JPWO2011048831A1 - Obstacle detection device for vehicles - Google Patents

Abstract

Calculation of the offset amount of the vertical tilt angle and horizontal rotation angle of the radar unit and alignment work of the radar unit without using equipment different from the radar unit and without excessively restricting the location. An obstacle detection device for a vehicle capable of performing the above is provided. In a vehicle obstacle detection device that has a radio wave transmitter / receiver and a radar unit that detects obstacle information in front of the vehicle, the radar unit can detect the vertical tilt angle and horizontal rotation angle of the radar unit. And an offset amount calculating means for calculating an offset amount of the detected value with respect to the reference values of the vertical inclination angle and the horizontal rotation angle of the radar unit.

Description

  The present invention relates to an obstacle detection device for a vehicle that is installed in a vehicle and detects obstacle information ahead of the vehicle. In particular, the present invention relates to an obstacle detection device for a vehicle that can detect and adjust a deviation in an irradiation direction of radio waves.

  2. Description of the Related Art In recent years, some vehicles such as automobiles are equipped with a radar unit for detecting an obstacle present on the traveling path of the vehicle. Using this radar unit, information such as the distance between the obstacle and the host vehicle and the speed of the vehicle ahead when the obstacle is a vehicle is detected. The detected obstacle information is used for an obstacle warning device and a forward distance warning device, for example. In addition to the warning device, the obstacle information is adjusted so that the speed of the host vehicle can be adjusted according to the speed of the preceding vehicle so that the vehicle can follow the preceding vehicle at a safe inter-vehicle distance, or an obstacle ahead is detected. Thus, it is also used in a driving support device that performs braking control so that a collision with an obstacle or an uncontrollable state of the host vehicle can be avoided by controlling the brake device of the host vehicle.

  Here, in order to accurately operate each of the above-described devices using the obstacle information detected by the radar unit, the radar unit needs to be accurately positioned in a predetermined direction in each of the horizontal direction and the vertical direction. There is. For this reason, conventionally, when attaching a radar unit to a vehicle at a car dealer, a maintenance shop, etc., or when adjusting a positional deviation that has occurred after the attachment, the alignment operation of the radar unit has been performed using a special tool. Yes.

  In addition to this, when the direction of the reference detection axis of the radar unit arranged at the front end portion of the vehicle is deviated from the intended direction, the reference detection axis can be automatically corrected and adjusted automatically. Possible vehicle obstacle detection devices have been proposed. Specifically, based on the image information of the specific obstacle ahead of the vehicle imaged by the camera unit, the position of the specific obstacle is detected, and the detected position of the specific obstacle and the radar unit are detected. Judgment is made whether the position of the specific obstacle matches, and the reference detection axis of the radar unit is automatically corrected so that it matches when the position of the specific obstacle does not match after receiving the determination. A configured vehicle obstacle detection device is disclosed (see Patent Document 1).

  Further, there is a vehicle driving support device that appropriately controls the vertical angle of the beam of the in-vehicle radar without using a dedicated sensor for detecting the attitude angle of the vehicle, and simultaneously achieves cost reduction and radar performance improvement. Proposed. Specifically, the left and right white lines of the road are recognized from the image captured by the camera unit with the image recognition device to obtain an approximate straight line on the captured image plane, and the pitch angle of the vehicle is estimated from the intersection of the approximate straight lines. Based on the angle, a control command value for an actuator that varies the antenna angle in the vertical direction of the radar head is calculated. And by driving the actuator through the controller and maintaining the radio wave radiation direction of the radar head parallel to the road surface, cost reduction and radar performance can be achieved without using a dedicated sensor for detecting the pitch angle. There has been disclosed a vehicle driving support device that achieves improvement simultaneously (see Patent Document 2).

JP 2008-215912 A (the whole sentence, all figures) JP 2003-307561 A (the whole sentence, all figures)

  However, in the conventional alignment work using a special tool, since a special tool must be prepared in the first place, a cost for preparing the tool is required. In addition, the alignment work using such a tool requires a special skill for the operator and tends to require a relatively long working time.

