JP2005172824A - Method for adjusting setting angle of vehicular radar installation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for adjusting a setting angle of vehicular radar installation without requiring a vast work space ahead of a car. <P>SOLUTION: In this adjusting method, a reference object is allocated in the position ahead of and distant from the car, a beam is radiated changing the radiative direction forward the car, electromagnetic wave including a reflective beam from the reference object is received through a radar means, a peak section to the reflective beam from the reference object is extracted among all the peak sections individually including their own maximum points which are located in the distribution curve to show a distribution of received electric field intensity on the received electromagnetic wave for both radiating direction and a seceded distance of the beam, and then allow the method to be adjusted for each extracted peak section. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an attachment angle adjusting method for adjusting an attachment angle of a vehicle radar device mounted on a vehicle such as an automobile.

  A radar device for a vehicle emits a millimeter-wave band high-frequency signal beam or laser beam from the front of the vehicle to the front, receives a reflected beam from the detected object, and detects the presence or absence of the detected object and the detected object. It has the structure which detects the distance of this. In this prior art, the mounting angle, which is the mounting posture of the vehicle radar device, is set so that the axis on which the beam is emitted is substantially parallel to, for example, a vertical plane including the axis of the vehicle in the straight traveling direction. Otherwise, it is impossible to accurately detect a vehicle traveling ahead or a guardrail installed on the roadside.

  In another prior art, a beam radiated forward from the front of the vehicle is scanned by reciprocating to the left and right in a substantially horizontal plane around the vertical axis, and the beam around the vertical axis. An object to be detected is detected corresponding to the radiation angle φ. In such a vehicular laser apparatus, the direction in which the detected object exists must accurately correspond to the radiation angle φ of the beam with respect to the axis of the vehicle's linear travel direction, that is, the beam is accurately relative to the vehicle. Must be directed and radiated.

  In order to adjust the mounting angle of the vehicular radar device, in the prior art, a reflecting member that reflects the beam emitted from the vehicular laser device is arranged in front of the vehicle, and the reflected beam is detected by the vehicular radar device. The mounting angle of the vehicle radar device to the front portion of the vehicle is adjusted. In such a prior art, there is no obstacle such as a building in front of the vehicle, so that the radar apparatus does not receive a reflected beam due to such an obstacle, for example, 100 m or more in front of the vehicle. A vast space is required.

  When the radar apparatus is configured to scan the beam around the vertical axis, the laser is set so that the standard axis that is the zero point of the radiation angle φ measurement of the beam is parallel to the vertical plane including the linear travel direction axis of the vehicle. The device needs to be attached to the vehicle. In the prior art for aligning the standard axis of such a radar device, a reflecting member is arranged in front of the vehicle, and the orientation of the standard axis of the radar device is adjusted while viewing the angle measurement result of the reflecting member by the radar device. ing. In this case, if another object such as a pillar exists in the space where the vehicle and the reflecting member are arranged, the angle measurement result of the other object is mistaken as the angle measurement result of the reflection member, and the other object The standard axis line of the radar apparatus may be aligned based on the angle measurement result.

  The object of the present invention is to adjust the angle at which the vehicular radar device is attached to the vehicle, without requiring a vast space in front of the vehicle, even in a narrow space. It is to provide an angle adjustment method.

The present invention is provided in a vehicle, radiates a beam toward the front, receives a reflected beam from the detected object, and detects radar object,
In the method for adjusting the mounting angle of the radar device for a vehicle, including an adjusting means for mounting the radar means so that the attitude of mounting the radar means on the vehicle can be adjusted.
Place the reference in front of the vehicle and away from the vehicle,
Radiating the beam while changing the radiation direction toward the front of the vehicle,
The electromagnetic wave including the reflected beam from the reference object is received by the radar means,
Corresponds to the reflected beam from the reference from all the peak parts in the distribution curved surface showing the distribution of the received electric field strength of the received electromagnetic wave with respect to the radiation direction of the beam and the separation distance from the vehicle, including the individual maximum points To extract the peak part
A method for adjusting a mounting angle of a vehicular radar apparatus, wherein an adjusting means is adjusted according to an extracted peak portion.

  According to the present invention, in the method for adjusting the mounting angle of the radar device for a vehicle, reception with respect to the beam radiation direction and the separation distance in response to the beam scanning to the space in front of the vehicle in a situation where the reference object is disposed in front of the vehicle. A distribution curved surface of the received electric field intensity of the electromagnetic wave is required. Of all the peak portions in the obtained distribution curved surface, only the peak portion corresponding to the reflected beam from the reference object is used for adjusting the mounting posture of the vehicle radar device with respect to the vehicle. As a result, even if a peak portion due to a reflected beam from an object other than the reference object exists in the distribution curved surface, execution of adjustment of the mounting posture of the radar apparatus based on the peak portion is prevented in advance. This reduces errors in adjusting the mounting posture of the radar device regardless of whether there are other objects in the space in which the vehicle and the vehicle are installed. It becomes possible to do.

The method for adjusting the mounting angle of the vehicular radar apparatus according to the present invention is performed when extracting a peak portion corresponding to the reflected beam from the reference object.
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Select the measurement point with the highest received electric field strength from all the obtained measurement points,
Comparing the received field strength at the selected measurement point with a predetermined first reference strength;
Only when the received electric field intensity at the selected measurement point is equal to or higher than the first reference intensity, it is determined that the peak portion including the selected measurement point in the distribution curved surface corresponds to the reflected beam from the reference object. It is characterized by.

  According to the present invention, in the vehicle radar apparatus mounting angle adjusting method, a plurality of measurement points on the distribution curve of the received electric field strength with respect to the radiation angle at the reference distance are obtained when the peak portion is extracted. The reference distance is preferably equal to the distance from the vehicle to the reference. Based on the received electric field intensity at all measurement points, a peak portion corresponding to the reflected beam from the reference object is obtained from the distribution curved surface. As a result, the peak portion corresponding to the reflected beam from the reference object is easily and accurately extracted.

The method for adjusting the mounting angle of the vehicular radar apparatus according to the present invention is performed when extracting a peak portion corresponding to the reflected beam from the reference object.
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
Compare the width of the obtained angle range with a predetermined reference width,
Only when the width of the obtained angular range is less than the reference width, it is determined that the peak portion including the measurement point within the angular range in the distributed curved surface corresponds to the reflected beam from the reference object. And

  According to the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, when the peak portion is extracted, the reference is based on the width of the angle range that includes only the measurement points where the received electric field strength of all the measurement points is equal to or higher than the noise component. A peak portion corresponding to the reflected beam from the object is obtained from the distribution curved surface. Thereby, the peak portion corresponding to the reflected beam from the reference object is extracted with high accuracy.

The method for adjusting the mounting angle of the vehicular radar apparatus according to the present invention is performed when extracting a peak portion corresponding to the reflected beam from the reference object.
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
Comparing the width of the determined angle range with a predetermined reference width, and comparing the slope of the approximate curve of all measurement points within the angle range with a predetermined reference slope;
Only when the width of the obtained angle range is less than the reference width and the inclination is greater than or equal to the reference inclination, the peak portion including the measurement point within the angle range in the distribution curved surface corresponds to the reflected beam from the reference object. It is characterized by determining that it is.

  According to the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, the width of the angle range including only the measurement points at which the received electric field strength is greater than or equal to the noise component at the time of peak portion extraction and the angle range A peak portion corresponding to the reflected beam from the reference object is obtained from the distribution curved surface based on the slope of the approximate curve of the measurement point. Thereby, the peak portion corresponding to the reflected beam from the reference object is extracted with higher accuracy.

The method for adjusting the mounting angle of the vehicular radar apparatus according to the present invention is performed when extracting a peak portion corresponding to the reflected beam from the reference object.
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
The width of the obtained angle range is compared with a predetermined reference width, the slope of the approximate curve of all measurement points within the angle range is compared with a predetermined reference slope, and the number of measurement points within the angle range is determined in advance. Compare with the standard number to be determined,
Only when the width of the obtained angle range is less than the reference width, the inclination is greater than or equal to the reference inclination, and the number of measurement points is less than the reference number, the peak including the measurement points within the angle range in the distribution curved surface It is determined that the portion corresponds to the reflected beam from the reference object.

  According to the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, the width of the angle range including only the measurement points at which the received electric field strength is greater than or equal to the noise component at the time of peak portion extraction and the angle range A peak portion corresponding to the reflected beam from the reference object is obtained from the distribution curved surface based on the inclination of the approximate curve of the measurement point and the number of measurement points within the angle range. Thus, the peak portion corresponding to the reflected beam from the reference object is selected with higher accuracy.

The method for adjusting the mounting angle of the vehicular radar apparatus according to the present invention is performed when extracting a peak portion corresponding to the reflected beam from the reference object.
Obtain a parameter indicating the shape of the peak portion including the maximum value in the distribution curve,
Compare the determined parameter with a predetermined threshold,
Based on the comparison result, it is determined whether or not the peak portion including the maximum value of the distribution curve in the distribution curved surface corresponds to the reflected beam from the reference object,
The threshold value is set according to the distance from the vehicle to the reference object.

  According to the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, the threshold value to be compared with the parameter indicating the shape of the peak portion in the distribution curve when the peak portion is extracted depends on the distance from the vehicle to the reference object. Is set. As a result, the extraction accuracy of the peak portion corresponding to the reflected beam from the reference object is improved, so that the adjustment accuracy of the mounting posture of the radar apparatus is improved.

  The vehicle radar apparatus mounting angle adjustment method of the present invention is characterized in that only the peak portion corresponding to the reflected beam from the extracted reference object is displayed on the display means.

