JP2007240369A - Radio wave axis adjuster and radio wave axis adjustment method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radio wave axis adjuster dispensing with a wide space, being highly accurate, and making a radio wave axis of a radar device coincide with a traveling direction axis of a vehicle without increasing a cost, and a radio wave axis adjustment method. <P>SOLUTION: This radio wave axis adjuster 1 for making the radio wave axis 7 of the radar device 3 mounted on the vehicle 2 coincide with the traveling direction axis 8 of the vehicle 2, is equipped with: the radar device capable of detecting a radio wave reflector 6 and a multiply reflected image 9 of the reflector 6 from the reception electric field intensity of a reflected radio wave by the reflector 6 disposed at a prescribed position in front of the vehicle 2; an axis adjustment mechanism 4 provided between the vehicle 2 and the radar device for adjusting the mounting angle of the radar device relative to the vehicle; and an axis adjustment/control part 5 outputting an operation command to the mechanism 4 so that the wave axis coincides with the direction axis based on a position where the image 9 of the reflector 6 is detected. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a radio wave axis adjusting device and a radio wave axis adjusting method for matching a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle.

  A radar device is attached to the front of the vehicle, radio waves are transmitted from the radar device to the surroundings, the transmitted radio waves are reflected by the measurement target, and the measurement target is detected by receiving the reflected radio waves, and the measurement target from the vehicle Distance, relative speed, and detection position (lateral or longitudinal position with respect to the traveling direction of the vehicle) are calculated. A vehicle equipped with such a radar device is used in an obstacle approach warning system, an inter-vehicle distance control system, a traffic jam tracking system, and the like.

  However, when a radar apparatus is attached to a vehicle, if a deviation angle is generated between the radio wave axis that is the central axis of the radio wave and the traveling direction axis of the vehicle, the radar apparatus detects the measurement target and determines its lateral position ( When calculating (direction), there is a problem that a vehicle in the adjacent lane is detected as a preceding vehicle, or a preceding vehicle is detected as a vehicle in the adjacent lane.

  Therefore, in order to make the radio wave axis of the radar device coincide with the traveling direction axis of the vehicle, the detection range adjustment mechanism of the conventional vehicle obstacle detection device has a predetermined relative positional relationship between the vehicle and the radio wave reflector. The vehicle is stopped as described above, and the setting of the detection range setting means is changed so that the detection position of the radio wave reflector based on the reflected signal from the radio wave reflector matches the reference position stored in advance by the reference position storage means. Thus, the radio wave axis of the radar apparatus is adjusted so that the detection direction of the radio wave reflector coincides with the vehicle traveling direction axis. (For example, see Patent Document 1)

  Further, in order to make the radio wave axis of the radar device coincide with the traveling direction axis of the vehicle in a narrow space, the conventional laser radar optical axis adjusting device has a laser pointer, a prism 1 and a light receiving member attached to the radar device attached to the vehicle. At this position, the vehicle is stopped so as to have a predetermined positional relationship with respect to the prism 2 disposed in front of the vehicle, and the laser light from the laser pointer is sequentially reflected in the order of the prism 2, the prism 1, and the prism 2. The radio wave axis of the radar apparatus is adjusted so that the reflected light from the prism 2 is incident on a predetermined position of the light receiving member. (For example, see Patent Document 2)

JP-A-9-178856 JP 7-218618 A

In the conventional detection range adjusting mechanism described in Patent Document 1, it is estimated that the radio wave reflector is installed at a position 5 m ahead from the front end of the vehicle on the vehicle traveling direction axis. For this reason, when adjusting the deviation between the radio wave axis and the vehicle traveling direction axis to 0.1 ° or less, the radio wave reflector must be detected with a resolution of a lateral position of 0.8 cm, and the adjustment accuracy is poor, and errors and There is a problem that the variation becomes large. On the other hand, if the installation position of the radio wave reflector is as far as possible from the vehicle, the resolution can be lowered and the adjustment accuracy can be improved (for example, a resolution of 17 cm is sufficient at a 100 m point). It is difficult to secure a wide space.
In addition, in the conventional detection range adjustment mechanism described above, the detection range is adjusted by lowering the output of the radar beam than in the obstacle detection mode so as not to detect a measurement target other than the radio wave reflector. However, in general, the radar apparatus is not configured to reduce the radar power. Even if the radar power output can be adjusted, the device becomes very expensive.

