JP6812319B2 - Installation structure of vehicle object detection device and installation method of vehicle object detection device - Google Patents

Description

The present invention relates to a mounting structure of a vehicle object detection device and a mounting method of a vehicle object detection device.

A technique for calibrating (aiming) the displacement of the position of a radar device mounted on a vehicle is known (for example, Patent Document 1). The technique described in Patent Document 1 calibrates the deviation of the position of the radar device by processing software.

Japanese Unexamined Patent Publication No. 2014-48803

However, in the prior art, the case where the radar device is displaced beyond the calibable range by the processing of software has not been considered.

The present invention has been made in consideration of such circumstances, and provides a mounting structure of a vehicle object detection device and a mounting method of a vehicle object detection device capable of easily adjusting the displacement of the position of the radar device. One of the purposes is to provide.

(1) A first fixing member provided on the vehicle and marked with a first reference position indicating an attachment position of the radar device for detecting an object in the area around the vehicle to the vehicle, and attached to the radar device. In a state where the aiming of the radar device is completed, the second reference position is marked at a position corresponding to the first reference position, and the radar device is fixed to the vehicle by fitting with the first fixing member. The radar device includes a second fixing member, and the radar device aligns the first reference position and the second reference position and fixes the second fixing member to a mounting position fitted to the first fixing member. This is the mounting structure of the vehicle object detection device.

(2): The mounting structure of the vehicle object detection device according to (1), wherein at least one of the first fixing member or the second fixing member has an amount of deviation of the mounting position of the radar device. A first indicator is provided as a guide to indicate the relationship with the necessary treatment.

(3): The mounting structure of the vehicle object detection device according to (2), wherein the first indicator describes a range in which the amount of deviation of the mounting position of the radar device can be adjusted by auto aiming. ing.

(4): The mounting structure of the vehicle object detection device according to (2) or (3), wherein the first indicator has a range in which the amount of deviation of the mounting position of the radar device can be manually adjusted. Is written.

(5): The mounting structure of the vehicle object detection device according to any one of (1) to (4), wherein the second fixing member is further attached to the mounting position of the radar device. A second indicator, which serves as a guide for indicating an instruction to prompt the repair of the deviation, is described.

(6): A step of temporarily fixing a second fixing member to which a radar device for detecting an object in a region around the vehicle is fixed to a first fixing member provided on the vehicle, and an operation of the radar device. Then, based on the received data generated by the radar device, the step of adjusting the position of the second fixing member with respect to the first fixing member to aim the radar device, and the radar adjusted by the aiming. A step of fixing the second fixing member to the first fixing member at the position of the device, a step of marking the first reference position on the first fixing member with the second fixing member fixed, and the above-mentioned step. This is a method of attaching a vehicle object detection device, which comprises a step of marking a second reference position at a position corresponding to the first reference position in the second fixing member.

(7): The method for attaching a vehicle object detection device according to (6), in which, in the step of performing the aiming, a plurality of reflecting elements are separated in the vertical direction at a position separated from the radar device by a predetermined distance. It further includes a step of installing the arranged reflector.

(8): The method for attaching a vehicle object detection device according to (7), wherein in the step of performing the aiming, the reflector is arranged at a position where the plurality of reflecting elements are the vertices of a triangle. It detects at least one deviation in the roll direction and the yaw direction in the pitch direction of the radar device.

According to (1) and (6), the deviation of the position of the radar device can be easily adjusted.

According to (2), it is possible to visually confirm the measures for the displacement of the position of the radar device.

According to (3), it is possible to visually confirm whether or not the deviation of the position of the radar device can be corrected by auto aiming.

According to (4), it is possible to visually confirm whether or not the deviation of the position of the radar device requires manual adjustment.

According to (5), it is possible to visually confirm whether or not the displacement of the position of the radar device requires repair.

According to (7), the deviation of the position of the radar device can be detected.

According to (8), deviations in the roll direction, pitch, and yaw direction of the position of the radar device can be detected.

