JPH0645847Y2 - Road surface detection device - Google Patents
Road surface detection deviceInfo
- Publication number
- JPH0645847Y2 JPH0645847Y2 JP1988114303U JP11430388U JPH0645847Y2 JP H0645847 Y2 JPH0645847 Y2 JP H0645847Y2 JP 1988114303 U JP1988114303 U JP 1988114303U JP 11430388 U JP11430388 U JP 11430388U JP H0645847 Y2 JPH0645847 Y2 JP H0645847Y2
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- vehicle speed
- information
- time width
- surface condition
- 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
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- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Description
【考案の詳細な説明】 （産業上の利用分野） 本考案は車両が走行する路面の状況を検出するための路
面検出装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a road surface detection device for detecting the condition of a road surface on which a vehicle travels.
（従来の技術） 従来から、車両の走行する路面の状況情報を自動的に検
出するために路面検出手段が使用されている。この種の
路面検出手段の多くは、超音波を検出波として用い、こ
れを路面に送出し、その反射波を受信して、反射波の取
り込んだ路面状況情報である路面の凹凸状況、障害物の
存在、路面の乾燥、湿潤、積雪、凍結状況、等の情報を
検出するようになっている。(Prior Art) Conventionally, road surface detection means has been used to automatically detect status information of a road surface on which a vehicle is traveling. Most of this kind of road surface detection means uses ultrasonic waves as detection waves, sends them to the road surface, receives the reflected waves, and receives the reflected waves, which is road surface condition information, that is, road surface irregularities and obstacles. Information such as the presence of roads, the dryness, wetness of the road surface, snowfall, and freezing conditions.
ところで、路面センサから一定強度の超音波が送出さ
れ、これが路面より反射されることにより、反射波が受
信されると、第６図に符号ａで示すような路面凹凸情報
が得られる。By the way, when an ultrasonic wave having a constant intensity is transmitted from the road surface sensor and is reflected from the road surface, and when the reflected wave is received, road surface unevenness information as indicated by symbol a in FIG. 6 is obtained.
通常、この路面凹凸情報ａは所定のしきい値Ａと比較さ
れ、その差分量情報Ｐに基づき路面状況情報が出力され
ることとなる。Usually, the road surface unevenness information a is compared with a predetermined threshold value A, and road surface condition information is output based on the difference amount information P.
（考案が解決しようとする課題） ところが、この種の路面センサは車速の増減に伴い、発
信器と受波器の指向性に食い違いが出てしまう。このた
め、路面凹凸情報ａは車速が大きくなるほど、第５図
（ａ）に示す反射波ゲインや第５図（ｂ）に示す障害物
検知時間がそれぞれ全体的に低下する。このため、路面
方向の単位長さ当たりの路面検知時間である比較時間ｔ
も第６図に示すように、車速の増加に応じて短く、ｔ′
となる。(Problems to be solved by the device) However, in this type of road surface sensor, the directivity of the transmitter and the receiver will be different as the vehicle speed increases and decreases. Therefore, in the road surface unevenness information a, as the vehicle speed increases, the reflected wave gain shown in FIG. 5A and the obstacle detection time shown in FIG. Therefore, the comparison time t that is the road surface detection time per unit length in the road surface direction
Also, as shown in FIG. 6, as the vehicle speed increases,
Becomes
このように、路面が同一の凹凸状況にあっても、ここを
検出する際の車速ｖの大小により、路面凹凸情報レベル
が異なり、結果として、路面状況情報が不安定となり、
信頼性に欠けるという問題があった。Thus, even if the road surface has the same unevenness, the road surface unevenness information level varies depending on the magnitude of the vehicle speed v at the time of detection, and as a result, the road surface condition information becomes unstable.
There was a problem of lack of reliability.
そこで、本考案の目的は、同一路面上の同一レベルの凹
凸部であれば、常に、ほぼ等しい強度の路面状況情報を
精度良く出力出来る路面検出装置を提供することを目的
とする。Therefore, it is an object of the present invention to provide a road surface detection device capable of always accurately outputting road surface condition information having substantially the same strength as long as it is an uneven portion of the same level on the same road surface.
