JPS59126277A - Apparatus for detecting shoulder of road - Google Patents
Apparatus for detecting shoulder of roadInfo
- Publication number
- JPS59126277A JPS59126277A JP58000918A JP91883A JPS59126277A JP S59126277 A JPS59126277 A JP S59126277A JP 58000918 A JP58000918 A JP 58000918A JP 91883 A JP91883 A JP 91883A JP S59126277 A JPS59126277 A JP S59126277A
- Authority
- JP
- Japan
- Prior art keywords
- light
- road surface
- road
- light receiving
- emitting element
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Vehicle Body Suspensions (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、路面を光学的に検知して路肩での脱輪、歩道
への乗り上げ等を未然に防止する路肩検知装置に関する
。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a road shoulder detection device that optically detects the road surface to prevent a bicycle from running off the road shoulder, running onto a sidewalk, etc.
自動車が道路の端（路肩）に近づき過ぎると溝部へ脱輪
したり、歩道に乗り上げてしまうことがある。これを防
止するためにフォトダイオードアレイ、ＣＯＤ等を用い
て道路の凹凸をバクーンとして認識する方法が提案され
ている。ところが、この方法では凹凸を認識するのに各
素子間の信号レベルの変化が必要であるため、広い範囲
を監視する必要がある。第１図はこの説明図で、１は自
動車、２はそのタイヤ、３は路面、４は路肩の凹部、５
は検出器、６は監視領域である。しかも、この方法では
監視領域６の全てが図示のように凹部４に及ぶと受光エ
ネルギの分布が第２図のようになだらかな変化になって
しまうため、凹部４が路面３より低下した部位で我る、
との情報が得られなくなる欠点がある。つまり路肩が検
出されるためには路面３と凹部４（または歩道のような
凸部）との境界部分が領域６内に入っている必要がある
。If a car gets too close to the edge of the road (road shoulder), it may run off the road into a ditch or end up on the sidewalk. In order to prevent this, a method has been proposed that uses a photodiode array, COD, etc. to recognize road irregularities as bumps. However, this method requires changes in the signal level between each element to recognize irregularities, so it is necessary to monitor a wide range. Figure 1 is an explanatory diagram of this, where 1 is a car, 2 is its tire, 3 is a road surface, 4 is a depression in the road shoulder, and 5
is a detector, and 6 is a monitoring area. Moreover, in this method, if the entire monitoring area 6 reaches the recess 4 as shown in the figure, the distribution of received light energy will change gradually as shown in FIG. I am
The disadvantage is that it is difficult to obtain information about In other words, in order to detect the road shoulder, the boundary between the road surface 3 and the concave portion 4 (or a convex portion such as a sidewalk) must be within the region 6.
本発明は、僅か１対の発光素子と受光素子を用いるだけ
で効果的に路面の凹凸を確実に検出しようとするもので
ある。The present invention attempts to effectively and reliably detect road surface irregularities using just one pair of a light emitting element and a light receiving element.
本発明は、自動車の側部に近い路面を指向するように発
光素子と受光素子を配設し、且つ画素子の照射および受
光領域を概ねタイヤの下端と一致する面で交叉するよう
に設定し、そして該交叉領域からの反射光レベルが一定
値以下に低下することで路面の凹凸を検出するようにし
てなることを特徴とするが、以下図示の実施例を参照し
ながらこれを詳細に説明する。In the present invention, a light emitting element and a light receiving element are arranged so as to be oriented toward the road surface near the side of the vehicle, and the irradiation and light receiving area of the pixel element is set to intersect with a plane that roughly coincides with the lower end of the tire. , and the unevenness of the road surface is detected when the level of reflected light from the intersection area decreases below a certain value, which will be described in detail below with reference to the illustrated embodiment. do.
第３図および第４図は本発明の一実施例を示す図で、第
３図は光学系の説明図である。第３図Ｆａｌにおいて１
０は検出器で、これは同図（ｂ）に示すように発光素子
１１と受光素子１２を備える。これらの素子の光軸は自
動車１の側部下面を指向し、且つ両光軸がタイヤ２の下
端に一致する面、従って平均的な路面３で交叉するよう
に設定されている。発光素子１１は放射エネルギの半値
幅が狭いビーム状の光を発生する。受光素子１２の受光
領域も受光感度の半値幅が狭くなるように設定する。3 and 4 are diagrams showing one embodiment of the present invention, and FIG. 3 is an explanatory diagram of the optical system. 1 in Figure 3 Fal
0 is a detector, which includes a light emitting element 11 and a light receiving element 12 as shown in FIG. The optical axes of these elements are directed toward the lower side surface of the automobile 1, and are set so that the two optical axes intersect at a plane that coincides with the lower end of the tire 2, ie, at an average road surface 3. The light emitting element 11 generates beam-shaped light having a narrow half width of radiant energy. The light receiving area of the light receiving element 12 is also set so that the half width of the light receiving sensitivity is narrow.
１３は発光素子１１の照射領域と受光素子１２の受光領
域が交叉する領域で、ここが本発明の検出領域となる。Reference numeral 13 denotes a region where the irradiation region of the light emitting element 11 and the light receiving region of the light receiving element 12 intersect, and this becomes the detection region of the present invention.
