JP2005143040A - Method of adjusting optical axis of vehicle-mounted camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of adjusting an optical axis of a vehicle-mounted camera capable of responding not only to a single target but also to a plurality of targets. <P>SOLUTION: The method of adjusting the optical axis of the vehicle mounted camera includes the step of receiving an optical axis adjustment indicating command, and an all targets indicating command and/or an individual target indicating command in every target from a detecting device 3; the step of determining whether optical axis adjustment is to be performed or not based on the optical axis adjustment indicating command; the step of determining which target is to be utilized based on the all targets indicating command, and/or the individual target indicating command in every target; the step of performing a process to acquire correction amount for optical axis adjustment by using the determined target; the step of determining whether the process of acquiring the correction amount for the optical axis adjustment is completed or not; and the step of transmitting an all target completed command, and/or an individual target completed command in every target to the detecting device 3. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an optical axis adjustment method for a vehicle-mounted camera capable of optical axis adjustment using not only a single target but also a plurality of targets.

In recent years, some vehicles are equipped with a camera for acquiring image information around the vehicle. For example, there is a vehicle equipped with a camera for acquiring image information behind the vehicle in order to ensure safety when reversing and assist parking. In addition, there is a vehicle equipped with a camera for acquiring image information ahead of the vehicle in order to perform driving assistance such as inter-vehicle control and steering assistance. When a camera is mounted on a vehicle, the optical axis of the camera is adjusted at a vehicle manufacturing factory or dealer in order to obtain highly accurate image information in focus (see Patent Documents 1 to 3). As the optical axis adjustment of the camera, for example, a target placed in front of the camera is used, and the FOE [Focus Of End] correction amount (X direction, Y direction) is calculated from the difference between the optical axis center of the camera and the center of the target. Direction). Then, the center of the image captured by the camera is corrected to the center of the screen based on the FOE correction amount.
JP 2002-29331 A JP-A-6-181576 JP 2002-218504 A Japanese Patent Application Laid-Open No. 2001-6687 JP 2001-341578 A Japanese Patent Laid-Open No. 9-207608 JP 11-91462 A

  However, not only when a narrow range of image information such as information on a vehicle traveling in front is required, but also information on white lines on both sides of a vehicle indicating a lane, information on a pedestrian and a vehicle traveling in an adjacent lane, etc. In some cases, image information in a wide range in the direction or the vertical direction is required. In this case, not only the vicinity of the center of the image captured by the camera but also the image information focused on the end of the image captured by the camera is required. Therefore, in the optical axis adjustment, not only the FOE correction amount but also the camera roll angle, yaw angle and other angles are required as the correction amount. In order to obtain the angle correction amount, it is not possible to obtain only with a single target placed on the central axis of the camera, so it is necessary to place mode get on both the left and right sides and top and bottom sides in addition to the center target. is there. However, the conventional optical axis adjustment using a target targets a single target and cannot handle a plurality of targets. Further, since inspection is conventionally performed with a single target even in an inspection facility of a manufacturing factory or a dealer, there is a case where a space for arranging a plurality of targets on the left and right or the top and bottom is not secured.

  Therefore, an object of the present invention is to provide a method for adjusting the optical axis of a vehicle-mounted camera that can support not only a single target but also a plurality of targets.

  An optical axis adjustment method for a vehicle-mounted camera according to the present invention is an optical axis adjustment method for adjusting an optical axis of a camera mounted on a vehicle using a target, and indicates whether or not to perform optical axis adjustment. An optical axis adjustment instruction command, an all target instruction command for instructing whether or not to use all targets arranged at a plurality of target arrangement positions together, and / or an arbitrary position or a single position among a plurality of target arrangement positions. Receiving an individual target instruction command for each target for instructing whether or not to individually use a target arranged at one target arrangement location from the inspection apparatus via a communication means, and an optical axis adjustment instruction command A step of determining whether or not to perform optical axis adjustment based on the command, and all target instruction commands and / or individual target instruction commands for each target A step of determining which target to use to determine a correction amount for optical axis adjustment, and using the determined target to determine the optical axis based on target arrangement information, camera arrangement information, and vehicle information Whether the process of obtaining the correction amount for adjustment and the process of obtaining the correction amount for optical axis adjustment using all targets or the process of obtaining the correction amount for optical axis adjustment using individual targets have been completed. And a target completion command for indicating whether or not the processing for obtaining a correction amount for optical axis adjustment using all targets has been completed, and / or a correction amount for optical axis adjustment using individual targets. And a step of transmitting an individual target completion command for each target indicating whether or not the requested processing is completed to the inspection apparatus via the communication means. To.

  In this vehicle-mounted camera optical axis adjustment method, an inspection apparatus is connected to communication means provided in the vehicle, and communication is performed between the vehicle side and the inspection apparatus side via the communication means. First, in this optical axis adjustment method, an optical axis adjustment instruction command, all target instruction commands, and an individual target instruction command for each target are received from the inspection apparatus via communication means. After reception, in the optical axis adjustment method, it is determined whether or not to perform optical axis adjustment based on an optical axis adjustment instruction command. When optical axis adjustment is performed, in this optical axis adjustment method, all targets placed in a plurality of target placement locations are used simultaneously based on all target designation commands, or individual target designation commands for each target are used. Based on this, it is determined whether to use a single target or to use an individual target arranged at any one of a plurality of target placement locations. After determining the target to be used, the optical axis adjustment method uses the determined target and executes a process for obtaining a correction amount for optical axis adjustment based on the target arrangement information, the camera arrangement information, and the vehicle information. Since the processing for obtaining the correction amount for adjusting the optical axis differs depending on the location of the target (for example, when using the target individually, processing for obtaining the FOE correction amount, processing for obtaining the roll angle, etc.) There are different processes for each target, and when all targets are used at the same time, there is a process for obtaining the FOE correction amount, roll angle, etc. at once.) The process corresponding to the determined target is executed. In the optical axis adjustment method, it is determined whether or not the processing for obtaining the correction amount for optical axis adjustment using all targets or individual targets is completed. Further, in the optical axis adjustment method, in order to notify the inspection apparatus side whether or not the processing for obtaining the correction amount for optical axis adjustment has been completed, an all-target completion command or / and an individual target completion command for each target are communicated. To the inspection device via The inspection device can recognize whether or not the processing for obtaining the correction amount for optical axis adjustment has been completed with all target completion commands, and correction for optical axis adjustment using each individual command with individual target completion commands for each target. It is possible to recognize whether or not the processing for obtaining the amount has been completed (however, in the case of a single target, whether or not the processing for obtaining the correction amount for optical axis adjustment using the single target has been completed). At this time, on the inspection apparatus side, when a plurality of individual targets are used, the target can be moved to the next individual target or an individual target instruction command can be transmitted based on the individual target completion command. Therefore, when performing optical axis adjustment by moving one target to multiple target placement locations, the inspection device can instruct optical axis adjustment to multiple individual targets regardless of the order using the individual target completion command. , It is possible to prevent duplicate instructions for the same individual target. As described above, in this optical axis adjustment method, a target to be processed is determined by a command from the inspection apparatus, and a plurality of targets and a single target are determined by informing the inspection apparatus that the processing for each target is completed. It is possible to adjust the optical axis with respect to the target. Furthermore, in the case of a plurality of targets, it is possible to cope with whether all targets are used simultaneously or individual targets are used sequentially.

  The inspection device is an inspection tester or the like installed in a vehicle manufacturing factory or dealer, and communication such as a CAN [Controller Area Network] (standard interface standard for in-vehicle LAN) communication system provided in the vehicle. It is an apparatus that can communicate with the vehicle side via the means. As for all target instruction commands and individual target instruction commands, both commands may be transmitted or only one command may be transmitted. The individual target instruction command is set for each target arranged at an arbitrary position among a plurality of target arrangement positions when using a plurality of targets, and is used when using a single target. Set only for a single target. The target arrangement information is information indicating the positional relationship between the vehicle (in particular, the camera) and the target. The camera arrangement information is information indicating the position of the camera mounted on the vehicle, the direction of the camera, and the like. The vehicle information is information relating to the vehicle that is necessary when obtaining the correction amount for adjusting the optical axis, and is, for example, the right handle, the left handle, 2WD, 4WD, and the length of the hood. As for all target completion commands and individual target completion commands, both commands may be transmitted or only one command may be transmitted. The individual target completion command is set for each target placed at any of the multiple target placement locations when using multiple targets, and when using a single target, Set only for a single target. By the way, a plurality of individual targets are sequentially moved to a plurality of target placement locations, so that the one target is placed at each target placement location to become a plurality of individual targets.

  In the optical axis adjustment method for a vehicle-mounted camera according to the present invention, a step of setting a progress flag indicating the progress of processing for obtaining a correction amount for optical axis adjustment using all targets or individual targets, and a plurality of individual targets are used. Then, when obtaining the correction amount for optical axis adjustment, the process for obtaining the correction amount for optical axis adjustment using any individual target based on the progress flag is performed for the optical axis adjustment using another individual target. And a step of determining how many times the processing is completed with respect to the processing for obtaining the correction amount.

  In this vehicle-mounted camera optical axis adjustment method, a progress flag is set that indicates the progress of processing for obtaining a correction amount for optical axis adjustment (for example, processing start, processing, processing completion). With this progress flag, in the optical axis adjustment method, when a correction amount for optical axis adjustment is obtained using a plurality of individual targets, processing using one individual target is different from processing using another individual target. It is determined how many times the processing has been completed. By determining the order in which the processing is completed in this way, the individual target that has completed processing at the end of the plurality of individual targets is known, and the completion of all the optical axis adjustment processes when using the plurality of individual targets is completed. I can know. In this way, in this optical axis adjustment method, by setting the progress flag and grasping the processing status of each target, it is possible to recognize which individual target of the plurality of individual targets has been processed, and the individual target. The optical axis can be adjusted regardless of the order, and even when there are redundant instructions for optical axis adjustment for the same individual target, the instructions can be eliminated.

  As for the progress flag, there is one progress flag for all targets in the case of all targets, and there is a progress flag for each target in the case of individual targets.

  In the optical axis adjustment method for a vehicle-mounted camera according to the present invention, when the process for obtaining the correction amount for optical axis adjustment using all targets is completed, or the process for obtaining the correction amount for optical axis adjustment using an individual target is performed. It is good also as a structure including the step which memorize | stores in the memory | storage means the correction amount for optical axis adjustment calculated | required when it completes with respect to all the individual targets.

  With this vehicle-mounted camera optical axis adjustment method, processing using all targets has been completed, or processing using individual targets has been completed for all individual targets. If it is determined that the processing for obtaining the correction amount for optical axis adjustment using a single target has been completed), the obtained correction amount for optical axis adjustment is stored in the storage means. Then, the image captured by the camera is corrected using the correction amount stored in the storage means.

  In the optical axis adjustment method for a vehicle-mounted camera of the present invention, when obtaining a correction amount for optical axis adjustment using a plurality of individual targets, a process for obtaining a correction amount for optical axis adjustment using the determined individual target. However, it is good also as a structure including the step which determines the order of the process performed with respect to the process which calculates | requires the correction amount for optical axis adjustment using another individual target.

  In this method of adjusting the optical axis of a vehicle-mounted camera, when the correction amount for optical axis adjustment is obtained using a plurality of individual targets, the individual target determined based on the individual target instruction command for each target (that is, the current target) The individual target used in the process is determined in what order the other individual target is used (that is, which individual target has already been used). With this determination, in this optical axis adjustment method, when the individual target used in the current process is already used (that is, when an overlapping instruction command for the same individual target is transmitted from the inspection apparatus side). The processing for the individual target can be prohibited, the optical axis adjustment time can be shortened, and the inspection efficiency can be improved.

  The optical axis adjustment method for a vehicle-mounted camera according to the present invention may include a step of determining whether or not a correction amount for optical axis adjustment can be normally obtained.

  With this optical axis adjustment method for a vehicle-mounted camera, it is determined whether or not the correction amount for optical axis adjustment can be normally obtained. The process of obtaining the correction amount for adjusting the axis is prohibited. In addition, as a determination target of whether or not the correction amount for optical axis adjustment can be normally obtained, for example, whether the power supply voltage is normal, whether the power supply is stable, whether the communication state is normal Or whether the communication state is temporary, whether or not the apparatus that performs optical axis adjustment is normal, and whether or not there is a request for rewriting the correction amount from the inspection apparatus.

  The method for adjusting the optical axis of the vehicle-mounted camera according to the present invention includes a step of detecting whether or not an abnormality has occurred in communication with the inspection apparatus, and the abnormality is detected during the process of obtaining the correction amount for optical axis adjustment. Even when it is detected, the processing for obtaining the correction amount for adjusting the optical axis may be continued.

  In this vehicle-mounted camera optical axis adjustment method, it is detected whether an abnormality has occurred in communication with the inspection apparatus, and a correction amount for optical axis adjustment is being calculated (each information for determining the correction amount). The process for obtaining the correction amount for adjusting the optical axis is continued even when an abnormality is detected. Even if a communication abnormality temporarily occurs during the process of obtaining the correction amount, information necessary for the process is acquired in advance, so that the correction amount can be obtained. Thus, in this optical axis adjustment method, the processing is continued, and unnecessary processing such as re-processing is eliminated, thereby improving inspection efficiency.

