JPS64263B2 - - Google Patents
Info
- Publication number
- JPS64263B2 JPS64263B2 JP56067783A JP6778381A JPS64263B2 JP S64263 B2 JPS64263 B2 JP S64263B2 JP 56067783 A JP56067783 A JP 56067783A JP 6778381 A JP6778381 A JP 6778381A JP S64263 B2 JPS64263 B2 JP S64263B2
- Authority
- JP
- Japan
- Prior art keywords
- distance
- ultrasonic
- road surface
- vehicle
- received
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 4
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
本発明は車両の対地用の距離検出器を取付け、
路面の状態を検出するようにした路面状態検出装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for installing a ground distance detector on a vehicle;
The present invention relates to a road surface condition detection device that detects the condition of a road surface.
従来この種の装置として、実開昭55−141085号
の「車両の障害物検出装置」に示すように、電動
車椅子に対地用のセンサを取付け、超音波による
距離検出を用いて路面の凹凸を検出するようにし
ている。 Conventionally, this type of device is shown in ``Vehicle Obstacle Detection Device'' in Utility Model Application No. 55-141085, which attaches a ground sensor to an electric wheelchair and uses ultrasonic distance detection to detect unevenness on the road surface. I'm trying to detect it.
しかしながら、このものは単に路面の凹凸を検
出するだけであるため、一時的な凹凸であつてそ
のままの走行が可能なのか、あるいは溝等のよう
なものであつてそのままの走行が不可能なのかを
判定できないという問題がある。 However, since this device only detects irregularities on the road surface, it is difficult to know whether the irregularities are temporary and it is possible to continue driving as they are, or whether it is something like a groove that makes it impossible to continue driving as is. The problem is that it cannot be determined.
本発明は上記問題に鑑みたもので、２つの対地
用の距離検出器を、車両の走行方向に対する前方
車輪の前側に、車輪の直径に対応する所定間隔で
取り付け、この２つの距離検出器が同時に異常距
離を測定した時に車両の継続走行不可状態を検出
することによつて、溝等のような乗越え不可能な
路面状態を確実に検出することができる路面状態
検出装置を提供することを目的とするものであ
る。 The present invention has been made in view of the above-mentioned problem, and includes two ground distance detectors that are attached to the front side of the front wheels with respect to the running direction of the vehicle at a predetermined interval corresponding to the diameter of the wheels. It is an object of the present invention to provide a road surface condition detection device that can reliably detect road surface conditions such as grooves that cannot be overcome by detecting a condition in which a vehicle cannot continue to run when an abnormal distance is measured at the same time. That is.
以下本発明を添付図面を示す実施例について説
明する。本発明の一実施例の全体構成を示すブロ
ツク図を図示した第１図において、１は超音波の
搬送波および距離信号などを発生する基準パルス
発生回路、２―１，２―２は基準パルス発生回路
１からの送信用搬送波パルス信号ａを受けて超音
波を路面に向けて発射する超音波送波器、３―
１，３―２は路面よりの超音波反射波を受信する
超音波受波器、４―１，４―２は超音波受波器３
―１，３―２よりの受信波信号ｂ，ｃを受けて増
巾、信号選択、検波，レベル比較し受信パルス
ｄ，ｅを発生する受信回路、５―１，５―２は受
信回路４―１，４―２よりの受信パルスと基準パ
ルス発生回路１よりの距離比較信号ｆを受けて受
信パルスによる障害物までの距離を判別して障害
物信号ｇ，ｈを発生する受信判別回路、６は受信
判別回路５―１，５―２よりの障害物信号ｇ，ｈ
を受けて表示信号ｉを発生するアンド（AND）
回路、７はAND回路６よりの表示信号ｉを受け
てランプによる表示を行なう表示回路（警報を発
するための警報回路でもよい）である。なお、超
音波送波器２―１，２―２および超音波受波器３
―１，３―２は第３図ａ，ｂに示すように車輪後
方に取付けられ、それぞれの組２―１と３―１，
２―２と３―２の間隔は、車両の走行方向の車輪
幅、すなわち車輪の直径ｄに相当する距離だけ
離れている。また、上記構成要素１〜７は、自動
車の後退時にリバースギヤと連動して動作するバ
ツクスイツチを介した電源供給を受けて作動状態
になるものである。また、それぞれの超音波送波
器と超音波受波器にて距離検出器を構成してい
る。 The present invention will be described below with reference to embodiments shown in the accompanying drawings. In FIG. 1, which shows a block diagram showing the overall configuration of an embodiment of the present invention, 1 is a reference pulse generation circuit that generates an ultrasonic carrier wave, a distance signal, etc., and 2-1 and 2-2 are reference pulse generation circuits. an ultrasonic transmitter that receives the transmission carrier wave pulse signal a from the circuit 1 and emits ultrasonic waves toward the road surface, 3-
1, 3-2 are ultrasonic receivers that receive ultrasonic waves reflected from the road surface, and 4-1, 4-2 are ultrasonic receivers 3.