  According to the present invention, in the vehicle radar apparatus mounting angle adjustment method, only the peak portion corresponding to the reflected beam from the reference object is displayed for presentation to the operator. This further reduces errors in adjusting the mounting posture of the radar apparatus regardless of whether there are other objects in the space where the vehicle object and the vehicle are installed.

According to the vehicle radar apparatus mounting angle adjusting method of the present invention, a virtual axis line from the radar apparatus to the reference object and a predetermined standard of the radar apparatus according to the peak portion corresponding to the extracted reflected beam from the reference object. Obtain the angle measurement result, which is the angle formed with the axis,
The difference between the angle measurement result of the reference object and the predetermined zero point of the angle measurement result of the radar device is compared with a predetermined lower limit angle at which the standard axis can be aligned by the adjusting means,
When the angle measurement result of the reference object is more than the lower limit angle from the zero point of the angle measurement result, the display means displays that the direction of the standard axis should be adjusted by adjusting the adjustment means.

  According to the present invention, in the method for adjusting the mounting angle of the radar device for a vehicle, the adjustment means is adjusted by the operator only when the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is equal to or greater than a predetermined lower limit angle. Let Thus, only when the alignment of the standard axis is possible by physical adjustment of the adjusting means, the alignment of the standard axis using the adjusting means is performed, so that the alignment of the standard axis is facilitated.

According to the vehicle radar apparatus mounting angle adjusting method of the present invention, a virtual axis line from the radar apparatus to the reference object and a predetermined standard of the radar apparatus according to the peak portion corresponding to the extracted reflected beam from the reference object. Obtain the angle measurement result, which is the angle formed with the axis,
The difference between the angle measurement result of the reference object and the predetermined zero point of the angle measurement result of the radar device is compared with a predetermined lower limit angle at which the standard axis can be aligned by the adjusting means,
When the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is less than the lower limit angle, the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is used to correct the angle measurement result of the object. Memorize it as the offset amount used,
When the angle measurement result of the object is obtained, the offset amount is subtracted from the obtained angle measurement result, and the subtraction result is output as the angle measurement result of the object.

  According to the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, when the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is less than the reference angle, instead of physical adjustment of the adjustment means. The offset amount is set. The calculated angle measurement result is corrected by the offset amount when the object angle measurement result is calculated after the offset amount is set. As a result, when it is difficult to align the standard axis by physical adjustment of the adjusting means, the same angle measurement result as when the standard axis is aligned can be obtained without physical adjustment of the adjusting means. Is possible.

  According to the first aspect of the present invention, in the method for adjusting the mounting angle of the vehicular radar apparatus, the beam is scanned in the space in front of the vehicle with the reference object arranged in front of the vehicle. In the distribution curved surface with respect to the beam radiation direction and the separation distance of the received electric field strength of the electromagnetic wave received from the front of the vehicle received in parallel with the beam scanning, only the peak portion corresponding to the reflected beam from the reference object among all the peak portions. Accordingly, the mounting posture of the vehicle radar device with respect to the vehicle is adjusted. This makes it possible to accurately adjust the mounting posture of the radar device in a narrow space.

  According to the second aspect of the present invention, at the time of peak portion extraction, the received electric field strength is based on the measuring point having the maximum received electric field strength among the plurality of measuring points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at the reference distance. Thus, a peak portion corresponding to the reflected beam from the reference object is obtained. Thereby, the peak portion corresponding to the reflected beam from the reference object is easily and accurately extracted. Furthermore, according to the present invention of claims 3 to 5, an angle range including only a measurement point having a received electric field intensity equal to or higher than a noise component is obtained based on the plurality of measurement points at the time of peak portion extraction. A peak corresponding to the reflected beam from the reference object based on at least one of the width of the measurement curve, the slope of the approximate curve of the measurement points within the angular range, and the number of measurement points within the angular range A part is required. Thereby, the extraction accuracy of the peak portion is improved. According to the sixth aspect of the present invention, the threshold used at the time of peak portion extraction is set according to the distance from the vehicle to the reference object. This further improves the extraction accuracy of the peak portion corresponding to the reflected beam from the reference object.

  Furthermore, according to the present invention of claim 7, only the peak portion corresponding to the reflected beam from the reference object is visually displayed to the operator. This further reduces errors in adjusting the mounting posture of the radar device. According to the present invention of claim 8, the adjustment means should be adjusted only when the difference between the angle measurement result of the reference object based on the extracted peak portion and the predetermined zero point is equal to or larger than the reference angle. It is presented to the person. This facilitates the alignment of the standard axis. Furthermore, according to the present invention of claim 9, when the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is less than the reference angle, the object angle measurement result instead of the physical adjustment of the adjustment means. The offset amount used for the correction is set. As a result, when it is difficult to align the standard axis by physical adjustment of the adjusting means, the same angle measurement result as when the standard axis is aligned can be obtained without physical adjustment of the adjusting means. Is possible.

  FIG. 1 is a diagram showing an overall configuration of a mounting angle adjustment method for a vehicular radar apparatus according to a first embodiment of the present invention. The vehicular radar device 1 is mounted on a front portion 33 of a vehicle 13 such as an automobile. The vehicular radar apparatus 1 includes a radar unit 25, a driving unit 5 that drives a beam from the radar unit 25 around, for example, a vertical axis 6 that is vertical (see FIG. 3 to be described later), and drives a reciprocating angular displacement. The adjusting means 12 includes a radar means 25 and a driving means 5 that are integrally attached to the front portion 33 of the vehicle body of the vehicle 13 so that the mounting posture can be adjusted. The radar means 25 emits a beam 36 toward the front of the vehicle 13 (right side in FIG. 1), and receives a reflected beam from the detected object in parallel with the emitted beam 36, and thereby a distance to the detected object. Is detected. In another embodiment of the present invention, the driving unit 5 may be omitted, and the radar unit 25 may be attached to the vehicle 13 by the adjusting unit 12.

  An adjustment receiving antenna 39 is disposed at a predetermined reference position spaced forward from the vehicle 13. The adjustment receiving antenna 39 receives the radiation beam 36 from the radar means 25. After the adjustment, the receiving antenna 39 for adjustment has a directivity characteristic in a plane parallel to a vertical plane (a plane parallel to the sheet of FIG. 1) including the axis 21 (see FIG. 3 described later) in the straight traveling direction of the vehicle 13. Axis. Thus, when the beam 36 parallel to the axis 21 in the linear traveling direction of the vehicle 13 is radiated from the radar means 25, the adjustment receiving antenna 39 is arranged at the reference position which is the desired front position in the radiation direction of the beam 36. Will be. The output from the adjustment receiving antenna 39 is given to the signal processing means 41, whereby a signal related to the output of the adjustment receiving antenna 39 is displayed on the display means 42. The display means 42 is realized by, for example, a cathode ray tube or a liquid crystal display element, has a two-dimensional display screen, and displays the frequency signal level of the beam emitted from the radar means 25. The operator manually adjusts the adjustment means 12 so that the beam reception level of the adjustment reception antenna 39 displayed by the display means 42 is maximized at the front portion 33 of the vehicle 13, and the radar means 25 with respect to the vehicle 13. Adjust the mounting posture. During this adjustment, the driving means 5 remains set at a predetermined angle of the scanning angle displacement of the beam. At the time of adjustment, for example, the beam radiation direction viewed from the radar unit 25 is always maintained in the direction in which the beam detection angle φ detected by the angle detection unit 11 provided in the radar apparatus 1 is 0 degree.

  In order to position and set the vehicle 13 such as an automobile in a predetermined direction on the floor surface 56, vehicle positioning means 57 is provided on the floor surface 56. The vehicle positioning means 57 has a pair of rotatable rollers 61 and 62 arranged in front and rear of the driving wheel 58 of the vehicle 13 in the traveling direction of the vehicle 13 (rightward in FIG. 1). The rollers 61 and 62 have a right cylindrical shape and have a horizontal axis of rotation. The drive wheels 58 are rotationally driven in a state in which the left and right drive wheels 58 of the vehicle 13 are received by a pair of rollers 61 and 62 extending in parallel to a central axis common to the two drive wheels 58, whereby the vehicle 13, the center axis of the drive wheel 58 is displaced in the direction of the rotation axis of the rollers 61 and 62. As a result, the position parallel to the vertical plane passing through the axis 21 in the linear traveling direction of the vehicle 13 and on the axis passing through the radar means 25 and in front of the vehicle becomes the reference position, and thus this vertical plane. The vehicle 13 is positioned so that the beam axis of the directivity of the receiving antenna 39 for adjustment becomes parallel after adjustment. A pair of left and right freely rotating wheels 63 at the front of the vehicle 13 are partially fitted in a concave groove 64 formed in the floor surface 56 to prevent the vehicle 13 from moving forward when the drive wheels 58 are driven. To do. The lower surface of the wheel 63 is at an upper position spaced from the bottom 65 of the concave groove 64. The concave groove 64 is formed to extend parallel to the rotation axis of the rollers 61 and 62. When the drive wheel 28 is in the front portion 33 of the vehicle 13, the positions of the rollers 61 and 62 and the position 6 of the groove 64 shown in FIG.

