously enters the second photodetector 4b through the second optical path passing through the second light receiving lens 2b. From the first and second photodetectors 4a and 4b to the microprocessor (C
The light intensity distribution of the received light is output to the PU) 6 as image information. Then, in the microprocessor 6, the image 5a supplied from the first photodetector 4a and the second image 5a
The shift amount D of the barycentric position of the image 5b supplied from the photodetector 4b is calculated. This shift amount D corresponds to X ₁ + X ₂ in FIG. The distance L to the detected object OBJ is
Value of shift amount of center of gravity between images 5a and 5b D = X ₁
By using + X ₂ , it is obtained by the following formula based on trigonometry. L = Q · f / D ... When these operations are executed by the microprocessor 6, the result is output as distance data via the output circuit 7, as shown in FIG.

The principle of obtaining the distance L to the detected object OBJ based on the above equation, that is, the image shift amount D will be described with reference to FIG. Now, the detected object OBJ is located at a distance L from the center plane H of the first and second light receiving lenses 2a and 2b,
When it is located at a point q from the optical axis 3b of the light receiving lens 2b of the first photodetector 4a, the first photodetector 4a has the abscissa X _{1 based} on the position corresponding to the optical axis 3a of the first light receiving lens 2a. image 5a of the detected object OBJ (gravity center position) occurs, the horizontal coordinates X ₂ of the detection object OBJ from its position at that corresponds to the optical axis 3b of the second photodetector 4b second light receiving lens 2b Assuming that the image 5b (the position of the center of gravity) is generated, as shown in FIG. 3, there is a relation as shown below. Q−q = (L / f) X ₁ q = (L / f) X ₂ If q is eliminated from these two equations and X ₁ + X ₂ = D, the above equation is obtained. Therefore, in this way, the two photodetectors 4 are
By using a and 4b, it can be seen that the distance L to the detected object OBJ can be accurately obtained from the formula even if the detected object OBJ is located at an arbitrary position within the visual field.

However, since the object to be detected OBJ has a size, the first and second photodetectors 4a, 4a,
The light receiving pattern in 4b is not a point but a light intensity distribution pattern (image). Therefore, the definition of the deviation amount D cannot be used as it is, and it is necessary to expand the definition of the deviation amount D or the method of obtaining the deviation amount D. In the distance measuring device 1 using the phase difference correlation method, the shift amount D between the images 5a and 5b is obtained as follows. First, the reference line P
Define A and PB. FIG. 4A shows the first and second light receiving lenses 2a and 2b and the first and second photodetectors 4a and 4b.
FIG. 4B shows the first and second photodetectors 4a, 4
In the images 5a and 5b supplied from b, the horizontal axis represents the abscissas XA and XB on the photodetectors 4a and 4b, and the vertical axis represents the light intensity. The reference line PA shown in FIG.
It is a vertical line indicating the position of a in the screen and corresponds to the intersection A with the optical axis 3a on the first photodetector 4a. Similarly, the reference line PB is a vertical line indicating the position of the image 5b in the screen, and corresponds to the intersection B with the optical axis 3b on the second photodetector 4b. In order to obtain the shift amount D between the image 5a supplied by the first photodetector 4a and the image 5b supplied by the second photodetector 4b, first, both images 5a, 5
b is compared and the reference line PA and the reference line PB are aligned on the screen as shown in FIG.
The image 5b of b is moved together with the reference line PB so as to best match the image 5b of the other photodetector 4a. In this way, the reference line PA when the two images 5a and 5b are best matched,
The distance between the reference lines PB is defined as the deviation amount D at this time,
The distance L to the object to be detected OBJ is calculated using the formula. Note that the time when the two images 5a and 5b best match each other is as shown in FIG.
It is defined that the area of the non-overlapping area of both images 5a and 5b is the minimum area, such as the shaded area shown in (d).

In the distance measuring device 1 using such a phase difference correlation method, the two images 5a and 5b shift in the same direction even if there is a color pattern such as a pattern on the surface of the detected object OBJ. The displacement amount D is not affected, and the distance L to the detected object OBJ can be accurately measured even in such a case. Further, since the deviation amount D can be obtained with high accuracy by the correlation calculation, the distance L can be measured with high accuracy even when the detected object OBJ is at a long distance.

[0007]

However, in the distance measuring device having such a configuration, since the distance to the detected object is calculated based on the above equation, the constant Q and When an error occurs in the value of f, there is a problem that an error also occurs in the calculated distance value.

In order to reduce the error between the constants Q and f, it is necessary to accurately position the lens with respect to the light receiving element. However, in the mass production process of the distance measuring device, it is difficult to accurately adjust the position of the lens, and it takes a long time to adjust the position accurately, which causes a problem of cost increase.

The present invention has been made in view of the drawbacks of the above conventional examples, and an object of the present invention is to accurately set a constant of an optical system or the like used for calculating a measured value in a measuring device to a designed value. The purpose is to obtain a measurement value with a small measurement error without adjustment. Another object is to provide a safe traveling system using the measuring device.

[0010]

According to a first aspect of the present invention, there is provided a measuring device comprising a storage means for storing positional relationship data between constituent members and an arithmetic means for calculating the measured value using the positional relationship data. In the measuring device for calculating a measurement value by utilizing the positional relationship between the constituent members, a resetting means for resetting the positional relationship data stored in the storage means is provided. .

Since the measuring device according to the first aspect comprises means capable of resetting the positional relationship data, which is the basis for calculating the measured value, in the storage means, the positional relationship between the constituent members is In the case where it changes and affects the measurement result, the positional relationship data corresponding to the change in the positional relationship between the constituent members can be reset in the storage means. Therefore, if the positional relationship between members is out of design values or changes over time when the device is assembled, the positional relationship data can be reset according to each measuring device to improve the measurement accuracy. Can be maintained at.

According to a second aspect of the present invention, in the measuring apparatus according to the first aspect, a mode setting means for setting a data storage mode is provided, and the storage of the positional relationship data in the storage means is performed in the data storage mode. A measuring device characterized by being performed by

Since the positional relationship data can be reset while the mode is set to the data storage mode by the mode setting means, it is possible to prevent the positional relationship data from being accidentally rewritten.

According to a third aspect of the present invention, in the measuring apparatus according to the first or second aspect, a reference value input means for inputting a known reference value in a reference state from the outside, and a measuring apparatus in the reference state. Position data calculation means for calculating the positional relationship data between the members from the measured value by the reference value and the input reference value, and the storage means stores the positional relationship data calculated by the position data calculation means. It is characterized by doing.

According to this embodiment, the positional relationship data can be reset by utilizing the function of the measuring device by simply inputting the known reference value in the reference state by the reference value inputting means, and the resetting is easy. Can be done. The reference value input means may input the reference value at the time of resetting,
It may be input in advance and appropriately stored in the storage means.

A fourth aspect of the present invention is characterized in that, in the measuring device according to the first or second aspect, it is provided with position data input means for inputting the positional relationship data from the outside.