  The optical axis adjustment method for a vehicle-mounted camera according to the present invention may include a step of determining whether or not the vehicle is in a stopped state, and the optical axis adjustment may not be performed when the vehicle is not in a stopped state.

  In this vehicle-mounted camera optical axis adjustment method, it is determined whether or not the vehicle is stopped, and optical axis adjustment is not performed when the vehicle is not stopped. That is, in this optical axis adjustment method, when the vehicle is moving, the distance to the target changes, and the optical axis adjustment can be performed accurately, so the optical axis adjustment is stopped. In addition, the safety of the worker is ensured by performing the inspection while the vehicle is stopped.

  The optical axis adjustment method for a vehicle-mounted camera according to the present invention may include a step of writing vehicle information to the storage unit only once when it is determined that optical axis adjustment is performed based on an optical axis adjustment instruction command. Good.

  In this vehicle-mounted camera optical axis adjustment method, when it is determined that the optical axis adjustment is to be performed, the vehicle information is written into the storage means only once. As described above, this optical axis adjustment method limits the number of times of writing information, shortens the optical axis adjustment time, and improves inspection efficiency.

  In the optical axis adjustment method for a vehicle-mounted camera according to the present invention, the optical axis adjustment instruction command is a factory optical axis adjustment mode instruction command for instructing whether or not to perform optical axis adjustment at the factory, and whether the optical axis adjustment is performed by a dealer. It is preferable to include a dealer optical axis adjustment mode instruction command for instructing whether or not.

  In this vehicle-mounted camera optical axis adjustment method, the factory optical axis adjustment mode instruction command and the dealer optical axis adjustment mode instruction command are included as the optical axis adjustment instruction commands. You can recognize whether to adjust the axis. Therefore, according to the environment in the factory and the environment in the dealer, the operator can be informed of the status of the optical axis adjustment. For example, when making a sound to inform the optical axis adjustment status, there is noise in the factory, so it is better to make a loud sound continuously, but there are customers at the dealer, so a small sound is emitted for a short time. Better.

  In the optical axis adjustment method for a vehicle-mounted camera according to the present invention, the progress flag includes a start flag indicating the start of processing for obtaining a correction amount for optical axis adjustment, a continuation flag indicating that the processing is continuing, and completion of the processing. It is preferable to include a completion flag indicating that the process has been completed and an end flag indicating that the process has been completed.

  This vehicle-mounted camera's optical axis adjustment method includes a start flag, continuation flag, completion flag, and end flag as progress flags. It is possible to easily determine whether the target has been processed or an individual target that has already been processed. In the case of all targets, the end flag is turned on when processing for all targets is completed. In the case of multiple individual targets, the end flag is set when processing for all individual targets is completed. The end flag of the individual target that has completed the last process is turned on.

  According to the present invention, not only a single target but also a plurality of targets can be used in the optical axis adjustment of a vehicle-mounted camera, and in the case of a plurality of targets, the optical axis adjustment using all the targets simultaneously and It is possible to cope with optical axis adjustment using a plurality of individual targets in order.

  Embodiments of an optical axis adjustment method for a vehicle-mounted camera according to the present invention will be described below with reference to the drawings.

  In this embodiment, the optical axis adjustment method for a vehicle-mounted camera according to the present invention is deployed in a white line detection ECU [Electronic Control Unit], an inter-vehicle control ECU and a CAN communication system mounted on a vehicle, a vehicle manufacturing factory, and a dealer. This is applied to optical axis adjustment in an optical axis adjustment system including a tester and a target. In the optical axis adjustment system according to the present embodiment, the white line detection ECU can communicate with the tester by the CAN communication system with the inter-vehicle control ECU as a bypass. The white line detection ECU according to the present embodiment has a function of adjusting the optical axis of a camera that acquires image information for detecting a white line indicating a lane, and FOE (X direction, (Y direction) correction amount and camera roll angle are obtained. In the present embodiment, three targets are used to obtain the FOE correction amount and roll angle. When three targets are arranged at three locations and used simultaneously, one target is sequentially moved to three locations. It may be used as an individual target.

  With reference to FIG.1 and FIG.2, the optical axis adjustment system 1 is demonstrated. FIG. 1 is a configuration diagram of an optical axis adjustment system according to the present embodiment. 2A and 2B are diagrams showing the positional relationship between the target and the vehicle-mounted camera according to the present embodiment, where FIG. 2A is a side view and FIG. 2B is a plan view.

  The optical axis adjustment system 1 is constructed when the optical axis of a vehicle-mounted camera is adjusted at a vehicle manufacturing factory or dealer. In the optical axis adjustment system 1, as a correction amount for adjusting the optical axis, a correction amount of FOE that is a deviation between the center (FOE) on the screen and the center of the camera is obtained, and a roll angle indicating the tilt of the camera is obtained. Therefore, the optical axis adjustment system 1 includes a vehicle 2, a tester 3 as an inspection device provided in a manufacturing factory or dealer, and a target 4. In the manufacturing factory, the vehicle 2 flows through the inspection line, and the optical axis is adjusted in sequence with respect to the vehicle 2 at the position where the target 4 is disposed on the inspection line. In the dealer, the vehicle 2 is moved to the place where the target 4 is arranged, and the optical axis is adjusted one by one with respect to the vehicle 2 at that position.

  The vehicle 2 includes a steering assist system 2a and an inter-vehicle distance control system 2b. In the steering assist system 2a, the steering is assisted so that the vehicle 2 travels in the center of the white lines on the left and right sides indicating the lane. The steering assist system 2a includes a camera 10, a white line detection ECU 11, and an inter-vehicle distance control ECU 12. In the steering assist system 2a, the camera 10 captures a wide range including the white lines on the left and right sides in front of the vehicle 2, and the white line detection ECU 11 detects the two white lines based on the image information from the camera 10. Further, in the steering assist system 2a, the center of the two white lines is calculated from the detected white line information by the inter-vehicle control ECU 12, and the target steering torque is calculated so that the center of the vehicle 2 coincides with the center of the white line. A steering actuator (not shown) is controlled so that the steering torque is obtained. The inter-vehicle control system 2b includes a laser radar sensor 13 and an inter-vehicle control ECU 12. In the inter-vehicle control system 2b, the distance from the front vehicle is detected by the laser radar sensor 13, and the target vehicle speed (or target acceleration / deceleration) is calculated by the inter-vehicle control ECU 12 so as to keep the inter-vehicle distance from the front vehicle above a certain distance. . In the inter-vehicle distance control system 2b, the inter-vehicle distance control ECU 12 controls the driving force and the braking force so that the target vehicle speed is obtained.

  In order to obtain highly accurate image information in focus from the camera 10, the optical axis is adjusted in a manufacturing factory or a dealer. For this purpose, in the vehicle 2, the white line detection ECU 11 performs main processing for adjusting the optical axis, and the inter-vehicle control ECU 12 and the CAN communication system 14 are used for communication with the tester 3. The white line detection ECU 11 incorporates software for optical axis adjustment, and performs optical axis adjustment processing using this software. The inter-vehicle distance control ECU 12 incorporates software for realizing communication between the white line detection ECU 11 and the tester 3 and functions as a bypass between the white line detection ECU 11 and the tester 3.

  The white line detection ECU 11 uses the CAN communication system 14 to communicate with the tester 3 in order to exchange information regarding the optical axis adjustment with the tester 3 side. Since the white line detection ECU 11 is not directly connected to the CAN communication system 14, the white line detection ECU 11 performs CAN communication via the inter-vehicle control ECU 12 including the CANI / F 12a for CAN communication. Serial communication is performed between the white line detection ECU 11 and the inter-vehicle distance control ECU 12. Further, the white line detection ECU 11 acquires information from the steering assist switch 15 and the vehicle speed sensor 16 via the inter-vehicle control ECU 12 and the CAN communication system 14 in order to determine a start condition when executing the optical axis adjustment process. Incidentally, the steering assist switch 15 is provided on a steering wheel (not shown) and is a switch for selecting whether or not steering assist is performed. Whether or not the optical axis adjustment is performed is one of the start conditions that the steering assist switch 15 is turned on. Further, the white line detection ECU 11 issues a command to the buzzer 17 and the meter ECU 18 via the inter-vehicle distance control ECU 12 and the CAN communication system 14 in order to notify the operator that the optical axis adjustment is being performed.

  The white line detection ECU 11 transmits a CANC signal to the CANI / F 12a when it is determined that the CAN communication via the inter-vehicle distance control ECU 12 is abnormal. The CANC signal is a signal forcibly prohibiting CAN communication by the inter-vehicle control ECU 12, and ON (1) is forcibly stopped and OFF (0) is not stopped. In order to detect whether or not there is an abnormality, the white line detection ECU 11 transmits a command signal that causes the inter-vehicle distance control ECU 12 to perform homework calculations. When the command signal is received, the inter-vehicle distance control ECU 12 executes a simple homework calculation (for example, addition) from the white line detection ECU 11, executes the homework, and transmits a homework answer to the white line detection ECU 11. The white line detection ECU 11 determines whether the answer to the homework is correct. If the answer is correct, the inter-vehicle control ECU 12 determines that the answer is normal. If the answer is not correct or the answer is not transmitted, the inter-vehicle control ECU 12 Judge as abnormal. When the abnormality is determined, the white line detection ECU 11 transmits a CANC signal to the CANI / F 12a.

  As shown in FIG. 2, the camera 10 is disposed inside the vehicle at the uppermost position on the driver's seat side (right-hand drive vehicle) from the center of the vehicle 2. The camera 10 is attached so as to photograph a front lower part of the vehicle 2 and photographs a range sufficiently including white lines on both the left and right sides. The arrangement information of the camera 10 includes an offset amount O (m) from the center C of the vehicle 2, a height H (m) from the ground, and an elevation angle A (°) that is an angle formed with the horizontal plane W. The height H is obtained by adding the height H1 of the front wheel arch and the distance H2 from the front wheel arch to the camera 10. The height H1 of the front wheel arch is measured by a measuring device provided in the manufacturing factory or dealer.

  The tester 3 is an inspection device for performing vehicle inspection, and can be connected to the CAN communication system 14 of the vehicle 2. The tester 3 includes a diagnosis (diagnostic tool), and can scan various states of the vehicle. When the optical axis adjustment is performed, the tester 3 transmits various types of information to the vehicle 2 side manually or automatically by the operator, and receives various types of information from the vehicle 2 side.

  The target 4 includes a target 1, a target 2, and a target 3 that are arranged in the horizontal direction. The target 1 is arranged at a position whose center is the screen center (FOE). Therefore, when there is no deviation between the optical axis (image center) of the camera 10 and the screen center, the center of the target 1 is positioned on the optical axis of the camera 10. The target 2 has the same height as the target 1 and is arranged at a certain distance from the target 1 on the left side of the target 1 when viewed from the vehicle 2 side. The target 3 has the same height as the target 1 and is arranged at a certain distance from the target 1 on the right side of the target 1 when viewed from the vehicle 2 side. The distance between the target 1 and the target 2 is the same as the distance between the target 1 and the target 3. As the target arrangement information, the distance Wtarget (m) between the center of the target 2 and the center of the target 3, the height Htarget (m) from the ground to the center of the target, and the distance Ltarget (m) from the front surface of the camera 10 Alternatively, the center position (m) in the left-right direction with reference to the target 1 of each of the targets 1 to 3 (0 m), the center height Htarget (m) from the ground, and the distance Ltarget from the front surface of the camera 10 (M) may be used.

  In addition, when there is a space in a manufacturing factory or a dealer, the target 4 may be arranged at three target arrangement locations with three targets to constitute the targets 1 to 3. In this case, since the correction amount for adjusting the optical axis is obtained at a time using the three targets 1 to 3 at the same time, this embodiment is called all target simultaneous learning. Further, the targets 1 to 3 may be configured by sequentially moving one target to three target placement locations when there is not enough space in the manufacturing factory or dealer. In this case, since the correction amounts for adjusting the optical axis are obtained sequentially using the targets 1 to 3 individually, in this embodiment, they are called target 1 learning, target 2 learning, and target 3 learning, respectively. It is. Incidentally, in the present embodiment, obtaining a correction amount for optical axis adjustment using a target is called “learning”.

  The information flow and operation of the white line detection ECU 11, the inter-vehicle distance control ECU 12, and the tester 3 in the optical axis adjustment system 1 will be described.

  First, when performing the optical axis adjustment, the operator turns on the steering assist switch 15 to place the vehicle 2 in a stopped state (vehicle speed 0 km / h). At this time, the target 4 is disposed in front of the vehicle 2. As the target 4, all the targets 1 to 3 are arranged in the case of simultaneous learning of all targets, or any one of the targets 1 to 3 is arranged in the case of individual target learning. When any one of the targets 1 to 3 is arranged, every time the optical axis adjustment using each of the targets 1 to 3 is completed, the operator manually or automatically changes the target arranged at a certain target arrangement location. Move to the target location. Then, the worker transmits various information from the tester 3 to the inter-vehicle control ECU 12 via the CAN communication system 14.

  The various information includes vehicle information, camera arrangement information, target arrangement information, mode information, learning request information, and the like. The vehicle information is information necessary for obtaining the correction amount for adjusting the optical axis, such as the vehicle type, the right steering wheel or the left steering wheel, 2WD or 4WD, and the destination for Japan and the United States. The mode information is a factory optical axis adjustment mode or a dealer optical axis adjustment mode. The learning request information is an all-target simultaneous learning request, a target 1 learning request, a target 2 learning request, or a target 3 learning request.

