JP2018066619A - Rader device and method for controlling rader device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rader device which does not need a complicated setting according to the type of a vehicle to which the rader device is to be attached.SOLUTION: A rader device 1 equipped in a vehicle includes: a target detection unit (processing unit 14b) for detecting a target around the vehicle; an attachment situation detection unit (detection unit 14c) for detecting a situation in which the rader device is attached to the vehicle; and a selection unit (selection unit 14d) for selecting the output format of information on the target detected by the target detection unit, according to the attachment situation detected by the attachment situation detection unit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a radar apparatus and a radar apparatus control method.

  In Patent Document 1, target information (information indicating the relative speed, distance, and direction of a target) acquired by a radar device and an imaging device is transmitted to a target recognition ECU (superior ECU) and integrated processing in the superordinate ECU. And the technique which performs a driving assistance process based on the result of an integrated process is disclosed.

JP2015-21958A

  By the way, depending on the vehicle, the target information acquired by the radar device and the imaging device may not be integrated by the host ECU. In such a case, the radar apparatus itself needs to execute the driving support process. For this reason, since it is necessary to change a setting and wiring for every vehicle used as attachment object, there exists a problem that attachment work becomes complicated and management of the product number of a radar apparatus becomes complicated.

  An object of the present invention is to provide a radar apparatus and a radar apparatus control method that do not require complicated settings for each vehicle model to be attached.

In order to solve the above problems, the present invention provides a radar device mounted on a vehicle, and detects a target detection unit that detects a target existing around the vehicle, and an installation state of the radar device to the vehicle. And a selection unit that selects an output format of information related to the target detected by the target detection unit in accordance with the installation status detected by the installation status detection unit. Features.
According to such a configuration, it is possible to reduce the necessity of performing complicated settings for each vehicle model to be attached.

Further, in the present invention, when the warning unit for issuing a warning to the radar device is connected to the selection unit, the warning is detected when the target is detected by the target detection unit. The unit is driven to issue a warning, and in other cases, information indicating the state of the target is output.
According to such a configuration, since the operation method can be automatically selected according to the method of attaching the radar device, it is possible to save time and labor when attaching the radar device to the vehicle.

Further, according to the present invention, the warning unit is an LED (Light Emitting Diode), a lamp, a speaker, or a buzzer, and the selection unit detects the LED when the target is detected by the target detection unit. Alternatively, the lamp is turned on, or a sound is emitted from the speaker or the buzzer to issue a warning. In other cases, information indicating the state of the target is output.
According to such a configuration, since the operation method can be automatically selected according to the method of attaching the radar device, it is possible to save time and labor when attaching the radar device to the vehicle.

In the present invention, a pair of radar devices are mounted on the left and right of the front or rear of the vehicle, and the LED, lamp, speaker, or buzzer is connected to each of the pair of radars. The apparatus has a connection presence / absence detection unit that detects the presence / absence of connection of the LED, lamp, speaker, or buzzer, and both of the pair of connection presence / absence detection units include the LED, lamp, speaker, or When it is detected that a buzzer is not connected, information indicating the state of the target is output.
According to such a configuration, it is possible to prevent erroneous detection that the LED is not connected when an open failure occurs despite the LED being connected.

Further, according to the present invention, the radar device can be connected to a host ECU (Electric Control Unit), and when the attachment state detection unit receives predetermined information from the host ECU, the selection unit Information indicating the state of the mark is selected and output.
According to such a configuration, since the selection can be performed according to information from the host ECU, the configuration for electrically detecting the LED can be omitted.

Further, according to the present invention, the radar device includes a storage unit that stores a parameter for detecting the target for each vehicle type to be attached, and a parameter selection unit that selects the parameter according to the vehicle type. And the parameter selection unit selects a corresponding parameter when the attachment status detection unit receives information on the vehicle type from the host ECU.
According to such a configuration, since the optimum parameter corresponding to the vehicle type to which the radar apparatus is attached is automatically selected, the labor for installing the radar apparatus can be omitted.

Further, according to the present invention, the storage unit has a region for storing different parameters for each vehicle type, and a region for storing invariant parameters for each vehicle type, and the attachment state detection unit receives information on the vehicle type from the host ECU. The parameter selection unit selects a parameter from an area that stores an invariable parameter for each vehicle type, and selects a corresponding parameter from an area that stores a different parameter for each vehicle type. And
According to such a configuration, the radar apparatus can be easily installed for any vehicle type.