This is for storing the positional relationship data obtained outside the apparatus in the storage means without utilizing the function of the measuring apparatus. According to this embodiment, the configuration of the measuring device can be simplified.

As the positional relationship data, in the case of a measuring apparatus that measures the distance to an object using light, for example, at least the distance between the light receiving lens and the light receiving element is used as in the fifth embodiment. be able to. Further, in the case of a measuring device that measures the distance to an object by the phase difference correlation method, the distance between the two light receiving lenses and the distance between the light receiving lens and the light receiving element are set as in the embodiment of claim 6. Can be used. Furthermore, in the case of a measuring device that measures the distance to an object by the phase difference correlation method,
As in the above embodiment, the product of the distance between the two light receiving lenses and the distance between the light receiving lens and the light receiving element can be used as the positional relationship data.

The measuring device according to claim 8 is a measuring device for calculating a measured value by utilizing the positional relationship between constituent members, and stores the positional relationship data between the members according to a design value as basic data. Basic data storage means, correction data storage means for storing a displacement value from the design value of the positional relationship between the members as correction data, and calculation means for calculating the measured value using the basic data and the correction data. ,
It is characterized by having.

Since the measuring device according to claim 8 is provided with a means for storing the correction data representing the deviation of the positional relationship data between the members from the designed value, the measuring device according to the present invention can correct the positional relationship data between the structural members from the designed value. The deviation can be corrected by the correction data to improve the measurement accuracy.

According to a ninth aspect of the present invention, there is provided the measuring device according to the eighth aspect, further comprising resetting means for resetting the positional deviation value stored in the correction data storing means. I am trying.

In this embodiment, since the positional deviation value stored in the correction data storage means can be reset, when the positional relationship between the members deviates from the design value when the apparatus is assembled, or the secular change occurs. When it changes to, the measurement value can be calculated using the correction data corresponding to the change in the positional relationship between the constituent members, and the measurement accuracy can be maintained with high accuracy forever.

The embodiment described in claim 10 is the embodiment described in claim 8.
Alternatively, the measuring device according to the ninth aspect is characterized in that a mode setting means for setting a data storage mode is provided, and the positional deviation value is stored in the correction data storage means in the data storage mode.

Since the positional relation data can be reset while the mode is set to the data storage mode by the mode setting means, it is possible to prevent the positional relation data from being accidentally rewritten.

The embodiment described in claim 11 is the same as claim 8.
In the measuring device according to any one of 10 to 10, the reference value input means for inputting a known reference value in a reference state from the outside, the position of the member from the measurement value by the measuring device in the reference state and the input reference value. A positional shift value calculating unit for calculating a shift value, and the positional shift value calculated by the positional data calculating unit is stored as correction data in the correction data storage unit.

According to this embodiment, the positional deviation value can be set by utilizing the function of the measuring device by simply inputting the known reference value in the reference state by the reference value input means, and the positional deviation value can be corrected. Can be done easily. The reference value input means may input the reference value at the time of resetting, or may be input in advance and stored in the storage means as appropriate.

The embodiment described in claim 12 is the same as claim 8.
The measuring apparatus described in any one of 10 to 10 is characterized by including a positional deviation value input means for inputting the positional deviation value from the outside.

This is to store the positional deviation value obtained outside the apparatus in the correction data storage means without using the function of the measuring apparatus. According to this embodiment, the configuration of the measuring device can be simplified.

In the case of a measuring device that measures the distance to an object using light, the positional relationship data uses at least the distance between the light-receiving lens and the light-receiving element as in the thirteenth embodiment. be able to.

The safe traveling system according to claim 14 is:
The measuring device according to any one of claims 1 to 13 is provided, and the measuring device is attached inside or outside the vehicle compartment to measure a distance to an object existing in the surroundings.

Since this safe traveling system is equipped with the above-mentioned measuring device, it is possible to reach a desired object to be detected (particularly the nearest front vehicle or rear vehicle) without being disturbed by the background or other objects to be detected. The distance can be detected with high accuracy.

The embodiment described in claim 15 is the same as claim 1.
In the safe traveling system according to item 4, a display unit for displaying the distance to the object based on the output of the measuring device is attached near the vehicle speed display meter.

If a display unit for displaying the distance to the object based on the output of the measuring device is provided near the vehicle speed display meter, the inter-vehicle distance to the preceding vehicle can be displayed on the display unit.

The embodiment described in claim 16 is the same as claim 1.
4. The safe traveling system according to 4, further comprising a determination device that determines, based on at least the output of the measurement device, whether or not the host vehicle is in a dangerous state in which it may collide with an object existing in the surroundings. It is characterized by that.

If a judging device for judging whether or not there is a dangerous state in which there is a possibility of colliding with an object existing around based on the output of the measuring device, for example, an alarm is given in advance, A collision accident can be prevented by displaying that there is a risk of collision or by activating the brake.

The embodiment as claimed in claim 17 is as follows.
The safe traveling system according to item 4 is characterized by comprising control means for controlling an accelerator opening degree or a brake based on at least the output of the measuring device.

If a control means for controlling the accelerator opening or the brake is provided based on the output of the measuring device,
The speed of the vehicle can be controlled within a safe range according to the state of the vehicle.

The embodiment described in claim 18 is according to claim 1.
The safe traveling system according to item 4 is characterized in that it is provided with an informing means for informing a driving vehicle that the vehicle ahead has started based on at least the output of the measuring device.

If there is provided means for notifying the driver that the vehicle ahead has started based on the output of the measuring device,
For example, in the case of traffic congestion, the start of the vehicle ahead can be notified, and driving in traffic congestion can be facilitated.

[0040]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 5 is a diagram showing the configuration of a distance measuring device 11 according to an embodiment of the present invention. 12a, 12b
Is the light detectors 13a, 1 that detect the light reflected and scattered by the detected object.
It is a lens for forming an image on the light receiving surface of 3b. Thirteen
Reference numerals a and 13b denote photodetectors (light-receiving elements) such as photodiode arrays, which have a large number of pixels and output a signal (image signal) indicating the light intensity for each pixel. 14
Is a correlation calculation unit, and has a distance calculation mode and a data storage mode. In the distance calculation mode, the correlation calculation unit 14 causes the deviation amount D between the image signal output from the photodetector 13a (hereinafter, left image) and the image signal output from the photodetector 13b (hereinafter, right image). Then, the distance L to the detected object is calculated based on the deviation amount D.
In the data storage mode, the correlation calculation unit 14
Is calculated as described later, and the base line length Q between the lenses 12a and 12b and the distance f between the lenses 12a and 12b and the photodetectors 13a and 13b (hereinafter , Simply referred to as the distance f), and the calculated values of the baseline length Q and the distance f, or the directly input values of the baseline length Q and the distance f are stored in the nonvolatile memory 15. 1
Reference numeral 5 denotes a non-volatile memory, which stores data necessary for distance calculation in the correlation calculation unit 14 and data necessary for updating these data. Examples of the non-volatile memory 15 include E ² PROM, SRAM with battery backup, and other rewritable ROM. An output circuit 16 outputs the distance L to the detected object obtained by the correlation calculation unit 14 as distance data. Reference numeral 17 denotes a signal input circuit, which operates when a synchronizing signal is input from the outside or a return type external switch 18 is turned on to switch the correlation calculator 14 to a data storage mode. A data input circuit 19 receives the distance data Lx in the data storage mode and transmits the distance data Lx to the correlation calculation unit 14 as data for calculating Qf.

