JP2009281862A - Axis adjusting method of radar device and axis adjusting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an axis adjusting method of a radar device capable of respectively adjusting reference axes of a plurality of radar devices provided in a vehicle at low cost. <P>SOLUTION: This axis adjusting method of a radar device mounted on a vehicle includes a target disposing process in which only one target for adjustment of an axis is disposed on a superposed area between an object detectable area of a first radar device mounted on a vehicle and an object detectable area of a second radar device mounted on the vehicle, a target direction detecting process in which directions of the targets viewed from the first radar device and the second radar device are respectively detected by using the first radar device and the second radar device, and an adjusting process in which axes of the first radar device and the second radar device are adjusted on the basis of the results detected in the target direction detecting process. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an axis adjustment method and an axis adjustment apparatus for a radar apparatus, and more particularly, to a method and apparatus for adjusting axes of a plurality of radar apparatuses provided in a vehicle using a target.

  Conventionally, a radar device that detects an object around a vehicle and a collision prevention system using the radar device have been developed. One example of a radar device used in such a system is a millimeter wave radar device. A general millimeter wave radar device includes a transmission unit that transmits an electromagnetic wave in a predetermined direction and a reception unit that receives a reflected wave of the electromagnetic wave. Then, the millimeter wave radar device detects the position of the object based on the reflected wave reflected by the object within a predetermined detection area with reference to the reference axis.

  An example in which the front radar 11 provided at the front center of the vehicle 10 detects the position of the object B as shown in FIG. 9 will be described. FIG. 9 is a top view showing a state in which the front radar 11 provided in the vehicle 10 detects an object. The forward radar 11 is a typical known millimeter-wave radar device, and a reception unit and a transmission unit are integrally configured. In order to simplify the description, a case where the front radar 11 detects the position of the object in the horizontal direction will be described below.

  It is assumed that the object B exists in the detection area A1 of the forward radar. The object B is an arbitrary object that reflects the electromagnetic waves of the front radar 11. The forward radar 11 is based on the reflected wave from the object B existing inside the detection area A1 and the angle DB indicating the distance DB from the forward radar 11 to the object B and the direction in which the object exists (hereinafter referred to as a detection angle). ) Detect θ. The forward radar 11 detects the distance K based on the intensity F of the reflected wave from the object B and the frequency difference between the transmitted wave and the reflected wave from the object B. Further, the forward radar 11 detects the detection angle θ based on the phase of the reflected wave from the object B. Note that the angle θ is an angle formed by the reference axis J1 of the front radar 11 (a chain line in FIG. 9) and a straight line connecting the object B and the reception unit of the front radar 11. The reference axis J1 of the forward radar 11 is an axis that is virtually set forward from the center of the receiving unit of the forward radar 11 in order to define the detection angle θ as described above.

  Here, the principle that the front radar 11 detects the position of the object will be described in more detail with reference to FIG. The principle described below is the same as that of the phase monopulse method. FIG. 10 is an enlarged view of a receiving unit of the front radar 11 that receives a reflected wave from an object. A plurality of reception antennas are arranged at predetermined intervals in the reception unit of the front radar 11. As an example, FIG. 10 shows a state in which the receiving antenna R1 and the receiving antenna R2 are arranged with a gap d. The reception antenna R1 and the reception antenna R2 each receive a reflected wave from the object B. A reflected wave from the object B received by the receiving antenna R1 is referred to as a reflected wave W1, and a reflected wave received by the receiving antenna R2 is referred to as a reflected wave W2.

Since the receiving antenna R1 and the receiving antenna R2 are arranged at a distance d, the distance that the reflected wave W1 propagates from the object B to the receiving antenna R1, and the distance that the reflected wave W2 propagates from the object B to the receiving antenna R2 Are different in length. Hereinafter, it is assumed that the difference in propagation distance between the reflected wave W1 and the reflected wave W2 is V. The length of the propagation distance difference V varies depending on the direction in which the object that reflected the reflected wave is located. Here, as shown in FIG. 10, in the right triangle having the interval d as the hypotenuse, the length of one side corresponds to the difference V of the propagation distance, and the diagonal size of the side corresponds to the detection angle θ. . Therefore, the detection angle θ can be calculated by the following equation.
sin θ = d / V

The phase of the reflected wave W2 received by the receiving antenna R2 and the phase of the reflected wave W1 received by the receiving antenna R1 are shifted according to the length of the propagation distance difference V. Accordingly, the forward radar 11 can calculate the propagation distance difference V based on the phase difference between the reflected wave W2 received by the receiving antenna R2 and the reflected wave W1 received by the receiving antenna R1. A difference between the phase of the reflected wave W1 received by the receiving antenna R1 and the phase of the reflected wave W2 received by the receiving antenna R2 (hereinafter referred to as a recognition phase difference) that can be recognized by the forward radar 11 is Δω. Then, the front radar 11 calculates the propagation distance difference V based on the recognition phase difference Δω and the wavelength λ of the reflected wave by the following equation.
V = λ * Δω / π

  As described above, the front radar 11 can calculate the detection angle θ based on the calculated propagation distance difference V and the known interval d.

  However, the propagation distance difference V may be shifted by one period or more. That is, if the actual phase difference is Δφ, the value of the phase difference Δφ may be 360 ° or more. On the other hand, the value of the recognition phase difference Δω recognized by the front radar 11 is within one cycle, that is, 0 ° or more and less than 360 °. Therefore, for example, when the front radar 11 receives a reflected wave with an actual phase difference Δφ shifted by N periods (N is an integer), such as 12 °, 372 °, and 732 °, for any reflected wave. It is recognized that the value of the recognition phase difference Δω is 12 °. Therefore, the front radar 11 may recognize such a virtual image (hereinafter referred to as a ghost) due to a reflected wave shifted by N cycles. The forward radar 11 discriminates the reflected wave from which the phase difference Δφ causing such a ghost is shifted by N periods and the reflected wave from the real object based on the information of the reflected wave other than the recognition phase difference Δω.

  For example, the forward radar 11 determines the arrival direction of a reflected wave from a real object and a reflected wave whose phase difference Δφ is shifted from the reflected wave by N periods based on the intensity F of the reflected wave. The reflected wave from the object has the property that the intensity F decreases as the propagation distance increases and the value of intensity F decreases. Therefore, even if the actual phase difference Δφ is a reflected wave with an N period shift, if it is a reflected wave from a different direction, the propagation distance to the forward radar 11 is different, and the antenna gain of the reflected wave is also a wide-angle ghost. The direction is small. That is, the forward radar 11 recognizes that the reflected waves with the phase difference Δφ shifted by N periods and reflected waves from different directions have different intensities. Therefore, the front radar 11 stores in advance a range of values of intensity F to be recognized (hereinafter referred to as intensity recognition range) for each value of the recognition phase difference Δω, and the intensity F of the received reflected wave is the intensity. Only when the size is within the recognition range, the reflected wave is set as an object detection target. According to such a process, it is possible to recognize only a reflected wave having an arbitrary intensity as a target of the object detection process among the reflected waves having the phase difference Δφ shifted by N periods.

