JP2002267750A - On-vehicle radar equipment of radio wave type - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect an advancing angle of an own vehicle only by a radar system. SOLUTION: Structure of this equipment is constituted to hold in paralle or at a specified angle each other an electromagnetic wave transceiving face of an electromagnetic wave transceiving means for transmitting an electromagnetic wave toward a front side of the system to receive a reflected wave from a target body, an angular velocity detecting rotary shaft of an angular velocity detecting means built in the system to detect an advancing-directional angle of the own vehicle, and a body attaching face of a sheathing means built in with the electromagnetic wave transceiving means and the angular velocity detecting means, and is constituted to keep a specified angle with respect to a body advancing direction when the own vehicle travels on a flat ground having 0 deg. of slope angle at 0 deg. of advancing angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a radar device for detecting a distance or a relative speed between a host vehicle and a target such as a preceding vehicle or an obstacle.

[0002]

2. Description of the Related Art A radar using an electromagnetic wave has a small attenuation of an electromagnetic wave beam even in bad weather where rain, fog, etc. exist, and can reach a long distance. In the field of preventive safety, it is being commercialized as a device for measuring the inter-vehicle distance and the relative speed with the preceding vehicle.
As shown in No. 1921, the traveling direction of the own vehicle is calculated from the own vehicle traveling angle data sent from outside the radar device.

[0003] The structure of a radar device is disclosed in Japanese Patent Application Laid-Open No. Hei 10-79616, which is an antenna protection means made of a member such as a resin that transmits electromagnetic waves. The antenna protection means and the exterior means, which cover the electromagnetic wave transmission / reception means having a function of receiving electromagnetic waves reflected from the antenna, and at the same time, perform signal processing from the electromagnetic wave transmission / reception means and signal processing means for communicating with equipment outside the apparatus. There is known a method of sealing with.

[0004]

In the above-mentioned prior art, the detection time and the detection accuracy of the own vehicle traveling angle are determined by the communication speed because the own vehicle traveling angle data transmitted from outside the radar device by communication is used. And data analysis time. That is, moving a curve at a high speed (for example, when moving a curve having a radius of 130 m at 180 km / h, the own vehicle traveling angle changes at about 0.0453 seconds / degree).
Considering that, the communication speed is sufficiently faster than the change in the traveling angle,
Sufficient precision is required.

In an environment where the radar device is installed, since the device is often exposed directly to rain, dust, etc. outside the vehicle (in front of a radiator, inside a bumper, etc.), the vehicle vibration is relatively large, and the radiation of the engine is relatively large. Heat or wind from the front (or rain, etc.)
Under such conditions, a rapid temperature change occurs.

Accordingly, it is an object of the present invention to provide means for detecting the traveling angle of the host vehicle by the device alone and a structure for suppressing vehicle vibration so that the radar function can be provided by the device alone.

[0007]

In the radar apparatus according to the present invention, an electromagnetic wave transmitting / receiving surface for transmitting an electromagnetic wave in front of the apparatus and receiving a reflected wave from a target is covered with an antenna protecting means comprising a member through which the electromagnetic wave is transmitted. An electromagnetic wave transmitting / receiving means, a signal processing means for performing signal processing of the electromagnetic wave transmitting / receiving means and communication between devices outside the apparatus, and an angular velocity detecting means capable of detecting a traveling angle of the vehicle with optimum accuracy and sampling time for radar. The electromagnetic wave transmission / reception means and the antenna protection means are fixed and provided with exterior means that can be fixed to a vehicle body, an angular velocity detection rotation shaft of the angular velocity detection means, an electromagnetic wave transmission / reception surface of the electromagnetic wave transmission / reception means, and The body mounting surfaces of the exterior means are kept parallel to each other or at a specific angle, and the angular velocity detection is also performed in the vehicle traveling direction when the vehicle is inclined at 0 degree and the traveling angle is 0 degree. The rotational axis for detecting the angular velocity of the means, the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means, and the body mounting surface of the exterior means are structured to keep the angle at a specific angle, so that the output of the angular velocity detecting means corresponds to the traveling direction angle of the vehicle. Associate.
Further, a vibration isolator is attached to a portion where the device is attached to the vehicle, so that the vehicle vibration is not transmitted to the built-in angular velocity detecting means.