FIG. 6 is a memory map showing an example of data contents of the non-volatile memory 15.
Address ADRS1 can store the baseline length Q between the lenses 12a and 12b, and ADRS2 can store the lenses 12a and 12b.
b can store the value of the distance f between the photodetectors 13a and 13b, ADRS3 can store the value of Qf, and ADRS4
Can store the specified value L1 of the measured distance of the detected object, and further can store the specified values L2 of different measured distances of the detected object in sequence below ADRS5 as required.

In the distance measuring device 11, for example, at the time of factory shipment, the set value of the base length Q is stored in the ADRS1 of the nonvolatile memory 15, the set value of the distance f is stored in the ADRS2, and the Qf data of the ADRS3 is stored. Is cleared (that is, the value “000 ... 0” is stored). Then, when the Q · f data of ADRS3 is cleared, the correlation calculation unit 14 determines that ADRS1 and ADRS2
The distance L of the detected object is calculated based on the above equation using the values of the baseline length Q and the distance f stored in the output circuit 1
6 outputs distance data.

However, when a plurality of distance measuring devices 11 are manufactured, the values of the base line length Q and the distance f vary from product to product due to an error in optical adjustment during assembly. In addition, the variations in the values of the base line length Q and the distance f gradually increase due to the secular change of the distance measuring device 11. Therefore, the values of the baseline length Q and the distance f, which have variations, are measured for each distance measuring device 11, and the measured values are stored in the non-volatile memory 15.
If the distance of the object to be detected is measured using the unique value stored in, it is possible to maintain high range accuracy by compensating for variations in optical adjustment and aging.

The first method for calibrating the base line length Q and the distance f of the distance measuring device 11 is to directly measure these values with a measuring instrument such as a caliper and to measure the base line length Q from the data input circuit 19.
Alternatively, the measured value of the distance f is input and the signal input circuit 17
To input a synchronization signal (which may include rewriting data addressing information). When the synchronization signal is input, the correlation calculation unit 14 switches to the data storage mode, and the value of the baseline length Q or the distance f input to the data input circuit 19 is the address designated by the synchronization signal, that is, ADRS1 of the nonvolatile memory 15 or Store in ADRS2 and update Q data or f data.

However, the above equation, that is, L = Qf / D
As can be seen from the above, in order to obtain the distance L of the detected object from the displacement amount D, it is sufficient to know the value of the product Q · f of the base line length Q and the distance f, and therefore the individual values of the base line length Q and the distance f. It is not necessary to calculate, and the value of Qf is calculated and stored in ADRS3,
The distance L of the detected object may be calculated using the value of Q · f. That is, the correlation calculator 14
If Q / f data of RS3 is cleared, A
The distance L of the detected object is calculated based on the Q data of DRS1, the f data of ADRS2, and the image shift amount D.
When the value of Qf is stored in ADRS3, A
The distance L of the detected object is calculated based on the value of Q · f stored in the ADRS3 and the deviation amount D without using the Q data of the DRS1 and the f data of the ADRS2.

Therefore, in order to calibrate the distance measuring device 11, it is efficient to obtain the value of Q · f and store it in the ADRS3 of the non-volatile memory 15 as Q · f data. For that purpose, the value of Q · f calculated from the measured value of the baseline length Q and the measured value of the distance f is changed from the data input circuit 19 to the ADRS3 of the nonvolatile memory in the same manner as the first method.
However, it is effective to use the function of the distance measuring device 11 as follows.

FIG. 7 is a flow chart for explaining the second method for calibrating the values of the base line length Q and the distance f of the distance measuring device 11. In this method, the value (specified value) of the measurement distance L1 is stored in advance in the ADRS4 of the nonvolatile memory 15. When storing the Qf data in the distance measuring device 11,
An object to be detected (sample) is placed at a predetermined measurement distance L1 stored in the ADRS 4 (S21), and a synchronization signal is input to the signal input circuit 17 in that state. Signal input circuit 1
When 7 receives the synchronization signal (S22), the correlation calculator 14
Becomes the data storage mode, and the shift amount D1 between the left and right images is detected in synchronization with the synchronization signal (S23). Then, ADR
The predetermined measurement distance L1 stored in S4 is read (S24), and the correlation calculation unit 14 calculates Q · f = L1 × D1 from the measured distance L1 and the value of the measured shift amount D1 (S25). Then, the correlation calculation unit 14 stores the obtained Q · f value in the ADRS3 of the nonvolatile memory 15 (S26), and returns to the distance calculation mode (S27).

However, according to this method, the value of Q · f of the distance measuring device 11 can be obtained by using the function of the distance measuring device 11 itself, and the reference value Q and the distance f are deviated from the designed values. Or, even if it has changed over time, a correct value can be detected and corrected. Therefore, the measurement accuracy of the distance measuring device 11 can be maintained with high accuracy.

Even if the measured Q · f value is stored in ADRS3, the Q data of ADRS1 and f of ADRS2 are stored.
Since the data is not cleared, if an abnormal value is stored as the Qf data of ADRS3, by clearing ADRS3 with the clear button (not shown), the Q and f stored in ADRS1 and ADRS2 It is possible to measure the distance of the detected object using the setting value of.

In the first method, the measurement distance L1 (default value) is stored in the non-volatile memory 15. Therefore, a new value of the measurement distance L1 may be stored in the data input circuit 19 if necessary.
By sending the synchronization signal to the signal input circuit 17, the value of the measurement distance L1 of the ADRS 4 can be rewritten to a new value. Alternatively, ADRS4, A in FIG.
As shown in DRS5, ..., a plurality of measurement distances L1, L
By storing 2, ... In the non-volatile memory 15, it is possible to change the position where the object to be detected is placed as a sample in the data storage mode by changing the addressing of the program.

The value of the measurement distance L1 used in the data storage mode is the execution program for storing the Qf data (for example, the program in the microprocessor).
You can also write it inside. In this case, the value of the measurement distance L1 cannot be changed, but an object to be detected that is a standard in shipping inspection of a production factory is placed at the measurement distance L1 and a synchronization signal is input to measure individual distances. When the device 11 is adjusted, it is preferable to prevent erroneous adjustment.

