RADAR DEVICE FOR A VEHICLE AND METHOD FOR ESTIMATING AN ANGLE USING THE SAME

Abstract

A method for estimating an angle of a radar device for a vehicle, comprising: Receiving, by the vehicle-mounted radar device (100), a first test signal reflected by a test target after transmitting a signal having a first main beam angle; Receiving a second test signal reflected from the test target after transmitting a signal having a second principal ray angle different from the first principal ray angle; and Calculating an energy ratio of the first test signal to the second test signal; the method being characterized by Detecting a mounting angle corresponding to the energy ratio calculated using vertical reference energy ratio information storing an energy ratio measured according to a vertical angle of the radar device (100) Determining that the mounting angle of the radar device (100) is outside a predetermined main beam range when the magnitude of the first test signal or the second test signal is less than the predetermined threshold; Setting the main beam range in an angular range in which there is no overlapping energy ratio based on a reference angle at which the radar device (100) is parallel to the ground from the information on the reference energy ratio; and Setting, as the threshold, a minimum value of the signal reflected from the test target after transmitting the signal at the first principal ray angle and the second principal ray angle in the angular range corresponding to the principal ray range.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention

[0001] The present disclosure relates to a radar device for a vehicle and a method for estimating an angle of the radar device for a vehicle. 2. Description of the state of the art

[0002] Recently, as interest in safety and driver convenience has increased, various vehicle safety and convenience technologies have been developed using a radar device for a vehicle. For example, various technologies, such as intelligent driving technology, automatic driving technology, automatic emergency stop technology, and the like, have been developed to detect a preceding vehicle and automatically follow the detected preceding vehicle.

[0003] A vehicle radar is a device for detecting the surrounding environment using the signal reflected from an object after transmitting a signal. To ensure the performance of a vehicle radar, it must be mounted at an appropriate angle.

[0004] Accordingly, in a vehicle manufacturing processing step, alignment of a radar sensor to be mounted on the vehicle is performed with respect to the vertical and horizontal directions. Alignment of the radar device is performed even if misalignment of the radar device occurs due to contact or collision with an external object after the vehicle is shipped.

[0005] In order to align the radar device, it is necessary to reliably measure the mounting angle of the radar device, in particular the mounting angle of the radar device with respect to the direction of travel of the vehicle.

[0006] The published patent application DE 10 2015 102519 A1 relates to an antenna including a first, a second, a third, and a fourth transmitting antenna. The first transmitting antenna transmits a transmission wave in an upward right direction relative to a reference axis that is substantially parallel to the road surface, the second transmitting antenna transmits a transmission wave in an upward left direction relative to the reference axis, the third transmitting antenna transmits a transmission wave in a downward right direction relative to the reference axis, and the fourth transmitting antenna transmits a transmission wave in a downward left direction relative to the reference axis. The published patent application DE 199 37 723 A1 relates to a method and a radar sensor for determining an elevation angle error of a multi-beam radar sensor.JP 2016 206158 A describes a radar device, a vehicle control system and a method for controlling a radar device that can easily and accurately detect an angle in the vertical target direction. SUMMARY OF THE INVENTION

[0007] In the context of the above description, a radar device and an angle detection method for detecting a mounting angle based on the control and processing of a transmit / receive signal without a special mechanical configuration are proposed. The proposed radar device and the proposed angle detection method are defined in the independent claims. Individual embodiments are set out in the dependent claims.

[0008] According to one aspect of the present disclosure, a method for estimating an angle of a radar device for a vehicle is provided, including: receiving, by the radar device mounted on a vehicle, a first test signal reflected from a test target after transmitting a signal having a first directivity angle; receiving a second test signal reflected from the test target after transmitting a signal having a second directivity angle different from the first directivity angle; calculating an energy ratio of the first test signal to the second test signal; and detecting a mounting angle corresponding to the energy ratio calculated using vertical reference energy ratio information storing an energy ratio measured according to a vertical angle of the radar device.The method further comprises: determining that the mounting angle of the radar device is outside a predetermined main beam range when the magnitude of the first test signal or the second test signal is smaller than the predetermined threshold value; setting the main beam range in an angular range in which there is no overlapping energy ratio based on a reference angle at which the radar device is parallel to the ground from the reference energy ratio information; and setting, as the threshold value, a minimum value of the signal reflected from the test target after transmitting the signal with the first main beam angle and the second main beam angle in the angular range corresponding to the main beam range.