In addition, the present invention provides a method for controlling a radar device mounted on a vehicle, a target detection step for detecting a target existing around the vehicle, and an installation status for detecting an installation status of the radar device to the vehicle. A detection step; and a selection step of selecting an output format of information related to the target detected in the target detection step in accordance with the mounting status detected in the mounting status detection step. .
According to such a method, it is possible to reduce the necessity of performing complicated settings for each vehicle model to be attached.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the radar apparatus and the control method of a radar apparatus which require few complicated settings for every vehicle model used as attachment object.

It is a figure which shows the example of mounting of the radar apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the structural example of the radar apparatus which concerns on 1st Embodiment of this invention. FIG. 3 is a block diagram illustrating a detailed configuration example of a control / processing unit illustrated in FIG. 2. It is a flowchart for demonstrating operation | movement of 1st Embodiment of this invention. It is a flowchart for demonstrating operation | movement of 2nd Embodiment of this invention. It is a figure which shows the structural example of 3rd Embodiment of this invention. It is a flowchart for demonstrating operation | movement of 3rd Embodiment of this invention.

  Next, an embodiment of the present invention will be described.

(A) Description of Configuration of First Embodiment FIG. 1 is a diagram illustrating an implementation example of a radar apparatus according to the first embodiment of the present invention. As shown in this figure, the radar devices 1-1 to 1-4 according to the first embodiment of the present invention are arranged on the left and right of the front portion of the vehicle C and on the left and right of the rear portion, respectively. Radar devices 1-1 and 1-2 arranged on the left and right of the front portion of the vehicle C detect targets (for example, other vehicles, bicycles, people, etc.) existing in the detection areas DFL and DFR. In addition, the radar devices 1-3 and 1-4 disposed on the left and right of the rear portion of the vehicle C detect targets that exist in the detection areas DRL and DRR.

  FIG. 2 is a diagram showing a configuration example of the radar apparatus 1 shown in FIG. Since the radar apparatuses 1-1 to 1-4 have the same configuration, the radar apparatus 1 will be described below. As shown in FIG. 2, the radar apparatus 1 includes a local oscillation unit 10, a transmission unit 11, a control / processing unit 14, a reception unit 15, and an A / D (Analog to Digital) conversion unit 20 as main components. Yes. The radar apparatus 1 is connected to a bus 22 constituted by an LED (Light Emitting Diode) 21, a CAN (Controller Area Network), etc., a host ECU (Electric Control Unit), and a camera 24 according to the arrangement location. .

  Here, the local oscillation unit 10 generates a CW (Continuous Wave) signal having a predetermined frequency and supplies the CW (Continuous Wave) signal to the transmission unit 11 and the reception unit 15.

  The transmission unit 11 includes a modulation unit 12 and a transmission antenna 13. The CW signal supplied from the local oscillation unit 10 is pulse-modulated by the modulation unit 12 and transmitted to the target via the transmission antenna 13.

  The modulation unit 12 of the transmission unit 11 is controlled by the control / processing unit 14 and pulse-modulates the CW signal supplied from the local oscillation unit 10 and outputs the result. The transmission antenna 13 transmits the pulse signal supplied from the modulation unit 12 toward the target.

  The control / processing unit 14 controls the modulation unit 12, the variable gain amplification unit 18, and the antenna switching unit 17, and executes arithmetic processing on the reception data supplied from the A / D conversion unit 20. Detect the target.

  FIG. 3 is a block diagram illustrating a detailed configuration example of the control / processing unit 14 illustrated in FIG. 2. As shown in FIG. 3, the control / processing unit 14 includes a control unit 14a, a processing unit 14b, a detection unit 14c, and a selection unit 14d. Here, the control unit 14a is configured by, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and each unit of the apparatus based on data stored in the ROM and the RAM. To control. The processing unit 14b is configured by, for example, a DSP (Digital Signal Processor) and the like, executes processing on the digital signal supplied from the A / D conversion unit 20, and detects a target. The detection unit 14c detects the state of attachment of the radar device 1 to the vehicle. The selection unit 14d selects and outputs information according to the attachment state of the radar device 1 to the vehicle C.

  The receiving unit 15 includes a receiving antenna 16, an antenna switching unit 17, a variable gain amplifying unit 18, and a demodulating unit 19. The receiving unit 15 receives a signal transmitted from the transmitting antenna 13 and reflected by a target, and performs demodulation processing. After applying, output to the A / D converter 20.