（課題を解決するための手段） 上述の目的を達成するために、本考案による路面検出装
置は、車両の進行方向に位置する路面に検出波を送出す
ると共に路面からの反射波を受信して路面凹凸情報を出
力する路面センサと、上記路面凹凸情報と所定のしきい
値との差分量に基づき路面の状況情報を出力する路面状
況算出手段とを備えたものであって、上記車両に車速情
報を出力する車速センサを取付け、上記路面状況算出手
段は上記しきい値を上回る差分量が発生している時間幅
が比較時間幅を上回っている場合にのみ上記路面の状況
情報を出力するとともに、さらに上記路面状況算出手段
は上記車速センサによって検出された車速の増加に応じ
て上記しきい値を低下させるしきい値可変手段と、上記
車速センサによって検出された車速の増加に応じて上記
比較時間幅を低下させる比較時間幅可変手段とを備えて
いることを特徴とする。(Means for Solving the Problems) In order to achieve the above-mentioned object, a road surface detection device according to the present invention transmits a detection wave to a road surface positioned in the traveling direction of a vehicle and receives a reflected wave from the road surface. A road surface sensor for outputting road surface unevenness information, and a road surface condition calculating means for outputting road surface condition information based on a difference amount between the road surface unevenness information and a predetermined threshold value, wherein the vehicle speed is set to the vehicle. A vehicle speed sensor that outputs information is attached, and the road surface condition calculation unit outputs the road surface condition information only when the time width in which the difference amount exceeding the threshold value is greater than the comparison time width. Further, the road surface condition calculating means further comprises a threshold value varying means for decreasing the threshold value according to an increase in the vehicle speed detected by the vehicle speed sensor, and an increase in the vehicle speed detected by the vehicle speed sensor. And a comparison time width varying means for decreasing the comparison time width according to the above.
（作用） 路面状況算出手段が路面凹凸情報と所定のしきい値との
差分量に基づき路面の状況情報を出力するに当たり、し
きい値可変手段が車速の増加に応じてしきい値を低下さ
せ、比較時間幅可変手段が車速の増加に応じて比較時間
幅を低下させるので、車速の増加に応じて路面凹凸情報
のレベルが低下しても、路面上の同一レベルの凹凸部に
対してほぼ等しい強度の路面状況情報を算出できる。(Operation) When the road surface condition calculating means outputs the road surface condition information based on the difference amount between the road surface unevenness information and the predetermined threshold value, the threshold value changing means lowers the threshold value in accordance with the increase of the vehicle speed. Since the comparison time width varying means decreases the comparison time width in accordance with the increase in vehicle speed, even if the level of road surface unevenness information decreases in accordance with the increase in vehicle speed, it is almost the same for uneven parts of the same level on the road surface. Road surface condition information of equal strength can be calculated.
（実施例） 第１図に示した路面検出装置は、車両Ｃの下部先端に取
付けられる路面センサ１と、路面４の凹凸状況に応じた
路面状況情報Ｒを出力する路面状況算出手段２と、車両
Ｃの車速情報を出力する車速センサ３とを備え、その路
面状況情報Ｒを車両の図示しない懸架装置の減衰力制御
手段Ｓに出力するよう構成されている。(Embodiment) The road surface detection device shown in FIG. 1 includes a road surface sensor 1 attached to a lower end of a vehicle C, a road surface state calculation means 2 for outputting road surface state information R according to the unevenness state of a road surface 4, A vehicle speed sensor 3 that outputs vehicle speed information of the vehicle C is provided, and the road surface condition information R is output to the damping force control means S of a suspension device (not shown) of the vehicle.
路面センサ１は送受信方向である路面４との向い角がθ
に固定されている。路面センサ１は、第２図に示すよう
に超音波送波器５及び反射波受波器６と、超音波送波器
に続く超音波発信器７と、反射波受波器に続く超音波受
信器８とから構成されている。The road surface sensor 1 has an angle of inclination θ with the road surface 4, which is the transmission / reception direction.
It is fixed to. As shown in FIG. 2, the road surface sensor 1 includes an ultrasonic wave transmitter 5 and a reflected wave receiver 6, an ultrasonic wave transmitter 7 that follows the ultrasonic wave transmitter, and an ultrasonic wave that follows the reflected wave receiver. It is composed of a receiver 8.
ここでは、第１図に示すように、向い角θは最も常用さ
れる車速時に送受信レベルが安定して得られるような角
度に設定される。この際の路面センサ１の受信領域は符
号Ｅで示した部分となり、各時点において、この受信領
域Ｅ内の路面の凹凸状況に応じた反射波が路面凹凸情報
として検出される。Here, as shown in FIG. 1, the heading angle θ is set to such an angle that a transmission / reception level can be stably obtained at the most commonly used vehicle speed. The receiving area of the road surface sensor 1 at this time is a portion indicated by reference sign E, and at each time point, a reflected wave corresponding to the unevenness of the road surface in the receiving area E is detected as road surface unevenness information.
ここで、超音波送波器５は、一定の発信周波数の超音波
を検出波として車両前方の受信領域Ｅに向け送出してい
る。Here, the ultrasonic wave transmitter 5 transmits an ultrasonic wave having a constant transmission frequency as a detection wave toward the reception area E in front of the vehicle.
超音波受信器８は反射波受波器６からの検出信号を増幅
し、第３図に示すように経時的に変化する路面凹凸情報
ｃを出力できるように構成されている。The ultrasonic receiver 8 is configured to amplify the detection signal from the reflected wave receiver 6 and output road surface unevenness information c that changes with time as shown in FIG.