  FIG. 2 is a block diagram showing an electrical configuration of the signal processing means 41. The output from the adjustment receiving antenna 39 is amplified by the high frequency amplifier 44 and supplied to the filter 45. A signal having only the frequency component of the beam 36 from the radar means 25 is extracted and filtered by the filter 45. The output from the filter 45 is given to the envelope detector 46 to obtain an envelope signal. The rectifier circuit 47 rectifies the output of the envelope detector 46, thereby obtaining a signal representing the received intensity of the beam 36 received from the radar means 25. The output of the rectifier circuit 47 is converted into a digital signal by an analog / digital converter 48 and is given to a processing circuit 49 realized by a microcomputer or the like for arithmetic processing. A signal derived from the processing circuit 49 to the line 51 is displayed on the display screen of the display means 42. In this way, the received level intensity of the beam from the radar means 25 received by the adjustment receiving antenna 39 is displayed. The arithmetic processing result of the processing circuit 49 is not only displayed by the display means 42 as described above, but also stored in the memory 52. If the mounting angle adjustment result of the radar means 25 in the vehicle 13 is stored in the memory 52, the maintenance becomes easy.

  The operator observes the display screen displayed on the display means 42 as described above, adjusts the adjustment means 12 so that the reception level of the beam received by the adjustment receiving antenna 39 is maximized, and the radar means. 25 mounting postures to the vehicle 13 are set.

  By receiving the beam 36 radiated from the radar means 25 by the adjustment receiving antenna 39, even if the beam is radiated to the outside of the adjustment receiving antenna 39, the adjustment receiving antenna 39 is installed. Since the reception intensity of the beam at the position can be accurately detected, there is no possibility that the adjustment work becomes inaccurate due to an obstacle such as a building existing in the surroundings, and accurate adjustment can always be performed.

  FIG. 3 is a simplified plan view of the vicinity of the front portion 33 of the vehicle 13. An attenuation member 54 is disposed between the radar means 25 and the adjustment receiving antenna 39, for example, in the vicinity of the front portion 33 of the vehicle 13. The attenuation member 54 attenuates the intensity of the beam 36 radiated from the radar means 25 and transmits it. The attenuation member 54 is formed in a flat plate shape in which, for example, the surface on the vehicle 13 side and the surface on the adjustment receiving antenna 39 side are parallel to each other. The beam 36 radiated from the radar means 25 is attenuated by the attenuation member 54 and transmitted therethrough and received by the adjustment receiving antenna 39. Therefore, the distance between the front portion 33 of the vehicle 13 and the adjustment receiving antenna 39 can be further shortened, and the adjustment work by the adjustment means 12 can be performed even in a narrow work space. In the present invention, such a damping member 54 may be omitted.

  FIG. 4 is a diagram showing the intensity of the beam 36 received by the adjustment receiving antenna 39 displayed on the display means 42. When the adjustment unit 12 changes the mounting posture of the radar unit 25 with respect to the vehicle 13 and the axis deviation angle θ formed by the beam 36 and the linear travel direction axis 21 of the vehicle 13 changes, the adjustment receiving antenna at the reference position is changed. The intensity level of the beam 36 from the radar means 25 received by 39 changes. In the present embodiment, the adjustment operation of the adjustment unit 12 is performed so that the attachment angle θ1 that maximizes the intensity level of the beam 36 received by the adjustment reception antenna 39 is obtained. This attachment angle θ1 is an angular position around the vertical axis 6 where the beam 38 from the radar means 25 is scanned.

  FIG. 5 is a simplified plan view of the vicinity of the radar means 25 according to the second embodiment of the present invention. In addition to the damping member 54, a damping member 55 is additionally provided. Thereby, the beam 36 radiated from the radar means 25 can be further attenuated. Therefore, it is possible to prevent the beam 36 having an excessive intensity from entering the adjustment receiving antenna 39. By preventing the beam 36 having an excessive intensity from entering the adjustment receiving antenna 39, the maximum value of the intensity of the received beam is accurately calculated and detected by the signal processing means 41 and displayed by the display means 42. Will be able to.

  The attenuation members 54 and 55 may have a thickness of about 2 mm, for example, and have a composition in which polypropylene and carbon powder are mixed. According to the experiment by the present inventor, when the attenuation members 54 and 55 are not used at all, the distance between the radar means 25 and the receiving antenna 39 for adjustment needs to be set to 80 m or more, for example. The distance can be shortened to, for example, about 60 to 80 m by using a single attenuation member 54 as shown in FIG. 5, and by using two attenuation members 54 and 55 as shown in FIG. The radar means 25 can be shortened to a distance of about 20 to 40 m by adding another one in addition to the attenuation members 54 and 55 and using a total of three attenuation members. It has been confirmed that the beam 36 can be received at an appropriate intensity by the adjustment receiving antenna 39.

  FIG. 6 is a vertical sectional view of a mounting angle adjusting support device 60 used in the mounting angle adjusting method for a vehicular radar apparatus according to the third embodiment of the present invention, and FIG. 7 is an embodiment shown in FIG. It is the horizontal sectional view which simplified the form of this. The configuration in which the vehicle radar device 1 is mounted on the front portion 33 of the vehicle 13 is the same as that of the above-described embodiment. In the third embodiment, an attachment angle adjustment support device 60 is provided. The support device 60 includes a beam darkroom 66. The beam dark room 66 has a housing 67, and the housing 67 has a measurement space 68 having a substantially rectangular parallelepiped shape. The height H1 of the measurement space 68 is about 3 to 5 m, for example, and the depth L1 from the opening 71 is selected to be 2 to 3 m, for example. The left and right width L2 of the measurement space 68 is set to a value that is slightly larger than the vehicle width of the vehicle 13 or equal to the width of the traveling lane of the lane of the traveling road, and may be, for example, 3 to 5 m. The front portion 33 on which the radar device 1 of the vehicle 13 is mounted faces the opening 71 of the housing 67. The configuration in which the vehicle positioning means 57 and the concave groove 64 are provided on the floor surface 56 is the same as in the above-described embodiment.

  A facing wall 69 is disposed in front of the beam darkroom 66 in front of the vehicle 13 (to the right in FIGS. 6 and 7). The facing wall 69 functions as a beam reflecting member that reflects the beam 36 emitted from the radar means 25 of the radar apparatus 1 in the incident direction of the beam. A surface 72 on the opening 71 side of the facing wall 69 is, for example, in a vertical plane, and is perpendicular to the axis 21 in the linear traveling direction of the positioned vehicle 13.

  Beam absorbers 77 to 80 for the inner surface are provided on the upper, lower, left and right peripheral walls which are the inner surface of the housing 67. In this way, the beam absorbers 77 to 80 are fixed to the inner surface in front of the surface 72 of the facing wall 69 facing the measurement space 68 (left side in FIGS. 6 and 7). The beam absorbers 77 to 80 serve to absorb the beam 36 emitted from the radar means 25, may have the same composition as the attenuation members 54 and 55, and are tapered toward the measurement space 68. Alternatively, it is formed in a triangular prism shape or the like. Therefore, the beam components radiated from the radar means 25 undesirably left and right and up and down are absorbed by these beam absorbers 77 to 80, so that no irregular reflection of the beam occurs, and an undesired beam is generated in the radar means 25. There is no risk of being received. As a result, the mounting angle adjustment operation can be performed accurately.

  A front beam absorber 82 is detachably mounted on the upper surface 72 of the facing wall 69 facing the measurement space 68. Only the surface 72a of the area to be detected by the beam emitted by the radar means 25 is exposed on the facing wall 69, and the beam absorber 82 is mounted on the remaining surface as described above. The beam absorber 82 may be disposed in the vicinity of the upper portion of the facing wall 69, and can be selectively attached and detached in the width direction on the left and right sides of the surface 72 as indicated by reference numeral 83 in FIG. It may be arranged.

  In this way, the beam 36 is radiated from the radar means 25 of the radar apparatus 1 in such a posture that the axis 21 of the vehicle 13 faces the surfaces 72 and 72a of the opposing wall 69 perpendicularly. This beam is reflected by the surfaces 72, 72 a of the facing wall 69, and the reflected beam is received by the radar means 25. While observing the intensity level of the reflected beam received by the radar means 25 with the display means 38 shown in FIG. 9 described later, the operator adjusts the adjusting means 12 so that the intensity level becomes maximum. Other configurations are the same as those of the above-described embodiment.

  FIG. 8 is a view for explaining still another attachment angle adjusting operation in the embodiment of FIGS. 6 and 7. The adjustment means 5 changes the axis of the beam 36 radiated from the radar means 25 as indicated by the elevation angle θu with respect to the horizontal axis 86, and the reflected beam from the facing wall 69 is changed by the radar means 25 and the display means 38. Observation and adjustment work of the adjustment means 5 can be performed. Instead of the elevation angle θu, the downward depression angle may be adjusted. When the support device 60 having the configuration shown in FIGS. 6 and 7 is used, at the time of adjusting the elevation angle and depression angle, at least a part of the beam absorber 82 of the opposing wall 69 provided facing the measurement space 68 is selectively selected. Can be attached and detached for work.

  Further, in the third embodiment shown in FIGS. 6 to 8, an attenuation member 54 that attenuates the beam 36 of the radar means 25 may be further disposed between the radar means 25 and the facing wall 69.

FIG. 9 is a block diagram showing an electrical configuration of the radar apparatus 1. Scanning FM-CW (
The sensor device 2 of the radar means 25 of the frequency modulation-continuous wave) radar device 1 is mounted on a vehicle such as an automobile. The transmitting antenna 3 emits a beam of a high-frequency signal in the millimeter wave band or a beam such as a laser beam in front of the vehicle. The reflected beam from the detected object is received by the receiving antenna 4. This sensor device 2 is connected to the drive means 5.