  The reception antenna 16 of the reception unit 15 includes a plurality of antennas, receives a signal transmitted from the transmission antenna 13 and reflected by a target, and supplies the signal to the antenna switching unit 17. The antenna switching unit 17 is controlled by the control unit 14 a of the control / processing unit 14, selects any one of the reception antennas 16, and supplies the received signal to the variable gain amplification unit 18. The gain variable amplification unit 18 is controlled in gain by the control unit 14 a of the control / processing unit 14, amplifies the reception signal supplied from the antenna switching unit 17 with a predetermined gain, and outputs the amplified signal to the demodulation unit 19. The demodulator 19 demodulates the received signal supplied from the variable gain amplifier 18 using the CW signal supplied from the local oscillator 10 and outputs the demodulated signal.

  The A / D converter 20 samples the received signal supplied from the demodulator 19 at a predetermined period, converts it into a digital signal, and supplies the digital signal to the controller / processor 14.

  For example, the LED 21 is disposed in the left and right side mirrors SML and SMR, and emits a part of the side mirror when another radar approaching from behind is detected by the radar device 1 disposed on the left and right of the rear part. This clearly indicates the presence of a vehicle approaching from the rear to the driver and calls attention.

  The bus 22 is a signal line group for mutually connecting a plurality of radar apparatuses 1 arranged in the front-rear direction or the left-right direction so that information can be exchanged between them. The bus 22 connects the host ECU 23, the camera 24, the plurality of radar devices 1 and the like to each other, and enables information exchange between them. An ultrasonic sensor or the like may be connected to the bus 22.

  The host ECU 23 includes, for example, a CPU, a ROM, a RAM, and the like, and executes processing for integrating information supplied from the plurality of radar apparatuses 1 and the cameras 23, and issues a warning based on the integrated information. In order to avoid danger, control such as operating a brake or the like is executed.

  The camera 24 is disposed on, for example, a windshield or a rear glass, and images the situation in front of or behind the vehicle and supplies it to the host ECU 23. In FIG. 2, only one camera 24 is shown, but a plurality of cameras may be provided.

(B) Description of Operation of First Embodiment Next, the operation of the first embodiment of the present invention will be described. In FIG. 1, the radar devices 1-1 and 1-2 are connected to the host ECU 23 via the bus 22. In addition, it is assumed that the radar devices 1-3 and 1-4 are connected to the LEDs 21 arranged in the side mirrors SML and SMR of the vehicle C, respectively. Of course, such a connection method is an example, and it goes without saying that the present invention is not limited to such a case.

  The radar devices 1-1 and 1-2 disposed in the front portion of the vehicle C are connected to each other by the bus 22 and are connected to the camera 24 and the host ECU 23 disposed on the windshield by the bus 22. Note that the LED 21 is not connected to the radar devices 1-1 and 1-2 in this example. Of course, you may comprise so that LED21 may be connected.

  In the case of such a configuration, the detection unit 14c of the control / processing unit 14 of the radar apparatuses 1-1 and 1-2 determines whether or not the LED 21 is connected. In the present example, since the LEDs 21 are not connected to the radar devices 1-1 and 1-2, the detection unit 14c determines that they are not connected.

  Next, the control unit 14a of the control / processing unit 14 of the radar apparatuses 1-1 and 1-2 makes an inquiry to the other radar apparatus via the bus 22, and the LED 21 is not connected to the other radar apparatus. Make sure. Note that such an inquiry is made in order to prevent erroneous detection that the LED 21 is not connected in such a case because the LED 21 may be broken in an open state. As a result of the inquiry, when it is confirmed that the LED 21 is not connected to the other radar device, the host ECU 23 determines that the integration process is to be performed, and the selection unit 14d detects the object detected by the processing unit 14b. Information relating to the position and speed of the mark is selected and set to be supplied to the host ECU 23 via the bus 22.

  As a result, the host ECU 23 executes a process of integrating the information on the position and speed of the target detected by the radar devices 1-1 and 1-2 and the image information captured by the camera 24, and the result of integration. For example, a warning is given or control for avoiding danger (for example, brake control) is performed.

