JP2003255042A - Method for adjusting detection axis of object detecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To compensate variations of an object detection axis, in a direction relative to a casing of a radar device and carry out aiming accurately. <P>SOLUTION: The casing 32, which connects a connection face P2 of a flange 32c to a connection face P1 of a frame 34 in a radar mechanism 33, is composed of a casing body 32a which is in a form of a regular twenty polygon prism with a slant center line. The casing 32 is rotated, up to a prescribed position such that reference faces A0-A10 parallel to the slant direction of the object detection axis Ar in the radar mechanism 33 form an upper surface of the casing 32, and is connected to the radar mechanism 33. Then, the mounting angle at which the radar device is mounted on a car body, is adjusted so that the reference faces A0-A10 forming the upper surface are set to be horizontal. Therefore, even if the variation of the object detection axis Ar in the radar mechanism 33 caused by manufacturing is present, variations can be compensated, and aiming can be accurately carried out. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object detecting device, in which a first connecting surface of an object detecting means and a second connecting surface of a casing are combined and integrated to a vehicle body, and the object detecting means has an object. The present invention relates to a detection axis adjustment method of an object detection unit that adjusts an attachment angle of an object detection device with respect to a vehicle body so that the direction of the detection axis matches the direction of a target object detection axis.

[0002]

2. Description of the Related Art When a radar device used for an ACC system (adaptive cruise control system), a Stop & Go system (traffic congestion follow-up system), an inter-vehicle warning system, etc. is mounted on a vehicle, the object detection axis of the radar device is If the direction is not correctly set to the direction of the target object detection axis set in advance, the system may malfunction due to false detection of an oncoming vehicle in the adjacent lane, road surface,
There is a problem that the system does not work because it detects only the overpass and the signboard and not the preceding vehicle. Therefore, it is necessary to perform aiming so that the direction of the object detection axis of the radar device coincides with the direction of the target object detection axis.

In Japanese Laid-Open Patent Publication No. 11-326495, an angle of an antenna attached to a vehicle body is measured with a level in order to vertically aim an object detection axis of a radar device. What is adjusted to become is disclosed.

[0004]

By the way, when aiming is performed by measuring the mounting angle of the casing of the radar device with respect to the vehicle body using a level or the like, the object detection shaft of the radar mechanism portion incorporated in the casing is mounted on the casing. It is necessary to have a certain relationship with them. However, in reality, it is inevitable that variations will occur in the direction of the object detection axis of each radar device due to assembly errors, and even if the mounting angle of the casing with respect to the vehicle body is adjusted correctly, the object will be affected by the variation. There is a problem that the direction of the detection axis deviates from the direction of the target object detection axis.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to compensate for the variation in the direction of the object detection axis with respect to the casing of the radar device so that correct aiming can be performed.

[0006]

In order to achieve the above object, according to the invention described in claim 1, the first connecting surface of the object detecting means and the second connecting surface of the casing are connected and integrated. A target for mounting the simplified object detection device on the vehicle body and adjusting the mounting angle of the object detection device with respect to the vehicle body so that the direction of the object detection axis of the object detection means matches the direction of the target object detection axis. A method for adjusting a detection axis of an object detection device, wherein a plurality of adjustment reference surfaces having different angles with respect to the second coupling surface are provided on the outer periphery of the casing.
The coupling surface and the second coupling surface can be coupled at any of a plurality of positions having different phases, a first step of detecting the angle of the object detection axis with respect to the first coupling surface of the object detection means, and a plurality of adjustments. A second step of joining the first joining surface and the second joining surface so as to minimize the angular difference between the predetermined adjustment reference surface of the adjustment reference surface and the object detection axis; and the predetermined adjustment reference. A third step of adjusting a mounting angle of the object detecting device with respect to the vehicle body so that the direction of the surface matches the direction of the target object detecting axis. Is proposed.

According to the above structure, a plurality of adjustment reference planes having different angles with respect to the second joint surface of the casing are provided on the outer periphery of the casing of the object detector, and the first joint surface of the object detector and Since the second coupling surface of the casing can be coupled at any of a plurality of positions having different phases, first, the angle of the object detection axis with respect to the first coupling surface of the object detection means is detected, and then a plurality of adjustments are made. The first coupling surface and the second coupling surface are coupled so that the angular difference between the predetermined adjustment reference plane of the reference planes and the object detection axis is minimized,
Finally, by adjusting the mounting angle of the object detection device with respect to the vehicle body so that the direction of the predetermined adjustment reference plane matches the direction of the target object detection axis, the object of each object detection means is adjusted. Even if the angle of the detection axis varies,
By compensating for the influence of the variation, the direction of the object detection axis can be accurately matched with the target direction of the object detection axis.

According to the invention described in claim 2,
In addition to the configuration of claim 1, in the second step, the first coupling surface and the second coupling surface are arranged such that the predetermined adjustment reference surface is an upper surface.
The object detection is characterized by connecting the connecting surfaces, and in the third step, the mounting angle of the object detection device with respect to the vehicle body is adjusted by using a level so that the predetermined reference plane for adjustment is horizontal. A method for adjusting the detection axis of the device is proposed.

According to the above structure, after the first coupling surface and the second coupling surface are coupled so that the predetermined adjustment reference surface of the casing is the upper surface, the predetermined adjustment reference surface is horizontal. Since the mounting angle of the object detection device with respect to the vehicle body is adjusted using the level, it is possible to use a general level that detects the level, and since the level can be installed on the upper surface of the casing, the work is easy. Yes, there is no mistake in installing the level.

According to the invention described in claim 3,
In addition to the configuration of claim 1 or claim 2, the casing has a polygonal columnar shape or a polygonal pyramid shape in which a plurality of reference surfaces for adjustment are continuous in the circumferential direction, and a method for adjusting a detection axis of an object detection device. Is proposed.

