Vehicle driver assistance device

Abstract

Vehicle driver assistance device with: at least one environmental sensor (30) having a first detection axis and being mounted on the body of a vehicle at a predetermined first position, wherein the at least one environmental sensor (30) is configured (i) to detect a situation around the vehicle as a first detected situation within an area around the first detection axis and (ii) to generate information about the first detected situation as first environmental information; and an electronic control unit (20) which, based on the initial environmental information, performs a driver assistance control to control a movement of the vehicle; characterized by the fact that the vehicle assistance device further comprises at least one vehicle element (40) which is attached to the body of the vehicle in addition to the at least one environmental sensor (30); which at least one environmental sensor (30) is further configured: to store at least one initial axis difference adjustment value that adjusts at least one initial axis difference of the first acquisition axis with respect to a predetermined first basic acquisition axis; to generate the first environmental information by adjusting at least one initial axis difference using at least one initial differential adjustment value; and to provide at least one vehicle element (40) with information about the at least one first axle differential adjustment value stored in the at least one environmental sensor (30) as first adjustment value information; that at least one vehicle element (40) is configured: to store at least one initial axis differential adjustment value contained in the adjustment value information provided by the at least one environmental sensor (30); and to provide at least one environmental sensor (30) with information about at least one first axis differential adjustment value stored in at least one vehicle element (40) as the first adjustment value information; and the at least one environmental sensor (30) is further configured to store the at least one first axle differential adjustment value in the first adjustment value information provided by the at least one vehicle element (40) if the at least one first axle differential adjustment value is not stored in the at least one environmental sensor (30).

Description

BACKGROUND area

[0001] The invention relates to a vehicle driver assistance device for implementing a driver assistance control system based on environmental information provided by at least one environmental sensor for detecting an environmental situation around the vehicle itself. Description of the related prior art

[0002] A vehicle driver assistance device is known that performs driver assistance control based on environmental information provided by environmental sensors, such as a camera sensor and a radar sensor, which detect the environment around the vehicle. The environmental sensors are mounted on predetermined parts of the vehicle's body. Each environmental sensor detects target objects within its detection range. The detection range is an area around a detection axis of the environmental sensor. The detection axis of the camera sensor is an optical axis. The detection axis of the radar sensor is a radar axis. The detection axis of the environmental sensor is a baseline that defines the detection range.

[0003] If the orientation of the detection axis is not aligned with the correct orientation, the position of the detected target object within a coordinate system will not be exact. Therefore, at a vehicle factory, differences between the orientation of the detection axis and the correct orientation are measured as axis deviation values. Axis deviation adjustment values ​​corresponding to these measured values ​​are then stored in the environmental sensor. This allows the correct environmental conditions to be determined by correcting the position of the detected target object within the coordinate system using the axis deviation adjustment values.

[0004] A process for storing the axle differential adjustment values ​​in the environmental sensor is called an axle adjustment operation. The axle adjustment operation can be performed by positioning a stationary part, such as a target plate and a reflector, in front of the vehicle, as described in JP 2010-156609 A.

[0005] The ambient sensor is mounted on a predetermined part of the vehicle body. The alignment of assembled vehicle bodies varies. Therefore, an axis adjustment operation is required when the ambient sensor is mounted on the vehicle body. This operation is also performed when a defective ambient sensor is replaced with a new one. Consequently, replacing a defective ambient sensor is a time-consuming process. Furthermore, the axis adjustment operation requires a wide operating range and a fixed component specifically designed for performing the adjustment.

[0006] Therefore, replacing a defective environmental sensor requires a lot of work.

[0007] The invention was made to solve the problems described above. One object of the invention is to provide a vehicle driver assistance device that can reduce the work required to replace the environmental sensors.

