JPH1114746A - Obstruction detecting device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid the wrong detection or difficulty of detection of an obstruction by constituting a radar so as to be capable of detecting an object in a plurality of vertically different detecting areas, respectively. SOLUTION: A radar 1 transmits electromagnetic waves from an electromagnetic wave transmitting means 21 in conformation to a plurality of, for example, three detecting areas AH, AM, AL having vertically different angles in the forward direction of a vehicle V. Each reflected wave is received by a reflected wave receiving means 31 and transmitted to a selecting means 7. Of the received reflected waves, the selecting means 7 selects the reflected wave of the electromagnetic wave transmitted from the transmitting means 21 at the angle closest to the angle parallel to a traveling road surface on the basis of the detection result of a pitch angle detecting means 101 . A judging means 8 judges the presence or absence of an obstruction in the advancing direction of the vehicle V from the selected signal to operate an actuator 9 such as alarm. In this case, the detecting means 101 detects the pitch angle of the vehicle V on the basis of the detection value of stroke sensors 11F, 11R for detecting the strokes of the front and rear suspensions of the vehicle V.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for detecting an obstacle in the traveling direction based on transmission of an electromagnetic wave in the traveling direction of the vehicle and reception of a reflected wave from an object existing in the traveling direction. The present invention relates to an obstacle detection device.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. 8-240660.
As disclosed in the publication, based on a detection result of a radar that transmits an electromagnetic wave such as a laser toward the front in the traveling direction of the vehicle and receives a reflected wave of the transmitted electromagnetic wave from the object ahead in the traveling direction, The system detects an obstacle in front of the vehicle in the direction of travel and issues an alarm based on the detection result, or automatically performs an avoiding motion of the vehicle to avoid collision with an object. Have been.

[0003]

The above-mentioned prior art is intended to detect only obstacles on the path of a vehicle, and emits electromagnetic waves in a direction substantially parallel to the road and forward in the traveling direction. And detects only obstacles in front of the vehicle in the traveling direction estimated based on the steering angle, the yaw rate, and the like.

However, on an actual road on which a vehicle travels, an overpass or a sign is located above the road, or a cat's eye is buried on the road surface. Want to avoid false detection as an obstacle. Therefore, it is conceivable to transmit an electromagnetic wave at a relatively narrow angle up and down and detect an obstacle only in a direction substantially parallel to the road. However, the pitch angle of the vehicle fluctuates due to many factors such as acceleration / deceleration of the vehicle, undulation of the road surface, and the loaded state of the vehicle. Possibility to detect objects that should be considered as obstacles on the road ahead of the vehicle in the direction of travel, or conversely, erroneously detect objects that are not obstacles on the road or on the road surface There is.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is capable of detecting an object in a plurality of different areas in the vertical direction of a vehicle, thereby erroneously detecting an object or detecting an obstacle. It is an object of the present invention to provide an obstacle detection device for a vehicle, which can avoid difficulty in performing the operation.

[0006]

In order to achieve the above-mentioned object, the present invention provides an electromagnetic wave transmitting device which emits an electromagnetic wave in a traveling direction of a vehicle and receives a reflected wave from an object existing in the traveling direction. An obstacle detecting device for a vehicle, comprising: a radar that detects an object of the vehicle; and a determination unit that determines presence or absence of an obstacle in the traveling direction based on a detection result of the radar. The first feature is that the object is configured to be detectable in each of the plurality of detected areas.

[0007] According to such a configuration, the radar can detect an object in a plurality of areas different in the vertical direction, and can detect an object in any one of the areas even when the pitch angle of the vehicle fluctuates. Since it is clear in which area the object has been detected, it is possible to appropriately determine whether or not there is a possibility that the object may become an obstacle.

According to the present invention, in addition to the configuration of the first aspect, the radar further includes an electromagnetic wave transmitting means for transmitting electromagnetic waves in a plurality of directions at different angles in the vertical direction toward the traveling direction of the vehicle. And a reflected wave receiving means for receiving a reflected wave generated when the electromagnetic wave transmitted from the electromagnetic wave transmitting means is reflected by an object existing in the traveling direction, and the present invention is characterized in that: In addition to the configuration of the second feature, a third feature is that the electromagnetic wave transmitting means includes a plurality of transmitters that respectively transmit the electromagnetic waves in a plurality of directions having different angles in the vertical direction.

