JP3240396B2 - Road surface condition detection device, speed control system including the same, and vehicle - Google Patents
Road surface condition detection device, speed control system including the same, and vehicleInfo
- Publication number
- JP3240396B2 JP3240396B2 JP21489593A JP21489593A JP3240396B2 JP 3240396 B2 JP3240396 B2 JP 3240396B2 JP 21489593 A JP21489593 A JP 21489593A JP 21489593 A JP21489593 A JP 21489593A JP 3240396 B2 JP3240396 B2 JP 3240396B2
- Authority
- JP
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- Prior art keywords
- road surface
- light receiving
- light
- surface condition
- vehicle
- 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.)
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- Length Measuring Devices By Optical Means (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、非接触にて路面の状態
を検出する路面状態検出装置とそれを備えた速度制御シ
ステム及び車両に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road surface state detecting device for detecting a road surface state in a non-contact manner, a speed control system including the same, and a vehicle.
【０００２】[0002]
【従来の技術】アンチロックブレーキシステム（ＡＢ
Ｓ）は、制動力が最大となるスリップ率でブレーキを制
御し、車両制動距離を短くするシステムである。制動力
が最大となるスリップ率は路面状態によって異なるの
で、路面状態に応じた最適なＡＢＳ制御を行うために
は、路面状態を検出する必要がある。特に、砂・砂利路
では、乾燥アスファルト等と比べて明らかにスリップし
やすく、最適となるスリップ率も異なることが知られて
いる。2. Description of the Related Art Anti-lock brake systems (AB)
S) is a system that controls the brake at a slip ratio at which the braking force is maximized to shorten the vehicle braking distance. Since the slip ratio at which the braking force is maximized differs depending on the road surface condition, it is necessary to detect the road surface condition in order to perform the optimal ABS control according to the road surface condition. In particular, it is known that slipping is easy on sand and gravel roads as compared with dry asphalt and the like, and that the optimum slip ratio is different.
【０００３】従来から、路面状態を検出するセンサとし
て、路面反射の偏光特性を利用したものがある。路面状
態は光学的に見ると、乾燥時は拡散反射が強くなり、湿
潤時は鏡面反射が強くなる傾向にあり、上記のセンサ
は、路面状態を検出するための発光素子と受光素子を入
射角及び反射角が、いわゆるブリュースタ角となるよう
に設置し、そのとき得られる反射の偏光特性の違いを利
用して路面状態の判別をしようとするものである（光技
術コンタクトvol.27,no.3,p158,1989 参照）。Conventionally, as a sensor for detecting a road surface condition, there is a sensor utilizing the polarization characteristics of road surface reflection. When the road surface condition is viewed optically, the diffuse reflection tends to be strong when dry and the mirror reflection tends to be strong when wet, and the above-mentioned sensor sets the light emitting element and the light receiving element for detecting the road surface state at an incident angle. And the reflection angle is set to be the so-called Brewster's angle, and it is intended to determine the road surface state by using the difference in the polarization characteristics of the reflection obtained at that time (optical technology contact vol.27, no .3, p158, 1989).
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、上記の
路面状態検出センサにおいては、ブリュースタ角が比
較的大きい（５３度）ので、投光部と受光部を分離させ
た２ユニット構成としなければならず、装置が大型化
し、コスト高となる、投光部と受光部を所定の間隔、
角度で配置する必要があるので取付けが難しい、砂・
砂利路と通常の乾燥路面との区別がつかない、といった
問題がある。However, the above-mentioned road surface condition detection sensor has a relatively large Brewster angle (53 degrees), so that it must have a two-unit configuration in which the light projecting unit and the light receiving unit are separated. In addition, the size of the device becomes large and the cost increases.
Installation is difficult because it is necessary to arrange at an angle.
There is a problem that it is not possible to distinguish between a gravel road and a normal dry road surface.
