JPH01240811A - Distance discriminating apparatus for vehicle - Google Patents

Abstract

PURPOSE:To enable the discrimination of distances between a vehicle and an obstacle without causing an error, by a method wherein a light of a belt-shaped pattern slanting with respect to a vertical direction is directed toward the obstacle. CONSTITUTION:An irradiation means 2 equipped on the rear side of a vehicle 1 directs a light of a specific pattern P1 toward the rear of the vehicle 1. The specific pattern P1 is one belt-shaped pattern slanting from the upper left to the lower right of the direction of advance of the vehicle 1. The specific pattern P1 shifts in the horizontal direction in accordance with distances between the vehicle 1 and an obstacle. By storing the positional relations the specific pattern P1 in the visual field in the rear as the correlation of the distance between the vehicle 1 and the obstacle; accordingly, distances from the obstacle can be discriminated by observing the specific pattern P1 by eyes.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a distance determination device for a vehicle that irradiates light onto an obstacle to determine the proximity of the obstacle. Triangulation and contrast methods were used to optically measure the distance between the object and the object. However, although this method has no problems when measuring the distance to a specific part (for example, the center) like a camera, it is difficult to measure the distance to a specific part (for example, the center), but it can be used to measure the distance to a specific part (for example, the center part), but it can be used to measure the distance to a specific part (for example, the center part), but it can be used to measure the distance to a specific part (for example, the center part). There was a problem with measuring the distance between the two. In other words, in order to measure the distance to all dangerous obstacles, it is necessary to recognize and compare the patterns of the obstacles, which complicates the equipment and takes a lot of time to measure. Errors may occur due to movement of the vehicle.

On the other hand, as a simple method of determining the distance between a vehicle and an obstacle, as shown in FIG. The light receiving position PI changes depending on the distance between the vehicle 1 and the obstacle W.

A method of visually determining the interval P2, or as shown in FIG. 19, by emitting light in a plurality of strip patterns along the horizontal direction from a light projecting means provided on the vehicle 1, the distance between the vehicle L and the obstacle W is determined.
There is a method of visually determining the interval between the strip patterns, which changes depending on the distance between the two.

[Problems to be Solved by the Invention] However, in the case of the discrimination methods shown in FIGS. 18 and 19, although the configuration of the apparatus is simple, each of them has the following problems.

In the former case, depending on the shape of the obstacle W, such as a narrow obstacle W, the spot light may not be irradiated onto the obstacle W, and the distance may not be determined.

On the other hand, in the latter case, for example, when the obstacle W is step-shaped, the band-shaped light pattern may be missing and an error may occur in determining the distance.

As described above, conventional simple discrimination methods are prone to errors. Also, to improve accuracy,
There was a risk that the configuration would be complicated and expensive, and a new problem would arise in that it would take a long time to measure.

Therefore, as a result of various studies on the properties of obstacles W, the present applicant found that the obstacles W, such as buildings and road equipment, are basically constructed on vertical and horizontal surfaces, and that there are irregularities in the same direction. It has been found that when there are many corners and surfaces, and when these are irradiated with light in horizontal or vertical strip patterns, the strip patterns are often missing. If the strip pattern is interrupted or the interval between the strip patterns changes regardless of the distance between the vehicle I and the obstacle W, an error will occur in determining the distance. Furthermore, as a result of focusing on the strip pattern irradiated onto the obstacle W, it was found that the light of a specific pattern that does not belong to either the horizontal plane or the vertical plane, that is, the light of the strip pattern that is tilted in the vertical direction, is not affected by the obstacle W. I found it.

The present invention has been made based on such knowledge, and an object of the present invention is to provide a distance determination device optimal for use in a vehicle by utilizing a band-shaped pattern of light that is inclined in the vertical direction.

[Means for Solving the Problems] A distance determination device for a vehicle according to the present invention irradiates light from a vehicle toward an outside obstacle, and detects an obstacle that shifts in accordance with the distance between the vehicle and the obstacle. This is a vehicle distance determination device that enables visual determination of the distance between a vehicle and an obstacle based on the light receiving position on the object, and emits a specific pattern of light toward the obstacle at a fixed position on the vehicle. irradiation means is provided, and the specific pattern of the light is a belt-like pattern diagonal in the vertical direction.

Furthermore, the irradiation means may be provided at a fixed position in the vehicle that is shifted from the center of the driver's field of vision.