According to the second or third feature, the function of detecting an object in a plurality of vertically different regions can be achieved by a simple configuration in which electromagnetic waves are transmitted at different angles in the vertical direction. Radar can have it.

According to the present invention, in addition to the configuration of the second or third aspect, a pitch angle detecting means for detecting a pitch angle of the vehicle, and the pitch angle detecting means of the reflected waves received by the reflected wave receiving means. Selecting means for selecting a reflected wave of the electromagnetic wave transmitted from the electromagnetic wave transmitting means at an angle closest to an angle parallel to the traveling road surface based on the detection result of the means and inputting the reflected wave to the determining means. Features.

[0011] According to the fourth feature, even if the pitch angle of the vehicle changes, only the detected object existing in the traveling direction of the vehicle in a direction substantially parallel to the traveling road surface is recognized as an obstacle. It can be set as a target object for determination of whether or not an obstacle is lost, and it is possible to prevent a detected object that is not an obstacle from being erroneously detected as an obstacle.

According to the present invention, in addition to the configuration of the first aspect, the radar transmits electromagnetic waves in a traveling direction of the vehicle, and the electromagnetic waves transmitted from the electromagnetic waves transmitting means transmit the electromagnetic waves in the traveling direction. And a reflected wave receiving means for receiving a reflected wave generated by being reflected by an object existing in a direction in a plurality of directions at different angles in the up-down direction. In addition to the composition of the features of
A sixth feature is that the reflected wave receiving means includes a plurality of receivers for respectively receiving reflected waves in a plurality of directions at different angles in the vertical direction.

According to the fifth or sixth feature, an object is detected in a plurality of regions vertically different from each other by a simple configuration for receiving reflected waves at different angles in the vertical direction. The function can be given to the radar.

According to the present invention, in addition to the configuration of the fifth or sixth aspect, a pitch angle detecting means for detecting a pitch angle of the vehicle, and the pitch angle detecting means of the reflected waves received by the reflected wave receiving means. A seventh feature is that there is provided a selecting means for selecting a reflected wave at an angle closest to an angle parallel to the traveling road surface based on a detection result of the means and inputting the reflected wave to the determining means.

According to the seventh feature, even if the pitch angle of the vehicle fluctuates, only the detected object existing in the traveling direction of the vehicle in a direction substantially parallel to the traveling road surface is recognized as an obstacle. It can be set as a target object for determination of whether or not an obstacle is lost, and it is possible to prevent a detected object that is not an obstacle from being erroneously detected as an obstacle.

Preferably, the pitch angle detecting means is configured to detect a pitch angle based on physical quantities representing strokes of front and rear suspensions of the vehicle, and to detect acceleration / deceleration of the vehicle. Preferably, the deceleration detecting means is mounted on the vehicle, and the pitch angle detecting means is configured to calculate the pitch angle based on the detection result of the acceleration / deceleration detecting means, and further detects the operation state of the brake. At least one of the brake operation state detecting means and the throttle state detecting means for detecting the operation state of the throttle is mounted on the vehicle, and the pitch angle detecting means is
It is preferable that a pitch angle is estimated based on a detection result of at least one of the brake operation state detecting means and the throttle state detecting means.

Furthermore, a laser can be used as the electromagnetic wave.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIGS. 1 to 3 show a first embodiment of the present invention. FIG. 1 is a diagram showing a detection area of a radar mounted on a vehicle, and FIG. 2 is a block diagram showing a configuration of an obstacle detecting device. FIG. 3 is a diagram showing the configuration of the electromagnetic wave transmitting means.

[0020] First, in FIG. 1, the front portion of the vehicle V and the radar 1 ₁ is mounted, the radar 1 _1, in direction of travel of the vehicle V, a plurality example of three with different angles in the vertical detection Objects are detected in the areas A _H, A _M , and A _L , respectively.

