JPS6355410A - Front road surface state deciding device for vehicle - Google Patents
Front road surface state deciding device for vehicleInfo
- Publication number
- JPS6355410A JPS6355410A JP19964886A JP19964886A JPS6355410A JP S6355410 A JPS6355410 A JP S6355410A JP 19964886 A JP19964886 A JP 19964886A JP 19964886 A JP19964886 A JP 19964886A JP S6355410 A JPS6355410 A JP S6355410A
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- laser beam
- distance measuring
- vehicle
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims description 27
- 238000009825 accumulation Methods 0.000 abstract 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 18
- 230000010355 oscillation Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000004441 surface measurement Methods 0.000 description 3
- 238000010304 firing Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、車両の前方路面の凹凸等の状態を判断するに
適した車両用前方路面状態判断装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle front road surface condition determination device suitable for determining conditions such as unevenness of a road surface in front of a vehicle.
従来、この種の車両用前方路面判断装置においては、例
えば、特開昭60−142209号公報に開示されてい
るように、車両の前端部に光学位置センサを配設して、
この光学位置センサから車両の前方路面に向けてレーザ
ービームを発射するとともに前方路面から反射されるレ
ーザービームを受光して、このレーザービームの発射位
置と反射位置との間の距離を測定することにより前方路
面の凹凸等の状態を判断するようにしたものがある。Conventionally, in this type of forward road surface determination device for a vehicle, an optical position sensor is disposed at the front end of the vehicle, as disclosed in Japanese Patent Laid-Open No. 60-142209, for example.
By emitting a laser beam from this optical position sensor toward the road surface in front of the vehicle, and receiving the laser beam reflected from the road surface in front of the vehicle, the distance between the emission position and the reflection position of this laser beam is measured. Some devices are designed to determine the condition of the road ahead, such as unevenness.
しかしながら、このような構成においては、距離測定感
度を高くしようとすると、レーザービームのエネルギー
を増大させなければならず、このようなことは一般に好
ましくない。一方、レーザービームのエネルギーを減少
させ過ぎると、十分な距離測定感度を確保できないとい
う不具合が生じる。However, in such a configuration, if the distance measurement sensitivity is to be increased, the energy of the laser beam must be increased, which is generally undesirable. On the other hand, if the energy of the laser beam is reduced too much, a problem arises in that sufficient distance measurement sensitivity cannot be ensured.
そこで、本発明は、このようなことに対処すべく、車両
用前方路面状態判断装置において、前方路面の状態の判
断に必要な前方路面に対するレーザービームによる距離
測定感度を適正に維持しつつ同レーザービームのエネル
ギーをできる限り低くしようとするものである。SUMMARY OF THE INVENTION In order to deal with this problem, the present invention provides a front road surface condition determination device for a vehicle that uses a laser beam to properly maintain distance measurement sensitivity to the front road surface necessary for determining the condition of the front road surface. The aim is to reduce the beam energy as much as possible.
かかる問題の解決にあたり、本発明の構成は、車両の前
端部に配設されて同車両の前方路面に向けて第1レーザ
ービームを発射し同前方路面から反射される前記第1レ
ーザービームを受光して前記前方路面までの距離を測定
し第1距離測定信号として発生する第1距離測定手段と
、車両の前端部に前記第1距離測定手段に対し水平方向
に間隔を付与して配設されて前記前方路面に向けて第2
レーザービームを前記第1レーザービームに並行に発射
し前記前方路面から反射される前記第2レーザービーム
を受光して前記前方路面までの距離を測定し第2距離測
定信号として発生する第2距離測定手段と、前記第1レ
ーザービームの発射に必要な第1タイミング信号を発生
し前記第1距離測定手段に付与するとともに前記第2レ
ーザービームの発射に必要な第2タイミング信号を前記
第1タイミング信号と位相を異にして発生し前記第2距
離測定手段に付与するタイミング信号発生手段と、前記
第1及び第2の距離測定信号に順次応答してこれら第1
及び第2の距離測定信号の各値に基き前記前方路面の状
態を順次判断する判断手段とからなるようにしたことに
ある。In order to solve this problem, the present invention has a structure that is arranged at the front end of a vehicle, emits a first laser beam toward the road surface in front of the vehicle, and receives the first laser beam reflected from the road surface in front of the vehicle. a first distance measuring means for measuring the distance to the road surface in front of the vehicle and generating a first distance measuring signal; 2nd direction towards the front road surface.