Further, the distance determination device for a vehicle of the present invention irradiates light from the vehicle toward an outer obstacle, and from a light receiving position on the obstacle that shifts depending on the distance between the vehicle and the obstacle, A distance determination device for a vehicle that determines the distance between a vehicle and an obstacle, the vehicle having an irradiation means for irradiating a specific pattern of light toward the obstacle at a fixed position of the vehicle, is a plurality of strip-like patterns that are diagonal with respect to the vertical direction and are arranged in parallel at regular intervals. The present invention is characterized in that an optical sensor is provided to detect the interval between the strip patterns.

Further, the distance determination device for a vehicle of the present invention is provided with an irradiation means for irradiating a specific pattern of light toward an obstacle at a fixed position of the vehicle, and the specific pattern of the light is a band-shaped pattern diagonal in the vertical direction. The present invention is characterized in that an optical sensor is provided at a fixed position on the vehicle to detect the brightness of the strip pattern on the light-receiving surface of the obstacle, which changes depending on the distance between the vehicle and the obstacle.

[Function] The vehicle distance determination device of the present invention irradiates light in a diagonal strip pattern toward the obstacle in the vertical direction, thereby making it possible to cause the irradiated light to be omitted even for obstacles of various shapes. Instead, the irradiation position of the irradiation light is provided as accurate information for determining the proximity of obstacles.

In addition, by providing the light irradiation means at a position offset from the center of the driver's field of vision, the irradiation position of the irradiation light changes significantly in the horizontal direction depending on the distance between the vehicle and the obstacle. , This provides more accurate information for determining the proximity of obstacles.

In addition, as the irradiation light, a plurality of strip patterns of light that are diagonal in the vertical direction and arranged in parallel at equal intervals are used, and an optical sensor detects the intervals between the plural strip patterns that are received by the obstacle. By doing so, the detection results are provided as information for determining the proximity of obstacles.

Further, by detecting the brightness of the irradiation light received by the obstacle using an optical sensor, the detection result is provided as information for determining the proximity of the obstacle.

[Example code] Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows an example in which a total of five light irradiation means 2 are installed around the periphery of a right-hand drive vehicle 1.

In the figure, an irradiation means 2 installed on the rear side of a vehicle 1 is configured to radiate light in a specific pattern PI towards the rear of the vehicle 1, and the specific pattern P1 is
It is a single strip pattern that slopes from the upper left side in the traveling direction of the vehicle l to the right lower side. The band pattern is
It is so long that it does not reach the ground. In addition, the vehicle l
The irradiation means 2 installed at the rear left corner of the screen irradiates a specific pattern P2 of light diagonally to the left rearward, and the specific pattern P2 consists of a single line that slopes from the upper front side to the rear rear side. It has a striped pattern. Further, the irradiation means 2 installed at the center of the left side of the vehicle l emits light in a specific pattern P3 toward the left side of the vehicle l, and the specific pattern P3 is directed from the upper front side to the lower rear side. It has a plurality of strip-like patterns that are inclined to the side and lined up in parallel at regular intervals. Further, the irradiation means 2 installed at the front left corner of the vehicle 1 emits a specific pattern P4 toward the diagonally forward left corner.
The specific pattern P
4 is a single strip pattern that slopes from the upper front side to the lower rear side. Further, the irradiation means 2 installed on the front side of the vehicle l is adapted to emit light in a specific pattern P5 toward the front, and the specific pattern P5 is inclined from the upper left side to the lower right side and spaced at equal intervals. The pattern consists of multiple strips arranged in parallel.

In the following, the irradiation means 2 installed on the rear side of the vehicle I will be explained based on FIGS. 2 to 5 as a representative of the five irradiation means 2 in total.

The irradiation means 2 is installed on the rear side of the vehicle l at a different height from the driver's eyes, and emits the above-mentioned specific pattern PI,
In other words, a single band-shaped pattern of light that slopes from the upper right side to the lower left side in the direction of travel of the vehicle 1 is emitted toward the rear. Here, the inclination angle of the specific pattern P1 with respect to the vertical direction is assumed to be O (see FIG. 5). The irradiation means 2 directs the light from the light source 2a to the lens 2 as shown in FIG.
b to obtain a specific pattern P1. The irradiation means 2 is connected to a backlight circuit or a speed sensor to irradiate light as necessary by the driver's switch operation, or to prevent dazzling of other following vehicles. It is configured to emit light only when reversing or driving at low speeds.