[0009] According to another aspect of the present disclosure, a radar device for a vehicle is provided, including: an antenna unit configured to receive, by the radar device mounted on a vehicle, a first test signal reflected from a test target after transmitting a signal having a first directivity angle, and to receive a second test signal reflected from the test target after transmitting a signal having a second directivity angle different from the first directivity angle; a storage unit configured to store information about a vertical reference energy ratio obtained by calculating an energy ratio between signals acquired in a test environment for each vertical angle between the radar device and the ground; and a control device,which is configured to calculate an energy ratio of the first test signal to the second test signal and to detect a mounting angle corresponding to the energy ratio calculated using the vertical reference energy ratio information. The control device determines whether the mounting angle is within a main beam range based on the magnitude of the test signal, and determines that the mounting angle is outside the main beam range when the test signal is less than a predetermined threshold. The main beam range is set based on a reference angle at which the radar device is parallel to the ground from the vertical reference energy ratio information in an angular range in which no overlapping energy ratio exists. The threshold is set as a minimum value of the signal that is within the angular range corresponding to the main beam range.was acquired.,

[0010] As described above, according to the present embodiment, it is possible to detect a mounting angle only by transmitting / receiving signal processing without a special mechanical configuration.

[0011] Furthermore, the reliability of the mounting angle estimation is further improved by making modulation characteristics of transmitted signals equal to each other and correcting an error due to a horizontal angle of the radar device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The foregoing and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: Fig. 1 is a diagram illustrating the configuration of a radar device according to an embodiment; Fig. 2 is a diagram illustrating a test environment for detecting a mounting angle of a radar device; Fig. 3 is a diagram illustrating a principle of detecting a mounting angle of a radar device according to an embodiment; Fig. 4 is a flowchart illustrating a method for detecting an angle of a radar device according to an embodiment; Fig. 5 is a diagram illustrating a signal transmitted from a radar device according to an embodiment for detecting a mounting angle; Fig. 6 is a diagram illustrating information on a reference energy ratio used for detecting a mounting angle of a radar device according to an embodiment; Fig. 7 is a flowchart illustrating a method for detecting an angle according to another embodiment; and Fig. Figure 8 is a diagram illustrating a concept of a two-dimensional reference energy ratio. DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the elements of the present disclosure, terms such as "first," "second," "A," "B," "(a)," "(b)," and the like may be used. These terms are used merely to distinguish one structural element from other structural elements, and a property, order, sequence, and the like of a corresponding structural element are not limited by the term. It should be noted that when the description describes one component as being "connected," "coupled," or "joined" to another component, a third component may be "connected," "coupled," and "joined" between the first and second components, although the first component may be directly connected, coupled, or joined to the second component.

[0014] Fig. 1 is a diagram illustrating the configuration of a radar device according to an embodiment.

[0015] Fig. 2 is a diagram illustrating a test environment for detecting a mounting angle of a radar device.

[0016] Fig. 3 is a diagram illustrating a principle of detecting a mounting angle of a radar device according to an embodiment.

[0017] According to Fig. 1, a radar device 100 for a vehicle according to an embodiment of the present disclosure is a frequency-modulated continuous wave (FMCW) radar that detects a target by continuously transmitting a modulated signal. The radar device 100 includes an antenna unit 110 configured to transmit and receive signals, a storage unit 120 configured to store information necessary for operating the device, and a controller 130 configured to control each configuration.

[0018] The antenna unit 110 is formed by a plurality of antennas. More specifically, the antenna unit 10 may be formed from a plurality of transmitting antenna units 111 for transmitting signals and a plurality of receiving antenna units 112 for receiving signals reflected from objects.

[0019] The transmitting antenna unit 111 and the receiving antenna unit 112 may be formed of a plurality of antennas A arranged in a one-dimensional and two-dimensional array, respectively, and each antenna A may have a different directivity angle.