  On the other hand, the radar devices 1-3 and 1-4 installed at the rear part of the vehicle C are connected to two LEDs 21 arranged in the side mirrors SML and SMR, respectively. As a result, the detection unit 14c of the control / processing unit 14 of each of the radar apparatuses 1-3 and 1-4 detects that the LED 21 is connected.

  When the detection unit 14c detects that the LED 21 is connected, the selection unit 14d performs control for driving the LED 21 instead of outputting the position and speed information of the target as described above. As a result, for example, when another vehicle approaching from the rear is detected in the rear detection region DRR, the approach of the vehicle from the right rear is warned by turning on the LED 21 arranged in the side mirror SMR. To do. When another vehicle approaching from behind is detected in the rear detection area DRL, the approach of the vehicle from the left rear is warned by turning on the LED 21 arranged in the side mirror SML.

  Next, an example of processing executed in the first embodiment will be described with reference to FIG. Note that the flowchart shown in FIG. 4 is executed in each radar apparatus. When the processing of the flowchart shown in FIG. 4 is started, the following steps are executed.

  In step S10, the detection unit 14c detects whether the LED 21 is connected. For example, the detection unit 14c detects whether the LED 21 is connected based on the resistance value of the terminal to which the LED 21 is connected.

  In step S11, the control unit 14a determines whether the LED 21 is connected based on the detection result of the detection unit 14c in step S10, and determines that the LED 21 is connected (step S11: Y). Proceeds to step S12, otherwise proceeds to step S13 (step S11: N).

  In step S12, the selection unit 14d selects the LED 21 as an output destination so as to operate as a driving support function. More specifically, the radar device 1 detects a target in the detection area, and when it is determined that the target may contact or collide with the host vehicle, the LED 21 is turned on to give a warning. I do.

  In step S13, the control unit 14a determines whether or not the LED 21 is not connected based on the detection result of the detection unit 14c in step S10, and if it is determined that the LED 21 is not connected (step S13: Y). The process proceeds to step S14, and otherwise the process ends (step S13: N).

  In step S14, the control unit 14a makes an inquiry to the other radar apparatus 1 via the bus 22, determines whether the LED 21 is not connected to the other radar apparatus 1, and the other radar apparatus 1. If it is determined that the LED 21 is not connected to the device 1 as well (step S14: Y), the process proceeds to step S15, and otherwise (step S14: N), the process ends.

  In step S <b> 15, the selection unit 14 d outputs the target position and speed information detected by the processing unit 14 b to the host ECU 23 via the bus 22. As a result, the host ECU 23 executes a process for integrating information detected by the plurality of radar apparatuses 1 and the cameras 24. In addition to the target position and speed information, for example, acceleration information, information indicating a relationship with TTC (Time to Collision), and the like are transmitted to the host ECU 23 via the bus 22 as information indicating the state of the target. You may make it output. Of course, information other than these may be output.

  As described above, according to the first embodiment of the present invention, the information to be output is selected by the selection unit 14d according to the arrangement state of the radar apparatus 1, and therefore the setting is changed according to the installation location. Since it is not necessary to do this, it is possible to save the trouble of installation.

  Moreover, since the same thing can be used as the radar apparatus 1-1, 1-2 installed in the front and the radar apparatus 1-3, 1-4 installed in the back, the radar apparatus 1 can be reduced by reducing the product number. An increase in the manufacturing cost of the manufacturer can be suppressed, and the management cost of the vehicle manufacturer that attaches the radar device 1 to the vehicle can be reduced.

(C) Description of Second Embodiment Next, a second embodiment of the present invention will be described. The configuration of the second embodiment is the same as in the case of FIGS. Therefore, the following description will be given focusing on different parts.

  In the first embodiment, the information output by the selection unit 14d is selected according to the connection status of the LED 21, but when the information is received from the host ECU 23, the position and speed information of the target is selected and output. If not received, the process of driving the LED 21 is executed.

  Thus, by selecting the information to be output based on the information supplied from the host ECU 23, it is not necessary to electrically detect the connection state of the LED 21 as in the case of the first embodiment. The configuration can be simplified.

  FIG. 5 is a flowchart for explaining an example of processing executed in the second embodiment. The processing shown in FIG. 5 is executed in each radar apparatus. When the flowchart shown in FIG. 5 is executed, the following steps are executed.

  In step S30, the control unit 14a receives information from the host ECU 23. For example, the control unit 14a receives information regarding initial setting or bus control.