According to the above construction, the shape of the casing is
Since the plurality of adjustment reference planes are formed in a polygonal column shape or a polygonal pyramid shape that is continuous in the circumferential direction, as many adjustment reference planes as possible can be compactly arranged to precisely adjust the object detection axis.

According to the invention described in claim 4,
In addition to the configuration according to any one of claims 1 to 3, the first coupling surface of the object detection means is inclined with respect to a surface perpendicular to the target object detection axis, and the casing A detection axis adjusting method for an object detection device, wherein the second coupling surface is inclined with respect to a plane perpendicular to the direction of the target object detection axis.

According to the above arrangement, the first object detecting means has the first structure.
Since the coupling surface is inclined with respect to the plane perpendicular to the direction of the target object detection axis, and the second coupling surface of the casing is inclined with respect to the plane perpendicular to the direction of the target object detection axis. By changing the coupling phases of the first coupling surface and the second coupling surface, the angle formed by the plurality of adjustment reference planes of the casing with respect to the object detection means can be varied.

According to the invention described in claim 5,
In addition to the structure according to claim 4, when the first coupling surface and the second coupling surface are coupled at a predetermined phase, the inclinations of the two coupling surfaces are canceled out, and the detection axis adjustment of the object detecting device. A method is proposed.

According to the above construction, the first coupling surface and the second coupling surface
Since the inclinations of the two coupling surfaces are canceled according to the phase of coupling the coupling surfaces, the target direction of the object detection axis and the direction of the plane perpendicular to the second coupling surface of the casing can be matched.

According to the invention described in claim 6,
In addition to the configuration according to claim 4 or claim 5, the casing comprises a flange having a second coupling surface, and a polygonal pyramid-shaped casing body coupled to the flange and tapered in a direction away from the flange, A method for adjusting the detection axis of an object detection device is proposed, in which a plurality of reference surfaces for adjustment are formed by the outer surface of the casing body.

According to the above construction, the casing main body connected to the flange of the casing is formed into a polygonal pyramid which is tapered in a direction away from the flange, and a plurality of adjustment reference planes are formed on the outer surface of the casing main body. It is possible to prevent the occurrence of undercut during molding and to simplify the structure of the mold.

According to the invention described in claim 7,
In addition to the configuration of claim 6, the polygonal-pyramidal casing main body has a first adjustment reference plane group arranged on one side and a second adjustment reference plane group arranged on the other side with the central axis interposed therebetween. And a taper angle of the first adjustment reference plane group and a taper angle of the second adjustment reference plane group are different from each other.

According to the above arrangement, the taper angles of the first adjusting reference surface group and the second adjusting reference surface group arranged on one side and the other side of the central axis of the polygonal pyramidal casing body are made different. Therefore, it is possible to increase the adjustment accuracy of the object detection axis by changing the angle of the adjustment reference plane at a fine pitch.

According to the invention described in claim 8,
In addition to the configuration according to any one of claims 1 to 3, the casing includes a flange having a second coupling surface, and a polygonal columnar casing body having a plurality of adjustment reference surfaces provided on the outer periphery. There is proposed a detection axis adjusting method for an object detection device, characterized in that a surface of the casing body to be joined to the flange is inclined with respect to a surface orthogonal to a center line of the casing body.

According to the above construction, the surface of the casing body of the polygonal column that is joined to the flange is inclined with respect to the plane orthogonal to the center line of the casing body. The angle of the reference plane for adjustment can be changed while using.

The radar mechanism section 33 of the embodiment corresponds to the object detecting means of the present invention, and is the radar device Sr of the embodiment.
Corresponds to the object detection device of the present invention.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below based on the embodiments of the present invention shown in the accompanying drawings.

1 to 18 show a first embodiment of the present invention. FIG. 1 is a plan view of a vehicle equipped with a radar device, FIG. 2 is a two-direction arrow view of FIG. 1, and FIG. 3 is a radar. 3 is a perspective view of the apparatus, FIG. 4 is a four-direction arrow view of FIG. 3, FIG. 5 is a five-direction arrow view of FIG. 3, FIG. 6 is a six-direction arrow view of FIG. 3, and FIG. FIG. 8 is an enlarged cross-sectional view of FIG. 5, and FIG. 9 is a front view and a side view of the radar device. FIG. 10 is a front view, a plan view and a side view of the radome, and FIG. 11 is a front view of the casing. 12 is a plan view and a side view, FIG. 12 is a front view of the radar mechanism, a plan view and a side view, FIG. 13 is a block diagram showing the configuration of the radar device, and FIG. 14 is a case where an object is moving toward the radar device. 15 is a graph showing the waveforms and peak frequencies of transmitted / received waves of the radar, and FIG. Shows the ingredients, 1 of 16 15
6 part enlarged view, FIG. 17 is a 17 direction arrow view of FIG. 16, FIG.
FIG. 7 is an explanatory view of an action when the casing is coupled to the radar mechanism section.

As shown in FIGS. 1 and 2, a radar device Sr for detecting an object such as a preceding vehicle existing in the traveling direction of the vehicle V is provided behind a front grill 2 fixed to an upper center of a front bumper 1. And, it is arranged at the front end portion of the engine room 4 which is opened and closed by the bonnet 3. still,
The terms front, rear, left, and right as used herein are based on the occupant seated on the seat, the definition of which is shown in FIG.