  Furthermore, the front radar 11 sets only the reflected wave having an intensity within a predetermined range among the received reflected waves as a target of detection processing as a reflected wave from the object. Specifically, the front radar 11 sets only a reflected wave having an intensity equal to or higher than the intensity threshold FT among the received reflected waves as a target of detection processing as a reflected wave from the object. Further, the forward radar 11 sets only the reflected wave having a phase difference within a predetermined range among the received reflected waves as a target of detection processing as a reflected wave from the object. Specifically, the front radar 11 sets only the reflected wave having a phase difference Δω within the range of ± ωT among the received reflected waves as a target for the object detection process as a reflected wave from the object. . Hereinafter, the value of ωT is referred to as a phase difference threshold value.

  The forward radar 11 uses only the reflected wave from the distance and direction within the range determined as described above for the object detection process. Therefore, the detection area A1 of the front radar 11 is set in a substantially fan shape forward of the vehicle with the front radar 11 as the center as shown in FIG.

  A millimeter wave radar such as the front radar 11 detects the position of an object based on a reference axis. Therefore, if the reference axis is not set at the correct position, the position of an object around the vehicle, such as a preceding vehicle or an obstacle, may be erroneously detected. When the position of an object around the vehicle is erroneously detected, a system that controls the vehicle based on the detected position of the object, such as a collision prevention system, does not operate normally, and appropriate vehicle control is executed. There is a risk of disappearing. In order to solve such a problem, it is necessary to adjust the reference axis of the millimeter wave radar to a correct position in advance.

An example of a method for adjusting a reference axis of a radar device such as the millimeter wave radar is disclosed in Patent Document 1. In the axis adjustment method disclosed in Patent Document 1, an electromagnetic wave absorber is disposed in the vicinity of a target, and the position of the target is detected by a radar device. Then, the reference position is adjusted by adjusting the mounting position of the radar device so that the target is detected at a predetermined position. According to such an adjustment method, it is possible to adjust the reference axis of the radar device in a space-saving manner than usual.
JP 2003-240837 A

  Recently, in order to accurately detect an object in a wider range around the vehicle, a vehicle equipped with a plurality of radar devices as described above has been developed. For example, the vehicle 10 shown in FIG. 11 is equipped with a front radar 11 at the front center, a left front radar 12 at the front left side, and a right front radar 13 at the front right side. 11 is a top view of the vehicle 10 on which the front radar 11, the left front radar 12, and the right front radar 13 are mounted. The left front radar 12 and the right front radar 13 are both typical known millimeter wave radars similar to the front radar 11. The principle that the left front radar 12 and the right front radar 13 detect an object is the same as the principle that the front radar 11 described above detects an object. Hereinafter, the front radar 11, the left front radar 12, and the right front radar 13 are collectively referred to as an in-vehicle radar.

  The detection area A2 of the left front radar 12 is set in a substantially fan shape to the left front of the vehicle with the left front radar 12 as the center. Further, the reference axis J2 of the left front radar 12 is set to the left front with the receiver of the left front radar 12 as the center. On the other hand, the detection area A2 of the right front radar 13 is set in a substantially fan shape to the front right of the vehicle with the right front radar 13 as the center. On the other hand, the reference axis J3 of the right front radar 13 is set from the center of the receiving unit of the right front radar 13 toward the right front.

  When adjusting the reference axes J1, J2, and J3 of the on-vehicle radar mounted on the vehicle 10 as described above using, for example, the technique of Patent Document 1, a plurality of targets 30 as shown in FIG. It is necessary to make adjustments by placing them on the axes of the reference axes J1, J2, and J3. That is, it is necessary to prepare a plurality of targets according to the number of radars. Therefore, as the number of radars mounted on the vehicle increases, there is a problem that the cost to be spent on equipment for adjusting a reference axis such as a target increases.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a method for adjusting the axis of a radar device that can adjust the reference axes of a plurality of radar devices provided in a vehicle at low cost.

  To achieve the above object, the present invention adopts the following configuration.

  A first aspect of the present invention is an axis adjustment method for a radar device mounted on a vehicle, comprising: an object detectable area of the first radar device mounted on the vehicle; and a second radar device mounted on the vehicle. The first radar device and the second radar device are provided by the target placement step of placing only one target for axis adjustment in the overlapping area with the object detectable area, the first radar device, and the second radar device. A radar apparatus comprising: a target direction detection process for detecting each of the target directions viewed from the above; and an adjustment process for adjusting the axes of the first radar apparatus and the second radar apparatus based on the detection result of the target direction detection process This is an axis adjustment method.

  According to a second invention, in the first invention, the detection of changing at least one object detectable area of the radar device so that the object detectable areas of the radar devices overlap each other before the target direction detection step. A radar apparatus axis adjusting method further including an area changing step.

  According to a third aspect, in the second aspect, in the target direction detection step, the radar device transmits the electromagnetic wave toward the target, receives the reflected wave of the electromagnetic wave reflected by the target, and receives the reflected wave of the target based on the reflected wave. In the detection area changing step, the object detection area of the radar device is detected by making the reception sensitivity of the reflected wave in the radar device relatively higher than when the radar device is used for its original use. This is a method for adjusting the axis of a radar device that temporarily spreads.

  According to a fourth aspect of the present invention, in the target direction detection step, the radar device sends an electromagnetic wave toward the target, receives a reflected wave of the electromagnetic wave reflected by the target, detects the direction of the target based on the reflected wave, In the direction detection step, the radar apparatus is an axis adjustment method for the radar apparatus that detects the true direction of the target based on the direction of the virtual image of the target detected by the radar apparatus.

  5th invention WHEREIN: The target arrangement | positioning determination which determines based on the direction of the target detected for every radar apparatus before the adjustment process in 1st invention whether the target is arrange | positioned in the normal position. A method for adjusting an axis of a radar apparatus, further comprising: a step and a notification step of notifying the target without performing the adjustment step when it is determined in the target arrangement determination step that the target is not arranged at a normal position. .

  According to a sixth aspect, in the fifth aspect, in the target placement determination step, the first angle indicating the direction of the target detected by the first radar device and the direction of the target detected by the second radar device When the difference value of the second angle indicating is calculated and the difference value is within the determined range, it is determined that the target is located at a normal position, and the difference value is outside the determined range This is a method for adjusting the axis of a radar apparatus that determines that the target is not positioned at a normal position.

  In a seventh aspect based on the first aspect, in the target placement step, the target is an overlapping area between the object detectable area of the first radar device and the object detectable area of the third radar device mounted on the vehicle. And the axis adjustment step includes the distance to the target measured by the third radar device and the relative position between the third radar device and the first radar device. A target direction setting step for setting the target direction of the first radar device based on the target direction, and the target direction detected by the first radar device after the target direction setting step is set to the target direction of the first radar device. A method for adjusting the axis of a radar apparatus, including a direction alignment step of aligning an axis of the first radar apparatus so as to match.