It is a figure which shows an example of the structure of the attachment structure 10 of the vehicle object detection device applied to a vehicle M. It is a figure which shows an example of the structure of the attachment structure 10 of the vehicle object detection device. It is sectional drawing of the 1st fixing member 20 in the mounting structure 10 of the vehicle object detection device. It is a figure which shows the fixed state of the radar apparatus 50. It is a figure which shows an example of the state of the radar apparatus 50 where the deviation occurs. It is a block diagram which shows an example of the structure of the vehicle M. It is a figure which shows an example of the structure of the reflector R used for aiming of a radar apparatus 50. It is a figure which shows an example of the arrangement relation between a vehicle M and a reflector R at the time of aiming. It is a flowchart which shows an example of the flow of the aiming process of the radar apparatus 50 at the time of shipment from a factory.

Hereinafter, embodiments of the mounting structure of the vehicle object detection device of the present invention will be described with reference to the drawings.

[Device configuration]
FIG. 1 is a diagram showing an example of the configuration of the mounting structure 10 of the vehicle object detection device applied to the vehicle M. The mounting structure 10 of the vehicle object detection device is, for example, a structure for fixing the radar device (vehicle object detection device) 50 to the vehicle M. The radar device 50 is attached to the inside of the leading portion of the vehicle M, for example. The radar device 50 detects an object around (for example, in front of) the vehicle M. The radar device 50 may be provided in another part of the vehicle M.

FIG. 2 is a diagram showing an example of the configuration of the mounting structure 10 of the vehicle object detection device. The mounting structure 10 of the vehicle object detection device includes, for example, a first fixing member 20 and a second fixing member 30.

The first fixing member 20 is provided on the vehicle M, for example, to fix the radar device 50. The first fixing member 20 includes, for example, a rectangular plate-shaped body 21 having a predetermined thickness and a guide 22 provided on the plate-shaped body 21. For example, the first fixing member 20 is fixed to the vehicle M at the upper side and attached to the vehicle M in a state of hanging downward. The plate-shaped body 21 in which the radar device 50 is fixed is provided with rigidity so as not to be bent by vibration or the like when attached to the vehicle M.

FIG. 3 is a cross-sectional view of the first fixing member 20 in the mounting structure 10 of the vehicle object detection device. The plate-shaped body 21 is formed with a through hole 23 having a circular opening. The inner diameter of the through hole 23 is formed so that the second fixing member 30, which will be described later, is inserted.

Returning to FIG. 2 again, a guide 22 is formed on the back surface 21b side of the plate-shaped body 21 so as to extend along the circumference of the upper half of the through hole 23 and project outward from the back surface 21b. There is. The guide 22 is formed in a missing circular arch shape, for example. On the end surface 22a of the guide 22, a first reference position 24 indicating a mounting position of the radar device 50 on the vehicle M is marked.

The second fixing member 30 is a columnar member (see FIG. 3). The second fixing member 30 is attached to the back surface 51b of the housing 51 of the radar device 50 so as to project outward from the back surface 51b. The outer diameter of the second fixing member 30 is formed so as to be slightly smaller than the inner diameter of the through hole 23. The second fixing member 30 is inserted into the through hole 23 from the front surface 21a side to the back surface 21b side of the first fixing member 20. With the second fixing member 30 inserted through the through hole 23, the second fixing member 30 is positioned by fitting with the guide 22.

With such a configuration, the radar device 50 is rotatably supported with respect to the first fixing member 20 about the axis L along the x-axis of the second fixing member 30. That is, the radar device 50 rotates in the roll direction about the axis L.

In order to position the radar device 50 that rotates in the roll direction, a second reference position 32 is marked on the end surface 30a of the second fixing member 30 at a position corresponding to the first reference position 24. As will be described later, the second reference position 32 is marked on the end surface 30a of the second fixing member 30 at a position corresponding to the first reference position 24 in a state where the aiming of the radar device 50 is completed.

The radar device 50 is a reference mounting position in a state where the first reference position 24 and the second reference position 32 are aligned and the second fixing member 30 is fitted to the first fixing member 20 in the factory-shipped state of the vehicle M. It is fixed to.

Further, on the end surface 30a of the second fixing member 30, a first indicator 33 and a second indicator 35 are described as a guideline for showing the relationship between the amount of deviation of the mounting position of the radar device 50 and the necessary measures. The first indicator 33 and the second indicator 35 may be marked on the guide 22 side. The first indicator 33 is an index showing a rotation angle range when the second fixing member 30 rotates about the axis L. The first indicator 33 has an auto aiming adjustment range 33a and a manual adjustment range 33b.

