JP2011058817A - Radar device and method of adjusting antenna angle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technique of performing an accurate angle adjustment to an aimed angle by preventing an erroneous angle adjustment following factors occurring during an angle adjustment of an antenna. <P>SOLUTION: In the radar device for adjusting the angle of an antenna to an aimed angle based on an inclination angle of the antenna, an adjustment prediction value, namely a criterion for adjusting the antenna adjusted by an angle adjustment means of the antenna to an aimed angle, is calculated, and adjustment failure is detected based on an error between the adjustment prediction value and an angle change in the antenna. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a technique for adjusting an antenna angle of a radar apparatus mounted on a vehicle.

  When the radar apparatus is mounted on a vehicle, it detects an object such as another vehicle or a roadside installation. In order to detect these objects, it is necessary to adjust the beam axis direction so that the reflection intensity of the reflected wave from the object of the transmission wave transmitted from the antenna becomes a certain value or more. The adjustment of the antenna angle refers to the adjustment of the angle of the beam axis in the direction perpendicular to the antenna surface.

  Here, since the radar device is attached to the vehicle in a limited space of the vehicle, which differs depending on the vehicle type, a desired antenna angle that can obtain a reflection intensity of a certain value or more depending on the attachment position and the skill of the operator. May not be.

  Therefore, the antenna angle for obtaining the desired beam axis direction is calculated in advance, the angle is stored in the storage device of the radar device as the target angle, and the tilt sensor and motor are used automatically from the current antenna angle to the target angle. Techniques for adjusting are known.

  In addition, in a moving object detection device, a technology is disclosed in which a light receiving lens and its lens holder are held so as to be able to swing, and after a predetermined time has passed, the swinging is stopped and then the lens holder is fixed and the shaft is adjusted. (For example, Patent Document 1).

  Furthermore, a technique is disclosed in which the amount of deviation from the reference value of the mounting angle of the radar head to the vehicle is monitored, and when this amount of deviation exceeds a predetermined value, the driver is notified or displayed (for example, Patent Document 2).

JP 2004-156948 A JP-A-10-132920

  However, when the antenna angle is adjusted at a vehicle factory or a dealer, vibration caused by contact with the vehicle such as opening / closing of the vehicle door or getting on / off the vehicle when the antenna angle is adjusted after the radar device is mounted on the vehicle. May join the vehicle. As a result, the output of the tilt sensor that detects the antenna angle may fluctuate, and the antenna angle may not be adjusted accurately.

  Further, the technique disclosed in Patent Document 1 performs processing after waiting for the shaking of the light receiving lens to be settled in the process of simply adjusting the beam axis. Furthermore, the technique disclosed in Patent Document 2 is a process in the case where an angle deviation with respect to a predetermined antenna angle occurs, both of which detect an error in the antenna angle while the antenna angle is being adjusted. is not.

  The present invention has been made in view of the above-described problems, and provides a technique capable of preventing an erroneous angle adjustment due to a factor generated during antenna angle adjustment and performing an accurate angle adjustment to a target angle. For the purpose.

In order to solve the above-mentioned problem, the invention of claim 1 is a radar apparatus capable of adjusting an antenna angle,
Inclination angle detection means for detecting the inclination angle of the antenna with respect to the target angle of adjustment, angle adjustment means for adjusting the antenna angle to the target angle based on the inclination angle, and scheduled adjustment to the target angle are performed. An adjustment prediction value calculation unit that calculates an adjustment prediction value that is a criterion for determining whether or not the antenna is measured, and a measurement value that detects a measurement value associated with an antenna angle change during adjustment from the antenna angle before adjustment to the target angle Detecting means, and detecting means for detecting poor adjustment based on an error between the predicted adjustment value and the measured value.

  According to a second aspect of the present invention, in the radar apparatus according to the first aspect, the adjustment predicted value is an antenna for each predetermined time that is a criterion for determining whether or not the planned adjustment to the target angle is performed. It is a predicted angle, and the measured value is an antenna angle for each predetermined time during the adjustment from the antenna angle before adjustment to the target angle.