  Note that the first radar device and the second radar device according to the first invention may be applied by replacing the third radar according to the seventh invention described later.

  In an eighth aspect based on any one of the first to seventh aspects, the object detectable area of the first radar device is determined in front of the vehicle, and the object detectable area of the second radar device is the front side of the vehicle. This is a method for adjusting the axis of a radar device.

  In a ninth aspect based on any one of the first to seventh aspects, the object detectable area of the first radar device is defined behind the vehicle, and the object detectable area of the second radar device is the rear of the vehicle. This is a method for adjusting the axis of a radar device, which is determined laterally.

  According to a tenth aspect of the invention, in any one of the first and second aspects, the object detectable area of the first radar device is predetermined in the vicinity of the vehicle, and the object detectable area of the second radar device is the first. This is a method for adjusting the axis of the radar apparatus, which is predetermined in a distance from the radar apparatus.

  According to the first aspect, the reference axes of the plurality of radar devices provided in the vehicle can be adjusted with one target. At this time, it is not necessary to move the target, and it is not necessary to prepare a plurality of targets for each radar device, so that the reference axes of the plurality of radar devices can be adjusted at low cost.

  According to the second invention, even if the target does not exist within the detection area of the original radar device, the target can be detected by changing the detection area.

  According to the third invention, in the electromagnetic wave type radar device, the detection area can be easily changed to generate the overlapping area.

  According to the fourth aspect, since the true target direction can be detected based on the virtual image of the target, the target direction can be detected even if the target is disposed outside the original detection area.

  According to the fifth aspect, it is possible to adjust the reference axis of the radar device after automatically determining whether or not the target is positioned at a normal position. Therefore, it is possible to prevent an apologizing adjustment from being executed in a state where the target is not normally arranged.

  According to the sixth invention, when the target is arranged on a vertical bisector of a line segment connecting the first radar device and the second radar device, it is determined that the target is correctly arranged. it can.

  According to the seventh invention, if the target is arranged in front of the third radar device, it is not necessary to set the target direction of the first radar device in advance, and automatically according to the position of the target. The axis adjustment of the first radar device can be performed.

  According to the eighth aspect, the radar device that detects an object in front of the vehicle and the radar device that detects an object in front of the vehicle can be adjusted with one target.

  According to the ninth aspect, the radar device that detects an object behind the vehicle and the radar device that detects an object behind the vehicle can be adjusted with one target.

  According to the tenth aspect, the radar device that detects an object near the vehicle and the radar device that detects an object farther than the radar device can be adjusted with one target.

  According to the eleventh aspect, the radar that detects the object behind the vehicle and the radar that detects the object behind the vehicle can be adjusted with one target.

  Hereinafter, a method for adjusting the axis of a radar apparatus according to an embodiment of the present invention will be described. In the present embodiment, an example in which the reference axis of each of the three radar devices provided in the vehicle 10 is adjusted by one target 30 will be described. As shown in FIG. 1, the vehicle 10 includes three radar devices: a front radar 11, a left front radar 12, and a right front radar 13. FIG. 1 is a mounting diagram of the front radar 11, the left front radar 12, and the right front radar 13. The front radar 11, the left front radar 12, and the right front radar 13 are all millimeter-wave radar devices that detect an object based on the principle described in the section “Background Art”. Hereinafter, the front radar 11, the left front radar 12, and the right front radar 13 are collectively referred to as an in-vehicle radar, similarly to the description in the “Background Art” section. The front radar 11 is disposed inside the front grill at the front center of the vehicle. The left front radar 12 is disposed at the left end of the front bumper of the vehicle. The right front radar 13 is disposed at the left end of the front bumper of the vehicle. Thus, the front radar 11 is arranged on a center line (hereinafter referred to as a vehicle center line) penetrating the vehicle 10 forward and backward, and the left front radar 12 and the right front radar 13 are each centered on the center line. They are arranged approximately symmetrically.

  Next, with reference to FIG. 2, the functional configuration of the system for adjusting the in-vehicle radar will be described. FIG. 2 is a block diagram showing a functional configuration of a system for adjusting the in-vehicle radar. As shown in FIG. 2, the system for adjusting the in-vehicle radar is roughly constituted by the vehicle 10 and the adjusting equipment 20.

  The vehicle 10 includes a front radar 11, a left front radar 12, a right front radar 13, and a radar control ECU 14. The front radar 11, the left front radar 12, the right front radar 13, and the radar control ECU 14 all operate when the IG power supply of the vehicle 10 is in an ON state.

  The front radar 11, the left front radar 12, and the right front radar 13 are each connected to a radar control ECU 14. Each in-vehicle radar then outputs the detected distance to the object and the detected angle of the detected object to the radar control ECU 14. The distance to the target 30 detected by the front radar 11 is defined as a target detection distance T1, and the detection angle of the target 30 detected by the front radar 11 is defined as a detection angle θM. Further, the detection angle of the target 30 detected by the left front radar 12 is defined as a detection angle θL. Further, the detection angle of the target 30 detected by the right front radar 13 is defined as a detection angle θR.

  The radar control ECU 14 is typically a control device that includes an information processing device such as a CPU (Central Processing Unit), a storage device such as a memory, and an interface circuit. The radar control ECU 14 is connected to the equipment control device 21.

  The radar control ECU 14 outputs an instruction signal for expanding the detection area and an instruction signal for adjusting the reference axis in accordance with the adjustment amount to each on-vehicle radar. The adjustment amount is a rotation amount for moving the reference axis in the correct direction. As will be described in detail later, each in-vehicle radar adjusts the reference axis to the correct position by rotating the reference axis by an adjustment amount around the radar receiver. Note that the adjustment amount of the left front radar 12 is ΔθL.

  The radar control ECU 14 also signals the equipment control device 21 that the adjustment of the on-vehicle radar is completed (hereinafter referred to as an adjustment completion signal) and a signal that instructs the rearrangement of the target 30 (hereinafter referred to as the target). A relocation signal).

  The adjustment facility 20 is a facility that includes a facility control device 21, a target moving device 22, a vehicle arrangement confirmation device 23, and a warning device 24.

  The facility control device 21 is typically a control device including an information processing device such as a CPU (Central Processing Unit), a storage device such as a memory, an interface circuit, and an operation panel. The equipment control device 21 is connected to the radar control ECU 14, the target moving device 22, the vehicle arrangement confirmation device 23, and the warning device 24.

  The equipment control device 21 outputs an instruction signal (hereinafter referred to as an adjustment start signal) for starting the adjustment of the in-vehicle radar to the radar control ECU 14. In addition, the facility control device 21 outputs an instruction signal for moving the target 30 to the target moving device 22 (hereinafter referred to as a target moving signal). In addition, when receiving the target rearrangement signal, the equipment control device 21 outputs an instruction signal (hereinafter referred to as an alarm signal) for issuing an alarm to the alarm device 24. Note that the operator can arbitrarily output the adjustment start signal and the target movement signal by operating the equipment control device 21.