Next, the effect will be explained.

If there is an obstacle W behind, the light of the specific pattern PI emitted from the irradiation means 2 is emitted onto the surface of the obstacle W. In that case, when the obstacle W is far away as shown by the solid line in FIG. 2, the amount of light diffused in the specific pattern Pl increases, and the obstacle W is irradiated as a long and thick strip pattern. Become. The irradiated specific pattern pt is then visually observed in the rear view of the driver through the rear window la of the vehicle l, as shown in FIG. 3(b).

On the other hand, when the obstacle W is nearby as shown by the two-dot chain line in FIG. 2, the specific pattern P! The amount of light diffused becomes smaller, and the obstacle W is irradiated with a short and thin strip pattern. The irradiated specific pattern pt is then visually observed in the driver's rear field of view as shown in FIG. 3(a).

As is clear from the comparison between FIGS. 3(a) and (b), when the obstacle W is far away, the irradiated specific pattern PI approaches the left side of the rear field of view, and when the obstacle W is close, The irradiated specific pattern P1 approaches the right side in the rear field of view.

In this way, depending on the distance between the vehicle l and the obstacle W,
The specific pattern pt moves in the horizontal direction. therefore,
By storing the positional relationship of the specific pattern Pi in the rear field of vision as a correlation of the distance between the vehicle 1 and the obstacle W, the distance between the specific pattern PI and the obstacle W can be determined by visually observing the specific pattern PI. be able to.

At that time, when the trunk leaf tb is visible in the rear field of view, by visually observing the position of the specific pattern P1 relative to the trunk leaf 1b, and when the trunk leaf 1b is not visible, the specific pattern P1 relative to the rear window 1a is By visually observing the position of P1, the positional relationship of the strip pattern P1 in the rear field of vision can be confirmed.

In that case, it is desirable to provide a mark in advance on the underside of the rear window la or on the trunk leaf 1b to clarify the positional relationship with the specific pattern P1. Also,
Inclination angle θ of the specific pattern PI with respect to the vertical direction (fifth
(see figure) by increasing the size of the vehicle! and obstacle W
It is possible to increase the horizontal movement amount of the specific pattern PI corresponding to the distance between the two.

By the way, since the specific pattern PI is an inclined band-like pattern, it can be irradiated onto obstacles W of various forms without missing. Therefore, there is no error in distance determination due to omission of the specific pattern PI.

In addition, when the inclination direction of the specific pattern P■ is reversed to form a band-like pattern P1 that inclines from the upper left to the lower right in FIGS. , as the obstacle W approaches, the irradiated specific pattern PI moves to the left in the figure. Also, a specific pattern P3. which describes the specific pattern PI. In the case of a plurality of strip patterns that are diagonal in the vertical direction and lined up at regular intervals, as shown in P5, the amount of light diffused decreases as the obstacle W approaches, and the pitch between the plurality of irradiated strip patterns decreases. becomes narrower. In this case, since the inclined specific pattern P1 will not be missed even by obstacles W of various forms, there will be no significant change in the pitch between the strip patterns. Therefore, the distance to the obstacle W can be accurately determined based on the pitch between the strip patterns.

FIGS. 6(a) to 6(g) are diagrams for explaining other configuration examples of the irradiation means 2. FIG.

The irradiation means 2 shown in FIG. 2A is configured to condense light from a plurality of light sources 2a using a plurality of lenses 2b to obtain a single oblique strip pattern. The irradiation means 2 shown in FIG. 2B is provided with a pattern forming member 2c in which a slit or the like is formed between a light source 2a and a lens 2b, thereby obtaining two strip patterns. The irradiation means 2 in the figure (C) is the lens 2 in the figure (b).
The configuration is such that the deployment positions of pattern forming member 2C and pattern forming member 2C are reversed. The irradiation means 2 in FIG.
The light from a is focused by a plurality of lenses 2b to obtain a plurality of strip patterns. Figure (e)
The irradiation means 2 sweeps parallel light using a rotating reflecting mirror 2d to obtain a single strip pattern. Note that when the light source 2a is a laser or the like, a plurality of strip patterns can be obtained by dividing the light into a plurality of parts by a diffraction grating and sweeping the light by a reflecting mirror 2d.