  According to a third aspect of the present invention, in the radar apparatus according to the first aspect, the adjustment predicted value is an adjustment completion predicted time which is a criterion for determining whether or not the planned adjustment to the target angle is performed. The measured value is an adjustment completion time from the antenna angle before adjustment to the target angle.

  According to a fourth aspect of the present invention, in the radar apparatus according to the first aspect, the predicted adjustment value is a predetermined time interval that is a criterion for determining whether or not the planned adjustment to the target angle is performed. The predicted antenna angle and the estimated adjustment completion time that is a criterion for determining whether or not the planned adjustment to the target angle is performed, and the measured value is from the antenna angle before the adjustment to the target angle. An antenna angle for each predetermined time during adjustment, and an adjustment completion time from the antenna angle before the adjustment to the target angle, wherein the detection means performs the antenna predicted angle for each predetermined time and the predetermined time An adjustment failure is detected based on the error between the antenna angle and the error between the predicted adjustment completion time and the adjustment completion time.

  The invention according to claim 5 is the radar device according to any one of claims 1 to 5, further comprising notification means for notifying that when the error exceeds a predetermined range.

  Further, the invention of claim 6 is an antenna adjustment method capable of adjusting the antenna angle, the step of detecting the inclination angle of the antenna with respect to the adjustment target angle, and the antenna angle based on the inclination angle. An angle adjustment step of adjusting to the target angle, an adjustment prediction value calculation step of calculating an adjustment prediction value that is a criterion for determining whether or not a planned adjustment to the target angle is performed, and the antenna angle before adjustment A measurement value detection step for detecting a measurement value associated with an angle change of the antenna during adjustment from the adjustment angle to the target angle, and a detection step for detecting an adjustment failure based on an error between the predicted adjustment value and the measurement value. Prepare.

  According to the first to fifth aspects of the present invention, the antenna angle adjustment is performed while detecting an error between the antenna angle adjustment predicted value and the measurement value associated with the antenna angle change. The accompanying incorrect angle adjustment can be prevented and accurate angle adjustment to the target angle can be performed.

  In particular, according to the invention of claim 2, the antenna angle is adjusted while detecting the error between the predicted angle of the antenna and the antenna angle, so that the antenna angle for each time during the angle adjustment can be confirmed in detail. This prevents an erroneous angle adjustment due to a factor generated during the angle adjustment, and an accurate angle adjustment to a target angle can be performed.

  In particular, according to the invention of claim 3, by detecting an error between the time from the start to the end of the angle adjustment of the antenna and the estimated completion time of the adjustment, an erroneous angle adjustment due to the adjustment time difference is prevented, and The angle can be adjusted accurately to the angle to be used.

  In particular, according to the invention of claim 4, the angle of the antenna is adjusted while detecting an error between the antenna angle and the predicted angle of the antenna calculated in advance, so that the antenna angle for each time during the angle adjustment can be checked in detail. Or by detecting the error between the time from the start to the end of the antenna angle adjustment and the estimated completion time of the adjustment, preventing incorrect angle adjustment due to the adjustment time difference, and accurate angle adjustment to the target angle Yes. This prevents an erroneous angle adjustment due to a factor generated during the angle adjustment, and an accurate angle adjustment to a target angle can be performed.

  Furthermore, according to the invention of claim 5, an alarm is issued to an operator such as a vehicle factory or a dealer when the error of the antenna angle adjustment exceeds a predetermined range. Thereby, malfunction of the radar apparatus 2 can be prevented in advance, and safe vehicle control can be provided to the user who uses the vehicle 1.