[0020] Additionally, the transmitting antenna unit 111 can be divided into a short-range antenna for detecting a short area according to a detection range and a long-range antenna for detecting a long-range area. The receiving antenna unit 112 can receive a signal without dividing the detection range.

[0021] The storage unit 120 can store firmware required to operate the device and various types of information generated during the operation of the device. In addition, the storage unit 120 can store information such as information about a reference energy ratio, a main beam area, a threshold value, and the like, which will be described below.

[0022] The control device 130 controls the transmission and reception of signals by the antenna unit 110. The control device 130 can control a signal transmitted from the transmitting antenna unit 111 and can analyze a signal received from the receiving antenna unit 112 to calculate a distance from an object.

[0023] Additionally, the control device 130 can control a signal transmitted from the transmitting antenna unit 111 or can adjust an object detection range by selecting an antenna that transmits a signal. A beamforming technique can be applied to this signal transmission and reception.

[0024] In addition, the control device 130 may detect a vehicle mounting angle of each radar device 100 for a vehicle and may perform alignment of the radar device using the detected mounting angle.

[0025] A test target Ob, provided according to predetermined test conditions, is used to detect the mounting angle. The predetermined test conditions may be defined as a position of the radar device 100 for a vehicle and a position of the test target Ob. The predetermined test conditions may also include test environment factors such as the reflectivity of the test target Ob, the temperature or humidity of a test chamber, and the like.

[0026] The position of each of the radar device 100 for a vehicle and the test target Ob may be defined as an absolute position or as a relative position using a distance 1 between the radar device 100 for a vehicle and the test target Ob, an angle θ formed between the radar device 100 for a vehicle and the test target Ob, and the like as variables, as shown in Fig. 2 is shown.

[0027] A signal incident on the test target Ob according to the test conditions varies depending on a transmission angle of a radar signal, as shown in Fig. 3, and thereby, a signal reflected from the test target Ob to be received by the antenna unit 110 also varies depending on the transmission angle of the signal.

[0028] Therefore, the control device 130 detects the mounting angle of the device using an energy ratio of a signal reflected by the test target Ob after transmitting a signal having a first directivity angle to a signal reflected by the test target Ob after transmitting a signal having a second directivity angle.

[0029] Here, the second directivity angle and the first directivity angle have the same horizontal angle and a different vertical angle formed with the ground. The control device 130 can control signals transmitted from the antenna unit 110 to generate signals with different directivity angles. Furthermore, a difference between the first directivity angle and the second directivity angle can be set as a predetermined angle difference, and the predetermined angle difference can be set equal to an angle difference between a signal with the first directivity angle and a signal with the second directivity angle, which are transmitted to generate vertical reference energy ratio information.

[0030] As an example of adjusting the directivity angle of the signal, the controller 130 may adjust a directivity angle of a transmitted signal by selecting an antenna that transmits a signal.

[0031] For example, the controller 130 may generate a signal having a first directivity angle through a first transmitting antenna arranged at the first directivity angle and a signal having a second directivity angle through a second transmitting antenna arranged at the second directivity angle.

[0032] As another example of adjusting the directivity angle of the signal, the controller 130 may adjust a directivity angle of a transmitted signal by beamforming a signal transmitted by the antenna unit 110.

[0033] For example, the control device 130 beamforms a signal transmitted from the transmitting antenna unit 111 to have a first directivity angle and beamforms a signal transmitted from the transmitting antenna unit 111 to have a second directivity angle, thereby generating signals with different directivity angles.

[0034] Hereinafter, a method for detecting an angle of a radar device 100 for a vehicle according to an embodiment will be described in detail with reference to the drawings.

[0035] Fig. 4 is a flowchart illustrating a method for detecting an angle of a radar device according to an embodiment.

[0036] According to Fig. 4, according to the method for detecting the angle in one embodiment, the radar device 100 for a vehicle generates information about a reference energy ratio in step S410.

[0037] The reference energy ratio information refers to information obtained by storing the energy ratio of signals reflected and received by the test target Ob and corresponding to signals transmitted at different directivity angles for each angle formed between the ground and the radar device 100 for a vehicle.