  Further, in the conventional laser radar optical axis adjusting device described in Patent Document 2, although the radio wave axis of the radar device and the traveling direction axis of the vehicle can coincide with each other in a narrow space, a laser pointer attached to the radar device, A prism, a light receiving member (board), and a bracket for attaching them to a vehicle are required, which increases the cost.

  An object of the present invention is to solve the above-described problems, and the object of the present invention is to provide a high accuracy without requiring a large space, and without increasing the cost without changing the radar power. An object of the present invention is to provide a radio wave axis adjusting device and a radio wave axis adjusting method capable of matching a radio wave axis of a radar apparatus with a traveling direction axis of a vehicle.

  The present invention is a radio wave axis adjusting device for matching a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle, and reflecting a radio wave reflector disposed at a predetermined position in front of the vehicle A radar device capable of detecting a radio wave reflector and a multiple reflection image of the radio wave reflector from a received electric field intensity of radio waves; and a mounting angle of the radar device with respect to the vehicle provided between the vehicle and the radar device. And adjusting the axis adjusting means so that the radio wave axis and the traveling direction axis coincide with each other based on the detection position of the multiple reflection image detected by the radar apparatus. It is a thing.

  Furthermore, the present invention provides a radio wave axis adjusting method for matching a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle, the radio wave reflector disposed at a predetermined position in front of the vehicle. Radiating a radio wave from the radar device toward the surface, detecting a multiple reflection image of the radio wave reflector and the radio wave reflector from a received electric field intensity of a reflected radio wave of the radio wave reflector, and Adjusting the mounting angle of the radar device with respect to the vehicle based on the detection position of the multiple reflection image.

  According to the radio wave axis adjusting apparatus and radio wave axis adjusting method of the present invention, by detecting a multiple reflection image of the radio wave reflector that is generated when the radio wave is reflected between the radio wave reflector and the antenna of the radar apparatus, it is apparently The position of the radio wave reflector is far from the vehicle, and based on the detection position (horizontal or vertical) of the multiple reflection image of the radio wave reflector, the control means outputs an operation command to the axis adjustment means to adjust the mounting angle of the radar device. Since adjustment is performed, a large space is unnecessary and high accuracy is obtained. In addition, since no special processing for reducing the radar power is required and no laser pointer or the like is used, the radio wave axis of the radar apparatus and the traveling direction axis of the vehicle can be automatically matched without increasing the cost. .

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding members and parts will be described with the same reference numerals.

Embodiment 1 FIG.
1 is a configuration diagram (top view) showing a radio wave axis adjusting apparatus according to Embodiment 1 of the present invention, and shows a case where a radio wave axis of a radar apparatus and a traveling direction axis of a vehicle coincide with each other.
In FIG. 1, a radio wave axis adjusting device 1 is provided between a radar device 3 mounted at a front center position of a vehicle 2 and between the vehicle 2 and the radar device 3 and adjusts a radio wave axis of the radar device 3. An adjustment mechanism 4 (axis adjustment means), a radar apparatus 3, and an axis adjustment control unit 5 (control means) connected to the axis adjustment mechanism 4 and outputting a control command to the axis adjustment mechanism 4 are provided.

  The radar device 3 is attached to the center of a front grill (not shown) of the vehicle 2 via a shaft adjustment mechanism 4. In the mode for adjusting the radio wave axis, the radar device 3 radiates radio waves toward the radio wave reflector 6 provided in front of the vehicle 2 and detects the lateral position of the multiple reflection image 9 of the radio wave reflector 6. The detection result is output to the axis adjustment control unit 5. On the other hand, in a mode for detecting an obstacle approach or an inter-vehicle distance, the radar device 3 radiates radio waves toward the front of the vehicle 2, and the radiated radio waves such as obstacles and preceding vehicles existing in front of the traveling path The measurement object is detected by receiving the reflected radio wave reflected by the measurement object, and the distance to the measurement object, the relative velocity, and the lateral position (direction) are calculated.