The auto aiming adjustment range 33a is an index indicating a rotation angle range that serves as a guide for adjusting the rotation position of the radar device 50. The auto aiming adjustment range 33a is set to a predetermined angle range at which auto aiming is possible in a state where the radar device 50 is rotated from a position corresponding to the first reference position 24 and the second reference position 32.

For example, it is assumed that the operator visually observes the mounting state of the radar device 50. When the operator visually confirms that the radar device 50 is fixed so that the first reference position 24 indicates within the range of the auto aiming adjustment range 33a, the operator manually adjusts the rotation position of the radar device 50 as described later. It is determined that the deviation of the radar device 50 can be corrected by auto aiming without adjustment.

The manual adjustment range 33b is another index indicating a rotation angle range that serves as a guide for adjusting the rotation position of the radar device 50. The manual adjustment range 33b is set so that the rotation angle of the radar device 50 is a predetermined angle range that exceeds the auto aiming adjustment range 33a. Therefore, when the operator visually confirms that the radar device 50 is fixed so that the first reference position 24 is within the range of the manual adjustment range 33b, the operator exceeds the correction range by auto aiming as described later. , It is determined that it is necessary to manually adjust the deviation of the mounting position of the radar device 50.

Further, on the end surface 30a of the second fixing member 30, a second indicator 35 is further described as a guideline for instructing the repair of the deviation of the mounting position of the radar device 50. The second indicator 35 is set so that the rotation angle of the radar device 50 is within a predetermined angle range that exceeds the manual adjustment range 33b.

For example, if the position of the radar device 50 deviates from the reference mounting position and is fixed at a position exceeding the manual adjustment range 33b, there is a risk that the radar device 50 may malfunction due to disconnection or the like. Therefore, when the operator visually confirms that the radar device 50 is fixed so that the position of the first reference position 24 indicates the range of the second indicator 35, the operator determines that the radar device 50 needs to be repaired. To do.

As shown in FIG. 3, a bracket 52 for fixing the housing 51 to the first fixing member 20 is provided on the upper surface 51c of the housing 51 of the radar device 50. The bracket 52 is provided on the upper surface 51c of the housing 51 so as to be in contact with the surface 21a of the plate-shaped body 21. The bracket 52 is formed with a guide hole 52a (see FIG. 4), which will be described later.

A bolt 53 is inserted into the guide hole 52a. The bolt 53 is screwed into the screw hole 25 (see FIG. 2) formed in the plate-shaped body 21. When the bolt 53 is fastened, the head of the bolt 53 applies a pressing force to the bracket 52 in the direction of the plate-shaped body 21 via the washer 54. In this state, the bracket 52 is sandwiched and fixed between the head of the bolt 53 and the plate-shaped body 21, whereby the housing 51 is fixed to the plate-shaped body 21.

FIG. 4 is a diagram showing an example of a state in which the radar device 50 is fixed at a reference position.

The guide hole 52a of the bracket 52 is formed by an elongated hole along an arc concentric with the center O of the second fixing member 30.

As a result, when the bolt 53 is loosened, the radar device 50 is made rotatable about the center O of the second fixing member 30 within the movable range regulated by the guide hole 52a and the bolt 53. When the radar device 50 is manually rotated to adjust the position and the bolt 53 is tightened, the radar device 50 is fixed at a desired position.

FIG. 5 is a diagram showing an example of a state in which the position of the radar device 50 is deviated from the reference mounting position and fixed.

For example, when some external force acts on the radar device 50 and the position of the radar device 50 deviates from the reference mounting position and becomes fixed, the worker who inspects the radar device 50 is at the first reference position 24. Visually check the position. The operator visually confirms whether the first reference position 24 is located in the range of the first indicator 33 or the first reference position 24 is located in the range of the second indicator 35, and the radar device. Determine the necessary measures for the amount of displacement of the 50 mounting positions.

[Vehicle configuration]
FIG. 6 is a block diagram showing an example of the configuration of the vehicle M. The vehicle M includes, for example, a radar device 50 that detects an object around the vehicle, and a driving support device 60 that assists the driving of the vehicle M based on a received signal acquired from the radar device 50. The vehicle M is connected to a terminal device 100 for instructing a predetermined operation to the radar device 50 at the time of aiming, and the error of the radar device 50 is corrected. In addition, the vehicle M recognizes an object around the vehicle M by a method different from that of the radar device 50 by a plurality of sensors such as a camera (not shown).