FIG. 8 is a flow chart for explaining the third method for calibrating the values of the base line length Q and the distance f of the distance measuring device 11. In this method, the measurement distance L1 and the like need not be stored in the non-volatile memory 15 in advance. When storing the Qf data in the distance measuring device 11 by the third method, the detected object is placed at an arbitrary distance Lx (S31), and in that state, the distance Lx of the distance Lx is stored as distance data in the data input circuit 19. A value is input and a synchronization signal is input to the signal input circuit 17. When the signal input unit 17 receives the synchronization signal (S3
2), the correlation calculation unit 14 enters the data storage mode and reads the value of the distance Lx input in synchronization with the synchronization signal (S
33), the shift amount Dx between the left and right images is detected (S34).
Then, the correlation calculation unit 14 calculates Q · f = Lx × Dx from the input distance Lx and the value of the measured displacement amount Dx (S35), and calculates the obtained Q · f value in ADRS3 of the nonvolatile memory 15. (S36) and returns to the distance calculation mode (S37).

In the third method, the object to be detected can be placed at any position, which is preferable when correcting the secular change after the distance measuring device 11 is installed. If the distance to the object to be detected is unknown, if there is another distance measuring means such as a laser radar, the distance output from the distance measuring means is input to the data input circuit 19, and the signal input circuit 17
Data can be stored by inputting a synchronization signal to the.

FIG. 9 is a flow chart for explaining the fourth method for calibrating the values of the base line length Q and the distance f of the distance measuring device 11. This method is suitable when a measurement error of the deviation amount D is expected, and the AD of the non-volatile memory 15 is used.
A plurality of measurement distances L1 and L are previously set to RS4, ADRS5, ....
, ... are stored, and a plurality of shift amounts D1, D2 ,.
The average value of Q · f calculated from is stored in the non-volatile memory 15.

According to the fourth method, Q.
To store the f data, the detected object is placed at the predetermined measurement distance L1 stored in the ADRS4 (S4
1a, S42), the synchronizing signal is input to the signal input circuit 17 in that state. When the signal input circuit 17 receives the synchronization signal (S43), the correlation calculator 14 enters the data storage mode and detects the shift amount D1 between the left and right images in synchronization with the synchronization signal (S44). Then, the correlation calculation unit 14 reads the value of the measurement distance L1 from the non-volatile memory 15 (S45),
From the measured distance L1 and the value of the measured displacement amount D1, Q · f = L1 × D1 is calculated, and the result is stored in an appropriate position in the memory (S46).

Next, the object to be detected is placed at the predetermined measurement distance L2 stored in the ADRS 5 (S47, S41).
b, S42), the synchronizing signal is input to the signal input circuit 17 in that state. When the signal input circuit 17 receives the synchronization signal (S43), the correlation calculator 14 enters the data storage mode and detects the shift amount D2 between the left and right images in synchronization with the synchronization signal (S44). Then, the correlation calculation unit 14 reads the value of the measurement distance L2 from the non-volatile memory 15, and measures the measurement distance L1.
Then, Q · f = L2 × D2 is calculated from the value of the deviation amount D2 measured as follows, and the result is stored in an appropriate position in the memory (S46).

In this way, after the above processing is repeated for the number of set distances L1, L2, ... Stored in the non-volatile memory 15 to obtain the value of Qf for each of them, the correlation calculation unit 14 Average value of Qf (arithmetic mean,
(Symmetric average etc.) is obtained (S48), the average value of Q · f is stored in ADRS3 of the non-volatile memory 15 (S49), and the distance calculation mode is returned to (S50).

By storing the average value of Q · f in the non-volatile memory 15 in this way, the error due to the variation of the deviation amount D can be reduced.

As shown in FIG. 10, the horizontal axis represents the reciprocal 1 of the distance.
/ L and the vertical axis is the shift amount D, the slope of the straight line connecting the measurement point of the shift amount D of the image of the detected object located at the distance L and the origin is the value of Qf. The above fourth method is
Inclination that varies due to variations in the measurement point of the deviation amount D,
That is, the value of Qf is averaged. On the other hand, for example, when the deviation amount at the measurement distance L1 is D1 and the deviation amount at the measurement distance L2 is D2, as shown in FIG. 11, the inclination of the straight line connecting the two measurement points is expressed by the following formula. It is also possible to obtain the value of Q · f. Q · f = (D2-D1) / (1 / L2-1 / L1) = L1 · L2 (D2-D1) / (L1-L2)

In the description of the above embodiment, the correlation calculation unit 1 is operated by inputting the synchronization signal to the signal input unit 17.
4 was switched to the data storage mode and the data was updated in synchronization with the synchronization signal, but even if the external switch 18 provided in the distance measuring device 11 is pressed to turn it on, the correlation calculation unit 14 switches to the data storage mode. , The data is updated in synchronization with the turning on of the external switch 18.

(Second Embodiment) FIG. 12 is a view showing the arrangement of a distance measuring device 51 according to another embodiment of the present invention. In the distance measuring device 51, the correlation calculating unit 14
Is provided with a mode switch 52 for switching between the distance calculation mode and the data storage mode. Therefore, when the mode changeover switch 52 is set to the data storage mode, when the synchronizing signal is input to the signal input circuit 17 (or when the external switch 18 is turned on), Qf of the nonvolatile memory 15 is set. Data etc. are rewritten. On the other hand, when the mode changeover switch 52 is in the distance calculation mode, the data in the non-volatile memory 15 cannot be rewritten even if a synchronization signal is input or the external switch 18 is turned on.

(Third Embodiment) FIG. 13 is a diagram showing the structure of a distance measuring device 53 according to still another embodiment of the present invention. The measuring device 53 according to this embodiment includes a basic data memory 54 that stores design values (basic data) of positional relationship data and correction data that stores positional deviation values (correction data) from the design values of positional relationship data. A memory 55 is provided. The basic data memory 54 and the correction data memory 55 may be different areas of the same memory device. The basic data memory 54 is a ROM and the correction data memory 55 is another memory device such as an E ² PROM or RAM. May be In the distance calculation mode, the correlation calculation unit 14 obtains the shift amount D between the left image output from the photodetector 13a and the right image output from the photodetector 13b,
Based on the basic data in the basic data memory 54 and the correction data in the correction data memory 55, the distance L to the detected object corresponding to the deviation amount D is calculated. Further, in the data storage mode, the correlation calculation unit 14 obtains the shift amount D between the left and right images as described later, and based on the shift amount D, the baseline length Q between the lenses 12a and 12b and the lenses 12a and 12b.
b, the displacement value of the distance f between the photodetectors 13a and 13b is calculated, and the calculated displacement value of the baseline length Q or the distance f, or the displacement of the directly input baseline length Q or the distance f. The value is stored in the non-volatile memory 15.