FIG. 1 is a diagram illustrating a configuration of a radar apparatus. FIG. 2 is a diagram illustrating a configuration in which the radar apparatus is mounted on a vehicle. FIG. 3 is a diagram showing the internal structure of the radar apparatus. FIG. 4 is a block diagram of the radar apparatus. FIG. 5 is a diagram illustrating a state in which an angle error has occurred during antenna angle adjustment. FIG. 6 is a diagram showing a state in which an adjustment time error has occurred during antenna angle adjustment. FIG. 7 is a flowchart of the first antenna angle adjustment process. FIG. 8 is a flowchart of the second antenna angle adjustment process. FIG. 9 is a flowchart of the third antenna angle adjustment process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<1. System configuration>
FIG. 1 is a diagram illustrating the configuration of a radar apparatus 2 that performs antenna adjustment. The radar apparatus 2 includes a housing 12 and an antenna 14 provided inside the housing 12. The housing 12 is fixed to the vehicle body by fixing bolts 13. When the radar apparatus 2 of the present embodiment is positioned parallel to the horizontal ground plane g1 and the antenna surface of the antenna 14 is perpendicular to the ground plane g1, the beam axis direction of the antenna 14 is horizontal. Let it be parallel to f1. Then, in the case where the radar apparatus 2 is in such a state and the beam axis direction is parallel to the horizontal plane f1, the following explanation will be given assuming that the reflected angle from the object is the target angle of the antenna 14 that can obtain a reflection intensity of a certain value or more. I do.

  The antenna 14 is configured by a planar antenna such as an array antenna or a patch antenna having an antenna element disposed on the front surface, and forms a beam axis direction in a vertical direction (parallel to the horizontal plane) of the antenna 14 via a radome 15 to transmit a wave. Is transmitted, and the reflected wave from the object is received. Further, the antenna angle of the antenna 14 can be adjusted so that the reflected wave from the object of the transmitted wave is received with a predetermined reflection intensity. Details of the adjustment of the antenna angle will be described later.

  FIG. 2 is a diagram showing a configuration in which the radar apparatus 2 is mounted on the vehicle 1. In the present embodiment, the radar apparatus 2 is attached to the vehicle in a state where the radar apparatus 2 is inclined at an angle of θ1 from the ground plane g1 depending on the installation space of the radar apparatus 2 and the skill of the operator, which are different for each type of vehicle 1 to be mounted. ing. Therefore, the antenna angle is also a beam axis b2 which is a beam axis direction having an inclination angle of the antenna inclined by θ1 from the beam axis b1 which is a beam axis direction parallel to the horizontal plane.

  As a result of the angle of inclination of the antenna, the angle of the antenna 14 is not the beam axis direction OLE_LINK2 that can obtain a reflection intensity of a certain value or more with respect to the OLE_LINK2 object. Here, the reflection intensity equal to or greater than a certain value refers to the reflection intensity at which the distance, relative speed, and angle of an object existing within the detection range of the radar apparatus 2 can be detected.

  Next, a configuration for adjusting the angle of the antenna 14 from the antenna angle before adjustment to the target angle will be described. FIG. 3 shows the internal structure of the radar apparatus. FIG. 4 is a block diagram of the radar apparatus. The internal structure of the radar apparatus shown in FIG. 3 is a cross-sectional view taken along the III-III plane of the radar apparatus 2 shown in FIG.

  The antenna 14 is tiltably connected to the housing 12 from the tilt shaft 22 at one end, and is rotatably connected to the slide shaft 18c by a pin 20 at the other end. The adjusting unit 18 that changes the angle of the antenna includes a motor 18a, a speed reduction mechanism 18b that reduces the rotational speed of the motor 18a at a constant ratio, and converts the rotational motion into a reciprocating drive of the sliding shaft 18c, and a sliding shaft 18c. Consists of.

  When the adjusting unit 18 reciprocates the sliding shaft 18c as indicated by the arrow D2, the end of the antenna 14 tilts as indicated by the arrow D1 about the tilting shaft 22 as the sliding shaft 18c reciprocates. Angle adjustment is performed by changing the angle.

  An antenna angle detector 26 that detects the angle of the antenna 14 is provided on the back surface of the antenna 14. Examples of the antenna angle detector 26 include a tilt sensor and a yaw rate sensor. In addition, a transmission / reception circuit 24 that generates a transmission signal of a transmission wave output from the antenna 14 and supplies the transmission signal to the antenna element and processes a reception signal from the antenna element is provided on the back surface of the antenna 14.