【０００５】本発明は、上述した問題点を解決するため
になされたもので、路面に対して小さな入射角度で光を
投光し、路面からの正反射光を受光し、その反射光量分
布を測定することにより、投光部と受光部を一体化して
小型化することが可能で、しかも砂・砂利路の検出が可
能な路面状態検出装置とそれを備えた速度制御システム
及び車両を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and projects light at a small angle of incidence on a road surface, receives regular reflection light from the road surface, and adjusts the distribution of the reflected light amount. Provided is a road surface state detection device capable of integrating a light projecting unit and a light receiving unit to reduce the size by measuring, and capable of detecting sand and gravel roads, and a speed control system and a vehicle including the same. The purpose is to:
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に請求項１の発明は、車両に取付けられ、路面の状態を
光学的に非接触で検出する路面状態検出装置において、
路面を照明する光源と、路面からの正反射光を受光する
位置に配された受光レンズと、路面からの正反射光が上
記受光レンズによって結像する位置に配された受光素子
アレイと、上記受光素子アレイの各出力をレベル弁別す
る弁別回路と、上記弁別回路により弁別された各レベル
の度数から路面の状態を判別する判別回路とを備えたも
のである。請求項２の発明は、受光素子アレイの各素子
が車両の進行方向に対して垂直な方向に並ぶように配設
された請求項１に記載の路面状態検出装置である。According to a first aspect of the present invention, there is provided a road surface condition detecting device mounted on a vehicle for optically detecting a road surface condition in a non-contact manner.
A light source for illuminating the road surface, a light receiving lens disposed at a position for receiving regular reflection light from the road surface, a light receiving element array disposed at a position where the regular reflection light from the road surface forms an image by the light receiving lens, It comprises a discriminating circuit for discriminating the level of each output of the light receiving element array, and a discriminating circuit for discriminating the state of the road surface from the frequency of each level discriminated by the discriminating circuit. The invention according to claim 2 is the road surface state detection device according to claim 1, wherein each element of the light receiving element array is arranged in a direction perpendicular to the traveling direction of the vehicle.
【０００７】請求項３の発明は、受光レンズの焦点位置
に小孔を有する遮光部材を配した請求項１に記載の路面
状態検出装置である。According to a third aspect of the present invention, there is provided the road surface state detecting device according to the first aspect, further comprising a light shielding member having a small hole at a focal position of the light receiving lens.
【０００８】請求項４の発明は、速度測定用の空間フィ
ルタが前記受光素子アレイと同一面内に配置された請求
項１記載の路面状態検出装置である。請求項５の発明
は、前記判別回路の出力に基づいて砂や砂利路又は雪、
凍結路面を検出した時、スリップの可能性が高いことを
運転者に告知する警報装置を備えた請求項１乃至４のい
ずれかに記載の路面状態検出装置である。請求項６の発
明は、請求項１乃至５のいずれかに記載の路面状態検出
装置と、路面に対する相対的移動速度を測定する空間フ
ィルタ方式速度測定装置と、車輪速度センサとを備え、
これらの出力によってブレーキ又はアクセルを制御する
ことで速度を制御するようにした速度制御システムであ
る。請求項７の発明は、請求項６記載の速度制御システ
ムを搭載した車両である。According to a fourth aspect of the present invention, there is provided a space filter for measuring a speed.
Filter is a road surface state detecting device arranged according to claim 1, wherein said light receiving element array and the same plane. The invention according to claim 5 is characterized in that sand, a gravel road or snow,
The road surface state detection device according to any one of claims 1 to 4 , further comprising an alarm device that notifies a driver of a high possibility of slipping when a frozen road surface is detected. According to a sixth aspect of the present invention, there is provided the road surface state detecting device according to any one of the first to fifth aspects, a spatial filter type speed measuring device for measuring a relative moving speed with respect to the road surface, and a wheel speed sensor,
This is a speed control system that controls the speed by controlling the brake or the accelerator with these outputs. According to a seventh aspect of the present invention, there is provided a vehicle equipped with the speed control system according to the sixth aspect .
【０００９】[0009]
【作用】請求項１乃至５記載の路面状態検出装置によれ
ば、光源から路面に対して光が照射され、路面で反射さ
れて、その反射光は受光レンズを介して受光素子アレイ
により受光される。受光素子アレイの各出力は、弁別回
路においてレベル弁別され、この弁別された各レベルの
度数から路面の状態が判別される。請求項６記載の速度
制御システムによれば、路面状態の検出出力と空間フィ
ルタによる相対移動速度の測定出力と車輪速度の出力に
よって、ブレーキ又はアクセルを制御することで、効率
の良い制動又は加速が可能となる。請求項７記載の車両
によれば、効率の良い制動・加速制御を行うことができ
る。SUMMARY OF] According to road surface condition detecting apparatus of claims 1 to 5, wherein light is irradiated to the road surface from the light source is reflected by the road surface, the reflected light is received by the light receiving element array through the light receiving lens You. Each output of the light receiving element array is subjected to level discrimination in a discrimination circuit, and the state of the road surface is determined from the frequency of each discriminated level. According to the speed control system of claim 6, by controlling the brake or the accelerator by the output of the road surface state detection output, the measurement output of the relative movement speed by the spatial filter, and the output of the wheel speed, efficient braking or acceleration is achieved. It becomes possible. According to the vehicle described in claim 7 , efficient braking / acceleration control can be performed.
