JP2004239629A - Axis adjustment method for object detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method which can accurately adjust the axis of a radar device. <P>SOLUTION: A motor 25 rotates a reflector 28 which is provided in front of car-mounted radar around a rotation shaft 26, and a detection area S of the radar device detects the reflector 28. As shown in the figure, if an object detection axis A is shifted downward from the rotation shaft 26 of the motor 25, the first period, which is a period when the reflector 28 is not detectable because the reflector moves upward and is out of the detection area S, becomes longer than the second period, which is a period when the reflector 28 is not detectable because the reflector moves downward and is out of the detection area S. From the difference between the first and second periods, a slant angle of the object detection axis A is determined. Therefore, by adjusting the axis so that the first and second periods become equal, the axis of the radar device is adjusted precisely. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method for adjusting the axis of an object detection device that is mounted on a moving object and detects an object existing in a detection area having an up, down, left, and right direction in the traveling direction.
[0002]
[Prior art]
Detects the distance, direction, relative speed, etc. of obstacles such as the preceding vehicle in front of the vehicle, and converts the detected data to systems such as inter-vehicle distance warning devices, collision prevention / damage reduction devices, and automatic tracking devices. A radar device for supplying is known from the following patent documents.
[0003]
[Patent Document]
JP-A-8-240660
[Problems to be solved by the invention]
By the way, if the object detection axis of this type of radar device is not correctly oriented in the preset direction, the system will malfunction by detecting the oncoming vehicle in the next lane, or only the road surface, overpass, signboard will be detected. There is a possibility that the system will not operate because it does not detect the preceding vehicle.
[0005]
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to enable accurate axis adjustment of an object detection device.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, according to the invention described in claim 1, an object detection device that is mounted on a moving object and detects an object existing in a detection area having an up, down, left, and right direction with respect to its traveling direction. A method of providing a reflector at a predetermined position in an object detection direction with respect to an object detection device mounted on a moving body, rotating the reflector at a predetermined cycle around a rotation axis along the object detection direction, A step of detecting the reflector by the detection area of the detection device or a small area constituting a part of the detection area, and a first period in which the rotating reflector deviates to one side of the detection area or the small area and is not detected. And comparing a second period in which the object detection device is deviated to the other side and becomes undetected, and based on the result of the comparison, whether or not the object detection device has an axis deviation or a large axis deviation. A step of determining is, the method of adjusting the axis of the object detecting device which comprises the step of axially adjusting the object detection device based on the determination result is proposed.
[0007]
According to the above configuration, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or a small area constituting a part of the detection area is used. An object is detected based on a result of comparing a first period in which the reflector is deviated to one side of the detection area or the small area where detection is not performed and a second period in which the reflector is deviated to the other side and not detected. Judgment of the presence / absence of the axis shift of the detector or the magnitude of the axis shift is performed, and the axis of the object detector is adjusted based on the determination result, so that the axis shift of the object detection axis can be accurately detected and adjusted correctly. It becomes possible.
[0008]
According to the second aspect of the present invention, in the method of adjusting the axis of the object detection device, which is mounted on a moving body and detects an object existing in a detection area having a vertical and horizontal spread with respect to the traveling direction, Providing a reflector at a predetermined position in the object detection direction with respect to the object detection device mounted on the body, and rotating the reflector at a predetermined cycle around a rotation axis along the object detection direction; and A step of detecting the reflector by a small area constituting a part of the detection area, and a first period in which the rotating reflector is detected while being present in the detection area or the small area and deviating from the detection area or the small area. Comparing the second period during which no detection is performed, and the presence or absence of axis deviation or the magnitude of axis deviation of the object detection device based on the result of the comparison. And determining step, the method of adjusting the axis of the object detecting device which comprises the step of axially adjusting the object detection apparatus based on the result of the determination is proposed.