The radar device 50 is, for example, a monopulse type millimeter wave radar. The radar device 50 includes, for example, a transmission unit 55, a reception unit 56, and a signal processing unit 58.

The transmission unit 55 includes, for example, a transmission antenna and transmits a transmission signal (radar wave) in a predetermined direction (for example, in front of the vehicle M). The transmitted signal is, for example, an electromagnetic wave in the millimeter wave band. The receiving unit 56 includes, for example, a pair of receiving antennas arranged in the left-right direction, and receives a reflected wave (received signal) in which the transmission signal transmitted by the transmitting unit 55 is reflected by an object.

The signal processing unit 58 is an object around the vehicle M based on the reception time of each reception signal received by the pair of reception antennas, the transmission time of the transmission signal, the frequency of each reception signal, the phase of the reception signal, and the like. Calculates the relative speed and azimuth angle with respect to the vehicle M. The signal processing unit 58 outputs the calculation result as received data.

The driving support device 60 includes, for example, an obstacle alarm unit 62, a correction unit 64, a communication unit 66, and a storage unit 68.

The signal processing unit 58, the obstacle alarm unit 62, and the correction unit 64 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware.

The storage unit 68 is realized by an HDD (Hard Disk Drive), a flash memory, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

The obstacle warning unit 62 causes the operation unit (not shown) to perform a predetermined operation according to the relative distance to the object of the vehicle M, for example, based on the received data generated by the radar device 50. The predetermined operation includes notification to the occupant, avoidance operation, braking operation, and the like. Further, the obstacle alarm unit 62 operates the radar device 50 at the time of aiming to acquire the received data.

At the time of aiming, the correction unit 64 calculates the detection error of the radar device 50 based on the received data generated by the radar device 50 and the position information of the reflector R acquired from the terminal device 100, and based on the calculated error, The received data generated by the signal processing unit 58 is corrected so that the correct position is shown.

Further, the correction unit 64 determines whether or not the radar device 50 has a detection error based on the detection results of a plurality of sensors (not shown) other than the radar device 50 in the process of using the vehicle M. When the correction unit 64 determines that the radar device 50 has a detection error, the correction unit 64 determines whether or not the error is within a range that can be corrected by auto aiming. When the correction unit 64 determines that the error is within the range that can be corrected by auto aiming, the correction unit 64 corrects the received data generated by the signal processing unit 58 so that the correct position is indicated. Further, when the correction unit 64 determines that the error is not within the range that can be corrected by auto aiming, the correction unit 64 causes a notification unit (not shown) provided in the vehicle M to notify a notification prompting repair.

The communication unit 66 communicates with the terminal device 100 at the time of aiming, and receives information regarding an instruction to operate the radar device 50 from the terminal device 100. The communication unit 66 transmits the received data generated by the signal processing unit 58 to the terminal device 100.

The storage unit 68 stores the received data generated by the signal processing unit 58, information related to instructions from the terminal device 100, and the like.

The terminal device 100 is a terminal used by an operator to operate the radar device 50 during aiming. The terminal device 100 is connected to the vehicle M when aiming is performed. The terminal device 100 includes, for example, an input unit 102, a control unit 104, a display unit 106, and a communication unit 108. As the terminal device 100, for example, a personal computer, a tablet terminal, a smartphone, or the like is used.

The input unit 102 receives a command regarding the operation of the radar device 50 at the time of aiming. The control unit 104 controls the execution of various processes in the terminal device 100. Further, the control unit 104 calculates the detection error of the radar device 50 based on the position of the reflector R and the position of the reflector R based on the received data generated by the radar device 50 at the time of aiming. The display unit 106 displays the detection error obtained by the control unit 104. The communication unit 108 communicates with the vehicle M at the time of aiming.

[Aiming]
After the radar device 50 is attached to the vehicle M, aiming is performed to correct the detection error of the radar device 50. The aiming includes, for example, a pre-factory aiming performed after the vehicle M is assembled and an aiming performed during the usage period of the vehicle M after the factory shipment. Aiming performed after shipment from the factory is aiming performed at opportunities such as periodic inspections and maintenance performed at predetermined intervals, inspections when inspection of the vehicle M is required, and the like. The post-shipment case is different from the pre-shipment step in that the steps of marking the first reference position 24, the second reference position 32, the first indicator 33, and the second indicator 35 are included. Therefore, in the following description, aiming before shipment from the factory will be mainly described.