a second distance measurement, emitting a laser beam parallel to the first laser beam and receiving the second laser beam reflected from the front road surface to measure the distance to the front road surface and generate a second distance measurement signal; means for generating a first timing signal necessary for emitting the first laser beam and applying it to the first distance measuring means, and a second timing signal necessary for emitting the second laser beam to the first timing signal; timing signal generating means for generating timing signals which are generated in different phases and applied to the second distance measuring means;
and determining means for sequentially determining the state of the road surface ahead based on each value of the second distance measurement signal.
しかして、このように本発明を構成したことにより、車
両の走行中に前記タイミング信号発生手段が第1及び第
2のタイミング信号を発生すると、前記第1距離測定手
段が前記第1タイミング信号に応答して第1レーザービ
ームを前方路面に向けて発射するとともにこの前方路面
から反射される前記第1レーザービームを受けて前記前
方路面までの距離を測定し第1距離測定信号として発生
し、前記第2距離測定手段が前記第2タイミング信号に
応答して第2レーザービームを前記第1レーザービーム
に並行に前記前方路面に向けて発射しこの前方路面から
反射される前記第2レーザービームを受光して前記前方
路面までの距離を測定し第2距離測定信号として発生し
、かつ前記判断手段が前記第1及び第2の距離測定信号
に順次応答してこれら各信号の値に基き前記前方路面の
状態を順次判断する。By configuring the present invention in this manner, when the timing signal generating means generates the first and second timing signals while the vehicle is running, the first distance measuring means generates the first timing signal. In response, a first laser beam is emitted toward the road ahead, the first laser beam reflected from the road ahead is received, the distance to the road ahead is measured, and a first distance measurement signal is generated; A second distance measuring means responds to the second timing signal to emit a second laser beam toward the road ahead in parallel with the first laser beam, and receives the second laser beam reflected from the road ahead. to measure the distance to the front road surface and generate a second distance measurement signal, and the determining means sequentially responds to the first and second distance measurement signals and determines the distance to the front road surface based on the values of these signals. The state of each is determined sequentially.
以上述べたように、前記第1と第2の距離測定手mから
の第1と第2のレーザービームが前記前方路面の互いに
異なる位置に並行に入射するように前記第1と第2の距
離測定手段を車両の前端部に水平方向に位置を異にして
配設し、前記第1と第2のレーザービームの各発射タイ
ミングを前記第1と第2のタイミング信号にそれぞれ合
わせて互いに異ならしめて前記前方路面の状態の判断を
行うので、前記第1及び第2のタイミング信号の各周期
を長くすることにより、前記前方路面の同一ケ所へのレ
ーザービームの入射に伴う光エネルギー蓄積量を最小限
に抑制し得るとともに、前記第1と第2のタイミング信
号の位相差に伴う前記第1及び第2のレーザービームの
発射間隔の短縮により、車両の車速の高低にかかわりな
く、車両の進行に応じ時々刻々変わる前方路面の状態を
極め細く判断できる。As described above, the first and second distances are set such that the first and second laser beams from the first and second distance measuring hands m are incident in parallel on mutually different positions on the front road surface. Measuring means are disposed at different positions in the horizontal direction at the front end of the vehicle, and the emission timings of the first and second laser beams are made to be different from each other in accordance with the first and second timing signals, respectively. Since the state of the road ahead is judged, by lengthening each period of the first and second timing signals, the amount of optical energy accumulated when the laser beam is incident on the same spot on the road ahead can be minimized. In addition, due to the shortening of the firing interval of the first and second laser beams due to the phase difference between the first and second timing signals, the timing signal can be suppressed according to the progress of the vehicle, regardless of the speed of the vehicle. It is possible to judge the condition of the road surface in front of you, which changes from moment to moment, in an extremely detailed manner.