【００１０】[0010]
【実施例】以下、本発明を具体化した一実施例について
図面を参照して説明する。図１は路面状態検出装置の構
成を示す。この検出装置は、路面１を照明するパルス発
光光源である発光素子２と、発光素子２からの光を集光
する投光レンズ３と、路面１からの正反射光を受光する
位置に配された受光レンズ４と、受光レンズ４によって
集光された光を受光するＣＣＤ（電荷結合素子）などで
なる受光素子アレイ５とで構成される。受光素子アレイ
５には、路面１の受光エリア１ａの部分からの光が受光
される。受光素子アレイ５の各素子は車両の進行方向に
対して垂直な方向に並ぶように配設され、広範囲の路面
１の状態を検出することで、一部の路面状態のみで判断
することによる誤判断の確率を低くしている。図２は路
面状態検出装置の前面図である。発光素子２の路面１に
対する投光角度θと、受光素子アレイ５の路面１に対す
る受光角度θとを等しくし、路面１からの正反射光を受
光することができるようにしている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of a road surface state detecting device. The detection device is provided with a light emitting element 2 which is a pulse light source for illuminating a road surface 1, a light projecting lens 3 for condensing light from the light emitting element 2, and a position for receiving regular reflection light from the road surface 1. And a light receiving element array 5 such as a CCD (Charge Coupled Device) that receives the light condensed by the light receiving lens 4. The light receiving element array 5 receives light from the light receiving area 1 a of the road surface 1. The elements of the light receiving element array 5 are arranged so as to be arranged in a direction perpendicular to the traveling direction of the vehicle. Decreases the probability of judgment. FIG. 2 is a front view of the road surface state detecting device. The light emitting angle θ of the light emitting element 2 with respect to the road surface 1 is equal to the light receiving angle θ of the light receiving element array 5 with respect to the road surface 1 so that specularly reflected light from the road surface 1 can be received.
【００１１】次に、受光素子アレイ５が受光した反射光
を処理して、路面１の状態を検出する原理について説明
する。本実施例による路面状態検出装置では、受光素子
アレイ５の受光量が全素子に亘って大きい場合には雪・
凍結路面であると判断し、正反射光を受光する素子が多
い場合には湿潤路面であると判断し、影の部分を受光す
る素子が多い場合には砂・砂利、それ以外には乾燥路面
であると判断する。なお、アスファルト路面上に砂・砂
利が浮いている場合にも、影が多く発生することから砂
・砂利路面として検出することができる。Next, the principle of detecting the state of the road surface 1 by processing the reflected light received by the light receiving element array 5 will be described. In the road surface state detecting device according to the present embodiment, when the light receiving amount of the light receiving
Judgment on a frozen road surface, when there are many elements that receive specularly reflected light, it is judged that it is a wet road surface, when there are many elements that receive shadow parts, sand and gravel, otherwise dry road surface Is determined to be. In addition, even when sand and gravel are floating on the asphalt road surface, since many shadows are generated, it can be detected as sand / gravel road surface.
【００１２】以下、路面状態の検出について図３乃至図
５を参照して詳細に説明する。図３は４種類の路面１に
対する受光素子アレイ５の受光量分布、図４は４種類の
路面状態を判別する処理系、図５はその判別フローを示
す。図３（ｂ）に示されるように、湿潤アスファルト路
は正反射光が多く、図３（ｃ）に示されるように、砂利
・砂路は影が多く、図３（ｄ）に示されるように、雪、
凍結路は全体に反射率が高いといった特徴がある。正反
射光：高反射率拡散反射光：影の受光量比は、路面１と
受光レンズ４の間の距離を３００ｍｍ、受光レンズ４の
径を１０ｍｍとした場合、５００：１〜０．５程度：
０．０５以下となっているので、路面状態の弁別は容易
である。Hereinafter, the detection of the road surface state will be described in detail with reference to FIGS. FIG. 3 shows the distribution of the amount of received light of the light receiving element array 5 with respect to four types of road surfaces 1, FIG. 4 shows a processing system for determining four types of road surface conditions, and FIG. As shown in FIG. 3 (b), the wet asphalt road has a large amount of specular reflection light, and as shown in FIG. 3 (c), the gravel and the sand path have many shadows, as shown in FIG. 3 (d). , Snow,
The frozen road is characterized by a high reflectance as a whole. The light reception ratio of specular reflection light: high reflectance diffuse reflection light: shadow is about 500: 1 to 0.5 when the distance between the road surface 1 and the light receiving lens 4 is 300 mm and the diameter of the light receiving lens 4 is 10 mm. :
Since it is 0.05 or less, discrimination of the road surface state is easy.
