JPH0354317B2 - - Google Patents
Info
- Publication number
- JPH0354317B2 JPH0354317B2 JP58162747A JP16274783A JPH0354317B2 JP H0354317 B2 JPH0354317 B2 JP H0354317B2 JP 58162747 A JP58162747 A JP 58162747A JP 16274783 A JP16274783 A JP 16274783A JP H0354317 B2 JPH0354317 B2 JP H0354317B2
- Authority
- JP
- Japan
- Prior art keywords
- reception strength
- vehicle
- section
- receiving
- reception
- 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.)
- Expired - Lifetime
Links
- 238000004140 cleaning Methods 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000011514 reflex Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【発明の詳細な説明】
≪産業上の利用分野≫
この発明は、光を用いて車間距離を検出するレ
ーダ装置に関する。DETAILED DESCRIPTION OF THE INVENTION <<Industrial Application Field>> The present invention relates to a radar device that detects an inter-vehicle distance using light.
≪従来技術≫
従来のレーダ装置としては、例えば実開昭57−
166300号に記載の「衝突防止装置」のようなもの
がある。これは自車の前方にレーザ等のパルス信
号を送信したときから、先行車によつて反射した
パルス信号を受信するまでの時間に基づいて車間
距離を演算し表示するとともに、自車速に応じた
安全車間距離を算出し安全車間距離が確保されて
いないときは警報を発するものである。<<Prior art>> As a conventional radar device, for example,
There is something like the "collision prevention device" described in No. 166300. This calculates and displays the inter-vehicle distance based on the time from when a pulse signal such as a laser is sent to the front of the vehicle until it receives the pulse signal reflected by the vehicle in front. It calculates the safe following distance and issues a warning if the safe following distance is not maintained.
≪発明が解決しようとする問題点および発明の目
的≫
しかしながらこのような従来のレーダ装置にお
いては、パルス信号の送受信面に汚れが付着して
いる場合、先行車のリヤエンドが汚れている場合
やパルス信号の反射効率向上のため先行車に設け
られたリフレツクスリフレクタと呼ばれる反射板
が破損していたり、汚れている場合等にはパルス
信号受信強度の低下により最長測定可能距離が縮
まるため、確実な車間距離の測定が行なえないと
いう問題点があつた。本発明は、受信部における
受信強度が低下した場合に警報するようにして確
実に車間距離を測定できるレーダ装置を提供する
事を目的としている。<<Problems to be Solved by the Invention and Objectives of the Invention>> However, in such conventional radar devices, if dirt adheres to the pulse signal transmitting/receiving surface, if the rear end of the preceding vehicle is dirty, or if the pulse signal is If a reflective plate called a reflex reflector installed on the preceding vehicle to improve signal reflection efficiency is damaged or dirty, the maximum measurable distance will be shortened due to a decrease in the pulse signal reception strength. There was a problem that the distance between vehicles could not be measured. SUMMARY OF THE INVENTION An object of the present invention is to provide a radar device that can reliably measure the inter-vehicle distance by issuing a warning when the reception strength at the receiving section decreases.
≪発明の構成≫
以上の様な目的を達成するための構成を第１図
により説明する。すなわち先行車と自車との車間
距離を検出するレーダ手段１と、前記レーダ手段
１の受信強度を検出する受信強度検出部９と、該
受信強度を前記レーダ手段１で検出した車間距離
に応じて補正する受信強度補正部１０と、受信強
度が所定値以下であるかどうかを判別し、受信強
度が所定値以下である場合、受信強度異常信号を
出力する受信強度判別手段１１と、受信強度異常
信号によつて、受信強度の異常を知らせる警報手
段１２とを設けるようにした。<<Configuration of the Invention>> A configuration for achieving the above objects will be explained with reference to FIG. 1. That is, a radar means 1 detects the inter-vehicle distance between the preceding vehicle and the host vehicle, a reception strength detecting section 9 detects the reception strength of the radar means 1, and a reception strength detecting section 9 detects the reception strength of the radar means 1 according to the inter-vehicle distance detected by the radar means 1. a reception strength correction unit 10 that determines whether the reception strength is below a predetermined value, and outputs a reception strength abnormal signal when the reception strength is below the predetermined value; An alarm means 12 is provided for notifying an abnormality in reception strength by means of an abnormal signal.