  Further, inside the housing 12, a CPU (Central Processing Unit) 16 a that controls the radar device 2 and performs object detection processing, and a ROM (Read Only) that stores data for the CUP 16 a to perform object detection processing. Memory 16b, and a control unit 16 including a microcomputer provided with a RAM (Random Access Memory) 16c for temporarily storing data when performing object detection processing, and a motor driver. The control unit 16 instructs the adjustment unit 18 to drive the motor and determines the driving amount.

  As for the motor drive amount, the CPU 16a reads the target angle of the antenna 14 stored in advance in the ROM 16b, detects the pre-adjustment antenna angle input from the antenna angle detection unit 26, and the target angle and the pre-adjustment antenna angle. It is determined based on the angle difference.

  In the object detection process, the control unit 16 controls the operation of the transmission / reception circuit 24 and detects information such as the position, relative speed, and angle of the object based on the transmission / reception signal of the antenna 14 processed by the transmission / reception circuit 24. . Then, the detected object information is transmitted to the vehicle control device 30 that is electrically connected to the control unit 16.

  Further, in the angle adjustment of the antenna, the control unit 16 detects the antenna angle before adjustment from the antenna angle detection unit 26, and reads the target angle from the memory 16 b in the control unit 16. Then, from the information on the antenna angle before adjustment and the target angle, the predicted antenna angle for each time that is a criterion for determining whether or not the planned adjustment from the antenna angle before adjustment to the target angle is performed is calculated. Further, an error is detected between the predicted antenna angle that is the predicted adjustment value and the antenna angle for each time during the adjustment from the antenna angle before adjustment to the target angle.

  Further, the control unit 16 detects the antenna angle before the adjustment using the antenna angle detection unit 26 in the angle adjustment of the antenna 14, and reads the target angle from the ROM 16 b in the control unit 16. Then, an adjustment completion prediction time that is a criterion for determining whether or not the planned adjustment to the target angle is performed is calculated from the information of the antenna angle and the target angle before adjustment. Further, an error between the adjustment completion prediction time, which is an adjustment prediction value, and the adjustment completion time from the antenna angle before adjustment to the target angle is detected.

  In the antenna angle adjustment, when the preset allowable error range is exceeded, an alarm device provided inside or outside the radar device 2 is operated to generate an angle adjustment error for the user. And a signal for stopping the angle adjustment of the antenna 14 is sent to the adjusting unit 18.

  The vehicle control device 30 is electrically connected to the control unit 16, and instructs various vehicle devices to execute various vehicle controls such as a brake operation and an accelerator operation. The vehicle control device 30 is connected to an inspection terminal 40 such as a personal computer so as to be communicable.

The inspection terminal 40 transmits an instruction for starting antenna angle adjustment to the control unit 16 of the radar device 2 via the vehicle control device 30 when the antenna angle is adjusted, and displays the status of antenna angle adjustment to the user. It also has the role of a device. Note that the above-described control unit 16 performs an error detection process with respect to the antenna angle for each time during the adjustment from the pre-adjustment antenna angle to the target angle, and adjustment completion prediction time that is an adjustment prediction value, which is performed when the antenna angle is adjusted Then, the inspection terminal 40 may perform a process of detecting an error from the adjustment completion time from the antenna angle before adjustment to the target angle.
<2. Error detection during antenna angle adjustment>
Next, specific processing for detecting an error in angle adjustment will be described. FIG. 5 is a diagram showing a state in which an angle error has occurred during antenna angle adjustment. For example, it is a graph showing that an adjustment error occurs in the antenna angle due to the operator opening and closing the door of the vehicle 1 when the angle of the antenna 14 is adjusted. FIG. 6 is a diagram showing a state in which an adjustment time error occurs during antenna angle adjustment. For example, it is a graph showing that an adjustment error occurs in the antenna angle due to contact with the vehicle such as getting on and off the vehicle by an operator when the angle of the antenna 14 is adjusted. The vertical axis of each graph indicates the angle, and the horizontal axis indicates time.