[0038] More specifically, when the radar device 100 for a vehicle and the test target Ob are positioned under the test conditions, the antenna unit 110 performs a process of receiving a first signal reflected from the test target Ob after transmitting a transmission signal having a first directivity angle and receiving a second signal reflected from the test target Ob after transmitting a transmission signal having a second directivity angle, each for a vertical angle between the ground and the radar device 100, under the control of the control device 130.

[0039] The transmission of the first signal and the second signal may be separated in time to reduce an error due to interference between the transmission signal with the first directivity angle and the transmission signal with the second directivity angle.

[0040] That is, the control device 130 can control the antenna unit 110 so that the transmission signal Tx1 with the first directivity angle and the transmission signal Tx2 with the second directional angle is sent with a time difference as in Fig. 5 is shown.

[0041] Here, the antenna unit 110 can transmit the transmission signal Tx1 with the first directivity angle and the transmission signal Tx2 with the second directivity angle with the same modulation specification, minimizing an error due to the transmitted signal. For example, a transmission frequency modulation pattern corresponding to the timing of the signal transmitted with the first directivity angle and a transmission frequency modulation pattern corresponding to the timing of the signal transmitted with the second directivity angle can be set to be the same. In addition, the signal transmitted with the first directivity angle and the signal transmitted with the second directivity angle can be transmitted at different timings and can be transmitted continuously as needed.

[0042] When the first signal and the second signal are received by the above-described process, the control device 130, as shown in Fig. 6, for each angle formed between the radar device 100 for a vehicle and the ground, calculate an energy ratio of the first signal R×1 to the second signal R×2 and can thereby generate information Rd about a reference energy ratio.

[0043] An operation of generating the above-described information may be performed in a test chamber provided with the above-described test conditions before the radar device 100 for a vehicle is mounted on a vehicle (e.g., when the manufacturing of the radar device 100 for a vehicle is completed).

[0044] In addition, the information about the reference energy ratio may be stored in the storage unit 120 in the form of a lookup table.

[0045] When the generation of the reference energy ratio information is completed, a main beam range in which the mounting angle of the radar device 100 is measurable can be set.

[0046] Since the information Rx about the reference energy ratio has several turning points according to the angles, as in Fig. 6, the control device 130 sets the main beam area MR in an angular range in which there is no overlapping energy ratio, based on a reference angle at which the ground and the radar device 100 for a vehicle are parallel to each other.

[0047] In addition, the controller 130 may set a threshold Th for the magnitude of a received signal to detect the main beam area MR.

[0048] As an example of setting the threshold, the controller 130 may select a received signal with a large magnitude at the reference angle, extract a minimum value of the magnitude of the selected signal within the main beam range, and set the extracted minimum value as a threshold Th. For example, a first signal with a maximum value at the reference angle may be selected as a threshold setting signal, and a minimum value of the magnitude of the first signal in a range corresponding to the main beam range may be set as a threshold Th.

[0049] The minimum value set as the threshold Th can be adjusted according to the pattern of the selected signal. More specifically, the magnitude of the signal received by the test target Ob has, as shown in Fig. 6, multiple peaks, so that the controller 130 can search for a second-order peak in the selected signal and correct the threshold Th to a value greater than the sought-after peak.

[0050] As another example of setting the threshold value Th, the controller 130 may extract a minimum value of the first signal quantity and a minimum value of the second signal quantity within the main beam range, respectively, and may set all extracted minimum values ​​as the threshold value Th.

[0051] According to Fig. 2, in operation 420, the radar device 100 for a vehicle receives a test signal under a test condition after the radar device 100 has been mounted on a vehicle. The test condition is the same as the test condition used to generate the above-described reference energy ratio information, and the test signal includes a first test signal received in accordance with the transmission of a signal having the first directivity angle and a second test signal received in accordance with the transmission of a signal having the second directivity angle.

[0052] More specifically, when the radar device for a vehicle is placed under the same condition as a reference test condition after being mounted on the vehicle, the antenna unit 110 receives a first test signal reflected by the test target Ob after transmitting a transmission signal having a first directivity angle, and a second test signal reflected by the test target Ob after transmitting a transmission signal having a second directivity angle, according to the control of the control device 130.

[0053] The transmission signal transmitted by the antenna unit 110 has the same modulation characteristics as a signal transmitted at the time of generating the reference energy ratio information.