  FIG. 10 is a waveform diagram for explaining the operation for obtaining the distance between the detected object and the radar apparatus 1 by the radar means 25 shown in FIG. FIG. 11 is a waveform diagram for explaining the operation for obtaining the relative velocity between the detected object and the radar apparatus 1 by the radar means 25 shown in FIG. Please refer to FIGS. In the sensor device 2 of the radar means 25, the modulation signal generator 27 generates a triangular wave-like modulation signal having a frequency of, for example, 750 Hz. The oscillator 28 outputs a transmission signal 34 obtained as a result of frequency modulation (abbreviated as FM) of a carrier wave signal having a high frequency in the millimeter wave band in accordance with the modulation signal. A beam corresponding to the transmission signal 34 that is an FM modulated carrier wave signal is radiated from the transmission antenna 3 toward the detected object. The beam reflected by the detected object is received by the receiving antenna 4, and a received signal in response to the reflected beam is given from the receiving antenna 4 to the mixer 29. The transmission signal 34 is also given to the mixer 29 from the oscillator 28 via the directional coupler 31. The mixer 29 mixes the transmission signal 34 and the reception signal 35 and outputs a beat signal of the radiation beam and the reflected beam. The beat signal having the beat frequency fb is amplified by the amplifier 32 and supplied to the processing circuit 24 via the line 23.

If the relative velocity v of the detected object with respect to the radar means 25 is 0, as shown in FIG. 10, the received signal 35 in response to the reflected beam from the detected object received by the receiving antenna 4 is The transmission signal 34 is delayed by a time tr proportional to the distance frequency fr corresponding to the distance Rx to the detected object. If the relative velocity v of the detected object with respect to the radar means 25 is not 0, the received signal 35 in response to the reflected beam from the detected object is not only delayed but also the frequency of the received signal as shown in FIG. The center frequency of the change is shifted from the frequency f0 of the carrier wave signal by the velocity frequency fd corresponding to the relative velocity with respect to the detected object. The beat frequency fb of the beat signal derived from the mixer 29 is expressed by Equation 1. Note that, within the period in which the frequencies of the transmission signal 34 and the reception signal 35 are increasing, the difference between the distance frequency fr and the velocity frequency fd is equal to the beat frequency fb, and the frequencies of the transmission signal 34 and the reception signal 35 are respectively Within the decreasing period, the sum of the distance frequency fr and the velocity frequency fd becomes equal to the beat frequency fb.
fb = fr ± fd (1)

The modulation width of the modulation signal from the modulation signal generation circuit 27 is ΔΩ, the modulation wave period is T, c is the speed of light, Rx is the distance between the radar means 25 and the detected object, and v is the detected object. And f0 is the transmission center frequency of the oscillator 28 that generates the carrier signal, Equations 2 and 3 hold. Therefore, in the FM-CW radar type radar apparatus 1, the processing circuit 24 sets the beat frequency fd of the beat signal in the frequency increase period of the transmission signal 34 and the reception signal 35 and the frequency decrease period of the signals 34 and 35, respectively. The distance frequency fr and the velocity frequency fd are obtained based on the beat frequency fb and the equation 1, and the detected object and the radar unit 25 are obtained based on the distance frequency fr, the velocity frequency fd, the equations 2 and 3, and Relative distance Rx and relative velocity vx are calculated.
fr = 4 · ΔΩ · T · Rx / c (2)
fd = 2 · f0 · v / c (3)

  The processing circuit 24 is also provided with an output representing the beam radiation angle φ detected by the angle detector 11. The calculation result by the processing circuit 24 is displayed on the display means 38 such as a cathode ray tube or a liquid crystal display element. Thus, the position of the detected object can be known from the distance R and the radiation angle φ. A memory 40 is connected to the processing circuit 24.

  The line 23 may further be provided with a connection terminal. In this case, the intensity level of the reflected beam received by the receiving antenna 4 can be displayed by a display unit different from the display unit 38 connected to the radar unit 25. The display screen of the display means can be observed by an operator who adjusts the adjusting means 36. In the first embodiment, the display unit 38 may be omitted from the radar device 1.

  FIG. 12 is a front view showing a part of the mechanical configuration of the vehicular radar apparatus 1. The radar means 25 is attached to the front portion 33 of the vehicle 13 so that the transmission antenna 3 and the reception antenna 4 described above face the front. On the radar means 25, upper brackets 92 and 93 and lower brackets 94 and 95 are fixed vertically on the left and right sides. Bolts 96 to 99 are inserted into the brackets 92 to 95.

  FIG. 13 is a cross-sectional view showing the vicinity of the bracket 92 and the bolt 96 as seen from the cutting plane line AA of FIG. The bolt 96 is inserted through the free hole 101 formed in the bracket 92. The bolt 96 has a threaded portion 102. Attachment pieces 103 and 104 are suspended and fixed to the front portion 33 of the vehicle 13. A nut member 105 is fixed to the attachment piece 103. The screw portion 102 of the bolt 96 is screwed into the screw hole 106 of the nut member 105. A compression spring 107 is interposed between the upper bracket 92 and the mounting piece 103. The bolt 98 of the lower bracket 94 has the same configuration, and the other mounting piece 104 and the bolts 97 and 98 have the same configuration as that shown in FIG. Therefore, by adjusting these bolts 96 to 99 by angular displacement, the direction of the beam 36 radiated from the radar means 25 and hence the mounting angle θ can be adjusted. That is, all the brackets, bolts, and compression springs are included in the adjusting means 12.

  In order to scan the beam emitted from the radar means 25 with angular displacement, the driving means 5 may be configured to angularly displace the radar means 25 by a mechanical configuration, or only the transmission antenna and the reception antenna of the radar means 25. May be configured to mechanically angularly displace. Further, the driving means 5 may angularly displace the angles of the transmission wave and the reception wave by an electrical method. For example, a phased array antenna is used as the transmission antenna and the reception antenna, and the radiation is radiated from each antenna element of the phased array antenna. It is good also as a structure which changes the phase difference of the beam of electromagnetic waves.

  FIG. 14 is a schematic diagram for explaining a method for adjusting the mounting angle of the radar device for a vehicle according to the fourth embodiment of the present invention, and is a view of the vehicle 13 on which the radar device 1 is mounted as viewed from above in the vertical direction. It is. In the mounting angle adjusting method according to the present embodiment, the radar apparatus 1 is configured such that a predetermined standard axis 121 that is a reference for object measurement angle in the radar apparatus 1 is parallel to a vertical plane including the linear travel direction axis 21 of the vehicle 13. Adjust the mounting position. In the description of the fourth embodiment, the constituent elements described in the first to third embodiments are denoted by the same reference numerals used in the description of the above-described embodiments, and detailed description thereof is omitted. doing. The same applies to the second to third embodiments.

  In the mounting angle adjusting method described with reference to FIG. 14, a reference object 122 used for alignment of the standard axis 121 is installed at a reference position that is in front of the vehicle 13 and is separated from the vehicle 13 by a predetermined distance. . An imaginary straight line passing through the vehicle 13 and the reference object 122 is parallel to a vertical plane including the axis line 21 in the straight traveling direction of the vehicle 13. Preferably, the radar apparatus 1 is located in a vertical plane including a virtual straight line passing through the vehicle 13 and the reference object 122. The reference object 122 can be regarded as a point-like object when the radar apparatus 1 detects the object.

  The reference 122 considered as a point target is realized, for example, with a corner reflector. The corner reflector is a prism-like object whose horizontal cross section parallel to the floor surface 56 on which the vehicle 13 is placed is a right triangle. An electromagnetic wave incident from one side surface not orthogonal to the other two side surfaces of the three side surfaces of the corner reflector is reflected in a direction parallel to the incident direction of the electromagnetic wave by the remaining two side surfaces orthogonal to each other. At the reference position, the corner reflector is installed with the surface on which the electromagnetic wave is incident and emitted facing the vehicle 13.

  The radar apparatus 1 to be adjusted in the present embodiment is a scan type, and causes the beam to scan a space in front of the vehicle while changing the radiation direction of the beam around a predetermined vertical axis 6 over time. A standard axis 121 is included in an azimuth plane that always includes the radiation direction of the scanned beam. An angle formed by the axis of the beam reflected by the object and the angle standard plane including the vertical axis 6 and the standard axis 121 is obtained as an angle measurement result φ of the object. In addition to the configuration of the radar apparatus 1 described with reference to FIG. 9, the processing circuit 24 in the radar apparatus 1 has a fourth embodiment in order to adjust the zero point φc. The radar unit 25 and the drive unit 5 are further controlled as an optical axis adjustment mode according to the mounting angle adjustment method of the embodiment.

  When the object is located on the standard axis 121, the angle formed between the axis of the reflected beam from the object and the angle standard plane is 0 degree, and the angle measurement result of the object in this case is the zero point φc in the radar apparatus 1. . The radiation angle detected by the angle detection means 11 of the radar apparatus 1 when the beam is radiated toward the object on the standard axis 121 is 0 degree. When the radar apparatus 1 is a scan type, the radiation angle φ, which is the angle formed between the radiation direction of the beam and the angle standard plane, is the angle formed between the arrival direction of the reflected beam from the object in the radiation direction and the angle standard plane. Is equal to the angle of arrival. The standard axis 121 of the radar apparatus 1 after the mounting posture adjustment is parallel to the vertical plane including the vehicle linear travel direction axis 21.

  FIG. 15 is a flowchart for explaining an attachment angle adjusting method according to the fourth embodiment. In step S <b> 0, first, the vehicle 13 and the reference object 122 are aligned so that the reference object 122 is arranged at the reference position in front of the vehicle 13. At the time of alignment, the vehicle positioning means 57 described with reference to FIG. 1 is preferably used. Next, in step S2, in the radar apparatus 1, a processing operation for object detection is performed a plurality of times while sequentially changing the beam radiation angle φ. The processing operation for object detection at an arbitrary radiation angle φ includes beam radiation from the radar means 25 to the radiation angle φ and measurement of the received electric field strength of the electromagnetic wave received by the receiving antenna 4 directed to the radiation angle φ. Including.