  In the process of adjusting the angle of the antenna 14, the antenna angle detection unit 26 detects the pre-adjustment antenna angle θa that is the current angle of the antenna 14. Next, the target angle θb is read from the ROM 16b of the control unit 16, and as shown in FIG. 5, an antenna predicted angle that is an adjustment predicted value for every predetermined time from the pre-adjustment antenna angle θa to the target angle θb is obtained. . The predicted antenna angle serves as a criterion for determining whether or not the scheduled adjustment to the target angle is performed. In addition, as shown in FIG. 5, an error tolerance range of an allowable error range is provided from the predicted antenna angle. When the error tolerance range is exceeded, a warning is given or the angle of the antenna 14 is adjusted. To stop.

  Further, as shown in FIG. 6, an allowable error range of an allowable error range is also provided for the predicted adjustment completion time of the predicted time for completing the adjustment from the pre-adjustment antenna angle θa to the target angle θb. The adjustment completion prediction time is calculated by the CPU 16a of the control unit 16 based on information on the antenna adjustment angle and the antenna angle adjustment speed. The estimated time of completion of the adjustment is also a criterion for determining whether or not the planned adjustment to the target angle is performed. When the error exceeds the allowable range, a warning is given or the angle adjustment of the antenna 14 is stopped. .

  As described above, FIG. 5 illustrates the antenna prediction angle as the adjustment prediction value, and FIG. 6 illustrates the adjustment completion prediction time as the adjustment prediction value. In FIG. 5, the adjustment is started from the pre-adjustment antenna angle θa, and an error between the antenna angle θc of the measured value detected by the antenna angle detection unit 26 and the antenna predicted angle is calculated every predetermined time (for example, every 10 mmsec). Yes. Specifically, there is no error between the antenna angle θc and the antenna predicted angle from time t1 to t3 in the graph, but an error exceeding the allowable error range is detected at t4. Therefore, when an error exceeding the allowable error range occurs, an alarm is generated or the angle adjustment is stopped if an error occurs in the adjustment of the antenna 14 to the target angle. Thereby, the malfunction of the OLE_LINK1 radar apparatus 2 can be prevented in advance, and safe vehicle control can be provided to the user who uses the vehicle 1. OLE_LINK1 For example, when the antenna angle is adjusted at a vehicle factory or dealer, when the antenna angle is adjusted after the radar device is attached to the vehicle, an error occurs when the vehicle is subjected to vibration due to the opening or closing of the vehicle door. Angle adjustment can be prevented.

  Note that the antenna angle detection unit 26 does not stop the adjustment operation because it exceeds the allowable error range in one detection or generates an alarm, but the antenna angle θc is detected at a plurality of timings from t1 to t6. When the error between the angle detected at each time and the predicted angle transition value is equal to or greater than a predetermined value and the error is calculated a plurality of times, an error occurs in adjusting the antenna 14 to the target angle. If this occurs, the adjustment of the antenna can be stopped or an alarm can be generated. For example, in FIG. 5, the detection that the error exceeds the allowable error range among the six detections from t1 to t6 is calculated a plurality of times t4 and t6, so that an alarm is generated or the angle adjustment is stopped. To do.

  In FIG. 6, the adjustment is started from the pre-adjustment antenna angle θa, and the adjustment completion predicted time ty until the target angle θb is reached is calculated in advance. Then, if the adjustment completion time tx when the target angle θb is reached is the same as the adjustment completion prediction time ty or is within the allowable error range, it is assumed that the adjustment to the target angle θb is completed.

In this embodiment, if the adjustment completion time tx is not the same as the adjustment completion prediction time ty and is not within the allowable error range, an alarm is generated because an error has occurred in the adjustment of the antenna 14 to the target angle. Or stop the adjustment work. Thereby, malfunction of the radar apparatus 2 can be prevented in advance, and safe vehicle control can be provided to the user who uses the vehicle 1. For example, when the antenna angle is adjusted at a vehicle factory or dealer, when vibrations due to contact with the vehicle such as getting on and off of the operator's vehicle are applied to the antenna angle after the radar device is attached to the vehicle Incorrect angle adjustment can be prevented.
<3. First Antenna Angle Adjustment Operation>
Next, an error detection operation for adjusting the first antenna angle will be described with reference to a processing flowchart of FIG. When performing error detection of the antenna angle adjustment, the inspection terminal 40 is connected to the vehicle control device 30, the power of the radar device 2 is turned on, and the adjustment operation is started (step S101).