  Moreover, in both apparatuses of Patent Documents 1 and 2, a camera unit different from the radar unit attached to the front of the vehicle is required, which causes a problem of the cost and attachment position of the camera unit. Furthermore, since the devices in both Patent Documents 1 and 2 require a detection object such as a specific obstacle outside the vehicle or a white line on the left and right sides to adjust the irradiation direction of radio waves, there are restrictions on the place where the adjustment is performed. Imposed.

  In view of such problems, the inventors of the present invention have made extensive studies, and in a vehicle obstacle detection apparatus including a radar unit having a radio wave transmitter / receiver, the vertical inclination angle and horizontal rotation of the radar unit are described. The present invention has been completed by finding that such a problem can be solved by mounting detection means for detecting a corner on a radar unit. That is, the present invention can calculate the offset amount of the vertical inclination angle and horizontal rotation angle of the radar unit without using a separate device from the radar unit and without excessively limiting the location, An object of the present invention is to provide a vehicle obstacle detection device capable of performing a positioning operation of a radar unit.

  According to the present invention, in the vehicle obstacle detection device including a radar unit that includes a radio wave transmitter / receiver and detects obstacle information in front of the vehicle, the radar unit includes the radar unit in a vertical inclination angle and a horizontal direction. A vehicle comprising: detection means capable of detecting a direction rotation angle; and an offset amount calculation means for calculating an offset amount of a detection value with respect to a reference value for each of a vertical inclination angle and a horizontal rotation angle of a radar unit. An obstacle detection device is provided to solve the above-described problems.

In configuring the vehicle obstacle detection device of the present invention, the first sensor for detecting the rotation angle θ _X of the radar unit having the X axis as the central axis in the XYZ three-dimensional coordinate axis is detected by the detection means, Y The second sensor for detecting the rotation angle θ _Y of the radar unit with the axis as the central axis, and the third sensor for detecting the rotation angle θ _Z of the radar unit with the Z axis as the central axis. It is preferable that the amount calculation means calculates an offset amount of the detected value with respect to the reference values of the rotation angle θ _X , the rotation angle θ _Y , and the rotation angle θ _Z.

Further, in configuring the vehicle obstacle detection device of the present invention, the XYZ three-dimensional coordinate axes are defined by the three directions of the vertical direction, the irradiation direction of the radio wave, and the direction orthogonal to the vertical direction and the irradiation direction. The first sensor for detecting the angle θ _X and the second sensor for detecting the rotation angle θ _Y are sensors for detecting an inclination with the horizontal axis as a reference value, and detect the rotation angle θ _Z It is preferable that the third sensor for detecting is a sensor for detecting a rotation phase with magnetic north as a reference value.

  Further, when configuring the vehicle obstacle detection device of the present invention, the radar unit is provided with adjusting means for adjusting the vertical inclination angle and the horizontal rotation angle of the radar unit, and the adjustment means based on the offset amount is provided. It is preferable to provide an adjustment amount calculation means for calculating the adjustment amount.

  Further, in configuring the vehicle obstacle detection device of the present invention, it is preferable that the adjustment means is a plurality of adjustment screws, and the adjustment amount calculated by the adjustment amount calculation means is the number of rotations of the adjustment screw.

  Further, in configuring the vehicle obstacle detection device of the present invention, it is preferable that the adjustment means is an actuator controlled by a drive signal, and the adjustment amount calculated by the adjustment amount calculation means is an operation amount of the actuator.

  According to the vehicle obstacle detection device of the present invention, the radar unit includes detection means capable of detecting the vertical inclination angle and the horizontal rotation angle of the radar unit. The offset amount of the vertical inclination angle and the horizontal rotation angle of the radar unit can be calculated without using other devices or detection objects outside the vehicle. Therefore, the offset amount can be obtained without excessive restrictions in place and without requiring special skills, costs, and work time, and the positioning of the radar unit can be easily performed.