FIG. 14A is a memory map showing the data contents in the basic data memory 54, and FIG. 14B is a memory map showing the data contents in the correction data memory 55. In the basic data memory 54, FIG.
As shown in, as basic data in the factory, the design value f ₀ of the design value Q ₀ and the distance f of the baseline length is stored in for example address ADRS11 and ADRS12, or, ADR
The design value [Q · f] _{0 of} Q · f is stored in S13. Further, in the correction data memory 55, FIG.
As shown in (b), as the correction data, for example, the address ADRS21 can store the displacement value from the design value of the base length Q, the ADRS2 can store the displacement value from the design value of the distance f, and the ADRS3. The position deviation value from the design value of Qf can be stored in. further,
A specified value L1 of the measured distance of the object to be detected is stored in ADRS4 of the correction data memory 5, and further AD is stored if necessary.
Below RS5, a specified value L with a different measurement distance of the detected object
2 and the like are sequentially stored.

Here, the positional deviation value may be a difference between an actual value and a design value, or a ratio between the actual value and the design value. For example, assuming that the actual value of the baseline length is Q and the design value is Q ₀ , ΔQ = Q−Q ₀ in the form of difference may be used as the displacement value, and K _Q = Q / Q in the form of ratio. You may use ₀ .

When the positional deviation value due to the difference is used, the actual value Q of the base line length is calculated using the design value Q ₀ in the basic data memory 54 and the positional deviation value ΔQ in the correction data memory 55. It is expressed as Q ₀ + ΔQ. When using the positional deviation value based on the ratio, the actual value Q of the base line length is calculated by using the design value Q ₀ in the basic data memory 54 and the positional deviation value K _Q in the correction data memory 55. It is expressed as K _Q · Q ₀ . Similarly, with respect to the distances f and Q · f, the positional deviation values due to the difference will be described as Δf and ΔQ · f, and the positional deviation values due to the ratio will be described as K _f and K _{Q · f} .

First, the first method of calibrating the positional relationship data is to measure the base line length Q and the distance f, and to obtain the positional deviation values ΔQ and Δf from the design values Q ₀ and f _{0 of the} measured values outside the device. After the calculation, these positional deviation values ΔQ and Δf are stored in the correction data memory 55 through the data input circuit 19.

FIG. 15 illustrates this first method for the case of a baseline length Q. That is, the positional deviation value ΔQ of the baseline length is transmitted to the data input circuit 19, and the synchronization signal is input to the signal input circuit 17. When the signal input circuit 17 receives the synchronization signal (S57), the correlation calculator 14 switches to the data storage mode, reads the positional deviation value ΔQ of the baseline length from the data input circuit 19 (S58), and specifies the correction data memory 55. It is stored in the address (ADRS21) (S59), and the process returns to the distance calculation mode (S60). Similarly, the misregistration value Δf of the distance f is stored in the ADRS 22 of the correction data memory 55.

When the positional deviation values ΔQ and Δf are thus stored as correction data in the correction data memory 55, the distance measuring device 53 calculates the distance to the detected object as shown in FIG. When the distance measuring device 53 starts the distance measurement, the correlation calculator 14 reads the design value Q ₀ of the base line length and the design value f ₀ of the distance f from the basic data memory (S6).
1), the offset value ΔQ of the baseline length from the correction data memory
And the positional deviation value Δf of the distance f are read (S62), and the deviation amount D of both images supplied from the photodetectors 13a and 13b is detected (S63). Next, the correlation calculation unit 14 uses the value Q = Q ₀ + ΔQ of the base line length and the value f = f _{0 of the} distance f used for the calculation.
+ Δf is calculated, and the distance L of the detected object is calculated using these values.
= Q · f / D is calculated (S64), and the obtained distance L of the detected object is output from the output circuit 16 (S65). Therefore, the distance L of the detected object can be accurately measured using the corrected value of Q · f.

It should be noted that, although the positional deviation value due to the difference is used here, it goes without saying that the positional deviation values K _Q and K _f due to the ratio may be obtained and stored in the correction data memory 55. When the positional deviation value by the ratio is used, the design value Q ₀
And f ₀ , the distance L ₀ = (Q ₀ ·
After calculating f ₀ ) / D, each ratio is multiplied to obtain L = K _Q · K _f ·
It suffices to output L ₀ as the distance measurement value, which facilitates the correction process.

FIG. 17 is a flow chart for explaining the second method for calibrating the values of the base line length Q and the distance f of the distance measuring device 53. In this method, the ADRS of the correction data memory 55 is
An object to be detected is placed at the measurement distance L1 stored in 24 (S66), and a synchronization signal is input to the signal input circuit 17 in that state. When the signal input circuit 17 receives the sync signal (S67), the correlation calculator 14 enters the data storage mode and detects the shift amount D1 between the left and right images in synchronization with the sync signal (S68). Then, the correlation calculation unit 14 calculates the ADRS2
The predetermined measurement distance L1 stored in 4 is read (S
69), the basic data (for example, [Q · f] ₀ ) and the value of the measurement distance L1, from the value of the measured shift amount D1,
The positional deviation value K _{Q · f} = (L1 · D1) / [Q · f] ₀ is calculated (S70). Next, the correlation calculation unit 14 uses the calculated positional deviation value KQ _{· f} of Q _{· f} as the correction data memory 55.
Stored in the ADRS 23 (S71), and returns to the distance calculation mode (S72).

According to this method, however, the value of Q · f of the distance measuring device 53 can be obtained by using the function of the distance measuring device 53 itself, and the reference value Q and the distance f are deviated from the designed values. Or, even if it has changed over time, a correct value can be detected and corrected. Therefore, the measurement accuracy of the distance measuring device 53 can be maintained with high accuracy. Of course, this method may also use the positional deviation value due to the difference.

FIG. 18 is a flow chart for explaining the third method for calibrating the values of the base line length Q and the distance f of the distance measuring device 53. In this method, the object to be detected is arranged at an arbitrary distance Lx (S73), and in that state, the value of the distance Lx is input as distance data to the data input circuit 19 and the synchronization signal is input to the signal input circuit 17. When the signal input unit 17 receives the synchronization signal (S74), the correlation calculation unit 14 enters the data storage mode, and the distance Lx input in synchronization with the synchronization signal.
Is read (S75), and the shift amount Dx between the left and right images is detected (S76). Then, the correlation calculation unit 14 uses the basic data (for example, [Q · f] ₀ ) and the read distance Lx to calculate the position shift value K _{Q ·} from the value of the measured shift amount Dx. _f = (Lx · Dx) / [Q · f] ₀ is calculated (S77). Then, the correlation calculation unit 14 stores the obtained value of the Q · f positional deviation value KQ _{· f} in the ADRS 23 of the correction data memory 55 (S78), and returns to the distance calculation mode (S79).

In the third method, the object to be detected can be placed at any position, which is preferable when correcting the secular change after the distance measuring device 53 is installed. If the distance to the object to be detected is unknown, if there is another distance measuring means such as a laser radar, the distance output from the distance measuring means is input to the data input circuit 19, and the signal input circuit 17
Data can be stored by inputting a synchronization signal to the.

Although not shown in the flow chart, a plurality of positional deviation values of Q · f are obtained corresponding to a plurality of measurement distances L1, L2, ...
It goes without saying that the average value of the values of f may be stored in the correction data memory as correction data.