≪実施例≫
第２〜５図は、この発明の一実施例を示す図で
ある。本実施例は、レーダ手段として、レーザ光
を用いた例である。まず第２図により構成を説明
すると１はレーダ手段であつて、詳しくは後述す
るがパルス光の送光から受光までの時間経過をク
ロツクカウントする事により、先行車と自車との
距離信号をマイクロコンピユータ１７に出力す
る。１６はピークホールド回路で、前記レーダ手
段１の受光パルスの増幅電圧をピークホールド
し、Ａ／Ｄ変換後、前記マイクロコンピユータ１
７に出力する。マイクロコンピユータ１７は、詳
しくは後述するが車速センサ５、レーダ手段１、
ピークホールド回路１６からの信号を基に、車速
制御手段７、車間距離表示手段１５へ出力すると
ともに、１８の受信強度表示手段、１３の洗浄部
及び１４の警報部に動作指令信号を出力する。<<Example>> FIGS. 2 to 5 are diagrams showing an example of the present invention. This embodiment is an example in which a laser beam is used as the radar means. First, the configuration will be explained with reference to FIG. 2. Reference numeral 1 is a radar means, which will be described in detail later, but by clock counting the time elapsed from the transmission of pulsed light to the reception of the pulsed light, it is used to signal the distance between the preceding vehicle and the own vehicle. is output to the microcomputer 17. Reference numeral 16 denotes a peak hold circuit which peak-holds the amplified voltage of the light pulse received by the radar means 1, and after A/D conversion, outputs the amplified voltage to the microcomputer 1.
Output to 7. The microcomputer 17 includes a vehicle speed sensor 5, a radar means 1, which will be described in detail later.
Based on the signal from the peak hold circuit 16, it outputs to the vehicle speed control means 7 and inter-vehicle distance display means 15, and also outputs an operation command signal to the reception strength display means 18, the cleaning section 13, and the alarm section 14.
次に作用を説明する。 Next, the action will be explained.
はじめに、第３図と第４図をもとに、レーダ手
段１の動作を説明する。送信部３は、一定周期Ｔ
（Ｔは数msec程度）毎にトリガパルス（パルス幅
は数10μsec程度）をカウンタ２６、単安定マルチ
バイブレータ２４、RSフリツプフロツプ（以下
RSF／Ｆと略す）２１に出力するとともに、パ
ルス光を車両前方に送信する。このトリガパルス
を第４図のＡに示す。先行車等の物標から反射し
て戻つたパルス光は、受信部２の光電変換素子で
電気信号に変換され、増幅器１９で増幅される。
増幅された電圧は、前記パルス光が先行車等の物
標から反射されたパルス光か、それとも雑音光か
を判別するために閾値Ppのコンパレータ２０で比
較され、Ppを越える受信強度が得られた場合は、
先行車からの反射パルスであるとみなし、第４図
Ｂの様にエコーパルスが発生する。RSF／Ｆ２
１は、前記トリガパルスをセツト入力、前記エコ
ーパルスをリセツト入力とするため、RSF／Ｆ
２１の出力波形は、第４図Ｃの様になり、
RSF／Ｆ２１の出力がHighレベルとなる時間ｔ
（sec）をカウントしそれによつて、先行車と自車
との距離ｌ（ｍ）を次式を用いて求める。 First, the operation of the radar means 1 will be explained based on FIGS. 3 and 4. The transmitter 3 transmits a constant period T
(T is about several milliseconds), the trigger pulse (pulse width is about several tens of microseconds) is sent to the counter 26, monostable multivibrator 24, RS flip-flop (hereinafter referred to as
(abbreviated as RSF/F) 21 and transmits pulsed light to the front of the vehicle. This trigger pulse is shown at A in FIG. The pulsed light reflected and returned from a target object such as a preceding vehicle is converted into an electrical signal by a photoelectric conversion element of the receiving section 2 and amplified by an amplifier 19.