Further, in the vehicle obstacle detection device of the present invention, the detection means is composed of three sensors for detecting the rotation angle with the three axes in the XYZ three-dimensional coordinate axes as the central axes, so that it is relatively inexpensive. The rotation angle θ _X , rotation angle θ _Y , and rotation angle θ _Z can be easily detected by the sensor.

In the vehicle obstacle detection device of the present invention, the sensor for detecting the rotation angle θ _X and the rotation angle θ _Y with the axis extending in the horizontal direction as the central axis has an inclination with the horizontal axis as a reference value. Since the sensor for detecting the rotation angle θ _Z with the vertical axis as the central axis is a sensor with magnetic north as the reference value, the absolute reference value is used to detect the vertical angle. The rotation angle θ _X , the rotation angle θ _Y , and the horizontal rotation angle θ _Z can be accurately detected.

  The vehicle obstacle detection device according to the present invention further includes an adjustment amount calculation unit that calculates an adjustment amount of the adjustment unit of the vertical inclination angle and the horizontal rotation angle of the radar unit based on the offset amount, thereby providing a maintenance factory. For example, when the radar unit is attached to the vehicle in the above-described manner or when the positional deviation generated after the attachment is adjusted, the positioning operation of the radar unit can be easily performed.

  In the vehicle obstacle detection device of the present invention, the adjustment means is an adjustment screw, and the rotation amount of the adjustment screw is calculated as the adjustment amount. By adjusting the position of the radar unit, it is possible to easily align the radar unit manually.

  Further, in the vehicle obstacle detection device of the present invention, the adjustment unit is an actuator, and the operation amount of the actuator is calculated as the adjustment amount, thereby aligning the radar unit without the manual operation of the operator. It can be done automatically.

FIG. 1 is a diagram showing an overall configuration of a vehicle according to a first embodiment on which a vehicle obstacle detection device is mounted. FIGS. 2A and 2B are diagrams illustrating a configuration example of a radar unit constituting the vehicle obstacle detection device according to the first embodiment. FIGS. 3A and 3B are diagrams for explaining the rotation angles detected by the first sensor, the second sensor, and the third sensor. FIG. 4 is a block diagram illustrating a configuration example of a control unit that configures the vehicle obstacle detection device according to the first embodiment. FIG. 5 is a diagram for explaining a method of detecting the horizontal rotation angle of the radar unit by the magnetic field sensor. FIG. 6 is a diagram for explaining another method for detecting the horizontal rotation angle of the radar unit by the magnetic field sensor.

  Hereinafter, with reference to the drawings, embodiments of the vehicle obstacle detection device of the present invention will be described in detail. However, the following embodiment shows one aspect of the present invention and does not limit the present invention, and the embodiment can be arbitrarily changed within the scope of the present invention. In each figure, the same reference numerals denote the same members, and explanations are omitted as appropriate.

1. FIG. 1 shows a perspective view of a front portion of a vehicle 10. The vehicle 10 includes a radar unit 21 disposed at the center in the vehicle width direction on the back side of the front bumper 11 and the like, and a vehicle obstacle detection device 20 including a control unit 30 capable of receiving a signal from the radar unit 21. Is provided.

  The radar unit 21 is provided with a radar signal transmitter / receiver 23 that radiates radio waves toward the front of the vehicle 10 and receives reflected waves reflected by obstacles existing in front. The information of the reflected wave received by the radar unit 21 is read by the control unit 30, and the distance to the obstacle existing in front of the vehicle 10, the relative speed, the two-dimensional distribution of the three-dimensional object, and the like are obtained by calculation. The information about the obstacle obtained by the calculation is used for the automatic control of the speed of the vehicle 10 and the brake device in order to avoid the collision between the vehicle 10 and the obstacle, or used for the operation of the alarm sound and the warning lamp. To do.