  The target moving device 22 is a moving device that moves the target 30 used for adjustment of the in-vehicle radar to a predetermined position (hereinafter referred to as a target original position) in accordance with an instruction from the equipment control device 21. The target moving device 22 is typically a known positioning device in which the target 30 is provided at the moving site. The target moving device 22 may use various known moving devices as long as the target moving device 22 can move the target 30 to a predetermined position.

  The vehicle arrangement confirmation device 23 is a device that detects that the vehicle 10 is arranged at a predetermined position (hereinafter referred to as a vehicle original position). The vehicle arrangement confirmation device 23 is typically a known proximity sensor provided near the vehicle original position. When the vehicle arrangement confirmation device 23 detects that the vehicle 10 is arranged at the vehicle original position, the vehicle arrangement confirmation device 23 controls a signal indicating that the vehicle 10 is arranged at the vehicle original position (hereinafter referred to as a vehicle arrangement completion signal). Output to the device 21. The vehicle arrangement confirmation device 23 is not limited to the proximity sensor as long as it can detect that the vehicle 10 is arranged at the vehicle original position, and a known device may be used.

  The warning device 24 is typically an alarm device such as a lamp or a buzzer. The warning device 24 issues an alarm according to the instruction of the equipment control device 21. Details will be described in the description of the processing of steps S4 to S6 executed by the radar control ECU 14 described later. The radar control ECU 14 determines whether or not the target is correctly arranged, and the target 30 is not correctly arranged. The target rearrangement signal is output to the equipment control device 21. When receiving the target rearrangement signal, the equipment control device 21 outputs an alarm signal to the warning device 24. When the warning device 24 receives the warning signal, it issues an alarm. That is, when the target 30 is not correctly arranged, the warning device 24 issues an alarm.

  The target 30 is typically a structure having a regular tetrahedron shape with one surface opened. Each surface of the target 30 is made of an aluminum plate. The target 30 is arranged so that the opening can be seen from each in-vehicle radar. Note that the shape and constituent materials of the target 30 are not limited to the above as long as the electromagnetic waves transmitted from the in-vehicle radar can be favorably reflected.

  Next, the procedure for adjusting the in-vehicle radar will be described with reference to FIG. FIG. 3 is an example of a flowchart showing the procedure of adjustment work of the in-vehicle radar. The work shown in the flowchart of FIG. 3 is a process executed by the equipment control device 21 provided in the adjustment equipment 20 except for the process P6. In the following, an example will be described in which the adjustment processing of the on-vehicle radar mounted on the vehicle 10 is semi-automatically executed by the control processing of the equipment control device 21 and the radar control ECU 14, but the work in each step is performed by the worker. May be executed.

  In step P1, the equipment control device 21 executes a process for determining whether or not a vehicle placement completion signal has been received. Specifically, the equipment control device 21 determines whether or not a vehicle placement completion signal is received from the vehicle placement confirmation device 23. When it is determined that the equipment control device 21 has received the vehicle placement completion signal, the adjustment operation moves to step P2. On the other hand, when it is determined that the equipment control device 21 has not received the vehicle placement completion signal, the adjustment work returns to the process P1 again.

  In addition, the operation | work which moves the vehicle 10 to a vehicle original position may be performed by the operator driving the vehicle 10, and may be performed by the conveying apparatus which conveys a vehicle.

  Moreover, in the description of the process P <b> 1, the processing executed by the equipment control device 21 may be executed by an operator instead of the equipment control device 21. Specifically, the operator may determine by visually confirming whether or not the vehicle is located at the vehicle original position.

  In the process P2, the equipment control device 21 arranges the target 30 at the target original position. Specifically, the facility control device 21 outputs a target movement signal to the target movement device 22. When the equipment control device 21 completes the process, the adjustment work moves to the process P3.

  In addition, the output of the target movement signal in the process P2 described above may be automatically started after the equipment control device 21 completes the process P1, or an operator operates the equipment control apparatus 21. The output of the signal may be started. In the description of the process P2, the example in which the target 30 is moved by the target moving device 22 has been described. However, the operator may carry the target 30 to the target original position.

  Here, the vehicle original position and the target original position will be described with reference to FIG. FIG. 4 is a layout diagram of the target 30 and the vehicle 10 during the on-vehicle radar adjustment.

  The detection areas of each of the front radar 11, the left front radar 12, and the right front radar 13 are the detection area A1, the detection area A2, and the detection area, as described in FIG. A3. The reference axes of the front radar 11, the left front radar 12, and the right front radar 13 are the reference axis J1, the reference axis J2, and the reference axis, as in the description of FIG. 9 in the “Background Art” column. J3.

  As shown in FIG. 4, in the present embodiment, the detection area A2 and the detection area A3 are enlarged as compared with FIG. 9 by the processing described later, and the detection areas A1, A2, and A3 overlap with each other (hereinafter referred to as the overlap area). Called). In FIG. 4, the overlapping area is a hatched area. The target original position and the vehicle original position are determined in advance so that the target original position is located within the overlapping area. That is, only one target 30 is arranged inside the overlapping area. In the present embodiment, an example in which the target original position is located in front of the center of the vehicle 10 will be described.

  By the adjustment work of the process P1 and the process P2, the vehicle 10 is disposed at the vehicle original position and the target 30 is disposed at the target original position.

  Returning to the description of FIG. 3, in step P <b> 3, the equipment control device 21 outputs an adjustment start signal. Specifically, the equipment control device 21 outputs an adjustment start signal to the radar control ECU 14. When receiving the adjustment start signal, the radar control ECU 14 executes the process shown in FIG. 5 and automatically adjusts the reference axis of the in-vehicle radar. FIG. 5 is a flowchart showing an example of processing executed by the radar control ECU 14. Details of the flowchart of FIG. 5 will be described later. When the equipment control device 21 completes the process P3, the adjustment work moves to the process P4.

  The output of the adjustment start signal in the process P3 described above may be automatically started after the equipment control device 21 completes the process P2, or the operator operates the equipment control device 21. The output of the signal may be started.

  In step P4, the operator determines whether or not an alarm for instructing the rearrangement of the target is issued from the warning device 24. If no warning is issued from the warning device 24, the adjustment operation automatically proceeds to step P5. Although details will be described later, the case where no warning is issued from the warning device 24, that is, the radar control ECU 14 determines that the target 30 is correctly arranged (see the process in step S7 in FIG. 5). ) Is the case. Therefore, when no warning is issued from the warning device 24, the radar control ECU 14 executes the processing from step S9 to step S11 in FIG. On the other hand, when the worker confirms the warning, the adjustment work moves to step P6. Although details will be described later, the case where an alarm is issued from the warning device 24, that is, after the radar control ECU 14 determines that the target is not correctly arranged (see the process in step S7 in FIG. 5). This is a case where a target rearrangement signal is output (see the process in step S8 in FIG. 5).