  In step S31, the control unit 14a determines whether or not the predetermined information has been received in step S30. If it is determined that the predetermined information has been received (step S31: Y), the host ECU 23 is connected. The process proceeds to step S32 and otherwise (step S31: N), the process proceeds to step S33.

  In step S <b> 32, the selection unit 14 d outputs the target position and speed information detected by the processing unit 14 b to the host ECU 23 via the bus 22. As a result, the host ECU 23 executes a process for integrating information detected by the plurality of radar apparatuses 1 and the cameras 24.

  In step S33, the selection unit 14d selects the LED 21 as an output destination so as to operate as a driving support function. More specifically, the radar device 1 detects a target in the detection area, and when it is determined that the target may contact or collide with the host vehicle, the LED 21 is turned on to give a warning. I do.

  As described above, according to the second embodiment of the present invention, by selecting the information to be output based on the information supplied from the host ECU 23, the connection of the LED 21 is performed as in the first embodiment. Since it is not necessary to detect the state electrically, the configuration of the apparatus can be simplified.

(D) Description of Configuration of Third Embodiment Next, a configuration example of the third embodiment will be described. In the third embodiment, only the configuration of the control / processing unit 14 is different, and other configurations are the same as those in the first embodiment shown in FIGS. 1 and 2. Hereinafter, a configuration example of the control / processing unit 14 will be described with reference to FIG.

  FIG. 6 is a diagram illustrating a configuration example of the control / processing unit 14. In FIG. 6, parts corresponding to those in FIG. In FIG. 6, compared with FIG. 3, a storage unit 14e is newly added. Here, the storage unit 14e stores common parameters 14f and vehicle type parameters 14g. Here, the common parameter 14f is a parameter that can be used in common even if the vehicle type changes. Further, the vehicle type parameter 14g is a parameter that is different for each vehicle type on which the radar apparatus 1 is mounted. The reason for using the parameters for each vehicle type is to perform setting or correction according to the vehicle type because the mounting position and angle of the radar device 1 are different for each vehicle type.

(E) Description of Operation of Third Embodiment Next, the operation of the third embodiment of the present invention will be described. In 3rd Embodiment, if the control part 14a acquires the information which shows a vehicle type from high-order ECU23, it will acquire the applicable parameter from the parameter 14g for every vehicle type of the storage part 14e, will supply to the process part 14b, and the process which rewrites a parameter will be performed. The common parameter 14f is acquired and supplied to the processing unit 14b.

  As a result, the processing unit 14b can detect the target with high accuracy by using parameters according to the vehicle type to which the radar device 1 is attached.

  FIG. 7 is a flowchart for explaining an example of processing executed in the third embodiment. The process shown in FIG. 7 is executed in each radar apparatus. When the processing of the flowchart shown in FIG. 7 is started, the following steps are executed.

  In step S <b> 50, the control unit 14 a acquires information indicating the vehicle type from the host ECU 23 via the bus 22. In addition, you may make it receive the information (for example, ID information etc.) for specifying the desired parameter according to a vehicle type instead of the information which shows a vehicle type.

  In step S51, the control unit 14a acquires a parameter corresponding to the information indicating the vehicle type acquired in step S50 from the vehicle type parameter 14g in the storage unit 14e.

  In step S52, the control unit 14a acquires the common parameter from the common parameter 14f of the storage unit 14e.

  In step S53, the control unit 14a executes a process of rewriting parameters stored in advance in the processing unit 14b with the parameters acquired in steps S51 and S52.

  In step S54, the processing unit 14b executes a target detection process based on the new parameter.

  In step S55, the processing unit 14b outputs information regarding the position and speed of the target obtained in the process of step S54 to the host ECU 23 via the bus 22. As a result, the host ECU 23 executes an integration process of information detected by the plurality of radar apparatuses 1 and the cameras 24, and executes a process for issuing a warning based on information obtained by the integration process, or performs a risk. The process to avoid is executed.

(C) Description of Modified Embodiment It goes without saying that the above embodiment is merely an example, and the present invention is not limited to the case described above. For example, in each of the above embodiments, as illustrated in FIG. 1, the case where the radar apparatus 1 is arranged at the front part and the rear part of the vehicle C has been described as an example. May be arranged.

  In the above embodiments, the host ECU 23 integrates information output from the plurality of radar apparatuses 1 and the cameras 24. However, other than this, for example, information output from an ultrasonic sensor is used. Integrated processing may be performed.