  The shaft adjustment mechanism 4 is provided between the vehicle 2 and the radar device 3, and adjusts the mounting angle of the radar device 3 vertically and horizontally based on an operation command from the shaft adjustment control unit 5, and at the adjusted position. The radar device 3 is held.

  The axis adjustment control unit 5 is arranged until the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 inputted from the radar device 3 becomes a predetermined value or less, that is, the radio wave axis 7 of the radar device and the traveling direction axis 8 of the vehicle. The operation command for adjusting the mounting angle of the radar device 3 is output to the shaft adjustment mechanism 4 until the two coincide with each other.

  The radio wave reflector 6 is a corner reflector having a scattering cross section (RCS) of about 10 dBs, for example, on the traveling direction axis 8 of the vehicle 2 and at the same distance as the radar device 3 at a point of a distance R (for example, 5 m) from the vehicle 2. Now installed.

  Here, as shown in FIG. 2, when the distance R is relatively short and the scattering cross section of the radio wave reflector 6 is relatively large, the radar device 3 reflects the reflected radio wave reflected by the radio wave reflector 6 in the radar. It is possible to detect a multiple reflection image 9 of the radio wave reflector 6 that is generated by multiple reflections that are reflected by the antenna (not shown) of the apparatus 3 and reflected by the radio wave reflector 6 again. The multiple reflection image 9 does not actually exist.

  At this time, when the detection distance of the radio wave reflector 6 is R1 and the detection lateral position (horizontal position) is L1, the distance R2 of the multiple reflection image 9 is the intensity of the electric field received from the radio wave reflector 6. Among these, detection is performed from a frequency (harmonic) that is twice the frequency of the distance R1. Similarly, the detection lateral position L2 of the multiple reflection image 9 is detected from a frequency (harmonic) twice the frequency of the distance L1 by the same angle measurement method as the angle measurement method in which the horizontal position L1 of the radio wave reflector 6 is detected. . Thus, the distance R2 of the multiple reflection image 9 is R1 × 2, and the lateral position L2 of the multiple reflection image 9 is L1 × 2. The distance Rn of the next multiple reflection image is R1 × n by detecting a triple harmonic component, a quadruple harmonic component, etc., and the lateral position Ln is L1 × n (n = 3, 4 ...)

  The radio wave axis adjusting device according to the present invention is a method of matching the radio wave axis 7 of the radar device 2 with the traveling direction axis 8 of the vehicle 2, and the adjustment of the mounting angle of the radar device 3 is apparently the position of the radio wave reflector 6. Is automatically performed by the axis adjustment mechanism 4 based on the detected lateral position of the multiple reflection image 9 of the radio wave reflector 6 that is far from the vehicle.

  Hereinafter, in the first embodiment of the present invention, a procedure for causing the radio wave axis 7 to coincide with the traveling direction axis 8 of the vehicle 2 will be described with reference to the flowchart of FIG. Here, prior to the start of the processing according to the flowchart of FIG. 3, first, the radio wave reflector 6 is installed at a distance R from the vehicle 2 on the traveling direction axis 8 and at the same height as the radar device 3.

FIG. 4 is a block diagram showing the radio wave axis adjusting apparatus 1 according to Embodiment 1 of the present invention, and shows a case where the radio wave axis 7 and the traveling direction axis 8 do not coincide.
In FIG. 4, it is assumed that the radio wave axis 7 is shifted to the left by Ls (> 2 cm) with respect to the traveling direction axis 8 of the vehicle 2.
The radar device 3 detects the lateral position of the radio wave reflector 6 as a positive value when the radio wave reflector 6 exists on the right side with respect to the radio wave axis 7, and if the radio wave reflector 6 exists on the left side, The lateral position is detected as a negative value.

First, the radar device 3 radiates a transmission radio wave toward the radio wave reflector 6 and receives a reflected wave from the radio wave reflector 6 and a reflected wave that is multiple-reflected between the radio wave reflector 6 and the antenna of the radar device 3.
Next, the radar apparatus 3 detects the distance R1 of the radio wave reflector 6 and the distance R2 of the multiple reflection image 9 of the radio wave reflector 6 and the horizontal position L2 from the received electric field strength of the received reflected radio wave (step S2). S11). At this time, when the detection distance of the radio wave reflector 6 is R1, it is confirmed that the distance R2 of the multiple reflection image 9 is equal to R1 × 2. That is, a distance at a distance R1 × 2 (R2) is detected as the multiple reflection image 9.