As is apparent from FIGS. 3 to 8, a bracket 13 for supporting the radar device Sr on the support plate 12.
Is a left and right bracket body 13a, 13b formed by bending a metal plate into an L-shaped cross section, and both bracket body 13a, 13b.
Upper and lower connecting members 13 for connecting the upper end and the lower end of b
c, 13d, the four corners of which are fixed to the support plate 12 by four bolts 14 ... Radar device Sr
Includes a radome 31 and a casing 32, and three stays 34a, 34b, 3 protruding from between them.
The nut members 16, 17, 18 made of synthetic resin are supported by 4c.

The left and right bracket bodies 13a, 1 are positioned so as to be located behind the respective stays 34a, 34b, 34c.
Three bolt support members 22, 23, 24 are fixed to 3b. As shown in FIG. 7, the bolt member 19 penetrating the bolt support member 22 located behind the upper right stay 34a.
The base end of is fixed in the axial direction by push nut 25,
The male screw portion 19a is screwed onto the nut member 16.

As shown in FIG. 8, the bolt support member 2 located behind the lower right and upper left stays 34b and 34c.
The base ends of the bolt members 20 and 21 penetrating the screws 3 and 24 are axially fixed by push nuts 26 and 27, and the male screw portions 20a and 21a are screwed to the nut members 17 and 18, respectively.
Gear teeth 20c and 21c are formed on the front surfaces of the heads 20b and 21b of the bolt members 20 and 21, respectively.
Guide protrusions 23a, 24a facing 0c, 21c project to the rear surface of the bolt support members 23, 24. Support member 2
Openings 23b and 24b for inserting an adjustment bit 28, which will be described later, are formed on the upper surfaces of 3 and 24.

As shown in FIG. 4, the upper right bolt support member 22 is displaced forward with respect to the lower right bolt support member 23, and thus the upper surface of the lower right bolt support member 23 when viewed from above. The opening 23b of the bolt support member 22 on the upper right
It is exposed without being blocked by.

As is apparent from FIGS. 9 to 12, the radar device Sr has a cup-shaped radome 31 whose rear surface is open.
And a radome 31 and a radar mechanism 33 housed in the internal space of the casing 32.

As shown in FIG. 12, the radar mechanism 33
Is provided with a plate-shaped frame 34 on the outer periphery of which the three stays 34a, 34b, 34c project, and the flat antenna 35 is fitted into an opening 34d formed in the center thereof. An upper end of a support shaft 36 fixed to the rear part of the plane antenna 35 is supported by a frame 34 via a bearing 37, and a lower end thereof is connected to a motor 38 fixed to the frame 34. Therefore, by driving the motor 38 to reciprocally rotate, the planar antenna 35 reciprocally rotates around the support shaft 36. On the rear surface of the frame 34, three circuit boards 39 ... Are supported in a stacked state. 4 at 90 ° intervals on the frame 34
The individual bolt holes 34e are formed.

As shown in FIG. 10, the radar mechanism 33
The radome 31 covering the front surface of the radome includes a radome main body 31a made of a regular 20 prism, a bottom plate 31b closing the front surface of the radome main body 31a, and a regular decagonal flange 31c protruding radially outward from the rear surface of the radome main body 31a. The flange 31c is provided with four bolt holes 31d at 90 ° intervals. The center line of the radome body 31a made of a regular 20 prism is orthogonal to the flange 31c, and the radome 31 has a rotationally symmetrical structure with respect to the center line. The radome body 31a does not necessarily have to be a polygonal column, and may have a simple shape such as a column as long as it can cover the front surface of the radar mechanism unit 33.

As shown in FIG. 11, the radar mechanism 33
The casing 32 that covers the rear surface of the casing 32 includes a casing body 32a formed of a regular 20-square prism, a bottom plate 32b that closes the rear surface of the casing body 32a, and a regular decagonal flange 32c that extends radially outward from the front surface of the casing body 32a.
The flange 32c is provided with 20 at intervals of 18 °.
The individual bolt holes 32d ... Are formed. The center line of the casing main body 32a made of a regular 20 prism is not orthogonal to the flange 32c and is at a predetermined angle (1.0 ° in the embodiment).
Only inclined. That is, the casing body 32a is
It has a shape cut by two parallel planes inclined by a predetermined angle with respect to the center line.

As is apparent from FIG. 11, 20 adjustment reference planes A0, A are provided on the outer periphery of the casing body 32a.
1, A1, A2, A2 ... A9, A9, A10 are formed. The adjustment reference plane A0 is -1.0 with respect to the normal line N of the second coupling surface P2 of the flange 32c of the casing body 32a.
It forms an angle of °, and the adjustment reference plane A10 is +1.0.
It makes an angle of °. Then, with respect to the normal line N of the second coupling surface P2 of the flange 32c, each two adjustment reference planes A
1, A1 is -0.8 °, adjustment reference planes A2, A2 are-
0.6 °, the adjustment reference planes A3 and A3 are −0.4 °, the adjustment reference planes A4 and A4 are −0.2 °, the adjustment reference planes A5 and
A5 is ± 0 °, adjustment reference planes A6 and A6 are + 0.2 °,
Adjustment reference planes A7 and A7 are + 0.4 °, adjustment reference plane A
8, A8 is + 0.6 °, reference planes A9 and A9 for adjustment are +
It makes an angle of 0.8 °.

The "-" symbol corresponds to the case where the reference plane for adjustment is inclined so that the front side is lowered when it becomes the upper surface of the casing 32, and the "+" symbol is for the adjustment. It corresponds to the case where the reference surface is inclined so that the front side rises when it becomes the upper surface.