  In step P5, the equipment control device 21 determines whether or not an adjustment completion signal has been received. Specifically, the equipment control device 21 determines whether or not an adjustment completion signal (see the process of step S11 in FIG. 5) output from the radar control ECU 14 has been received. If the equipment control device 21 determines that the adjustment completion signal has been received, the equipment control device 21 ends the adjustment work. On the other hand, when it determines with the equipment control apparatus 21 not having received the adjustment completion signal, a process is returned to process P5.

  In addition, the operation | work which determines whether the adjustment completion signal in process P5 demonstrated above is received may be started automatically, after the equipment control apparatus 21 completes the process of process P4, or equipment previously The control device 21 may be provided with a display device such as a lamp for indicating that the adjustment completion signal has been received, and the operator may check the display to make a determination.

  Hereinafter, the process executed by the radar control ECU 14 will be described with reference to FIG. When the radar control ECU 14 receives the adjustment start signal in the step P3, the radar control ECU 14 adjusts the reference axis of each in-vehicle radar based on the following processing.

  In step S1, the radar control ECU 14 determines whether or not the IG power supply is on. When the radar control ECU 14 determines that the IG power supply is on, the radar control ECU 14 advances the process to step S2. On the other hand, if the radar control ECU 14 determines that the IG power supply is off, the radar control ECU 14 ends the process.

  By the process in step S1, the following processes from step S2 to step S11 are repeated while the IG power supply is on.

  In step S2, the radar control ECU 14 determines whether an adjustment start signal has been received. If the radar control ECU 14 determines that the adjustment start signal has been received, the radar control ECU 14 advances the process to step S3. On the other hand, if the radar control ECU 14 determines that the adjustment start signal has been received, the radar control ECU 14 returns the process to step S1.

  By the process in step S2, the radar control ECU 14 waits for execution of processes in steps S3 to S11 described later until the equipment control device 21 outputs an adjustment start signal in step P3.

  In step S3, the radar control ECU 14 determines whether a target rearrangement signal is output. If the radar control ECU 14 determines that the target rearrangement signal is being output, the radar control ECU 14 advances the process to step S4. On the other hand, if the radar control ECU 14 determines that the target arrangement signal is not output, the radar control ECU 14 advances the process to step S5.

  In step S4, the radar control ECU 14 stops outputting the target rearrangement signal. Radar control ECU14 will advance a process to step S5, if the process of step S4 is completed.

  If the warning device 24 has issued a target rearrangement alarm at the time when the adjustment start signal is output by the processing in steps S3 and S4, the alarm is stopped.

  In step S5, the radar control ECU 14 changes the detection range of the in-vehicle radar. Specifically, the radar control ECU 14 outputs an instruction signal for increasing the reception sensitivity to each on-vehicle radar.

  As a method for increasing the reception sensitivity of the reflected wave, for example, there is a method of increasing the gain value for amplifying the intensity of the reflected wave and expanding the range in which the target 30 is detected. As the gain value increases, the intensity of the reflected wave recognized by each in-vehicle radar increases. The intensity of the reflected wave becomes smaller as the reflection position is further away from the in-vehicle radar. However, the in-vehicle radar originally calculates a reflected wave having an intensity that does not exceed the intensity threshold FT reflected far away from the in-vehicle radar. Can be recognized as a reflected wave having an intensity exceeding the intensity threshold FT. By such processing, the in-vehicle radar can set the reflected wave reflected at a farther position as a target of the object detection processing.

  Radar control ECU14 will advance a process to step S6, if the process of step S5 is completed.

  As described above, the target original position is determined in advance so as to be located inside the overlapping area. For example, as shown in FIG. 11, the detection area of each in-vehicle radar is set in advance so that the detection of each in-vehicle radar does not overlap. May be set. In such a case, the detection area of the in-vehicle radar can be enlarged by the process of step S5, and an overlapping area can be formed as shown in FIG.

  In step S6, the radar control ECU 14 calculates a target arrangement flag. The target arrangement flag is a flag for determining whether or not the target is arranged in the vicinity of the target original position. When the target is arranged in the vicinity of the target original position, the target arrangement flag is set to 1. On the other hand, when the target is not arranged near the target original position, the target arrangement flag is set to zero.

  Specifically, the radar control ECU 14 executes a subroutine process for calculating a target arrangement flag shown in FIG. FIG. 6 is an example of a flowchart showing details of the subroutine processing for calculating the target arrangement flag. Hereinafter, the subroutine processing for calculating the target arrangement flag will be described with reference to FIG.

  In step S601, the radar control ECU 14 measures θL and θR. Specifically, the radar control ECU 14 outputs an instruction to measure the detection angle of the target 30 to each of the left front radar 12 and the right front radar 13 and acquires a measurement result. When the radar control ECU 14 completes the process of step S601, the process proceeds to step S602.

In step S602, the radar control ECU 14 calculates Δθ. Specifically, the radar control ECU 14 calculates the value of Δθ by the following equation.
Δθ = | θL-θR |
When the radar control ECU 14 completes the process of step S602, the process proceeds to step S603.

  In step S603, the radar control ECU 14 determines whether or not the value of Δθ is equal to or less than the threshold value θT. The threshold value θT is a threshold value of Δθ, and is set to an arbitrary numerical value in advance. If the radar control ECU 14 determines that the value of Δθ is equal to or smaller than the threshold θT, the radar control ECU 14 advances the process to step S604. On the other hand, if the radar control ECU 14 determines that the value of Δθ is greater than the threshold θT, the radar control ECU 14 advances the process to step S605.

  In step S604, the radar control ECU 14 sets the value of the automatic adjustment flag to 1. When the radar control ECU 14 completes the process of step S604, the radar control ECU 14 completes the subroutine of the target arrangement flag calculation process, and advances the process to step S7 of the flowchart of FIG.

  In step S605, the radar control ECU 14 sets the value of the automatic adjustment flag to 0. When the radar control ECU 14 completes the process of step S605, the radar control ECU 14 completes the subroutine of the target arrangement flag calculation process and advances the process to step S7 of the flowchart of FIG.

  According to the processing from step S <b> 601 to step S <b> 603, it can be determined whether or not the target 30 is arranged on the vertical bisector connecting the line segment connecting the left front radar 12 and the right front radar 13. In the present embodiment, since the left front radar 12 and the right front radar 13 are arranged substantially symmetrically about the vehicle center line, the vertical bisector corresponds to the vehicle center line, that is, the target 30 is a vehicle. It can be determined whether or not they are arranged near the center line.

  Radar control ECU14 will advance a process to step S7, if the process of step S6 is completed.

  In step S7, the radar control ECU 14 determines whether or not the target 30 is correctly arranged. Specifically, the radar control ECU 14 determines whether or not the target arrangement flag is 1. If the target placement flag is 1, the radar control ECU 14 determines that the target 30 is correctly placed, and advances the process to step S9. On the other hand, when the target placement flag is 0, the radar control ECU 14 determines that the target 30 is not placed correctly, and advances the processing to step S8.