【００１３】図４の路面状態判別の処理系において、レ
ベル弁別回路６は、受光素子アレイ５の各受光素子の受
光量を、拡散反射光受光量上限レベルＡ、雪・凍結受光
量下限レベルＢ、影受光量上限レベルＣの３レベルによ
って弁別する。カウンタ７はレベルＡ以上の度数を計数
し、カウンタ１７はレベルＢ以上の度数を計数し、カウ
ンタ２７はレベルＣ未満の度数を計数する。判別回路８
は、これらＡ以上の度数Ｎ１、Ｂ以上の度数Ｎ２、Ｃ未
満の度数Ｎ３から路面１の状態を判別する。判別回路８
における判別は、後述の図５に示す判別フローによって
行われ、その判別結果はＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ
Ｃｏｎｔｒｏｌ Ｕｎｉｔ）に出力される。また、投
光回路の発光素子２をＡＰＣ回路９により駆動すること
により、光源の光量を一定に保ち、絶対レベルによる受
光量弁別を可能としている。なお、タイミング回路１０
はレベル弁別回路６とＡＰＣ回路９の同期をとるための
ものである。In the processing system for discriminating the road surface condition shown in FIG. 4, the level discriminating circuit 6 determines the amount of light received by each of the light receiving elements of the light receiving element array 5 as the upper limit level A of the amount of diffuse reflected light and the lower limit level B of the snow / frozen light amount. , And the upper limit level C of the received light amount. The counter 7 counts frequencies above level A, the counter 17 counts frequencies above level B, and the counter 27 counts frequencies below level C. Discrimination circuit 8
Determines the state of the road surface 1 from the frequency N1 higher than A, the frequency N2 higher than B, and the frequency N3 lower than C. Discrimination circuit 8
Is performed according to a determination flow shown in FIG. 5 described later, and the determination result is determined by an ECU (Electronic).
Control Unit). Further, by driving the light emitting element 2 of the light emitting circuit by the APC circuit 9, the light amount of the light source is kept constant, and the light receiving amount can be discriminated based on the absolute level. Note that the timing circuit 10
Is for synchronizing the level discrimination circuit 6 and the APC circuit 9.
【００１４】上記判別回路８は、図５の判別フローによ
り、路面種類を雪・凍結路、湿潤アスファルト路、乾燥
アスファルト路、砂・砂利路の４種類に判別する。この
とき、判別の基準となる度数αは湿潤路面において正反
射を受光する受光素子数、度数βは雪・凍結路面におい
て受光量がレベルＢ以上である受光素子数、度数γは砂
・砂利路において影を受光する受光素子数を示す。判別
フローでは、最初に、Ｎ２がβ以上であれば、雪・凍結
路面と判断する。Ｎ２がβ未満であれば、Ｎ１がα以上
であると湿潤路面、Ｎ１がα未満であり、かつ、Ｎ３が
γ以上の場合は砂・砂利（アスファルト路面上に砂・砂
利が浮いている場合も含む）と判断し、それ以外の場合
は乾燥路面と判断する。The discriminating circuit 8 discriminates the road surface type into four types, a snow / freezing road, a wet asphalt road, a dry asphalt road, and a sand / gravel road, according to the determination flow of FIG. At this time, the frequency α serving as a reference for determination is the number of light receiving elements that receive regular reflection on a wet road surface, the frequency β is the number of light receiving elements having a light receiving amount of level B or more on a snowy / freezing road surface, and the frequency γ is a sand / gravel road. Indicates the number of light receiving elements that receive a shadow. In the determination flow, first, if N2 is equal to or more than β, it is determined that the road is a snowy / frozen road surface. If N2 is less than β, wet road surface if N1 is more than α, and sand / gravel if N1 is less than α and N3 is more than γ (if sand / gravel is floating on asphalt road surface) Is included), otherwise it is determined to be a dry road surface.
【００１５】以下、上記実施例の変形例について説明す
る。図６は、受光レンズ４の焦点距離ｆの位置に小孔を
有する遮光部材１１を配した構成を示す。テレセントリ
ック光学系を導入することにより、装置と路面１との距
離が変化しても、受光素子アレイ５における受光像がぼ
けずに、安定して路面１の状態を検出することができ
る。Hereinafter, a modification of the above embodiment will be described. FIG. 6 shows a configuration in which a light shielding member 11 having a small hole is arranged at a position of the focal length f of the light receiving lens 4. By introducing the telecentric optical system, even when the distance between the device and the road surface 1 changes, the state of the road surface 1 can be stably detected without blurring the received light image on the light receiving element array 5.