以下、本発明の一実施例を図面により説明すると、第1
図は、車両10に適用された本発明に係る前方路面判断
装置の一例を示しており、この前方路面判断装置は、距
離測定回路20a、20b。Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
The figure shows an example of a front road surface determination device according to the present invention applied to a vehicle 10, and this front road surface determination device includes distance measuring circuits 20a and 20b.
20cと、これら距離測定回路20a、20b。20c, and these distance measuring circuits 20a, 20b.
20cに接続したタイミング信号発生回路30と、距離
測定回路20 a、 20 b、 20 c及びタ
イミング信号発生回路30に接続したマルチプレクサ4
0と、このマルチプレクサ40に接続した判断回路50
とにより構成されている。20c, and the multiplexer 4 connected to the distance measuring circuits 20a, 20b, 20c and the timing signal generation circuit 30.
0 and a judgment circuit 50 connected to this multiplexer 40.
It is composed of.
距離測定回路20a、20b、20cは、第1図〜第3
図に示すごとく、車両10の前端部10aに沿い水平状
に互いに間隔を付与して配設されており、距離測定回路
20aは車両10の前方路面に向けてレーザービームを
発射しく第2図、第3図参照)当該前方路面から反射さ
れるレーザービームを受光してこのレーザービームの発
射位置と反射位置との間の距離を測定し第1距離測定信
号として発生する。距離測定回路20bは、車両10の
前方路面に向けてレーザービームを発射し当該前方路面
から反射されるレーザービームを受光してこのレーザー
ビームの発射位置と反射位置との間の距離を測定し第2
距離測定信号として発生する。また、距離測定回路20
cは車両10の前方路面に向けてレーザービームを発射
し当該前方路面から反射されるレーザービームを受光し
てこのレーザービームの発射位置と反射位置との間の距
離を測定し第3距離測定信号として発生する。The distance measuring circuits 20a, 20b, 20c are shown in FIGS.
As shown in the figure, the distance measuring circuits 20a are arranged horizontally along the front end 10a of the vehicle 10 at intervals from each other, and the distance measuring circuits 20a emit laser beams toward the road surface in front of the vehicle 10. (See FIG. 3) A laser beam reflected from the front road surface is received, and the distance between the emission position and the reflection position of this laser beam is measured and generated as a first distance measurement signal. The distance measuring circuit 20b emits a laser beam toward the road surface in front of the vehicle 10, receives the laser beam reflected from the road surface in front of the vehicle 10, and measures the distance between the emission position and the reflection position of the laser beam. 2
Generated as a distance measurement signal. In addition, the distance measurement circuit 20
c emits a laser beam toward the road surface in front of the vehicle 10, receives the laser beam reflected from the road surface in front of the vehicle 10, measures the distance between the emission position and the reflected position of the laser beam, and generates a third distance measurement signal. occurs as.
かかる場合、各距離測定回路20a、20b、20Cか
ら発射される各レーザービームの水平面に対する発射角
度は互いに同一になっており、また各レーザービームの
発射方向は互いに平行になっている。In this case, the emission angles of the laser beams emitted from the distance measuring circuits 20a, 20b, and 20C with respect to the horizontal plane are the same, and the emission directions of the laser beams are parallel to each other.
