JPS60226341A - Collision preventer - Google Patents

Abstract

PURPOSE:To aim at such collision prevention as being highly accurate and excellent in reliability, by including three elements comprising a speed of a mobile body itself, its relative speed with an objective body and a distance between both bodies, while measuring the distance in an optical manner. CONSTITUTION:A collision preventer 10 is attached to a mobile body 11 of an automobile or the like, and provided with an optical lens system 13 where lenses required for a lens cylinder 14 receiving incident light from an objective body 12. A CCD sensor 15 or a light receiving part is attached to a rear end of this lens cylinder 14, receiving incident light from the body 12. An analog signal out of the sensor 15 is inputted into a microcomputer 16 after being converted into a digital signal at an analog-to-digital converter 17. A speedometer 18 attached to the body 11 inputs the digital signal corresponding to a velocity Vp of the body 11 into the computer 16. And, the computer 16 measures a car-to-car distance from each input for comparison, transmitting a signal from output 19 to avoid colliding between cars, whereby it emits a buzzer.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a collision prevention device, and more particularly, when a moving object such as a car is exposed to the risk of collision, the device emits a warning sound, brakes, turns, etc. This invention relates to a collision prevention device that can prevent collisions.

Conventional collision prevention devices mainly attempt to maintain a constant distance between the moving object and the target object in relation to the speed of the moving object itself, but in this case, when the target object suddenly There is a risk of collision if the speed changes.

In addition, if you try to maintain the required distance between the moving object and the target object only by the relative speed, there is a risk of collision when both objects are moving at high speed even if the relative speed is small, and conversely, when they are moving at low speed, there is a risk of collision. There are problems such as frequent warnings even though there is no.

The present invention has been made in view of the above, and its purpose is to take into consideration the speed of the moving object itself, the relative speed to the target object, and the distance to the target object, and to optically measure By incorporating a focusing mechanism, it is possible to easily achieve a narrow ranging angle of view, which is difficult when using conventional radio waves, by selecting the focal length of the optical system, and which is difficult when using ultrasound. Our objective is to provide a highly reliable collision prevention device that can easily measure distances over long distances, has higher accuracy, is constructed at a lower cost, and is characterized by being attached to a moving object and symmetrical. An optical lens system that receives light from an object, a light receiving section that receives the light that enters the optical lens system, and a signal from the light receiving section that determines Tn.
Calculate the distance Sn between the moving object and the target object at time Tn-] and the distance 5n-1 at time Tn,
! : By Sn, the relative distance V between the moving object and the target object is set as VM = 5n-1-Sn /Tn-1-Tn, and Sn obtained by the distance measurement and Sn obtained by the distance measurement. Sn value, V, value, and the pre-input minimum object distance Sk necessary to avoid a collision between the moving object and the target object at the speed Vp of the moving object actually measured with an appropriate speed meter, etc. and an arithmetic control unit that issues a signal to operate an alarm buzzer or a control device for braking or turning a moving object, etc. when the compared Sn and Sk are Sn<Sk.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an explanatory diagram schematically showing a collision prevention device 10 according to the present invention.

The collision prevention device 10 is attached to a moving object 11 such as a car, and measures the distance between the moving object 12 and another moving object 12 to avoid a collision between the two, as will be described later.

Reference numeral 13 denotes an optical lens system, in which necessary lenses are incorporated into a lens barrel 14, and the light from the target object 12 is input thereto.

15 is a light receiving section CC attached to the rear end of the lens barrel 14;
It is a D sensor and receives light that enters the lens barrel 14 from the target object 12.

I6 is a microcomputer as an arithmetic control unit, and C
An analog output signal from the CD sensor 15 is converted into a digital signal by an A/D converter 17 and input.

A speed meter 18 is attached to the moving object, and inputs a digital signal corresponding to the speed Vp of the moving object 11 to the microcomputer 16.

19 is for braking/braking the sounding body such as a buzzer or the moving object 11;
This is the output part to the rotating control device.

The present invention is configured as described above.

First, the imaging plane position of the optical image of the target object 12 projected by the optical lens system 13 is a function of the distance S between the moving object 11 and the target object 12 and the focal length of the optical lens diagram system 13. Since the optical lens system 13 is fixed, the relationship is uniquely determined. CCD sensor 15
The light from the target object 12 received by the A/D converter 1
Microcomputer 1 as a digital signal via 7
6, the microcomputer 16 calculates the distance S between the moving object 11 and the target object 12 based on the relationship with the image forming plane position, etc., as will be described in detail later.

