Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
  • G01S7/0236—Avoidance by space multiplex
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/40—Means for monitoring or calibrating
  • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
  • G01S7/4026—Antenna boresight
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/40—Means for monitoring or calibrating
  • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
  • G01S7/4026—Antenna boresight
  • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93271—Sensor installation details in the front of the vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93274—Sensor installation details on the side of the vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93275—Sensor installation details in the bumper area
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/40—Means for monitoring or calibrating
  • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
  • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
  • G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber

Definitions

• the invention relates to a detection axis adjustment method for a radar device and, more particularly, to a method that adjusts detection axes of a plurality of radar devices provided in a vehicle.
• a common millimeter wave radar device is provided with a transmission portion that transmits an electromagnetic wave in a predetermined direction, and a reception portion that receives a reflected wave of the electromagnetic wave. Then, on the basis of a reflected wave reflected from an object, the millimeter wave radar device detects the position of the object by using the reference axis as a reference.
• the reference axis is an axis that is virtually set extending forward from each vehicle-mounted radar in order to define the position of the detected object.
• the millimeter wave radar detects the position of an object on the basis of the reference axis. Therefore, if the reference axis is not set at a correct position, the position of an object around the vehicle, such as a preceding vehicle, an obstacle, etc., can sometimes be falsely detected. In the case where the position of an object around the vehicle is falsely detected, a system that controls the vehicle on the basis of the detected position of the object, such as a collision prevention system or the like, fails to normally operate, giving rise to a risk of a failure in executing an appropriate vehicle control. In order to solve this problem, there is a need to adjust the reference axis of the millimeter wave radar to a correct position beforehand.
• JP-A-2007-240369 An example of an adjustment method for the reference axis of a millimeter wave radar is disclosed in Japanese Patent Application Publication No. 2007-240369 (JP-A-2007-240369).
• JP-A-2007-240369 a multiple reflected image of an electromagnetic wave reflector is detected by a radar device.
• the reference axis is adjusted by adjusting the mounting position of the radar device so that the multiple reflected image is detected at a predetermined position.
• the reference axis of the radar device can be adjusted in a reduced space, in comparison with a common axis adjustment method.
• the axis adjustment method disclosed in Japanese Patent Application Publication No. 2007-240369 (JP-A-2007-240369) or the like is sometimes not able to correctly detect the position of an electromagnetic wave reflector by the millimeter wave radars, making it impossible to correctly adjust the axes of the millimeter wave radars.
• a first aspect of the invention relates to a radar device axis adjustment method.
• This method is a radar device axis adjustment method that adjusts an axis of each of a plurality of radar devices mounted in a vehicle that each send out an electromagnetic wave and receive a reflected wave of the electromagnetic wave to acquire positional information about an object.
• the radar device axis adjustment method includes: selecting any one radar device of the plurality of radar devices as an adjustment-object radar, and distinguishing at least one radar device other than the adjustment-object radar as at least one non-adjustment-object radar; adjusting the axis of the adjustment-object radar; and controlling a state of sending-out of the electromagnetic wave from the at least one non-adjustment-object radar so that the electromagnetic wave sent out from the at least one non-adjustment-object radar does not affect adjustment of the axis of the adjustment-object radar at least while the adjustment-object radar is being adjusted in the adjustment of the axis of the adjustment-object radar.
• Axes of the plurality of radar devices are sequentially adjusted by repeatedly performing distinguishing the at least one radar device other than the adjustment-object radar as at least one non-adjustment-object radar, and adjusting the axis of the adjustment-object radar, and controlling the state of the sending-out of the electromagnetic wave from the at least one non-adjustment-object radar.
• the interference between the electromagnetic wave that the adjustment-object radar sends out and the electromagnetic wave that the at least one non-adjustment-object radars sends out can be prevented while the axis adjustment of the adjustment-object radar is being performed. In consequence, the axis of the adjustment-object radar can be correctly adjusted.
• the sending-out of the electromagnetic wave from the at least one non-adjustment-object radar may be stopped.
• the interference between the electromagnetic wave that the adjustment-object radar sends out and the electromagnetic wave that the at least one non-adjustment-object radars sends out can be prevented by a simple control process and a simple construction.
• a direction in which the at least one non-adjustment-object radar sends out the electromagnetic wave may be altered so that a radiation range of the electromagnetic wave sent out from the adjustment-object radar and a radiation range of the electromagnetic wave sent out from the at least one non-adjustment-object radar do not overlap with each other.
• the interference between the electromagnetic wave that the adjustment-object radar sends out and the electromagnetic wave that the at least one non-adjustment-object radars sends out can be prevented by a simple control process.