  In step S3, a peak portion 125 corresponding to the reflected beam from the reference object 122 is extracted in the distribution curved surface 124 indicating the distribution of the received electric field intensity of the received electromagnetic wave with respect to the separation distance from the vehicle and the radiation angle φ. . The distribution curved surface 124 is defined based on the beat signal at each actual radiation angle of the beam.

In order to extract the peak portion 125 corresponding to the reflected beam from the reference object 122, first, the distribution of the received electric field strength with respect to the radiation angle φ at a predetermined reference distance RC based on the beat signal at each actual radiation angle of the beam. N points on the distribution curve 126 indicating the above are obtained as measurement points. The number N of measurement points may be 2 or more, for example, 16. The reference distance RC is preferably equal to the distance R _TARGET from the vehicle 13 to the reference object 122. Radiation angles φ1 to φN for obtaining measurement points are equal to, for example, the angles at which the beam is actually emitted in the processing operation for object detection described above.

  The measurement point calculation procedure is, for example, as follows. If the amplified beat signal is Fourier transformed for each actual radiation angle of the beam, a signal level distribution with respect to the frequency of the beat signal is obtained for each actual radiation angle. If the relative velocity between the radar apparatus 1 and the object is 0 km / s, the frequency fb of the beat signal is equal to the distance frequency fr, so the frequency fb is uniquely replaced with the separation distance R from the vehicle 13. If the intensity of the emitted beam is always kept at a predetermined value, the signal level of the beat signal is uniquely replaced with the received electric field intensity. As a result, the distribution of the received electric field strength E with respect to the separation distance R is obtained for each actual radiation angle of the beam. Next, for each radiation angle φ1 to φN at which the measurement point is to be sampled, the distribution field of the received electric field strength E with respect to the separation distance R at the radiation angle φn (n is an arbitrary integer not smaller than 1 and not larger than N) is compared with the reference distance RC. Received field strength is required. The obtained received electric field strength is used as the received electric field strength at the measurement point with respect to the radiation angle φn.

  A graph in which measurement points are plotted on a plane defined by the radiation angle axis and the reception electric field strength axis corresponds to a two-dimensional distribution graph showing the distribution of the reception electric field strength with respect to the radiation angle φ at the reference distance RC. If the received electric field strength E obtained based on the beat signal is plotted against the radiation angle φ and the separation distance R from the vehicle 13, the radiation angle φ and the separation distance R as shown in FIG. A three-dimensional distribution graph showing the distribution of received electric field strength with respect to is obtained. In the three-dimensional distribution graph, a cut surface 128 that is parallel to the radiation angle axis and the received electric field strength axis and passes through the point of the reference distance RC on the separation distance axis corresponds to the above-described two-dimensional distribution graph. A cut surface parallel to the distance axis and the received electric field intensity axis corresponds to the graph of the Fourier transform result described above. In FIG. 16, the white circle marked on the cut surface passing through the point of the reference distance RC corresponds to the measurement point.

  After the measurement points are calculated, a measurement point on the peak portion 125 corresponding to the reference object 122 is selected from the distribution curve 126 of the received electric field strength with respect to the radiation angle at the reference distance RC in the two-dimensional distribution graph in which the measurement points are plotted. . For this purpose, a parameter indicating the distribution shape of the measurement points is obtained. Based on the parameters, only the measurement points on the peak portion 125 corresponding to the reflected beam from the reference object 122 out of all the N measurement points. Selected. A portion including the selected measurement point in the distribution curved surface 124 is regarded as a peak portion 125 corresponding to the reference object 122. There are four measurement point selection methods, as will be described later.

  After the peak portion extraction, only the extracted peak portion 125 in the distribution curved surface 124 is displayed on the display unit 38 of the radar apparatus 1. FIG. 17 is a graph showing an enlarged view of a portion including the detected peak portion 125 corresponding to the detected reference object 122 in the distribution curve 126 of the received electric field strength with respect to the radiation angle at the reference distance RC. In the two-dimensional distribution graph of FIG. 17, measurement points are indicated by black circles. When only one measurement point is selected, or when less than the number of measurement points required in the processing described below is selected, the graph of the peak portion 125 corresponding to the reference object 122 is preferably selected. Other measurement points in the vicinity of the measured measurement point are also included.

  Subsequently, in step S4, the angle measurement result φt of the reference object 122 is calculated based on the graph of the peak portion 125 corresponding to the reference object 122 shown in FIG. When there are two or more measurement points in the peak portion 125, statistics of all the measurement points in the peak portion 125 are obtained, and the statistical result is set as an angle measurement result φt of the reference object 122. For example, the center of gravity of all selected measurement points is obtained, and the radiation angle corresponding to the center of gravity is the angle measurement result φt of the reference object 122. Further, for example, an approximate curve of all selected measurement points is obtained, and the radiation angle corresponding to the maximum value of the approximate curve becomes the angle measurement result φt of the reference object 122.

  In step S5, an angle difference Wφ between the obtained angle measurement result φt of the reference object 122 and the zero point φc in the current radar apparatus 1 is obtained. The obtained angle difference Wφ is compared with a predetermined lower limit angle difference that enables alignment of the standard axis 121 using the adjusting means 12. The lower limit angle difference is, for example, 1 degree. Since the imaginary axis passing through the vehicle 13 and the reference object 122 is parallel to the vertical plane including the linear travel direction axis 21 of the vehicle 13, the angle difference Wφ between the angle measurement result φt of the reference object 122 and the zero point φc is the standard axis 121. And the angle formed by the vertical plane including the straight travel direction axis 21.

  When the angle measurement result φt of the reference object 122 is more than ± 1 degree from the current zero point φc, the absolute value of the angle difference Wφ between the angle measurement result φt of the reference object 122 and the current zero point φc is the lower limit. If the angle difference is greater than or equal to the angle difference, the operator is informed in step S6 that the standard axis 121 should be adjusted by adjusting the adjusting means 12. Such a presentation is visually displayed on the display means 38 of the radar apparatus 1. The operator physically adjusts the adjusting unit 12 so that the standard axis 121 of the radar device 1 is parallel to the vehicle linear traveling direction while viewing the presentation content displayed on the display unit 38 of the radar device 1. Thereby, the adjustment means 12 is adjusted only when the standard axis 121 can be adjusted by physical adjustment of the adjustment means 12. When the physical adjustment of the adjustment unit 12 is presented, the adjustment amount of the adjustment unit 12, for example, four brackets 92 to, according to the angle difference Wφ between the angle measurement result φt of the reference object 122 and the current zero point φc. The amount of angular displacement of the bolts 96 to 99 inserted through 95 may be further presented. Accordingly, the standard axis 121 is easily aligned by adjusting the mounting posture of the radar apparatus 1.

  When the angle measurement result φt of the reference object 122 falls within the range of less than ± 1 degree from the current zero point φc, that is, the absolute value of the angle difference Wφ between the angle measurement result φt of the reference object 122 and the current zero point φc is When the difference is less than the lower limit angle difference, the mounting posture of the radar apparatus 1 is adjusted by the physical adjustment of the adjusting means 12 in step S7 so that the standard axis 121 is parallel to the vertical plane including the vehicle linear travel direction axis 21. Is extremely difficult. In this case, the processing circuit 24 of the radar apparatus 1 directly shifts to the automatic adjustment mode without presenting the adjustment of the adjustment unit 12. In the automatic adjustment mode, the angle difference Wφ between the angle measurement result φt of the reference object 122 and the current zero point φc is learned as an offset amount of the object angle measurement result. The learned offset amount is stored in the memory 40 of the radar apparatus 1. When the radar apparatus 1 is actually used after learning, the offset amount is subtracted from the angle measurement result φt of the object calculated by the method described above, and the angle measurement result after subtraction is output. As a result, even if the adjustment means 12 is not physically adjusted, an angle measurement result similar to the state in which the standard axis 121 is parallel to the vehicle linear travel direction axis 21 can be obtained. After the processes in steps S6 and S7 are completed, the attachment position adjustment is completed.

  As described above, when the method for adjusting the mounting position of the radar apparatus 1 according to the fourth embodiment is used, it corresponds to the reflected beam from the reference object 122 from within the distribution curved surface 124 of the received electric field strength with respect to the separation distance and the radiation angle. The peak portion 125 to be extracted is extracted, and the standard axis 121 is aligned based only on the extracted peak portion 125. As a result, as shown in FIG. 14, even if the object 129 other than the reference object 122 exists around the reference object 122, the peak portion in the distribution curved surface corresponding to the reflected beam from the object 129 other than the reference object 122 is obtained. Based on this, it is possible to prevent the standard axis 121 from being aligned. Thereby, regardless of whether or not there is another object 129 in the space where the reference object 122 and the vehicle 13 are installed, the adjustment error of the radar device 1 mounting posture for the alignment of the standard axis 121 is reduced. It becomes possible to accurately align the standard axis 121 in a narrow space. Further, when the method for adjusting the mounting position of the radar apparatus 1 according to the present embodiment is used, the alignment of the standard axis 121 can be simplified.

  The first to fourth measurement point selection methods corresponding to the reflected beam from the reference object 122 will be described in detail with reference to FIG.

In the first selection method, among the N total measuring points, the received signal strength is selected if the measurement point [psi _MAX is the maximum reception field strength E _MAX provisional selected measurement point PusaiE _MAX is predetermined Is compared with a reference intensity EC1 of 1. Only when the received electric field strength E _MAX provisional selected measurement point PusaiE _MAX is the first reference intensity EC1 above, the peak portion 125 corresponding to the reflection beam from the preliminary selected measurement point PusaiE _MAX is referents 122 Selected as the upper measurement point.