FIG. 7 is a diagram showing an example of the configuration of the reflector R used for aiming the radar device 50. In the reflector R, a plurality of reflecting elements are arranged at intervals in the vertical direction. The reflector R includes, for example, three reflecting elements R1 to R3 respectively arranged at the positions of the vertices of the virtual triangle T. The triangle T is, for example, an equilateral triangle. The three reflecting elements R1 to R3 are made of a material that easily reflects the transmission signal transmitted from the radar device 50. The three reflecting elements R1 to R3 are supported by a structure (not shown) positioned at the position of the apex of the triangle T.

Further, this structure holds the three reflecting elements R1 to R3 at a predetermined height. The heights of the three reflecting elements R1 to R3 are positioned so that, for example, the center R0 of the virtual triangle T becomes the reference position of the beam center of the radar wave emitted from the radar device 50 by the above structure. .. The above structure is formed of a material or shape that does not easily reflect the transmission signal transmitted from the radar device 50. The reflector R is arranged so that the plane formed by the virtual triangle T is vertical due to the above structure.

Next, aiming of the radar device 50 using the reflector R will be described.

The reflector R is installed at a position separated from the radar device 50 by a predetermined distance. The positions of the three reflecting elements R1 to R3 and the center R0 of the reflector R are set as known reference positions in the coordinates in space. The terminal device 100 is operated to operate the radar device 50, and the signal processing unit 58 is made to generate received data based on the received signal from the reflector R. Here, as the received data, three position data are generated for each of the three reflecting elements R1 to R3.

The signal processing unit 58 converts each of the three position data into coordinate data in space. The correction unit 64 calculates errors in the roll direction, pitch direction, and yaw direction of the radar device 50 based on the positional relationship between the three converted coordinate data and the preset reference position.

When the radar device 50 is displaced in the roll direction, the signal processing unit 58 generates position data in which the three reflecting elements R1 to R3 are rotated around the center R0. At this time, the horizontal components of the coordinates of the position data include those that approach the position of the center R0 and those that move away from it. The correction unit 64 estimates the positional deviation of the radar device 50 in the roll direction based on the relationship between changes in the horizontal component of the position data.

When the radar device 50 is displaced in the pitch direction, the reflecting elements R1 located above the center R0 and the reflecting elements R2 and R3 located below the center R0 in the position data are in the vehicle direction. On the contrary. The correction unit 64 estimates the positional deviation of the radar device 50 in the pitch direction in relation to the change in the position data.

Further, when the radar device 50 is displaced in the yaw direction, the horizontal component of the position data is displaced in the same direction. The correction unit 64 estimates the position deviation of the radar device 50 in the yaw direction based on the relationship between the changes in the position data.

The correction unit 64 calculates an error in the position data based on the estimated misalignment direction. The position detected by the radar device 50 is adjusted based on the calculated error magnitude. When the error is within the range that can be corrected by auto aiming, for example, auto aiming by software processing is performed in which the correction unit 64 corrects the position data of the radar device 50. If the error exceeds the range that can be corrected by auto aiming, the position of the radar device 50 is manually adjusted.

Next, the aiming of the radar device 50 before shipment from the factory will be described.

FIG. 8 is a diagram showing an example of the arrangement relationship between the vehicle M and the reflector R when the radar device 50 is aimed before being shipped from the factory. In the vehicle M that has been assembled, the second fixing member 30 to which the radar device 50 is fixed is tentatively fixed to the first fixing member 20.

The reflector R is arranged at a predetermined position separated from the vehicle M by a predetermined distance. The reflector R is arranged so that the virtual beam center of the radar wave emitted from the radar device 50 is located at the center R0 of the reflecting elements R1 to R3 of the reflector R. A terminal device 100 for operating the radar device 50 is connected to the vehicle M.

The operator inputs a predetermined input from the input unit 102 of the terminal device 100 to operate the radar device 50. The control unit 104 transmits information regarding a command for operating the radar device 50 to the vehicle M via the communication unit 108.