[0009]
According to the above configuration, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or a small area constituting a part of the detection area is used. An object is detected based on a result of comparing a first period during which the reflector is detected and present in the detection area or the small area and detection is performed, and a second period during which the reflector deviates from the detection area or the small area and is not detected. Judgment of the presence / absence of the axis shift of the detector or the magnitude of the axis shift is performed, and the axis of the object detector is adjusted based on the determination result, so that the axis shift of the object detection axis can be accurately detected and adjusted correctly. It becomes possible.
[0010]
According to the third aspect of the present invention, in the method of adjusting the axis of an object detection device mounted on a moving body and detecting an object existing in a detection area having an up, down, left, and right direction with respect to the traveling direction, Providing a reflector at a predetermined position in the object detection direction with respect to the object detection device mounted on the body, and rotating the reflector at a predetermined cycle around a rotation axis along the object detection direction; and A step of detecting the rotating reflector at two positions opposite to each other with respect to the rotation axis by a small area constituting a part of the detection area, and a center position of the two positions is a vertical direction of the detection area or the small area. Or a step of adjusting the axis of the object detection device so as to be at the center position in the left-right direction. .
[0011]
According to the above configuration, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or a small area constituting a part of the detection area is used. , The rotating reflector is detected at two positions opposite to each other with respect to the rotation axis, and the object detection device is set so that the center position of the two positions is the center position of the detection area or small area in the vertical or horizontal direction. Since the axis is adjusted, it becomes possible to accurately detect the axis deviation of the object detection axis and to make an accurate adjustment.
[0012]
The radar device R of the embodiment corresponds to the object detection device of the present invention, and the vehicle V of the embodiment corresponds to the moving object of the present invention.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0014]
1 to 14 show a first embodiment of the present invention. FIG. 1 is a front side view of a vehicle provided with a radar device, FIG. 2 is a view in the direction of arrow 2 in FIG. 1, and FIG. 4 is a view in the direction of arrow 4 in FIG. 2, FIG. 5 is a sectional view taken along line 5-5 in FIG. 3, FIG. 6 is a side view of the target jig, and FIG. FIG. 8 is a view showing the positional relationship between the vehicle and the target jig, FIGS. 9 to 11 are diagrams for explaining the operation of adjusting the vertical axis of the radar device, and FIGS. 12 to 14 are the lateral directions of the radar device. FIG. 7 is an explanatory diagram of the operation of shaft adjustment of FIG.
[0015]
As shown in FIG. 1, a radar device R for detecting an object such as a preceding vehicle existing in the traveling direction of the vehicle V is disposed inside the front grill 11 and is supported by a bracket 13 attached to a vehicle body 12. You. Note that the terms front, rear, left, and right used in this specification are based on an occupant sitting on a seat, and the definitions are shown in FIG.
[0016]
As apparent from FIGS. 2 to 5, the bracket 13 is formed by bending a metal plate into a U-shaped cross section in plan view, and its four corners are fixed to the vehicle body 12 with four bolts 14. The radar device R includes a rectangular parallelepiped casing 15, and three stays 15a, 15b, and 15c are integrally provided on an outer peripheral surface thereof. The three stays 15a, 15b, and 15c of the casing 15 of the radar device R are fixed to the welding nuts 17a, 17b, and 17c of the bracket 13 via adjustment bolts 16a, 16b, and 16c, respectively. Of the bracket 13 fits into an opening 13a formed on the front surface of the bracket 13. The adjusting bolts 16a, 16b, and 16c are inserted into the bolt holes of the stays 15a, 15b, and 15c from the front, and the stays near the heads are fitted in the bolt holes. Locked to the rear surface, it is rotatably retained.
[0017]
Of the three adjustment bolts 16a, 16b, 16c, two adjustment bolts 16a, 16b are arranged on the upper left and right sides of the casing 15 of the radar device R, and the other adjustment bolt 16c is an upper left adjustment bolt 16a. , That is, at the lower left of the casing 15.