  In step S <b> 8, the radar control ECU 14 outputs a target rearrangement signal to the equipment control device 21. Although details will be described later, the equipment control device 21 that has received the target rearrangement signal in the process of step S8 issues an alarm instructing target rearrangement in step P4 shown in FIG. After completing the process of step S8, the radar control ECU 14 returns the process to step S1.

  In step S9, the radar control ECU 14 performs automatic axis adjustment. Specifically, the automatic axis adjustment subroutine process shown in FIG. 7 is executed. FIG. 7 is an example of a flowchart showing details of subroutine processing for automatic axis adjustment. The automatic axis adjustment subroutine process will be described below with reference to FIG.

  In step S901, the radar control ECU 14 selects one radar. When the radar control ECU 14 completes the process of step S901, the radar control ECU 14 advances the process to step S902.

  In step S902, the radar control ECU 14 determines whether or not the forward radar 11 is selected. If the radar control ECU 14 determines that the front radar 11 is selected, the radar control ECU 14 proceeds to step S903. On the other hand, if the radar control ECU 14 determines that the forward radar 11 is not selected, the radar control ECU 14 advances the process to step S905.

  In step S903, the radar control ECU 14 measures the detection angle θM. Specifically, the radar control ECU 14 outputs an instruction to measure the detection angle θM to the front radar 11 and acquires the value of the detection angle θM from the front radar 11. When the radar control ECU 14 completes the process of step S903, the radar control ECU 14 advances the process to step S904.

  In step S904, the radar control ECU 14 sets the value of the ideal target angle θiM to 0. The ideal target angle is an ideal target detection angle value and is set for each on-vehicle radar. Each vehicle-mounted radar is in a state in which the reference axis is adjusted when the target detection angle matches each ideal target angle. The ideal target angle θiM is a value of the ideal target angle of the forward radar 11. Since the step S7 target 30 is disposed on the vehicle center line, the reference axis J1 can be set to overlap the vehicle center line by setting the value of the ideal target angle θiM to 0. When the radar control ECU 14 completes the process of step S904, the process proceeds to step S910.

  In step S905, the radar control ECU 14 measures the target detection distance T1. Specifically, the radar control ECU 14 outputs an instruction to measure the target detection distance T <b> 1 to the front radar 11 and acquires the value of the target detection distance T <b> 1 from the front radar 11. When the radar control ECU 14 completes the process of step S905, the process proceeds to step S906.

  In step S906, the radar control ECU 14 determines whether the left front radar 12 is selected. If the radar control ECU 14 determines that the left front radar 12 has been selected, the radar control ECU 14 advances the process to step S907. On the other hand, if the radar control ECU 14 determines that the left front radar 12 has not been selected, the process proceeds to step S908.

  In step S907, the radar control ECU 14 calculates a value of the ideal target angle θiL. The ideal target angle θiL is a value of the ideal target angle of the left front radar 12. Hereinafter, a method of calculating the ideal target angle θiL will be described with reference to FIG. FIG. 8 is a vehicle top view illustrating dimensions used for calculating the ideal target angle θiL. Hereinafter, a method of calculating θiL will be described with reference to FIG.

In FIG. 7, with the left front radar 12 as the origin, the direction parallel to the vehicle center line (vehicle longitudinal direction) is the Y axis, and the direction perpendicular to the Y axis in the horizontal plane passing through the Y axis (the vehicle left-right direction) ) Is set as the X-axis coordinate system. Here, an angle formed by a line segment connecting the left front radar 12 and the target 30 and the Y axis is αL. Further, when the angle formed by the Y axis and the reference axis J2 is βL, the ideal target angle θiL can be expressed by the following equation.
θiL = αL + βL

The angle αL can be expressed by the following expression where the distance of the X coordinate component from the left front radar 12 to the target 30 is XL and the distance YL of the Y coordinate component.
tanαL = XL / YL

Here, the length of the distance XL is assumed to be equal to the distance H in the X direction from the left front radar 12 to the front radar 11, and is calculated by the following equation. Note that the value of the distance H is a design matter and is known.
XL = H

The length of the distance YL is calculated by the following equation using the distance G in the Y direction from the left front radar 12 to the front radar 11 and the target detection distance T1 of the front radar 11. Note that the value measured in step S905 is used as the value of the target detection distance T1. The value of the distance G is a design matter and is known.
YL = T1 + G

  The value of the angle βL is an arbitrary constant determined by design. The value of the angle βL is stored in advance in the storage device of the radar control ECU 14.

  The radar control ECU 14 calculates the angle αL based on the above equation using the distance H, the distance G, and the target detection distance T1, which are known values. Then, the radar control ECU 14 calculates the value of the ideal target angle θiL by adding the calculated angle αL and the value of the angle βL stored in advance. When the radar control ECU 14 completes the process of step S907, the process proceeds to step S910.

  Returning to the description of FIG. 7, in step S <b> 908, the right front radar is selected. The radar control ECU 14 determines whether or not the right front radar 13 is selected. If the radar control ECU 14 determines that the right front radar 13 is selected, the radar control ECU 14 advances the process to step S908. On the other hand, if the radar control ECU 14 determines that the right front radar 13 is not selected, the radar control ECU 14 ends the automatic axis adjustment process, and proceeds to step S10 of the process shown in FIG.

  In step S909, the radar control ECU 14 calculates the value of the ideal target angle θiR. The ideal target angle θiR is a value of an ideal target detection angle of the right front radar 13. Although details will be described later, the right front radar 13 adjusts the position of the reference axis J3 so that the target detection angle θR matches the value of the ideal target angle θiR. Note that the calculation method of the ideal target angle θiR is the same as the calculation method of the ideal target angle θiL described in step S907 above. Apply it. Therefore, detailed description of the calculation method of the ideal target angle θiR is omitted. As described above, in calculating the ideal target angle θiL and the ideal target angle θiR, the value of the target detection distance T1 measured by the front radar 11 is used. Therefore, the front radar 11 has already been adjusted in step S905. It is desirable that the target detection distance T1 is accurately measured. That is, in the process of step S901, it is desirable that the radar control ECU 14 first selects the forward radar 11. When the radar control ECU 14 completes the process of step S909, the process proceeds to step S910.

  In step S910, the radar control ECU 14 executes reference axis alignment processing. Specifically, first, the radar control ECU 14 acquires the detection angle of the target 30 by the in-vehicle radar selected in step S901. Next, the ideal target angle of the selected in-vehicle radar is read, and the direction of the reference axis is changed so that the detection angle matches the ideal target angle. Hereinafter, the reference axis alignment process will be described in detail by taking the case where the left front radar 12 is selected as an example.

When the left front radar 12 is selected, first, the radar control ECU 14 subtracts the detection angle θL and the ideal target angle θiL to calculate the adjustment amount ΔθL by the following equation.
ΔθL = | θiL−θL |
Next, the radar control ECU 14 outputs to the left front radar 12 an instruction signal that rotates the reference axis J2 by the adjustment amount ΔθL in the direction in which the target 30 is detected.