タイミング信号発生回路30は、距離測定回路20 a
、 20 b、 20 cからそれぞれレーザービ
ームを発射させるに必要な第1.第2及び第3のタイミ
ング信号(第4図(a)、 (b)、 (C)参照)を
同一周期にて互いに所定位相だけ位相を異にして発生し
距離測定回路20a、20b、20cにそれぞれ付与す
る。また、タイミング信号発生回路30は、その第1.
第2及び第3の各タイミング信号にそれぞれ同期して第
4タイミング信号(第4図Td)参照)を発生する。マ
ルチプレクサ40は、距離測定回路20 a、 20
b、 20 cからの第1〜3の距離測定信号のい
ずれかを、タイミング信号発生回路30からの第4タイ
ミング信号に応答して出力する。判断回路40は、マル
チプレクサ30からの第1〜第3の距jlii!III
J定信号に応答してこれら各信号の値を基準距離と比較
し前方路面の凹凸の有無を判断する。The timing signal generation circuit 30 is connected to the distance measurement circuit 20a.
, 20 b, and 20 c, respectively. The second and third timing signals (see FIGS. 4(a), (b), and (C)) are generated at the same period with a predetermined phase difference from each other, and are sent to the distance measuring circuits 20a, 20b, and 20c. Grant each. Further, the timing signal generation circuit 30 has the first .
A fourth timing signal (see Td in FIG. 4) is generated in synchronization with each of the second and third timing signals. The multiplexer 40 connects the distance measuring circuits 20a, 20
b, 20c outputs any one of the first to third distance measurement signals from the timing signal generation circuit 30 in response to the fourth timing signal from the timing signal generation circuit 30. The determination circuit 40 determines the first to third distances jlii! from the multiplexer 30! III
In response to the J constant signal, the values of these signals are compared with a reference distance to determine whether there are any unevenness on the road ahead.
以上のように構成した本実施例において、車両10の走
行状態にて本発明装置を作動させると、タイミング信号
発生回路30が第1〜3のタイミング信号及び第4のタ
イミング信号を発生し、各距離測定回路20a、20b
、20cが第1.第2、第3のタイミング信号にそれぞ
れ応答して順次レーザービームを、第2図及び第3図に
示すごとく、前方路面に向けて発射し、同前方路面から
反射される各レーザービームをそれぞれ受光して前記各
レーザービームの発射位置と反射位置との間の距離を測
定し第1.第2.第3の距離測定信号として発生する。In this embodiment configured as described above, when the device of the present invention is operated while the vehicle 10 is running, the timing signal generation circuit 30 generates the first to third timing signals and the fourth timing signal. Distance measurement circuits 20a, 20b
, 20c is the first. In response to the second and third timing signals, the laser beams are sequentially emitted toward the road ahead, as shown in FIGS. 2 and 3, and each laser beam reflected from the road ahead is received. and measure the distance between the emission position and the reflection position of each laser beam. Second. A third distance measurement signal is generated.
すると、マルチプレクサ40がタイミング信号発生回路
30からの各第4タイミング信号に応答して各距離測定
回路20a、2Ob、20Gからの第1〜第3の距離測
定信号を順次出力し、判断回路50がこれら各距離測定
信号の値を前記基準距離と比較する;現段階においては
、前記前方路面が第2図及び第3図に示すごとく凸状態
にあるため、判断回路50が、各距離測定信号の値が前
記基準距離より小さいと判断する。このことは、前方路
面が凸状態にある旨判断したことを意味する。Then, the multiplexer 40 responds to each of the fourth timing signals from the timing signal generation circuit 30 and sequentially outputs the first to third distance measurement signals from each of the distance measurement circuits 20a, 2Ob, and 20G. The value of each distance measurement signal is compared with the reference distance; at this stage, since the road surface ahead is in a convex state as shown in FIGS. 2 and 3, the determination circuit 50 compares the value of each distance measurement signal It is determined that the value is smaller than the reference distance. This means that it has been determined that the road ahead is in a convex state.
以上説明したように、各距離測定回路20a。As explained above, each distance measuring circuit 20a.