Thus, the radome 31 and the casing 32
The radar mechanism 33 is fastened with four bolts 40 with the frame 34 of the radar mechanism 33 sandwiched between the flange 31c of the radome 31 and the flange 32c of the casing 32. The four bolts 40 ... are the four bolt holes 31d ... of the flange 31c of the radome 31.
Through the four bolt holes 34e of the frame 34 ...
Further, since any four of the 20 bolt holes 32d ... Of the flange 32c of the casing 32 are penetrated, depending on which of the 20 bolt holes 32d ... Surface A0, A1, A1, A
Any one of 2, A2 ... A9, A9, A10 can be the upper surface of the casing 32. When the radar device Sr is assembled, the first coupling surface P1 of the frame 34 of the radar mechanism portion 33 and the flange 32 of the casing 32 are assembled.
The second coupling surface P2 of c is coupled.

As shown in FIG. 13, the millimeter wave radar apparatus Sr using the FM-CW wave has an oscillator 4 based on a timing signal input from the timing signal generation circuit 41.
The transmission operation of No. 3 is modulated and controlled by the FM modulation control circuit 42, and as shown by the solid line in FIG. 14 (A), the transmission wave whose frequency is modulated in a triangular wave is transmitted from the plane antenna 35 through the amplifier 44 and the circulator 45. , Toward a different direction horizontally in a predetermined detection range in front of the vehicle, for example, 9
It is sent in separate channels. When a reflected wave obtained by reflecting the FM-CW wave on an object such as a preceding vehicle is received by the plane antenna 35, the received wave is shown in FIG. 14 (A) when the object approaches the own vehicle. ), As indicated by the broken line
On the rising side where the frequency of the transmitted wave increases linearly, it appears later than the transmitted wave at a frequency lower than the transmitted wave, and on the falling side where the frequency of the transmitted wave decreases linearly, it transmits at a higher frequency than the transmitted wave. Appears later than the waves.

The received wave received by the plane antenna 35 is input to the mixer 46 via the circulator 45. In addition to the reception wave from the circulator 45, the traveling wave distributed from the transmission wave output from the oscillator 43 is input to the mixer 46 via the amplifier 47, and the transmission wave and the reception wave are mixed by the mixer 46. By doing so, FIG. 14 (B)
As shown in, a beat signal having a peak frequency Fup on the rising side where the frequency of the transmission wave linearly increases and a peak frequency Fdn on the falling side where the frequency of the transmission wave linearly decreases is generated.

The beat signal obtained by the mixer 46 is amplified by the amplifier 48 to an amplitude of a required level, and A / D converted by the A / D converter 49 at each sampling time.
The digitized amplified data is stored and held in the memory 50 in time series. A timing signal is input from the timing signal generation circuit 41 to the memory 50, and the memory 50 receives data on the rising side where the frequency of the transmitted / received wave increases and the falling side where the frequency decreases on the basis of the timing signal. Will be held in memory.

Based on the data stored in the memory 50, the central processing unit (CPU) 51 determines the peak frequency Fu.
The relative distance and relative speed to the object are calculated by a known method based on p, Fdn, and the electronic control unit U for vehicle control is communicated.

By the way, the radar mechanism section 33 of the radar apparatus Sr has the object detection axis A for the frame 34.
Although r is designed to be orthogonal to each other, the angle of the object detection axis Ar may be vertically displaced from the frame 34 due to a manufacturing error. 15 to 17 show a radar mechanism section support jig 61 and a target jig 62 for detecting a vertical shift of the object detection axis Ar with respect to the radar mechanism section 33.

The radar mechanism supporting jig 61 includes a pedestal 63.
It is equipped with two vertical columns 64, 64
Stays 34a to 3 of the frame 34 of the radar mechanism unit 33
4c is fixed to the columns 64, 64 with bolts 65 ... Therefore, the frame 34 of the radar mechanism portion 33 fixed to the radar mechanism portion supporting jig 61 is in the vertical posture. The target jig 62 is provided with a single pillar 67 that stands vertically on a pedestal 66, and the reference reflector R is fixed to a slider 68 that is supported by the pillar 67 so that its vertical position can be adjusted. The reference reflector R has three flat reflecting surfaces 69 ... Which are orthogonal to each other, and the slider 6 is attached by a bolt 70 provided at the apex thereof.
It is fixed at 8. The reflecting surface 69 of the reference reflector R is required to reflect millimeter waves, and may be made of metal or, as a simple one, a piece of cardboard with aluminum foil attached.

Next, the operation of the first embodiment of the present invention having the above construction will be described.

First, the frame 34 of the radar mechanism unit 33
The vertical deviation of the object detection axis Ar with respect to, that is, the deviation of the actual object detection axis Ar with respect to the target object detection axis Ar0 is detected. As shown in FIG. 15, the center of the planar antenna 35 of the radar mechanism unit 33 is 10
The frame 34 of the radar mechanism unit 33 is attached to the radar mechanism unit support jig 61 with bolts 65 so that the height becomes 00 mm.
Fix with. 500 in front of the radar mechanism 33
The reference reflector R fixed to the slider 68 of the target jig 62 is installed at a position of 0 mm, and while moving the position of the reference reflector R up and down, a millimeter wave is radiated from the radar mechanism section 33 to illuminate the reference reflector. Detect R. Then, the upper limit position and the lower limit position of the reference reflector R whose received intensity of the reflected wave exceeds the threshold value are detected.

In the example of FIG. 15, the height of the upper limit position of the reference reflector R is 1150 mm and the height of the lower limit position is 800.
Since the height is mm, the height at the center is 975 mm. If the angle of the object detection axis Ar with respect to the frame 34 of the radar mechanism unit 33 is not vertically displaced, the height of the central position should be 1000 mm, which is the same as the center height of the planar antenna 35. Since it is 975 mm, it can be seen that the angle of the object detection axis Ar is shifted downward by 0.286 °.