5-1, 5-2 is a receiving circuit 4 which receives received wave signals b and c from 1 and 3-2, performs amplification, signal selection, detection, level comparison, and generates received pulses d and e. a reception discrimination circuit that receives the received pulses from -1 and 4-2 and the distance comparison signal f from the reference pulse generation circuit 1, determines the distance to the obstacle according to the received pulses, and generates obstacle signals g and h; 6 are obstacle signals g and h from reception discrimination circuits 5-1 and 5-2.
AND generates display signal i in response to
A circuit 7 is a display circuit (or an alarm circuit for issuing an alarm) that receives the display signal i from the AND circuit 6 and displays a display using a lamp. In addition, the ultrasonic transmitters 2-1, 2-2 and the ultrasonic receiver 3
-1, 3-2 are attached to the rear of the wheels as shown in Figure 3 a, b, and the respective sets 2-1 and 3-1,
The distance between 2-2 and 3-2 is a distance corresponding to the width of the wheel in the running direction of the vehicle, that is, the diameter d of the wheel. Further, the above-mentioned components 1 to 7 are activated by receiving power supply through a back switch that operates in conjunction with a reverse gear when the vehicle is reversing. Further, each ultrasonic transmitter and ultrasonic receiver constitute a distance detector.
次に、上記構成においてその作動を第２図の各
部信号波形図を援用して説明する。第２図１，
２，３，４，５，６，７，８，９において、ａは
超音波送波器２―１，２―２の超音波パルスを示
し、ｂ，ｃは超音波受波器３―１，３―２の路面
からの反射波波形を示し、ｄ，ｅは受信回路４―
１，４―２で発生する受信パルス波形を示し、ｆ
は基準パルス発生回路１からの距離比較信号波形
を示し、ｇ，ｈは受信判別回路５―１，５―２か
らの障害物信号波形を示し、ｉはアンド回路６か
らの表示信号波形を示している。 Next, the operation of the above configuration will be explained with reference to the signal waveform diagram of each part in FIG. 2. Figure 2 1,
In 2, 3, 4, 5, 6, 7, 8, and 9, a indicates the ultrasonic pulse of the ultrasonic transmitter 2-1, 2-2, and b, c indicates the ultrasonic pulse of the ultrasonic receiver 3-1. , 3-2 shows the reflected wave waveform from the road surface, and d and e are the receiving circuit 4-
1, 4-2 shows the received pulse waveform generated at f
indicates the distance comparison signal waveform from the reference pulse generation circuit 1, g and h indicate the obstacle signal waveforms from the reception discrimination circuits 5-1 and 5-2, and i indicates the display signal waveform from the AND circuit 6. ing.