20b、20cからの各レーザービームが前記前方路面
の互いに異なる位置に平行に入射するように各距離測定
回路20a、20b、20cを車両10の前端部10a
に水平方向に位置を異にして配設し、各距離測定回路2
0a、20b、20cからの各レーザービームの発射タ
イミングをタイミング信号発生回路30からの第1.第
2.第3のタイミング信号の発生時期にそれぞれ合わせ
て互いに異ならしめ、各距離測定回路20a、20b、
20cからの距離測定信号をタイミング信号発生回路3
0からの各第4タイミング信号に応答して順次マルチプ
レクサ40を介し判断回路50に付与するようにしたの
で、タイミング信号発生回路30からの各タイミング信
号の周期を長くすることにより、前記前方路面の同一ケ
所へのレーザービームの入射に伴う光エネルギー蓄積量
を最小限に抑制し得るとともに、タイミング信号発生回
路30からの第1〜第3のタイミング信号の相互の位相
差に伴う各距離測定回路20a〜20cからのレーザー
ビームの発射間隔の短縮により、車両10の車速の高低
にかかわりなく、前方路面の凸状態を適確に判断できる
。また、かかる判断結果により車両10の車高制御等を
前方路面の凸状態に先行して円滑になし得る。なお、以
上の説明においては、前方路面が凸状態にある場合につ
いて説明したが、これに限らず、前方路面が凹状態にあ
る場合にも、上述と実質的に同様の作用及びその効果を
達成し得る。The distance measuring circuits 20a, 20b, 20c are connected to the front end 10a of the vehicle 10 so that the laser beams from the laser beams 20b, 20c are incident parallel to different positions on the front road surface.
The distance measuring circuits 2 are arranged at different positions in the horizontal direction.
The emission timing of each laser beam from 0a, 20b, and 20c is determined by the first . Second. The respective distance measuring circuits 20a, 20b,
The distance measurement signal from 20c is sent to the timing signal generation circuit 3.
Since the fourth timing signal from 0 is sequentially applied to the determination circuit 50 via the multiplexer 40, by lengthening the period of each timing signal from the timing signal generation circuit 30, The amount of optical energy accumulated due to the incidence of a laser beam on the same location can be suppressed to a minimum, and each distance measuring circuit 20a can be adjusted according to the mutual phase difference of the first to third timing signals from the timing signal generation circuit 30. By shortening the firing interval of the laser beams from ~20c, the convex state of the road surface ahead can be accurately determined regardless of the speed of the vehicle 10. Further, based on such a determination result, vehicle height control of the vehicle 10, etc. can be smoothly performed in advance of a convex state of the road surface in front of the vehicle. In addition, in the above explanation, the case where the front road surface is in a convex state has been explained, but the present invention is not limited to this, and substantially the same operation and effect as described above can be achieved even when the front road surface is in a concave state. It is possible.