As described above, when the vertical angle deviation of the object detection axis Ar with respect to the frame 34 of the radar mechanism section 33 is detected, the radar mechanism section 33 is removed from the radar mechanism section supporting jig 61, The radome 31 and the casing 32 are connected with four bolts 40 .... With the frame 34 of the radar mechanism 33 sandwiched between the flange 31c of the radome 31 and the flange 32c of the casing 32, the four bolt holes 31d of the flange 31c of the radome 31 and the four bolts of the frame 34. Hole 3
4e and four bolts 40 ... through any 4 of the 20 bolt holes 32d of the flange 32c of the casing 32, the 20 adjustment reference planes A0, A1 of the casing 32 , A1, A2, A2 ... A9, A
Of the 9 and A10, the one whose inclination is closest to the inclination of the object detection axis Ar is on the upper surface of the casing 32.
The rotational position of the casing 32 with respect to the radar mechanism unit 33 is selected.

That is, in the example of FIG. 15, since the object detection axis Ar is displaced downward by 0.286 °, as shown in FIG. 18, for adjustment having an angle of −0.2 ° that is the closest to the displacement. The rotational position of the casing 32 is selected so that the reference surface A4 is the top surface. Although there are two adjustment reference planes A4 having an angle of -0.2 °, any one of them may be selected. As another example, if the angle of the object detection axis Ar is −1.0 °, the adjustment reference plane A0 is selected, and if the angle of the object detection axis Ar is + 1.0 °, the adjustment reference plane A0 is selected. The surface A10 is selected, and the angle of the object detection axis Ar is ± 0.
If the angle is °, the adjustment reference plane A5 is selected. As a result, in the assembled radar device Sr, it is guaranteed that the adjustment reference surface, which is the upper surface, and the object detection axis Ar are parallel (strictly speaking, the error is 0.1 ° or less).

Subsequently, the radar device Sr is attached to the support plate 12 via the bracket 13, and as shown in FIG.
The level gauge 2 is provided on the adjustment reference surface which is the upper surface of the casing 32.
With 9 mounted, the vertical angle of the radar device Sr is adjusted so that the reference plane for adjustment is horizontal. As described above, the reference surface for adjustment which is the upper surface and the object detection axis Ar
Since it is guaranteed that and are parallel to each other, if the adjustment reference plane, which is the upper surface, is adjusted horizontally, the object detection axis Ar also becomes horizontal and the aiming of the radar device Sr is completed.

The object detection axis Ar of the radar device Sr
The detection of the shift in the left-right direction is omitted because it is not directly related to the gist of the present invention, but any known method can be adopted.

The object detection axis Ar of the radar device Sr is adjusted as follows. That is, the radar device S
When the actual object detection axis Ar of r is vertically displaced with respect to the target object detection axis Ar0, the uneven portion 28a at the tip of the adjustment bit 28 is attached to the lower right bolt member 20.
The gear teeth 20c of the head 20b are engaged and rotated.
At this time, the uneven portion 28a of the adjustment bit 28 and the bolt member 2
The guide bit 23a of the bolt support member 23 prevents the adjustment bit 28 from being disengaged from the gear tooth 20c.
The back surface of the uneven portion 28a is supported (see FIG. 8).

When the lower right bolt member 20 is rotated and the stay 34b of the frame 34 is pushed forward, the radar device Sr is set with the upper two bolt members 19 and 21 as fulcrums.
Swings upward, and the object detection axis Ar is adjusted upward. Conversely, when the stay 34b of the frame 34 is pulled back backward, the radar device Sr swings downward with the upper two bolt members 19 and 21 as fulcrums, and the object detection axis A
r is adjusted downward.

Similarly, the upper left bolt member 21 is rotated by using the adjusting bit 28 and the stay 3 of the frame 34 is rotated.
4c pushed forward, the two bolt members 1 on the right side
The radar device Sr swings rightward around the fulcrums 9 and 20, and the object detection axis Ar is adjusted rightward. Conversely, when the stay 34c of the frame 34 is pulled back backward, the radar device Sr swings leftward with the right two bolt members 19 and 20 as fulcrums, and the object detection axis Ar is adjusted leftward.

As described above, even if the direction of the object detection axis Ar is deviated from the radar mechanism 33 due to an error in assembling the individual radar devices Sr, adjustment is performed in parallel with the deviated object detection axis Ar. Reference planes A0, A1, A1, A2, A
By connecting the casing 32 to the radar mechanism unit 33 so that A9, A9, A10 are on the upper surface of the casing 32, the adjustment reference planes A0, A1, which are on the upper surface, are coupled.
Only by horizontally adjusting A1, A2, A2 ... A9, A9, A10 by using the level 29, the object detection axis Ar can be easily and precisely matched with the target object detection axis Ar0. Become. At this time, the adjustment reference planes A0, A1, A1, A2, A2, ...
Since the level 29 is placed on 9, A9, A10 and adjusted horizontally, not only a general level that detects the level can be used but also the level 2 on the upper surface of the casing 32.
Since 9 can be installed, the work is easy and the place where the level 29 is installed is not mistaken.

Since the casing body 32a has a polygonal columnar shape, many adjustment reference planes A0, A1, A1, A2 and
A2 ... A9, A9, A10 can be arranged in a compact manner to precisely adjust the object detection axis Ar. Furthermore,
While the polygonal columnar casing body 32a can be easily manufactured by drawing or the like, it is cut by a surface inclined with respect to a plane orthogonal to the center line and is joined to the flange 32c, so that each adjustment reference plane is adjusted. A0, A1, A1, A2
The angles of A2 ... A9, A9, A10 can be made different.

Next, a second embodiment of the present invention will be described with reference to FIGS.

The radar device Sr of the second embodiment is different from the first embodiment only in the structures of the radar mechanism section 33 and the casing 32, and the other structures are the same as those in the first embodiment.