第２図に示すように、路面状況算出手段２はしきい値h1
を上回る差分量が発生している時間幅が比較時間幅t1を
上回っている場合にのみ路面の状況情報Ｒを出力する機
能に加えて、しきい値可変手段及び比較時間幅可変手段
としての機能を備える。ここで、しきい値可変手段は第
４図（ａ）に示すように、車速ｖの増加に応じてしきい
値h1が低下するように設定できるデータマップ201を用
い現在のしきい値h1を算出する。比較時間幅可変手段は
第４図（ｂ）に示すように、車速ｖの増加に応じて比較
時間幅t1が低下するように設定できるデータマップ202
を用い現在の比較時間幅t1を算出する。その上で、超音
波受信器８からの路面凹凸情報ｃよりしきい値h1を減算
する処理をなして、差分が生じるか否か算出し、発生時
にはその差分発生時間ｔが比較時間幅t1を上回るか否か
算出処理し、上回る時には所定レベルのパルス波を路面
状況情報Ｒとして出力するよう構成されている。なお、
しきい値h1及び比較時間幅t1の各データマップ201,202
は各路面センサ特性に応じて路面情報算出手段２内のメ
モリー内に前以て記憶処理しておくこととなる。As shown in FIG. 2, the road surface condition calculation means 2 uses the threshold value h1.
In addition to the function of outputting the road surface condition information R only when the time width in which the difference amount exceeds the comparison time width t1 is exceeded, the function as the threshold value changing means and the comparison time width changing means Equipped with. Here, as shown in FIG. 4 (a), the threshold varying means uses the data map 201 that can be set so that the threshold h1 decreases as the vehicle speed v increases, and the current threshold h1 is set. calculate. As shown in FIG. 4 (b), the comparison time width varying means can be set so that the comparison time width t1 decreases as the vehicle speed v increases.
Is used to calculate the current comparison time width t1. Then, a process of subtracting the threshold value h1 from the road surface unevenness information c from the ultrasonic receiver 8 is performed to calculate whether or not a difference occurs, and when the difference occurs, the difference generation time t determines the comparison time width t1. It is configured to calculate whether or not it exceeds, and to output a pulse wave of a predetermined level as road surface condition information R when it exceeds. In addition,
Each data map 201, 202 of threshold h1 and comparison time width t1
Will be stored beforehand in the memory in the road surface information calculating means 2 in accordance with the characteristics of each road surface sensor.
次に、以上のような構成の路面検出装置の作動を説明す
る。Next, the operation of the road surface detection device having the above configuration will be described.
車両の走行時において、超音波発信器７が駆動し、超音
波送波器５が路面４に対し向い角θで超音波を送出す
る。これにより、車両の進行方向前方の受信領域Ｅより
反射波が反射波受波器６に続く超音波受信器８に入力さ
れ、路面凹凸情報ｃが得られる。When the vehicle is running, the ultrasonic wave transmitter 7 is driven and the ultrasonic wave transmitter 5 sends out ultrasonic waves at an angle θ with respect to the road surface 4. As a result, the reflected wave is input to the ultrasonic wave receiver 8 following the reflected wave receiver 6 from the reception area E in the forward direction of the vehicle, and the road surface unevenness information c is obtained.
すると、路面情報算出手段２はその時点での車速情報ｖ
に応じたしきい値h1と、比較時間幅t1とを各データマッ
プ201,202より算出する。更に、路面情報算出手段２は
入力された路面凹凸情報ｃよりしきい値h1を減算し、且
つその差分が発生している時間幅t0が比較時間幅t1を上
回っているか否かを判定し、上回っている場合のみその
時間幅t1に応じたレベルの路面状況情報Ｒを算出し、得
られた路面状況情報Ｒを減衰力制御手段Ｓに出力するこ
ととなる。Then, the road surface information calculating means 2 causes the vehicle speed information v at that point in time.
A threshold value h1 corresponding to the above and a comparison time width t1 are calculated from each data map 201, 202. Further, the road surface information calculation means 2 subtracts the threshold value h1 from the input road surface unevenness information c, and determines whether the time width t0 in which the difference occurs is greater than the comparison time width t1. Only when it exceeds, the road surface condition information R of a level corresponding to the time width t1 is calculated, and the obtained road surface condition information R is output to the damping force control means S.