  The radar unit 21 is basically mounted on the vehicle 10 so that the radio wave emitted from the transmitter / receiver 23 is aligned so that the radio wave extends almost horizontally in the traveling direction of the vehicle 10. In a state where this radio wave extends toward the lower road or extends upward, or in a state where the radio wave extends and deviates laterally from the traveling direction of the vehicle 10, the obstacle in front of the vehicle 10 is radio wave. It becomes difficult to detect the obstacle accurately.

2. Radar Unit FIGS. 2A and 2B show a radar unit 21 mounted on the vehicle 10. 2A is a diagram of the radar unit 21 as viewed from the front side, and FIG. 2B is a diagram of the radar unit 21 as viewed from the side surface.

  In the present embodiment, the radar unit 21 is fixed to the structural member 13 of the vehicle 10 by four adjustment screws 29a to 29d. The four adjustment screws 29a to 29d are inserted into screw holes 22a to 22d provided at four corners of the radar unit 21 and screw holes 15a to 15d provided to the structural member 13 of the vehicle 10, respectively. By adjusting the tightening amounts of the adjusting screws 29a to 29d, the vertical inclination angle and horizontal rotation angle of the radar unit 21 can be aligned. That is, in the vehicle obstacle detection device 20 of the present embodiment, the four adjustment screws 29 a to 29 d are configured as adjustment means for adjusting the vertical inclination angle and horizontal rotation angle of the radar unit 21.

  Here, the radar unit 21 includes a first sensor 25, a second sensor 26, and a third sensor 27. These sensors are used to detect the rotation angle of the radar unit 21 with each axis of the XYZ three-dimensional coordinate axes as the central axis.

  FIGS. 3A and 3B show the rotation angles detected by the first sensor 25, the second sensor 26, and the third sensor 27. In the present embodiment, the XYZ three-dimensional coordinate axis is defined with the radio wave irradiation direction as the X axis, the vertical direction as the Z axis, and the direction orthogonal to the X axis and the Z axis as the Y axis. That is, in a state where the radar unit 21 is accurately aligned, the X axis is a direction along the direction of the head of the vehicle 10, and the Y axis is a horizontal direction with respect to the direction of the head of the vehicle 10.

The first sensor 25 is used to detect the rotation angle θ _X of the radar unit 21 around the X axis, that is, the vertical inclination of the radar unit 21 in the Y axis direction. The second sensor 26 is used to detect the rotation angle θ _Y of the radar unit 21 around the Y axis, that is, the vertical inclination of the radar unit 21 in the X axis direction. Specifically, in the present embodiment, the first sensor 25 and the second sensor 26 that detect the vertical inclination angle have a value corresponding to the horizontal axis L as a reference value, and can detect a difference in inclination therefrom. Tilt sensor is used.

The third sensor 27 is used to detect the rotation angle θ _Z of the radar unit 21 around the Z axis, that is, the horizontal rotation angle of the radar unit 21. Specifically, in the present embodiment, the third sensor 27 that detects the horizontal rotation angle uses the magnetic north Np as a reference value, and uses a magnetic field sensor that can detect the difference in the rotation phase therefrom.

  Since these tilt sensors and magnetic field sensors are sensors using absolute indices such as the horizontal axis L and magnetic north Np, the orientation and horizontal state of the head of the vehicle 10 when the radar unit 21 is aligned are grasped. If so, the vertical inclination angle and horizontal rotation angle of the radar unit 21 can be easily detected. Since a known sensor can be adopted as a tilt sensor capable of detecting a tilt with reference to the horizontal axis L and a magnetic field sensor capable of detecting a rotational phase with reference to the magnetic north Np, description thereof is omitted here.

  Each sensor provided in the radar unit 21 can be appropriately used as long as it can detect a rotation angle with respect to a certain reference direction, even if it is a sensor other than a tilt sensor or a magnetic field sensor. Further, the number of sensors is not particularly limited as long as the rotation angle of the radar unit 21 having the central axes of the XYZ three-dimensional coordinate axes can be detected without using three sensors.