  When various information from the tester 3 is received, the inter-vehicle control ECU 12 performs mode determination based on the mode information and the on / off information from the steering assist switch 15 and the vehicle speed information from the vehicle speed sensor 16. When the steering assist switch 15 is on and the vehicle speed is 0 km / h, when the mode information is the factory optical axis adjustment mode, the factory optical axis adjustment mode is selected. When the mode information is the dealer optical axis adjustment mode, the dealer optical axis is selected. In the adjustment mode, the steering assist mode is set in other cases. Further, the inter-vehicle control ECU 12 sets various flags based on the determined mode and learning request information. Then, the inter-vehicle control ECU 12 transmits the set flags, target arrangement information, camera arrangement information, and vehicle information to the white line detection ECU 11.

  Flags to be set include factory optical axis adjustment request flag, dealer optical axis adjustment request flag, steering support request flag, target 1 learning request flag, target 2 learning request flag, target 3 learning request flag, all target simultaneous learning request flag, FOE change request flag and model change request flag. The factory optical axis adjustment request flag is 1 when the mode is the factory optical axis adjustment mode, and 0 otherwise. The dealer optical axis adjustment request flag is 1 when the mode is the dealer optical axis adjustment mode, and is 0 otherwise. The steering assist request flag is 1 when the mode is the steering assist mode, and 0 otherwise. The target 1 learning request flag is a factory optical axis adjustment mode or a dealer optical axis adjustment mode, and is 1 when the learning request information is a target 1 learning request, and 0 otherwise. The target 2 learning request flag is a factory optical axis adjustment mode or a dealer optical axis adjustment mode, and is 1 when the learning request information is a target 2 learning request, and 0 otherwise. The target 3 learning request flag is a factory optical axis adjustment mode or a dealer optical axis adjustment mode, and is 1 when the learning request information is a target 3 learning request, and 0 otherwise. The all-target simultaneous learning request flag is a factory optical axis adjustment mode or a dealer optical axis adjustment mode, and is 1 when the learning request information is an all-target simultaneous learning request, and is 0 otherwise. The FOE change request flag is 1 when in the factory optical axis adjustment mode or the dealer optical axis adjustment mode (that is, when there is a request to rewrite the correction amount of the optical axis adjustment amount), and is 0 otherwise. is there. The model change request flag is a flag indicating whether or not the vehicle information is to be written by the white line detection ECU 11, and is 1 when the vehicle type information is written, and 0 otherwise. In the case of all targets simultaneous learning, the target 1 learning request flag, the target 2 learning request flag, and the target 3 learning request flag may not be set and transmitted. Further, in the case of the individual target learning of the targets 1 to 3, it is not necessary to set and transmit the all target simultaneous learning request flag.

  When various information and various flags are received from the inter-vehicle control ECU 12, the white line detection ECU 11 executes an optical axis adjustment process. In the case of the model change request flag 1, the white line detection ECU 11 writes the vehicle information to the EEPROM 11a, and sets 1 to the sensor failure flag when the vehicle information cannot be normally written. In the white line detection ECU 11, if the factory optical axis adjustment flag is 1 and the FOE change request flag is 1, or if the dealer optical axis adjustment flag is 1 and the FOE change request flag is 1, all target simultaneous learning requests are requested. A target to be used for learning is determined based on the flag, the target 1 learning request flag, the target 2 learning request flag, or the target 3 learning request flag, and learning is performed using the target. In the case of individual target learning, the FOE correction amount can be obtained by learning using the target 1, and the roll angle can be obtained by learning using the target 2 and the target 3. In the case of all targets simultaneous learning, the FOE correction amount and roll angle can be obtained at a time. After each learning, the white line detection ECU 11 sets various response flags to the flag from the inter-vehicle control ECU 12 and an all-target simultaneous learning end flag or an individual target learning end flag. Further, the white line detection ECU 11 writes the correction amount for optical axis adjustment (FOE correction amount (X direction, Y direction), roll angle) obtained by learning into the EEPROM 11a, and also writes target arrangement information and camera arrangement information into the EEPROM 11a. If the data cannot be written normally, the sensor failure flag is set to 1. Further, the white line detection ECU 11 sets the initial learning abnormality flag to 1 when the optical axis adjustment becomes abnormal or when the learning cannot be completed within the specified time. The white line detection ECU 11 transmits the set various flags and the obtained correction amount for adjusting the optical axis to the inter-vehicle distance control ECU 12. The optical axis adjustment process in the white line detection ECU 11 will be described in detail later.

  As various response flags, a factory optical axis adjustment response flag, a dealer optical axis adjustment response flag, a steering assist response flag, a target 1 learning response flag, a target 2 learning response flag, a target 3 learning response flag, an all target simultaneous learning response flag, FOE change response flag. The factory optical axis adjustment response flag is 1 when learning in the factory optical axis adjustment mode is normally completed, and is 0 in other cases. The dealer optical axis adjustment response flag is 1 when learning in the dealer optical axis adjustment mode is normally completed, and is 0 in other cases. The steering support response flag is 1 when steering support is normally performed, and is 0 in other cases. The target 1 learning response flag is 1 when learning using the target 1 is normally completed, and is 0 in other cases. The target 2 learning response flag is 1 when learning using the target 2 is normally completed, and is 0 in other cases. The target 3 learning response flag is 1 when learning using the target 3 is normally completed, and is 0 in other cases. The all-target simultaneous learning response flag is 1 when learning using all targets at the same time is normally completed, and is 0 in other cases. The FOE change response flag is 1 when the correction amount for optical axis adjustment can be normally written in the EEPROM, and is 0 in other cases. The all-target simultaneous learning end flag is 1 when learning using all targets at the same time is normally completed and the correction amount for optical axis adjustment can be normally written in the EEPROM 11a, and is 0 in other cases. is there. The individual target learning end flag is 1 when learning using each of the targets 1 to 3 is normally completed and the correction amount for optical axis adjustment can be normally written in the EEPROM 11a, and otherwise. Is 0. In the case of simultaneous learning for all targets, the individual target learning end flag may not be set and transmitted. Further, in the case of individual target learning of the targets 1 to 3, it is not necessary to set and transmit the all target simultaneous learning end flag.

  When various flags are received from the white line detection ECU 11, the inter-vehicle control ECU 12 determines that learning is continuing when the all-target simultaneous learning end flag is 0 or the individual target learning end flag is 0 in the factory optical axis adjustment mode. A buzzer signal for continuously producing a buzzer sound is transmitted to the buzzer 17 via the CAN communication system 14. Further, in the inter-vehicle control ECU 12, in the dealer optical axis adjustment mode, when the all target simultaneous learning end flag is 0 or the individual target learning end flag is 0, it is determined that learning is continuing, and a buzzer for generating a buzzer sound for several seconds. The signal is transmitted to the buzzer 17 via the CAN communication system 14. Further, in the inter-vehicle distance control ECU 12, in the factory optical axis adjustment mode or the dealer optical axis adjustment mode, when the all target simultaneous learning end flag is 0 or the individual target learning end flag is 0, it is determined that learning is continuing, and the meter 19 A meter display signal for displaying that the optical axis is being adjusted is transmitted to the meter ECU 18 via the CAN communication system 14.

  In the inter-vehicle distance control ECU 12, in the factory optical axis adjustment mode or the dealer optical axis adjustment mode, when the all target simultaneous learning end flag becomes 1 or the individual target learning end flag becomes 1, it is determined that the learning has ended, and a buzzer sound is generated. A buzzer signal for sounding intermittently (for example, sounding for 0.5 seconds and extinguishing for 0.5 seconds) is transmitted to the buzzer 17 via the CAN communication system 14, and the meter 19 indicates that the optical axis adjustment is completed. The meter display signal for making it transmit is transmitted to meter ECU18 via the CAN communication system 14. FIG.

  Further, the inter-vehicle control ECU 12 transmits various response flags, an all-target simultaneous learning end flag or an individual target learning end flag, and an optical axis adjustment correction amount to the tester 3 via the CAN communication system 14.

  When various flags are received from the inter-vehicle control ECU 12, the tester 3 determines whether or not all targets simultaneous learning is completed or not completed, whether target 1 learning is completed or not completed, target 2 learning is completed or not completed, 3 Write whether learning is complete or incomplete. When the correction amount for adjusting the optical axis from the inter-vehicle distance control ECU 12 is received, the tester 3 writes the FOE correction amount and the roll angle in the diagnosis. Further, in the case of individual target learning, the tester 3 side (including the worker) determines whether or not each individual target learning is completed based on each target learning completion flag. Move on to learning. The tester 3 determines whether or not the optical axis adjustment for the vehicle 2 has been completed based on the all-target simultaneous learning end flag or the individual target learning end flag. Move on to axis adjustment.

  Next, the optical axis adjustment process in the white line detection ECU 11 will be described in detail. When the white line detection ECU 11 receives a learning request using the target from the tester 3 via the inter-vehicle distance control ECU 12, the white line detection ECU 11 executes a main routine for performing optical axis adjustment processing at regular intervals. The main routine of the optical axis adjustment process in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 3 is a flowchart showing a main routine of optical axis adjustment processing in the white line detection ECU.

  First, in the main routine, a function code setting subroutine is executed, and a function code is set based on mode information from the inter-vehicle distance control ECU 12 (S1).

  Subsequently, in the main routine, an optical axis adjustment mode transition determination subroutine is executed to determine whether or not the optical axis adjustment mode has been entered. If it is determined that the optical axis adjustment mode has not been entered, the main routine is executed. End (S2).

  Subsequently, in the main routine, it is determined whether or not the optical axis adjustment can be performed normally. If there is an abnormality, the main routine is terminated (S3). In this abnormality determination, factory optical axis adjustment mode change determination subroutine, dealer optical axis adjustment mode change determination subroutine, all target simultaneous learning permission change determination subroutine, target 3 learning permission change determination subroutine, target 2 learning permission change determination subroutine, target 1 A learning permission change determination subroutine, a learning EEPROM clear request determination subroutine, a learning EEPROM rewrite request determination subroutine, and an initial learning abnormality flag setting subroutine are executed.

  If there is no abnormality in S3, in the main routine, a vehicle information writing subroutine is executed. When the optical axis adjustment mode is entered for the first time, vehicle information from the inter-vehicle distance control ECU 12 is written in the EEPROM 11a (S4). Subsequently, in the main routine, the same abnormality determination as in S3 is performed, and if there is an abnormality, the main routine is ended (S5).

  If there is no abnormality at S5, the main routine determines whether or not the change of the EEPROM 11a is permitted (whether or not the FOE change request flag is 1) (S6). If the change is permitted, the target arrangement information and the camera arrangement information are written in the EEPROM 11a (S7). Subsequently, in the main routine, the same abnormality determination as in S3 is performed. If there is an abnormality, the main routine is terminated (S8).

  If there is no abnormality in S8, the main routine determines whether or not learning can be permitted, and if not permitted, the process proceeds to S16 (S9). In this permission determination, first, a learning permission flag setting subroutine is executed, and further, a target-specific learning permission flag setting subroutine is executed.

  When learning is permitted, the main routine executes a target-by-target learning start flag setting subroutine to determine whether or not to start learning for each target. If learning is not started, the process proceeds to S16 (S10). . In the main routine, when it is determined that the learning is started, the learning is started (S11). At the start of learning, the all target simultaneous learning flag setting subroutine is executed in the case of all targets simultaneous learning, the target 3 learning in flag setting subroutine is executed for each rank in the case of target 3 learning, and in the case of target 2 learning. The target 2 learning flag setting subroutine for each rank is executed. In the case of target 1 learning, the target 1 learning flag setting subroutine for each rank is executed.

  Subsequently, in the main routine, a correction amount for optical axis correction is calculated based on the target arrangement information, camera arrangement information, and vehicle information (S12). In this case, in the case of individual target learning, learning is performed three times separately for target 1, target 2, and target 3, and the FOE correction amount is obtained by learning with target 1, and learning with target 2 and learning with target 3 are performed. Can determine the roll angle of the camera. In the case of all targets simultaneous learning, learning is performed once for all targets, and the FOE correction amount and roll angle are obtained.

  When learning is started, in the main routine, it is determined whether learning by all targets or individual targets is completed, and calculation of the correction amount for optical axis correction is continued until completion (S13). In this completion determination, the all target simultaneous learning end flag setting subroutine is executed in the case of all targets simultaneous learning, the target 3 learning end flag setting subroutine is executed in the case of target 3 learning, and in the case of target 2 learning. The target 2 learning end flag setting subroutine is executed. In the case of target 1 learning, the target 1 learning end flag setting subroutine is executed. In the case of all-target simultaneous learning, all learning is completed when all-target simultaneous learning is completed. In the case of individual target learning, three learnings of target 1 learning, target 2 learning, and target 3 learning are performed. When all of these are completed, learning is complete. Therefore, the processes from S9 to S13 are performed only once in the case of all target simultaneous learning, and are repeated three times in the case of individual target learning.