Among the detection areas A _H, A _M , and A _L , the upper detection area A _H is, for example, when the vehicle V is traveling in a normal running state, that is, when the vehicle V is running lightly on a flat ground at a substantially constant speed. The forward upward angle of 1.5 degrees and the lower detection area _AL are:
When the vehicle V is in a normal running state, for example, a forward and downward angle of 1.5 degrees, a detection area A in the middle in the vertical direction
_M is an angle including a region parallel to the traveling road surface when the vehicle V is in a normal traveling state.
_H, A _M, the spread angle of the A _L, each detection area A
_H, A _M, is set as the example 2 degrees never leaks detection occurs between A _L mutual, the upper portion of the detection area A _M of the middle slightly overlapping the lower portion of the upper detection area A _H and also the lower portion of the detection area a _M of the middle is slightly overlapped with the upper portion of the lower detection area a _L. by the way,
From the viewpoint of preventing a rear-end collision while the vehicle V is traveling, the object to be detected is the preceding vehicle, and the overlap area of the detection areas A _H and A _M , the overlap area of the detection areas A _M and A _L , and the detection area A _H, a _M, the reflector R in the rear of the preceding vehicle in the overlap region of the a _L is set to fall.

[0022] In FIG. 2, the radar 1 _1, each detection area A _H, A _M, in a plurality of directions having different angles in the vertical direction in correspondence to A _L toward the forward traveling direction of the vehicle V waves It includes an electromagnetic wave transmitting means 2 ₁ for transmitting, and the electromagnetic wave transmitting means 2 ₁ reflected wave receiving means 3 ₁ originating electromagnetic wave receives reflected waves generated is reflected by the object present in the advancing direction from the.

The electromagnetic wave transmitting means 2 _1, for example, as shown in Figure 3, the laser diode 4 _H is a plurality of, for example three transmitter transmits the laser is an electromagnetic wave, 4 _M, 4 _L
When, which comprises a light transmitting lens 5 disposed in front of the laser diode 4 _H, 4 _M, 4 _L, the laser diodes 4 _H, 4 _M, 4 _L, the driving means shown in FIG. 2 6 Are activated sequentially. The optical axis of the transmitting lens 5 is set so as to be substantially parallel to the traveling road surface when the vehicle V is in a normal traveling state, and the laser diode 4 _M is connected to the detection area A via the transmitting lens 5. is disposed on the optical axis of the light transmitting lens 5 so as to outgoing ahead in the traveling direction of the laser corresponding to the _M, the laser diode 4 _H is traveling forward laser corresponding to the detection area a _H through the light transmitting lens 5 The laser diode 4 _L is disposed at a position shifted downward by, for example, 1.5 degrees with respect to the optical axis of the light transmitting lens 5 so as to transmit light.
Is arranged at a position shifted upward by e.g. 1.5 degrees to the optical axis of the light-sending lens 5 so as to transmit the laser corresponding to the detection area A _L through the light transmitting lens 5 ahead in the traveling direction.

The laser diodes 4 _H , 4 _M , 4 _L
When scanning the laser beam emitted from the laser in the horizontal direction, a scanning mirror or the like is provided between each of the laser diodes 4 _H , 4 _M , 4 _L and the light transmitting lens 5, or forward of the light transmitting lens 5. Should be arranged.

The reflected wave receiving means 3 _1, each detection area A _H,
A _M, is intended for receiving a reflected wave of each A _L, the reception result of the reflected wave receiving means 3 ₁ are input to the selection unit 7.

The signal selected by the selection means 7 is determined by the judgment means 8
The determination means 8 determines whether there is an obstacle in front of the vehicle V in the traveling direction. Thus, an actuator 9 such as an alarm or an automatic brake is operated based on the result of the judgment by the judging means 8.

[0027] The selection means 7, the electromagnetic wave transmitting means 2 ₁ closest angle an angle parallel to the road surface based on the pitch angle detecting means 10 ₁ of the detection result of the received reflected wave by the reflection wave receiving means 3 ₁ The selection means 7 selects the reflected wave of the electromagnetic wave transmitted from the electromagnetic wave transmission means 2 _1.
Each laser diode 4 _H, 4 _M, 4 _L pitch angle detecting means 10 ₁ of the detection result together with a signal indicating the transmission timing is input from the driving means 6 is inputted in.

The pitch angle detecting means 10 _1, a stroke sensor for detecting the stroke of the front suspension of the vehicle V detected value of the stroke sensor 11 _F for detecting a stroke of (not shown), and a rear suspension (not shown) configured to detect a pitch angle α of the vehicle based on the detected value of 11 _R.

[0029] Here, strokes S _F of the front suspension stroke S _R of the rear suspension, the wheel base of the vehicle V when is L, the pitch angle detection means 10 _1, the pitch angle according to the following calculation formula α is calculated.