つまり、路面３がこの交叉領域１３に入っていれば発光
素子１１からの光の反射光が受光素子１２で受光される
。しかし、自動車１が路肩に寄り過ぎて第３図の状態に
なると、凹部４のために受光素子１２で反射光が受光で
きなくなる。凹部４の代りにその部分が凸部１４ （破
線で示す）であっても、その表面が領域１３の外部にあ
れば同しく反射光は受光されない。That is, if the road surface 3 is within this intersection area 13, the light reflected from the light emitting element 11 is received by the light receiving element 12. However, if the automobile 1 approaches the road shoulder too much and enters the state shown in FIG. 3, the light receiving element 12 cannot receive the reflected light due to the recess 4. Even if the portion is a convex portion 14 (indicated by a broken line) instead of the concave portion 4, if the surface thereof is outside the region 13, reflected light will not be received.
第４図は上述した反射光の有無、厳密には反射光レベル
の高低から路面の凹凸を検出する装置のブロック図であ
る。同図において、２０は発光素子１１を駆動するドラ
イブ回路、２１は照射光に周囲光との差をつける変調回
路である。また２２は受光素子１２の出力を増幅する増
幅回路、２３はその出力を検波する検波回路であり、２
２を狭帯域増幅器とするか、２３を同期検波器とするこ
とで変調光に対するＳ／Ｎを向上させる。２４は検波回
路２３の出力を基準レベルと比較する比較器で、受光素
子１２への反射光が一定レベル以下に低下したときに路
肩検出信号、より一般的には凹凸検出信号を出力する。FIG. 4 is a block diagram of a device that detects unevenness on a road surface based on the presence or absence of the above-mentioned reflected light, or more precisely, the level of the reflected light level. In the figure, 20 is a drive circuit that drives the light emitting element 11, and 21 is a modulation circuit that makes the irradiation light different from the surrounding light. Further, 22 is an amplifier circuit that amplifies the output of the light receiving element 12, 23 is a detection circuit that detects the output, and 2
By using 2 as a narrowband amplifier or 23 as a synchronous detector, the S/N for modulated light can be improved. A comparator 24 compares the output of the detection circuit 23 with a reference level, and outputs a road shoulder detection signal, more generally an unevenness detection signal, when the reflected light to the light receiving element 12 falls below a certain level.
２５はこの検出信号を受けて警報表示（音も含む）する
表示器である。Reference numeral 25 denotes a display device that receives this detection signal and displays an alarm (including sound).
以上述べたように本発明によれば、簡単な構成で確実に
路面の凹凸を検知できるので、路肩での脱輪等を未然に
防止することができる。尚、上記の凹凸が道路の中央部
にあっても検出できることば明らかである。As described above, according to the present invention, it is possible to reliably detect irregularities on the road surface with a simple configuration, and therefore it is possible to prevent the vehicle from coming off the wheel on the shoulder of the road. It is clear that the above-mentioned unevenness can be detected even if it is located in the center of the road.
第１図および第２図は従来の路肩検出装置の説明図およ
び特性図、第３図および第４図は本発明の一実施例を示
す光学系の構成図および処理系のブロック図である。
図中、１は自動車、２はタイヤ、３は路面、４は凹部、
１１は発光素子、１２は受光素子、１３は交叉領域、１
４は凸部である。
出 願 人 富士通テン株式会社
代理人弁理士 青 柳 稔1 and 2 are explanatory diagrams and characteristic diagrams of a conventional road shoulder detection device, and FIGS. 3 and 4 are a configuration diagram of an optical system and a block diagram of a processing system showing an embodiment of the present invention. In the figure, 1 is a car, 2 is a tire, 3 is a road surface, 4 is a recess,
11 is a light emitting element, 12 is a light receiving element, 13 is an intersection area, 1
4 is a convex portion. Applicant: Minoru Aoyagi, Patent Attorney, Fujitsu Ten Limited
Claims (1)
光素子を配設し、且つ画素子の照射および受光領域を概
ねタイヤの下端と一致する面で交叉するように設定し、
そして該交叉領域からの反射光レベルが一定値以下に低
下することで路面の凹凸を検出するようにしてなること
を特徴とする路肩検知装置。A light-emitting element and a light-receiving element are arranged so as to be oriented toward a road surface near the side of the vehicle, and the irradiation and light-receiving areas of the pixel elements are set to intersect at a plane that generally coincides with the lower end of the tire,
The road shoulder detection device is characterized in that the unevenness of the road surface is detected when the level of reflected light from the intersection area falls below a certain value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58000918A JPS59126277A (en) | 1983-01-07 | 1983-01-07 | Apparatus for detecting shoulder of road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58000918A JPS59126277A (en) | 1983-01-07 | 1983-01-07 | Apparatus for detecting shoulder of road |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59126277A true JPS59126277A (en) | 1984-07-20 |
Family
ID=11487059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58000918A Pending JPS59126277A (en) | 1983-01-07 | 1983-01-07 | Apparatus for detecting shoulder of road |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59126277A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6263315A (en) * | 1985-09-12 | 1987-03-20 | Casio Comput Co Ltd | Moving robot |
| FR2622300A1 (en) * | 1987-10-23 | 1989-04-28 | Galland Jean Claude | Method of improving the exploration of the dead zone in the rear vision of the driver of a vehicle |
| JP2009286222A (en) * | 2008-05-28 | 2009-12-10 | Toyota Motor Corp | Accident predicting device |
-
1983
- 1983-01-07 JP JP58000918A patent/JPS59126277A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6263315A (en) * | 1985-09-12 | 1987-03-20 | Casio Comput Co Ltd | Moving robot |
| FR2622300A1 (en) * | 1987-10-23 | 1989-04-28 | Galland Jean Claude | Method of improving the exploration of the dead zone in the rear vision of the driver of a vehicle |
| JP2009286222A (en) * | 2008-05-28 | 2009-12-10 | Toyota Motor Corp | Accident predicting device |
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