• the direction in which the at least one non-adjustment-object radar sends out the electromagnetic wave may be altered by altering a mounting angle of the at least one non-adjustment-object radar.
• the direction in which the non-adjustment-object radar sends out the electromagnetic wave can easily be altered.
• a frequency of the electromagnetic wave sent out from the at least one non-adjustment-object radar may be modulated to a band that is different from a band of a frequency of the electromagnetic wave sent out from the at least one adjustment-object radar.
• the interference between the electromagnetic wave that the adjustment-object radar sends out and the electromagnetic wave that the at least one non-adjustment-object radars sends out can be prevented by a simple control process and a simple construction.
• a second aspect of the invention relates to a radar device axis adjustment device.
• This axis adjustment device adjusts an axis of each of a plurality of radar devices mounted in a vehicle that each send out an electromagnetic wave and receive a reflected wave of the electromagnetic wave to acquire positional information about an object.
• This axis adjustment device includes: a radar selection portion that selects any one radar device of the plurality of radar devices as an adjustment-object radar, and distinguishes at least one radar device other than the adjustment-object radar as at least one non-adjustment-object radar; an adjustment portion that adjusts the axis of the adjustment-object radar; and a sending-out state alteration portion that alters a state of sending-out of the electromagnetic wave from the at least one non-adjustment-object radar at least while the adjustment-object radar is being adjusted by the adjustment portion.
• the sending-out state alteration portion may stop the sending-out of the electromagnetic wave from the at least one non-adjustment-object radar.
• the sending-out state alteration portion may stop only the sending-out of the electromagnetic wave from the at least one non-adjustment-object radar that has a radiation range that overlaps with a radiation range of the electromagnetic wave sent out from the adjustment-object radar.
• the sending-out state alteration portion may alter a direction in which the at least one non-adjustment-object radar sends out the electromagnetic wave so that a radiation range of the electromagnetic wave sent out from the adjustment-object radar and a radiation range of the electromagnetic wave sent out from the at least one non-adjustment-object radar do not overlap with each other.
• the axis adjustment device may further include a mounting angle alteration portion that alters a mounting angle of the at least one non-adjustment-object radar, and the sending-out state alteration portion may alter the direction in which the at least one non-adjustment-object radar sends out the electromagnetic wave through alteration of the mounting angle of the at least one non-adjustment-object radar.
• the sending-out state alteration portion may modulate a frequency of the electromagnetic wave sent out from the non-adjustment-object radar to a band that is different from a band of a frequency of the electromagnetic wave sent out from the at least one adjustment-object radar.
• FIG 1 is a diagram showing the mounting of a forward radar, a left forward radar, and a right forward radar;
• FIG 2 is a block diagram showing a functional construction of a system that adjusts vehicle-mounted radars
• FIG 3 is an example of a flowchart that shows a procedure of an adjustment operation of the vehicle-mounted radars
• FIG 4 is an arrangement plan of targets and a vehicle at the time of adjustment of the vehicle-mounted radars
• FIG 5 is a flowchart showing an example of a process that is executed by a radar control ECU
• FIG 6 shows a front view and a side view of a left forward radar that is mounted in a vehicle
• FIG 7 is a top view of the left forward radar directed leftward; and FIG 8 is a top view illustrating the adjustment of a forward radar in a second embodiment.
• the forward radar 11, the left forward radar 12 and the right forward radar 13 it is possible to use FM-CW millimeter wave radar devices.
• the forward radar 11, the left forward radar 12, and the right forward radar 13 are collectively termed the vehicle-mounted radars.
• the vehicle-mounted radars send out electromagnetic waves, and receive electromagnetic waves reflected from an object, and detect the position of the object in the horizontal direction.
• Each vehicle-mounted radar detects the distance to the object on the basis of a difference between the frequency of the transmitted wave and the frequency of the reflected wave.
• each vehicle-mounted radar detects the angle that shows the direction in which the object exists (hereinafter, termed the detected angle) on the basis of the phase of the reflected wave.
• the detected angle is the angle formed by the reference axis of a vehicle-mounted radar that performs the detection and a straight line that connects the object and a reception portion of the vehicle-mounted radar.
• the reference axis is an axis (a one-dot dashed line in FIG. 4) that is virtually set extending in a forward direction from a vehicle-mounted radar in order to define the detected angle as described above.
• Each vehicle-mounted radar is equipped with a processing device that stores a process program of adjusting the reference axis, and adjusts the reference axis by the processing device according to an instruction from a radar control ECU 14.
• the targets 30 are reflectors that reflect the electromagnetic waves sent out from the vehicle-mounted radars.