[0030] _{α = (S F -S R)} / L indicates that such pitch angle detecting means 10 _one pitch angle alpha obtained in the vehicle V is at the front facing up for example one degree or more when it is, the selection unit 7 selects the reflected wave corresponding to the closest angular i.e. detection area a _L parallel angle to the traveling road surface of the received reflected wave by the reflected wave receiving means 3 _1, also the The pitch angle α is, for example, 1
When it is an indication that the vehicle V is in front facing down over time, the selection means 7, the reflected wave receiving means 3 ₁
Select the reflected wave corresponding to the closest angular i.e. detection area A _H to an angle parallel to the road surface of the received reflected waves in, further the pitch angle α lies in front facing downward for example, less than 1 degree or, for example, or in front facing up less than 1 degree, when further a horizontal state, the selection means 7, the reflected wave corresponding to the detection area a _M of the reflected wave received by the reflected wave receiving means 3 ₁ Will be selected.

[0031] Next, to explain the action of this first embodiment, the radar 1 _1, a plurality of regions A _H differ in the vertical direction, A _M, by an object with A _L can be detected, respectively, of the vehicle V Each area A _H ,
An object can be detected in either A _M or A _L , and since it is clear where the object is detected in each of the areas A _H , A _M and A _L , the object exists in the traveling direction of the vehicle V. It is possible to appropriately determine whether there is a possibility of becoming an obstacle.

Moreover, a plurality of areas A _H ,
In order to be able to detect an object with A _M and A _L , the radar 1 ₁
Is provided with a plurality of, for example, three laser diodes 4 _H , 4 _M , and 4 _L that respectively transmit electromagnetic waves in a plurality of directions having different angles in the vertical direction. You can have areas a _H, a _M, the function of detecting the object, respectively a _L in the radar 1 _1.

[0033] is further detected by the pitch angle detection means 10 ₁ is the pitch angle of the vehicle V, based on the detection result of the said pitch angle detecting means 10 _1, road surface among the reflected waves received by the reflected wave receiving means 3 ₁ originating reflected waves are selected in the selection means 7, so that the judgment unit 8 on the basis of the selected reflected wave makes a determination of the obstacle from the electromagnetic wave transmitting means 2 ₁ closest angle parallel angle Therefore, even if the pitch angle of the vehicle V fluctuates, only the detection object existing in the direction of travel of the vehicle V in a direction substantially parallel to the traveling road surface is determined by the determination means 8 as a target for determining whether or not to recognize as an obstacle. , It is possible to prevent an obstacle from being lost due to a change in the pitch angle of the vehicle V, and from erroneously detecting a detected object that is not an obstacle as an obstacle.

By the way, the pitch angle detection means 10 _1, the front of the vehicle V, as long as it detects a pitch angle based on an index representing the stroke at the rear suspension stroke sensor 11 _F, 11 detection values of _R Instead, the rotation angle of the suspension arm in the front and rear suspensions, the rotation angle of the stabilizer, and the like may be used.

As a second embodiment of the present invention, as shown in FIG. 4, an acceleration / deceleration detecting means 12 for detecting the acceleration / deceleration of the vehicle V is mounted on the vehicle V. 1
And acceleration and deceleration obtained in 2, the height of the center of gravity of the vehicle V, the spring constant of each suspension, the pitch angle detection means 10 ₂ may be configured to detect a pitch angle and a wheelbase.

As a third embodiment of the present invention, as shown in FIG. 5, a brake operating state detecting means 13 for detecting a brake operating state and a throttle operating state detecting means 14 for detecting a throttle operating state are mounted on a vehicle V. And
The detection results of these detection means 13 and 14 may be constituted pitch angle detecting means 10 ₃ so as to detect the pitch angle, whereas further one of the brake operation state detecting means 13 and the throttle operating condition detecting means 14 the detected value is the pitch angle detection means 10 ₃ may be configured to detect the pitch angle using.

FIGS. 6 and 7 show a fourth embodiment of the present invention. FIG. 6 is a block diagram showing a configuration of an obstacle detecting device, and FIG. 7 is a diagram showing a configuration of a reflected wave receiving means. .