The amplified voltages are compared by a comparator 20 with a threshold value P p to determine whether the pulsed light is reflected from a target object such as a preceding vehicle or noise light, and if the received intensity exceeds P p If obtained,
It is assumed that this is a reflected pulse from the preceding vehicle, and an echo pulse is generated as shown in FIG. 4B. RSF/F2
1 uses the trigger pulse as a set input and the echo pulse as a reset input, so the RSF/F
The output waveform of 21 is as shown in Figure 4C,
Time t when the output of RSF/F21 becomes High level
(sec) and then calculate the distance l (m) between the preceding vehicle and the host vehicle using the following formula.
ｌ＝Ct／２ …(1)
（ただし、Ｃは光速Ｃ＝３×103m／sec）
前記時間ｔの時間カウントは、RSF／Ｆ２１
の出力と、クロツク２２の出力をANDゲート２
３に通し、そのANDゲート２３の出力（第４図
Ｆに示す）をカウンタ２６に入力し、カウント内
容をラツチ２７で読み出すことにより得られる。
なお、カウンタ２６のもう１つの入力端子は、ク
リア信号入力端子で、前記送信部３の出力端子に
接続され、トリガパルス発生毎にカウンタ２６の
内容がクリアされる。一方、単安定マルチバイブ
レータ２４は、送信部３からのトリガパルスを入
力し、パルス幅τのパルスを発生する（第４図Ｄ
に示す）。τの値は次の様に与えている。 l=Ct/2...(1) (However, C is the speed of light C=3×10 3 m/sec) The time count of the above time t is RSF/F21
and the output of clock 22 are connected to AND gate 2.
3, the output of the AND gate 23 (shown in FIG. 4F) is input to the counter 26, and the count contents are read out by the latch 27.
The other input terminal of the counter 26 is a clear signal input terminal, which is connected to the output terminal of the transmitter 3, and the contents of the counter 26 are cleared every time a trigger pulse is generated. On the other hand, the monostable multivibrator 24 receives the trigger pulse from the transmitter 3 and generates a pulse with a pulse width τ (Fig. 4D
). The value of τ is given as follows.
tnax＜τ＜Ｔ …(2)
ただし、tnaxは、最長測定可能距離を光が往復
するのに十分な時間。 t nax <τ<T...(2) However, t nax is the time sufficient for light to travel back and forth over the longest measurable distance.
これは、単安定マルチバイブレータ２４の出力
と、RSF／Ｆ２１の出力をNORゲート２５に入
力し、第４図Ｅに示す様にエコーパルスが発生し
た場合のみNORゲート２５の出力にパルス幅Ｔ
−τのデータ読込み指令パルスを発生し、これを
ラツチ２７のデータ読込み指令端子に入力する事
によつて、エコーパルスが発生した場合だけのカ
ウンタ２６の内容をラツチ２７に転送させるため
である。 This is done by inputting the output of the monostable multivibrator 24 and the output of the RSF/F 21 to the NOR gate 25, and applying the pulse width T to the output of the NOR gate 25 only when an echo pulse is generated as shown in Fig. 4E.
By generating a data read command pulse of -τ and inputting it to the data read command terminal of the latch 27, the contents of the counter 26 only when an echo pulse is generated are transferred to the latch 27.
１６はピークホールド回路であり、増幅器１９
の増幅電圧をダイオード２８、コンデンサ２９、
抵抗３０でピークホールドし、Ａ／Ｄ変換器３１
でＡ／Ｄ変換されて受信強度Plを出力する。 16 is a peak hold circuit, and an amplifier 19
The amplified voltage of diode 28, capacitor 29,
Peak hold with resistor 30, A/D converter 31
It is A/D converted and outputs the reception strength P l .