• Each of the targets 30 has a regular tetrahedron shape with one of the four faces being open.
• Each face of each of the regular tetrahedron-shape targets is constructed of an aluminum plate.
• the targets 30 are disposed so that their openings are seen from the vehicle-mounted radars.
• the shape and the construction material of the targets 30 are not limited as stated above, as long as the targets can appropriately reflect the electromagnetic waves transmitted from the vehicle-mounted radars.
• the vehicle 10 is equipped with three radar devices, that is, the forward radar 11, the left forward radar 12, and the right forward radar 13.
• FIG 1 is a diagram showing the mounting of the forward radar 11, the left forward radar 12, and the right forward radar 13.
• the forward radar 11 is disposed inside a front grill that is provided in a middle of a front portion of the vehicle 10. Besides, the left forward radar
• the forward radar 11 is disposed on a center line that extends through the vehicle 10 in the longitudinal direction, and the left forward radar 12 and the right forward radar 13 are disposed substantially bilaterally symmetrically about the center line.
• FIG 2 is a block diagram showing a functional construction of the system that adjusts the vehicle-mounted radars.
• the vehicle 10 is equipped with the forward radar 11, the left forward radar
• the vehicle-mounted radars and the radar control ECU 14 all operate when the ignition power source of the vehicle 10 is in an on-state. That is, when the ignition power source of the vehicle 10 is in the on-state, each vehicle-mounted radar assumes a state of sending out an electromagnetic wave.
• the radar control ECU 14 is a control device that includes, for example, an information processing device, such as a CPU (Central Processing Unit) or the like, a storage device, such as a memory or the like, an interface circuit, etc.
• the radar control ECU 14 is connected to an facility control device 21.
• the radar control ECU 14 outputs to each vehicle-mounted radar an indication signal that indicates the state of send-out of the electromagnetic waves, and an indication signal for adjusting the reference axis.
• the adjustment facility 20 is a facility that includes a facility control device
• the facility control device 21 is a control device that includes, for example, an information processing device, such as a CPU or the like, a storage device, such as a memory or the like, an interface circuit, an operating panel, etc.
• the facility control device 21 is connected to each of the radar control ECU 14, the target movement device
• the facility control device 21 outputs to the radar control ECU 14 an indication signal for starting the adjustment of the vehicle-mounted radars (hereinafter, termed the adjustment start signal). Besides, the facility control device 21 outputs to the target movement device 22 an indication signal for moving the targets 30 (hereinafter, termed the target movement signal). Besides, the facility control device 21 outputs to the vehicle carriage device 23 an indication signal for moving the vehicle 10 (hereinafter, termed the vehicle carriage signal). Incidentally, a worker can output the adjustment start signal and the target movement signal as desired, by operating the facility control device 21.
• the target movement device 22 is a movement device that moves each of the targets 30 to a predetermined position (hereinafter, termed the target original position) in accordance with the target movement signal input from the facility control device 21.
• the target movement device 22 is a known positioning device that is provided with a target 30 disposed at a movement site. Incidentally, the target movement device 22 may be any one of various movement devices as long as the device is able to move the targets 30 to the targets' original positions.
• the vehicle carriage device 23 is a carriage device that disposes the vehicle
• FIG 3 is an example of a flowchart showing a procedure of an adjustment preparation operation for the vehicle-mounted radars.
• the operation shown by the flowchart of FIG 3 is a process that is executed by the facility control device 21 that is provided in the adjustment facility 20.
• the adjustment preparation operation for the vehicle-mounted radars mounted in the vehicle 10 are automatically executed by a control process performed by the facility control device 21 and the radar control ECU 14, the operation in each process in the adjustment preparation operation may also be executed by the worker.
• the facility control device 21 disposes the vehicle 10 at the vehicle original position. Concretely, the facility control device 21 outputs the vehicle carriage signal to the vehicle carriage device 23. The vehicle carriage device 23 moves the vehicle 10 to the vehicle original position in accordance with the vehicle carriage signal input from the facility control device 21. Incidentally, it is assumed that the vehicle 10 is in a state where the IG power source is in the on-state, and that each of the vehicle-mounted radars has sent out an electromagnetic wave. Besides, the operation of moving the vehicle 10 to the vehicle original position may also be executed by a worker driving the vehicle 10. After the vehicle 10 is disposed at the vehicle original position, the adjustment preparation operation proceeds to the process P2.