The radar 1 _2, the electromagnetic wave transmitting means 2 for transmitting a laser as the electromagnetic toward the forward traveling direction of the vehicle V
_2, the electromagnetic wave transmitting means 2 ₂ reflected wave receiving means transmitting electromagnetic wave is received by a plurality of directions the reflected wave was vertically different angles occurring is reflected by the object present in the advancing direction from the 3 ₂ The reflected wave received by the reflected wave receiving means 3 ₂ is selected by the selecting means 7 based on the detection result of the pitch angle detecting means 10 ₁ , based on the detection result of the pitch angle detecting means 10 _1. .

The reflected wave receiving means 3 _2, for example, as shown in Figure 7, the photodiodes 15 _H, 1 is a plurality of, for example three receiver for signals generated by receiving reflected laser wave
5 _M , 15 _L , and each photodiode 15 _H , 15 _M ,
And a light receiving lens 16 disposed in front of the vehicle 15 _L. The optical axis of the light receiving lens 16 is set so as to be substantially parallel to the traveling road surface when the vehicle V is in a normal traveling state. cage, photodiode 15 _M is disposed on the optical axis of the light receiving lens 16 to receive the reflected laser wave corresponding to the detection area a _M through the light receiving lens 16 (see FIG. 1), the photodiode 15 _H is In order to receive a laser reflected wave corresponding to the detection area A _H (see FIG. 1) via the light receiving lens 16, for example, 1.
The photodiode 15 _L is disposed at a position shifted downward by 5 degrees. The photodiode 15 _L receives, for example, 1.1 with respect to the optical axis of the light receiving lens 16 in order to receive a laser reflected wave corresponding to the detection area A _L via the light receiving lens 16. It is arranged at a position shifted upward by 5 degrees. The electromagnetic wave transmitting means 2 _2, each area A _H,
It is configured to emit a laser as an electromagnetic wave over all of A _M and A _L.

According to the fourth embodiment, the same effects as those of the above embodiments can be obtained.

Although the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

For example, a millimeter wave can be used instead of a laser as an electromagnetic wave. The present invention can also be applied to a device that emits electromagnetic waves toward the rear side in the traveling direction of a vehicle to detect an object behind the traveling direction of the vehicle.

[0043]

As described above, according to each of the first to eleventh aspects of the present invention, the radar can detect objects in a plurality of areas different in the vertical direction, so that the radar can change even when the pitch angle of the vehicle fluctuates. It is possible to detect the object in any area and it is clear in which area the object was detected, so it is appropriate to determine whether there is a possibility that it is present in the direction of travel of the vehicle and may become an obstacle Can be performed.

According to the second or third aspect of the present invention, the electromagnetic wave is transmitted at different angles in the vertical direction, and according to the fifth or sixth aspect of the present invention, the electromagnetic wave is transmitted in the vertical direction. With a simple configuration in which reflected waves at different angles are received, the radar can have a function of detecting an object in a plurality of areas different in the vertical direction.

According to the present invention, even if the pitch angle of the vehicle fluctuates, only the detection object existing in the traveling direction of the vehicle in a direction substantially parallel to the traveling road surface is regarded as an obstacle. It can be set as a target object for determining whether or not to recognize, and it is possible to prevent an obstacle from being lost or a detected object that is not an obstacle from being erroneously detected as an obstacle.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a detection area of a radar mounted on a vehicle in a first embodiment.

FIG. 2 is a block diagram illustrating a configuration of an obstacle detection device.

FIG. 3 is a diagram showing a configuration of an electromagnetic wave transmitting means.

FIG. 4 is a block diagram illustrating a configuration of an obstacle detection device according to a second embodiment.

FIG. 5 is a block diagram illustrating a configuration of an obstacle detection device according to a third embodiment.

FIG. 6 is a block diagram illustrating a configuration of an obstacle detection device according to a fourth embodiment.

FIG. 7 is a diagram illustrating a configuration of a reflected wave receiving unit.

[Explanation of symbols]

1 _1, 1 ₂ ... radar 2 _{1, 2} 2 ... electromagnetic wave transmission means 3 _1, 3 ₂ ... reflected wave receiving means 4 _H, 4 _L, 4 laser diode as _M ... transmitter 7 ··· Selection means 8 ··· Judgment means 10 ₁ , 10 ₂ , 10 ₃ ··· Pitch angle detection means 12 ··· Acceleration / deceleration detection means 13 ··· Brake operation state detection means 14 ··· Throttle State detection means 15 _H , 15 _L , 15 _M ... Photodiodes as receivers A _H , A _L , A _M ... Detection area V.