[0018]
Next, the structure of a target jig J used for adjusting the axis of the object detection axis A of the radar device R will be described with reference to FIGS.
[0019]
The target jig J has four casters 21..., A base 22 that can move on the floor surface, a support 23 erected on the base 22, and a slider that can adjust the vertical position along the support 23. 24, a motor 25 provided on the slider 24, an arm member 27 having a central portion fixed to a rotating shaft 26 extending in the horizontal direction of the motor 25, and a radially movable member provided on one side of the arm member 27. A reflector 28 and a balance weight 29 provided on the other side of the arm member 27 so as to be movable in the radial direction are provided. The reflector 28 is made of a material that effectively reflects the radar beam transmitted by the radar device R, and the weight of the balance weight 29 is set equal to the weight of the reflector 28 so that vibration is not generated by rotation of the motor 25. I have.
[0020]
FIG. 8 shows the positional relationship between the vehicle V and the target jig J. When the radar device R is mounted at the center of the vehicle V in the vehicle width direction, the reflector 28 is located on the vehicle center line L of the vehicle V and ahead of the radar device R by a distance D (for example, 5 m or 10 m). Jig J is installed as follows. When the object detection axis A of the radar device R is adjusted in the horizontal direction, the height of the rotation axis 26 of the motor 25 of the target jig J is adjusted with respect to the support 23 so that the height H of the radar device R coincides with the height H of the radar device R. The vertical position of the slider 24 is adjusted.
[0021]
Next, a procedure for adjusting the axis of the radar device R in the vertical direction will be described.
[0022]
As shown in FIG. 9, when the object detection axis A of the radar device R is already correctly adjusted in the vertical direction, the height of the object detection axis A matches the height of the rotation axis 26 of the motor 25. ing. The detection area S of the radar device R is a horizontally long rectangle having a vertical angle of 4 ° and a horizontal angle of 16 °. When the distance D between the vehicle V and the target jig J is set to 5 m, the target jig J The dimensional relationship between and the detection area S is as illustrated. At this time, the distance c from the rotating shaft 26 of the motor 25 to the reflector 28 and the balance weight 29 is adjusted to be 100 mm larger than half the vertical width a of the detection area S (c = a / 2 + 100 mm). Thus, when the motor 25 is driven to rotate the reflector 28, the reflector 28 protrudes from the upper end and the lower end of the detection area S by 100 mm at the maximum.
[0023]
By the way, when the reflector 28 is detected by the radar device R while rotating the reflector 28 clockwise as viewed from the radar device R, the reflector 28 is changed to "(1) state detected on the left side of the motor 25" → "(2) ▼ A state where it is deviated above the detection area S and is not detected ”→“ (3) A state detected on the right side of the motor 25 ”→“ (4) A state where it is deviated below the detection area S and is not detected ”periodically occurs I do. At this time, it is confirmed that the object detection axis A of the radar device R is correctly adjusted in the up-down direction by making the time of (2) equal to the time of (4).
[0024]
On the other hand, as shown in FIG. 10, when the object detection axis A of the radar device R is displaced downward with respect to the horizontal direction, the time (2) (the reflector 28 is positioned above the detection area S (The state in which the reflector 28 is not detected because the reflector 28 is below the detection area S and is not detected), and the downward displacement of the object detection axis A is determined based on the difference in the time. You can know the quantity.
[0025]
Conversely, as shown in FIG. 11, when the object detection axis A of the radar device R is displaced upward with respect to the horizontal direction, the time (2) (the reflector 28 is displaced above the detection area S) The state in which the object 28 is not detected is shorter than the time (4) (the state in which the reflector 28 is displaced below the detection area S and is not detected), and the upward displacement amount of the object detection axis A is determined based on the difference in the time. You can know.