• the facility control device 21 disposes the targets 30 at the targets' original position. Concretely, the facility control device 21 outputs a target movement signal to the target movement device 22. After the facility control device 21 completes the process, the adjustment preparation operation proceeds to process P3. [0042] Incidentally, the foregoing output of the target movement signal in process P2 may be automatically started after the facility control device 21 completes the processing of process Pl, or may also be started by a worker operating the facility control device 21. Besides, although in the foregoing description of process P2, the movement of the targets 30 is executed by the target movement device 22, it is also allowable for a worker to carry the targets 30 to the targets' original positions.
• FIG 4 is an arrangement plan of the targets 30 and the vehicle 10 at the time of adjustment of the vehicle-mounted radars.
• the ranges in which the forward radar 11, the left forward radar 12 and the right forward radar 13 radiate electromagnetic waves are termed herein the electromagnetic wave radiation ranges, and are shown in FIG 4 as an electromagnetic wave radiation range Al, an electromagnetic wave radiation range A2, and an electromagnetic wave radiation range A3, respectively.
• the targets 30 are disposed so that each target 30 is disposed in front of one of the vehicle-mounted radars and within the electromagnetic wave radiation range of the vehicle-mounted radar, on a one-to-one basis.
• each vehicle-mounted radar whose detailed descriptions will be given later, is performed by aligning the reference axis thereof with the direction in which the vehicle-mounted radar detects the target disposed in front thereof.
• the facility control device 21 outputs an adjustment start signal.
• the facility control device 21 outputs the adjustment start signal to the radar control ECU 14.
• the radar control ECU 14 executes an automatic axis adjustment process shown in FIG 5 to automatically adjust the reference axes of the vehicle-mounted radars.
• FIG 5 is a flowchart showing an example of the process that is executed by the radar control ECU 14.
• step S300 the radar control ECU 14 resets adjustment completion flags.
• Each of the adjustment completion flags shows the completion of adjustment of a corresponding one of the vehicle-mounted radars when the flag is on, and shows that the corresponding vehicle-mounted radar has not been adjusted, when the flag is off.
• the radar control ECU 14 sets beforehand, for each of the vehicle-mounted radars, an adjustment completion flag that shows a state in which the vehicle-mounted radar has been adjusted.
• step S300 the radar control ECU 14 stores all the adjustment completion flags of the vehicle-mounted radars after setting them off.
• the radar control ECU 14 proceeds to step S301. [0047]
• step S301 the radar control ECU 14 selects one of the vehicle-mounted radars.
• the radar control ECU 14 may also store the order in which to select the vehicle-mounted radars, and may select the vehicle-mounted radars in accordance with the order.
• the vehicle-mounted radar selected in step S301 will be termed the adjustment-object radar.
• the radar control ECU 14 proceeds to step S302.
• step S302 the radar control ECU 14 determines whether or not the radar control ECU 14 has selected the forward radar 11. If it is determined that the forward radar 11 has been selected, the radar control ECU 14 proceeds to step S303. On the other hand, if it is determined that the forward radar 11 has not been selected, the radar control ECU 14 proceeds to step S304. .
• step S303 the radar control ECU 14 stops the left forward radar 12 and the right forward radar 13 from sending out electromagnetic waves. Concretely, the radar control ECU 14 determines whether or not either one of the left forward radar 12 and the right forward radar 13 is sending out an electromagnetic wave. If it is determined that either one of the left forward radar 12 and the right forward radar 13 is sending out the electromagnetic wave, the radar control ECU 14 outputs an indication signal for stopping the sending-out of the electromagnetic wave, to the vehicle-mounted radar that has been determined to be sending out the electromagnetic wave. Besides, with respect to the vehicle-mounted radar that has stopped sending out the electromagnetic wave, the radar control ECU 14 outputs an indication signal for maintaining the state in which the sending-out of the electromagnetic wave has been stopped. After completing the process of step S303, the radar control ECU 14 proceeds to step S308.
• step S304 the radar control ECU 14 determines whether or not the left forward radar 12 has been selected. If it is determined that the left forward radar 12 has been selected, the radar control ECU 14 proceeds to step S305. On the other hand, if it is determined that the left forward radar 12 has not been selected, the radar control ECU 14 proceeds to step S306.
• step S305 the radar control ECU 14 stops the forward radar 11 and the right forward radar 13 from sending out electromagnetic waves. Concretely, the radar control ECU 14 determines whether or not either one of the forward radar 11 and the right forward radar 13 is sending out electromagnetic waves. Then, if it is determined that either one of the forward radar 11 and the right forward radar 13 is sending out electromagnetic waves, the radar control ECU 14 outputs the indication signal for stopping the sending-out of electromagnetic waves, to the vehicle-mounted radar that has been determined to be sending out electromagnetic waves. Besides, with respect to the vehicle-mounted radar that has already stopped sending out electromagnetic waves, the radar control ECU 14 outputs the indication signal for maintaining the state in which the sending-out of electromagnetic waves has been stopped. After completing the process of step S305, the radar control ECU 14 proceeds to step S308.