[0054] When reception of the test signal is complete, the radar device 100 for a vehicle determines in step S430 whether the mounting angle is within the main beam range. The above-described threshold value can be used to determine the main beam range.

[0055] More specifically, based on a comparison between the magnitude of the test signal whose threshold is set and a threshold, if the magnitude of the received test signal is greater than the threshold, the controller 130 may determine that the mounting angle is within the main beam range. If the magnitude of the received test signal is equal to or less than the threshold, the controller 130 may determine that the mounting angle is outside the main beam range.

[0056] For example, if a threshold is set for the first signal, the controller 130 may compare the magnitude of the first test signal to the threshold to determine whether the mounting angle is within the main beam range. If a threshold is set for each of the first signal and the second signal, the controller 130 may compare the magnitude of each of the first test signal and the second test signal to the threshold to determine whether the mounting angle is within the main beam range. Alternatively, if the threshold is set for the second signal, the controller 130 may compare the magnitude of the first test signal to the threshold to determine whether the mounting angle is within the main beam range. Accordingly, the threshold may be set for each test signal and may be set as the same value or a different value for each test signal.Also, the determination of whether the mounting angle is within the main beam range may be performed by comparing at least one of the first test signal and the second test signal with a threshold associated with the at least one signal.

[0057] If it is determined in step S430 that the mounting angle is outside the main beam range, the control device 130 ends the corresponding operation, while leaving a registration indicating that the mounting angle is outside the main beam range in step S440.

[0058] When it is determined that the mounting angle is within the main beam range, in step S450, the radar device 100 for a vehicle calculates an energy ratio of the received signal and detects a mounting angle corresponding to the calculated energy ratio information using reference energy ratio information in step S460.

[0059] More specifically, the radar device 100 for a vehicle may calculate an energy ratio of the first test signal to the second test signal, and may detect an angle corresponding to the energy ratio information calculated from the reference energy ratio information as the mounting angle of the radar device 100 for a vehicle.

[0060] In Fig. In Figure 4, the method for detecting the mounting angle was described with respect to the vertical direction. However, in the mounting environment of the actual radar device 100 for a vehicle, an energy ratio error of the test signal may occur according to an angle change in the horizontal direction. A method for detecting a mounting angle in which error correction is applied according to a horizontal mounting angle of the radar device will be described below.

[0061] Fig. 7 is a flowchart illustrating a method for detecting an angle according to another embodiment.

[0062] Fig. Figure 8 is a diagram illustrating a concept of a two-dimensional reference energy ratio.

[0063] According to Fig. 7, the method for detecting an angle according to another embodiment generates, in step S710, two-dimensional information about a reference energy ratio under a predetermined test condition.

[0064] The two-dimensional reference energy ratio information refers to information obtained by calculating and storing an energy ratio between signals obtained by transmitting signals with different directivity angles in a test environment for each of a vertical / horizontal angle between the radar device and the ground.

[0065] In the method for detecting the angle according to another embodiment, two-dimensional information about a reference energy ratio may be estimated and generated according to the following equation 1. BP2D Est(θ,φ)=BPAzi(θ)×BPEle(φ)

[0066] Here BP 2D Estestimated two-dimensional reference information, BP Azi denotes information about a reference energy ratio for a horizontal angle, and BP Ele refers to information about a reference energy ratio for a vertical angle.

[0067] That is, the two-dimensional reference energy ratio information can be estimated as a product of vertical reference energy ratio information Rd1 generated for each vertical angle and horizontal reference energy ratio information Rd2 generated for each horizontal angle, as shown in Fig. 8 is shown.

[0068] Therefore, the angle detecting method according to another embodiment can generate horizontal reference energy ratio information by using an energy ratio acquired while the horizontal angle of the radar device is fixed and the vertical angle thereof is changed as described above, and can generate vertical reference energy ratio information by using an acquired energy ratio while the vertical angle is fixed and the horizontal angle is changed, thereby generating the two-dimensional reference energy ratio information.

[0069] By estimating the two-dimensional reference energy ratio information in this manner, it is possible to reduce the time and cost required to generate the reference energy ratio information.

[0070] The radar device 100 for a vehicle receives a test signal under a test condition after being mounted on a vehicle in step S720, and determines whether the mounting angle of the radar device is within the main beam range in step S730.