[0026]
When the vertical displacement of the object detection axis A is detected as described above, the object detection axis A is adjusted in the vertical direction so that the times (2) and (4) become uniform. That is, of the three adjustment bolts 16a, 16b, and 16c, the lower left adjustment bolt 16c is screwed into the welding nut 17c without operating the upper left adjustment bolt 16a and the upper right adjustment bolt 16b serving as a reference. By moving the lower part of the radar device R in the direction approaching the bracket 13, the object detection axis A of the radar device R can be adjusted downward. Conversely, the lower left adjustment bolt 16c is connected to the welding nut 17c. If it is loosened, the lower side of the radar device R moves in a direction away from the bracket 13, so that the object detection axis A of the radar device R can be adjusted upward.
[0027]
Next, a procedure for adjusting the axis of the radar device R in the left-right direction will be described.
[0028]
As shown in FIG. 12, when adjusting the axis of the radar device R in the left-right direction, the distance of the target jig J from the vehicle V is increased from 5 m to 10 m, and the up-down angle is 4 ° and the left-right angle is In the 16 ° detection area S, the object is detected only in a range where the left and right angles are ± 1 ° from the center. That is, an object is detected in a small area S ′ having a vertical angle of 4 ° and a horizontal angle of 2 °, which is a part of the center of the detection area S in the left-right direction, of the entire area. Then, the distance c from the rotating shaft 26 of the motor 25 to the reflector 28 and the balance weight 29 is adjusted so as to be 100 mm larger than half of the left and right width b of the small area S ′ (c = b / 2 + 100 mm). Thus, when the motor 25 is driven to rotate the reflector 28, the reflector 28 protrudes up to 100 mm from the left end and the right end of the small area S 'at the maximum.
[0029]
The example shown in FIG. 12 is a case where the object detection axis A of the radar device R has already been correctly adjusted in the left-right direction, and the object detection axis A is on a vertical line passing through the rotation axis 26 of the motor 25. When the reflector 28 is detected by the radar device R while rotating the reflector 28 clockwise as viewed from the radar device R, the reflector 28 is changed from "(1) a state detected above the motor 25" to "(2) small. A state where the detection is off the right side of the area S ′ and is not detected ”→“ (3) A state where the detection is performed below the motor 25 ”→“ (4) A state where the detection is off the left side of the small area S ′ and is not detected ”periodically. appear. At this time, it is confirmed that the object detection axis A of the radar device R is correctly adjusted in the left-right direction by making the time (2) equal to the time (4).
[0030]
On the other hand, as shown in FIG. 13, when the object detection axis A of the radar device R is displaced rightward, the time (2) (the reflector 28 deviates to the right of the small area S ′ and is not detected) State) is shorter than the time (4) (the state in which the reflector 28 is deviated to the left of the small area S ′ and is not detected), and the rightward shift amount of the object detection axis A is known based on the time difference. be able to.
[0031]
Conversely, as shown in FIG. 14, when the object detection axis A of the radar device R is displaced leftward, the time (2) (the state where the reflector 28 is displaced to the right of the small area S 'and is not detected). ) Is longer than the time (4) (the state in which the reflector 28 is displaced to the left of the small area S ′ and is not detected), and the leftward shift amount of the object detection axis A is known based on the time difference. Can be.
[0032]
When the displacement of the object detection axis A in the left-right direction is detected as described above, the object detection axis A is adjusted in the left-right direction so that the times (2) and (4) become uniform. That is, of the three adjustment bolts 16a, 16b, 16c, the upper right adjustment bolt 16b is screwed into the welding nut 17b without operating the upper left adjustment bolt 16a and the lower left adjustment bolt 16c, which serve as references. By moving the right side of the radar device R in a direction approaching the bracket 13, the object detection axis A of the radar device R can be adjusted to the right, and conversely, the upper right adjustment bolt 16b is adjusted with respect to the welding nut 17b. If loosened, the right side of the radar device R moves in a direction away from the bracket 13, so that the object detection axis A of the radar device R can be adjusted to the left.