• step S306 the radar control ECU 14 determines whether or not the right forward radar 13 has been selected. If it is determined that the right forward radar 13 has been selected, the radar control ECU 14 proceeds to step S307. On the other hand, if it is determined that the right forward radar 13 has not been selected, the radar control ECU 14 proceeds to step S309.
• step S307 the radar control ECU 14 stops the forward radar 11 and the left forward radar 12 from sending out electromagnetic waves. Concretely, the radar control ECU 14 determines whether or not either one of the forward radar 11 and the left forward radar 12 is sending out electromagnetic waves. Then, if it is determined that either one of the forward radar 11 and the left forward radar 12 is sending out electromagnetic waves, the radar control ECU 14 outputs the indication signal for stopping the sending-out of electromagnetic waves, to the vehicle-mounted radar that has been determined to be sending out electromagnetic waves. Besides, with respect to the vehicle-mounted radar that has already stopped sending out electromagnetic waves, the radar control ECU 14 outputs the indication signal for maintaining the state in which the sending-out of electromagnetic waves has been stopped. After completing the process of step S307, the radar control ECU 14 proceeds to step S308.
• the vehicle-mounted radars other than the adjustment-object radar come into a state in which electromagnetic waves are not sent out.
• step S308 the radar control ECU 14 performs the alignment of the reference axis of the adjustment-object radar. Concretely, the radar control ECU 14 outputs, to the adjustment-object radar selected in step S301, an indication signal for adjusting the reference axis thereof. The adjustment-object radar, receiving the indication signal for adjusting the reference axis which is output from the radar control ECU 14, executes the process of adjusting the reference axis.
• the adjustment-object radar acquires the detected angle of the target
• the adjustment-object radar performs a process of setting the reference axis in a direction such that the value of the detected angle of the target 30 becomes zero, by using a processing device provided.
• the adjustment-object radar outputs to the radar control ECU 14 a signal that indicates that the process of adjusting the reference axis is completed (hereinafter, termed the adjustment completion signal).
• the radar control ECU 14 Upon receiving the adjustment completion signal from the adjustment-object radar, the radar control ECU 14 sets on and stores one of the adjustment completion flags that corresponds to the adjustment-object radar. After completing the process of step S308, the radar control ECU 14 proceeds to step S309.
• step S309 the radar control ECU 14 determines whether or not the axis adjustment of all the vehicle-mounted radars has been completed. Concretely, the radar control ECU 14 determines whether or not the adjustment completion flags of all the vehicle-mounted radars are on. If the adjustment completion flags of all the vehicle-mounted radars are on, the radar control ECU 14 determines that the axis adjustment of all the vehicle-mounted radars has been completed, and ends the automatic axis adjustment process. On the other hand, if the adjustment completion flag of any one of the vehicle-mounted radars is off, the radar control ECU 14 determines that the axis adjustment of that vehicle-mounted radar is not completed, and proceeds to step S301.
• step S308 the non-adjustment-object radars are maintained in the state in which electromagnetic waves are not sent out. Therefore, the electromagnetic waves from the adjustment-object radar and the electromagnetic waves from the non-adjustment-object radar do not interfere with each other, so that the adjustment-object radar can correctly detect the position of the target 30. Therefore, it becomes possible to correctly adjust the axis of each adjustment-object radar.
• the radar control ECU 14 during the adjustment of an adjustment-object radar, entirely stops the sending-out of electromagnetic waves from the non-adjustment-object radars, it is also allowable for the radar control ECU 14 to stop only the sending-out of electromagnetic waves from a non-adjustment-object radar whose electromagnetic wave radiation range overlaps with the electromagnetic wave radiation range of the adjustment-object radar. That is, with regard to the non-adjustment-object radars whose electromagnetic wave radiation range does not overlap with the electromagnetic wave radiation range of the adjustment-object radar, it is not altogether necessary to stop the sending-out of electromagnetic waves.
• the left forward radar 12 has been selected as an adjustment-object radar, it is not altogether necessary to stop the sending-out of electromagnetic waves from the right forward radar 13, if the electromagnetic wave radiation range of the left forward radar 12 does not overlap with the electromagnetic wave radiation range of the right forward radar 13.
• the non-adjustment-object radars are maintained in the state where electromagnetic waves are not sent out.
• it is also allowable to shift the directions in which the non-adjustment-object radars send out electromagnetic waves (hereinafter, termed the electromagnetic wave sending-out direction) while the axis adjustment of the adjustment-object radar is being executed.