（考案の効果） 以上のように、本考案による路面検出装置によれば、車
速の増加に応じてしきい値及び比較時間幅をそれぞれ低
下させて設定し、その上で、路面凹凸情報が設定しきい
値を上回り、その上回る状態が継続する時間幅が設定さ
れた比較時間幅を上回ると、所定の路面状況情報を出力
するので、発振された超音波が車速の増加に応じて流さ
れ路面凹凸情報のレベルが低下するという特性を補正す
ることが出来、即ち、車速の増加に応じて路面上の同一
レベルの凹凸部に対してはほぼ等しい強度の路面状況情
報を精度良く出力出来、この路面状況情報を採用して行
なわれる制御の信頼性を向上させることが出来る。(Effects of the Invention) As described above, according to the road surface detection device of the present invention, the threshold value and the comparison time width are reduced and set according to the increase of the vehicle speed, and then the road surface unevenness information is set. When the time width that exceeds the threshold value and exceeds the threshold value exceeds the set comparison time width, predetermined road surface condition information is output, so the oscillated ultrasonic waves are flown according to the increase in vehicle speed. It is possible to correct the characteristic that the level of unevenness information decreases, that is, it is possible to accurately output road surface condition information of approximately equal strength to unevenness parts of the same level on the road surface as the vehicle speed increases. The reliability of the control performed by using the road surface condition information can be improved.
第１図は本考案の一実施例としての路面検出装置の全体
概略構成図、第２図は同上装置の機能ブロック図、第３
図は同上装置の発する路面凹凸情報、等の経時的線図、
第４図（ａ），（ｂ）は同上装置の使用するデータマッ
プの特性線図、第５図（ａ），（ｂ）は従来の路面検出
装置において発生する反射波ゲイン、障害物検出時間の
特性線図、第６図は従来の路面検出装置の作動特性を説
明する図である。 １……路面センサ、２……路面状況算出手段、201……
しきい値データマップ、202……比較時間幅データマッ
プ、３……車速センサ、４……路面、ｃ……路面凹凸情
報、Ｒ……路面状況情報。FIG. 1 is an overall schematic configuration diagram of a road surface detection device as an embodiment of the present invention, FIG. 2 is a functional block diagram of the same device, and FIG.
The figure is a time-dependent diagram of road surface unevenness information generated by the same device,
4 (a) and 4 (b) are characteristic diagrams of a data map used by the same device, and FIGS. 5 (a) and 5 (b) are reflected wave gains and obstacle detection times generated in a conventional road surface detection device. FIG. 6 is a diagram for explaining the operating characteristics of the conventional road surface detection device. 1 ... Road surface sensor, 2 ... Road surface condition calculation means, 201 ...
Threshold data map, 202 ... Comparison time width data map, 3 ... Vehicle speed sensor, 4 ... Road surface, c ... Road surface unevenness information, R ... Road surface condition information.
Claims (1)
送出すると共に路面からの反射波を受信して路面凹凸情
報を出力する路面センサと、上記路面凹凸情報と所定の
しきい値との差分量に基づき路面の状況情報を出力する
路面状況算出手段とを備えた路面検出装置において、上
記車両に車速情報を出力する車速センサを取付け、上記
路面状況算出手段は、上記しきい値を上回る差分量が発
生している時間幅が比較時間幅を上回っている場合にの
み上記路面の状況情報を出力するとともに、さらに上記
路面状況算出手段は上記車速センサによって検出された
車速の増加に応じて上記しきい値を低下させるしきい値
可変手段と、上記車速センサによって検出された車速の
増加に応じて上記比較時間幅を低下させる比較時間幅可
変手段とを備えていることを特徴とする路面検知装置。1. A road surface sensor for transmitting a detection wave to a road surface positioned in the traveling direction of a vehicle and receiving a reflected wave from the road surface to output road surface unevenness information; and the road surface unevenness information and a predetermined threshold value. In a road surface detecting device having a road surface condition calculating means for outputting road surface condition information based on a difference amount of, a vehicle speed sensor for outputting vehicle speed information is attached to the vehicle, and the road surface condition calculating means sets the threshold value. The road surface condition information is output only when the time width in which the exceeding difference amount is generated exceeds the comparison time width, and the road surface condition calculation means further responds to an increase in the vehicle speed detected by the vehicle speed sensor. And a comparison time width changing means for decreasing the comparison time width in accordance with an increase in the vehicle speed detected by the vehicle speed sensor. Road surface detecting device according to claim Rukoto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988114303U JPH0645847Y2 (en) | 1988-08-31 | 1988-08-31 | Road surface detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988114303U JPH0645847Y2 (en) | 1988-08-31 | 1988-08-31 | Road surface detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0235015U JPH0235015U (en) | 1990-03-06 |
| JPH0645847Y2 true JPH0645847Y2 (en) | 1994-11-24 |
Family
ID=31354924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988114303U Expired - Lifetime JPH0645847Y2 (en) | 1988-08-31 | 1988-08-31 | Road surface detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0645847Y2 (en) |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60183211A (en) * | 1984-02-29 | 1985-09-18 | Nissan Motor Co Ltd | Suspension system for vehicle |
-
1988
- 1988-08-31 JP JP1988114303U patent/JPH0645847Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0235015U (en) | 1990-03-06 |
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