Claims (11)

[Claims] 1. A radar to detect an object of the traveling direction by receiving the reflected waves from the electromagnetic wave originating and objects present in the traveling direction of toward the traveling direction of the vehicle _{(V) (1 1, 1} 2) When, in the obstacle detecting apparatus for a vehicle and a determination means (8) for determining the presence or absence of the radar (1 _1, 1 ₂₎ the traveling direction of the obstacle based on the detection result of,
The radar (1 ₁ , 1 ₂ ) is configured to be capable of detecting an object in a plurality of detection areas (A _H , A _M , A _L ) having different areas in the vertical direction, respectively. Obstacle detection device. 2. The electromagnetic wave transmitting means (2 ₁ ), wherein the radar (1 ₁ ) emits electromagnetic waves toward a traveling direction of a vehicle (V) in a plurality of directions having different angles in a vertical direction; 2. A reflected wave receiving means (3 ₁ ) for receiving a reflected wave generated when an electromagnetic wave transmitted from a transmitting means (2 ₁ ) is reflected by an object existing in the traveling direction. Obstacle detection device for vehicles. 3. The electromagnetic wave transmitting means (2 ₁ ) comprises a plurality of transmitters (4 _H , 4 _M , 4 _L ) for transmitting electromagnetic waves in a plurality of directions having different angles in the vertical direction. The obstacle detecting device for a vehicle according to claim 2, wherein 4. A pitch angle detecting means (10 ₁ , 10 ₂ , 10 ₃ ) for detecting a pitch angle of a vehicle (V), and said pitch angle among reflected waves received by said reflected wave receiving means (3 ₁ ). Based on the detection result of the detecting means (10 ₁ to 10 ₃ ), the reflected wave of the electromagnetic wave transmitted from the electromagnetic wave transmitting means (2 ₁ ) is selected at an angle closest to the angle parallel to the traveling road surface, and the determination means ( The vehicle obstacle detection device according to claim 2 or 3, further comprising a selection means (7) for inputting the information to (8). 5. An electromagnetic wave transmitting means (2 ₂ ) for transmitting an electromagnetic wave in a traveling direction of a vehicle (V) by said radar (1 ₂ ), and an electromagnetic wave transmitted from said electromagnetic wave transmitting means (2 ₂ ). according to claim 1, characterized in that it comprises a reflected wave receiving means (3 ₂₎ for receiving a reflected wave caused by being reflected by the object present in the traveling direction in the vertical direction in the plurality having different angular directions Obstacle detection device for vehicles. 6. The reflected wave receiving means (3)_Two) But upper and lower
Receive reflected waves in multiple directions with different angles
Multiple receivers (15_H, 15_M, 15 _L)
An obstacle detecting device for a vehicle according to claim 5, wherein
Place. 7. A pitch angle detection for detecting a pitch angle of a vehicle.
Means (10₁, 10 _Two, 10_Three) And the reflected wave receiver
Step (3_Two), The pitch angle detecting means of the reflected waves received in
Step (10₁-10_Three) Based on the detection result
The reflected wave at the angle closest to the parallel angle is selected and the judgment is made.
Means (7) for inputting to means (8).
An obstacle detecting device for a vehicle according to claim 5 or 6, wherein:
Place. 8. The apparatus according to claim 4, wherein said pitch angle detecting means (10 ₁ ) is configured to detect a pitch angle based on an index representing strokes of front and rear suspensions of the vehicle. An obstacle detecting device for a vehicle according to the above. 9. An acceleration / deceleration detecting means (12) for detecting acceleration / deceleration of the vehicle is mounted on the vehicle (V), and the pitch angle detecting means (10 ₂ ) is provided on the vehicle (V). (1
The obstacle detection device for a vehicle according to claim 4 or 7, wherein the device is configured to calculate a pitch angle based on the detection result of (2). 10. A brake for detecting an operation state of a brake.
Key operating state detecting means (13) and throttle
A small amount of throttle state detection means (14) for detecting the moving state.
At least one is mounted on the vehicle (V), and the pitch angle detection is performed.
Delivery means (10 _Three) Is the brake operating state detecting means
(13) and a small number of throttle state detecting means (14).
To estimate the pitch angle based on at least one detection result
The vehicle according to claim 4 or 7, wherein the vehicle is configured.
Both obstacle detection devices. 11. The vehicle obstacle detecting device according to claim 1, wherein the electromagnetic wave is a laser.