• the electromagnetic wave sending-out direction By shifting the electromagnetic wave sending-out direction of a non-adjustment-object radar, the electromagnetic wave radiation range of the non-adjustment-object radar can be altered.
• the construction of the system that adjusts the vehicle-mounted radars in accordance with the second embodiment includes an mounting angle alteration device in addition to the construction of the system that adjusts the vehicle-mounted radars in accordance with the first embodiment.
• the construction other than the mounting angle alteration device is substantially the same as that of the first embodiment, and the descriptions thereof will be omitted below.
• the mounting angle alteration device is a device that is provided for each vehicle-mounted radar and that alters the mounting angle of the vehicle-mounted radar.
• the mounting angle alteration device whose detailed descriptions will be given later, is connected to the radar control ECU 14, and alters the mounting angle of the vehicle-mounted radar by turning a bolt that attaches the vehicle-mounted radar to the vehicle, according to an indication signal that the mounting angle alteration device receives from the radar control ECU 14.
• a mechanism whereby the mounting angle alteration device alters the mounting angle of the vehicle-mounted radar will be described in conjunction with an example in which the mounting angle of the left forward radar 12 is altered.
• FIG 6 shows a front view and a side view of the left forward radar 12 mounted in the vehicle 10.
• the left forward radar 12 has a generally rectangular parallelepiped shape.
• the left forward radar 12 is integrally coupled, on a surface thereof that is a back surface if a surface where electromagnetic waves are sent and received (hereinafter, termed the sensor surface) is defined as a front surface, to one of two side surfaces of a platy bracket 121.
• the bracket 121 is a rectangular platy member whose four corners each have a hole that penetrates the member.
• the left forward radar 12 is fixed to a vehicle-side bracket 220, with a predetermined space therebetween, via four bolts 122 inserted through the holes that are formed in the four corners of the bracket 121, in such a posture that the sensor surface of the left forward radar 12 faces outward from the vehicle side.
• the vehicle-side bracket 220 is a member which has four bolt holes that are screwed with the four bolts 122, and which is fixed to the vehicle 10. In this manner, the left forward radar 12 is mounted in the vehicle 10, via the vehicle-side bracket 220.
• the mounting angle at the time point when the left forward radar 12 is attached to the vehicle 10 will be termed the mounting original angle.
• FIG 7 is a top view of the left forward radar 12 whose mounting angle has been altered.
• each socket 501 meshes with a corresponding one of the bolts 122, and rotates integrally with the bolt 122 while being in mesh with the bolt 122.
• the gear 502 is a gear member that transmits the rotation force of the actuator 503 to the socket 501.
• the socket 501 has teeth that mesh with the gear 502, and rotates according to the rotation of the gear 502.
• the actuator 503 is a driving device that rotates the gear 502.
• the gear 502 is fixed to a rotating portion of the actuator 503, and rotates according to the action of the actuator 503.
• the actuator 503 in each set rotates the gear 502 according to the indication signal that is input from the radar control ECU 14. Due to the foregoing construction, the mounting angle alteration device is able to turn each of the bolts 122 in such a direction as to tighten or loosen the bolt 22, by operating the actuator 503 according to the indication signal that is received from the radar control ECU 14. As the mounting angle alteration device rotates each of the bolts 122 separately, the mounting angle of the bracket 121 changes.
• the radar control ECU 14 outputs to the mounting angle alteration device an indication signal that directs the bracket 121 leftward as seen from the vehicle driver's seat.
• the mounting angle alteration device operates each actuator 503 so as to rotate a corresponding one of the bolts 122 shown in FIG 6.
• the bolt 122B inserted through the hole in the upper right corner of the bracket 121 in a front view of the left forward radar 12, and the bolt 122D inserted through the hole in the lower right corner of the bracket 121 in the same view are rotated in the tightening direction.
• the bolt 122A inserted through the hole in the upper left corner of the bracket 121, and the bolt 122C inserted through the hole in the lower left corner of the bracket 121 are rotated in the loosening direction.
• the right-side end of the bracket 121 moves in a direction toward the front surface of the bracket 121
• the left side end of the bracket 121 moves in a direction toward the back surface of the bracket 121, as shown in FIG 7. Therefore, the coupling surface of the bracket 121 coupled to the left forward radar 12 rotates leftward.
• the sensor surface of the left forward radar 12 faces in a leftward direction, and the direction in which the left forward radar 12 sends out electromagnetic waves rotates in a leftward direction.
• the electromagnetic wave radiation range of the left forward radar 12 rotates in a leftward direction about the left forward radar 12.