3. Control Unit FIG. 4 shows a configuration example in which the control unit 30 constituting the vehicle obstacle detection device 20 of the present embodiment is represented by functional blocks. The control unit 30 includes a radar information processing unit 31, a rotation angle detection unit 33, an offset amount calculation unit 35, and an adjustment amount calculation unit 37. Each of these units is realized by executing a program by a microcomputer. In addition, the control unit 30 includes a storage means (RAM: Random Access Memory) (not shown), and stores information to be read, calculation results in each unit, and the like.

  Among these, the radar information processing unit 31 reads the information of the reflected wave received by the radar signal transmitter / receiver 23 provided in the radar unit 21, and compares the relative speed of the obstacle existing in the traveling direction of the vehicle 10 and the obstacle. Obstacle information S1 such as the distance to and the two-dimensional distribution of obstacles is calculated. The obstacle information S1 obtained here is used in a braking control device, an obstacle warning device, or the like of the vehicle 10.

The rotation angle detection unit 33 reads the sensor signals S2, S3, and S4 of the first sensor 25, the second sensor 26, and the third sensor 27 provided in the radar unit 21, and the rotation angle θ _{X of the} radar unit 21 is read. , Θ _Y , θ _Z are calculated. The rotation angle θ _X is detected as the vertical inclination angle with respect to the horizontal axis L in the X-axis direction, the rotation angle θ _Y is detected as the vertical inclination angle with respect to the horizontal axis L in the Y-axis direction, and the rotation angle θ _Z is magnetic north. Detected as the horizontal rotation phase with respect to Np.

The offset amount calculator 35 calculates the offset amounts Δθ _X , Δθ _Y , Δθ _Z of the detected rotation angles θ _X , θ _Y , θ _Z with respect to preset reference values θ _X 0, θ _Y 0, θ _Z 0. calculate. In this embodiment, the reference values θ _X 0 and θ _Y 0 of the vertical inclination angle with respect to the horizontal axis L are set to zero, and the vehicle 10 travels when the radar unit 21 is attached or aligned with the magnetic north Np. The rotational phase in the direction is set to the reference value θ _Z 0 for the horizontal rotational angle.

In the example of the control unit 30 of this embodiment, the rotational phase of the traveling direction of the vehicle 10 relative to the magnetic north Np when the vehicle 10 is arranged in a production line, a pit of a repair shop, or the like is measured in advance, and the position of the radar unit 21 is measured. It is input to the control unit 30 as a reference value θ _Z 0 for alignment. The rotational phase that becomes the reference value θ _Z 0 can be measured using a magnetic field sensor similar to the third sensor provided in the radar unit 21, but the measuring means is not particularly limited.

Further, since the vehicle 10 is generally arranged in a horizontal state in the production line of the vehicle 10 or the pit of a repair shop, the reference values θ _X 0 and θ _Y 0 for alignment of the radar unit 21 are zero. Is set. That is, the rotation angles θ _X and θ _Y detected by the first sensor 25 and the second sensor 26 coincide with the offset amounts Δθ _X and Δθ _Y , respectively.
However, when the pit of the production line or repair shop is inclined from the horizontal axis, the inclination can be measured in advance and the reference values θ _X 0 and θ _Y 0 can be obtained and input.

FIG. 5 is a diagram for explaining how to obtain the offset amount Δθ _Z with respect to the reference value θ _Z 0 of the horizontal rotation angle of the radar unit 21 by the control unit 30 of the present embodiment. FIG. 5 shows an example of the case where the radar unit 21 is attached to the vehicle 10 and the positioning operation is performed on the production line or in a pit of a repair shop.