  When all the learning is completed, the main routine determines whether or not the change of the EEPROM 11a is permitted (whether or not the FOE change request flag is 1) (S14). If the change is not permitted, the process of S16 is performed. If the change is permitted, the obtained correction amount for adjusting the optical axis is written in the EEPROM 11a (S15). Subsequently, in the main routine, the same abnormality determination as in S3 is performed, and if there is an abnormality, the main routine is ended (S16).

  If there is no abnormality in S16, in the main routine, it is determined whether clearing of the EEPROM 11a is permitted by a request from the tester 3 by an artificial or inter-vehicle control ECU 12 (S17), and if not permitted, the process of S19 is performed. If the clear is permitted, the contents written in the EEPROM 11a are cleared (S18). By the way, if an abnormality occurs such as the vehicle 2 moving during the optical axis adjustment, the operator may intentionally issue a clear request for the contents of the EEPROM 11a to adjust the optical axis again. The control ECU 12 may automatically issue a clear request.

  Finally, in the main routine, the correction amount for adjusting the optical axis is read from the EEPROM 11a and transmitted to the inter-vehicle distance control ECU 12 (S19).

  Here, the flag regarding learning will be described. The learning permission flag [a_s] is a flag indicating whether or not learning by optical axis adjustment is permitted, and is 1 when permitted and 0 when not permitted. The all-target simultaneous learning permission flag [a_sa], the target 3 learning permission flag [a_s3], the target 2 learning permission flag [a_s2], and the target 1 learning permission flag [a_s1] are flags indicating whether or not learning by each target is permitted. It is 1 when it is permitted, and 0 when it is not permitted. The all target simultaneous learning start flag [sa_st], the target 3 learning start flag [s3_st], the target 2 learning start flag [s2_st], and the target 1 learning start flag [s1_st] are flags indicating whether or not learning by each target is to be started. It is 1 when starting, and 0 when not starting. The all target simultaneous learning flag [sa_sp], the target 3 learning flag [s3_sp], the target 2 learning flag [s2_sp], and the target 1 learning flag [s1_sp] are flags indicating whether learning by each target is continuing. It is 1 when it is continuing, and 0 when it is not continuing. The all target simultaneous learning completion flag [sa_f], the target 3 learning completion flag [s3_f], the target 2 learning completion flag [s2_f], and the target 1 learning completion flag [s1_f] are flags indicating whether learning by each target has been completed. 1 when completed, 0 when not completed. The all target simultaneous learning end flag [sa_e], the target 3 learning end flag [s3_e], the target 2 learning end flag [s2_e], and the target 1 learning end flag [s1_e] are all targets simultaneous learning. Is completed and the correction amount is written in the EEPROM 11a or in the case of individual target learning, all three individual target learning is completed and the correction amount is written in the EEPROM 11a. 1 in the case, 0 if not finished.

  Also, a flag relating to abnormality will be described. The initial learning abnormality flag [w_f] is 1 when there is an abnormality in the optical axis adjustment, and 0 when it is normal. All the abnormality flags [w_f (all)] constituting the initial learning abnormality flag include a function code change abnormality flag [wse0], a target 1 learning permission change abnormality flag [wse1], a target 2 learning permission change abnormality flag [wse2], Target 3 learning permission change abnormality flag [wse3], all target simultaneous learning permission change abnormality flag [wse4], clear request generation abnormality flag [wse5], rewrite request generation abnormality flag [wse6], and these seven abnormality flags [wse0 to wse6] ], An abnormal flag [wsea], a camera angle abnormality flag [wse10], a learning time abnormality flag [wse11], a target relative position abnormality flag [wse12], a target number abnormality flag [wse13], and these four abnormality flags [wse10]. wse13] summary abnormality flag There is wseb], is 1 if there is an abnormality, in the case of normal is 0. The counters [c_w_f (all)] for all abnormality flags are counters used when setting the six abnormality flags [wse1 to wse6].

  Next, each subroutine in the white line detection ECU 11 will be described. First, the function code setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 4 is a flowchart of a function code setting subroutine for optical axis adjustment processing in the white line detection ECU. In the function code setting subroutine, the transition from the steering assist mode to the optical axis adjustment mode (factory optical axis adjustment mode or dealer optical axis adjustment mode) is determined, and the function code is set according to the determined mode.

  First, in the function code setting subroutine, the previous function code is stored in the function code two times before, and the currently set function code is stored in the previous function code (S20a). Subsequently, in the function code setting subroutine, it is determined whether or not the vehicle is stopped (vehicle speed is 0 km / h) and the steering assist switch [SASW] is on (S20b). If it is off, the steering assist mode is set in the function code (S20h).

  If the vehicle is stopped and the steering assist switch is on in S20b, the function code setting subroutine determines whether or not the CANC signal is off (S20c). If the CANC signal is on, the function code indicates the steering assist mode. Is set (S20h).

  When the CANC signal is OFF in S20c, in the function code setting subroutine, whether the function code is in the steering assist mode or the factory optical axis adjustment mode and whether there is a factory optical axis adjustment request from the tester 3 side (that is, a factory optical axis adjustment request). If the flag is 1) (S20d) and this condition is satisfied, the factory optical axis adjustment mode is set in the function code (S20e).

  If the condition is not satisfied in S20d, in the function code setting subroutine, whether the function code is the steering assist mode or the dealer optical axis adjustment mode and there is a dealer optical axis adjustment request from the tester 3 side (that is, the dealer optical axis adjustment request flag). 1) is determined (S20f). If this condition is satisfied, the dealer optical axis adjustment mode is set in the function code (S20g). If the condition is not satisfied, the steering assist mode is set in the function code (S20h). .

  In the function code setting subroutine, when the worker is trying to adjust the optical axis while the vehicle 2 is moving, or when the worker is turning off the steering assist switch 15, the environment for adjusting the optical axis is prepared. Therefore, do not shift to the optical axis adjustment mode. Further, in the function code setting subroutine, when the CAN communication by the inter-vehicle control ECU 12 is forcibly stopped, there is a possibility that information necessary for performing learning may not be obtained, so that the mode is not shifted to the optical axis adjustment mode. As described above, in the function code setting subroutine, when the start condition for performing the optical axis adjustment is not prepared, the function code setting subroutine is not shifted to the optical axis adjustment mode.

  Next, the optical axis adjustment mode transition determination subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 5 is a flowchart of an optical axis adjustment mode transition determination subroutine of optical axis adjustment processing in the white line detection ECU. In the optical axis adjustment mode transition determination subroutine, it is determined whether or not the two-time continuous steering support mode has shifted to the optical axis adjustment mode. Considering the intended re-optical axis adjustment, each flag and each counter are initialized. Here, after the ignition switch is turned on, it is determined whether or not the optical axis adjustment mode has been entered in response to a request from the tester 3. In addition, after performing the optical axis adjustment once, it is determined whether to return to the steering assist mode and then shift to the optical axis adjustment mode again. That is, when the communication from the inter-vehicle control ECU 12 temporarily becomes an error during the optical axis adjustment mode and the communication returns to normal immediately (in this case, it is desired to avoid being regarded as having newly entered the optical axis adjustment mode). ).

  First, in the optical axis adjustment mode transition determination subroutine, it is determined whether the function code is the steering support mode, the previous function code is the steering support mode, and the current function code is the factory optical axis adjustment mode or the dealer optical axis adjustment mode (S21a). ). If the condition of S21a is not satisfied, the optical axis adjustment mode transition determination subroutine determines that the optical axis adjustment mode has not been transitioned.

  When the condition of S21a is satisfied, the optical axis adjustment mode transition determination subroutine determines that the optical axis adjustment is a new optical axis adjustment or a re-optical axis adjustment intended by the operator, and configures an initial learning abnormality flag [w_f] and an initial learning abnormality flag. All the abnormality flags [w_f (all)] and all the counters [c_w_f (all)] for all abnormality flags are initialized (S21b).

  When communication from the inter-vehicle control ECU 12 becomes temporarily abnormal and immediately returns to normal, there is a possibility that the function code temporarily enters the steering assist mode and immediately enters the optical axis adjustment mode. In this case, in order to prevent the process of writing the vehicle information in the EEPROM 11a again and to start the learning again from the beginning although it is currently being learned (that is, to prevent unintentional re-optical axis adjustment), the optical axis adjustment mode transition determination is performed. In the subroutine, the determination of S21a is performed. In other words, whether the function code has changed because the operator intentionally shifted to re-optical axis adjustment by the optical axis adjustment mode transition determination subroutine or simply because communication by the inter-vehicle control ECU 12 temporarily becomes abnormal. Can be determined. Thereby, it is not necessary to execute each process at the time of re-optical axis adjustment, so that the optical axis adjustment time can be reduced. At the time of re-optical axis adjustment, the initial learning abnormality flag is considered to be abnormal (1) in the previous optical axis adjustment (learning), so the initial learning abnormality flag and the like are initialized and initialized in another process. This prevents an increase in the optical axis adjustment time.

  Next, the factory optical axis adjustment mode change determination subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 6 is a flowchart of a factory optical axis adjustment mode change determination subroutine of the optical axis adjustment process in the white line detection ECU. In the factory optical axis adjustment mode change determination subroutine, if the function code (factory optical axis adjustment mode) changes during learning, an abnormality is set in the function code change abnormality flag [ws0] to make an initial learning abnormality. Incidentally, the reference routine is the main routine being executed this time, and the next routine is the main routine to be executed next time.

  First, in the factory optical axis adjustment mode change determination subroutine, it is determined whether the last time function code is the factory optical axis adjustment mode and the previous function code is the factory optical axis adjustment mode (S22a). If the condition of S22a is not satisfied, this subroutine is terminated.

  When the condition of S22a is satisfied, in the factory optical axis adjustment mode change determination subroutine, the all target simultaneous learning flag [sa_sp] is 1, the target 3 learning flag [s3_sp] is 1, or the target 2 is being learned. It is determined whether the flag [s2_sp] is 1 or the target 1 learning flag [s1_sp] is 1 (that is, learning is being performed by any target) (S22b). If the learning is not in progress, this subroutine is terminated.

  When learning is performed with any of the targets, in the factory optical axis adjustment mode change determination subroutine, it is determined whether or not the function code is not in the factory optical axis adjustment mode (S22c). If the function code is the factory optical axis adjustment mode, this subroutine is terminated.

  When the function code is not the factory optical axis adjustment mode, the factory optical axis adjustment mode change determination subroutine again sets the all target simultaneous learning flag [sa_sp] to 1 or the target 3 learning flag [s3_sp] in the next routine. ] Is 1, the target 2 learning flag [s2_sp] is 1, or the target 1 learning flag [s1_sp] is 1 (S22d). If the learning is not in progress, this subroutine is terminated.

  When learning is performed with any of the targets, in the factory optical axis adjustment mode change determination subroutine, it is determined again whether or not the function code is in the factory optical axis adjustment mode (S22e). If the function code is the factory optical axis adjustment mode, this subroutine is terminated.

  If the function code is not the factory optical axis adjustment mode, the factory optical axis adjustment mode change determination subroutine determines that the function code has changed during learning and sets 1 (abnormal) in the function code change abnormality flag [ws0]. At the same time, all learning of all targets simultaneous learning, target 3 learning, target 2 learning, and target 1 learning is prohibited (S22f), and this subroutine is terminated.

  In this way, in the factory optical axis adjustment mode change determination subroutine, if the function code (factory optical axis adjustment mode) changes for some reason, it can be regarded as intentional learning stop or some kind of abnormality, so useless learning is prohibited. By making the determination continuously in two routines, it is possible to eliminate the case where the communication from the inter-vehicle control ECU 12 becomes a temporary abnormality, thereby improving the reliability of the system. Incidentally, the cause of the change in the function code includes a case where the function code is changed due to an operator's mistake or intention, or a case where the function code is changed due to an abnormality in the inter-vehicle control ECU 12.

  Next, the dealer optical axis adjustment mode change determination subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 7 is a flowchart of a dealer optical axis adjustment mode change determination subroutine of the optical axis adjustment process in the white line detection ECU. In the dealer optical axis adjustment mode change determination subroutine, if the function code (dealer optical axis adjustment mode) changes during learning, an abnormality is set in the function code change abnormality flag [ws0] in order to make an initial learning abnormality. The dealer optical axis adjustment mode change determination subroutine is the same process as the factory optical axis adjustment mode change determination subroutine except that the function code changes from the factory optical axis adjustment mode to the dealer optical axis adjustment mode. Corresponding to the subroutines S22a to S22f, there are S23a to S23f. Therefore, detailed description of the dealer optical axis adjustment mode change determination subroutine is omitted.

  Next, the all target simultaneous learning permission change subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 8 is a flowchart of the all-target simultaneous learning permission change determination subroutine of the optical axis adjustment processing in the white line detection ECU. In the all-target simultaneous learning permission change subroutine, if the learning permission for all-target simultaneous learning changes and a different learning permission occurs during all-target simultaneous learning, it is regarded as an operator's mistake or intentional learning suspension, and initial learning is performed. In order to make it abnormal, all target simultaneous learning permission change abnormality flag [wse4] is abnormally set.

  First, in the all target simultaneous learning permission change subroutine, the all target simultaneous learning flag [sa_sp] is 1 (the all target simultaneous learning permission flag [a_sa] is 0, or the target 3 learning permission flag [a_s3] is 1). Or whether the target 2 learning permission flag [a_s2] is 1 or the target 1 learning permission flag [a_s1] is 1) (that is, whether or not learning permission for other targets was given during simultaneous learning of all targets) (S24a). If the condition of S24a is not satisfied, the counter [c_wse4] is set to 0 in the all target simultaneous learning permission change subroutine (S24c), and this subroutine is terminated.