The irradiation means 2 shown in FIGS. 2(f) and 2(g) is integrally incorporated into a backlight 3 that is turned on when the vehicle l packs. That is, a lens 2b is formed on the lens surface of the backlight 3 to condense a part of the light from the backlight 3, and a single strip pattern is obtained by the lens 2b. The center of light of the strip pattern O
I points upward and is offset from the center O7 of the light of the backlight 3, and the light of the strip pattern is focused at a close distance and is emitted so as to be diffused at a long distance. Therefore, the band-like pattern of light does not dazzle other vehicles that are far away, and can be applied to obstacles W at close range.
Projects high-brightness oblique light onto the surface of the In addition, when the irradiation means 2 is integrated into the lights of the vehicle 1 in this way, the lights to be incorporated include auxiliary lights other than headlights,
For example, in addition to the backlight 3, a stoplight, side marker, hoblight, etc. can be adopted.

FIGS. 7(a) and 7(b) are diagrams for explaining different examples of strip patterns.

In the case of FIG. 5A, the pitches of the upper and lower ends of the plurality of band-like patterns are different, resulting in an overall V-shape.

In the case of FIG. 4B, a plurality of strip patterns are arranged in parallel at regular intervals.

FIGS. 8 to 13 are diagrams for explaining irradiated images when obstacles W of various shapes are irradiated with the light of the specific pattern PI described above.

When irradiating an obstacle W with a vertical surface and an inclined surface as shown in FIG. 8(a), the irradiated image on the vertical surface is smaller than the angle θl with the vertical direction, as shown in FIG. 8(b). , the angle θ2 at which the irradiated image on the inclined surface is in the vertical direction is smaller.

Therefore, the shape of the obstacle W can also be known from such a change in angle. Figure 9(a), Figure 1O(a),
When irradiating an obstacle W with an uneven portion as shown in FIG. 11(a) and FIG. 12(a), depending on the shape of the uneven portion, FIG. 9(b) and FIG. (b), first
The irradiation image changes as shown in Figure I (a) and Figure 12 (b). Therefore, the shape of the obstacle W can also be known from such changes.

When an obstacle W having a curved portion as shown in FIG. 13(a) is irradiated, the irradiated image draws a curved line as shown in FIG. 13(b). Therefore, the shape of the obstacle W can also be known from the curve of the irradiated image.

In addition, if here, instead of the light of the specific pattern pt, a plurality of patterns of light as shown in FIG. As the irradiated image moves horizontally, the pitch of the irradiated image corresponding to each strip pattern changes. Therefore, the distance of the obstacle W can also be determined from the pitch.

Moreover, instead of the light of the specific pattern P1, it is also possible to irradiate light of a plurality of strip patterns as shown in FIG. 7(b), and set each strip pattern so that it can be identified.

For example, in order to identify each band pattern,
The colors can be changed by changing the wavelength of each strip pattern, or the thickness and pitch can be changed by making each strip pattern into a barcode shape. Then, depending on which of the plurality of belt-shaped patterns that can be identified in this way is irradiated onto the obstacle W, and from the relationship between the extended position of the irradiated image and the vehicle I, the vehicle 1 and the obstacle W are determined. It is possible to determine the distance between Figures 14(a) and (b) show that two different strip-shaped patterns were irradiated with light, one drawing a dotted line and the other drawing a straight line with short orthogonal lines at equal intervals. In this example, as the obstacle W approaches, the length ρ of the irradiated image in the horizontal direction becomes shorter.

In addition, in order to increase the amount of horizontal movement of the irradiation image as the obstacle W approaches, the visual position of the driver's cab and the mounting position of the irradiation means 2 should be separated as much as possible in the vertical and horizontal directions. desirable.

However, if the irradiation means 2 is to be installed at the same height as the driver's eyes, for example, it may be shifted horizontally from the center of the driver's field of vision. In addition, when installing the irradiation means 2 on a rear spoiler, sun visor, high-mounted stop lamp, etc., install it in the center of the vehicle I or on the passenger seat side, away from the center of the driver's field of vision. By doing so, it is possible to increase the change in movement of the irradiated image.

Figures 15 to 17 show a distance determination device that automatically measures and determines the distance between a vehicle l and an obstacle W based on an irradiated image on the obstacle W when a band-shaped light is irradiated. FIG. 2 is a diagram for explaining a configuration example.