In the radar mechanism section 33 of the first embodiment, the thickness of the frame 34 is uniform in the vertical direction,
The first coupling surface P1 of is vertical. On the other hand, in the radar mechanism portion 33 of the second embodiment, the thickness of the frame 34 becomes thicker downward, and the first coupling surface P1 of the frame 34 has a predetermined angle with respect to the vertical direction. Then 1.0
°) It is inclined.

While the casing body 32a of the first embodiment is formed of a regular 20-sided prism, the casing body 32a of the second embodiment is a combination of two half-divided regular 20-sided pyramids with different taper angles. Composed. The first half-rectangular 20-sided frustum that tapers rearward has 10 first
The adjustment reference plane groups B0 to B9 are provided, and the taper angles of the ten first adjustment reference planes B0 to B9 are the normals to the rear surface of the flange 32c (the surface opposite to the second coupling surface P2). It is constant with respect to N (1.0 ° in the example). Similarly, a second half-divided regular 20-sided pyramid that is tapered rearward is provided with ten second adjustment reference plane groups C0 to C9,
The taper angles of the ten second adjustment reference surface groups C0 to C9 are constant with respect to the normal line N of the rear surface of the flange 32c (the surface opposite to the second coupling surface P2) (1.1 ° in the embodiment). Is. In other words, the center lines of the first and second half-divided 20th truncated pyramids are
It coincides with the normal line N.

The second coupling surface P2 of the flange 32c of the casing 32 of the first embodiment is orthogonal to the normal line N, but the second coupling surface P2 of the flange 32c of the casing 32 of the second embodiment is It is inclined by a predetermined angle (1.0 ° in the embodiment) with respect to the normal line N.

Thus, the target object detection axis Ar0
In contrast, the adjustment reference planes B0 to B9 of the casing 32,
The angles C0 to C9 change as follows. FIG. 19
As shown in FIG. 11, the inclination of the first coupling surface P1 of the frame 34 of the radar mechanism 33 and the flange 32 of the casing 32 are shown.
When the inclination of the second coupling surface P2 of c is coupled in the same direction (direction canceling each other), the normal line N of the flange 32c overlaps the target object detection axis Ar0 and the angle becomes 0 °. As a result, the upper surface of the casing 32 serves as the adjustment reference surface B.
0 is + the inclination with respect to the target object detection axis Ar0
It becomes 1.0 °. 180 from this state
When rotated by a degree, as shown in FIG. 20, the inclination of the first coupling surface P1 of the frame 34 of the radar mechanism 33 and the inclination of the second coupling surface P2 of the flange 32c of the casing 32 strengthen each other, and The angle of the normal line N is 2.0 ° downward. As a result, the adjustment reference plane C9, which is the upper surface of the casing 32, has an inclination of −0.9 ° with respect to the target object detection axis Ar0.

As described above, when the adjustment reference plane B0 is the upper surface of the casing 32, the angle of the adjustment reference plane B0 becomes + 1.0 °, and from this state, the casing 32 is moved in the direction of arrow a in FIG. When the adjustment reference planes B1 to B9 are sequentially turned to the upper surface by rotating one pitch at a time, the angles of the adjustment reference planes B1 to B9 are + 0.8 °, + 0.6 °, +0.
4 °, + 0.2 °, ± 0 °, -0.2 °, -0.4 °,
It becomes −0.6 ° and −0.8 °. Also, from the state where the adjustment reference plane B0 of the casing 32 is the upper surface, the casing 3
When 2 is rotated by one pitch in the direction of arrow b in FIG. 22 and the adjustment reference planes C0 to C9 are sequentially made upper surfaces, the angles of the adjustment reference planes C0 to C9 are + 0.9 °, + 0.7 °,
+ 0.5 °, + 0.3 °, + 0.1 °, −0.1 °, −
The angles are 0.3 °, −0.5 °, −0.7 °, and −0.9 °.

Therefore, when the measured direction of the object detection axis Ar is, for example, horizontal (± 0 °), the radar is adjusted so that the adjustment reference plane B5 is the upper surface of the flange 32, as shown in FIG. The mechanical portion 33 and the flange 32 may be joined together.

As described above, according to the second embodiment, since the angles of the adjustment reference planes B0 to B9 and C0 to C9 are at intervals of 0.1 °, the maximum value of the adjustment error is half that of the first embodiment. 0.
The aiming accuracy can be further improved by suppressing the angle to 05 °.

In the second embodiment, the second casing 32 is
It is essential to incline the joint surface P2 with respect to the normal line N of the flange 32c, and the first joint surface P1 of the frame 34 does not necessarily have to be inclined. However, first,
By inclining the second coupling surfaces P1 and P2 by the same angle, as shown in FIG. 19, the normal line N of the flange 32c can be aligned with the target object detection axis Ar0.
The angle setting of the adjustment reference planes B0 to B9 and C0 to C9 becomes easy.

Further, in the first embodiment, since the casing body 32a is inclined with respect to the flange 32c, there is a problem that an attempt to mold the casing 32 integrally causes an undercut and the die becomes complicated. Second
In the embodiment, since the casing body 32a extends so as to taper from the flange 32c, undercut does not occur, the casing 32 can be integrally molded without complicating the mold, and the manufacturing cost can be reduced. It will be possible.

The basic principle of the present invention, which is common to the above-described first and second embodiments, is as follows. The relative angle between the actual object detection axis Ar of the radar mechanism section 33 and the adjustment reference plane of the casing 32 is determined by the combination of the first coupling surface P1 of the radar mechanism section 33 and the second coupling surface P2 of the casing 32. Since it changes depending on the position, the angle of the actual object detection axis Ar with respect to the first coupling surface P1 of the radar mechanism unit 33 is measured, and the second angle of the casing 32 is measured.
The angle of the adjustment reference plane with respect to the coupling surface P2 is set in advance, and the radar mechanism unit 33 and the casing 32 are coupled in a predetermined positional relationship, so that the direction of any of the adjustment reference planes is set to the actual object. It can be made to coincide with the direction of the detection axis Ar.