The microcomputer 16 calculates the distance S at every minute time interval. Also, in the microcomputer 16,
If the nth measurement distance is Sn, VH=Snl-Sn
/Tn-1-Tn, moving object 11 and target object 12
Calculate the relative velocity V.

The velocity Vp of the moving object 11 itself is measured by a velocity meter 18 and input to the microcomputer 16.

When the speed of the moving object 11 is Vp and the relative speed between the moving object 11 and the target object 12 is VM, the value of the minimum inter-object distance Sk required to avoid a collision between the two is determined empirically or This can be determined experimentally, and Vp and V
If the function defined by M is '(Vp+VM), then the value of Sk≧f(Vp, VM) has been input into the microcomputer 16 in advance as a table or an arithmetic expression, and the microcomputer 16 uses the distance measurement method described above. The Sn value obtained by distance measurement, and the Sn value obtained by distance measurement, V
The M value and Sk corresponding to the Vp value input from the speed meter 18 are compared, and if Sn < Sk, a signal is sent from the output section 19 to emit a buzzer or to detect the moving object 1.
A collision can be avoided by operating a control device that controls and turns the vehicle.

In the above embodiment, the optical lens system 13 is directed forward in the direction of movement of the moving object 11, but it is also possible to prevent collisions from behind or from the side by facing in the opposite direction or in the vertical direction. be.

Next, a method for calculating the distance S using the CCD sensor 15 and the microcomputer 16 will be described in detail (Honeywell patent).

FIG. 2C specifically shows the COD sensor 15.

The CCD sensor 15 includes a plurality of pairs of light receiving sensors A and B arranged at regular intervals. Reference numeral 20 denotes lenslets arranged corresponding to each pair of light receiving sensors A and B.

FIG. 3 shows the relationship between the optical lens system 13 and the light receiving section 15. Now, assuming that the target object 12 is at the 0'' position, which is the front focus position, which is before the 0 position, which is the Jaspin position, with respect to the optical lens system 13, the light flux from the ^n'' part of O゛ is transmitted to the light receiving sensor ^ From Bn', light enters Bn. ^n
Since ゛ and Bn' are different parts on the target object 12, they generally have different brightnesses. Therefore, the amounts of light fluxes incident on the light receiving sensors An and Bn have different values. In this way, when the target object 12 is not within the Jaspin distance, the paired CCDCCD sensor 15B
The amount of luminous flux incident on n has different values for each pair.

On the other hand, when the target object 12 is at the Jaspin position O, the diffusely reflected light from the same part of ^Bn is An, t
Since the light is incident on ln, the same amount of luminous flux is incident on ^n and Bn.

In this way, when 0 and F become optically conjugate surfaces in the optical lens system 13, the paired light receiving sensors ^n,
For any pair of Bn, the amount of luminous flux incident on each pair is equal.

In FIG. 4, +a+ indicates that the target object 12 is the optical lens system 1.
For 3, the back pin state, (bl is the Ja pin state, (C
1 is a ray optical path diagram of the barycentric light of the light flux cone incident on the front principal point surface P of the lenslet when the lenslet is in the front focus state.

As is clear from the figure, between the rear focus and the front focus, the light flux from the target object 12 passes through the upper half (solid line) and the lower half (dashed line) of the optical lens system 13, with the optical axis being different. The position of incidence on P is switched. The i-th lenslet from the end; the light-receiving sensor behind Li; the lenslet iLJ in front of the light-receiving sensor iBj, which receives the same amount of light flux as the amount of light incident on ^i, is You can tell whether it is a front pin or a rear pin by which side it is on. When the position of Li is taken as a reference, if the position of Lj is shifted by a geometric quantity with direction; δ, then
δ is the directional distance between the planes F and P on which the target object 12 is imaged by the optical lens system 13; it is proportional to ε (
Figure 5).

FIG. 6 is a plot of each analog output voltage of the CCD line sensor that received light from the target object 12. Analog output voltage for each light receiving sensor of CCD is pro-noded in the order of arrangement, and this is A.