[0071] When the mounting angle of the radar device is within the main beam range (YES in step S730), the radar device 100 for a vehicle calculates an energy ratio between the received signals in step S750 and corrects an error due to a vertical mounting angle in the calculated energy ratio in step S760.

[0072] The energy ratio calculated under the test condition can be expressed by a product of a horizontal energy ratio and a vertical energy ratio, as shown in the following equation 2. Ratio=Tx1 PowAziTx2 PowAzi×Tx1 PowEleTx2 PowEle

[0073] Here, ratio refers to the calculated energy ratio, Tx1 PowAziTx2 PowAzi denotes the horizontal energy ratio, and Tx1 PowEleTx2 PowEle refers to the vertical energy ratio.

[0074] Therefore, the control device 130 can obtain the horizontal angle and can calculate an error corresponding to the horizontal angle obtained by using the information on the horizontal reference energy ratio to correct the obtained energy ratio.

[0075] More specifically, the controller 130 detects the horizontal angle. Since the signal reflected by the test target Ob is different for each of the receiving antennas due to the path difference between the receiving antenna and the test target Ob, the controller 130 calculates the horizontal angle using a phase difference between the signals received by the antennas arranged horizontally to each other.

[0076] A method of detecting the horizontal angle using the phase difference generated by the path difference of the signals is in the prior art, and a detailed description thereof is omitted.

[0077] When calculating the horizontal angle, the control device 130 calculates the energy ratio corresponding to the horizontal angle using the information about the reference horizontal energy ratio as an error, and corrects the energy ratio using the calculated error. That is, the control device 130 can correct a test energy ratio by dividing the horizontal energy ratio by the test energy ratio.

[0078] The controller 130 detects the mounting angle corresponding to the corrected power ratio using the vertical reference power ratio information in step S770.

[0079] As described above, according to the present disclosure, the mounting angle of the radar device for a vehicle can be measured without adding a special mechanical or electronic configuration.

[0080] In addition, by generating the reference energy ratio for the horizontal direction and the reference energy ratio for the vertical direction, respectively, and estimating the two-dimensional information about the energy ratio, it is possible to reduce the time and cost required for generating the reference energy ratio and further increase the measurement accuracy of the vertical angle by correcting an error due to the vertical direction.

[0081] According to the present embodiment, as described above, it is possible to improve the target detection capability by analyzing a received signal acquired by a target detection device to effectively remove an interference signal. In addition, according to the present embodiment, it is possible to improve the target detection capability even in an environment where various interference signals exist by classifying the types of interference signals and adjusting target detection parameters according to the classified types of interference signals.

[0082] Although it has been described above that all components of an embodiment of the present disclosure are coupled or operated as a single unit, the present disclosure is not necessarily limited to such an embodiment. That is, at least two elements of all structural elements may be selectively combined and operated without departing from the scope of the present disclosure.

[0083] The above embodiments of the present disclosure have been described for illustrative purposes only, and it will be obvious to a person skilled in the art that various modifications and changes can be made thereto without departing from the scope of protection defined in the independent claims.