(Fourth Embodiment) FIG. 19 is a diagram showing the structure of a distance measuring device 56 according to another embodiment of the present invention. This distance measuring device 56 corresponds to the distance measuring device 5 of FIG.
3, the mode changeover switch 52 is provided. Therefore, even in the distance measuring device 56, as in the distance measuring device 51 of FIG. 12, the synchronization signal is input [or the external switch 18 is turned on] only when the mode changeover switch 52 is switched to the data storage mode. Each data in the correction data memory 55 is rewritten in synchronization with.

In the above embodiments, the case of the distance measuring device has been mainly described, but it is clear from the technical contents that the measuring device of the present invention is not limited to the distance measuring device.

(Safety Driving System) Next, a vehicle equipped with the distance measuring device of the present invention will be described. In a distance measuring device used for a vehicle, it is necessary to detect the closest object to be detected (the preceding vehicle in front, an obstacle, etc.), so when there are multiple objects to be detected within the visual field range, , Is set to detect and output the distance to the closest detected object. The mounting location of the distance measuring device is not particularly limited, and it can be mounted at any location according to the application. For example, it may be mounted inside the vehicle such as on the back of the rearview mirror or on the dashboard, or outside the vehicle such as a bumper or front grille on the front of the vehicle. In addition, there is no problem even if it is installed so as to monitor the rear of the vehicle or the side of the vehicle.

20 and 21 are a side view and an interior view showing an embodiment of such a vehicle 81, in which a distance measuring device 83 is attached to the rear surface of the room mirror 82.
A distance display device 85 is attached near the vehicle speed display meter 84. Then, the distance measuring device 83 is used to detect a detected object in the field of view in front of the vehicle 81 (for example, the front vehicle 86
The distance to the object to be detected in front is displayed in real time on the distance display device 85 to notify the driver of the distance to the object to be detected. Therefore, the driver can reliably drive while keeping a safe inter-vehicle distance without relying on the feeling, and it is possible to prevent an accident due to an excessively short inter-vehicle distance due to an illusion or driving fatigue.

When a conventional distance measuring device using the phase difference correlation method is used, there is a risk of calculating the distance to a distant object to be detected (for example, a vehicle ahead of one vehicle) or the background. In the distance measuring device according to the present invention, the distance to the closest detected object can be reliably calculated,
Not only can it be used as an inter-vehicle distance display system that detects the inter-vehicle distance to a vehicle in front, but it can also be safely used in a rear-end collision prevention system, a visual field assistance system, and the like as described below.

FIG. 22 is a side view showing a vehicle 81 equipped with a rear-end collision prevention system 87 using the distance measuring device 83 according to the present invention. The distance measuring device 83 of the present invention is attached to the back side of the room mirror 82 in the vehicle interior,
The field of view is set above the ground in front of the vehicle 81. Further, a warning device 90 such as a buzzer or an alarm is provided in the driver's seat. The rear-end collision prevention system 87 is configured as shown in FIG. 23, and includes information indicating the inter-vehicle distance to the forward vehicle 86 detected by the distance measuring device 83 and the vehicle in operation detected by the speed sensor 88. The information indicating the speed of the vehicle (vehicle speed) is input to the rear-end collision prevention control unit 89, and the rear-end collision prevention control unit 89 determines the degree of danger based on the inter-vehicle distance to the preceding vehicle 86 and the own vehicle speed. Then, the alarm device 90 is turned on or the brake device 91 is activated to brake the vehicle 81.

FIG. 24 shows a method of judging the degree of danger by the rear-end collision prevention control section 89. The horizontal axis indicates the vehicle speed monitored by the speed sensor 88, and the vertical axis indicates the distance measuring device 83. It is the inter-vehicle distance from the vehicle ahead. In FIG. 24, C ₁ is an allowable area, C ₂ is a low-risk area, and C ₃ is a high-risk area. The boundaries of these areas are defined as a function of the vehicle speed and the inter-vehicle distance. Although the rear-end collision prevention system 87 does not operate in the permissible area C ₁ ,
When the vehicle enters the low-risk area C ₂ , the alarm device 90 first turns on to alert the driver by a buzzer or an alarm, and when the vehicle enters the high-risk area C ₃ , the brake device 91 automatically operates. , The vehicle 81 is forcibly decelerated or suddenly stopped. Therefore, it is possible to prevent a rear-end collision accident due to the driver's carelessness or falling asleep.

FIG. 25 is a diagram showing the operation flow of the rear-end collision prevention system 87. When the distance measuring device 83 calculates the inter-vehicle distance to the preceding vehicle 86 (S101),
The rear-end collision prevention control unit 89 controls the inter-vehicle distance and the speed sensor 88.
The degree of danger is determined from the own vehicle speed monitored by (S102), and it is determined which area in FIG. 24 the vehicle is in. Then, it is judged whether or not it is within the allowable region C ₁ (S
103), if it remains within the permissible area C ₁ , the risk level is continuously monitored (S101 to S103). If it is not within the allowable area C ₁ , it is judged whether it is the low-risk area C ₂ or the high-risk area C ₃ (S104), and if it is the low-risk area C ₂ , the alarm device 90 is activated (S105), Danger area C ₃
If so, the brake device 91 is operated (S106).

In the rear-end collision prevention system 87, the danger area is divided into the warning operation area and the brake operation area. However, the brake operation area is further divided into two areas. May be forcibly decelerated and the vehicle may be stopped suddenly by applying a sudden brake when the brake operating range becomes higher.

FIG. 26 is a plan view showing a vehicle 81 equipped with a visual field assistance system 92 using the distance measuring device 83 according to the present invention. The distance measuring device 83 according to the present invention includes, for example, left and right side mirrors 93 and a bumper 94 on the rear surface of the vehicle.
It is attached to both left and right sides of the vehicle, and the field of view is set to the rear of the vehicle and the rear of the side of the vehicle. The visual field assistance system 92 provides visual field assistance when changing lanes and visual field assistance during back parking. An alarm device 95 (or display device) is provided in the driver's seat. FIG.
As shown in, information indicating the distance to the rear detected object detected by the distance measuring device 83, and information indicating the vehicle speed detected by the speed sensor 88,
Back lamp control signal 97 and turn signal control signal 98
Is input to the visibility assistance control unit 96, and the visibility assistance control unit 96 determines the degree of danger at the time of changing lanes or at the time of back parking. To warn.

FIG. 28 is a diagram showing an operation flow of the visibility assisting system 92 when changing lanes. When changing lanes, the turn signal on the turn side blinks for changing lanes, but when the control signal for the right or left turn signal is transmitted (S107), the visibility assist control unit 96 causes the turn signal control signal 98 to be displayed. Is detected, the distance measuring device 83 and the speed sensor 88 on the moving side are operated (S108), and a signal indicating the distance from the distance measuring device 83 to the following vehicle on the rear side is sent to the visibility assist control unit 96. A signal indicating the vehicle speed is output from the speed sensor 88 to the visibility assist control unit 96.
Output to The visibility assist control unit 96 determines the state of the vehicle 81 from these signals and determines the risk of lane change (the risk is a function of the distance to the detected object and the vehicle speed) (S109). , S110). As a result, when it is determined that the information is dangerous, the alarm device 95 is sounded (or displayed on the display device) to warn (S111). Therefore, when the warning is given, the driver can stand by without changing the lane until the warning is released, thereby preventing an accident due to the lane change.