Subsequently, the detection lateral position L2 (L1 × 2) of the multiple reflection image 9 of the radio wave reflector 6 is output to the axis adjustment control unit 5, and the process proceeds to step S13 (step S12).
Here, in the case of FIG. 4, the detection lateral position Ls (> 2 cm) of the multiple reflection image 9 of the radio wave reflector 6 is output to the axis adjustment control unit 5.

Next, the axis adjustment control unit 5 determines whether the absolute value of the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 is 2 cm or less (step S13).
If it is determined in step S13 that the detected lateral position of the multiple reflection image 9 of the radio wave reflector 6 is 2 cm or less (ie, Yes), as shown in FIG. 3 is finished, the processing of FIG.

  On the other hand, when it is determined in step S13 that the absolute value of the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 is not 2 cm or less (that is, No), the axis adjustment control unit 5 moves to the detection lateral position. Based on this, it is determined whether the radio wave axis 7 is shifted to the left or right with respect to the traveling direction axis 8 (step S14).

  Here, in the case of FIG. 4, since the absolute value | Ls | of the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 is larger than 2 cm, it is determined No in step S13, and the radio axis 7 is set in step S14. It is determined whether it is shifted to the left or right with respect to the traveling direction axis 8.

  Subsequently, the axis adjustment control unit 5 determines whether or not the mounting angle of the radar device 3 is adjusted to the right (step S15), and if it is determined to adjust the radar device 3 to the right (that is, Yes). Then, an operation command for adjusting the mounting angle so that the radar device 3 is directed rightward by 0.1 ° is output to the axis adjusting mechanism 4 (step S16), and the process proceeds to step S11.

  On the other hand, if it is determined in step S15 that the adjustment is not performed in the right direction (that is, No), an operation command for adjusting the mounting angle so that the radar apparatus 3 is directed leftward by 0.1 ° is transmitted to the axis adjustment mechanism 4. (Step S17), and the process proceeds to step S11.

In the case of FIG. 4, since the radio wave axis 7 is shifted to the left with respect to the traveling direction axis 8, it is determined Yes in step S <b> 15, and the radar apparatus 3 is set to 0.1 ° from the axis adjustment control unit 5. Thus, an operation command for adjusting to the right is output to the axis adjustment mechanism 4.
Thereafter, the axis adjustment control unit 5 repeats the same processing until the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 becomes 2 cm or less.

In this way, in the case of FIG. 4, when the mounting angle is adjusted a predetermined number of times so that the radar apparatus 3 faces rightward and the detected lateral position becomes 2 cm or less, the radio wave axis of the radar apparatus 3 as shown in FIG. 7 and the traveling direction axis 8 of the vehicle 2 can be matched.
Even when the radio wave axis 7 is shifted to the right with respect to the traveling direction axis 8, the radio wave axis 7 of the radar device 3 and the traveling direction axis 8 of the vehicle 2 are made to coincide with each other by the same method as the above embodiment. be able to.

In the above description, when the lateral position of the multiple reflection image 9 is adjusted to 2 cm (0.02 m) or less, when the installation position R of the radio wave reflector 6 is 5 m, the distance R2 of the multiple reflection image 9 is 10 m, and the radio wave axis 7 and the vehicle traveling direction axis 8 correspond to tan ⁻¹ (0.02 / 10) = 0.11 ° or less. Similarly, the installation position R of the radio wave reflector 6 is 5 m, the scattering cross section of the radio wave reflector is large, and there are many harmonic components (the components of the radio wave reflector 6, the components of the multiple reflection image 9, the next multiple reflection image Component) if present, the distance R3 (R1 × 3) of the next multiple reflection image is 15 m, and if the lateral position of the next multiple reflection image is adjusted to 2 cm (0.02 m) or less, the radio wave axis 7 and the vehicle traveling direction The deviation of the axis 8 corresponds to tan ⁻¹ (0.02 / 15) = 0.076 ° or less. If the lateral position is adjusted to 2 cm or less, the deviation between the radio wave axis 7 and the vehicle traveling direction axis 8 becomes further smaller as the distance of the multiple reflection image becomes longer. Note that adjusting the lateral position of the multiple reflection image 9 to 2 cm or less is merely an example, and the displacement can be further reduced by further reducing the lateral position detection distance.