Claims

[1] A method for estimating an angle of a radar device for a vehicle, comprising: Receiving, by the vehicle-mounted radar device (100), a first test signal reflected by a test target after transmitting a signal having a first main beam angle; Receiving a second test signal reflected from the test target after transmitting a signal having a second principal ray angle different from the first principal ray angle; and Calculating an energy ratio of the first test signal to the second test signal; the method being characterized by Detecting a mounting angle corresponding to the energy ratio calculated using vertical reference energy ratio information storing an energy ratio measured according to a vertical angle of the radar device (100) Determining that the mounting angle of the radar device (100) is outside a predetermined main beam range when the magnitude of the first test signal or the second test signal is less than the predetermined threshold; Setting the main beam range in an angular range in which there is no overlapping energy ratio based on a reference angle at which the radar device (100) is parallel to the ground from the information on the reference energy ratio; and Setting, as the threshold, a minimum value of the signal reflected from the test target after transmitting the signal at the first principal ray angle and the second principal ray angle in the angular range corresponding to the principal ray range. [2] The method of claim 1, further comprising: Receiving the signal reflected from the test target after transmitting the signal with the first main beam angle and the second main beam angle for each vertical angle of the radar device (100) before the radar device (100) is mounted on the vehicle, and calculating an energy ratio of the received signal for each angle to obtain the vertical reference energy ratio information. [3] A method according to claim 1 or 2, wherein the test target used to generate the information on the reference energy ratio is provided according to the same test condition as the test target used to receive the test signal. [4] A method according to any one of claims 1 to 3, wherein receiving the second test signal comprises transmitting the signal at the second main beam angle to have the same modulation characteristics as those of the signal at the first main beam angle. [5] Method according to one of claims 1 to 4, wherein a temporal transmission frequency modulation pattern of the signal transmitted at the first main beam angle and a temporal transmission frequency modulation pattern of the signal transmitted at the second main beam angle are equal to each other. [6] Method according to one of claims 1 to 5, in which a difference between the first principal ray angle and the second principal ray angle is set as a predetermined angle difference and the predetermined angle difference is equal to an angle difference between a first main beam angle signal and a second main beam angle signal transmitted to generate the vertical reference energy ratio information. [7] A method according to any one of claims 1 to 6, further comprising: Correcting an error due to a horizontal mounting angle of the radar device in the energy ratio of the first test signal to the second test signal. [8] The method of claim 7, wherein correcting the error comprises: Calculating the horizontal mounting angle using a phase difference generated due to a path difference between the test target and a receiving antenna, and Calculating an error corresponding to a horizontal angle of the radar device (100) using horizontal reference energy ratio information storing an energy ratio measured according to the horizontal angle. [9] Radar device (100) for a vehicle, comprising: an antenna unit (112) configured to receive, by the vehicle-mounted radar device (100), a first test signal reflected at a test target after transmitting a signal having a first main beam angle, and to receive a second test signal reflected by the test target after transmitting a signal having a second main beam angle different from the first main beam angle, and a storage unit (120) configured to store information about a vertical reference energy ratio obtained by calculating an energy ratio between signals acquired in a test environment for each vertical angle between the radar device (100) and the ground; characterized by a control device (130) configured to calculate an energy ratio of the first test signal to the second test signal and to detect a mounting angle corresponding to the energy ratio calculated using the vertical reference energy ratio information; wherein the control device (130) determines whether the mounting angle is within a main beam range based on the magnitude of the test signal and determines that the mounting angle is outside the main beam range if the test signal is less than a predetermined threshold; wherein the main beam range is determined on the basis of a reference angle at which the radar device (100) is parallel to the ground from the information on the vertical reference energy ratio in an angular range in which there is no overlapping energy ratio, and wherein the threshold is defined as a minimum value of the signal acquired in the angular range corresponding to the main beam area. [10] The radar device (100) according to claim 9, wherein the control device (130) controls the antenna unit (112) to receive the signal reflected by the test target after transmitting the signal at the first main beam angle and the second main beam angle for each vertical angle of the radar device (100) before the radar device (100) is mounted on the vehicle, and calculates an energy ratio of the signal received by the antenna unit (112) for each angle to generate the reference energy ratio information. [11] A radar device (100) according to claim 9 or 10, wherein the test target used to generate the reference energy ratio information is provided according to the same test condition as the test target used to receive the test signal. [12] Radar device (100) according to one of claims 9 to 11, in which the signal with the first main beam angle and the signal with the second main beam angle have the same modulation characteristics and a temporal transmission frequency modulation pattern of the signal transmitted at the first main beam angle and a temporal transmission frequency modulation pattern of the signal transmitted at the second main beam angle are equal to each other. [13] Radar device (100) according to one of claims 9 to 12, wherein the control device (130) corrects an error due to a horizontal mounting angle of the radar device (100) based on the energy ratio of the first test signal to the second test signal. [14] The radar device (100) according to claim 13, wherein the control device (130) calculates the horizontal mounting angle using a phase difference generated due to a path difference of the test target and a receiving antenna, and corrects an error corresponding to a horizontal angle of the radar device (100) using horizontal reference energy ratio information obtained by calculating the energy ratio between the signals acquired in the test environment for each horizontal angle between the radar device (100) and the ground.

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