Further, FIG. 29 shows the visibility assisting system 92.
It is a figure which shows the operation | movement flow at the time of back parking. When backing up, the back lamp blinks, but when this back lamp control signal is transmitted (S112), the visibility assist control unit 96 detects the back lamp control signal 97, and the back distance measuring device 83 Activate the speed sensor 88 (S1
13), the distance measuring device 83 outputs a signal indicating the distance to the object to be detected (parked vehicle, wall, child, etc.) to the visibility assist control unit 96, and the speed sensor 88 indicates the vehicle speed. The signal is output to the visual field assistance control unit 96. The visibility assistance control unit 96 determines the state of the vehicle 81 from these signals and determines the risk of back parking (S114, S115). As a result, when it is determined that the information is dangerous, the alarm device 95 is sounded (or displayed on the display device) to warn (S116). Therefore, when the warning is given, the driver can immediately apply the brakes to stop, and it is possible to prevent a collision accident or a contact accident with an obstacle or a child. In this case, an alarm may be sounded even outside the vehicle to warn a child or the like behind the vehicle.

FIG. 30 is a block diagram showing an automatic follow-up control system 121 using the distance measuring device 83 according to the present invention, for semi-automatic follow-up of the front vehicle 86 while maintaining a substantially constant inter-vehicle distance. It is a device. Also in this case, the distance measuring device 83 of the present invention is attached to the back of the room mirror 82, for example, and the field of view is set forward (see FIG. 20). This distance measuring device 8
The information indicating the inter-vehicle distance to the forward vehicle 86 detected by 3 and the information indicating the own vehicle speed detected by the speed sensor 88 are input to the automatic tracking control unit 122, and the automatic tracking control unit 122 Reference numeral 122 controls the accelerator control device 123 and the brake control device 124 according to the inter-vehicle distance and the vehicle speed.

FIG. 31 shows the judgment made by the automatic tracking control unit 122.
It is a figure which shows the method. Curve E is before semi-automatic driving
It is an ideal curve of the distance between the vehicle and the vehicle 86 and the vehicle speed.
Area F including the curve E₁Is the ideal vehicle-to-vehicle distance
More open or too close to the ideal distance
Is also an ideal area that is allowed. In addition, this ideal region F ₁
Of the area outside the_TwoThe distance between cars is too wide
Area that needs adjustment, F_ThreeIs a short distance L
This is an area that has passed and needs adjustment. Automatic tracking control
The unit 122 outputs the distance measuring device 83 and the speed sensor 88.
From the signal, it is possible to determine which area in Fig. 31 the vehicle is in.
Cut off, ideal area F₁If the vehicle is in
Although it is left to the driver's freedom, the condition of the vehicle 81 is ideal.
Area F₁When it comes off, the access according to the flow chart of Fig. 32.
The control device 123 and the brake control device 124,
Keep track of a safe and optimal vehicle distance.

The control operation of the automatic tracking control system 121 will be described with reference to the flowchart of FIG. The inter-vehicle distance to the front vehicle 86 is calculated by the distance measuring device 83 (S131), and the automatic tracking control unit 122 determines the state of the vehicle 81 from the inter-vehicle distance and the own vehicle speed, and the state of the vehicle 81 and the ideal state. And are compared (S132). As a result, the vehicle 8
When it is determined that the state of 1 is in the ideal area F ₁ , (S
133), the driving is left to the driver without outputting the control signal to the brake control device 124 or the accelerator control device 123, and the comparison between the vehicle state and the ideal state is repeated (S131 to S133). On the other hand, the ideal area F
If it is determined that the _first outer further whether the region F _2, to determine whether the region F ₃ (S134), when it is determined that the area F ₂ of the past away following distance, A control signal is output to the accelerator control device 123, the accelerator opening is increased, and the distance L with the preceding vehicle 86 is reduced (S13).
5). On the other hand, when it is determined that the inter-vehicle distance is in the region C ₃ where the inter-vehicle distance is too close, a control signal is output to the accelerator control device 123 or the brake control device 124 to reduce the accelerator opening or activate the brake. To maintain a sufficient inter-vehicle distance (S136).

FIG. 33 is a block diagram showing a system 125 for supporting driving of a vehicle during traffic congestion. During a traffic jam, it is not possible to predict when the forward vehicle 86 will move forward. Therefore, the driver constantly pays attention to the forward vehicle 86 and immediately after the forward vehicle 86 moves, the vehicle 81
Have to move forward to reduce the distance between cars. For this reason, driving during a traffic jam is tired and irritable. This system is intended to facilitate driving during such traffic congestion. This vehicle 8
1, the distance measuring device 83 of the present invention is attached, for example, behind the room mirror 82, and the field of view is set forward (see FIG. 20). The information indicating the inter-vehicle distance to the front vehicle 86 detected by the distance measuring device 83 and the information indicating the own vehicle speed detected by the speed sensor 88 are input to the front vehicle start detection control unit 126. Therefore, the forward vehicle start detection control unit 126 activates the alarm device 127 (or display device) to notify the driver when the inter-vehicle distance is a certain value or more. That is, as shown in FIG. 34, the front vehicle start detection control unit 12
6 determines from the signal from the speed sensor 88 whether the own vehicle speed is 0 (S141). If the own vehicle speed is 0, it is determined that the vehicle is stopped due to traffic congestion, and the following processing for traffic congestion is performed. To execute. Forward vehicle start detection control unit 126
Monitors the inter-vehicle distance with the forward vehicle 86 calculated by the distance measuring device 83 (S142), and determines whether the inter-vehicle distance is equal to or more than a certain value determined in consideration of an appropriate inter-vehicle distance during traffic congestion. (S143). When the front vehicle 86 moves forward and the inter-vehicle distance deviates from a certain value or more, the alarm device 127 is activated (S144), and the driver is urged to reduce the inter-vehicle distance. By using such a system 125, the driver can be relieved of the burden of constantly paying attention to the movement of the vehicle 86 in front, and for example, the driver can be relieved of tension during traffic jam and can have a space.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a conventional distance measuring device that measures a distance by a phase difference correlation method.

FIG. 2 is a diagram showing an optical configuration of the above.

FIG. 3 is a diagram illustrating a principle for measuring a distance to a detected object in the above distance measuring device.

4 (a), (b), (c), and (d) are diagrams for explaining a method of obtaining a deviation amount in the above distance measuring device.

FIG. 5 is a diagram showing a configuration of a distance measuring device according to an embodiment of the present invention.