  For example, assuming that the detection angle θL = 30 ° and the ideal target angle θiL = 32 °, the value of the adjustment amount ΔθL is calculated as 2 °. Therefore, the radar control ECU 14 outputs an instruction signal for rotating the reference axis J2 by 2 ° in the direction in which the target 30 is detected.

  After completing the setting of the reference axis of the selected in-vehicle radar, the radar control ECU 14 sets a flag (hereinafter referred to as an adjusted flag) indicating that the selected in-vehicle radar reference axis has been adjusted. The state is stored in the storage device.

  In the above description, the case where the left front radar 12 is selected is taken as an example. However, the radar control ECU 14 also applies the reference axis to each vehicle-mounted radar in the same manner when the front radar 11 and the right front radar 13 are selected. An instruction signal for adjusting the is output. When the radar control ECU 14 completes the process of step S910, the process proceeds to step S911.

  In step S911, the radar control ECU 14 determines whether or not the axis adjustment of all on-vehicle radars has been completed. Specifically, the state of the adjusted flag of each in-vehicle radar is read from the storage device, and it is determined whether all the flags are set. When the adjusted flag for all the on-vehicle radars is set, the radar control ECU 14 determines that the axis adjustment of all the on-vehicle radars has been completed, ends the automatic axis adjustment process, and the process proceeds to step S10 of the process shown in FIG. Proceed. On the other hand, the radar control ECU 14 returns the process to step S901 when any one of the adjusted flags of each in-vehicle radar is not set.

  Returning to FIG. 5, in step S10, the radar control ECU 14 returns the detection area to the original. Specifically, the radar control ECU 14 outputs an instruction signal for returning the detection area to the original range with respect to the vehicle-mounted radar that has expanded the detection area in step S5. Through the processing in step S10, the in-vehicle radar returns the detection area to the original. Radar control ECU14 will advance a process to step S11, if the process of step S11 is completed.

  In step S <b> 11, the radar control ECU 14 outputs an adjustment completion signal to the equipment control device 21. Although details will be described later, the equipment control device 21 that has received the adjustment completion signal completes the adjustment work in step P5 of FIG. 3 and completes all the adjustment work. When the radar control ECU 14 completes the process of step S11, the process returns to step S1.

  According to the radar reference axis adjustment method according to the present embodiment described above, it is not necessary to prepare a plurality of targets 30 when adjusting the three in-vehicle radars. Further, it can be automatically determined whether or not the target 30 is correctly arranged.

  In the above description of step S5, an example is shown in which the in-vehicle radar detection range is changed by increasing the reception gain of each in-vehicle radar, but the radar control ECU 14 transmits the electromagnetic wave to be transmitted to each in-vehicle radar. An instruction signal for increasing the intensity may be output. By increasing the transmission intensity of the electromagnetic wave to be transmitted, the intensity of the reflected wave is increased and the detection area of each in-vehicle radar can be expanded.

  Further, the radar control ECU 14 may change the value of the intensity threshold value FT set for each vehicle-mounted radar to expand the range in which the target 30 is detected. Specifically, since the intensity of the reflected wave becomes smaller as the reflection position is farther from the vehicle-mounted radar, the smaller the value of the intensity threshold FT, the more the vehicle-mounted radar reflects the reflected wave reflected at a farther position. Object detection processing can be performed. In other words, the radius of the detection area of the in-vehicle radar can be expanded to expand the range in which the target 30 is detected.

  Further, the radar control ECU 14 can change the center angle of the detection area A1 by changing the value of the phase difference threshold value ωT set for each on-vehicle radar. Specifically, since the absolute value of the phase difference increases as the reflected wave is reflected from an angle away from the reference axis J1, the central angle of the detection area A1 increases as the value of the phase difference threshold ωT increases. The detection area A1 becomes wide. However, the maximum value of the phase difference threshold value ωT is 360 °.

  The radar control ECU 14 may adjust the axis of the in-vehicle radar based on the ghost (virtual image in the claims) of the target 30 in each in-vehicle radar. For the definition of ghost, refer to the [Background Technology] section above.

  When the detection area is enlarged by increasing the reception sensitivity as described above, the ghost of the target 30 may be detected when the target 30 is located outside the normal detection area. The direction of the target (ghost) detected by the radar is different from the true direction of the target. However, the ghost is detected in a direction in which a reflected wave that is shifted from the reflected wave from the target 30 by N cycles (N is an integer) arrives. In other words, the ghost is detected in a direction that is deviated by a certain angle with respect to the true direction of the target. Therefore, based on the direction of the target (ghost) detected by the radar, the real of the target viewed from the radar device is detected. The axis can be adjusted by calculating the direction.

  Specifically, first, the radar control ECU 14 changes the intensity recognition range (see the “Background Art” section above) in the on-vehicle radar to be adjusted, and from the intensity recognition range that has been excluded from the recognition target as a ghost. The reflected wave is the recognition target. Since the target original position is known, the recognition phase difference Δω and the intensity F of the reflected wave from the target 30 arranged in the target original position direction are measured in advance, and the intensity recognition range so that these values are included. It is desirable to change. With this process, the in-vehicle radar can detect a ghost that is not normally detected. Next, the radar control ECU 14 regards the detection angle of the ghost as the detection angle of the original target 30, and adjusts the reference axis so that the detection angle of the ghost matches the ideal target angle by the above-described method.

  In the description of the processing in steps S6 and S7, an example in which whether or not the target 30 is correctly arranged is determined based on the value of Δθ is shown. However, the detection angle θL, the detection angle θR, and the detection angle are illustrated. Whether or not the target 30 is correctly arranged may be determined based on each value of θM. Specifically, the threshold values for the detection angle θL, the detection angle θR, and the detection angle θM are set in advance, and the values of the detection angle θL, the detection angle θR, and the detection angle θM are within the respective threshold values. It may be determined that 30 is correctly arranged.

  Further, in the description of the processing in step S9, an example in which all the on-vehicle radars are sequentially selected and the axis adjustment of all the on-vehicle radars is automatically performed is shown. However, the operator operates the equipment control device. The on-vehicle radar to be adjusted may be individually selectable. In this case, the process of step S901 and step S911 is abbreviate | omitted.

  In the present embodiment, the example in which the radar control ECU 14 is connected to the equipment control device 21 and the axis adjustment of the in-vehicle radar is executed has been described. However, there is no adjustment equipment on which the equipment control device 21 is mounted. The above adjustment method can also be applied. For example, when adjusting a vehicle-mounted radar in a maintenance shop or the like, a small terminal device that can be operated by an operator is prepared in advance, and the terminal device and the radar control ECU 14 are connected. The terminal device can output an adjustment start signal, receive a target rearrangement warning, and receive an adjustment completion signal. And after an operator arrange | positions the vehicle 10 and the target 30, if the output operation of an adjustment start signal, the reception confirmation of a target rearrangement warning, and the reception confirmation of an adjustment completion signal are performed using a terminal device, it is the same as the above The reference axis of the on-vehicle radar can be adjusted by the method.