[0008] Antenna characteristics with respect to the angle between the target in front of the device and the center of the traveling direction of the host vehicle when the host vehicle is at an inclination angle of 0 degrees and the traveling angle is 0 degrees are measured and stored in advance, and When the target is captured, the stored antenna characteristics are collated to calculate the angular deviation of the target with respect to the traveling direction of the host vehicle.

When the vehicle traveling angle data indicating the traveling angle of the own vehicle is sent from the outside of the apparatus, when the angular velocity detecting means indicates the traveling angle of the own vehicle of 0 degree, the received vehicle traveling angle data is transmitted. By calculating a deviation from the own vehicle traveling angle data indicating the traveling angle, the rotational speed for angular velocity detection of the angular velocity detecting means, the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means, and the positional relationship between the exterior means and the vehicle body mounting surface. And calculating the distance, relative speed, etc., of the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means with respect to the center of the host vehicle traveling direction when the host vehicle traveling angle is 0 degree, and correcting the angular deviation from the target ahead of the device. I do.

Thus, a function of automatically correcting the radar mounting axis and the traveling direction of the vehicle can be realized. In addition,
Even in a radar having a mechanism for scanning the electromagnetic wave transmitting / receiving surface, the direction of the built-in angular velocity detecting means of the angular velocity detecting rotation axis is fixed for a certain time with respect to the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means and the body mounting surface of the exterior means. If they are kept parallel or at a predetermined angle, the same function can be provided.

If one of the output of the angular velocity detecting means incorporated in the device and the vehicle traveling angle data sent from the outside of the device deviates from a predetermined range, the data is returned to a normal range. If the control is performed so as to correct the calculated values such as the distance to the target and the relative speed calculated from the received wave from the target in front of the apparatus using a certain value, the radar function is less likely to be impaired.

On the other hand, in terms of structure, the angular velocity detecting means, the temperature detecting means, the electromagnetic wave transmitting / receiving means, the signal processing means,
The angular velocity detecting means, the temperature detecting means, the electromagnetic wave transmitting / receiving means, and the integral angular velocity detecting means, assembling into a frame with positioning, and assembling with exterior means having a waterproof breathing mechanism provided with a positioning mechanism for the frame; By fixing the signal processing means and the angular velocity detecting means,
It is possible to provide a radar in which pressure fluctuations inside the apparatus are suppressed, water penetration into the inside of the apparatus due to the pressure fluctuations and deformation of the outer shape of the apparatus hardly occur, and a radar which is easy to perform an intermediate inspection for integration is provided.

As a method of reducing the number of parts for fixing the antenna protection means, there is a method of pressing the periphery of the antenna protection means with a member such as a rigid metal, and the fixing work can be reduced by embedding this. Fixed work costs, which tend to be higher, can be reduced.

On the other hand, as a method for connecting the outside of the apparatus and the inside of the apparatus, if the connecting means of the mechanism for connecting by piercing the signal processing means provided with a ventilation hole for confirming the airtight state inside the apparatus is used, the assembling is further improved. It is possible to realize a simple and low-cost radar system.

Further, a metal having a circuit ground potential is disposed below the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means, and a high frequency control means for controlling the electromagnetic wave transmitting / receiving means covered with the metal having a circuit ground potential is provided below the metal ground potential. If the signal processing means, which is distributed and arranged on a plurality of multi-layer substrates and fixed between the substrates by a fixing means with positioning, is covered with a circuit ground potential exterior means, heat radiation and noise resistance can be improved.

With the above arrangement, a radar device having a radar function can be realized by itself without receiving the vehicle traveling angle data from outside the device.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to an example of a two-frequency CW (Continuous Wave) type radar apparatus which transmits signals while switching two frequencies temporally using one oscillator.

FIG. 1 is a circuit block diagram of a two-frequency CW radar apparatus.

The transmitter 8 has two frequencies F1 and F2 having a frequency difference Δf based on the square wave modulated signal 16 from the modulator 15.
2 is radiated from the transmitting antenna 5 to the front of the device as an electromagnetic wave while temporally switching the frequency 2 at a period of about Δf / 3.