なお、本発明の実施にあたっては、前記実施例にて述べ
た距離測定回路208〜20Cにおいてそれぞれレーザ
ービームの発振機能を有する各レーザー発振部を距離測
定回路208〜20Gから独立させて、第5図に示すご
とく、距離測定回路20A〜20C及び単一のレーザー
発振部20Dを距離測定回路20a〜20cに代えて採
用し、かつステップモータ21、傾動反射鏡22及び固
定反射鏡23〜25を付加してレーザー発振部の数を減
少させるように実施してもよい。かかる場合、レーザー
発振部20Dがタイしング信号発生回路30からの各第
4タイミング信号に応答して順次レーザービームを傾動
反射鏡22に向けて発射し、傾動反射鏡22が、タイミ
ング信号発生回路30からの各第4タイミング信号に順
次応答するステップモータ21の回転に応じ傾動し、レ
ーザー発振部20Dから順次生じるレーザービームを各
固定反射鏡23,24.25に向けて順次反射し、各距
離測定回路20A、20B、20Cがタイミング信号発
生回路30からの第1.第2゜第3のタイミング信号に
それぞれ応答して各固定反射鏡23,24.25からの
各反射レーザービームを受けて前方路面に向けて発射す
る。但し、傾動反射鏡22はタイミング信号発生回路3
0からの第3タイミング信号の発生毎に原位置に復帰す
るようにしである。In implementing the present invention, each laser oscillation section having a laser beam oscillation function in the distance measurement circuits 208 to 20C described in the above embodiment is made independent from the distance measurement circuits 208 to 20G, as shown in FIG. As shown in the figure, distance measuring circuits 20A to 20C and a single laser oscillation unit 20D are adopted in place of distance measuring circuits 20a to 20c, and a step motor 21, a tilting reflector 22, and fixed reflectors 23 to 25 are added. Alternatively, the number of laser oscillation units may be reduced. In such a case, the laser oscillation unit 20D sequentially emits a laser beam toward the tilting reflector 22 in response to each fourth timing signal from the timing signal generation circuit 30, and the tilting reflector 22 responds to each fourth timing signal from the timing signal generation circuit 30. The step motor 21 is tilted in response to the rotation of the step motor 21, which sequentially responds to each of the fourth timing signals from the laser generator 30, and sequentially reflects the laser beam sequentially generated from the laser oscillation unit 20D toward each of the fixed reflecting mirrors 23, 24, and 25. The measurement circuits 20A, 20B, and 20C receive the first signal from the timing signal generation circuit 30. In response to the second and third timing signals, each reflected laser beam is received from each of the fixed reflecting mirrors 23, 24, and 25 and is emitted toward the road ahead. However, the tilting reflector 22 is connected to the timing signal generation circuit 3.
It is arranged to return to the original position every time the third timing signal from 0 is generated.
また、前記実施例においては、距離測定回路20 a、
20 b、 20 cを採用したが、これに限ら
ず、この距離測定回路の数を適宜変更して実施してもよ
い。Further, in the embodiment, the distance measuring circuit 20a,
20b and 20c are used, but the present invention is not limited to this, and the number of distance measuring circuits may be changed as appropriate.
また、前記実施例においては、常に同一周期にて各タイ
ミング信号を発生するタイミング信号発生回路10を採
用したが、゛これに代えて、車速センサを利用して車速
に対応した周期にて各タイミング信号を発生するタイミ
ング信号発生回路を採用してもよい。Further, in the above embodiment, the timing signal generation circuit 10 that always generates each timing signal at the same period was employed, but instead of this, a vehicle speed sensor may be used to generate each timing signal at a period corresponding to the vehicle speed. A timing signal generation circuit that generates a signal may be employed.
また、前記実施例においては、距離測定回路20a、2
0b、20cからの各レーザービームの発射方向が互い
に平行である場谷について説明したが、これに限らず、
距離測定回路20a、20b、20cからの各レーザー
ビームの発射方向が互いに並行であればよい。Further, in the embodiment, the distance measuring circuits 20a, 2
Although the case where the emission directions of the laser beams from 0b and 20c are parallel to each other has been described, the present invention is not limited to this.
It is only necessary that the emission directions of the respective laser beams from the distance measuring circuits 20a, 20b, and 20c are parallel to each other.
第1図は、本発明の一実施例を示すブロック図、第2図
及び第3図は第1図における各距離測定回路の取付状態
及びその各レーザービームの発射方向を表わす概略図、
第4図は第1図におけるタイミング信号発生回路からの
第1〜第4のタイミング信号を示すタイムチャート、並
びに第5図は前記実施例の変形例の要部を示すブロック
図である。
符号の説明
10−−・車両、20a、20b、20c・−・距離測
定回路、30・・・タイミング信号発生回路、50・・
・判断回路。FIG. 1 is a block diagram showing one embodiment of the present invention, FIGS. 2 and 3 are schematic diagrams showing the installation state of each distance measuring circuit in FIG. 1 and the emission direction of each laser beam,
FIG. 4 is a time chart showing the first to fourth timing signals from the timing signal generation circuit in FIG. 1, and FIG. 5 is a block diagram showing main parts of a modification of the embodiment. Explanation of symbols 10--Vehicle, 20a, 20b, 20c--Distance measurement circuit, 30...Timing signal generation circuit, 50...