It is divided into 8 groups and the plots of the groups are connected by curves. δ in the figure corresponds to the above-mentioned δ. To calculate δ, do the following: That is, the A, 8th group curve is an=f (n
), bn=f (n-δ), when the 8th group curve is moved in parallel to the right (positive) direction of the horizontal axis by an integer i, bn=f(
n-i-δ). f(n).

The average value of f (n-4-δ) is Cn, its differential coefficient is α,
Letting the difference be β, if i + δ≧0 then Σα・β≧0゜i+
If δ is 0, the relationship Σα・β<0 holds true.

That is, the function g(i+δ)-Σα·β becomes a monotonically increasing function for the amount of deviation i+δ of bn+i in the right (positive) direction of the horizontal axis with respect to an. Therefore, if the smallest i among the i's for which g(i+δ) is positive is 10, then g(i+δ)
becomes zero between 10+δ and 10+δ−1, so in the interpolation method, δ can be calculated as follows.

Then, the ε value is calculated, and the distance S can be calculated by comparing it with the jaspin position in Figure 4 (bl).Place the sensor at the position where the jaspin is for an object at infinity, and set the focal length of the optical system to F. In this case, S#F+Fnε.

FIG. 7 shows yet another embodiment.

In the embodiment described above, the lens barrel 1 of the optical lens system 13
4 is fixedly provided on the moving object 11.

Therefore, the measurable range (angle of view) that can be detected by the optical lens system 13 and the CCD sensor 15 is naturally fixed.

In this embodiment, the lens barrel 14 is movable to widen the search range.

That is, the lens barrel 14 is reciprocated or rotated within a certain angular range around one rotation axis (not shown) to scan the target object. Then, the direction in which the optical axis of the optical lens system 13 is oriented with respect to the reference direction is inputted to the microcomputer 16 by calculating the rotation angle of the lens barrel 14 using an angle detection encoder (not shown) attached to the rotation axis or the like. .

Let Sin be the nth distance measurement result when the optical axis is pointing in the PiQi direction, and let ΔTi be the time from when scanning starts from the PiQi position until it returns to the PiQi direction, then the moving object 11 and the target object The relative velocity νHi with respect to 12 is determined as Vl-1t-”-1-
” (I near speed) TE is calculated by the microcomputer 16. Therefore, in this embodiment as well, collision between the two can be avoided in the same manner as described above. The same applies when rotating.

As described above, the device of the present invention takes into account the speed of the moving object itself, the relative speed to the target object, and the distance to the target object, and also incorporates an optical distance measurement mechanism, so it is highly accurate. , and can provide a highly reliable collision prevention device.