  If the learning permission for the other target is given during the simultaneous learning for all targets, 1 is added to the counter [c_wse4] in the simultaneous learning permission changing subroutine for all targets (S24b). Subsequently, in the all target simultaneous learning permission change subroutine, it is determined whether or not the counter [c_wse4] is 2 or more (S24d). When the counter [c_wse4] is less than 2, this subroutine is terminated.

  When the counter [c_wse4] is 2 or more, in the all target simultaneous learning permission change subroutine, all target simultaneous learning permission change abnormality flag [wse4] is set to 1 (abnormal), and all targets simultaneous learning, target 3 learning, target All learning of 2 learning and target 1 learning is prohibited (S24e). In the all target simultaneous learning permission change subroutine, the counter [c_wse4] is set to 0 (S24f), and this subroutine is terminated.

  Next, the target 3 learning permission change subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart of the target 3 learning permission change determination subroutine of the optical axis adjustment processing in the white line detection ECU. In the target 3 learning permission change subroutine, when the learning permission of the target 3 learning changes and a different learning permission occurs during the target 3 learning, the target 3 learning permission change abnormality flag [wse3] is set to make an initial learning abnormality. Set an error. The target 3 learning permission change subroutine is the same process as the all target simultaneous learning permission subroutine except that the learning target is changed from all targets simultaneously to target 3, and S25a corresponds to S24a to S24f of all targets simultaneous learning permission subroutine. There is a process of ~ S25f. Therefore, detailed description of the target 3 learning permission change subroutine is omitted. Incidentally, in the process of S25a, it is determined whether or not learning permission has been given to another target during target 3 learning.

  Next, the target 2 learning permission change subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 10 is a flowchart of the target 2 learning permission change determination subroutine of the optical axis adjustment process in the white line detection ECU. In the target 2 learning permission change subroutine, when the learning permission of the target 2 learning changes and a different learning permission occurs during the target 2 learning, the target 2 learning permission change abnormality flag [wse2] is set to make an initial learning abnormality. Set an error. The target 2 learning permission change subroutine is the same process as the all target simultaneous learning permission subroutine except that the learning target is changed from all targets simultaneously to target 2, and S26a corresponds to S24a to S24f of all targets simultaneous learning permission subroutine. There is a process of ~ S26f. Therefore, detailed description of the target 2 learning permission change subroutine is omitted. By the way, in the process of S26a, it is determined whether or not learning permission has been given to another target during target 2 learning.

  Next, the target 1 learning permission change subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 11 is a flowchart of the target 1 learning permission change determination subroutine of the optical axis adjustment processing in the white line detection ECU. In the target 1 learning permission change subroutine, when the learning permission of the target 1 learning changes and a different learning permission occurs during the target 1 learning, the target 1 learning permission change abnormality flag [wse1] is set to make an initial learning abnormality. Set an error. The target 1 learning permission change subroutine is the same as the all target simultaneous learning permission subroutine except that the learning target is changed from all targets simultaneously to target 1, and S27a corresponds to S24a to S24f of all targets simultaneous learning permission subroutine. There is a process of S27f. Therefore, detailed description of the target 1 learning permission change subroutine is omitted. Incidentally, in the process of S27a, it is determined whether or not learning permission has been given to another target during target 1 learning.

  In this way, if the learning permission changes for some reason during learning, it can be regarded as learning cancellation, so useless learning is prohibited. Further, by continuously determining in two routines, the case where the communication by the inter-vehicle control ECU 12 becomes temporarily abnormal can be eliminated, and the reliability as the system is improved. Incidentally, the cause of the change in the learning permission includes a human error caused by the worker and a case where the inter-vehicle control ECU 12 is abnormal.

  Next, the learning EEPROM clear request determination subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 12 is a flowchart of the EEPROM clear request determination subroutine during learning of the optical axis adjustment processing in the white line detection ECU. In the learning EEPROM clear request determination subroutine, if there is a request for clearing the EEPEOM 11a during learning, it is regarded as an operator's mistake or intentional learning stop, and the clear request occurrence abnormality flag [wse5] is set to make an initial learning abnormality. Set an error.

  First, in the learning EEPROM clear request determination subroutine, (all target simultaneous learning flag [sa_sp] is 1, target 3 learning flag [s3_sp] is 1, or target 2 learning flag [s2_sp] is 1 or the target 1 learning flag [s1_sp] is 1), it is determined whether or not there is an EEPROM clear request (S28a). If the condition of S28a is not satisfied, the counter [c_wse5] is set to 0 in the learning EEPROM clear request determination subroutine (S28c), and this subroutine is terminated.

  When there is an EEPROM clear request during learning, 1 is added to the counter [c_wse5] in the learning EEPROM clear request determination subroutine (S28b). Subsequently, in the learning EEPROM clear request determination subroutine, it is determined whether or not the counter [c_wse5] is 2 or more (S28d). If the counter [c_wse5] is less than 2, this subroutine is terminated.

  When the counter [c_wse5] is 2 or more, in the learning EEPROM clear request determination subroutine, the clear request occurrence abnormality flag [wse5] is set to 1 (abnormal), and all targets simultaneous learning, target 3 learning, target 2 learning, All learning of target 1 learning is prohibited (S28e). In the learning EEPROM clear request determination subroutine, the counter [c_wse5] is set to 0 (S28f), and this subroutine is terminated.

  Next, the learning EEPROM rewrite request determination subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 13 is a flowchart of an EEPROM rewrite request determination subroutine during learning of the optical axis adjustment processing in the white line detection ECU. In the learning EEPROM rewrite request determination subroutine, if there is a rewrite request of the EEPEOM 11a during learning, it is regarded as an operator's mistake or intentional learning stop, and the rewrite request occurrence abnormality flag [wse6] is set to make an initial learning abnormality. Set an error. The learning EEPROM rewrite request determination subroutine is the same as the learning EEPROM clear request determination subroutine except that the request for the EEPROM is changed from the clear request to the rewrite request, and corresponds to S28a to S28f of the learning EEPROM clear request determination subroutine. There are processes of S29a to S29f. Therefore, detailed description of the learning EEPROM rewrite request determination subroutine is omitted.

  In this way, if a clear request or rewrite request is generated for some reason during learning, it can be regarded as learning cancellation, and useless learning is prohibited. Further, by continuously determining in two routines, the reliability of the system is improved as described above. Incidentally, the cause of the generation of the clear request or the rewrite request includes a human error by an operator or an abnormality in the inter-vehicle control ECU 12.

  Next, the initial learning abnormality flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 14 is a flowchart of an initial learning abnormality flag setting subroutine of optical axis adjustment processing in the white line detection ECU. In the initial learning abnormality flag setting subroutine, the abnormality is set in the initial learning abnormality flag [w_f] when any abnormality flag is set.

  First, in the initial learning abnormality flag setting subroutine, the rewrite request occurrence abnormality flag [wse6] is 1, the clear request occurrence abnormality flag [wse5] is 1, or the all-target simultaneous learning permission change abnormality flag [wse4] is set. 1 or the target 3 learning permission change abnormality flag [wse3] is 1, the target 2 learning permission change abnormality flag [wse2] is 1, or the target 1 learning permission change abnormality flag [wse1] is 1. Alternatively, it is determined whether the function code change abnormality flag [ws0] is 1 (S30a). If the condition of S30a is not satisfied, the process proceeds to S30c.

  If any of the seven abnormality flags [wse0 to wse6] is abnormally set, the initial learning abnormality flag setting subroutine sets 1 (abnormal) in the summary abnormality flag [wsea] (S30b).

  Subsequently, in the initial learning abnormality flag setting subroutine, the target number abnormality flag [wse13] is 1, the target relative position abnormality flag [wse12] is 1, the learning time abnormality flag [wse11] is 1, or Then, it is determined whether the camera angle abnormality flag [wse10] is 1 (S30c). If the condition of S30c is not satisfied, the process proceeds to S30e.

  If any of the four abnormality flags [wse10 to wse13] is abnormally set, the initial learning abnormality flag setting subroutine sets 1 (abnormal) in the summary abnormality flag [wseb] (S30d).

  Subsequently, in the initial learning abnormality flag setting subroutine, it is determined whether the summary abnormality flag [wsea] is 1 or the summary abnormality flag [wseb] is 1 (S30e). If the condition of S30e is not satisfied, this subroutine is terminated.

  When any one of the summary abnormality flags [wsea, wseb] is abnormally set (that is, any one of the eleven abnormality flags [wse0 to wse6, wse10 to wse13] is abnormally set), in the initial learning abnormality flag setting subroutine, The initial learning abnormality flag [w_f] is set to 1 (abnormal) (S30f), and this subroutine is terminated.

  Next, the vehicle information writing subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 15 is a flowchart of a vehicle information writing subroutine of optical axis adjustment processing in the white line detection ECU. In the vehicle information writing subroutine, it is determined whether or not a transition from the steering assist mode to the optical axis adjustment mode is made for the first time. When the transition is made for the first time, the vehicle information is written in the EEPROM 11a.

  First, in the vehicle information writing subroutine, it is determined whether or not the function code has shifted from the steering assist mode to the factory optical axis adjustment mode or the dealer optical axis adjustment mode in this routine (S31a). In the vehicle information writing subroutine, if it is determined in S31a that the transition has been made, the optical axis adjustment mode initial transition flag [f_u] is set to 1 (S31b), and if it is determined in S31a that the transition has not been performed. The process proceeds to S31c. The optical axis adjustment mode initial transition flag [f_u] indicates whether or not the transition to the optical axis adjustment mode is performed for the first time, and also indicates whether or not the vehicle information is written in the EEPROM 11a. Is 1 and 0 if it is not the first transition (if written).

  Subsequently, in the vehicle information writing subroutine, it is determined whether or not the optical axis adjustment mode initial transition flag [f_u] is 1 (S31c). If the optical axis adjustment mode initial transition flag [f_u] is not 1 in S31, this subroutine is terminated.

  If the optical axis adjustment mode initial transition flag [f_u] is 1 in S31, in the vehicle information writing subroutine, the function code is again the factory optical axis adjustment mode or the dealer optical axis adjustment mode (that is, the optical axis). Whether the adjustment mode is selected) is determined (S31d). If it is not the optical axis adjustment mode, in the vehicle information writing subroutine, the writing of the vehicle information is stopped, and the process proceeds to S31f.

  In the optical axis adjustment mode, vehicle information is written into the EEPROM 11a in the vehicle information writing subroutine (S31e). In the vehicle information writing subroutine, the optical axis adjustment mode initial transition flag [f_u] is set to 0 (S31f), and this subroutine is terminated.

  As described above, in the vehicle information writing subroutine, the vehicle information is written only once when the mode is shifted to the optical axis adjustment mode for the first time, the number of times of writing the vehicle information is limited, and the optical axis adjustment time is shortened.

  Next, the learning permission flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 16 is a flowchart of a learning permission flag setting subroutine for optical axis adjustment processing in the white line detection ECU. In the learning permission flag setting subroutine, it is determined whether various conditions for starting learning (determining the correction amount for optical axis adjustment) are satisfied, and if so, learning by optical axis adjustment is permitted. To do. Incidentally, each learning requires about 1 minute, and shortening this learning time increases the efficiency of the inspection line (production line). Therefore, even when communication with the inter-vehicle control ECU 12 temporarily becomes abnormal due to disturbance or the like, the learning is continued as much as possible without stopping the learning.

  First, in the learning permission flag setting subroutine, it is determined whether the function code is the factory optical axis adjustment mode or the dealer optical axis adjustment mode (S32a). If it is not the optical axis adjustment mode, learning is not permitted in the learning permission flag setting subroutine, and the learning permission flag [a_s] is set to 0 (S321).

  In the optical axis adjustment mode, in the learning permission flag setting subroutine, it is determined whether or not the power supply voltage is normal (S32b). If the power supply voltage is abnormal, learning is not permitted in the learning permission flag setting subroutine, and the learning permission flag [a_s] is set to 0 (S321).

  If the power supply voltage is normal, in the learning permission flag setting subroutine, it is determined whether or not one second or more has elapsed since the power was turned on (S32c). If one second or more has not elapsed, the learning permission flag setting subroutine sets learning to be disapproved and sets the learning permission flag [a_s] to 0 (S321). Since the system is not stable soon after the power is turned on, the condition is one second after the power is turned on.

  When one second or more has elapsed, in the learning permission flag setting subroutine, the all target simultaneous learning start flag [sa_st] is 1, the target 1 learning start flag [s1_st] is 1, or the target 2 learning start flag [S2_st] is 1, or target 3 learning start flag [s3_st] is 1, all target simultaneous learning flag [sa_sp] is 1, or target 1 learning flag [s1_sp] is 1, Alternatively, it is determined whether the target 2 learning flag [s2_sp] is 1 or the target 3 learning flag [s3_sp] is 1 (that is, whether or not learning is being performed by any target) (S32d).

  When learning is being performed in S32d, the learning permission flag setting subroutine determines whether the abnormal time of serial communication with the inter-vehicle control ECU 12 is equal to or less than Ti or the serial communication with the inter-vehicle control ECU 12 is normal (S32e). . Ti is an allowable time for a temporary abnormality in serial communication with the inter-vehicle control ECU 12.