FIG. 15 is a plan view of the vehicle, and the irradiation means 2 attached to the vehicle is adapted to irradiate light in a band-like pattern as shown in FIG. 16 toward the obstacle W. As shown in FIG. 7(b), the strip pattern is a plurality of strip patterns that are obliquely inclined in the vertical direction and lined up in parallel at regular intervals.

The pitch between the plurality of strip patterns is narrow, so that the target obstacle W is irradiated with at least two strip patterns in the horizontal direction. 11 is a one-dimensional or two-dimensional light receiving sensor;
It detects the band-shaped light reflected from the obstacle W. This light receiving sensor! For example, when the irradiation means 2 emits infrared light, l naturally becomes an infrared sensor. Incidentally, when the irradiation light is infrared light, the S/N between the irradiation light and natural light is improved. A detection signal from the light receiving sensor 11 is manually inputted to an arithmetic and determining means 12 including a CPU. The calculation/judgment means 12 calculates the distance between the vehicle I and the obstacle 2 by calculating the manually input detection signal, and outputs the distance data from the output terminal I3. The output terminal 13 has
A warning device and an automatic control device that issue a warning to the driver and automatically control the vehicle I when an obstacle W approaches within a certain distance are connected.

The distance determining device having such a configuration operates as follows.

As shown in FIG. 16, the plurality of strip patterns irradiated from the irradiation means 2 draw an irradiation image of a pattern depending on the degree of distance and the size of the obstacle W. For a small obstacle Wl at a short distance, an irradiated image with a strip pattern with a narrow band width and pitch, high brightness, and a short strip length is reflected, while for a large obstacle W2 at a long distance, a strip pattern An irradiated image with a wide band width and pitch, low brightness, and a long band is displayed. Therefore, these irradiation images are shown in Figure 17 (
This results in a planar image as shown in a).

When the light receiving sensor 11 is a one-dimensional sensor, the light receiving sensor 11 sweeps a plane image along the straight line B in FIG. 17(a). As a result, the light receiving sensor It outputs a pulse-like detection signal as shown in FIG. 4(b).

This detection signal becomes a pulse signal corresponding to the irradiated images on the obstacles Wl and W2. That is, in the case of a short-distance obstacle W1, the pulse width and pulse interval are small, and the luminance sensitivity is high, whereas in the case of a long-distance obstacle W2, the pulse width and pulse interval are large, and the luminance sensitivity is high. , luminance sensitivity decreases. The calculation/judgment means 12 determines the distance between the obstacles Wl and W2 by determining one or more of the pulse width, pulse interval, and brightness level of such a pulsed detection signal. At this time, the distances between the obstacles Wl and W2 can be determined more accurately by, for example, determining the pulse interval of a group of luminance pulses with the same pulse width, or determining the pulse interval of a group of pulses with the same pulse width. Of course, from the horizontal sweep time, obstacles W
It is also possible to determine the directions of l and W2.

On the other hand, when the light receiving sensor 11 is a two-dimensional sensor,
The sweep of the plane image in FIG. 17(a) is repeated as shown in A, B, and C in the same figure. At this point, for example, when sweeping from A to B to C, the pulse of the detection signal gradually shifts to the left in the figure.

However, since the degree of this deviation corresponds to the inclination angle θ of the strip pattern (see FIG. 5), the deviation can be corrected using a delay circuit. Further, the sweep width in the height direction may be the minimum width necessary to determine the distances between the obstacles Wl and W2.

Further, noise can also be removed by, for example, sweeping A, B, and C and selecting only signals with a certain timing shift according to the inclination angle θ. In this case,
In order to avoid malfunctions caused by oncoming and following vehicles, as shown in Figure 1, the inclination angle θ of the irradiation light emitted forward from the vehicle and the irradiation light emitted backward from the vehicle l are reversed. Good.

The inclination angle θ of the irradiation light is set to 45° so that the strip pattern is the farthest from the horizontal and vertical directions.
It is preferable to set the

[Effects of the Invention] As explained above, the distance determination device for a vehicle of the present invention emits light in a diagonal strip pattern toward an obstacle in the vertical direction, so it can be used against obstacles of various shapes. Also, the irradiated light will not be lost. Therefore, the distance between the vehicle and the obstacle can be determined without error from the irradiation position of the irradiation light. Moreover, even if the driver's field of vision is divided vertically by a blind-like rear sun visor, the irradiation position of the irradiation light can be confirmed.