  The first selection method is used for the reference object 122 out of the reflected beam from the object located at the reference distance RC from the vehicle 13 in the space prepared for the alignment of the standard axis 121. This is because the intensity of the received electric field of the reflected beam from is expected to be the strongest. Thereby, the measurement point on the peak portion 125 corresponding to the reflected beam from the reference object 122 can be selected most easily. The first reference intensity EC1 is set, for example, to be an expected minimum value of the received electric field intensity of the reflected beam from the reference object 122 located at a position away from the vehicle 13 by the reference distance RC.

As a second selection method, a peak in the distribution curve 126 of the received electric field strength E with respect to the radiation angle φ at the reference distance RC described above, that is, in the approximate curve passing through all the measurement points in the two-dimensional distribution graph in which all the measurement points are plotted. An angle range corresponding to the portion is temporarily selected, and the width WP of the temporarily selected angle range is compared with a predetermined reference width WPC. Specifically, as an angle range corresponding to the peak portion, an angle range that includes only measurement points having a reception electric field strength equal to or higher than a predetermined second reference strength EC2 out of all N measurement points is temporarily selected. Preferably, the lower limit value of the temporarily selected angle range is set to the minimum value φp _MIM of the radiation angles of the measurement points included in the angle range, and the upper limit value of the temporarily selected angle range is the angle range. Is set to the maximum value φp _MAX of the radiation angles of the measurement points included in the. Only when the width WP of the temporarily selected angle range is less than the reference width WPC, all the measurement points in the temporarily selected angle range are measured points on the peak portion 125 corresponding to the reflected beam from the reference object 122. Selected.

  The second selection method is used because the reference object 122 is an object that is regarded as a point target. Therefore, in the above-described distribution curved surface 124, the peak corresponding to the reference object 122 rather than the peak portion corresponding to another object. This is because the portion 125 is expected to be steeper. As a result, the measurement point corresponding to the reflected beam from the reference object 122 can be selected with high accuracy. The second reference intensity EC2 is preferably set to a value that exceeds the noise component of the two-dimensional distribution graph described above. The reference width WPC is set, for example, so as to be an expected maximum value of the width of the peak portion 125 corresponding to the reflected beam from the reference object 122 located at a position away from the vehicle 13 by the reference distance RC.

As a third selection method, first, in the two-dimensional distribution graph in which all measurement points are plotted, an angle range corresponding to the peak portion in the above distribution curve 126 is temporarily selected, and the width WP of the angle range is the reference width WPC. To be compared. The provisional selection method of the angle range and the comparison method of the width WP are equal to the second selection method. Next, an inclination Aψ of the approximate curve of the measurement point within the temporarily selected angle range is obtained, and the obtained inclination is compared with a predetermined reference inclination. In order to calculate the inclination, among all the measurement points in the temporarily selected single angle range, the measurement point ψ _MAX having the maximum received electric field intensity and the minimum measurement point ψ _MIM are selected, and the coordinates of the two-dimensional distribution graph are selected. The inclination of the virtual straight line passing through the minimum measurement point and the maximum measurement point in the system is calculated, and the calculated inclination is regarded as the inclination Aψ of the approximate curve. Only when the width of the temporarily selected angle range is less than the reference width and the slope Aψ of the approximate curve of the measurement points in the angle range is greater than or equal to the reference slope AψC, all the measurement points in the temporarily selected angle range Is selected as the measurement point of the peak portion 125 corresponding to the reflected beam from the reference 122.

  The third selection method is used because the peak portion 125 corresponding to the reference object 122 is expected to be steeper than the peak portion corresponding to another object. Thereby, the measurement point on the peak portion 125 corresponding to the reflected beam from the reference object 122 can be selected with higher accuracy. For example, the reference inclination AψC is set so as to be an expected minimum value of the inclination of the peak portion 125 corresponding to the reflected beam from the reference object 122 located at a position away from the vehicle 13 by the reference distance RC. .

  As a fourth selection method, first, in a two-dimensional distribution graph in which all measurement points are plotted, an angle range corresponding to the peak portion in the distribution curve 126 is temporarily selected, and the width of the temporarily selected angle range is selected. The WP is compared with the reference width WPC, and the slope Aψ of the approximate curve of the measurement point within the angle range is compared with the reference slope AψC. The provisional selection method of the angle range and the inclination calculation method of the peak portion 125 are the same as the third selection method. Further, the number of measurement points included in the temporarily selected angle range is counted, and the counted number of measurement points is compared with a predetermined reference number. The width of the temporarily selected angle range is less than the reference width, the slope Aψ of the peak portion 125 in the angle range is greater than or equal to the reference slope AψC, and the number of measurement points in the angle range is less than the reference number. Only if, all measurement points within the tentatively selected angular range are selected as measurement points corresponding to the reflected beam from the reference object 122.

  The fourth selection method is used because the peak portion 125 corresponding to the reference object 122 is expected to be steeper than the peak portion 125 corresponding to another object in the above-described two-dimensional distribution graph. Because. As a result, the measurement point on the peak portion 125 corresponding to the reflected beam from the reference object 122 can be selected with higher accuracy. For example, the reference number is set so as to be an expected maximum value of the measurement point on the peak portion 125 corresponding to the reflected beam from the reference object 122 located at the reference distance RC from the vehicle 13. Yes.

In the first to fourth selection methods described above, the maximum value of the received electric field intensity at the measurement point, the width of the angle range, the slope of the approximate curve of all measurement points within the angle range, and the number of measurement points within the angle range are , A parameter representing the shape of the temporarily selected peak portion in the distribution curved surface 124. As the object reflecting the beam is further away from the vehicle 13, the maximum value of the peak portion corresponding to the object becomes smaller and the peak portion becomes broader. For this reason, more preferably, the various threshold values compared with the parameters in the first to fourth selection methods are set according to the distance R _TARGET from the vehicle 13 to the reference object 122. For example, as the distance R _TARGET from the vehicle 13 to the reference object 122 increases, the first reference strength EC1 decreases. Further, for example, as the distance R _TARGET from the vehicle 13 to the reference object 122 is increased, the reference width WPC of the peak portion angle range is increased, the reference inclination AψC of the peak portion is reduced, and the reference number of measurement points in the angle range is increased. Will increase. As a result, the measurement point corresponding to the reflected beam from the reference object 122 can be selected with high accuracy regardless of the distance R _TARGET from the vehicle 13 to the reference object 122, so that the alignment accuracy of the standard axis 121 is improved. To do.

  In the fourth embodiment, instead of the radar apparatus 1 having the optical axis adjustment mode, an inspection apparatus that operates according to the mounting angle adjustment method of the fourth embodiment is prepared separately. The radar apparatus 1 of FIG. In addition to the configuration of FIG. 9, the configuration may include an output terminal for outputting the processing result of the processing circuit 24 in the radar device 1. In this case, the processing means in the inspection apparatus is connected to the output terminal of the radar apparatus 1. The processing means of the inspection apparatus controls the operation of the radar means 25 and the driving means 5 of the radar apparatus 1 for adjusting the mounting posture, analyzes the processing result of the processing means of the radar apparatus 1, and inspects the analysis result. It is displayed on the display means of the apparatus.

  In the fourth embodiment, instead of the reference object 122, the facing wall 69 of the beam dark room 66 described with reference to FIGS. 6 to 8 may be used. Furthermore, at least one attenuation member described with reference to FIGS. 1 to 5 is preferably interposed between the reference object 122 and the radar apparatus 1. This enables the alignment of the standard axis 121 in a narrower space. In the fourth embodiment, the radar apparatus 1 configured to scan a beam in a substantially horizontal azimuth plane has been described. However, the radar apparatus 1 configured to scan a beam is not limited to this, and the beam is not limited to this. The mounting position adjusting method of the fourth embodiment can also be applied to the radar apparatus 1 configured to change the elevation angle and the depression angle. Further, in the radar apparatus 1 having no driving means, the beam is emitted while changing the mounting posture of the radar means 25 with respect to the vehicle by the adjusting means 12 for scanning the space ahead of the vehicle by the beam, and the standard axis line in the initial mounting posture is radiated. The position may be used as a reference for angle measurement.

The following embodiments are possible for the present invention.
(1) A radar unit that is provided in a vehicle, emits a beam toward the front, receives a reflected beam from the detected object, and detects the detected object; and an attitude of attaching the radar unit to the vehicle can be adjusted. In a method for adjusting the mounting angle of a vehicular radar apparatus including an adjusting means for mounting, a receiving antenna for adjustment is disposed at a predetermined reference position with a space forward from the vehicle, and a signal related to the output of the receiving antenna for adjustment is provided. A mounting angle adjusting method for a vehicular radar apparatus, characterized in that a display means for displaying is arranged in the vicinity of the adjusting means, and the adjusting means is adjusted while observing the output of the displaying means.

  The radar means is attached to the front portion of the vehicle, for example, so that the attachment posture can be adjusted by the adjustment means. The beam emitted from the radar means to the front of the vehicle is received by an adjustment receiving antenna disposed at a predetermined reference position in front of the vehicle. The reference position may be parallel to a vertical plane including the axis of the vehicle in the straight traveling direction and on an axis passing through the radar means, that is, a front position in front of the radar means. That is, the predetermined reference position is a position on a straight line that is parallel to a vertical plane including an axis line in the straight traveling direction of the vehicle, and may be, for example, the front front of the radar means. The output of the receiving antenna for adjustment received by the receiving antenna for adjustment is given to the display means as it is directly or after being subjected to arithmetic processing. This display means is arranged in the vicinity of the adjusting means to which the vehicle radar device is mounted. The operator adjusts the adjusting means while observing the output of the display means.