Electromagnetic waves reflected by a target such as a preceding vehicle or an obstacle in front of the apparatus are received by receiving antennas 6A and 6B arranged at equal intervals on the left and right of the transmitting antenna, and a part of the output signal of the transmitter 8 is provided. Are mixed by the mixers 11A and 11B supplied through the directional coupler 9,
Each received signal is separated into an addition signal (sum) and a difference signal (diff) by addition / subtraction and filtering,
The data is sent to the measurement calculation unit 19 via the A / D unit 13 and the FFT unit 14. 2 (1) to 2 (3) show a transmission signal, a reception signal, and a reception signal obtained by fast Fourier transform when a target is captured.

In the measurement calculation section 19, two reception signals f as shown in FIG.
From the frequency spectrum of 1, f2 and the phase and amplitude, FIG.
A vector diagram as in (4) is calculated. Then, the known difference frequency Δf between the transmission frequencies F1 and F2 and the difference θ2 between the phase angles of the two spectra F1 and F2 are proportional to the distance (Range) to the target, and the phase angle difference θ2 ≒ 2 Since the phase difference is ψ, the distance to the target is calculated by applying (Equation 1).

[Formula 1]

When the azimuth of the vehicle body is 0 degrees, the angle deviation of the target with respect to the center line of travel of the host vehicle is calculated based on the power ratio between the addition signal of the two frequencies f1 and f2 and the difference signal.
The antenna characteristics as shown in FIG. 3 which are measured and stored in advance are collated and calculated.

Further, as shown in FIG. 4, when the target is caught during the curve running, the angular velocity ω of the host vehicle and the angular deviation from the host vehicle traveling center line obtained from (Equation 2) are added to the previously calculated θ2. Then, the angle deviation θ3 of the target with respect to the own vehicle traveling center line is calculated.

[0024]

[Formula 2]

Through a series of these processes, it is determined whether or not a target is present in the traveling lane of the own vehicle, and the result is transmitted to an external device as vehicle information, thereby realizing a radar function. It is necessary that the driver himself / herself knows the vehicle traveling angle.

In the method of obtaining the traveling angle of the own vehicle from outside the apparatus by communication, there is a concern that the detection time and the detection accuracy of the traveling angle of the own vehicle are restricted by the communication speed and the data analysis time. For this reason, as shown in FIG. 5, means for detecting the angular velocity of the own vehicle in the left-right traveling direction, for example, an angular velocity sensor 17 is incorporated in the radar device, and the angular velocity detection axis is shown in FIG.
As in (1), the vehicle is aligned with the vertical direction when the vehicle is traveling on a flat ground with a tilt angle of 0 ° at a traveling angle of 0 °, and the antenna surface is arranged perpendicular to the traveling direction of the vehicle.

At this time, the antenna characteristics with respect to the traveling direction of the vehicle body are measured and stored in the device in advance. Thereafter, the calculation considering the output of the angular velocity sensor 17 built in the device and the antenna characteristics stored in advance are performed. By referring to the target, the position of the target in the traveling direction of the host vehicle can be easily calculated.

The own vehicle travels on a flat ground with an inclination angle of 0 degree and a traveling angle of 0 degree.
Vehicle body traveling direction and antenna surface when traveling in degrees,
FIG. 6 shows a structure for matching the angle detection axes of the built-in angular velocity sensor 17.

In FIG. 6A, the angular velocity sensor 17
Is mounted so that the angular velocity detection axis is parallel to the positioning frame 40 fixed to the housing 1.

The frame 40 is provided with the positioning spacer 3.
At steps 6 to 38, the transmitting and receiving antennas are attached in parallel to the metal antenna base 2 mounted insulated with the control circuit unit 10 interposed therebetween. By doing so, the antenna surface and the angular velocity detection axis of the angular velocity sensor 17 become parallel, and the antenna base 2, the control circuit unit 10, and the angular velocity sensor 17 are integrated.

Thereafter, the conductive housing 1 manufactured so that the mounting portion of the antenna base 2 and the vehicle body mounting portion are parallel to each other.
Then, by assembling the control circuit unit including the integrated antenna base 2 and the angular velocity sensor, the antenna base 2 and the angular velocity detection axis of the angular velocity sensor 17 and the vehicle body mounting part of the housing 1 are parallel to each other, and the radar on the vehicle body side If the mounting part is manufactured so that it is perpendicular to the direction of travel of the vehicle when the host vehicle is at a tilt angle of 0 ° and the host vehicle is at a tilt angle of 0 °, the vehicle body travels when the host vehicle's travel angle is 0 °. The direction is perpendicular to the antenna plane, and the angular velocity detection axis of the angular velocity sensor 17 coincides with the vertical direction of the vehicle body.