  Further, in each of the above embodiments, the warning is issued using the LED 21. In addition to this, for example, a lamp that emits light (bulb or fluorescent lamp), a speaker that emits a beep sound, a piezoelectric element, and the like. An alarm may be issued using a buzzer.

  Further, in each of the above embodiments, the information output format is changed according to the connection status between the radar devices 1-3, 1-4 and the LEDs 21 arranged at the rear of the vehicle. The arranged radar apparatuses 1-1 and 1-2 may execute the same processing.

  In the present embodiment, as shown in FIG. 2, the antenna switching unit 17 switches the plurality of reception antennas 16, but a single reception antenna may be used and the antenna switching unit 17 may not be provided. Good.

  Further, in the above embodiment, the description has been given by taking an example of an automobile as a vehicle, but other than this, a motorcycle, a bicycle, or the like may be detected. That is, in the present specification, the vehicle is not limited to an automobile.

  Further, the processes of the flowcharts shown in FIGS. 4, 5, and 7 are examples, and it goes without saying that the present invention is not limited to the processes of these flowcharts.

DESCRIPTION OF SYMBOLS 1 Radar apparatus 10 Local oscillation part 11 Transmission part 12 Modulation part 13 Transmission antenna 14 Control / processing part 14a Control part (parameter selection part)
14b Processing unit (target detection unit)
14c detector (mounting status detector, connection presence detector)
14d Selection part (selection part)
14e Storage unit (storage unit)
14f Common parameter 14g Parameter for each vehicle type 15 Receiving unit 16 Receiving antenna 17 Antenna switching unit 18 Variable gain amplifying unit 19 Demodulating unit 20 A / D converting unit 21 LED (warning unit)
22 Bus 23 Host ECU
24 cameras

Claims (8)

In a radar device mounted on a vehicle,
A target detection unit for detecting a target present around the vehicle;
An attachment state detector for detecting an attachment state of the radar device to the vehicle;
A selection unit that selects an output format of information related to the target detected by the target detection unit according to the mounting status detected by the mounting status detection unit;
A radar apparatus comprising:   In the case where a warning unit for issuing a warning to the radar device is connected, the selection unit drives the warning unit and detects a warning when the target is detected by the target detection unit. The radar apparatus according to claim 1, wherein information indicating a state of the target is output in other cases. The warning unit is an LED (Light Emitting Diode), a lamp, a speaker, or a buzzer,
When the target is detected by the target detection unit, the selection unit turns on the LED or the lamp or emits a warning by emitting sound from the speaker or the buzzer. The radar apparatus according to claim 2, wherein in the case, information indicating a state of the target is output. A pair of radar devices are mounted on the left and right of the front or rear of the vehicle,
The LED, lamp, speaker, or buzzer is connected to each of a pair of radars,
The radar apparatus has a connection presence / absence detection unit that detects the presence / absence of connection of the LED, lamp, speaker, or buzzer, respectively.
When both of the pair of connection presence / absence detection units detect that the LED, the lamp, the speaker, or the buzzer is not connected, the information indicating the state of the target is output. The radar device according to claim 3. The radar device can be connected to a host ECU (Electric Control Unit),
When the attachment state detection unit receives predetermined information from the host ECU, the selection unit selects and outputs information indicating the state of the target.
The radar apparatus according to claim 1. The radar device has a storage unit that stores parameters for detecting the target for each vehicle type to be attached;
A parameter selection unit that selects the parameter according to the vehicle type,
When the mounting state detection unit receives information on the vehicle type from the host ECU, the parameter selection unit selects a corresponding parameter.
The radar apparatus according to claim 1. The storage unit has a region for storing different parameters for each vehicle type, and a region for storing invariant parameters for each vehicle type,
When the mounting status detection unit receives information on the vehicle type from the host ECU, the parameter selection unit selects a parameter from an area for storing parameters that are not changed for each vehicle type, and stores different parameters for each vehicle type. Select the appropriate parameter from the area to be
The radar apparatus according to claim 6. In a method for controlling a radar device mounted on a vehicle,
A target detection step for detecting a target existing around the vehicle;
An attachment state detecting step for detecting an attachment state of the radar device to the vehicle;
A selection step of selecting an output format of information related to the target detected in the target detection step according to the mounting status detected in the mounting status detection step;
A method for controlling a radar apparatus, comprising:

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