[0033]
As described above, the reflector 28 is rotated so that the detection area S (or the small area S ') of the radar device R protrudes to both sides, and the reflector 28 is moved to one side and the other side of the detection area S (or the small area S'). By comparing the time of non-detection at the time, it becomes possible to accurately detect and correctly adjust the axis deviation of the object detection axis A, an inter-vehicle distance warning device using the radar device R, a collision prevention / damage reduction device Thus, the functions of the automatic following device and the like can be reliably exhibited.
[0034]
Next, a second embodiment of the present invention will be described with reference to FIGS.
[0035]
The second embodiment is for adjusting the axis of the object detection axis A in the left-right direction. The setting of the target jig J is performed by adjusting the axis of the object detection axis A in the vertical direction described with reference to FIGS. Same as what you do.
[0036]
As shown in FIG. 15, when the object detection axis A of the radar device R is already correctly adjusted in the left-right direction, the position where the reflector 28 is detected on the left side of the motor 25 and the position where the reflector 28 is The center position (that is, the position of the motor 25) with the position detected in (1) should coincide with the center position in the left-right direction of the detection area S of the radar device R (that is, the position of the object detection axis A).
[0037]
On the other hand, as shown in FIG. 16, when the object detection axis A of the radar device R is displaced rightward, the center position of the two positions of the reflector 28 detected on the left and right sides of the motor 25 (that is, the motor 25 position) should be shifted to the left with respect to the center position of the detection area S of the radar device R in the left-right direction. Therefore, the angle at which the object detection axis A of the radar device R is displaced rightward can be known based on the displacement amount.
[0038]
Conversely, as shown in FIG. 17, when the object detection axis A of the radar device R is displaced leftward, the center position of the two positions of the reflector 28 detected on both the left and right sides of the motor 25 (that is, the motor 25). Should be shifted to the right with respect to the center position of the detection area S of the radar device R in the left-right direction. Therefore, the angle at which the object detection axis A of the radar device R is displaced leftward can be known based on the displacement amount.
[0039]
When the deviation angle of the object detection axis A is detected as described above, the upper right adjustment bolt 16b is rotated in the same manner as in the first embodiment to adjust the object detection axis A of the radar device R in the left-right direction. can do.
[0040]
As described above, the reflector 28 is detected at two positions on the left and right sides sandwiching the rotation shaft 26 in the diameter direction, and the center position between the two positions is determined as the center of the detection area S (or the small area S ′) of the radar device R in the left-right direction. By comparing with the position, it is possible to accurately detect and correctly adjust the axis deviation of the object detection axis A, an inter-vehicle distance warning device using the radar device R, a collision prevention / damage reduction device, an automatic tracking device, etc. Function can be surely exhibited.
[0041]
Thus, according to the second embodiment, the same operation and effect as those of the first embodiment can be achieved. Also, based on the principle of the second embodiment, the vertical axis adjustment of the object detection axis A of the radar device R can be performed.
[0042]
Next, a third embodiment of the present invention will be described with reference to FIGS.
[0043]
In the third embodiment, the vertical axis of the object detection axis A is adjusted. As shown in FIG. 18, the height of the upper end of the detection area S when the radar apparatus R is correctly adjusted in the vertical direction. The setting is performed so that the height of the rotating shaft 26 of the motor 25 matches. If the axis of the radar device R is correctly adjusted in the vertical direction, the time when the rotating reflector 28 enters the detection area S and is detected is equal to the time when the reflector 28 is out of the detection area S and is not detected (FIG. 19). (A)).
[0044]
On the other hand, when the object detection axis A is shifted downward, the time during which the reflector 28 enters the detection area S and is detected is shorter than the time when the reflector 28 deviates from the detection area S and is not detected (see FIG. 19 (B)), the downward shift angle of the object detection axis A can be known based on the time difference. Conversely, when the object detection axis A is displaced upward, the time during which the reflector 28 enters the detection area S and is detected is longer than the time when the reflector 28 deviates from the detection area S and is not detected (FIG. 19). (C), the upward shift angle of the object detection axis A can be known based on the time difference.