  Therefore, the adjustment receiving antenna receives the beam from the radar means as described above, and a signal related to the output of the adjustment receiving antenna is displayed on the display means. Therefore, the radar means, the adjustment receiving antenna, Even if there are buildings and other obstacles in places other than the path through which the beam passes, the output of the adjustment receiving antenna does not change. As a result, the mounting posture of the radar means can be accurately adjusted to the vehicle by the adjusting means and attached to the vehicle. The radar means may be adjusted so that the emitted beam always has an axis parallel to the axis of the vehicle in the linear travel direction. Further, in the radar means, for example, when a beam is scanned around a vertical axis that is vertical and substantially in a horizontal plane, a predetermined value of an angle φ around the vertical axis is set on a vertical plane including the axis of the vehicle. It is also possible to adjust the radar means by the adjusting means so as to coincide with the angle measurement result of the object in the parallel direction.

  The attitude of mounting the radar means for radiating the beam of the radar device for a vehicle to the vehicle, that is, the mounting angle can be adjusted even in a narrow space without requiring a large space in front of the vehicle. It becomes like this. That is, in the present invention, the beam from the radar means is received by the adjustment receiving antenna, and the display means arranged in the vicinity of the adjustment means displays a signal related to the output of the adjustment receiving antenna. Adjustment work can be easily performed, and disturbance due to reflection of a beam by a nearby building or the like can be prevented.

  (2) A method for adjusting the mounting angle of a vehicular radar apparatus, wherein an attenuation member that attenuates and transmits the beam intensity is interposed between the radar means and the adjustment receiving antenna.

  Since the attenuation member is interposed between the radar means and the adjustment reception antenna, the beam from the radar means is attenuated by the attenuation member and reaches the adjustment reception antenna. Therefore, it is possible to prevent a beam having a high intensity from being received by the receiving antenna, shorten the distance between the radar means and the adjusting receiving antenna as much as possible, and further reduce the working space. The attenuation member has a configuration in which the incident surface and the emission surface are parallel plates so that the electromagnetic wave is partially absorbed and transmitted, and the incident beam and the emission beam transmitted through the attenuation member are parallel to each other. May be.

  Since the attenuation member is interposed between the radar means and the adjustment receiving antenna so as to attenuate the beam intensity, the distance between the radar means and the adjustment receiving antenna can be shortened as much as possible, and the working space can be further reduced. Can be done.

  (3) A radar unit that is provided in a vehicle, emits a beam toward the front, receives a reflected beam from the detected object, and detects the detected object; and an attitude of attaching the radar unit to the vehicle can be adjusted. In the method for adjusting the mounting angle of the vehicular radar apparatus including the adjusting means to be mounted, the detected object is arranged at a predetermined reference position with a space forward from the vehicle, and between the radar means and the detected object, A method for adjusting the mounting angle of a vehicular radar apparatus, wherein an adjusting member is adjusted in response to a reflected beam of a radar means by interposing an attenuation member that attenuates and transmits the beam intensity.

  The beam from the radar means mounted on the vehicle passes through the attenuation member and is reflected by the detected object arranged at the reference position in front of the vehicle, and the reflected beam passes through the attenuation member again, and the radar means. Received by. In this way, the beam from the radar means passes through the attenuation member a total of two times and is greatly attenuated. Therefore, even if the distance between the radar means mounted on the vehicle and the object to be detected is made as short as possible and the work space is narrow, the adjustment work for adjusting the mounting angle of the radar means by the adjusting means can be performed accurately. There is no risk of misadjustment due to noise.

  An attenuating member is interposed between the radar means and the object to be detected, and this attenuating member is particularly arranged at a position near the front where the beam of the radar means is emitted. Thus, the reflected beam from the object to be detected can be greatly attenuated and received by the radar means. As a result, the work space can be narrowed, and the adjustment operation of the mounting angle of the radar means can be performed accurately, and there is no risk of erroneous adjustment due to noise from surrounding buildings.

  (4) A radar unit that is provided in a vehicle, emits a beam toward the front, receives a reflected beam from the detected object, and detects the detected object; and the posture of attaching the radar unit to the vehicle can be adjusted. In the method for adjusting the mounting angle of the vehicular radar apparatus including the adjusting means for mounting, a front part of the vehicle is exposed in the beam darkroom, and a beam reflecting member for reflecting the beam in the incident direction is provided in front of the vehicle in the beam darkroom. A method for adjusting the mounting angle of a vehicular radar apparatus, characterized in that the adjusting means is arranged corresponding to the reflected beam of the radar means.

  A beam darkroom is prepared for adjusting the mounting posture of the radar device to the vehicle. This beam darkroom faces the front part of the vehicle on which the radar means is mounted, and absorbs components other than the component directed to the beam reflecting member disposed in front of the vehicle, out of the beam emitted from the radar means. Configured as follows. The beam reflected by the beam reflecting member is received by the radar means. In this way, the adjusting means can be adjusted in accordance with the reflected beam received by the radar means, and the mounting posture of the radar means on the vehicle can be adjusted.

  Thus, the beam radiated from the radar means does not go to the surrounding building or the like, and is not reflected by such a building or the like. Since only the reflected beam from the beam reflecting member is returned to the radar means because it is absorbed, the distance between the radar means and the beam reflecting member must be relatively short, and a large work space is required. In addition, the mounting angle can be adjusted.

  A beam darkroom is disposed in front of the vehicle, and the beam reflection member in the beam darkroom causes the radiation beam from the radar means and the reflected beam from the object to be detected to be parallel in one virtual plane and received by the radar means. As a result, the adjustment operation of the mounting angle can be performed even in a narrow space.

  (5) A radar unit that is provided in a vehicle, emits a beam toward the front, receives a reflected beam from the detected object, and detects the detected object; and the posture of attaching the radar unit to the vehicle can be adjusted. A mounting angle adjusting support device for a vehicular radar apparatus, including an adjusting means for mounting, having an opening facing a front portion of the vehicle, having an opposing wall facing the opening, and the opposing wall is configured to transmit the beam of the radar means. Reflected and provided in a beam darkroom in which an inner surface beam absorber is provided on the inner surface in front of the opposing wall, and on the floor near the opening of the beam darkroom, the vehicle is placed in a straight running state toward the opposing wall. And a vehicle positioning means for directing the vehicle. A support device for adjusting the mounting angle of the radar device for vehicles.

  In order to adjust the mounting angle of the radar device mounted on the vehicle, a beam darkroom and vehicle positioning means are provided. The beam darkroom has an opening facing the front part where the radar means of the vehicle is mounted, and an opposing wall is provided in front of the depth. This opposing wall constitutes a beam reflecting member. The beam reflecting surface of the facing wall may be, for example, a vertical plane and may be, for example, perpendicular to the axis of the vehicle in the straight traveling direction directed by the vehicle positioning means. A beam absorber for the inner surface is provided on the inner surface in front of the opposite wall of the beam darkroom, that is, near the opening of the beam darkroom, so that the beam from the radar means is prevented from being undesirably reflected by the inner surface of the beam darkroom. . In this way, it is possible to adjust the mounting angle in a narrow work space in front of the vehicle.

  In order to adjust the mounting angle of the radar means of the vehicle radar apparatus to the vehicle, a support apparatus including a beam darkroom and vehicle positioning means is realized. This makes it possible to accurately adjust the mounting angle in a relatively narrow working space.

  (6) The support apparatus for adjusting the mounting angle of the radar device for a vehicle, further comprising a front beam absorber that is detachably attached to a part of the opposing wall.

  A front beam absorber is detachably attached to a part of the opposing wall, so that the beam of the radar means can be reflected only from a desired position in front of the vehicle. Therefore, in the configuration in which the beam is scanned not only when the beam from the radar means is parallel to the axis of the vehicle in the straight running direction but also around the vertical axis, at each position within a predetermined desired turning scanning angle range, The beam from the radar means can be reflected. As a result, it is possible to confirm whether the position of the scanning angle of the beam of the radar means is set accurately as desired, and to perform adjustment by the adjusting means. Furthermore, this adjusting means can adjust not only the scanning range of the beam in a substantially horizontal plane, but also can adjust the elevation angle and depression angle of the upper and lower beams to emit the beam from the radar means in a desired direction. .

  A beam emitted from the radar means in a desired direction is reflected by the opposing wall or by the beam reflecting member by selectively attaching the front beam absorber to the part of the opposing wall of the beam darkroom so as to be removable. The reflected beam is detected by the radar means, and thus the angle can be easily adjusted. In particular, in a vehicular radar apparatus in which the radiation beam from the radar means scans the radar means with angular displacement about the vertical axis, the radiation angle can be adjusted accurately according to the present invention. .

  (7) The vehicle positioning means has a pair of front and rear rotatable rollers that receive the driving wheels of the vehicle, and each roller has a horizontal axis parallel to the opposing wall, and the mounting angle of the vehicle radar device Support device for adjustment.

  The vehicle positioning means provided on the floor near the opening of the beam darkroom has a configuration in which the driving wheels of the vehicle are received by a pair of front and rear rollers, and the rotation axis of this roller is a horizontal axis parallel to the opposing wall that reflects the beam. It has become. Therefore, the vehicle enters the beam darkroom opening and rotationally drives the drive wheel while the drive wheel is on the roller, so that the drive wheel of the vehicle is in a horizontal state parallel to the rotation axis of the roller. In this way, it is possible to easily make the axis of the vehicle in the straight running direction perpendicular to the vertical opposing wall.