• the mounting angle alteration device rotates the bolt 122 A and the bolt 122C in the tightening direction, and rotates the bolt 122B and the bolt 122D in the loosening direction.
• step S303 the radar control ECU 14 alters the electromagnetic wave sending-out directions of the left forward radar 12 and the right forward radar 13.
• the radar control ECU 14 instructs the mounting angle alteration device of the left forward radar 12 to tilt the mounting direction of the left forward radar 12 to a leftward direction as seen from the vehicle driver's seat.
• the radar control ECU 14 instructs the mounting angle alteration device of the right forward radar 13 to tilt the mounting direction of the right forward radar 13 to a rightward direction as seen from the vehicle driver's seat.
• step S303 the electromagnetic wave radiation range A2 of the left forward radar 12, and the electromagnetic wave radiation range A3 of the right forward radar 13 change from the state shown in FIG 4 to the state shown in FIG 8.
• FIG 8 is a top view showing a situation in which the forward radar 11 is adjusted.
• the electromagnetic wave radiation range A2 has been rotated from the state shown in FIG 4, with the left forward radar 12 serving as the center of rotation, in a leftward direction as seen from the vehicle driver's seat.
• the electromagnetic wave radiation range A3 has rotationally moved from the state shown in FIG 4, with the right forward radar 13 serving as the center of rotation, in the rightward direction as seen from the vehicle driver's seat.
• the electromagnetic wave radiation range Al of the forward radar 11 as an adjustment-object radar do not overlap with the electromagnetic wave radiation range A3 or the electromagnetic wave radiation range A2. Therefore, the electromagnetic waves sent out from the forward radar 11 do not interfere with the electromagnetic waves sent out from the left forward radar 12 or the electromagnetic wave sent out from the right forward radar 13.
• step S305 the radar control ECU 14 alters the electromagnetic wave sending-out directions of the forward radar 11 and the right forward radar 13. Concretely, the radar control ECU 14 instructs the mounting angle alteration device of the forward radar 11 to tilt the mounting direction of the forward radar 11 to a rightward direction as seen from the vehicle driver's seat. The mounting angle alteration device of the forward radar 11, following the instruction of the radar control ECU 14, tilts the mounting direction of the forward radar 11 to the rightward direction as seen from the vehicle driver's seat. Besides, the radar control ECU 14 instructs the mounting angle alteration device of the right forward radar 13 to tilt the mounting direction of the right forward radar 13 in a rightward direction as seen from the vehicle driver's seat.
• step S307 the radar control ECU 14 alters the electromagnetic wave sending-out directions of the left forward radar 12 and the forward radar 11. Concretely, the radar control ECU 14 instructs the mounting angle alteration device of the left forward radar 12 to tilt the mounting direction of the left forward radar 12 in a leftward direction as seen from the vehicle driver's seat.
• the radar control ECU 14 instructs the mounting angle alteration device of the forward radar 11 to tilt the mounting direction of the forward radar 11 to a leftward direction as seen from the vehicle driver's seat.
• step S308 the radar control ECU 14 performs the reference axis alignment > of the adjustment-object radar.
• the radar control ECU 14 executes substantially the same process as in the first embodiment.
• the radar control ECU 14 returns the mounting angles of the vehicle-mounted radars to their original angles after executing the reference axis alignment of the adjustment-object radar.
• the radar control ECU 14 outputs to the mounting angle alteration devices of the vehicle-mounted radars an indication signal for returning the mounting angles of the vehicle-mounted radars to their original angles.
• the mounting angle alteration device of each of the vehicle-mounted radars rotates the bolts 122 so that the amounts of rotation of the bolts 122 each become zero.
• the radar control ECU 14 proceeds to step S309.
• the electromagnetic wave sending-out directions of the non-adjustment-object radars are altered according to the position of the adjustment-object radar and the electromagnetic wave sending-out direction of the adjustment-object radar.
• the electromagnetic wave radiation ranges of the non-adjustment-object radar move in such a direction as to avoid the overlap with the electromagnetic wave radiation ranges of the adjustment-object radar. Therefore, the electromagnetic waves of the adjustment-object radar and the electromagnetic waves of the non-adjustment-object radars do not interfere with each other, so that the adjustment-object radar can correctly detect the position of the target 30. Hence, it becomes possible to correctly perform the axis adjustment of the adjustment-object radar.
• the radar control ECU 14 alters the electromagnetic wave sending-out directions of the non-adjustment-object radars according to the position of the adjustment-object radar and the electromagnetic wave sending-out direction of the adjustment-object radar.