  When learning is not being performed in S32d, in the learning permission flag setting subroutine, (all target simultaneous learning start flag [sa_st] is 0, target 1 learning start flag [s1_st] is 0, and target 2 learning start flag is set. Whether [s2_st] is 0, the target 3 learning start flag [s3_st] is 0, the all target simultaneous learning flag [sa_sp] is 0, and the target 1 learning flag [s1_sp] is 0, In addition, the target 2 learning flag [s2_sp] is 0, the target 3 learning flag [s3_sp] is 0 (that is, whether any target is learning), and serial communication with the inter-vehicle control ECU 12 Is normal (S32f). If the condition of S32f is not satisfied, learning is not permitted in the learning permission flag setting subroutine, and the learning permission flag [a_s] is set to 0 (S321).

  When the condition of S32e is satisfied or when the condition of S32f is satisfied, the learning permission flag setting subroutine determines whether or not the homework calculation flag [wh] is 0 (S32g). The homework calculation flag [wh] is a flag indicating whether or not the homework calculation in the inter-vehicle distance control ECU 12 is normally performed, and is 0 when normal, and 1 when abnormal. If the homework calculation in the inter-vehicle control ECU 12 is abnormal, learning is not permitted in the learning permission flag setting subroutine, and 0 is set to the learning permission flag [a_s] (S321).

  When the homework calculation in the inter-vehicle control ECU 12 is normal, it is determined in the learning permission flag setting subroutine whether the CANC flag is 0 (S32h). The CANC flag is a flag indicating whether or not the CAN communication by the inter-vehicle control ECU 12 is forcibly stopped by turning on the CANC signal, and is 1 when the vehicle is forcibly stopped and 0 when the vehicle is not stopped. . When the CAN communication is forcibly stopped, learning is not permitted in the learning permission flag setting subroutine, and the learning permission flag [a_s] is set to 0 (S321).

  When the CAN communication is not stopped, it is determined in the learning permission flag setting subroutine whether or not the white line detection ECU 11 is normal (S32i). When the white line detection ECU 11 is abnormal, in the learning permission flag setting subroutine, learning is not permitted, and the learning permission flag [a_s] is set to 0 (S321).

  When the white line detection ECU 11 is normal, in the learning permission flag setting subroutine, it is determined whether or not the FOE change request flag is 1 (that is, whether or not there is a request for rewriting the correction amount of the optical axis adjustment amount) (S32j). ). If there is no request for rewriting the correction amount of the optical axis adjustment amount, the learning permission flag setting subroutine disables learning and sets the learning permission flag [a_s] to 0 (S321).

  When there is a request for rewriting the correction amount of the optical axis adjustment amount, learning is permitted in the learning permission flag setting subroutine, and 1 is set in the learning permission flag [a_s] (S32k). In the learning permission flag setting subroutine, 1 or 0 is set to the learning permission flag [a_s], and this subroutine is terminated.

  In this way, in the learning permission flag setting subroutine, information necessary for learning has already been acquired even if communication between the inter-vehicle control ECU 12 temporarily becomes abnormal during learning. To shorten. In the learning permission flag setting subroutine, even if the communication between the inter-vehicle control ECU 12 is normal, if the homework calculation is abnormal (that is, when the inter-vehicle control ECU 12 is abnormal), the reliability of the information from the inter-vehicle control ECU 12 is increased. Since it lacks, learning is not permitted and the reliability of the system is improved.

  Next, a learning permission flag setting subroutine for each target in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 17 is a flowchart of a learning permission flag setting subroutine for each target of the optical axis adjustment processing in the white line detection ECU. In the learning permission flag setting subroutine for each target, when learning by optical axis adjustment is permitted, it is determined which target has a learning request, and learning for a target having a learning request is permitted.

  First, in the learning permission flag setting subroutine for each target, it is determined whether or not the learning permission flag [a_s] is 1 (S33a). When learning by optical axis adjustment is not permitted, the learning permission flag setting subroutine for each target disallows learning for all targets, and all targets simultaneous learning permission flag [a_sa], target 1 learning permission flag [a_s1], The target 2 learning permission flag [a_s2] and the target 3 learning permission flag [a_s3] are all set to 0 (S33n), and this subroutine is terminated.

  When learning by optical axis adjustment is permitted, the target-specific learning permission flag setting subroutine determines whether there is a simultaneous learning request for all targets (that is, whether the simultaneous learning request flag for all targets is 1) ( S33b).

  When there is an all-target simultaneous learning request, the target-specific learning permission flag setting subroutine sets all target simultaneous learning permission flags [a_sa] to 1 (that is, permits simultaneous learning of all targets) (S33c). Exit. If there is no all-target simultaneous learning request, in the target-specific learning permission flag setting subroutine, all target simultaneous learning permission flag [a_sa] is set to 0 (that is, all targets simultaneous learning is not permitted) (S33d), It is determined whether or not there is a target 1 learning request (that is, whether or not the target 1 learning request flag is 1) (S33e).

  When there is a target 1 learning request, in the target-specific learning permission flag setting subroutine, the target 1 learning permission flag [a_s1] is set to 1 (that is, target 1 learning is permitted) (S33f), and this subroutine is terminated. . If there is no target 1 learning request, in the target-specific learning permission flag setting subroutine, the target 1 learning permission flag [a_s1] is set to 0 (that is, target 1 learning is not permitted) (S33g), and target 2 learning is performed. It is determined whether there is a request (that is, whether the target 2 learning request flag is 1) (S33h).

  If there is a target 2 learning request, in the target-specific learning permission flag setting subroutine, the target 2 learning permission flag [a_s2] is set to 1 (that is, target 2 learning is permitted) (S33i), and this subroutine is terminated. . If there is no target 2 learning request, in the target-specific learning permission flag setting subroutine, the target 2 learning permission flag [a_s2] is set to 0 (that is, target 2 learning is not permitted) (S33j), and target 3 learning is performed. It is determined whether or not there is a request (that is, whether or not the target 3 learning request flag is 1) (S33k).

  If there is a target 3 learning request, in the target-specific learning permission flag setting subroutine, the target 3 learning permission flag [a_s3] is set to 1 (that is, target 3 learning is permitted) (S331), and this subroutine is terminated. . If there is no target 3 learning request, the target-specific learning permission flag setting subroutine sets the target 3 learning permission flag [a_s3] to 0 (that is, disables target 3 learning) (S33m). finish.

  In this way, by allowing learning for each target in the target-specific learning permission flag setting subroutine, learning can be performed simultaneously for all targets, or learning can be performed individually by target 1, target 2, and target 3. .

  Next, the learning start subroutine for each target in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 18 is a flowchart of a learning start flag setting subroutine for each target in the optical axis adjustment processing in the white line detection ECU. In the target-by-target learning start subroutine, it is determined whether learning is started at the same time for all targets, or target 1, target 2, or target 3. In particular, in the case of a plurality of individual target learning, even if learning is permitted for a certain target, learning for that target is not started when learning for that target is completed.

  First, in the target-specific learning start subroutine, the all-target simultaneous learning permission flag [a_sa] is switched from 0 to 1 for the first time in this routine (all-target simultaneous learning is permitted in this routine), and In contrast, it is determined whether learning has not started and learning is not in progress (S34a). Whether or not learning has started for any target and is not learning, as shown in Condition X, all targets simultaneous learning start flag [sa_st], all targets simultaneous learning flag [sa_sp], and target 1 learning start Flag [s1_st], target 1 learning flag [s1_sp], target 2 learning start flag [s2_st], target 2 learning flag [s2_sp], target 3 learning start flag [s3_st], target 3 learning flag [s3_sp] The determination is made based on whether or not all the values are 0. The case where all the values are 0 does not start learning for any target and is not learning.

  If the condition of S34a is satisfied, it is determined in the target-by-target learning start subroutine that all target simultaneous learning is started, 1 is set in the all target simultaneous learning start flag [sa_st] (S34b), and this subroutine is terminated. When the condition of S34a is not satisfied, in the learning start subroutine for each target, the target 1 learning permission flag [a_s1] is switched from 0 to 1 for the first time in this routine (target 1 learning is permitted in this routine), and , (Learning has not started for any target and is not being learned) (S34c).

  If the condition of S34c is satisfied, it is determined in the target-specific learning start subroutine whether the target 1 learning completion flag [s1_f] is 0 (S34d). When the target 1 learning completion flag [s1_f] is 1, since learning by the target 1 has already been completed, the determination in S34d is performed in order to prevent re-learning by the target 1.

  When the condition of S34d is satisfied (that is, for the first time learning by the target 1), in the learning start subroutine for each target, it is determined that the target 1 learning is started, and the target 1 learning start flag [s1_st] is set to 1 ( S34e), this subroutine is terminated. When the condition of S34c is not satisfied or when the condition of S34d is not satisfied, the target 2 learning permission flag [a_s2] is switched from 0 to 1 for the first time in the current routine in the target learning start subroutine. (Allowed by this routine) and (learning has not started for any target and is not being learned) is determined (S34f).

  If the condition of S34f is satisfied, it is determined in the target-specific learning start subroutine whether the target 2 learning completion flag [s2_f] is 0 (S34g). When the target 2 learning completion flag [s2_f] is 1, since learning by the target 2 has already been completed, the determination of S34g is performed in order to prevent re-learning by the target 2.

  When the condition of S34g is satisfied (that is, when learning is performed for the first time by the target 2), in the learning start subroutine for each target, it is determined that the target 2 learning is started, and the target 2 learning start flag [s2_st] is set to 1 ( S34h) This subroutine is terminated. When the condition of S34f is not satisfied or when the condition of S34g is not satisfied, the target 3 learning permission flag [a_s3] is switched from 0 to 1 in the current routine for the first time in the target learning start subroutine (target 3 learning is (S34i) is determined (S34i), and (no learning is started for any target and is not learning).

  If the condition of S34i is satisfied, it is determined in the target-specific learning start subroutine whether the target 3 learning completion flag [s3_f] is 0 (S34j). When the target 3 learning completion flag [s2_f] is 1, since learning by the target 3 has already been completed, the determination of S34i is performed in order not to perform relearning by the target 3.

  When the condition of S34i is satisfied (that is, for the first time learning by the target 3), the target-specific learning start subroutine determines that the target 3 learning is to be started, and sets 1 to the target 3 learning start flag [s3_st] ( S34k), this subroutine is terminated. When the condition of S34i is not satisfied or when the condition of S34j is not satisfied, this subroutine is ended in the learning start subroutine for each target.

  As described above, in the learning start subroutine for each target, the learning start by the target is determined only in the routine permitted to learn for each target. Therefore, even if a learning request for the same target is received during learning, the learning is started again. Continue learning as it is, and shorten the optical axis adjustment time. In addition, in the learning start subroutine for each target, in the case of individual target learning, even if a learning request is made for a target that has already been learned, the learning is not started, so the optical axis adjustment time is not started again. To shorten. Thereby, the mistake by an operator can be covered.

  Next, the all-target simultaneous learning flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 19 is a flowchart of an all-target simultaneous learning flag setting subroutine of optical axis adjustment processing in the white line detection ECU. In the all target simultaneous learning flag setting subroutine, if all target simultaneous learning continues, all target learning is started and the all target simultaneous learning start flag [sa_st] is cleared.

  First, in the all target simultaneous learning flag setting subroutine, it is determined whether or not the all target simultaneous learning start flag [sa_st] is 1 (S35a). When the all target simultaneous learning start flag [sa_st] is 0, this subroutine is terminated.

  When the all target simultaneous learning start flag [sa_st] is 1, the all target simultaneous learning flag setting subroutine starts all target simultaneous learning and sets all target simultaneous learning start flag [sa_st] to 0, All target simultaneous learning flag [sa_sp] is set to 1 (S35b). Further, in the all target simultaneous learning flag setting subroutine, all the target simultaneous learning completion flag [sa_f], the target 1 learning completion flag [s1_f], the target 2 learning completion flag [s2_f], and the target 3 learning completion flag [s3_f] are all set. It is initialized by setting 0 (S35c), and this subroutine is finished.

  Thus, in the all target simultaneous learning flag setting subroutine, it is possible to determine the learning start time and the learning continuation time.

Next, the target line 3 learning flag setting subroutine for each rank in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 20 is a flowchart of the target 3 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. In the target 3 learning flag setting subroutine for each rank, it is determined in which order the target 3 learning performs learning with respect to other individual target learning, the target 3 learning is started, and the target 3 learning start flag [s3_st] is set. First, in the target 3 learning flag setting subroutine for each rank, in order to determine whether target 3 learning is executed first, the target 3 learning start flag [s3_st] is 1 and the all target simultaneous learning permission flag [a_sa ] Is 0, the target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, the target 2 learning completion flag [s2_f] is 0, and the target 1 learning completion flag [S1_f] is 0 (that is, the start flag of the target 3 is It is determined whether or not learning of a target other than the target 3 is permitted and learning of other individual targets is not completed (S36a).

  If the condition of S36a is satisfied, the target-by-ranking target 3 learning flag setting subroutine determines that target 3 learning is to be executed first among the three individual target learnings, and all target simultaneous learning completion flag [sa_f], target The 1 learning completion flag [s1_f], the target 2 learning completion flag [s2_f], and the target 3 learning completion flag [s3_f] are all set to 0, and all the completion flags are initialized (S36c).