次に、マイクロコンピユータ１７は第５図のよ
うな動作をする。ステツプ５０で車速センサ５か
ら自車速を入力し、ステツプ５１でラツチ２７か
ら、先行車と自車との距離ｌを入力する。さらに
ステツプ５２でピークホールド回路１６からのエ
ーパルス受信強度をPlとして入力する。 Next, the microcomputer 17 operates as shown in FIG. At step 50, the vehicle speed is inputted from the vehicle speed sensor 5, and at step 51, the distance l between the preceding vehicle and the own vehicle is inputted from the latch 27. Furthermore, in step 52, the A-pulse reception strength from the peak hold circuit 16 is input as Pl .
次に、ステツプ５３，５４で先行車と安全車間
距離を保つて追従走行する等制御の詳細は例えば
特開昭55−86000に記載されている）の車両走行
制御を行う。 Next, in steps 53 and 54, vehicle running control is performed, such as following the vehicle while maintaining a safe distance from the preceding vehicle.
ステツプ５５では受信強度補正を行なうが、こ
の受信強度補正について以下説明する。ステツプ
５２で入力した受信強度Plは、次式で表わされ
る。 In step 55, reception strength correction is performed, and this reception strength correction will be explained below. The reception strength P l input in step 52 is expressed by the following equation.
Pl＝α・β・Ｓ／Snio（lnax／ｌ）4Pp …(3)
ただし、
α：リフレツクスリフレクタの破損・汚れ等によ
る受信強度Plの減衰率（０α１）
β：レーダ手段６の送受信面の汚れによる受信強
度Plの減衰率（０β）
Snio：運輸省規定のリフレツクスリフレクタ最小
面積
Ｓ：リフレツクスリフレクタの面積（ＳSnio）
lnax：レーダ手段の最長測定可能距離
ｌ：先車と自車との距離
Pp：検出可能最小受信強度
今、簡単のため、全ての先行車について、Ｓ＝
Snioであると近似し、(3)式の両辺にl4を掛けると、
l4Pl＝αβlnax 4Pp …(4)
ここで、lnax、Ppは定数であるから、
l4Pl＝Cαβ …(5)
ただし、Ｃ：定数、α：０α１、β：０
β１
となる。すなわち、l4Plの値を求める事により、
先行車と自車との距離ｌによらず、リフレツクス
リフレクタの破損や汚れによる減衰や、レーダ手
段１の送受信面の汚れによる減衰等の光伝播路の
異常による受信強度の変化を求める事ができる。
ステツプ５６によつて受信強度表示手段１８に出
力する。 P l = α・β・S/S nio (l nax /l) 4 P p …(3) However, α: Attenuation rate of received strength P l due to damage or dirt on the reflex reflector (0α1) β: Radar Attenuation rate of reception intensity P l due to dirt on the transmitting and receiving surface of means 6 (0β) S nio : Minimum area of reflex reflector stipulated by the Ministry of Transport S : Area of reflex reflector (SS nio ) l nax : Maximum measurable range of radar means Distance l: Distance between the preceding vehicle and own vehicle P p : Minimum detectable reception strength Now, for the sake of simplicity, for all preceding vehicles, S=
By approximating that S nio and multiplying both sides of equation (3) by l 4 , l 4 P l = αβl nax 4 P p …(4) Here, l nax and P p are constants, so l 4 P l = Cαβ …(5) where, C: constant, α: 0α1, β: 0
Becomes β1. In other words, by finding the value of l 4 P l ,
Regardless of the distance l between the preceding vehicle and the host vehicle, it is possible to determine changes in reception intensity due to abnormalities in the optical propagation path, such as attenuation due to damage or dirt on the reflex reflector, or attenuation due to dirt on the transmitting/receiving surface of the radar means 1. can.
In step 56, the signal is outputted to the reception strength display means 18.
次にステツプ５７でl4Plの値を所定値Cp（ただ
し、Cpは、前記定数Ｃよりも小さい値に設定され
る）と比較することにより、光伝播路の異常を判
別する事ができる。 Next, in step 57, the value of l 4 P l is compared with a predetermined value C p (however, C p is set to a value smaller than the constant C) to determine an abnormality in the optical propagation path. I can do it.