  Further, if the scattering cross section of the radio wave reflector 6 is increased, another multiple reflection image can be detected farther from the multiple reflection image 9 in FIG. 1, and the radio wave axis is determined based on the detection lateral position of the multiple reflection image. 7 can be adjusted, so that the radio wave axis 7 of the radar device 3 and the traveling direction axis 8 of the vehicle 2 can be matched with higher accuracy.

Embodiment 2
In the first embodiment described above, the reflected radio wave reflected by the radio wave reflector 6 is reflected by the antenna (not shown) of the radar device 3 and is again reflected by the multiple reflection reflected by the radio wave reflector 6. Although the multiple reflection image 9 of the body 6 has been detected, the second embodiment of the present invention is the second radio wave reflection similar to the radio wave reflector 6 instead of using the antenna of the radar device 3 as the radio wave reflector. The body is provided at a predetermined position of the radar device 3.
That is, the second radio wave reflector (not shown) transmits the radio wave reflected by the radio wave reflector disposed at a predetermined position in front of the vehicle in parallel with the radio wave transmission unit on the antenna surface on the front surface of the radar device 3. Installed to reflect. Actually, if it is installed covering the radio wave transmission section of the antenna, radio waves cannot be transmitted.

In this way, by loading the second radio wave reflector such as a corner reflector that can be temporarily mounted at a predetermined position of the radar apparatus 3, the radio wave reflector 6 provided at the front point of the radar apparatus 3 and the radar apparatus. Reflecting each other with a second radio wave reflector provided on 3 itself to increase the received electric field strength of the harmonic component, it is easy to detect a multiple reflection image farther than the multiple reflection image 9 of FIG. By adjusting the radio wave axis 7 based on the detection lateral position of the multiple reflection image generated by such multiple reflection, the radio wave axis 7 of the radar device 3 and the traveling direction axis 8 of the vehicle 2 can be made to coincide with each other with higher accuracy. . Note that the second radio wave reflector is removed from the radar apparatus 3 when the radio wave axis is not adjusted, that is, when the radar apparatus 3 is mounted on the vehicle and an approaching obstacle or a distance between the vehicles is detected.
The radar device 3 receives both the radio wave reflected from the radio wave reflector 6 and the second radio wave reflector, but the radio wave reflector 6 and the radio wave reflector 6 are separated from the distances between the radio wave reflector 6 and the second radio wave reflector. The second radio wave reflector can be distinguished.

Embodiment 3
In the first embodiment, the detection of the lateral position has been described on the assumption that the radar device 3 is shifted to the left and right when viewed from above. However, the present invention is not limited to this, and the displacement angle is vertically limited (vertical direction). In other words, even when the vertical position is detected, the radio wave axis 7 of the radar apparatus 3 and the traveling direction axis 8 of the vehicle 2 can be made to coincide with each other by the same method.
In short, the present invention adjusts the axis adjusting means based on the detection position of the horizontal position detection or the vertical position detection of the multiple reflection image detected by the radar apparatus 3 so that the radio wave axis and the traveling direction axis coincide with each other. .

Embodiment 4
In the first embodiment, the radio wave axis 7 of the radar device 3 has been described as automatically coincident with the traveling direction axis 8 of the vehicle 2. However, the present invention is not limited to this.
For example, the detection lateral position of the multiple reflection image 9 of the radio wave reflector 6 is displayed, and based on this detection lateral position, the human manually operates the axis adjustment mechanism 4 to change the mounting angle of the radar device 3 up, down, left, and right. You may adjust it. In this way, the axis adjustment control unit 5 can be omitted and can be configured at a lower cost.