【００１６】図７は、路面状態検出のために路面１を照
明する光源として、空間フィルタ方式速度測定装置２１
の光源２２を利用した場合を示す。空間フィルタ方式速
度測定装置２１の光源２２から路面１に光が照射され、
路面１で反射されて、その反射光は受光レンズ４を介し
て受光素子アレイ５によって受光される。この受光素子
アレイ５の受光データに基づいて、上述と同様にして、
路面１の状態が検出される。なお、利用される光源は、
空間フィルタ方式速度測定装置２１のものに限られず、
光学式速度測定装置のものであってもよい。FIG. 7 shows a spatial filter type speed measuring device 21 as a light source for illuminating the road surface 1 for detecting the road surface condition.
2 shows a case where the light source 22 is used. Light is applied to the road surface 1 from the light source 22 of the spatial filter type velocity measuring device 21,
The light reflected by the road surface 1 is received by the light receiving element array 5 via the light receiving lens 4. Based on the light receiving data of the light receiving element array 5, in the same manner as described above,
The state of the road surface 1 is detected. The light source used is
It is not limited to that of the spatial filter type velocity measuring device 21,
An optical speed measuring device may be used.
【００１７】図８は、路面状態検出装置が空間フィルタ
方式速度測定装置と一体で構成された例を示す。この例
では、路面状態を検出するための受光素子アレイ５を空
間フィルタのスリットアレイ３８と同一面内に配置する
ことで、路面状態検出装置は空間フィルタ方式速度測定
装置の投光系及び受光系を共有した例である。FIG. 8 shows an example in which the road surface condition detecting device is integrated with a spatial filter type speed measuring device. In this example, by arranging the light receiving element array 5 for detecting the road surface state on the same plane as the slit array 38 of the spatial filter, the road surface state detecting device can be configured as a light emitting system and a light receiving system of a spatial filter type speed measuring device. This is an example of sharing.
【００１８】なお、空間フィルタ方式速度測定装置は、
路面３１に対向して配置され、路面３１を照明する光源
３２と、路面３１からの反射光を処理して２方向へ分離
集光する空間フィルタ光学系３３とで構成されている。
この光学系３３は、路面３１からの反射光を受光する受
光レンズ３４と、開口絞り３５と、光源３２の波長と等
しい波長の光だけを選択的に透過させる波長選択フィル
タである光学フィルタ３６と、開口絞り３５及び光学フ
ィルタ３６を通過した光をコリメートするコリメートレ
ンズ３７と、路面３１からの反射光に開口制限を与える
スリットアレイ３８と、路面３１からの反射光を一定ピ
ッチで交互に２方向へ分離するプリズムアレイ３９と、
集光レンズ４０と、この分離された光をそれぞれ別個に
受光する２個の光検出器４１とでなる。また、２個の光
検出器４１の側面には、集光効率を向上させるために鏡
４２が配置されている。開口絞り３５は、路面３１の相
対的な移動方向に対して幅の狭いスリットとしている。The spatial filter type velocity measuring device is:
It comprises a light source 32 that is arranged to face the road surface 31 and illuminates the road surface 31, and a spatial filter optical system 33 that processes light reflected from the road surface 31 and separates and condenses the light in two directions.
The optical system 33 includes a light receiving lens 34 that receives light reflected from the road surface 31, an aperture stop 35, and an optical filter 36 that is a wavelength selection filter that selectively transmits only light having a wavelength equal to the wavelength of the light source 32. A collimating lens 37 for collimating the light passing through the aperture stop 35 and the optical filter 36; a slit array 38 for restricting the aperture of the reflected light from the road surface 31; A prism array 39 that separates the
It consists of a condenser lens 40 and two photodetectors 41 for separately receiving the separated light. In addition, mirrors 42 are arranged on the side surfaces of the two photodetectors 41 to improve the light collection efficiency. The aperture stop 35 is a slit having a narrow width in the relative movement direction of the road surface 31.