[0045]
As described above, by rotating the reflector 28 so as to partially protrude from the detection area S (or the small area S ′) of the radar device R, and comparing the time when the reflector 28 is detected and the time when it is not detected, The vertical displacement of the object detection axis A can be accurately detected and adjusted correctly, and the functions of the inter-vehicle distance warning device using the radar device R, the collision prevention / damage reduction device, the automatic tracking device, etc. are ensured. Can be demonstrated.
[0046]
Thus, according to the third embodiment, the same operation and effect as those of the first embodiment can be achieved. Also, based on the principle of the third embodiment, the axis adjustment of the object detection axis A of the radar device R in the left-right direction can be performed.
[0047]
Although the embodiments of the present invention have been described in detail, various design changes can be made in the present invention without departing from the gist thereof.
[0048]
For example, in the embodiment, the radar device R is exemplified as the object detection device. However, the radar device R may be a millimeter wave radar device or a laser radar device, and the present invention relates to a camera other than the radar device R. It can be applied to such an object detection device.
[0049]
In the embodiment, when the object detection axis A of the radar device R is adjusted in the vertical direction, the object detection axis A is adjusted in the horizontal direction. However, the object detection axis A may be adjusted downward or upward from the horizontal direction. it can.
[0050]
In the embodiment, the object detection axis A of the radar apparatus R is manually adjusted. However, it is also possible to employ auto aiming for setting the range of the detection area S inside a scanning area wider than the detection area S.
[0051]
【The invention's effect】
As described above, according to the first aspect of the invention, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or the detection is performed. A first period in which the reflector is detected by a small area forming a part of the area and the reflector is displaced to one side of the detection area or the small area and is not detected, and a second period in which the reflector is deviated to the other side and is not detected. Based on the result of comparing the periods, the presence or absence of the axis deviation of the object detection device or the magnitude of the axis deviation is determined, and the axis of the object detection device is adjusted based on the result of the determination. Accurate detection and correct adjustment are possible.
[0052]
Further, according to the invention described in claim 2, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or one of the detection areas is detected. A first period in which the reflector is detected in the detection area or the small area and a second period in which the reflector is out of the detection area or the small area and is not detected; Based on the comparison result, the presence or absence of the axis deviation of the object detection device or the magnitude of the axis deviation is determined, and the axis of the object detection device is adjusted based on the result of the determination, so that the axis deviation of the object detection axis is accurately detected. And it can be adjusted correctly.
[0053]
According to the invention described in claim 3, the reflector provided at a predetermined position in the object detection direction is rotated with respect to the object detection device mounted on the moving body, and the detection area of the object detection device or one of the detection areas is detected. With the small area constituting the part, the rotating reflector is detected at two positions opposite to each other with respect to the rotation axis, and the center position of the two positions is the center position of the detection area or the small area in the vertical direction or the horizontal direction. Since the axis of the object detection device is adjusted to be as described above, it is possible to accurately detect the axis deviation of the object detection axis and adjust the axis correctly.
[Brief description of the drawings]
FIG. 1 is a front side view of a vehicle equipped with a radar device. FIG. 2 is a view in a direction indicated by arrows in FIG. 1. FIG. 3 is a view viewed in directions indicated by arrows in FIG. FIG. 5 is a cross-sectional view taken along the line 5-5 in FIG. 3 FIG. 6 is a side view of the target jig FIG. 7 is a view in the direction of arrow 7 in FIG. 6 FIG. FIG. 9 is an explanatory diagram of the operation of the vertical axis adjustment of the radar device (when the object detection axis is not shifted).
FIG. 10 is an explanatory view of the operation of the vertical axis adjustment of the radar device (when the object detection axis is shifted downward).
FIG. 11 is an explanatory view of the operation of vertical axis adjustment of the radar apparatus (when the object detection axis is shifted upward).