  Moreover, although this embodiment demonstrated the example which adjusts each reference axis of three millimeter wave radars mounted ahead of the vehicle, the number of radar devices is not limited to three, and a plurality of radar devices provided in the vehicle The above adjustment may be performed by arranging one target in a range where detection areas of at least two radar devices among the radar devices overlap.

  In the present embodiment, as shown in FIG. 4, the detection area A2 and the detection area A3 are set so that the left front radar 12 and the right front radar 13 detect a short-distance object with a wide viewing angle. The front radar 11 has a detection area A1 so as to detect a long-distance object with a narrow viewing angle compared to the left front radar 12 and the right front radar 13, but each in-vehicle radar can be formed if an overlapping area can be formed. The size of the detection area is not limited to the above. For example, the viewing angle of the detection area A1 may be wider, and the detection distances of the left front radar 12 and the right front radar 13 may be longer.

  In the present embodiment, an example of adjusting a plurality of radar devices provided in front of the vehicle has been described. However, the method for adjusting a radar device described above adjusts the radar devices provided on the side or rear of the vehicle. You may apply to. For example, in order to monitor obstacles behind the vehicle, even if a plurality of radar devices are provided at the vehicle rear center, the vehicle left rear, the vehicle right rear, and the like, each radar device is similar to the above. The reference axis can be adjusted.

  In this embodiment, an example using a millimeter wave radar has been described as an example of a radar device. However, the present invention is not limited to a millimeter wave radar, and a radar device that detects an object using the principle described above may be used. Absent.

  The radar apparatus axis adjustment method according to the present invention can be used as a method of adjusting the reference axes of a plurality of radar apparatuses provided in a vehicle at low cost.

Car radar installation Block diagram showing the functional configuration of the system for adjusting the in-vehicle radar Flow chart showing the procedure of adjustment work for in-vehicle radar Layout of target and vehicle when adjusting on-vehicle radar Flow chart showing an example of processing executed by the radar control ECU Example of flowchart showing details of subroutine processing for calculating target placement flag Example of flowchart showing details of subroutine processing for automatic axis adjustment Vehicle top view illustrating parameters necessary for calculating the ideal target angle θiL Top view showing how the front radar installed in the vehicle detects an object The enlarged view of the receiving part of the front radar 11 which receives the reflected wave from an object Top view of a vehicle with front radar, left front radar, and right front radar

Explanation of symbols

10 Vehicle 11 Forward radar 12 Left forward radar 13 Right forward radar 14 Radar control ECU
DESCRIPTION OF SYMBOLS 20 Adjustment equipment 21 Equipment control apparatus 22 Target moving apparatus 23 Vehicle arrangement | positioning confirmation apparatus 24 Warning apparatus 30 Target

Claims (11)

A method for adjusting an axis of a radar device mounted on a vehicle,
A target in which only one axis adjustment target is arranged in an overlapping area between the object detectable area of the first radar device mounted on the vehicle and the object detectable area of the second radar device mounted on the vehicle. Placement process,
A target direction detection step of detecting the direction of the target viewed from the first radar device and the second radar device by the first radar device and the second radar device, and
A method for adjusting an axis of a radar device, comprising: an adjusting step for adjusting an axis of the first radar device and the second radar device based on a detection result of the target direction detection step.   The detection area changing step of changing at least any one object detectable area of the radar device such that the object detectable areas of the radar devices overlap each other before the target direction detecting step. 2. A method for adjusting an axis of a radar device according to 1. In the target direction detection step, the radar device transmits an electromagnetic wave toward the target, receives a reflected wave of the electromagnetic wave reflected by the target, detects the direction of the target based on the reflected wave,
In the detection area changing step, the object detection area of the radar device is temporarily set by making the reception sensitivity of the reflected wave in the radar device relatively higher than when the radar device is used in an original application. The method for adjusting the axis of a radar device according to claim 2, wherein the method is widely expanded. In the target direction detection step, the radar device transmits an electromagnetic wave toward the target, receives a reflected wave of the electromagnetic wave reflected by the target, detects the direction of the target based on the reflected wave,
The axis adjustment of the radar device according to claim 2, wherein in the target direction detection step, the radar device detects a true direction of the target based on a direction of a virtual image of the target detected by the radar device. Method. Before the adjustment step, a target placement determination step for determining whether the target is placed at a normal position based on the direction of the target detected for each radar device;
2. The radar according to claim 1, further comprising a notification step of notifying the fact without performing the adjustment step when it is determined in the target arrangement determination step that the target is not arranged at a normal position. Method for adjusting the axis of the device.   In the target arrangement determining step, a first angle indicating the direction of the target detected by the first radar device and a second angle indicating the direction of the target detected by the second radar device. When a difference value is calculated and the difference value is within a predetermined range, the target is determined to be disposed at a normal position, and when the difference value is outside the predetermined range, the target is The method of adjusting an axis of a radar apparatus according to claim 5, wherein it is determined that the radar apparatus is not disposed at a normal position. In the target placement step, the target is in an overlapping area between an object detectable area of the first radar device and an object detectable area of the third radar device mounted on the vehicle, and the third radar Placed in front of the device,
The axis adjustment step determines a target direction of the first radar device based on a distance to the target measured by a third radar device and a relative position between the third radar device and the first radar device. A target direction setting process to be set;
After the target direction setting step, the axis of the first radar device is aligned so that the direction of the target detected by the first radar device matches the target direction of the first radar device. The method for adjusting an axis of a radar device according to claim 1, further comprising a direction adjusting step. The object detectable area of the first radar device is defined in front of the vehicle,
The method of adjusting an axis of a radar device according to any one of claims 1 to 7, wherein an object detectable area of the second radar device is defined on a front side of the vehicle. The object detectable area of the first radar device is defined behind the vehicle,
The axis adjustment method of the radar apparatus according to any one of claims 1 to 7, wherein an object detectable area of the second radar apparatus is defined on a rear side of the vehicle. The object detectable area of the first radar device is predetermined in a distance from the vehicle,
The method of adjusting an axis of a radar device according to claim 1 or 2, wherein the object detectable area of the second radar device is predetermined in the vicinity of the object detectable area of the first radar device. An axis adjustment device that performs axis adjustment of a plurality of radar devices mounted on a vehicle,
Detection area changing means for changing at least one object detectable area of the radar device so that the object detectable areas of the radar devices overlap each other before the detection step;
Target direction detection means for detecting the direction of the target viewed from the first radar device and the second radar device by the first radar device and the second radar device,
Target placement determining means for determining whether or not the target is normally placed based on the direction of the target detected for each radar device;
An axis adjusting device comprising: an adjusting means for adjusting the axis of the radar device when it is determined that the target is normally arranged.

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