In FIG. 5, the extending direction of the transport rail 43 of the production line 41 coincides with the traveling direction of the vehicle 10. The angle formed between the extending direction D1 of the transport rail 43 and the magnetic north Np is θ1. On the other hand, if the angle formed by the radio wave irradiation direction D2 and the magnetic north Np, which is the angle detected by the third sensor 27 of the radar unit 21 mounted on the vehicle 10 on the production line 41, is θ2, the vehicle An offset amount Δθ _Z of the horizontal rotation angle of the radar unit 21 with respect to the 10 traveling directions can be obtained by subtracting θ1 from θ2.

In the present embodiment, the direction of the pit of the production line or repair shop is input in advance as the reference value θ _Z 0 for calculating the horizontal rotation angle, but besides this, as shown in FIG. A magnetic field sensor 28 similar to the third sensor 27 is mounted on the vehicle 10 itself in accordance with the traveling direction of the vehicle 10 and is connected to the control unit 30 so that the control unit 30 can detect the rotation angle detected by the sensor. Can be read as a reference value. Alternatively, when the positioning operation of the radar unit 21 is performed, a magnetic field sensor 28 capable of transmitting a radio wave according to the traveling direction of the vehicle 10 is attached to the vehicle 10, and the rotation angle detected by the control unit 30 is detected by the sensor. It can also be configured to read each time as a reference value.

The adjustment amount calculation unit 37, the calculated offset amount [Delta] [theta] _X, [Delta] [theta] _Y, based on [Delta] [theta] _Z, each offset amount [Delta] [theta] _X, [Delta] [theta] _Y, as [Delta] [theta] _Z is 0, securing the radar unit 21 The rotation speed NSa, NSb, NSc, NSd of each adjustment screw 29a-29d is calculated. In the present embodiment, the adjustment amount calculator 37 calculates the rotational speed NSa, NSb, NSc, NSd as a positive value when the adjustment screws 29a to 29d are rotated in the approach direction, and retracts the adjustment screws 29a to 29d. When rotating in the direction, the rotation speed NSa, NSb, NSc, NSd is calculated as a negative value. The amount of adjustment may be reversed.

  The calculated rotation speeds NSa, NSb, NSc, NSd are displayed as adjustment amounts on a display mounted on the vehicle 10. The operator rotates the adjusting screws 29a to 29d in accordance with the rotation speeds NSa, NSb, NSc, NSd displayed on the display, thereby aligning the radar unit 21, and thereby adjusting the vertical inclination angle and the horizontal rotation angle. Can be matched to the reference value.

  As described above, according to the vehicle obstacle detection device 20 of the present embodiment, the radar unit 21 is inclined in the vertical direction by the first sensor 25, the second sensor 26, and the third sensor 27 provided in the radar unit 21. The offset amount with respect to the reference value of the angle and the horizontal rotation angle is easily calculated. Further, when the operator rotates the adjustment screw for fixing the radar unit 21 to perform the alignment operation of the radar unit 21, it is easy to rotate each adjustment screw along the output from the control unit 30. The radar unit 21 is properly aligned. Therefore, the positioning operation of the radar unit 21 can be easily performed without requiring special skills, costs, and work time.

[Second Embodiment]
The obstacle detection device for a vehicle according to the second embodiment of the present invention is that the adjusting means for adjusting the vertical inclination angle and horizontal rotation angle of the radar unit is an actuator controlled by a drive signal. This is different from the vehicle obstacle detection device according to the first embodiment.

  In the present embodiment, the radar unit 21 is provided with an actuator for adjusting the vertical inclination angle and horizontal rotation angle of the radar unit 21. This actuator is controlled by the drive control unit of the control unit 30.

  The actuator can be configured using, for example, a plurality of cylinders connected to the four corner portions of the radar unit 21 by ball joint portions. In the case of such an actuator, the vertical tilt angle and the horizontal rotation angle of the radar unit 21 can be adjusted by adjusting the advance / retreat amount of each cylinder, similarly to the adjustment screw. Other than this, any actuator that can freely rotate the direction of the radar unit 21 can be used as appropriate.