The difference between the first embodiment and the second embodiment is that in the first embodiment, the flange 32c of the casing 32 has a constant thickness and the adjustment reference plane of the flange 32c with respect to the second coupling surface P2. While the angle of each is different,
In the second embodiment, the angle of the adjustment reference plane with respect to the normal line N of the flange 32c is basically constant, but by changing the thickness of the flange 32c, the adjustment reference plane with respect to the second coupling surface P2 of the flange 32c. That is, the angles of the surfaces were made different.

Although the embodiments of the present invention have been described in detail above, the present invention can be modified in various ways without departing from the scope of the invention.

For example, although the vertical angle of the object detection axis Ar of the radar device Sr is adjusted in the horizontal direction in the embodiment, it may be adjusted upward or downward relative to the horizontal direction.

Further, the object detected by the radar device Sr is not limited to the vehicle, but includes persons, road installations, white lines on the road, etc. The object detection device of the present invention is not limited to the millimeter wave radar device Sr. However, laser radar equipment, sonar, cameras, etc. shall be included. When a laser radar device is used as the object detection device, it is appropriate that the reference reflector R has the same structure as the reflector provided on the rear part of the vehicle body of the automobile.

Further, although the casing 32 of the second embodiment is constructed by combining two half-divided regular 20-sided pyramids, it may be only one regular 20-sided pyramid.

The number of reference planes for adjustment of the casing 32 is not limited to that in the embodiment and can be changed as appropriate.

[0073]

As described above, according to the invention described in claim 1, a plurality of adjustment reference surfaces having different angles with respect to the second coupling surface of the casing are provided on the outer periphery of the casing of the object detecting device. At the same time, the first connecting surface of the object detecting means and the second connecting surface of the casing can be connected at any of a plurality of positions having different phases. Therefore, first, the object detecting axis with respect to the first connecting surface of the object detecting means. Of the plurality of reference planes for adjustment and then the first difference is detected so as to minimize the angle difference between the predetermined reference plane for adjustment and the object detection axis.
Connecting the connecting surface and the second connecting surface, and finally adjusting the mounting angle of the object detecting device with respect to the vehicle body so that the direction of the predetermined reference surface for adjustment coincides with the direction of the target object detecting axis. By this, even if the angle of the object detection axis of each object detection means varies, the influence of the variation is compensated and the direction of the object detection axis is accurately matched with the target object detection axis direction. Can be made.

According to the invention described in claim 2,
The object detecting device using the leveling device so that the predetermined adjusting reference surface becomes horizontal after connecting the first connecting surface and the second connecting surface such that the predetermined adjusting reference surface of the casing is the upper surface. Since the mounting angle of the car to the car body is adjusted, it is possible to use a general spirit level that can detect the horizontal level. Moreover, since the spirit level can be installed on the upper surface of the casing, the work is easy and the place where the spirit level is installed There is no mistake.

According to the invention described in claim 3,
Since the shape of the casing is a polygonal column shape or a polygonal pyramid in which a plurality of adjustment reference surfaces are continuous in the circumferential direction, as many adjustment reference surfaces as possible are compactly arranged to precisely adjust the object detection axis. be able to.

According to the invention described in claim 4,
A plane in which the first coupling surface of the object detection means is inclined with respect to a plane perpendicular to the target object detection axis, and the second coupling surface of the casing is perpendicular to the target object detection axis. Since it is inclined with respect to, the angle formed by the plurality of adjustment reference planes of the casing with respect to the object detection means can be changed by changing the coupling phase of the first coupling surface and the second coupling surface. .

According to the invention described in claim 5,
Since the inclinations of both the coupling surfaces are canceled depending on the phase of coupling the first coupling surface and the second coupling surface, the direction of the target object detection axis and the direction of the plane perpendicular to the second coupling surface of the casing Can be matched.

According to the invention described in claim 6,
The casing body connected to the flange of the casing,
Since it has a polygonal pyramid shape tapered in a direction away from the flange, and a plurality of reference surfaces for adjustment are formed on the outer surface thereof,
It is possible to prevent the occurrence of undercut when molding the casing and simplify the structure of the mold.

According to the invention described in claim 7,
Since the taper angles of the first adjustment reference plane group and the second adjustment reference plane group arranged on one side and the other side of the central axis of the polygonal pyramid-shaped casing body are made different, the angle of the adjustment reference plane is It is possible to increase the adjustment accuracy of the object detection axis by changing the pitch at a fine pitch.

According to the invention described in claim 8,
Since the surface of the polygonal-columnar casing body that is connected to the flange is inclined with respect to the plane orthogonal to the center line of the casing body, while using the polygonal-columnar casing body that is easy to manufacture, its reference plane for adjustment is used. The angle of can be different.

[Brief description of drawings]

FIG. 1 is a plan view of a vehicle equipped with a radar device.

FIG. 2 is a two-direction arrow view of FIG.

FIG. 3 is a perspective view of a radar device.

FIG. 4 is a four-direction arrow view of FIG.

5 is a view from the direction of FIG.

6 is a view in the direction of arrow 6 in FIG.

7 is an enlarged sectional view of part 7 in FIG.

8 is an enlarged sectional view of part 8 in FIG.

FIG. 9 is a front view and a side view of the radar device.

FIG. 10 is a front view, a plan view and a side view of the radome.

FIG. 11 is a front view, a plan view and a side view of a casing.

FIG. 12 is a front view, a plan view and a side view of a radar mechanism section.