  As the information necessary for performing the adjustment, the target angle θb of the antenna 14 in the beam axis direction that can obtain a reflection intensity of a certain level or more with respect to the object is read from the ROM 16b (step S102).

  Then, the pre-adjustment antenna angle θa is measured by the antenna angle detector 26 (step S103), and the predicted antenna angle that predicts the change from the pre-adjustment antenna angle θa to the target angle θb is calculated as an adjusted predicted value (step S104). . In addition, an error tolerance range of a predetermined angle range is provided along with the calculation of the predicted antenna angle.

  Next, an estimated adjustment completion time ty that is a time taken to adjust from the pre-adjustment antenna angle θa to the target angle θb is calculated (step S105). Thereafter, angle adjustment of the antenna 14 from the pre-adjustment antenna angle θa to the target angle θb is started (step S106). Then, the adjustment time is counted simultaneously with the start of adjustment (step S107), and the angle θc for each time of the antenna being adjusted is measured to detect the measurement value accompanying the change in the angle of the antenna (step S108).

  The antenna angle θc for each time is compared with the predicted angle θx for each time, and if θc is the same as θx or within the error tolerance (Yes in Step S109), the antenna angle θc for each time is the same as the target angle θb. Alternatively, it is determined whether the error is within an allowable range (step S110).

  Note that the antenna angle θc for each time is compared with the predicted angle θx for each time, and if θc is not the same as θx or within the error tolerance (No in step S109), an operator such as a vehicle factory or a dealer is informed. After outputting an alarm (step S112), the antenna angle adjustment is stopped (step S113).

  When the antenna angle θc for each hour is not within the range of the target angle θb in the process of Step S110 (No in Step S110), the antenna angle θc for each hour is measured while continuing the adjustment time counting (Step S107). The process (step S108) to continue is continued. When the antenna angle θc for each time is the same as the target angle θb or within the error detection range (Yes in step S110), the adjustment of the antenna 14 is finished, and the adjustment completion prediction time ty predicted in advance is adjusted. It is determined whether it is the same as the completion time tx or within an allowable error range (step S111).

  If it is equal to the adjustment completion time tx or within the allowable error range (Yes in step S111), the antenna angle adjustment is stopped (step S113). If it is not the same as the adjustment completion time tx or within the allowable error range (No at Step S111), an alarm is output to an operator such as a vehicle factory or a dealer (Step S112), and the antenna angle adjustment is stopped ( Step S113).

  In this way, by adjusting the angle of the antenna while detecting the error between the antenna angle adjustment predicted value and the measured value that accompanies the change in the antenna angle, erroneous angle adjustment due to the factors that occur during angle adjustment is prevented. , Accurate angle adjustment to the target angle can be performed. For example, when the antenna angle is adjusted at a vehicle factory or dealer, vibrations due to contact with the vehicle such as opening / closing of the vehicle door or getting on / off of the vehicle when the antenna angle is adjusted after the radar device is attached to the vehicle. Incorrect angle adjustments such as when entering a vehicle can be prevented. In addition, malfunction of the radar device can be prevented in advance, and safe vehicle control can be provided to a user who uses the vehicle 1.

In the first antenna angle adjustment processing described so far, an angle error has occurred during antenna angle adjustment as shown in FIG. 5, and an adjustment time error has occurred during antenna angle adjustment as shown in FIG. The processing for performing error detection in any of the cases where the error occurs has been described. Apart from this, it is also possible to detect an error when an angle error occurs during antenna angle adjustment, and to correct an error when an adjustment time error occurs during antenna angle adjustment. It can also be detected. These processes will be described below as a second antenna angle adjustment process and a third antenna angle adjustment process, respectively.
<4. Second Antenna Angle Adjustment Operation>
The second antenna angle adjustment shown in FIG. 8 detects an error when an angle error occurs in the antenna angle adjustment. When the error detection of the antenna angle adjustment is performed, the inspection terminal 40 is connected to the vehicle control device 30, the power supply of the radar device 2 is turned on, and the adjustment operation is started (step S201).