ステツプ５７で受信強度が所定値より低くなつ
たときは、光伝播路の異常であるとみなし、前記
レーダ手段１内の送信部３及び受信部２の送受信
面を洗浄する洗浄部１３が動作したかどうかをス
テツプ５８で判別し、動作していなければステツ
プ５９により、洗浄部１３を動作させる。次に、
該洗浄部１３の動作によつても、受信強度が所定
値以上に回復しない場合は、先行車のリフレツク
スリフレクタの破損又は汚れによつて、先行車を
確実に検出できず適確な追従走行する事ができな
いので、ステツプ６０で警報部１４を動作させ、
警報を発するのである。 When the receiving intensity becomes lower than a predetermined value in step 57, it is assumed that there is an abnormality in the optical propagation path, and the cleaning section 13 for cleaning the transmitting and receiving surfaces of the transmitting section 3 and receiving section 2 in the radar means 1 is operated. It is determined in step 58 whether the washing section 13 is in operation or not, and if it is not operating, the cleaning section 13 is operated in step 59. next,
If the reception strength does not recover to a predetermined value or higher even after the operation of the cleaning unit 13, the preceding vehicle cannot be reliably detected due to damage or dirt on the reflex reflector of the preceding vehicle, and proper following may not be possible. Since it is not possible to do so, the alarm unit 14 is activated in step 60.
It gives a warning.
なお、車速制御手段を有する装置で説明した
が、単に車間距離を表示するものか、車速に応じ
た車間距離以下になると警報を発するレーダ装置
に適用することもできる。 Although the present invention has been described as a device having a vehicle speed control means, it can also be applied to a radar device that simply displays the inter-vehicle distance or issues an alarm when the inter-vehicle distance becomes less than the distance corresponding to the vehicle speed.
≪発明の効果≫
以上説明してきたように、この発明によれば、
その構成をレーダ手段の受信部における受信強度
を検出する受信強度検出部と、該受信強度検出部
からの受信強度を車間距離信号に応じて補正する
受信強度補正部と、該受信強度補正部で補正され
た受信強度と所定値とを比較する受信強度判別手
段と、該受信強度判別手段によつて、受信強度が
所定値以下である場合、それを知らせる警報手段
とを設けたため、自車と先行車との距離測定にお
いて、受信強度が低下し、最長測定可能距離が縮
まることによる誤まつた車間距離の測定をするこ
とがなくなる。<<Effect of the invention>> As explained above, according to this invention,
The configuration includes a reception strength detection section that detects the reception strength in the reception section of the radar means, a reception strength correction section that corrects the reception strength from the reception strength detection section according to the inter-vehicle distance signal, and the reception strength correction section. A reception strength determination means for comparing the corrected reception strength with a predetermined value, and an alarm means for notifying the reception strength when the reception strength is less than the predetermined value by the reception strength determination means are provided. When measuring the distance to the preceding vehicle, it is no longer possible to erroneously measure the inter-vehicle distance due to a decrease in reception strength and a shortening of the longest measurable distance.
第１図は本発明によるレーダ装置のブロツク
図、第２図は本発明によるレーダ装置の一実施例
を説明するブロツク図、第３図はレーダ手段１及
びピークホールド回路１６の回路構成図、第４図
は第３図の各点におけるタイムチヤートを示す
図、第５図はマイクロコンピユータ１７の信号処
理流れ図である。
１……レーダ手段、８……受信強度検出手段、
９……受信強度検出部、１０……受信強度補正
部、１１……受信強度判別手段、１２……警報手
段、１３……洗浄部、１４……警報部、１６……
ピークホールド回路、１７……マイクロコンピユ
ータ、１８……受光強度表示手段。
FIG. 1 is a block diagram of a radar device according to the present invention, FIG. 2 is a block diagram illustrating an embodiment of the radar device according to the present invention, FIG. 3 is a circuit configuration diagram of the radar means 1 and the peak hold circuit 16, and FIG. 4 is a diagram showing a time chart at each point in FIG. 3, and FIG. 5 is a signal processing flowchart of the microcomputer 17. 1... Radar means, 8... Reception strength detection means,
9...Reception strength detection unit, 10...Reception strength correction unit, 11...Reception strength determination means, 12...Alarm means, 13...Cleaning unit, 14...Alarm unit, 16...