FIG. 12 is an explanatory view of the operation of the axis adjustment of the radar device in the left-right direction (when the object detection axis is not shifted).
FIG. 13 is an explanatory diagram of the operation of adjusting the axis in the left-right direction of the radar device (when the object detection axis is shifted to the right)
FIG. 14 is a diagram illustrating the operation of the left-right axis adjustment of the radar device (the object detection axis is shifted to the left. FIG. 15 is the diagram illustrating the operation of the left-right axis adjustment of the radar device according to the second embodiment (object detection). (When the axis is not shifted)
FIG. 16 is an explanatory view of the operation of the left-right axis adjustment of the radar device (when the object detection axis is shifted to the right).
FIG. 17 is an explanatory view of the operation of the left-right axis adjustment of the radar device (when the object detection axis is shifted to the left).
FIG. 18 is a view for explaining the operation of vertical axis adjustment of the radar apparatus according to the third embodiment.
R radar device (object detection device)
S Detection area S 'Small area V Vehicle (mobile)
26 Rotating shaft 28 Reflector

Claims (3)

In an axis adjustment method of an object detection device mounted on a moving body (V) and detecting an object existing in a detection area (S) having a vertical and horizontal spread with respect to the traveling direction,
A reflector (28) is provided at a predetermined position in the object detection direction with respect to the object detection device (R) mounted on the moving body (V), and the reflector (28) is centered on a rotation axis (26) along the object detection direction. Rotating at a predetermined cycle;
Detecting the reflector (28) by a detection area (S) of the object detection device (R) or a small area (S ') constituting a part of the detection area (S);
A first period during which the rotating reflector (28) deviates to one side of the detection area (S) or the small area (S ') and becomes undetected, and a second period during which the rotating reflector (28) deviates to the other side and becomes undetected. Comparing the
A step of determining the presence or absence of an axis shift of the object detection device (R) or the magnitude of the axis shift based on the result of the comparison;
Adjusting the axis of the object detection device (R) based on the result of the determination;
A method of adjusting the axis of the object detection device, comprising: In an axis adjustment method of an object detection device mounted on a moving body (V) and detecting an object existing in a detection area (S) having a vertical and horizontal spread with respect to the traveling direction,
A reflector (28) is provided at a predetermined position in the object detection direction with respect to the object detection device (R) mounted on the moving body (V), and the reflector (28) is centered on a rotation axis (26) along the object detection direction. Rotating at a predetermined cycle;
Detecting the reflector (28) by a detection area (S) of the object detection device (R) or a small area (S ') constituting a part of the detection area (S);
The first period during which the rotating reflector (28) is present in the detection area (S) or the small area (S ') and detected, and the rotating reflector (28) deviates from the detection area (S) or the small area (S'). Comparing a second period to be detected;
A step of determining the presence or absence of an axis shift of the object detection device (R) or the magnitude of the axis shift based on the result of the comparison;
Adjusting the axis of the object detection device (R) based on the result of the determination;
A method of adjusting the axis of the object detection device, comprising: In an axis adjusting method of an object detection device mounted on a moving body (V) and detecting an object existing in a detection area (S) having a vertical and horizontal spread with respect to a traveling direction thereof,
A reflector (28) is provided at a predetermined position in the object detection direction with respect to the object detection device (R) mounted on the moving body (V), and the reflector (28) is centered on a rotation axis (26) along the object detection direction. Rotating at a predetermined cycle;
The rotating reflector (28) is mutually moved with respect to the rotation axis (26) by the detection area (S) of the object detection device (R) or the small area (S ') constituting a part of the detection area (S). Detecting at two opposite positions;
Adjusting the axis of the object detection device (R) so that the center of the two positions is the center of the detection area (S) or the small area (S ′) in the vertical or horizontal direction;
A method of adjusting the axis of the object detection device, comprising:

Images