  As the information necessary for performing the adjustment, the target angle θb of the antenna 14 in the beam axis direction that can obtain a reflection intensity of a certain level or more with respect to the object is read from the ROM 16b (step S202).

  Then, the pre-adjustment antenna angle θa is measured by the antenna angle detection unit 26 (step S203), and the predicted antenna angle that predicts the change from the pre-adjustment antenna angle θa to the target angle θb is calculated as an adjusted predicted value (step S204). . In addition, an error tolerance range of a predetermined angle range is provided along with the calculation of the predicted antenna angle.

  Next, angle adjustment of the antenna 14 from the pre-adjustment antenna angle θa to the target angle θb is started (step S205). Then, the angle θc for each time of the antenna 14 being adjusted is measured (step S206).

  If the antenna angle θc for each hour is compared with the predicted angle θx for each hour and if the θc of the antenna being adjusted is the same as θx or within an error tolerance (Yes in step S207), the antenna angle θc for each hour is It is determined whether it is the same as the target angle θb or within an allowable error range (step S208).

  Note that the antenna angle θc for each time is compared with the predicted angle θx for each time, and if θc is not the same as θx or within the error tolerance (No in step S207), an operator such as a vehicle factory or a dealer is informed. Then, after outputting an alarm (step S209), the antenna angle adjustment is stopped (step S210).

  If the antenna angle θc for each hour is not within the range of the target angle θb in the process of step S208 (No in step S208), the process for measuring the antenna angle θc for each hour (step S206) is continued. When the antenna angle θc for each time is the same as the target angle θb or within the error detection range (Yes in step S208), the angle adjustment of the antenna 14 is stopped (step S210).

As described above, by adjusting the angle of the antenna while detecting the error between the predicted angle of the antenna and the antenna angle, the antenna angle for each time during the angle adjustment can be confirmed in detail. This prevents an erroneous angle adjustment due to a factor generated during the angle adjustment, and an accurate angle adjustment to a target angle can be performed. For example, when the antenna angle is adjusted at a vehicle factory or dealer, an incorrect angle such as when vibration is applied to the vehicle due to opening / closing of the operator's vehicle door when the antenna angle is adjusted after the radar device is attached to the vehicle. Adjustment can be prevented.
<5. Third Antenna Angle Adjustment Operation>
The third antenna angle adjustment shown in FIG. 9 is for detecting an error when a time error occurs in the antenna angle adjustment. The inspection terminal 40 is connected to the vehicle control device 30, and the adjustment operation is started by turning on the power of the radar device 2 (step S301).

  As the information necessary for performing the adjustment, the target angle θb of the antenna 14 in the beam axis direction that can obtain a reflection intensity of a certain level or more with respect to the object is read from the ROM 16b (step S302).

  Then, the pre-adjustment antenna angle θa is measured by the antenna angle detector 26 (step S303), and the predicted antenna angle that predicts a change from the pre-adjustment antenna angle θa to the target angle θb is calculated as an adjusted predicted value (step S304). . In addition, an error tolerance range of a predetermined angle range is provided along with the calculation of the predicted antenna angle.

  Next, an adjustment completion prediction time ty that is a time taken to adjust from the pre-adjustment antenna angle θa to the target angle θb is calculated (step S305). Thereafter, angle adjustment of the antenna 14 from the pre-adjustment antenna angle θa to the target angle θb is started (step S306). Simultaneously with the start of adjustment, counting of the adjustment time is started (step S307), and the angle θc for each time is measured to detect the measurement value accompanying the change in the angle of the antenna (step S308).

  Then, it is determined whether the antenna angle θc for each time is the same as the target angle θb or within an allowable error range (step S309). In this process, when the antenna angle θc for each time is not within the range of the target angle θb (No in step S309), the process of measuring the antenna angle θc being adjusted while continuing the adjustment time counting (step S307). (Step S308) is continued. When the antenna angle θc for each time is the same as the target angle θb or within the error detection range (Yes in step S309), the adjustment of the antenna 14 is finished, and the adjustment completion prediction time ty predicted in advance is adjusted. It is determined whether the time is the same as the completion time tx or within an allowable error range (step S310).