• the direction in which a non-adjustment-object radar sends out electromagnetic waves is not limited to the aforementioned direction. That is, the radar control ECU 14 may alter the electromagnetic wave sending-out direction of a non-adjustment-object radar to any direction as long as the electromagnetic wave radiation range of the non-adjustment-object radar does not overlap with the electromagnetic wave radiation range of the adjustment-object radar.
• the radar control ECU 14 alter the electromagnetic wave sending-out direction of a non-adjustment-object radar to a vertical direction, or the like.
• the radar control ECU 14 alters the electromagnetic wave sending-out directions of all the non-adjustment-object radars, it suffices that the radar control ECU 14 alter only the electromagnetic wave sending-out direction of a non-adjustment-object radar that overlaps with the electromagnetic wave radiation range of an adjustment-object radar. Specifically, as for the non-adjustment-object radar whose electromagnetic wave radiation range does not overlap with the electromagnetic wave radiation range of the adjustment-object radar, it is not altogether necessary to alter the electromagnetic wave sending-out direction.
• the mounting angle of a vehicle-mounted radar is altered by rotating the bolts 122
• the method of altering the mounting angle of a vehicle-mounted radar is not limited so. It is allowable to employ any mechanism or device as long as the mechanism or device is capable of altering the electromagnetic wave sending-out direction of a vehicle-mounted radar.
• the radar control ECU 14 performs a process of stopping non-adjustment-object radars from sending out electromagnetic waves
• the radar control ECU 14 performs a process of altering the electromagnetic wave sending-out directions of non-adjustment-object radars.
• each vehicle-mounted radar is equipped with a frequency modulation device that modulates the frequency of an electromagnetic wave that the radar sends out.
• the frequency modulation device provided for each vehicle-mounted radar is connected to the radar control ECU 14, and modulates the frequency of an electromagnetic wave that the radar sends out according to the instruction of the radar control ECU 14.
• the electromagnetic wave sent out by the adjustment-object radar, and the electromagnetic wave sent out by the non-adjustment-object radar are different from each other in frequency band, and therefore do not interfere with each other.
• the adjustment-object radars can correctly detect the position of the target 30. Therefore, it becomes possible to correctly adjust the adjustment-object radar.
• all the vehicle-mounted radars are sequentially selected to automatically execute the axis adjustment of all the vehicle-mounted radars.
• vehicle-mounted radars that a worker adjusts by operating the facility control device 21 can be individually selected.
• the radar control ECU 14 executes an automatic axis adjustment process
• the facility control device 21 execute the foregoing automatic axis adjustment process instead of the radar control ECU 14.
• the foregoing adjustment method can be applied even if the radar control ECU 14 is not mounted in the vehicle 10.
• the radar control ECU 14 is connected to the facility control device 21, and executes the axis adjustment of the vehicle-mounted radars.
• the foregoing adjustment method is also applicable even in the case where there is no adjustment facility equipped with the facility control device 21.
• a small-size terminal device operable by a worker is prepared beforehand, and the radar control ECU 14 is connected to the terminal device. This terminal device is capable of outputting an adjustment start signal. Then, if a worker disposes the vehicle 10 and the targets 30, and then performs an operation of outing the adjustment start signal by using the terminal device, the reference axis of each vehicle-mounted radar can be adjusted by substantially the same method as described above.
• the reference axes of a plurality of radar devices provided in a front portion of the vehicle are adjusted, it is also allowable to apply the foregoing radar device axis adjustment methods so that radar devices provided in a side or rear portion of a vehicle are adjusted.
• the reference axes of the radar devices can be adjusted in substantially the same manner as described above.
• the reference axis of the adjustment-object radar is adjusted by a process program that is stored in the processing device provided in the system.
• the device be controlled so as to adjust the reference axis of the radar.
• the vehicle 10 is equipped with the three vehicle-mounted radars
• the number of vehicle-mounted radars is not limited to three, as long as the state of the sending-out of electromagnetic waves from the non-adjustment-object radars is altered as described above during the axis adjustment of the adjustment-object radar.
• FM-CW millimeter wave radars are employed as an example of the radar devices
• the radar devices in the invention are not limited to FM-CW millimeter wave radars, but are allowed to be other types of radar devices that transmit and receive electromagnetic waves to detect an object.
• the invention is useful as a radar device axis adjustment method that makes it possible to correctly adjust the reference axis of each of a plurality of radar devices that are provided in a vehicle, as well as other applications.

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• 2008
  • 2008-06-19 JP JP2008160667A patent/JP2010002272A/ja active Pending
• 2009
  • 2009-05-05 WO PCT/IB2009/005484 patent/WO2009153629A1/en active Application Filing

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