The control circuit 10 and the angular velocity sensor 17
Is electrically shielded from external noise because it is surrounded by the metal antenna base 2 to which the circuit GND of the high-frequency circuit unit 7 is connected and the casing 1 having the same potential.

Further, the casing 1 incorporates a gas permeable membrane 47 having fine holes formed therein so that only water vapor covered by a protective plate 48 for eliminating mechanical disturbance outside the apparatus can pass therethrough. There is no pressure difference between the inside and the outside of the apparatus due to the temperature change.

Further, the outer periphery of the antenna surface is
Since the housing 1 is sealed with the radome 3 made of resin or the like having a reinforced structure and transmitting electromagnetic waves in the millimeter-wave band without attenuation, the device is protected from dirt such as sewage and dust outside the device.

A point to be noted when incorporating the angular velocity sensor 17 into the radar device is to adopt a structure in which unnecessary vehicle vibration is not applied to the sensor. However, the angular velocity sensor 17 is mechanically fixed so that unnecessary vibration is not applied. In addition to this, it is effective to put a vibration isolating material in the radar mounting portion. FIG. 7A shows the output of the angular velocity sensor 17 when the host vehicle is at a traveling angle of 0 ° on a flat ground with an inclination angle of 0 ° when there is no vibration isolating material 52, and FIG. Is the output of the angular velocity sensor when is inserted. As is clear from the figure, unnecessary fluctuations in the output of the angular velocity sensor can be suppressed to a small level by the vibration isolator 52.

By adopting the above structure, it is easy to match the traveling direction of the vehicle body with the antenna surface and the angular velocity detecting axis of the built-in angular velocity sensor when the vehicle is at an inclination angle of 0 degree and the traveling angle is 0 degree. A radar device having a radar function alone can be realized without receiving the vehicle traveling angle data from outside the device.

[0037] In the case where it can receive a vehicle traveling angle data from the outside of the apparatus, if correcting the output of the angular velocity sensor built by performing such processing in FIG. 8, deformation due to aging of the radar mount portion It is also possible to provide a function of correcting a positional shift due to the above.

[Brief description of the drawings]

A circuit block diagram of a radar apparatus 2 frequency CW system for transmitting while switching two frequencies in time with reference to FIG. 1 one oscillator.

FIGS. 2 (1), (2), (3), and (4) are diagrams illustrating the flow of a received signal in a dual-frequency CW radar apparatus.

FIG. 3 is a conceptual diagram of antenna characteristics measured in advance and stored in an apparatus.

FIG. 4 is a diagram showing a positional relationship with a preceding vehicle when traveling on a curve.

5 (1) and (2) are diagrams showing a positional relationship between a vehicle traveling direction, an antenna surface, and an angular velocity detection axis of a built-in angular velocity sensor when the host vehicle is traveling on a flat ground with an inclination angle of 0 degree at a traveling angle of 0 degree. .

6 (1), (2), (3), (4): One embodiment of the radar structure of the present invention.

FIGS. 7A and 7B show an embodiment of a measure against vibrations in a radar mounting portion.

FIG. 8 shows an embodiment of a process when the own vehicle traveling angle data can be obtained from the outside of the apparatus.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Conductive housing, 2 ... Metal antenna base, 3 ... Radome, 4 ... Preceding car, 5 ... Transmission antenna, 6A, 6B ... Receiving antenna, 7 ... High frequency circuit part, 8 ... Transmitter, 9 ... Directivity Coupler, 10: control circuit section, 11A, 11B: mixer, 12: low-pass filter, 13: A / D section, 14:
FET unit, 15: modulator, 16: short-wave modulated signal, 17
... Angular velocity sensor, 18 ... Temperature sensor, 19 ... Measurement calculation unit, 20 ... Communication line, 21a ... Vehicle speed signal, 21b ... Brake signal, 21c ... External device, 22 ... Own vehicle, 23 ...
Radar, 24: Apparent preceding vehicle (target), 25: Actual preceding vehicle (target), 26 to 35: Control flow, 36 to 3
8: spacer with positioning, 39: screw for mounting angular velocity sensor, 40: frame with positioning, 41: screw for fixing frame, 42: screw for fixing radome, 43: metal plate for pressing radome, 44: screw for fixing antenna base, 4
5: Waterproof packing, 46: Intermediate coupler, 47: Gas permeable membrane, 48: Protective plate for gas permeable membrane, 49: O-ring for waterproofing the connector mounting part, 50: Waterproof connector, 51: Screw for fixing the waterproof connector, 52 ... Vibration material, 53: radar mounting bolt, 54: nut, 55: body frame.