  If the adjustment completion predicted time ty is the same as the adjustment completion time tx or within the allowable error range (step S310 is Yes), the antenna angle adjustment is stopped (step S312). If the adjustment completion time tx is not the same as or within the allowable error range (No in step S310), an alarm is output to an operator such as a vehicle factory or a dealer (step S311), and the antenna angle adjustment is stopped ( Step S312).

  In this way, by detecting the error between the time from the start of the antenna angle adjustment to the completion of the adjustment and the estimated adjustment completion time, it is possible to prevent erroneous angle adjustment due to the adjustment time difference and to accurately adjust the angle to the target angle. Yes. For example, when the antenna angle is adjusted at a vehicle factory or dealer, when vibrations due to contact with the vehicle such as getting on and off of the operator's vehicle are applied to the antenna angle after the radar device is attached to the vehicle Incorrect angle adjustment can be prevented.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Radar apparatus 12 ... Case 14 ... Antenna 15 ... Radome 16 ... Control part 26 ... Antenna angle detection part 30 ... Vehicle control device 40 ... Inspection terminal

Claims (6)

A radar device capable of adjusting an antenna angle,
A tilt angle detecting means for detecting the tilt angle of the antenna with respect to the adjustment target angle;
An angle adjusting means for adjusting an antenna angle to the target angle based on the tilt angle;
An adjusted predicted value calculation means for calculating an adjusted predicted value that is a criterion for determining whether or not the planned adjustment to the target angle is performed;
A measurement value detecting means for detecting a measurement value associated with an angle change of the antenna during adjustment from the antenna angle before adjustment to the target angle;
Detection means for detecting poor adjustment based on an error between the predicted adjustment value and the measured value;
A radar apparatus comprising: The radar apparatus according to claim 1, wherein
The adjustment prediction value is an antenna prediction angle for each predetermined time which is a criterion for determining whether or not the planned adjustment to the target angle is performed,
The radar apparatus according to claim 1, wherein the measured value is an antenna angle for each predetermined time during the adjustment from the antenna angle before adjustment to the target angle. The radar apparatus according to claim 1, wherein
The adjustment prediction value is an adjustment completion prediction time that is a criterion for determining whether or not the planned adjustment to the target angle is performed,
The radar apparatus according to claim 1, wherein the measurement value is an adjustment completion time from the antenna angle before adjustment to the target angle. The radar apparatus according to claim 1,
The predicted adjustment value is a predicted antenna angle for each predetermined time that is a criterion for determining whether or not the planned adjustment to the target angle is performed, and whether or not the planned adjustment to the target angle is performed. It is the estimated completion time of adjustment that is a criterion for such,
The measured value is the antenna angle for each predetermined time during the adjustment from the antenna angle before adjustment to the target angle, and the adjustment completion time from the antenna angle before adjustment to the target angle,
The detecting means detects an adjustment failure based on an error between the predicted antenna angle every predetermined time and the antenna angle every predetermined time, and an error between the predicted adjustment completion time and the adjustment completion time. A characteristic radar device. The radar apparatus according to any one of claims 1 to 5,
Informing means for informing when the error exceeds a predetermined range,
A radar apparatus further comprising: An antenna adjustment method capable of adjusting an antenna angle,
A tilt angle detection step of detecting the tilt angle of the antenna with respect to the target angle of adjustment;
An angle adjustment step of adjusting the antenna angle to the target angle based on the tilt angle;
An adjusted predicted value calculation step of calculating an adjusted predicted value that is a criterion for determining whether or not the planned adjustment to the target angle is performed;
A measurement value detection step for detecting a measurement value associated with an angle change of the antenna during adjustment from the antenna angle before adjustment to the target angle;
A detection step of detecting poor adjustment based on an error between the adjustment predicted value and the measurement value;
An antenna adjustment method comprising:

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