【００１９】図９は、路面状態検出装置５１によって砂
や砂利路、あるいは、雪・凍結路が検出されたとき、ス
リップの可能性が高いことを運転者に告知する警報装置
５２を自動車５３に搭載した例を示す。路面状態検出装
置５１の出力はＡＢＳ（アンチロックブレーキシステ
ム）用ＥＣＵ５４に入力され、ＥＣＵ５４にてスリップ
の可能性が高いと判断されたとき、ＥＣＵ５４は警報装
置５２に警報信号を出力して、その旨を運転者に告知す
る。この警報には、音声や画面あるいは表示灯等を用い
ればよい。FIG. 9 shows a warning device 52 for notifying a driver that there is a high possibility of slipping when the road surface condition detecting device 51 detects sand, a gravel road, or a snowy / freezing road. An example of mounting is shown. The output of the road surface condition detection device 51 is input to an ABS (antilock brake system) ECU 54. When the ECU 54 determines that the possibility of slip is high, the ECU 54 outputs a warning signal to a warning device 52, Notify the driver to that effect. For this alarm, a sound, a screen, an indicator light, or the like may be used.
【００２０】図１０は、路面状態検出装置６１と空間フ
ィルタ方式速度測定装置６２を備えたＡＢＳの構成を示
す。路面状態検出装置６１の路面判別出力と、空間フィ
ルタ方式速度測定装置６２の速度出力と、車輪回転速度
センサ６３の出力とは、ＥＣＵ６４に入力される。車輪
回転速度センサ６３は、タイヤに取り付けられた磁性体
のロータ（歯形）６５と、ロータ６５の歯数に応じてパ
ルスを出力する電磁ピックアップ方式センサ６６とから
構成されている。ＥＣＵ６４は、路面状態検出装置６１
の路面判別出力と、空間フィルタ方式速度測定装置６２
の速度出力と、車輪回転速度センサ６３の出力とに基づ
いて、所定の演算を行い、最適なブレーキ制御信号を出
力する。FIG. 10 shows the configuration of an ABS provided with a road surface condition detecting device 61 and a spatial filter type speed measuring device 62. The road surface determination output of the road surface state detecting device 61, the speed output of the spatial filter type speed measuring device 62, and the output of the wheel rotation speed sensor 63 are input to the ECU 64. The wheel rotation speed sensor 63 includes a magnetic rotor (tooth profile) 65 attached to the tire, and an electromagnetic pickup type sensor 66 that outputs a pulse according to the number of teeth of the rotor 65. The ECU 64 includes a road surface state detection device 61
Road surface discrimination output and the spatial filter type speed measuring device 62
A predetermined calculation is performed based on the speed output of the vehicle and the output of the wheel rotation speed sensor 63 to output an optimal brake control signal.
【００２１】図１１は上記のＡＢＳを備えた自動車５３
の例を示す。路面状態検出装置６１と空間フィルタ方式
速度測定装置６２と車輪回転速度センサ６３の各出力信
号を用いて、ブレーキがロックしないように制御できる
ＡＢＳや、アクセルを制御できるトラクションコントロ
ールシステム（ＴＣＬ）等の速度制御システムが構築で
きると共に、効率の良い制動・加速能力が得られる。FIG. 11 shows an automobile 53 provided with the above-mentioned ABS.
Here is an example. Using the output signals of the road surface condition detecting device 61, the spatial filter type speed measuring device 62, and the wheel rotational speed sensor 63, an ABS that can control the brake so as not to be locked, a traction control system (TCL) that can control the accelerator, and the like. A speed control system can be constructed, and efficient braking and acceleration capabilities can be obtained.
【００２２】[0022]
【発明の効果】以上のように請求項１の発明によれば、
路面からの反射光を受光した受光素子アレイの各出力を
レベル弁別し、弁別された各レベルの度数から路面の状
態を判別するので、レベルに応じた数の異なる路面状態
を判別することができる。請求項２の発明によれば、受
光素子アレイの各素子が車両の進行方向に対して垂直な
方向に並ぶように配設されているので、広範囲の路面の
状態を検出することができ、それを基に正確な判断がで
きる。請求項３の発明によれば、受光レンズの焦点位置
に小孔を有する遮光部材が配されているので、路面との
距離が変化しても受光像がぼけずに、安定して路面状態
を検出することができる。As described above, according to the first aspect of the present invention,
The level of each output of the light receiving element array that has received the reflected light from the road surface is discriminated, and the state of the road surface is determined from the frequency of each discriminated level.
Can be determined. According to the invention of claim 2 , since the elements of the light receiving element array are arranged so as to be arranged in a direction perpendicular to the traveling direction of the vehicle, it is possible to detect the state of the road surface in a wide range, Accurate judgment can be made based on According to the third aspect of the present invention, since the light shielding member having the small hole is disposed at the focal position of the light receiving lens, the received light image is not blurred even when the distance to the road surface changes, and the road surface state can be stably changed. Can be detected.