Furthermore, by providing the light irradiation means at a position offset from the center of the driver's field of vision, the irradiation position of the irradiation light can be changed significantly in the horizontal direction according to the distance between the vehicle and obstacles. As a result, the distance to the obstacle can be determined more accurately.

Further, as the irradiation light, a plurality of strip patterns of light that are diagonal in the vertical direction and arranged in parallel at regular intervals are used, and the intervals between the strip patterns received by the obstacle are detected by an optical sensor. Therefore, the distance to the obstacle can be accurately determined from the interval between the strip patterns.

Furthermore, by detecting the brightness of the irradiated light received by the obstacle using an optical sensor, it is also possible to accurately determine the distance to the obstacle from the brightness of the irradiated light.

[Brief explanation of the drawing]

1 to 17 are diagrams for explaining the present invention in detail. FIG. 1 is an explanatory diagram of an embodiment in which a vehicle is equipped with a total of five irradiation means. Figures 2 to 5 are explanatory diagrams of an embodiment in which the irradiation means is installed on the rear side of the vehicle. An explanatory diagram of the rear visibility when the irradiated light is received by an obstacle at a distance, and (b) is an explanatory diagram of the rear visibility when the irradiated light is received by an obstacle at a long distance.
FIG. 4 is a schematic diagram of the irradiation means, and FIG. 5 is an explanatory diagram of the inclination angle of the irradiation light. 6(a) to 6(g) are schematic configuration diagrams for explaining different configuration examples of the irradiation means, and FIG. 7(a). (b) is an explanatory diagram of different irradiation patterns of irradiation light. Figures 8 to 13 are explanatory diagrams when irradiation light is irradiated to obstacles of different shapes, and (a) of each figure is an explanatory diagram of the irradiation situation of irradiation light; (
b) is an explanatory diagram of the rear field of view when the irradiated light is received by an obstacle. FIG. 14(a) is an explanatory diagram of the rear field of view when the irradiation light of a distinguishable strip pattern is received by a distant obstacle;
FIG. 6B is an explanatory diagram of the rear field of view when the irradiated light is received by an obstacle at a short distance. 15 to 17 are explanatory diagrams of an embodiment in which the irradiation light received by an obstacle is detected by an optical sensor, and FIG. 15 is a schematic block diagram of the distance discriminating device, and FIG. The figure is a perspective view for explaining the irradiation situation of the irradiation light, FIG. FIG. 2 is an explanatory diagram of detected pulses obtained by FIGS. 18 and 19 are perspective views for explaining different conventional examples. ■...Vehicle, 2...Irradiation means, W.
·····Obstacle.

Claims (4)

[Claims] (1) Light is emitted from the vehicle toward an external obstacle, and the distance between the vehicle and the obstacle is calculated from the light receiving position on the obstacle, which shifts according to the distance between the vehicle and the obstacle. A distance discrimination device for a vehicle that enables visual discrimination, wherein an irradiation means for emitting a specific pattern of light toward an obstacle is provided at a fixed position on the vehicle, and the specific pattern of light is diagonal with respect to the vertical direction. Distance discrimination device for vehicles with a band-like pattern. (2) The distance determination device for a vehicle according to claim 1, wherein the irradiation means is provided at a fixed position of the vehicle shifted from the center of the driver's field of vision. (3) Light is emitted from the vehicle toward the obstacle outside, and the distance between the vehicle and the obstacle is determined from the light receiving position on the obstacle, which shifts according to the distance between the vehicle and the obstacle. A distance discriminating device for a vehicle, comprising: an irradiation means for emitting a specific pattern of light toward an obstacle at a fixed position on the vehicle, the specific pattern of light being oblique with respect to the vertical direction; A plurality of strip patterns are arranged in parallel at regular intervals, and an optical sensor is installed at a fixed position on the vehicle and detects the spacing between the strip patterns on the light receiving surface of the obstacle, which changes according to the distance between the vehicle and the obstacle. Distance determination device for vehicles equipped with. (4) An irradiation means for emitting a specific pattern of light toward an obstacle is provided at a fixed position on the vehicle, the specific pattern of the light is a strip pattern diagonal in the vertical direction, and A distance determination device for a vehicle that includes an optical sensor that detects the brightness of the strip pattern on the light receiving surface of the obstacle that changes depending on the distance between the obstacle and the obstacle.