  When the condition of S36a is not satisfied, the target 3 learning start flag [s3_st] is set to 1 in the order-by-rank target 3 learning flag setting subroutine to determine whether target 3 learning is executed after completion of target 1 learning. The all target simultaneous learning permission flag [a_sa] is 0, the target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, and the target 2 learning completion flag [s2_f] is 0, and the target 1 learning completion flag [s1_f] is 1 (that is, the start flag of the target 3 is set to start, learning of targets other than the target 3 is not permitted, and only the target 1 learning is completed. (S36c).

  When the condition of S36c is satisfied, the target 3 learning flag setting subroutine for each rank determines that target 3 learning is to be executed next to target 1 learning among the three individual target learnings, and all target simultaneous learning completion flag [ sa_f], target 2 learning completion flag [s2_f], and target 3 learning completion flag [s3_f] are all set to 0, and completion flags other than target 1 learning are initialized (S36d).

  In the case where the condition of S36c is not satisfied, the target 3 learning start flag [s3_st] is 1 in order to determine whether the target 3 learning is executed after completion of the target 2 learning in the target-by-rank target 3 learning flag setting subroutine. The all target simultaneous learning permission flag [a_sa] is 0, the target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, and the target 2 learning completion flag [s2_f] is 1 and the target 1 learning completion flag [s1_f] is 0 (that is, the start flag of the target 3 is set to start, the learning permission of targets other than the target 3 is not permitted, and only the target 2 learning is completed. (S36e).

  When the condition of S36e is satisfied, the target 3 learning flag setting subroutine for each rank determines that target 3 learning is to be executed next to target 2 learning among the three individual target learnings, and all target simultaneous learning completion flag [ sa_f], target 1 learning completion flag [s1_f], target 3 learning completion flag [s3_f] are all set to 0, and completion flags other than target 2 learning are initialized (S36f).

  In the case where the condition of S36e is not satisfied, in order to determine whether the target 3 learning is executed after completion of target 1 learning and after completion of target 2 learning (that is, finally) Target 3 learning start flag [s3_st] is 1, all target simultaneous learning permission flag [a_sa] is 0, target 2 learning permission flag [a_s2] is 0, and target 1 learning permission flag [a_s1] is 0 And whether the target 2 learning completion flag [s2_f] is 1 and the target 1 learning completion flag [s1_f] is 1 (that is, the start flag of the target 3 is set to start and learning of targets other than the target 3 is performed) Whether permission is granted and target 1 learning and target 2 learning are complete Determining (S36g).

  When the condition of S36g is satisfied, the target 3 learning flag setting subroutine for each rank determines that target 3 learning is to be executed last among the three individual target learnings, and all target simultaneous learning completion flag [sa_f] and target The 3 learning completion flag [s3_f] is set to 0, and the completion flags other than the target 1 learning and the target 2 learning are initialized (S36h). If the condition of S36g is not satisfied, this subroutine is terminated.

  When the completion flag is initialized to 0 in each rank, the target 3 learning flag setting subroutine for each rank starts the target 3 learning, sets 0 to the target 3 learning start flag [s3_st], and sets the target 3 learning flag [S3_sp] is set to 1 (S36i), and this subroutine is terminated.

  Next, the target 2 learning flag setting subroutine for each rank in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 21 is a flowchart of a target 2 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. In the flag setting subroutine for target 2 learning for each rank, it is determined in which order the target 2 learning performs learning with respect to other individual target learning, the target 2 learning is started, and the target 2 learning start flag [s2_st] is set. clear. The target-by-ranking target 2 learning flag setting subroutine is the same process as the target-by-ranking target 3 learning flag setting subroutine, except that the individual target to be learned is changed from the target 3 to the target 2. Corresponding to the subroutines S36a to S36i, there are S37a to S37i. Therefore, a detailed description of the target 2 learning flag setting subroutine for each rank will be omitted. Incidentally, in the case of target 2 learning, it is determined whether target 2 learning is executed first (S37a), whether target 2 learning is executed after completion of target 1 learning (S37c), and target 2 learning is executed after completion of target 3 learning. There is a determination as to whether to execute (S37e), and finally as to whether or not to execute target 2 learning (S37g).

  Next, the target setting learning flag setting subroutine for each rank in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 22 is a flowchart of a target 1 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. In the flag setting subroutine for target 1 learning for each rank, it is determined in which order target 1 learning performs learning with respect to other individual target learning, target 1 learning is started, and target 1 learning start flag [s1_st] is set. clear. The rank-by-rank target 1 learning flag setting subroutine is the same processing as the rank-by-rank target 3 learning flag setting subroutine except that the individual target to be learned is changed from the target 3 to the target 1. Corresponding to the subroutines S36a to S36i, there are processes of S38a to S38i. Therefore, a detailed description of the target 1 learning flag setting subroutine for each rank will be omitted. Incidentally, in the case of target 1 learning, it is determined whether target 1 learning is executed first (S38a), whether target 1 learning is executed after completion of target 2 learning (S38c), and target 1 learning is executed after completion of target 3 learning. There is a determination as to whether to execute (S38e), and finally whether to execute the target 1 learning (S38g).

  As described above, in the case of learning by individual target, the learning is already completed by determining in which order the learning is performed with respect to other individual targets in the case of learning by individual target by the target setting target flag 1 to 3 for each rank. Even if there is a learning request for a target, the learning request can be eliminated. As a result, the operator's mistake can be covered, and the optical axis adjustment time can be shortened without repeating the same learning.

  Next, the all target simultaneous learning end flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 23 is a flowchart of an all-target simultaneous learning end flag setting subroutine of optical axis adjustment processing in the white line detection ECU. In the all-target simultaneous learning end flag setting subroutine, it is determined whether or not all-target simultaneous learning has been completed. If it has been normally completed, it is determined that all-target simultaneous learning has been completed.

  First, in the all-target simultaneous learning end flag setting subroutine, it is determined whether all-target simultaneous learning is being performed in the previous routine (all-target simultaneous learning flag [sa_sp] is 1) and all-target simultaneous learning is completed in this routine ( S39a). If the condition of S39a is not satisfied, this subroutine is terminated.

  When the condition of S39a is satisfied, in the all target simultaneous learning end flag setting subroutine, it is determined whether or not the completion form of all target simultaneous learning is normal (S39b). The abnormality in the completion form includes, for example, a human error such as an EEPROM clear request issued by the operator during learning, an abnormality in the inter-vehicle control ECU 12, and an abnormality in writing the correction amount to the EEPROM 11a.

  If the completion form is normal, the all-target simultaneous learning end flag setting subroutine determines that all-target simultaneous learning has ended, and sets all-target simultaneous learning flag [sa_sp] to 0, and all-target simultaneous learning completion flag [sa_f]. ], 1 for target 3 learning completion flag [s3_f], 1 for target 2 learning completion flag [s2_f], 1 for target 1 learning completion flag [s1_f], 1 for all target simultaneous learning end flag [sa_e], target The 3 learning end flag [s3_e] is set to 0, the target 2 learning end flag [s2_e] is set to 0, and the target 1 learning end flag [s1_e] is set to 0 (S39c). Incidentally, in the case of simultaneous learning for all targets, the learning is completed when learning is completed and the correction amount of the optical axis adjustment amount is normally written in the EEPROM 11a. Therefore, 1 is set to the simultaneous learning end flag [sa_e] for all targets. ing.

  If the completion form is abnormal, the all-target simultaneous learning end flag setting subroutine determines that all-target simultaneous learning has not ended, and sets all-target simultaneous learning flag [sa_sp] to 0, all-target simultaneous learning end flag. [Sa_e] is set to 0, target 3 learning end flag [s3_e] is set to 0, target 2 learning end flag [s2_e] is set to 0, and target 1 learning end flag [s1_e] is set to 0 (S39d). Incidentally, in the case of simultaneous learning for all targets, learning is normally completed and if the correction amount of the optical axis adjustment amount is not normally written in the EEPROM 11a, the learning does not end. Therefore, the all target simultaneous learning end flag [sa_e] is set to 0. Is set.

  Next, the target 3 learning end flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 24 is a flowchart of a target 3 learning end flag setting subroutine for optical axis adjustment processing in the white line detection ECU. In the target 3 learning end flag setting subroutine, it is determined that the target 3 learning has been completed, and in addition, the order in which the target 3 learning has been completed with respect to other individual target learning has been determined. It is determined that all individual target learning has been completed.

  First, in the target 3 learning end flag setting subroutine, all target simultaneous learning permission flag [a_sa] is 0 and target 2 learning permission flag [a_s2] is 0 in order to determine that target 3 learning is completed first. In addition, the target 1 learning permission flag [a_s1] is 0, the target 2 learning completion flag [s2_f] is 0, the target 1 learning completion flag [s1_f] is 0, and the target 3 is being simultaneously learned in the previous routine ( The target 3 learning flag [s3_sp] is 1), and whether the target 3 has completed learning in this routine (that is, learning permission of targets other than the target 3 is not permitted, and other individual target learning has not been completed, And whether target 3 is learning up to the previous routine and is learning completed in this routine) A constant (S40a).

  If the condition of S40a is satisfied, it is determined in the target 3 learning end flag setting subroutine whether the target 3 learning completion mode is normal (S40b).

  If the completion mode is normal, the target 3 learning end flag setting subroutine determines that target 3 learning has been normally completed first among the three individual target learnings, and sets the target 3 learning flag [sa_sp] to 0, The target 3 learning completion flag [sa_f] is set to 1 (S40c), and this subroutine is terminated. Incidentally, in the case of individual target learning, learning is not completed unless three individual target learnings are completed and the correction amount of the optical axis adjustment amount is not written in the EEPROM 11a. Therefore, learning is not completed when only target 3 learning is completed. When the completion mode is abnormal, the target 3 learning end flag setting subroutine sets the target 3 learning in progress flag [s3_sp] to 0, the all target simultaneous learning end flag [sa_e] to 0, and the target 3 learning end flag [s3_e]. 0, the target 2 learning end flag [s2_e] is set to 0, and the target 1 learning end flag [s1_e] is set to 0 (S40d). Incidentally, in the case of individual target learning, learning does not end unless the three individual target learnings are completed normally, so the targets 1 to 3 learning end flag is set to 0.

  When the condition of S40a is not satisfied, in the target 3 learning end flag setting subroutine, in order to determine that the target 3 learning is completed after the target 1 learning is completed, the all target simultaneous learning permission flag [a_sa] is 0, and The target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, the target 2 learning completion flag [s2_f] is 0, and the target 1 learning completion flag [s1_f] is 1, In addition, the target 3 is being simultaneously learned in the previous routine, and whether the target 3 has been learned in the current routine (that is, learning of a target other than the target 3 is not permitted and only the target 1 learning has been completed, and the target 3 is learning up to the previous routine, and is this learning completed?) That (S40e).

  If the condition of S40e is satisfied, it is determined in the target 3 learning end flag setting subroutine whether the target 3 learning completion mode is normal (S40f). In the target 3 learning end flag setting subroutine, when the completion form is normal, it is determined that target 3 learning has been normally completed after completion of target 1 learning among the three individual target learnings, and the same flag setting as in S40c is set ( S40g) If the completion form is abnormal, the same flag is set as in S40d (S40h), and this subroutine is terminated. Incidentally, in the case of individual target learning, learning does not end when target 3 learning and target 1 learning are completed.

  When the condition of S40e is not satisfied, in the target 3 learning end flag setting subroutine, in order to determine that the target 3 learning is completed after the target 2 learning is completed, the all target simultaneous learning permission flag [a_sa] is 0, and The target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, the target 2 learning completion flag [s2_f] is 1, and the target 1 learning completion flag [s1_f] is 0, In addition, during target 3 simultaneous learning in the previous routine, and whether target 3 has completed learning in this routine (that is, there is no learning permission for targets other than target 3 and only target 2 learning has been completed, and target 3 is learning up to the previous routine, and is this learning completed?) That (S40i).

  If the condition of S40i is satisfied, it is determined in the target 3 learning end flag setting subroutine whether the target 3 learning completion mode is normal (S40j). In the target 3 learning end flag setting subroutine, when the completion form is normal, it is determined that target 3 learning has been normally completed after completion of target 2 learning among the three individual target learnings, and the same flag setting as in S40c is set ( S40k) If the completion mode is abnormal, the flag is set in the same manner as in S40d (S40l), and this subroutine is terminated. Incidentally, in the case of individual target learning, learning does not end when target 3 learning and target 2 learning are completed.

  When the condition of S40i is not satisfied, in the target 3 learning end flag setting subroutine, in order to determine whether the target 3 learning is completed after completion of target 1 learning and after completion of target 2 learning (that is, last) The simultaneous learning permission flag [a_sa] is 0, the target 2 learning permission flag [a_s2] is 0, the target 1 learning permission flag [a_s1] is 0, and the target 2 learning completion flag [s2_f] is 1. The target 1 learning completion flag [s1_f] is 1, and the target 3 is being simultaneously learned in the previous routine, and whether the target 3 has been learned in the current routine (that is, there is no learning permission for targets other than the target 3 and Target 1 learning and target 2 learning have been completed, and the target There determines whether the learning completion) in the current routine in learning up to the previous routine (S40m).