FIG. 6 is a memory map showing data contents of the nonvolatile memory of the above.

FIG. 7 is a flowchart illustrating a first method of storing the value of Q · f in the above nonvolatile memory.

FIG. 8 is a flowchart illustrating a second method of storing the value of Q · f in the nonvolatile memory of the above.

FIG. 9 is a flowchart illustrating a third method of storing the value of Q · f in the nonvolatile memory of the above.

FIG. 10 is an explanatory diagram showing a third method of the above.

FIG. 11 is an explanatory diagram showing another method of obtaining the value of Q · f from two pieces of distance data.

FIG. 12 is a diagram showing a configuration of a distance measuring device according to another embodiment of the present invention.

FIG. 13 is a diagram showing a configuration of a distance measuring device according to still another embodiment of the present invention.

FIG. 14A is a memory map showing the data contents of the basic data memory, and FIG. 14B is a memory map showing the data contents of the correction data memory.

FIG. 15 is a flowchart showing a first data storage method in the embodiment.

FIG. 16 is a flowchart showing a process for distance measurement in the same embodiment.

FIG. 17 is a flowchart showing a second data storage method in the above-mentioned embodiment.

FIG. 18 is a flowchart showing a third data storage method in the embodiment.

FIG. 19 is a diagram showing a configuration of a distance measuring device according to still another embodiment of the present invention.

FIG. 20 is a side view showing a vehicle according to the present invention.

FIG. 21 is a partially cutaway schematic view showing the interior of the above vehicle.

FIG. 22 is a side view showing a vehicle equipped with the collision prevention system of the present invention.

FIG. 23 is a block diagram showing the collision prevention system of the above.

FIG. 24 is a diagram for explaining a method of determining the degree of danger in the collision prevention control unit.

FIG. 25 is a flowchart showing a processing procedure in the above collision prevention system.

FIG. 26 is a plan view showing a vehicle equipped with the visual field assistance system of the present invention.

FIG. 27 is a block diagram showing the visibility assistance system of the above.

FIG. 28 is a flowchart showing a processing procedure when changing lanes in the visual field assistance system.

FIG. 29 is a flowchart showing a processing procedure at the time of back parking in the visibility assist system.

FIG. 30 is a block diagram showing an automatic tracking system of the present invention.

FIG. 31 is a diagram showing an ideal region of a vehicle state in the above automatic tracking.

FIG. 32 is a flowchart showing a processing procedure in the above-described automatic tracking system.

FIG. 33 is a block diagram showing a system for facilitating driving during traffic congestion of the present invention.

FIG. 34 is a flowchart showing a processing procedure in the above system.

[Explanation of reference numerals] 11 distance measuring device 12a, 12b lens 13a, 13b photodetector 14 correlation calculation unit 15 non-volatile memory 16 output circuit 17 signal input circuit 18 external switch 19 data input circuit 52 mode selection switch 54 basic data memory 55 Memory for correction data 81 Vehicle 87 Rear-end collision prevention system 92 Visibility assist system 121 Automatic follow-up control system 125 Driving support system for traffic congestion

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location B60T 7/12 B60T 7/12 C F02D 29/02 F02D 29/02 Z G01B 11/00 G01B 11 / 00 B 21/00 21/00 A

Claims (18)

[Claims] 1. A storage unit for storing positional relationship data between constituent members, and a calculation unit for calculating the measured value using the positional relationship data, and measurement using the positional relationship between the constituent members. A measuring device for calculating a value, comprising a resetting device for resetting the positional relationship data stored in the storage device. 2. The measuring device according to claim 1, further comprising a mode setting means for setting a data storage mode, wherein the storage of the positional relationship data in the storage means is performed in the data storage mode. Characteristic measuring device. 3. The measuring device according to claim 1, wherein a known reference value in a reference state is inputted from the outside by a reference value inputting means, and a measurement value by the measuring device in the reference state is inputted. Position data calculation means for calculating positional relationship data between the members from a reference value, and the storage means stores the positional relationship data calculated by the position data calculation means. . 4. The measuring device according to claim 1, further comprising position data input means for inputting the positional relationship data from the outside. 5. The measuring device according to claim 1, for measuring a distance to an object using light, wherein the storage means has at least a distance between a light receiving lens and a light receiving element as positional relationship data. A measuring device characterized by being stored in. 6. The measuring device according to claim 5, wherein the distance to the object is measured by a phase difference correlation method, wherein the distance between the two light receiving lenses and the distance between the light receiving lens and the light receiving element are respectively set. A measuring device which is stored in the storage means as related data. 7. The measuring device according to claim 5, wherein the distance to the object is measured by a phase difference correlation method, and the product of the distance between the two light receiving lenses and the distance between the light receiving lens and the light receiving element is calculated. A measuring device which is stored in the storage means as positional relationship data. 8. A measuring device for calculating a measurement value by utilizing a positional relationship between constituent members, comprising basic data storage means for storing positional relationship data between the members according to a design value as basic data, and the member. Correction data storage means for storing, as correction data, a displacement value from the design value of the positional relationship between the two, and a calculation means for calculating the measured value using the basic data and the correction data. Measuring device. 9. The measuring apparatus according to claim 8, further comprising resetting means for resetting the positional deviation value stored in the correction data storage means. 10. The measuring device according to claim 8 or 9, further comprising a mode setting means for setting a data storage mode, and the misregistration value is stored in the correction data storage means in the data storage mode. A measuring device characterized in that 11. The measurement device according to claim 8, wherein a reference value input means for inputting a known reference value in a reference state from the outside, and a measurement value by the measurement device in the reference state are input. A positional deviation value calculating means for calculating a positional deviation value of the member from a reference value, and the positional deviation value calculated by the positional data calculating means is stored as correction data in the correction data storage means. A measuring device characterized by the above. 12. The measuring device according to claim 8, further comprising a positional deviation value input means for inputting the positional deviation value from the outside. 13. The measuring device according to claim 8 for measuring the distance to an object using light, wherein at least the distance between the light receiving lens and the light receiving element is stored in the storage means as positional relationship data. A measuring device characterized by storing. 14. A safe traveling system comprising the measuring device according to any one of claims 1 to 13, wherein the measuring device is mounted inside or outside a vehicle in order to measure a distance to an object existing in the surroundings. 15. The safe traveling system according to claim 14, wherein a display unit for displaying a distance to the object based on the output of the measuring device is attached near the vehicle speed display meter. Safe driving system. 16. The safe traveling system according to claim 14, wherein at least based on the output of the measuring device,
A safe traveling system characterized by comprising a judging device for judging whether or not the own vehicle is in a dangerous state in which there is a possibility of colliding with an object existing around. 17. The safe traveling system according to claim 14, wherein at least based on the output of the measuring device,
A safe traveling system comprising control means for controlling an accelerator opening degree or a brake. 18. The safe traveling system according to claim 14, wherein at least based on the output of the measuring device,
A safe traveling system comprising a notification means for notifying a driving vehicle that a vehicle ahead has started.