  The opposing wall may have an angle other than the vertical plane, and may have a predetermined angle with respect to the vertical plane, for example. Further, instead of the facing wall, a beam reflecting member that is installed in the beam darkroom and reflects the beam from the radar means in parallel with the incident angle may be used, and at this time, behind the beam reflecting member, that is, on the facing wall side. A beam absorber for absorbing the beam may be disposed. The plurality of beam absorbers provided in the beam anechoic chamber may be realized by extending the inner surface of the housing in the same manner as the anechoic chamber, for example, and thus configuring the beam anechoic chamber. This beam absorber has a composition in which a powder or fiber of a conductive material such as carbon or metal is infiltrated and mixed with a synthetic resin material such as urethane foam or polypropylene, and each beam absorber has a large number of overall shapes. It has a configuration formed in a pyramid or triangular prism shape. The beam absorber is also made of a ferromagnetic material such as ferrite and is formed in a pyramid shape or a triangular prism shape.

  By receiving the drive wheels of the vehicle with a pair of rotatable rollers and rotating the drive wheels, the axis of the vehicle in the linear traveling direction can be set in a predetermined posture near the opening of the beam darkroom. It is possible to set the vertical direction easily. It is also possible to measure the rotational speed of the driving wheel and the like based on the generated voltage by rotating the generator with such a roller.

It is a figure which shows the whole structure of the 1st Embodiment of this invention. 3 is a block diagram showing an electrical configuration of signal processing means 41. FIG. 2 is a simplified plan view of the vicinity of a front portion 33 of a vehicle 13. FIG. It is a figure which shows the intensity | strength of the beam received with the receiving antenna 39 for adjustment displayed on the display means 42. FIG. It is the simplified top view of the radar means 25 vicinity of the 2nd Embodiment of this invention. It is a vertical sectional view of a support device 60 for adjusting the mounting angle of a vehicle radar device according to a third embodiment of the present invention. FIG. 7 is a simplified horizontal sectional view of the support device 60 of the embodiment shown in FIG. 6. It is a figure for demonstrating the further another attachment angle adjustment operation | work in embodiment of FIG. 6 and FIG. 1 is a block diagram showing an electrical configuration of a vehicular radar apparatus 1. FIG. It is a wave form diagram for demonstrating the operation | movement which calculates | requires the distance between to-be-detected objects by the radar means 25 of the radar apparatus 1 for vehicles. It is a wave form diagram for demonstrating the operation | movement which calculates | requires a relative velocity with a to-be-detected object by the radar means 25 of the radar apparatus 1 for vehicles. 1 is a front view showing a part of the mechanical configuration of a vehicular radar apparatus 1; FIG. It is sectional drawing which shows the vicinity of the bracket 92 and the volt | bolt 96 seen from cut surface line AA of FIG. It is a schematic diagram for demonstrating the attachment angle adjustment method of the radar apparatus 1 for vehicles which is the 4th Embodiment of this invention. It is a flowchart for demonstrating the attachment angle adjustment method of the radar apparatus 1 for vehicles of 4th Embodiment. FIG. 14 shows a distribution of received electric field intensity of received electromagnetic waves with respect to a beam radiation angle and a separation distance from a vehicle, which is obtained when a beam scans a space in front of the vehicle including a reference object in the mounting angle adjusting method of FIG. It is a three-dimensional graph. 15 is a two-dimensional graph showing a part including a peak portion corresponding to a reflected beam from a reference object in a distribution curve of received electric field intensity of received electromagnetic waves with respect to a beam radiation angle at a predetermined reference distance in the three-dimensional graph of FIG. It is.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle radar apparatus 2 Sensor apparatus 3 Transmission antenna 4 Reception antenna 5 Driving means 11 Angle detection means 13 Vehicle 25 Radar means 38, 42 Display means 39 Adjustment receiving antenna 41 Signal processing means 44 High frequency amplifier 45 Filter 46 Envelope detector 47 Rectifier circuit 48 Analog / digital converter 49 Processing circuit 54, 55 Damping member 56 Floor 57 Vehicle positioning means 58 Drive wheel 60 Mounting angle adjustment support device 61, 62 Roller 63 Wheel 64 Groove 66 Beam dark room 67 Housing 68 Measurement Space 69 Opposed wall 71 Opening 72 Surface 77-80, 82, 83 Beam absorber

Claims (9)

Radar means provided in the vehicle, radiating a beam toward the front, receiving a reflected beam from the detected object, and detecting the detected object;
In a method for adjusting the mounting angle of a radar device for a vehicle, including an adjusting means for attaching the radar means to the vehicle so that the attitude of the radar means can be adjusted.
Place the reference in front of the vehicle and away from the vehicle,
Radiating the beam while changing the radiation direction toward the front of the vehicle,
The electromagnetic wave including the reflected beam from the reference object is received by the radar means,
Corresponds to the reflected beam from the reference from all the peak parts in the distribution curved surface showing the distribution of the received electric field strength of the received electromagnetic wave with respect to the radiation direction of the beam and the separation distance from the vehicle, including the individual maximum points To extract the peak part
A method for adjusting the mounting angle of a vehicular radar apparatus, wherein the adjusting means is adjusted according to the extracted peak portion. When extracting the peak part corresponding to the reflected beam from the reference object,
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Select the measurement point with the highest received electric field strength from all the obtained measurement points,
Comparing the received field strength at the selected measurement point with a predetermined first reference strength;
Only when the received electric field intensity at the selected measurement point is equal to or higher than the first reference intensity, it is determined that the peak portion including the selected measurement point in the distribution curved surface corresponds to the reflected beam from the reference object. The method for adjusting the mounting angle of the vehicular radar apparatus according to claim 1. When extracting the peak part corresponding to the reflected beam from the reference object,
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
Compare the width of the obtained angle range with a predetermined reference width,
Only when the width of the obtained angular range is less than the reference width, it is determined that the peak portion including the measurement point within the angular range in the distributed curved surface corresponds to the reflected beam from the reference object. The method for adjusting the mounting angle of the vehicular radar apparatus according to claim 1. When extracting the peak part corresponding to the reflected beam from the reference object,
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
Comparing the width of the determined angle range with a predetermined reference width, and comparing the slope of the approximate curve of all measurement points within the angle range with a predetermined reference slope;
Only when the width of the obtained angle range is less than the reference width and the inclination is greater than or equal to the reference inclination, the peak portion including the measurement point within the angle range in the distribution curved surface corresponds to the reflected beam from the reference object. The method for adjusting the mounting angle of the vehicular radar apparatus according to claim 1, wherein it is determined that the vehicle is mounted. When extracting the peak part corresponding to the reflected beam from the reference object,
A plurality of points on the distribution curve indicating the distribution of the received electric field strength with respect to the radiation angle at a predetermined reference distance in the distribution curved surface are obtained as measurement points,
Find the angle range that includes only the measurement points whose received electric field strength is greater than or equal to the noise component among all the obtained measurement points.
The width of the obtained angle range is compared with a predetermined reference width, the slope of the approximate curve of all measurement points within the angle range is compared with a predetermined reference slope, and the number of measurement points within the angle range is determined in advance. Compare with the standard number to be determined,
Only when the width of the obtained angle range is less than the reference width, the inclination is greater than or equal to the reference inclination, and the number of measurement points is less than the reference number, the peak including the measurement points within the angle range in the distribution curved surface 2. The method for adjusting the mounting angle of a vehicular radar apparatus according to claim 1, wherein the portion is determined to correspond to a reflected beam from a reference object. When extracting the peak part corresponding to the reflected beam from the reference object,
Obtain a parameter indicating the shape of the peak portion including the maximum value in the distribution curve,
Compare the determined parameter with a predetermined threshold,
Based on the comparison result, it is determined whether or not the peak portion including the maximum value of the distribution curve in the distribution curved surface corresponds to the reflected beam from the reference object,
2. The method for adjusting the mounting angle of a vehicular radar apparatus according to claim 1, wherein the threshold value is set in accordance with a distance from the vehicle to the reference object.   The vehicle radar apparatus mounting angle adjustment according to any one of claims 1 to 6, wherein only a peak portion corresponding to a reflected beam from the extracted reference object is displayed on a display means. Method. In accordance with a peak portion corresponding to the reflected beam from the extracted reference object, an angle measurement result which is an angle formed by a virtual axis line from the radar apparatus to the reference object and a predetermined standard axis line of the radar apparatus is further obtained,
The difference between the angle measurement result of the reference object and the predetermined zero point of the angle measurement result of the radar device is compared with a predetermined lower limit angle at which the standard axis can be aligned by the adjusting means,
The display means displays that the direction of the standard axis should be adjusted by adjusting the adjustment means when the angle measurement result of the reference object is more than the lower limit angle from the zero point of the angle measurement result. The mounting angle adjustment method of the radar apparatus for vehicles in any one of 1-7. In accordance with a peak portion corresponding to the reflected beam from the extracted reference object, an angle measurement result which is an angle formed by a virtual axis line from the radar apparatus to the reference object and a predetermined standard axis line of the radar apparatus is further obtained,
The difference between the angle measurement result of the reference object and the predetermined zero point of the angle measurement result of the radar device is compared with a predetermined lower limit angle at which the standard axis can be aligned by the adjusting means,
When the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is less than the lower limit angle, the difference between the angle measurement result of the reference object and the zero point of the angle measurement result is used to correct the angle measurement result of the object. Memorize it as the offset amount used,
9. When the angle measurement result of the object is obtained, the offset amount is subtracted from the obtained angle measurement result, and the subtraction result is output as the angle measurement result of the object. The method for adjusting the mounting angle of the vehicular radar device according to any one of the above items.

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