【００２３】請求項４の発明によれば、受光素子アレイ
と空間フィルタとを同一面内に配置するので、位置決
め、取り付けが簡単にできる。請求項５の発明によれ
ば、スリップしやすい路面を検出した場合、運転者にス
リップ警告信号を発することで減速を促し、安全運転に
寄与できる。請求項６の発明によれば、最適なＡＢＳ制
御、ＴＣＬ制御が行える。請求項７の発明によれば、制
動距離が短縮され、加速性が良くなるので、自動車の安
全性が高くなる。According to the fourth aspect of the present invention, the light receiving element array
And the spatial filter are located on the same plane,
It can be easily installed. According to the fifth aspect of the present invention, when a slippery road surface is detected, a slip warning signal is issued to the driver to promote deceleration, thereby contributing to safe driving. According to the invention of claim 6 , optimal ABS control and TCL control can be performed. According to the seventh aspect of the present invention, the braking distance is shortened and the acceleration is improved, so that the safety of the vehicle is enhanced.
【図１】本発明の一実施例による路面状態検出装置の斜
視図である。FIG. 1 is a perspective view of a road surface state detecting device according to an embodiment of the present invention.
【図２】上記路面状態検出装置の前面図である。FIG. 2 is a front view of the road surface state detecting device.
【図３】受光素子アレイの受光量分布を示す図であり、
（ａ）は乾燥アスファルト路、（ｂ）は湿潤アスファル
ト路、（ｃ）は砂・砂利路、（ｄ）は雪、凍結路の場合
を示す。FIG. 3 is a diagram showing a light receiving amount distribution of a light receiving element array;
(A) shows a case of a dry asphalt road, (b) shows a case of a wet asphalt road, (c) shows a case of a sand / gravel road, and (d) shows a case of a snowy or frozen road.
【図４】路面状態を判別する処理系のブロック図であ
る。FIG. 4 is a block diagram of a processing system for determining a road surface state.
【図５】上記処理系の判別回路における路面状態の判別
フローを示す図である。FIG. 5 is a diagram showing a flow of determining a road surface state in a determination circuit of the processing system.
【図６】変形例における受光レンズの焦点位置に小孔を
有する遮光部材を配した路面状態検出装置の前面図であ
る。FIG. 6 is a front view of a road surface state detecting device provided with a light blocking member having a small hole at a focal position of a light receiving lens in a modified example.
【図７】他の変形例における路面状態検出装置の光源を
空間フィルタ方式速度測定装置の光源と共用した側面図
である。FIG. 7 is a side view in which a light source of a road surface state detecting device according to another modification is shared with a light source of a spatial filter type speed measuring device.
【図８】別の変形例における受光素子アレイと空間フィ
ルタ方式速度測定装置の斜視図である。FIG. 8 is a perspective view of a light receiving element array and a spatial filter type speed measuring device in another modified example.
【図９】スリップ警報装置を備えた自動車の概略側面図
である。FIG. 9 is a schematic side view of an automobile provided with a slip warning device.
【図１０】路面状態検出装置を備えたＡＢＳのブロック
構成図である。FIG. 10 is a block diagram of an ABS including a road surface state detecting device.
【図１１】路面状態検出装置とＡＢＳを備えた自動車の
概略側面図である。FIG. 11 is a schematic side view of an automobile including a road surface state detection device and an ABS.