FIG. 13 is a block diagram showing the configuration of a radar device.

FIG. 14 is a graph showing waveforms and peak frequencies of transmitted / received waves when an object is moving toward the radar device.

FIG. 15 is a view showing a radar mechanism supporting jig and a target jig.

16 is an enlarged view of part 16 in FIG.

FIG. 17 is a 17-direction arrow view of FIG.

FIG. 18 is an explanatory diagram of an action when the casing is coupled to the radar mechanism section.

FIG. 19 is a diagram showing a radar mechanism portion and a casing according to the second embodiment.

20 is a view showing a state in which the casing is rotated 180 ° from the state of FIG.

FIG. 21 is a view showing a state where the casing is rotated by 90 ° from the state of FIG.

FIG. 22 is a front view, a plan view and a side view of the casing according to the second embodiment.

[Explanation of symbols]

29 Level 32 Casing 32a Casing main body 32c Flange 33 Radar mechanism part (object detecting means) A0-A10 Adjustment reference plane B0-B9 Adjustment reference plane (first adjustment reference plane group) C0-C9 Adjustment reference plane (Second adjustment reference plane group) Ar object detection axis Ar0 target object detection axis P1 first coupling surface P2 second coupling surface Sr radar device (object detection device)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) H01Q 15/18 H01Q 15/18 F term (reference) 5J020 AA03 BA07 CA01 CA02 DA03 5J046 AA01 AA02 AA04 AA09 AB09 AB13 MA05 MA09 5J047 AA01 AA02 AA04 AA09 AB09 AB13 EE02 5J070 AB19 AB24 AC02 AC06 AD01 AE01 AF03 AK04 AK22 AK37

Claims (8)

[Claims] 1. A first connecting surface (P1) of an object detecting means (33) and a second connecting surface (P) of a casing (32).
2) The object detection device (Sr) which is integrated by being attached is attached to the vehicle body, and the direction of the object detection axis (Ar) of the object detection means (33) is the target object detection axis (Ar0). A detection axis adjusting method for an object detecting device, which adjusts a mounting angle of an object detecting device (Sr) to a vehicle body so as to match a direction, wherein the casing (32) has an outer periphery with respect to a second coupling surface (P2). A plurality of adjustment reference planes (A0-A10,
B0 to B9, C0 to C9) are provided, and the first coupling surface (P1) and the second coupling surface (P2) can be coupled at any of a plurality of positions having different phases, and the object detection means ( 33) the first step of detecting the angle of the object detection axis (Ar) with respect to the first coupling surface (P1), and a plurality of adjustment reference planes (A0 to A10, B0 to B9, C0).
To C9), a predetermined reference plane for adjustment (A0 to A10,
B0 to B9, C0 to C9) and a second step of coupling the first coupling surface (P1) and the second coupling surface (P2) so that the angle difference between the object detection axis (Ar) is minimized, Predetermined adjustment reference planes (A0-A10, B0-B9,
The direction of C0 to C9) is the target object detection axis (Ar
0) The third step of adjusting the mounting angle of the object detection device (Sr) with respect to the vehicle body so as to match the direction of 0), the method for adjusting the detection axis of the object detection device. 2. In the second step, the first coupling surface (P1) and the second coupling surface (P1) are arranged so that the predetermined adjustment reference planes (A0-A10, B0-B9, C0-C9) are upper surfaces. P
2) is combined, and in the third step, an object detecting device is used by using a level (29) so that the predetermined adjustment reference planes (A0 to A10, B0 to B9, C0 to C9) are horizontal. (S
The detection axis adjusting method of the object detecting device according to claim 1, wherein the mounting angle of the r) with respect to the vehicle body is adjusted. 3. The casing (32) is a polygonal column or a pyramid in which a plurality of reference planes for adjustment (A0 to A10, B0 to B9, C0 to C9) are continuous in the circumferential direction, A detection axis adjusting method for the object detection device according to claim 1. 4. The first coupling surface (P1) of the object detecting means (33) is inclined with respect to a plane perpendicular to the target object detection axis (Ar0), and the casing (3).
The second coupling surface (P2) of 2) is inclined with respect to a surface perpendicular to the target object detection axis (Ar0). The method for adjusting the detection axis of the object detection device according to item 1. 5. When the first coupling surface (P1) and the second coupling surface (P2) are coupled at a predetermined phase, both coupling surfaces (P1)
The method for adjusting a detection axis of an object detection device according to claim 4, wherein the inclinations of (1, P2) are canceled out. 6. The casing (32) has a second coupling surface (P).
2) formed flange (32c) and flange (3
2c) and a casing body (32) having a polygonal pyramid shape that is tapered in a direction away from the flange (32c).
a) and a plurality of reference planes for adjustment (B0-B9, C0-C9) are constituted by the outer surface of the casing body (32a), the object according to claim 4 or claim 5. A method for adjusting the detection axis of an object detection device. 7. A casing body (32a) having a polygonal pyramid shape.
Includes a first adjustment reference plane group (B0 to B9) arranged on one side and a second adjustment reference plane group (C0 to C9) arranged on the other side of the center axis, The taper angle of the first adjustment reference plane group (B0 to B9) and the second adjustment reference plane group (C
The taper angle of 0 to C9) is made different, and the detection axis adjusting method of the object detecting device according to claim 6, wherein. 8. The casing (32) has a second coupling surface (P).
The casing main body (3) is provided with a flange (32c) formed with 2) and a polygonal columnar casing main body (32a) provided with a plurality of adjustment reference surfaces (A0 to A10) on the outer periphery.
The surface of 2a) coupled to the flange (32c) is inclined with respect to the surface orthogonal to the center line of the casing body (32a). Item 5. A detection axis adjustment method for an object detection device according to item.