いま、超音波送波器２―１，２―２より超音波
パルスａが時刻t1で発射され、自動車接地面の路
面よりの反射波が超音波受波器３―１，３―２に
時刻taで受信されたとすると、受信波ｂ，ｃは受
信回路４―１，４―２に入力され、増巾器、帯域
通過フイルタを通り雑音を除去し、検波器で検波
され、レベル判別器でいま検波された受信波のレ
ベルが所定値以上であることを判別すると、その
出力は“０”から“１”となる。これにより受信
波は受信パルスｄ，ｅにそれぞれ変換され、受信
判別回路５―１，５―２に入力される。そこで基
準パルス発生回路１の距離比較信号ｆの入力と時
刻taにおける入力すなわち受信パルスｄ，ｅによ
る立ち上がりパルスとをそれぞれ比較し、いま時
刻taがt1とt2の間にあるとすると、距離比較信号
ｆは“０”であるため、それぞれの出力が“０”
となり、AND回路６の出力が“０”となつて表
示器７のランプは点灯しない。 Now, ultrasonic pulse a is emitted from ultrasonic transmitters 2-1 and 2-2 at time t1 , and the reflected waves from the road surface of the car ground contact are transmitted to ultrasonic receivers 3-1 and 3-2. Assuming that the received waves are received at time ta, the received waves b and c are input to the receiving circuits 4-1 and 4-2, pass through an amplifier and a bandpass filter to remove noise, are detected by a wave detector, and are passed through a level discriminator. If it is determined that the level of the received wave just detected is higher than a predetermined value, the output changes from "0" to "1". As a result, the received waves are converted into received pulses d and e, respectively, and input to the reception discrimination circuits 5-1 and 5-2. Therefore, the input of the distance comparison signal f of the reference pulse generation circuit 1 is compared with the input at time ta, that is, the rising pulse due to the received pulses d and e, and if time ta is now between t 1 and t 2 , then the distance Since the comparison signal f is “0”, each output is “0”
Therefore, the output of the AND circuit 6 becomes "0" and the lamp of the display 7 does not light up.
次に、路面よりの反射波ではなく溝などで反射
した場合、超音波送波器２―１，２―２より超音
波パルスａが時刻t3で発射され自動車接地面より
遠い溝よりの反射波が超音波受波器３―１に時刻
tcで受信されたとすると、受信波ｂは受信回路４
―１に入力され、増巾器、帯域通過フイルタを通
り雑音を除去し、検波器で検波され、レベル判別
器で検波された受信波のレベルが所定値以上であ
ることを判別すると、その出力は“０”から
“１”となる。これにより受信波は受信パルスｄ
に変換され、受信判別回路５―１に入力される。
そこで基準パルス発生回路１の距離比較信号ｆの
入力と時刻tcにおける入力すなわち受信パルスｄ
による立ち上がりパルスとが比較され、いま時刻
tcがt4とt5の間にあるとすると距離比較信号ｆは
“１”であるため出力が“１”となる。すなわち、
異常距離を判定してその出力が“１”となる。ま
た、自動車接地面の路面よりの反射波は一方の超
音波受波器３―２に時刻tbで受信されたとする
と、受信波ｃは受信回路４―２に入力され、増巾
器、帯域通過フイルタを通り雑音を除去し、検波
器で検波されレベル判別器で検波された受信波の
レベルが所定値以上であることを判別すると、そ
の出力は“０”から“１”となる。これにより受
信波は受信パルスｅに変換され、受信判別回路５
―２に入力される。そこで基準パルス発生回路１
の距離比較信号ｆの入力と時刻tbにおける入力す
なわち受信パルスｅによる立ち上がりパルスとが
比較され、いま時刻tbが時刻t3とt4の間にあると
すると距離比較信号は“０”であるため出力が
“０”となる。そして、アンド回路６に障害物信
号ｇ，ｈが入力されるが、障害物信号ｈが“０”
であるため表示信号ｉは“０”となり表示器７の
ランプは点灯しない。 Next, when the reflected wave is not reflected from the road surface but from a groove etc., an ultrasonic pulse a is emitted from the ultrasonic transmitters 2-1 and 2-2 at time t3 , and the reflected wave from the groove which is far from the ground surface of the car. Waves are sent to ultrasonic receiver 3-1 at the time
If it is received at tc, the received wave b is received by the receiving circuit 4.