２ 発光素子 ３ 投光レンズ ４ 受光レンズ ５ 受光素子アレイ ６ レベル弁別回路 ８ 判別回路 ９ ＡＰＣ回路 １１ 遮光部材 ２１，６２ 空間フィルタ方式速度測定装置 ２２，３２ 光源 ５１，６１ 路面状態検出装置 ５３ 自動車 ６３ 車輪回転速度センサ Reference Signs List 2 light emitting element 3 light emitting lens 4 light receiving lens 5 light receiving element array 6 level discriminating circuit 8 discriminating circuit 9 APC circuit 11 light shielding member 21, 62 spatial filter type speed measuring device 22, 32 light source 51, 61 road surface state detecting device 53 automobile 63 Wheel speed sensor
フロントページの続き (56)参考文献 特開 平６−307837（ＪＰ，Ａ) 特開 昭63−100318（ＪＰ，Ａ) 特開 昭63−100317（ＪＰ，Ａ) 特開 昭62−240808（ＪＰ，Ａ) 特開 平５−52857（ＪＰ，Ａ) 実開 昭62−167151（ＪＰ，Ｕ) 実開 昭63−177757（ＪＰ，Ｕ) 国際公開95／1549（ＷＯ，Ａ２) (58)調査した分野(Int.Cl.7，ＤＢ名) G01B 11/00 - 11/30 G01P 3/36 Continuation of the front page (56) References JP-A-6-307837 (JP, A) JP-A-63-100318 (JP, A) JP-A-63-100317 (JP, A) JP-A-62-240808 (JP JP-A-5-52857 (JP, A) JP-A-62-167151 (JP, U) JP-A-63-177757 (JP, U) International publication 95/1549 (WO, A2) (58) Survey Fields (Int.Cl. 7 , DB name) G01B 11/00-11/30 G01P 3/36
Claims (7)
に非接触で検出する路面状態検出装置において、 路面を照明する光源と、 路面からの正反射光を受光する位置に配された受光レン
ズと、 路面からの正反射光が上記受光レンズによって結像する
位置に配された受光素子アレイと、 上記受光素子アレイの各出力をレベル弁別する弁別回路
と、 上記弁別回路により弁別された各レベルの度数から路面
の状態を判別する判別回路とを備えたことを特徴とする
路面状態検出装置。1. A road surface condition detection device mounted on a vehicle and optically detecting a road surface condition in a non-contact manner, comprising: a light source for illuminating the road surface; and a light receiving device arranged at a position for receiving regular reflection light from the road surface. A lens, a light receiving element array arranged at a position where regular reflection light from a road surface forms an image by the light receiving lens, a discriminating circuit for level discriminating each output of the light receiving element array, and each discriminated by the discriminating circuit. A road surface state detection device comprising: a determination circuit configured to determine a road surface state from a frequency of a level.
向に対して垂直な方向に並ぶように配設されたことを特
徴とする請求項１に記載の路面状態検出装置。2. The road surface condition detecting device according to claim 1, wherein each element of the light receiving element array is arranged so as to be arranged in a direction perpendicular to a traveling direction of the vehicle.
光部材を配したことを特徴とする請求項１に記載の路面
状態検出装置。3. The road surface condition detecting device according to claim 1, wherein a light shielding member having a small hole is disposed at a focal position of the light receiving lens.
子アレイと同一面内に配置されたことを特徴とする請求
項１記載の路面状態検出装置。 4. A spatial filter for measuring velocity, wherein said spatial filter is
The road surface state detecting device according to claim 1 , wherein the road surface state detecting device is arranged in the same plane as the child array .
路又は雪、凍結路面を検出した時、スリップの可能性が
高いことを運転者に告知する警報装置を備えたことを特
徴とする請求項１乃至４のいずれかに記載の路面状態検
出装置。 5. An alarm device for notifying a driver of a high possibility of slip when detecting sand, a gravel road, snow, or a frozen road surface based on an output of the determination circuit. road surface condition detecting apparatus according to any one of claims 1 to 4.
状態検出装置と、路面に対する相対的移動速度を測定す
る空間フィルタ方式速度測定装置と、車輪速度センサと
を備え、これらの出力によってブレーキ又はアクセルを
制御することで速度を制御するようにしたことを特徴と
する速度制御システム。6. A road surface condition detecting apparatus according to any one of claims 1 to 5, a spatial filter method rate measuring device for measuring the relative movement speed with respect to the road surface, and a wheel speed sensor, these output A speed control system, wherein the speed is controlled by controlling a brake or an accelerator.
したことを特徴とする車両。7. A vehicle equipped with the speed control system according to claim 6 .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21489593A JP3240396B2 (en) | 1993-08-05 | 1993-08-05 | Road surface condition detection device, speed control system including the same, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21489593A JP3240396B2 (en) | 1993-08-05 | 1993-08-05 | Road surface condition detection device, speed control system including the same, and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0749223A JPH0749223A (en) | 1995-02-21 |
| JP3240396B2 true JP3240396B2 (en) | 2001-12-17 |
Family
ID=16663347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21489593A Expired - Fee Related JP3240396B2 (en) | 1993-08-05 | 1993-08-05 | Road surface condition detection device, speed control system including the same, and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3240396B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0710817B1 (en) * | 1993-06-29 | 2003-04-09 | Omron Corporation | Object discriminator ( road surface ) |
| DE19722829A1 (en) * | 1997-05-30 | 1998-12-10 | Daimler Benz Ag | Vehicle with a scanning system |
| KR20080089673A (en) * | 2005-01-04 | 2008-10-07 | 미쓰비시덴키 가부시키가이샤 | Mover position/speed detecting device |
-
1993
- 1993-08-05 JP JP21489593A patent/JP3240396B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0749223A (en) | 1995-02-21 |
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