In the vehicle M, the obstacle warning unit 62 operates the radar device 50 based on the information regarding the command for operating the radar device 50. The radar device 50 transmits a transmission signal, receives the reflected wave generated by the reflector R, and generates received data. The obstacle alarm unit 62 transmits the received data to the terminal device 100.

In the terminal device 100, the display unit 106 shows an error of the radar device 50 calculated by the correction unit 64 based on the position of the reflector R and the position of the reflector R based on the received data generated by the radar device 50. Is displayed.

Based on the error display, the operator loosens the bolt 53 and manually adjusts the position of the second fixing member 30 with respect to the first fixing member 20 in a direction in which the error becomes smaller. The operator tightens the bolt 53 at the adjusted position of the radar device 50 to fix the second fixing member 30 to the first fixing member 20. The operator marks the first reference position 24 on the end surface 22a of the guide 22 of the first fixing member 20 in a state where the second fixing member 30 is fixed. The operator marks the second reference position 32 at a position corresponding to the first reference position 24 on the end surface 30a of the second fixing member 30.

The operator marks the first indicator 33 and the second indicator 35 on the end face 30a of the second fixing member 30 based on the second reference position 32. The first indicator 33 and the second indicator 35 may be formed, for example, by attaching a pre-made sticker to the end face 30a of the second fixing member 30.

Next, aiming at the time of inspection will be described. During the period of use of the vehicle M, an external force or the like is applied to the radar device 50, and the mounting position may shift.

The operator who inspects the radar device 50 determines whether the first reference position 24 is located in the range of the first indicator 33 or the first reference position 24 is located in the range of the second indicator 35. Check visually.

Based on the visual result, the operator determines the necessary measures for the amount of deviation of the mounting position of the radar device 50.

When the operator confirms that the first reference position 24 is located within the range of the auto aiming adjustment range 33a, for example, the operator decides not to adjust the position of the radar device 50. If the first reference position 24 is located within the range of the auto aiming adjustment range 33a, the radar device 50 can automatically correct the detection error by auto aiming.

When the operator confirms that the first reference position 24 is located within the range of the manual adjustment range 33b, the operator decides to manually adjust the position of the radar device 50. The operator loosens the bolt 53 to rotate the radar device 50, positions the radar device 50 so that the first reference position 24 is located within the auto aiming adjustment range 33a, and tightens the bolt 53 to tighten the radar device 50. Fix it. By fixing in this way, the radar device 50 can automatically correct the detection error by auto aiming.

When, for example, the operator confirms that the first reference position 24 is located within the range of the second indicator 35, the operator decides to request, for example, a repair shop to adjust the radar device 50.

Next, a process example until the radar device 50 is adjusted to the reference position before shipment from the factory will be described. FIG. 9 is a flowchart showing an example of a process of adjusting the position of the radar device 50 before shipment from the factory.

During the assembly of the vehicle M, the second fixing member 30 to which the radar device 50 is fixed is tentatively fixed to the first fixing member 20 (step S100). After the assembly of the vehicle M is completed, the reflector R and the vehicle M are arranged in a predetermined arrangement relationship (step S102). The terminal device 100 is connected to the vehicle M. By operating the terminal device 100, the radar device 50 is operated (step S104). The position of the second fixing member 30 is adjusted with respect to the first fixing member 20 based on the received data generated by the signal processing unit 58 (step S106).

At the adjusted position of the radar device 50, the second fixing member 30 is fixed to the first fixing member 20 (step S108). With the second fixing member 30 fixed, the first reference position 24 is marked on the first fixing member 20 (step S110). In the second fixing member 30, the second reference position 32 is marked at a position corresponding to the first reference position 24 (step S112).

According to the mounting structure 10 of the vehicle object detection device of the embodiment described above, the deviation of the mounting position of the radar device 50 can be easily adjusted. According to the mounting structure 10 of the vehicle object detection device, it is visually inspected whether or not the position of the first reference position 24 marked on the first fixing member 20 is within the range corresponding to the first indicator 33 or the second indicator 35. It can be confirmed by the above, and the necessary measures for the position adjustment of the radar device 50 can be easily determined.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added. For example, in the above embodiment, the reflector R illustrates the case where a plurality of reflecting elements are arranged at the positions of the vertices of a triangle, but the present invention is not limited to this, and the plurality of reflecting elements may be arranged in a cross shape. , May be arranged at the position of each vertex of the quadrangle.