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[Procedure amendment]

[Submission date] June 27, 2002 (2002.6.2
7)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Brief description of drawings

[Correction method] Change

[Correction contents]

[Brief description of the drawings]

FIG. 1 is a circuit block diagram of a two-frequency CW type radar device that transmits two frequency signals while temporally switching using one oscillator.

FIG. 2 (1), (2), (3), (4) are two-frequency CW
FIG. 4 is a diagram for explaining a flow of a received signal in a radar apparatus of a system.

FIG. 3 is a conceptual diagram of antenna characteristics measured in advance and stored in an apparatus.

FIG. 4 is a diagram showing a positional relationship with a preceding vehicle when traveling on a curve.

FIGS. 5 (1) and (2) show the vehicle body traveling direction and the antenna surface when the vehicle travels on a flat ground with a tilt angle of 0 ° at a travel angle of 0 °.
The figure which shows the positional relationship of the angular velocity detection axis | shaft of the built-in angular velocity sensor.

FIGS. 6 (1), (2), (3) and (4) show an embodiment of the radar structure of the present invention.

FIGS. 7 (1) and (2) are examples of anti-vibration measures at a radar mounting portion.

FIG. 8 shows an embodiment of a process when the own vehicle traveling angle data can be obtained from the outside of the apparatus.

[Description of Signs] 1 ... conductive casing, 2 ... metal antenna base, 3 ... radome, 4 ... preceding car, 5 ... transmitting antenna, 6A, 6B ... receiving antenna, 7 ... high frequency circuit section, 8 ... transmitter , 9 ... directional coupler, 10 ... control circuit section, 11A, 11B ... mixer, 12 ... low-pass filter, 13 ... A / D section, 14 ...
FET unit, 15: modulator, 16: short-wave modulated signal, 17
... Angular velocity sensor, 18 ... Temperature sensor, 19 ... Measurement calculation unit, 20 ... Communication line, 21a ... Vehicle speed signal, 21b ... Brake signal, 21c ... External device, 22 ... Own vehicle, 23 ...
Radar, 24: Apparent preceding vehicle (target), 25: Actual preceding vehicle (target), 26 to 35: Control flow, 36 to 3
8: Spacer with positioning, 39: Screw for mounting angular velocity sensor, 40: Frame with positioning, 41: Screw for fixing frame, 42: Screw for fixing radome, 43: Metal plate for holding radome, 44: Screw for fixing antenna base, 4
5: Waterproof packing, 46: Intermediate coupler, 47: Gas permeable membrane, 48: Protective plate for gas permeable membrane, 49: O-ring for waterproofing the connector mounting part, 50: Waterproof connector, 51: Screw for fixing the waterproof connector, 52 ... Vibration material, 53: radar mounting bolt, 54: nut, 55: body frame.

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

FIG. 2

FIG. 3

FIG. 4

FIG. 5

FIG. 6

FIG. 7

FIG. 8

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Kazuo Takano 2520 Oita Takaba, Hitachinaka City, Ibaraki Prefecture Inside the Hitachi, Ltd.Automotive Equipment Group (72) Inventor Mitsuru Nakamura 2520 Oita Takaba Hitachiita City, Ibaraki Stock Company F term in the Hitachi, Ltd. Automotive Equipment Group (reference) 5J070 AB15 AC02 AC06 AD03 AE01 AF03 AH25 AH31 AH35 AH40 AK04 BA01 BF19

Claims (11)