  The radio wave axis adjusting device of the present invention is used in an obstacle approach warning system, an inter-vehicle distance measurement system, a traffic jam tracking system, etc. by being mounted on a vehicle and used.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the radio wave axis adjusting device concerning Embodiment 1 of this invention, and has shown the case where a radio wave axis and a traveling direction axis correspond. It is explanatory drawing (top view) which shows the principle which a multiple reflection image generate | occur | produces. It is a flowchart which shows operation | movement of the electromagnetic wave axis adjustment apparatus which concerns on Embodiment 1 of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the radio wave axis adjusting device concerning Embodiment 1 of this invention, and has shown the case where a radio wave axis and a traveling direction axis | shaft do not correspond.

Explanation of symbols

1: Radio axis adjustment device 2: Vehicle 3: Radar device 4: Axis adjustment mechanism (axis adjustment means)
5: Axis adjustment control unit (control means) 6: Radio wave reflector 7: Radio wave axis 8: Vehicle traveling direction axis 9: Multiple reflection image

Claims (9)

  A radio wave axis adjusting device for aligning a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle, the received electric field of a reflected radio wave of a radio wave reflector disposed at a predetermined position in front of the vehicle A radar apparatus capable of detecting the radio wave reflector and the multiple reflection image of the radio wave reflector from intensity, and an axis adjustment provided between the vehicle and the radar apparatus, and adjusting an attachment angle of the radar apparatus with respect to the vehicle And the axis adjusting means is adjusted so that the radio wave axis coincides with the traveling direction axis based on the detection position of the multiple reflection image detected by the radar device. Radio wave axis adjustment device.   A radio wave axis adjusting device for aligning a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle, the received electric field of a reflected radio wave of a radio wave reflector disposed at a predetermined position in front of the vehicle A radar apparatus capable of detecting the radio wave reflector and the multiple reflection image of the radio wave reflector from intensity, and an axis adjustment provided between the vehicle and the radar apparatus, and adjusting an attachment angle of the radar apparatus with respect to the vehicle And a control means for outputting an operation command to the axis adjustment means so that the radio wave axis and the traveling direction axis coincide with each other based on the detection position of the multiple reflection image detected by the radar device. Radio wave axis adjusting device characterized by the above.   A radio wave axis adjusting device for matching a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle, wherein the first radio wave reflector disposed at a predetermined position in front of the vehicle and the radar Radar apparatus capable of detecting multiple reflection images of radio wave reflector and radio wave reflector from received electric field strength of reflected radio waves reflected from each other by second radio wave reflector that can be temporarily mounted at a predetermined position of the apparatus And an axis adjusting means provided between the vehicle and the radar device for adjusting the mounting angle of the radar device with respect to the vehicle, and a detection position of the multiple reflection image of the radio wave reflector detected by the radar device. And a control means for outputting an operation command to the axis adjusting means so that the radio wave axis and the traveling direction axis coincide with each other.   The radio wave axis adjusting apparatus according to any one of claims 1 to 3, wherein the multiple reflection image is detected from an electric field intensity of a harmonic component received by the radar apparatus.   The radio wave axis adjusting apparatus according to any one of claims 1 to 3, wherein a corner reflector is used as the radio wave reflector.   4. The radio wave axis adjusting apparatus according to claim 2, wherein the control means outputs an operation command until the detection lateral position of the multiple reflection image of the radio wave reflector becomes a predetermined value or less.   The radio wave axis adjusting apparatus according to claim 2 or 3, wherein the control means outputs an operation command until the detected vertical position of the multiple reflection image of the radio wave reflector becomes a predetermined value or less.   The radio wave axis adjusting apparatus according to claim 3, wherein a corner reflector is used as the second radio wave reflector. A radio wave axis adjustment method for matching a radio wave axis of a radar device mounted on a vehicle with a traveling direction axis of the vehicle,
Radiating radio waves from the radar device toward a radio wave reflector disposed at a predetermined position in front of the vehicle;
Detecting a multiple reflection image of the radio wave reflector and the radio wave reflector from the received electric field intensity of the reflected radio wave of the radio wave reflector;
Adjusting the mounting angle of the radar device with respect to the vehicle based on the detection position of the multiple reflection image of the radio wave reflector;
A method of adjusting a radio wave axis, comprising:

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