・Judgment circuit.
Claims (1)
1レーザービームを発射し同前方路面から反射される前
記第1レーザービームを受光して前記前方路面までの距
離を測定し第1距離測定信号として発生する第1距離測
定手段と、車両の前端部に前記第1距離測定手段に対し
水平方向に間隔を付与して配設されて前記前方路面に向
けて第2レーザービームを前記第1レーザービームに並
行に発射し前記前方路面から反射される前記第2レーザ
ービームを受光して前記前方路面までの距離を測定し第
2距離測定信号として発生する第2距離測定手段と、前
記第1レーザービームの発射に必要な第1タイミング信
号を発生し前記第1距離測定手段に付与するとともに前
記第2レーザービームの発射に必要な第2タイミング信
号を前記第1タイミング信号と位相を異にして発生し前
記第2距離測定手段に付与するタイミング信号発生手段
と、前記第1及び第2の距離測定信号に順次応答してこ
れら第1及び第2の距離測定信号の各値に基き前記前方
路面の状態を順次判断する判断手段とからなるようにし
た車両用前方路面状態判断装置。A first laser beam disposed at the front end of the vehicle emits a first laser beam toward the road surface in front of the vehicle, receives the first laser beam reflected from the road surface in front of the vehicle, measures the distance to the road surface in front of the vehicle, and measures the distance to the road surface in front of the vehicle. a first distance measuring means that generates a distance measuring signal; and a second laser beam that is disposed at the front end of the vehicle with a horizontal spacing from the first distance measuring means and emits a second laser beam toward the road surface in front of the vehicle. a second distance measuring means that is emitted in parallel with the first laser beam and receives the second laser beam reflected from the front road surface to measure the distance to the front road surface and generate a second distance measurement signal; A first timing signal necessary for emitting the first laser beam is generated and applied to the first distance measuring means, and a second timing signal necessary for emitting the second laser beam is set in phase with the first timing signal. timing signal generating means for generating a timing signal differently and applying it to the second distance measuring means; A front road surface condition determining device for a vehicle, comprising determining means for sequentially determining the condition of the front road surface.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19964886A JPS6355410A (en) | 1986-08-26 | 1986-08-26 | Front road surface state deciding device for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19964886A JPS6355410A (en) | 1986-08-26 | 1986-08-26 | Front road surface state deciding device for vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6355410A true JPS6355410A (en) | 1988-03-09 |
Family
ID=16411338
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19964886A Pending JPS6355410A (en) | 1986-08-26 | 1986-08-26 | Front road surface state deciding device for vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6355410A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5012066A (en) * | 1989-08-31 | 1991-04-30 | Matsutani Seisakusho Co., Ltd. | Method of and apparatus for manufacturing eyeless suture needle |
US5830963A (en) * | 1994-08-15 | 1998-11-03 | Daikin Industries Ltd. | Fluorine-containing maleate, fluorine-containing fumarate, fluorine-containing copolymer and stainproofing agent |
-
1986
- 1986-08-26 JP JP19964886A patent/JPS6355410A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5012066A (en) * | 1989-08-31 | 1991-04-30 | Matsutani Seisakusho Co., Ltd. | Method of and apparatus for manufacturing eyeless suture needle |
US5830963A (en) * | 1994-08-15 | 1998-11-03 | Daikin Industries Ltd. | Fluorine-containing maleate, fluorine-containing fumarate, fluorine-containing copolymer and stainproofing agent |
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