  If the condition of S40m is satisfied, the target 3 learning end flag setting subroutine determines whether the target 3 learning completion mode is normal (S40n).

  When the completion mode is normal, the target 3 learning end flag setting subroutine determines that target 3 learning of the three individual target learnings has been completed last, and the target 3 learning flag [sa_sp] is set to 0. 1 for learning completion flag [s3_f], 0 for all target simultaneous learning end flag [sa_e], 1 for target 3 learning end flag [s3_e], 0 for target 2 learning end flag [s2_e], target 1 learning end flag [s1_e ] Is set to 0 (S40o), and this subroutine is terminated. In the case of individual target simultaneous learning, learning is completed when all three individual target learnings are normally completed and the correction amount of the optical axis adjustment amount is normally written in the EEPROM 11a. The target 3 learning end flag [s3_e] is set to 1. If the completion form is abnormal, the target 3 learning end flag setting subroutine sets a flag similar to S40d (S40p), and ends this subroutine.

  Next, the target 2 learning end flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 25 is a flowchart of a target 2 learning end flag setting subroutine for optical axis adjustment processing in the white line detection ECU. In the target 2 learning end flag setting subroutine, it is determined that the target 2 learning has been completed, and further, in which order the target 2 learning is completed with respect to other individual target learning, and finally completed normally It is determined that all individual target learning has been completed. The target 2 learning end flag setting subroutine is the same process as the target 3 learning end flag setting subroutine except that the individual target to be learned is changed from the target 3 to the target 2, and corresponds to the target 3 learning end flag setting S40a to S40p. There is a process of S41a to S41p. Therefore, detailed description of the target 2 learning end flag setting subroutine is omitted. Incidentally, in the case of target 2 learning, it is first determined whether target 2 learning is completed (S41a), whether target 2 learning is completed after completion of target 1 learning (S41e), and target 2 learning is completed after completion of target 3 learning. There is a determination as to whether or not the learning has been completed (S41i), and finally a determination as to whether or not the target 2 learning has been completed (S41m).

  Next, the target 1 learning end flag setting subroutine in the white line detection ECU 11 will be described with reference to the flowchart of FIG. FIG. 26 is a flowchart of a target 1 learning end flag setting subroutine for optical axis adjustment processing in the white line detection ECU. In the target 1 learning end flag setting subroutine, it is determined that the target 1 learning has been completed, and in which order the target 1 learning has been completed with respect to other individual target learning, and finally completed normally. It is determined that all individual target learning has been completed. The target 1 learning end flag setting subroutine is the same as the target 3 learning end flag setting subroutine except that the individual target to be learned is changed from the target 3 to the target 1, and corresponds to the target 3 learning end flag setting S40a to S40p. Then, there is a process of S42a to S42p. Therefore, detailed description of the target 2 learning end flag setting subroutine is omitted. Incidentally, in the case of target 1 learning, it is first determined whether target 1 learning has been completed (S42a), whether target 1 learning has been completed after completion of target 2 learning (S42e), and target 1 learning is completed after completion of target 3 learning. There is a determination of whether or not the learning has been completed (S42i), and finally a determination of whether or not the target 1 learning has been completed (S42m).

  As described above, the target 1 to 3 learning end flag setting subroutine makes it clear that in the case of individual target learning, the target that has completed learning last is clarified. In addition, since the target for which learning has been completed is clarified, by transmitting the learning completion result of the target to the tester 3, the operator does not issue a learning request by the same target. As a result, operator errors can be eliminated as much as possible, and the optical axis adjustment time can be shortened.

  According to the optical axis adjustment system 1, it is possible to perform optical axis adjustment using a plurality of targets arranged in the left and right directions by the targets 1 to 3, and not only the FOE correction amount but also the roll angle can be obtained. The roll angle with respect to 10 can also be adjusted. As a result, the camera 10 can obtain highly accurate image information including white lines on the left and right sides indicating the lane. Furthermore, according to the optical axis adjustment system 1, not only all target simultaneous learning using three targets but also individual target learning using one target can be supported, and one inspection space or target in which only one target can be arranged is provided. It is possible to cope with an inspection apparatus having only one.

  Further, according to the optical axis adjustment system 1 (particularly, the white line detection ECU 11), in the case of individual target learning, the order in which each individual target learning is executed and the order in which it is completed are determined. Duplicate learning for the target can be prevented, and the optical axis adjustment time can be shortened. In addition, it is possible to prevent an operator's learning request mistake and to cover the mistake even when a learning request error is made. Furthermore, independent target learning is possible regardless of the order of the targets 1 to 3, and the white line detection ECU 11 can handle even if the operator makes a mistake in the order. As a result, inspection efficiency can be improved.

  Further, according to the optical axis adjustment system 1 (particularly, the white line detection ECU 11), it is possible to determine whether or not the operator has intentionally shifted to the re-optical axis adjustment. Further, according to the optical axis adjustment system 1 (particularly, the white line detection ECU 11), after the necessary information is taken in by the white line detection ECU 11, the learning is continued even when communication by the inter-vehicle control ECU 12 becomes temporarily abnormal, Improve robustness.

  Further, according to the optical axis adjustment system 1, by providing three optical axis adjustment modes as function codes, the operator is notified of the optical axis adjustment and the completion of the optical axis adjustment in response to the environment in the manufacturing factory or dealer. Can do.

  In addition, software for performing optical axis adjustment processing is incorporated into the white line detection ECU 11 and software for performing bypass processing is incorporated into the inter-vehicle distance control ECU 12 so that various flags and various information are transmitted from the tester 3 side. The axis adjustment system 1 can be easily constructed.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, the present invention is applied when the optical axis adjustment is performed by arranging three targets in the left-right direction, but may be applied when the optical axis adjustment is performed by arranging a plurality of targets in the vertical direction. In addition, the present invention may be applied when adjusting the optical axis by arranging a plurality of targets vertically and horizontally, or may be applied when adjusting the optical axis with a single target.

  Further, in the present embodiment, the present invention is applied to the optical axis adjustment of the camera for detecting the white line, but it may be applied to the optical axis adjustment of the camera for detecting a vehicle, a pedestrian, etc. You may apply to the optical axis adjustment of the camera for acquiring information.

  In the present embodiment, the white line detection ECU performs the CAN communication via the inter-vehicle control ECU by causing the inter-vehicle control ECU to perform a bypass function. However, when the CAN communication system can be directly connected, the CAN communication is directly performed. The structure to perform may be sufficient.

It is a block diagram of the optical axis adjustment system which concerns on this Embodiment. It is a figure which shows the positional relationship of the target which concerns on this Embodiment, and a vehicle mounting camera, (a) is a side view, (b) is a top view. It is a flowchart which shows the main routine of the optical axis adjustment process in white line detection ECU of FIG. It is a flowchart of the function code setting subroutine of the optical axis adjustment process in the white line detection ECU of FIG. 3 is a flowchart of an optical axis adjustment mode transition determination subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. It is a flowchart of the factory optical axis adjustment mode change determination subroutine of the optical axis adjustment process in the white line detection ECU of FIG. 3 is a flowchart of a dealer optical axis adjustment mode change determination subroutine of an optical axis adjustment process in the white line detection ECU of FIG. 1. 3 is a flowchart of an all-target simultaneous learning permission change determination subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. It is a flowchart of the target 3 learning permission change determination subroutine of the optical axis adjustment process in the white line detection ECU of FIG. It is a flowchart of the target 2 learning permission change determination subroutine of the optical axis adjustment process in the white line detection ECU of FIG. It is a flowchart of the target 1 learning permission change determination subroutine of the optical axis adjustment process in the white line detection ECU of FIG. 3 is a flowchart of an EEPROM clear request determination subroutine during learning of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of an EEPROM rewrite request determination subroutine during learning of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of an initial learning abnormality flag setting subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. It is a flowchart of the vehicle information writing subroutine of the optical axis adjustment process in the white line detection ECU of FIG. 6 is a flowchart of a learning permission flag setting subroutine for optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a learning permission flag setting subroutine for each target of optical axis adjustment processing in the white line detection ECU of FIG. 1. 6 is a flowchart of a learning start flag setting subroutine for each target of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a flag setting subroutine for all targets simultaneously in the optical axis adjustment processing in the white line detection ECU of FIG. 1. 7 is a flowchart of a target 3 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a target 2 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a target 1 learning flag setting subroutine for each order of optical axis adjustment processing in the white line detection ECU of FIG. 1. 6 is a flowchart of an all-target simultaneous learning end flag setting subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a target 3 learning end flag setting subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. 3 is a flowchart of a target 2 learning end flag setting subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1. 6 is a flowchart of a target 1 learning end flag setting subroutine of optical axis adjustment processing in the white line detection ECU of FIG. 1.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Optical axis adjustment system, 2 ... Vehicle, 2a ... Steering assistance system, 2b ... Vehicle distance control system, 3 ... Tester, 4 ... Target, 10 ... Camera, 11 ... White line detection ECU, 11a ... EEPROM, 12 ... Vehicle distance control ECU 12a ... CANI / F, 13 ... laser radar sensor, 14 ... CAN communication system, 15 ... steering assist switch, 16 ... vehicle speed sensor, 17 ... buzzer, 18 ... meter ECU, 19 ... meter

Claims (10)

An optical axis adjustment method for adjusting an optical axis of a camera mounted on a vehicle using a target,
An optical axis adjustment instruction command for instructing whether or not to perform optical axis adjustment, an all target instruction command for instructing whether or not to use all targets arranged at a plurality of target arrangement locations together, and / or a plurality of An individual target instruction command for each target for instructing whether or not to individually use targets arranged at any one of the target placement locations or at a single target placement location is sent from the inspection apparatus via the communication means. Receiving step;
Determining whether to perform optical axis adjustment based on the optical axis adjustment instruction command;
Determining which target is used to determine the correction amount for optical axis adjustment based on the all target instruction command or / and the individual target instruction command for each target;
Using the determined target, and executing a process for obtaining a correction amount for optical axis adjustment based on target arrangement information, camera arrangement information, and vehicle information;
Determining whether the process for obtaining the correction amount for optical axis adjustment using all the targets or the process for obtaining the correction amount for optical axis adjustment using the individual target is completed;
All target completion command indicating whether or not the processing for obtaining the correction amount for optical axis adjustment using all the targets has been completed, and / or the processing for obtaining the correction amount for optical axis adjustment using the individual target is completed. Transmitting an individual target completion command for each target indicating whether or not to the inspection apparatus via the communication means. Setting a progress flag indicating the progress of processing for obtaining a correction amount for optical axis adjustment using all the targets or individual targets;
When obtaining the correction amount for optical axis adjustment using a plurality of individual targets, the process for obtaining the correction amount for optical axis adjustment using any individual target based on the progress flag is performed by using other individual targets. The method for adjusting an optical axis of a vehicle-mounted camera according to claim 1, further comprising a step of determining how many times the processing is completed with respect to the processing for obtaining a correction amount for optical axis adjustment used.   Obtained when the process for obtaining the correction amount for optical axis adjustment using all the targets is completed or when the process for obtaining the correction amount for optical axis adjustment using the individual target is completed for all individual targets. The method for adjusting an optical axis of a vehicle-mounted camera according to claim 1 or 2, further comprising the step of storing a correction amount for adjusting the optical axis in a storage means.   When obtaining a correction amount for optical axis adjustment using a plurality of individual targets, the processing for obtaining the correction amount for optical axis adjustment using the determined individual target is for optical axis adjustment using another individual target. The method of adjusting an optical axis of a vehicle-mounted camera according to any one of claims 1 to 3, further comprising a step of determining a processing number to be executed with respect to a processing for obtaining a correction amount of the vehicle. .   The optical axis of the on-vehicle camera according to any one of claims 1 to 4, further comprising a step of determining whether or not a correction amount for adjusting the optical axis can be normally obtained. Adjustment method. Detecting whether or not an abnormality has occurred in communication with the inspection device,
6. The process for obtaining a correction amount for optical axis adjustment is continued even when an abnormality is detected during the process for obtaining a correction amount for optical axis adjustment. A method for adjusting the optical axis of a vehicle-mounted camera. Determining whether the vehicle is in a stopped state,
The optical axis adjustment method for a vehicle-mounted camera according to any one of claims 1 to 6, wherein the optical axis adjustment is not performed when the vehicle is not stopped.   8. The method according to claim 1, further comprising a step of writing the vehicle information in the storage unit only once when it is determined that the optical axis adjustment is performed based on the optical axis adjustment instruction command. The optical axis adjustment method of the vehicle-mounted camera described in the paragraph.   The optical axis adjustment instruction command includes a factory optical axis adjustment mode instruction command for instructing whether or not to perform optical axis adjustment at a factory, and a dealer optical axis adjustment mode instruction command for instructing whether or not to perform optical axis adjustment with a dealer. The optical axis adjustment method for a vehicle-mounted camera according to any one of claims 1 to 8, wherein the optical axis adjustment method is included.   The progress flag includes a start flag indicating the start of a process for obtaining a correction amount for optical axis adjustment, a continuation flag indicating that the process is being continued, a completion flag indicating the completion of the process, and the fact that the process has been completed An optical axis adjustment method for a vehicle-mounted camera according to any one of claims 2 to 9, further comprising an end flag to indicate.

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