-1, passes through an amplifier and a bandpass filter to remove noise, is detected by a wave detector, and when it is determined that the level of the received wave detected by a level discriminator is higher than a predetermined value, the output changes from “0” to “1”. As a result, the received wave becomes the received pulse d
and is input to the reception discrimination circuit 5-1.
Therefore, the input of the distance comparison signal f of the reference pulse generation circuit 1 and the input at time tc, that is, the received pulse d.
The rising pulse of
If tc is between t4 and t5 , the distance comparison signal f is "1", so the output is "1". That is,
The abnormal distance is determined and the output becomes "1". Further, if the reflected wave from the road surface of the automobile ground plane is received by one of the ultrasonic receivers 3-2 at time tb, the received wave c is input to the receiving circuit 4-2, and is input to the amplifier and bandpass When it is determined that the level of the received wave, which is passed through a filter to remove noise, detected by a wave detector and detected by a level discriminator, is higher than a predetermined value, the output changes from "0" to "1". As a result, the received wave is converted into a received pulse e, and the reception discrimination circuit 5
-2 is input. Therefore, reference pulse generation circuit 1
The input of the distance comparison signal f is compared with the input at time tb, that is, the rising pulse due to the received pulse e, and if time tb is now between times t 3 and t 4 , the distance comparison signal is "0". The output becomes "0". Then, the obstacle signals g and h are input to the AND circuit 6, but the obstacle signal h is "0".
Therefore, the display signal i becomes "0" and the lamp of the display 7 does not light up.
次に超音波受波器３―１，３―２が共に溝など
の反射波を受信した場合、超音波送波器２―１，
２―２よりの超音波パルスａが時刻t5で発射され
自動車接地面より遠い溝よりの反射波が超音波受
波器３―１，３―２に時刻tdで受信されたとする
と、受信波ｂ，ｃは受信回路４―１，４―２に入
力され、増巾器、帯域通過フイルタを通り雑音を
除去し、検波器で検波されレベル判別器で検波さ
れた受信器のレベルが所定値以上であることを判
別すると出力は“０”から“１”となる。これに
より受信波は受信パルスｄ，ｅに変換され受信判
別回路５―１，５―２に入力される。そこで基準
パルス発生回路１の距離比較信号ｆの入力と時刻
tdにおける入力すなわち受信パルスｄ，ｏによる
立ち上がりパルスとが比較され、いま時刻t6とt7
の間にあるとすると距離比較信号ｆは“１”であ
るため出力が“１”となりアンド回路６より表示
信号ｉは“１”となり表示器７のランプは点灯す
る。 Next, when both ultrasonic receivers 3-1 and 3-2 receive reflected waves from grooves, etc., ultrasonic transmitter 2-1,
If the ultrasonic pulse a from 2-2 is emitted at time t5 and the reflected wave from the groove far from the car ground plane is received by the ultrasonic receivers 3-1 and 3-2 at time td, the received wave b and c are input to receiving circuits 4-1 and 4-2, pass through an amplifier and a bandpass filter to remove noise, are detected by a wave detector, and are detected by a level discriminator to set the receiver level to a predetermined value. If it is determined that the above is the case, the output changes from "0" to "1". As a result, the received wave is converted into received pulses d and e, which are input to the reception discrimination circuits 5-1 and 5-2. Therefore, the input of the distance comparison signal f of the reference pulse generation circuit 1 and the time
The input at td, that is, the rising pulse due to the received pulses d and o, are compared, and now the times t 6 and t 7
If the distance comparison signal f is "1", the output becomes "1", and the display signal i from the AND circuit 6 becomes "1", and the lamp of the display 7 lights up.
なお以上の動作において障害物検出を自動車の
接地路面より遠い溝などでの反射波を検出した
が、接地路面より近い突起した障害物の反射波を
検出してもよく、その両方を検出することにより
自動車の接地路面よりの突起障害物、溝障害物の
両方を検出するようにしてもよい。 In the above operation, the obstacle is detected by detecting the reflected wave from a groove, etc., which is farther from the road surface where the car touches the ground, but it is also possible to detect the reflected wave from a protruding obstacle that is closer to the road surface, or both may be detected. Both protruding obstacles and groove obstacles from the ground surface of the vehicle may be detected.