In the present embodiment, the adjustment amount calculation unit of the control unit 30 includes the reference values θ _X 0, θ _Y 0, the vertical inclination angle and the horizontal rotation angle of the radar unit 21 obtained by the offset amount calculation unit 35. The operation amount of the actuator is calculated based on the offset amounts Δθ _X , Δθ _Y , and Δθ _Z with respect to θ _Z 0 and an instruction signal is sent to the drive control unit of the actuator.

  As described above, according to the vehicle obstacle detection device of the present embodiment, the vertical inclination angle of the radar unit 21 is determined by the first sensor 25, the second sensor 26, and the third sensor 27 provided in the radar unit 21. The offset amount with respect to the reference value of the horizontal rotation angle can be easily calculated. Further, the operation amount of the actuator is calculated from the calculated offset amount, and the actuator is controlled to drive, so that the radar unit 21 is properly aligned without depending on the manual operation. Therefore, the positioning of the radar unit 21 can be easily performed without requiring special skills, costs, and work time.

10: Vehicle, 11: Front bumper, 13: Structural material, 20: Obstacle detection device for vehicle, 21: Radar unit, 22a, 22b, 22c, 22d: Screw hole, 23: Transceiver, 25: First sensor, 26: second sensor, 27: third sensor (magnetic field sensor), 28: magnetic field sensor, 29a / 29b / 29c / 29d: adjustment screw, 30: control unit, 31: radar information processing unit, 33: rotation angle Detection unit, 35: offset amount calculation unit, 37: adjustment amount calculation unit, 41: production line, 43: transport rail

Claims (6)

In a vehicle obstacle detection apparatus having a radar unit that has a radio wave transmitter / receiver and detects obstacle information in front of the vehicle,
Detection means provided in the radar unit and capable of detecting the vertical inclination angle and horizontal rotation angle of the radar unit;
An offset amount calculation means for calculating an offset amount of a detection value with respect to a reference value of each of the vertical inclination angle and horizontal rotation angle of the radar unit;
An obstacle detection device for a vehicle, comprising: The detection means is a first sensor for detecting a rotation angle θ _X of the radar unit centered on the X axis in the XYZ three-dimensional coordinate axes, and a rotation angle θ _{Y of the} radar unit centered on the Y axis. And a third sensor for detecting the rotation angle θ _Z of the radar unit with the Z axis as the central axis,
2. The vehicle according to claim 1, wherein the offset amount calculation unit calculates an offset amount of a detection value with respect to a reference value of each of the rotation angle θ _X , the rotation angle θ _Y , and the rotation angle θ _Z. Obstacle detection device. The XYZ three-dimensional coordinate axis is defined by three axes of a vertical direction, an irradiation direction of the radio wave, and a direction orthogonal to the vertical direction and the irradiation direction,
The first sensor for detecting the rotation angle θ _X and the second sensor for detecting the rotation angle θ _Y are sensors for detecting an inclination with a horizontal axis as a reference value;
Vehicle obstacle detection device according to claim 2, wherein said third sensor for detecting the rotation angle theta _Z is a sensor for detecting a rotational phase of a reference value magnetic north. The radar unit is provided with adjusting means for adjusting the vertical inclination angle and horizontal rotation angle of the radar unit,
The vehicle obstacle detection device according to claim 1, further comprising an adjustment amount calculation unit that calculates an adjustment amount of the adjustment unit based on the offset amount.   The vehicle obstacle detection device according to claim 4, wherein the adjustment unit includes a plurality of adjustment screws, and the adjustment amount calculated by the adjustment amount calculation unit is a rotation number of the adjustment screw.   5. The vehicle obstacle detection according to claim 4, wherein the adjustment unit is an actuator controlled by a drive signal, and the adjustment amount calculated by the adjustment amount calculation unit is an operation amount of the actuator. apparatus.

Images