Peak hold circuit, 17...microcomputer, 18...received light intensity display means.
Claims (1)
で反射した光信号を受信部で受信するまでの時間
に基づいて車間距離を求めるレーダ装置におい
て、 前記受信部の受信強度を検出する受信強度検出
部と、該受信強度を前記距離に応じて補正する受
信強度補正部と、該補正された受信強度が所定値
以下であれば受信強度異常信号を出力する受信強
度判別手段と、該受信強度異常信号により異常を
知らせる警報手段とを備えたことを特徴とするレ
ーダ装置。 ２ 前記警報手段は、前記受信強度異常信号によ
つて前記送信部及び受信部の露出面である送受信
面の洗浄を行う洗浄部と、送受信面洗浄後も前記
受信強度異常信号が出力されている場合警報する
警報部とを有することを特徴とする特許請求の範
囲第１項記載のレーダ装置。[Scope of Claims] 1. In a radar device that calculates an inter-vehicle distance based on the time from when an optical signal is transmitted from a transmitting section to when an optical signal reflected by a vehicle is received at a receiving section, the reception intensity of the receiving section is provided. a reception strength detection unit that detects the reception strength; a reception strength correction unit that corrects the reception strength according to the distance; and a reception strength determination unit that outputs a reception strength abnormality signal if the corrected reception strength is equal to or less than a predetermined value. A radar device comprising: and an alarm means for notifying an abnormality using the reception strength abnormal signal. 2. The alarm means includes a cleaning section that cleans the transmitting and receiving surfaces, which are exposed surfaces of the transmitting section and the receiving section, using the receiving strength abnormal signal, and the receiving strength abnormal signal is output even after the transmitting and receiving surfaces are cleaned. 2. The radar device according to claim 1, further comprising an alarm unit that issues an alarm when the alarm occurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58162747A JPS6053869A (en) | 1983-09-05 | 1983-09-05 | Radar equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58162747A JPS6053869A (en) | 1983-09-05 | 1983-09-05 | Radar equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6053869A JPS6053869A (en) | 1985-03-27 |
| JPH0354317B2 true JPH0354317B2 (en) | 1991-08-19 |
Family
ID=15760490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58162747A Granted JPS6053869A (en) | 1983-09-05 | 1983-09-05 | Radar equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6053869A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11109030A (en) * | 1997-10-01 | 1999-04-23 | Fujitsu Ten Ltd | Onboard radar equipment |
| DE19945268A1 (en) * | 1999-09-21 | 2001-03-22 | Bosch Gmbh Robert | Method and device for status detection in a system for automatic longitudinal and / or transverse control in a motor vehicle |
| JP2005233782A (en) * | 2004-02-19 | 2005-09-02 | Kurita Water Ind Ltd | Method and apparatus for detecting dirt of ultrasonic sensor |
| JP2006250793A (en) * | 2005-03-11 | 2006-09-21 | Fujitsu Ten Ltd | Radar apparatus |
| JP5710108B2 (en) * | 2009-07-03 | 2015-04-30 | 日本信号株式会社 | Optical distance measuring device |
| JP6739074B2 (en) * | 2017-03-24 | 2020-08-12 | パナソニックＩｐマネジメント株式会社 | Distance measuring device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57166578A (en) * | 1981-04-08 | 1982-10-14 | Toshiba Corp | Photoelectric converter |
-
1983
- 1983-09-05 JP JP58162747A patent/JPS6053869A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57166578A (en) * | 1981-04-08 | 1982-10-14 | Toshiba Corp | Photoelectric converter |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6053869A (en) | 1985-03-27 |
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