また、超音波送受波器２―１，２―２，３―
１，３―２を自動車の前輪の前方に設け、前進走
行時における溝等を検出するようにしてもよい。 In addition, ultrasonic transducer 2-1, 2-2, 3-
1 and 3-2 may be provided in front of the front wheels of the automobile to detect grooves and the like during forward travel.
なお、本発明で言う「車両の走行方向に対する
前方車輪の前側」とは、車両の前進走行時に路面
状態検出を行うようにした装置であるならば、前
方車輪は車両の前輪に相当し、ここで言う前側は
通常走行（前進走行）時における車両の前方を意
味する。又、車両の後退走行時に路面状態検出を
行うようにした装置であるならば、前方車輪は車
両の後輪に相当し、ここで言う前側は通常走行
（前進走行）時における車両の後方を意味する。 In addition, in the present invention, "the front side of the front wheels with respect to the traveling direction of the vehicle" means that if the device is designed to detect road surface conditions when the vehicle is traveling forward, the front wheels correspond to the front wheels of the vehicle. The front side refers to the front of the vehicle during normal driving (forward driving). Also, if the device is designed to detect the road surface condition when the vehicle is running backwards, the front wheels correspond to the rear wheels of the vehicle, and the front side here means the rear of the vehicle during normal running (forward running). do.
さらに、超音波受波器２組を後方車輪の片側に
設けるものを示したが、後方車輪の両側に設けて
それぞれの路面検出を行なうようにしてもよい。
また、超音波受信器２つに対して超音波送波器１
つを共用させるようにしてもよい。 Furthermore, although the two sets of ultrasonic receivers are shown as being provided on one side of the rear wheels, they may be provided on both sides of the rear wheels to perform road surface detection for each.
Also, one ultrasonic transmitter for two ultrasonic receivers.
One may be shared.
さらに、超音波送受波器２組に対し、１組の超
音波送受波器が溝等を検出した時には注意音を発
生し、２組の超音波送受波器が溝等を同時に検出
した時は強制的にブレーキを作動させるようにし
てもよい。 Furthermore, for two sets of ultrasonic transducers, when one set of ultrasonic transducers detects a groove, etc., a warning sound is generated, and when two sets of ultrasonic transducers simultaneously detect a groove, etc. The brake may be forced to operate.
さらに、超音波送波器と超音波受波器を１つの
超音波送受波器で兼用するようにしてもよい。 Furthermore, one ultrasonic transducer may serve both as an ultrasonic transmitter and an ultrasonic receiver.
さらに、基準パルス発生回路１よりの距離比較
信号ｆが“１”の時に受信パルスｄ，ｅを検出す
ると異常距離としたが、逆に超音波の発射した時
点から乗越え可能な路面までの路面検出に対応す
る時間までの間“１”の距離比較信号を発生する
ようにし、この距離比較信号が“１”の時に受信
パルスｄ，ｅを検出すると正常路面、それ以外は
溝等の異常距離とするようにしてもよい。 Furthermore, if the received pulses d and e are detected when the distance comparison signal f from the reference pulse generation circuit 1 is "1", it is considered to be an abnormal distance, but conversely, the road surface is detected from the time when the ultrasonic wave is emitted to the road surface that can be crossed. A distance comparison signal of “1” is generated until the time corresponding to You may also do so.
以上述べたように本発明では、２つの対地用の
距離検出路を、車両の走行方向に対する前方車輪
の前側であつて、しかも前記走行方向に、車輪の
直径に対応する所定間隔で取り付け、路面状態検
出を行つているから、この２つの距離検出器が同
時に異常距離を測定した時には、異常距離の要因
である溝等の障害物の大きさが車輪の直径より大
きいものであり、その場合に車両の継続走行不可
状態を検出しているから、乗越え不可能な路面状
態を２つの対地用距離検出器の距離測定によつて
確実に検出することができるという優れた効果が
ある。 As described above, in the present invention, two distance detection paths for the ground are installed in front of the front wheels with respect to the running direction of the vehicle, and at predetermined intervals corresponding to the diameter of the wheels in the running direction. Because condition detection is performed, when these two distance detectors measure an abnormal distance at the same time, the size of the obstacle such as a groove that is the cause of the abnormal distance is larger than the diameter of the wheel, and in that case, Since the state in which the vehicle cannot continue to run is detected, there is an excellent effect that a road surface state that cannot be overcome can be reliably detected by distance measurement using the two ground distance detectors.