Although the present invention has been variously explained above with reference to preferred embodiments, the present invention is not limited to these embodiments, and it goes without saying that many modifications can be made without departing from the spirit of the invention. That's true.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing the outline of the present invention, Fig. 2 is an explanatory diagram showing a specific example of a CCD sensor, Fig. 3 is an explanatory diagram showing the relationship between the optical lens system and the light receiving section, and Fig. 4 is an explanatory diagram showing the rear An explanatory diagram showing the states of the pin, Japin, and front bin, Fig. 5 is an explanatory diagram showing the proportional relationship between δ and ε, Fig. 6 is a graph showing the received light waveform by the CCD sensor, and Fig. 7 shows another example. FIG. 10... Collision prevention device, 11... Moving object, 12
...Target object, 13...Optical lens system, 14...
Lens tube, 15... CCD sensor, 16... Microcomputer. 17... A/D converter, 18... Speed meter, 1
9...Output section. Fig. 1 Fig. 2 Fig. 3 Fig. 5 Fig. 6 Fig. 7 May 18, 1980 Mr. Kazuo Wakasugi, Commissioner of the Japan Patent Office 1. Indication of the incident 1980 Special Fin Jin No. 80792 Non-preventing device 5 persons Related Patent applicant 1 Address: %'631081, Oaza, Nakano City, No Prefecture Name Moi 1 4, IA Yu (1 so, ^, Ibshi) r G 〒芒子8, Contents of amendment 1) Scope of claims Correct the column as follows. [1. An optical lens system that is attached to a moving object and receives light from the object; a light receiving section that receives the light that enters the optical lens system; and a signal from the light receiving section that controls the movement at time Tn. In addition to calculating the distance Sn between the object and the target object, the relative velocity VM between the moving object and the target object is calculated using the distance 1@5n-t and Sn at Tn-1 and Tn, VM=Sn-1-
5n/Tn-1-Tn, the Sn value obtained by the distance measurement, the Sn value obtained by the distance measurement, the vM value, and the velocity Vp of the moving object actually measured by an appropriate speed meter, etc., of the moving object. is compared with a pre-input minimum object distance Sk necessary to avoid collision with the target object, and the compared Sn and Sk are determined to be Sn < Sk.
1. A collision prevention device comprising: a calculation control unit that issues a signal to activate a warning buzzer or a control device for braking and turning a moving object, etc. 2. An optical lens system that is rotatably attached to a moving object and receives light from the target object (scanning); and a light receiving section that receives light from the target object that enters the optical lens system. , Calculate the distance Sn between the moving object and the target object at time Tn based on the signal from the light receiving unit whose optical lens system is directed toward the target object and receives light from the target object, and calculate the distance Sn between the moving object and the target object at time Tn. The relative velocity v8+1 between the moving object and the target object is determined by the distance Sn+1 when the optical lens system faces the light receiving direction to receive light from the target object again after 61 hours, VM+L'=Sn-
Sn + 1/ΔT, Sn obtained by the above distance measurement
+ 1, the Sn+ 1 value obtained by distance measurement, the vM÷1 value, and the velocity Vp+ 1 of the moving object in the direction of the target object, which is actually measured with an appropriate speed meter, etc., and the collision between the moving object and the target object is Compare it with the pre-input minimum object distance sk+1 necessary to avoid the problem,
The compared Sn41 and sk+ 1 are Sn+ l<
A collision prevention device comprising: an arithmetic control section which, when Sk+1, issues a signal to activate a warning buzzer or a control device for braking and turning a moving object. 2) The phrase "symmetrical object" on page 4, line 15 of the specification is corrected to "target object." 3) "Relative distance" on page 4, line 20 of the specification is corrected to "relative velocity." 4) On page 6, line 16 to line 17 of the specification, [Len diagram-
Correct the word "lens" to "lens". 5) Insert the following sentence between page 8, line 8 and line 9 of the specification. [It goes without saying that the present invention can also be applied when the speed of the moving object 11 is zero, that is, vp-O, and vice versa, when the speed of the target object 12 is zero.

Claims (1)

[Claims] 1. An optical lens system that is attached to a moving object and receives light from a symmetrical object; a light receiving section that receives the light that enters the optical lens system; and a signal from the light receiving section. The distance Sn between the moving object and the target object at time Tn is calculated using sn-1-3
n/Tn-t Tn, S obtained by the above distance measurement
n, the Sn value obtained by distance measurement, the 6-value, and the speed Vp of the moving object actually measured with an appropriate speed meter, etc., in advance necessary to avoid a collision between the moving object and the target object. Calculation control that compares the input minimum object distance Sk and, when the compared Sn and Sk and - is Sn < Sk, issues a signal to activate a warning buzzer or a control device for braking or turning a moving object. A collision prevention device comprising: 2. An optical lens system rotatably attached to a moving object and scanned to receive light from the target object; and a light receiving section that receives light from the target object that enters the optical lens system. , Calculating the distance Sn between the moving object and the target object at the time Tn based on the signal from the light receiving section whose optical lens system faces toward the target object and receives light from the target object, and calculates the distance Sn at the time Tn and the distance Sn at the time Tn. The relative distance Vs+t between the moving object and the target object is determined by the distance Sn+1 when the optical lens system faces the light-receiving direction to receive light from the target object again after 61 hours have elapsed, as Vx+L=Sn-Sn
+ 1/ΔT and Sn+2 obtained by measuring the previous distance
Then, the collision between the moving object and the target object is avoided in advance at the Sn+ value obtained by distance measurement, the v8+1 value, and the speed νI)+1 of the moving object in the direction of the target object, which is actually measured with an appropriate speed meter, etc. When the compared Sn+] and Sk+4 are Sn+1<Sk+1, an alarm buzzer or a control device that brakes or turns the moving object is activated. A collision prevention device comprising: a calculation control unit that issues a signal to activate the collision prevention device.