[Claims] 1. An on-vehicle radio wave radar apparatus comprising: an electromagnetic wave transmitting means for transmitting an electromagnetic wave; a processing means for processing a reflected wave from a received target; and a case for storing the same. An on-vehicle radio wave radar device, comprising means for detecting a vehicle. 2. A radar device for transmitting electromagnetic waves in front of a device and receiving reflected waves from a target, comprising: an electromagnetic wave transmitting / receiving surface of electromagnetic wave transmitting / receiving means for transmitting / receiving electromagnetic waves; The rotating shaft for angular velocity detection of the angular velocity detecting means for detecting the angle, and the body mounting surfaces of the electromagnetic wave transmitting / receiving means and the exterior means incorporating the angle detecting means are kept parallel to each other or at a specific angle, and furthermore, the vehicle is inclined. The angle of rotation detecting shaft of the angular velocity detecting means, the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means, and the body mounting surface of the exterior means are also at a specific angle with respect to the traveling direction of the vehicle body at an angle of 0 degree and the traveling angle of 0 degree. An in-vehicle radio wave radar device characterized in that the structure is maintained. 3. An on-vehicle vehicle according to claim 2, wherein a vibration isolator is inserted into a portion where the device is mounted on a vehicle body so that unnecessary vibration of the vehicle is not transmitted to the built-in angular velocity detecting means. Radio wave type radar device. 4. The antenna characteristic according to claim 2, wherein when the output of said angular velocity detecting means indicates a vehicle traveling angle of 0 degree, an antenna characteristic with respect to an angle between a target ahead of the device and a center of the vehicle traveling direction is determined in advance. In the case where a target in front of the device is stored, a function is provided for calculating the angular deviation of the target with respect to the own vehicle traveling direction by comparing the antenna characteristics with respect to the angle when the target is captured. Radio radar system. 5. The own vehicle traveling angle data indicating the traveling angle of the own vehicle received from outside the apparatus when the angular velocity detecting means indicates the own vehicle traveling angle of 0 degree. When the own vehicle traveling angle is 0 degree from the positional relationship between the angular velocity detecting rotation axis of the angular velocity detecting means, the electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means, and the body mounting surface of the exterior means, A function of correcting an angle shift of an electromagnetic wave transmitting / receiving surface of the electromagnetic wave transmitting / receiving means with respect to the center of the own vehicle traveling direction. 6. The vehicle according to claim 2, wherein either the output of said angular velocity detecting means or said own vehicle traveling angle data received from outside the device deviates from a predetermined range. In this case, a vehicle-mounted radio radar device is provided with a function of calculating a distance to a target ahead of the device, a relative speed, and the like using a value in a normal range. 7. A radar apparatus for transmitting an electromagnetic wave forward of the apparatus and receiving a reflected wave from a target, comprising: an electromagnetic wave transmitting / receiving means for transmitting an electromagnetic wave and receiving a reflected wave from the target; A signal processing means for performing signal processing of the means and communication with equipment external to the apparatus, and an angular velocity detecting means for detecting an advancing angle of the own vehicle are integrally assembled into a frame with positioning, and a positioning mechanism for the frame is provided. An electromagnetic wave transmitting / receiving unit, the signal processing unit, and the angular velocity detecting unit integrated with the exterior unit. 8. The structure according to claim 1, wherein said angular velocity detecting means, said signal processing means, and said electromagnetic wave transmitting / receiving means are covered with said exterior means having a waterproof breathing function to suppress pressure fluctuations inside the apparatus. An in-vehicle radio wave radar device characterized by the following. 9. The on-vehicle radio wave radar device according to claim 7, wherein a terminal is pierced into said signal processing means as a method for connecting the outside of the device and the inside of the device. 10. The high-frequency control means according to claim 7, wherein a metal having a circuit ground potential is disposed below an electromagnetic wave transmitting / receiving surface of said electromagnetic wave transmitting / receiving means, and said electromagnetic wave transmitting / receiving means is covered under said metal having a circuit ground potential. And the signal processing means are arranged, and the high-frequency control means and the signal processing means are covered with a circuit ground potential exterior means. 11. The electromagnetic wave transmitting / receiving means according to claim 7, wherein the surface of said electromagnetic wave transmitting / receiving means is covered with an antenna protecting means made of a member through which electromagnetic waves pass, and the periphery of said antenna protecting means is pressed by a member such as a rigid metal. An on-vehicle radio wave radar apparatus characterized in that a portion for fixing the antenna protection means to the exterior means is reduced.