第１図は本発明の一実施例を示すブロツク図、
第２図は第１図中の各部信号波形図、第３図は超
音波送受波器の取付説明図である。
１……基準パルス発生回路、２―１，２―２…
…超音波送波器、３―１，３―２……超音波受波
器、５―１，５―２……受信判別回路、６……
AND回路、７……表示器。
FIG. 1 is a block diagram showing one embodiment of the present invention;
FIG. 2 is a signal waveform diagram of each part in FIG. 1, and FIG. 3 is an explanatory diagram of the installation of the ultrasonic transducer. 1...Reference pulse generation circuit, 2-1, 2-2...
...Ultrasonic transmitter, 3-1, 3-2... Ultrasonic receiver, 5-1, 5-2... Reception discrimination circuit, 6...
AND circuit, 7...indicator.
Claims (1)
前方車輪の前側に対地用の距離検出器を取り付
け、該車両から路面までの距離を測定して路面の
状態を検出するようにした路面状態検出装置にお
いて、 前記走行方向に、車輪の直径に対応する所定間
隔で前記距離検出器を２つ取り付け、この２つの
距離検出器が同時に異状距離を測定した時に車両
の継続走行不可状態を検出するようにした路面状
態検出装置。[Claims] 1. A ground distance detector is attached to the front side of the front wheel with respect to the traveling direction of the vehicle, which is the detection target direction, and the distance from the vehicle to the road surface is measured to detect the condition of the road surface. In the road surface condition detection device, two of the distance detectors are installed in the traveling direction at a predetermined interval corresponding to the diameter of the wheel, and when the two distance detectors simultaneously measure an abnormal distance, the vehicle is in a state where the vehicle cannot continue to run. A road surface condition detection device designed to detect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56067783A JPS57182544A (en) | 1981-05-06 | 1981-05-06 | Detector for road condition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56067783A JPS57182544A (en) | 1981-05-06 | 1981-05-06 | Detector for road condition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57182544A JPS57182544A (en) | 1982-11-10 |
| JPS64263B2 true JPS64263B2 (en) | 1989-01-05 |
Family
ID=13354898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56067783A Granted JPS57182544A (en) | 1981-05-06 | 1981-05-06 | Detector for road condition |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57182544A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6060024A (en) * | 1983-09-09 | 1985-04-06 | Nissan Motor Co Ltd | Roll rigidity controller in vehicle |
| US4739860A (en) * | 1984-05-29 | 1988-04-26 | Nissan Motor Co., Ltd. | Ultrasonic rangefinder |
| JPS60259513A (en) * | 1984-06-06 | 1985-12-21 | Nissan Motor Co Ltd | Suspension control device for car |
| JPS614986A (en) * | 1984-06-20 | 1986-01-10 | Nissan Motor Co Ltd | Ultrasonic distance measuring instrument |
| JP6135481B2 (en) * | 2013-11-28 | 2017-05-31 | トヨタ自動車株式会社 | Autonomous mobile |
| DE102021121854A1 (en) * | 2021-08-24 | 2023-03-02 | Valeo Schalter Und Sensoren Gmbh | PROCEDURE FOR MONITORING A GROUND CLEARANCE |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56146440A (en) * | 1980-04-16 | 1981-11-13 | Aisin Warner Ltd | Detecting device for deformation of road used for automobile |
-
1981
- 1981-05-06 JP JP56067783A patent/JPS57182544A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56146440A (en) * | 1980-04-16 | 1981-11-13 | Aisin Warner Ltd | Detecting device for deformation of road used for automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57182544A (en) | 1982-11-10 |
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