Further, for example, in the reflector R, in addition to the plurality of reflecting elements, other reflecting elements are arranged at positions above and below the positions of the plurality of reflecting elements toward the outside from the center R0 of the reflector R. You may. Then, when another reflecting element is detected by the radar device 50, the correction unit 64 may determine a deviation larger than a predetermined angle in the pitch direction of the radar device 50.

Further, although the adjustment of the roll direction is illustrated in the above embodiment, the mounting structure 10 of the vehicle object detection device may be applied to the angle adjustment in the pitch direction and the yaw direction. Further, the mounting structure 10 of the vehicle object detection device may be further provided with a mechanism (not shown) for manually finely adjusting the mounting angles of the radar device 50 in the pitch direction and the yaw direction.

10 ... Mounting structure of vehicle object detection device, 20 ... First fixing member, 21 ... Plate-like body, 21a ... Front surface, 21b ... Back surface, 22 ... Guide, 22a ... End face, 23 ... Through hole, 24 ... First reference Position, 25 ... Screw hole, 30 ... Second fixing member, 30a ... End face, 32 ... Second reference position, 33 ... First indicator, 33a ... Auto aiming adjustment range, 33b ... Manual adjustment range, 35 ... Second indicator, 50 ... Radar device (vehicle object detection device), 50 ... Radar device, 51 ... Housing, 51b ... Back side, 51c ... Top surface, 52 ... Bracket, 52a ... Guide hole, 53 ... Bolt, 54 ... Washer, 55 ... Transmission Unit, 56 ... Receiver unit, 58 ... Signal processing unit, 60 ... Driving support device, 62 ... Obstacle alarm unit, 64 ... Correction unit, 66 ... Communication unit, 68 ... Storage unit, 100 ... Terminal device, 102 ... Input unit , 104 ... Control unit, 106 ... Display unit, 108 ... Communication unit, M ... Vehicle, R ... Reflector, R0 ... Center, R1, R2, R3 ... Reflector element

Claims (8)

A first fixing member provided on the vehicle and marked with a first reference position indicating the mounting position of the radar device for detecting an object in the area around the vehicle on the vehicle.
The radar device is attached to the radar device, and when the aiming of the radar device is completed, the radar device is fitted with the first fixing member having a second reference position marked at a position corresponding to the first reference position. A second fixing member for fixing to the vehicle is provided.
The radar device is fixed at a mounting position in which the second fixing member is fitted to the first fixing member by aligning the first reference position and the second reference position.
Mounting structure of vehicle object detection device. At least one of the first fixing member or the second fixing member is marked with a first indicator as a guide indicating the relationship between the amount of deviation of the mounting position of the radar device and the required treatment.
The mounting structure of the vehicle object detection device according to claim 1. The first indicator indicates a range in which the amount of deviation of the mounting position of the radar device can be adjusted by auto aiming.
The mounting structure of the vehicle object detection device according to claim 2. The first indicator indicates a range in which the amount of deviation of the mounting position of the radar device can be manually adjusted.
The mounting structure of the vehicle object detection device according to claim 2 or 3. The second fixing member is further marked with a second indicator as a guide indicating an instruction for prompting repair of the deviation of the mounting position of the radar device.
The mounting structure of the vehicle object detection device according to any one of claims 1 to 4. A step of tentatively fixing a second fixing member to which a radar device for detecting an object in a region around the vehicle is fixed to a first fixing member provided on the vehicle.
A step of operating the radar device, adjusting the position of the second fixing member with respect to the first fixing member based on the received data generated by the radar device, and aiming the radar device.
A step of fixing the second fixing member to the first fixing member at the position of the radar device adjusted by the aiming, and
A step of marking the first reference position on the first fixing member in a state where the second fixing member is fixed, and
A step of marking the second reference position at a position corresponding to the first reference position in the second fixing member, and
To prepare
How to install the vehicle object detection device. The step of performing the aiming further includes a step of installing a reflector in which a plurality of reflecting elements are arranged vertically separated from the radar device at a predetermined distance.
The method for attaching the vehicle object detection device according to claim 6. In the step of performing the aiming, at least one deviation in the roll direction, pitch direction, and yaw direction of the radar device is detected by the reflector arranged at a position where the plurality of reflecting elements are the vertices of a triangle.
The method for attaching a vehicle object detection device according to claim 7.

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