[0008] The vehicle driver assistance device according to the invention comprises at least one environmental sensor and an electronic control unit. The at least one environmental sensor has a first detection axis and is mounted on the body of a vehicle at a predetermined first position. The at least one environmental sensor is configured to (i) detect a situation around the vehicle as a first detected situation within a range around the first detection axis and (ii) generate information about the first detected situation as first environmental information. The electronic control unit executes a driver assistance control to control the movement of the vehicle based on the first environmental information.

[0009] The vehicle driver assistance device further comprises at least one vehicle element that is attached to the body of the vehicle in addition to at least one environmental sensor.

[0010] The at least one environmental sensor is further configured to store at least one initial axis differential adjustment value, which adjusts at least one initial axis differential of the first detection axis with respect to a predetermined first base detection axis. The at least one environmental sensor is further configured to generate the initial environmental information by adjusting the at least one initial axis differential using the at least one initial axis differential adjustment value. The at least one environmental sensor is further configured to provide the at least one vehicle element with information about the at least one initial axis differential adjustment value stored in the at least one environmental sensor as initial adjustment value information.

[0011] The at least one vehicle element is configured to store the at least one initial axle differential adjustment value contained in the adjustment value information provided by the at least one environmental sensor. The at least one vehicle element is configured to provide the at least one environmental sensor with information about the at least one initial axle differential adjustment value stored in the at least one vehicle element as the initial adjustment value information.

[0012] The at least one environmental sensor is further configured to store the at least one first axle differential adjustment value contained in the first adjustment value information provided by the at least one vehicle element if the at least one first axle differential adjustment value is not stored in the at least one environmental sensor.

[0013] The vehicle assistance device according to the invention comprises at least one environmental sensor, at least one vehicle component, and the electronic control unit. The environmental sensor is mounted on the vehicle body at a predetermined first position and detects the situation around the vehicle as the first detected situation. As described above, the environmental sensor is mounted on the vehicle body at a predetermined first position. The orientations of assembled vehicle bodies vary.Therefore, it is necessary to perform an axis differential adjustment operation to (i) measure at least one initial axis differential of the first detection axis of the environmental sensor with respect to the predetermined first base detection axis, (ii) obtain the at least one initial axis differential adjustment value to adjust the measured axis differential, and (iii) store the obtained at least one initial axis differential adjustment value. The axis differential adjustment operation is performed at the vehicle factory.

[0014] The first axis difference adjustment value can adjust the measured axis difference to zero. For example, if the orientation of the first detection axis of the environment sensor differs from the predetermined upward orientation of the first baseline detection axis by an angle, this angle is the first axis difference adjustment value. The situation around the vehicle can be correctly detected by correcting the position of a coordinate system by the first axis difference adjustment value to change the downward orientation of the first detection axis by that angle.

[0015] The environmental sensor can be configured to (i) adjust the position of the coordinate system by at least one initial axis differential adjustment value to zero the initial axis differential of the environmental sensor's first detection axis, and (ii) acquire initial environmental information based on the adjusted position of the coordinate system. The electronic control unit executes the driver assistance control based on the initial environmental information generated by the environmental sensor. The driver assistance control can be a collision avoidance control to (i) alert the vehicle's driver and (ii) control a braking force applied to the vehicle to prevent it from colliding with an obstacle detected by the environmental sensor.

[0016] If the ambient light sensor is defective, it is replaced with a new one. When replacing the defective sensor, the new sensor is attached to the vehicle body at the same predetermined initial position as the defective sensor. Therefore, the orientation of the vehicle body where the new sensor is attached is the same as the orientation of the original sensor. Consequently, when the new sensor is attached to the vehicle body in the same way as the defective sensor, the orientation of its initial detection axis is identical to that of the defective sensor.

[0017] The vehicle assistance device according to the invention comprises the vehicle element configured to store the at least one first axis differential adjustment value of the ambient sensor. Consequently, it is not necessary to provide the vehicle with another element that stores the at least one first axis differential adjustment value of the ambient sensor. Any of the vehicle elements already provided in the vehicle can be used as the vehicle element. The vehicle element is provided in the vehicle and is not the ambient sensor. The vehicle element is configured to store the at least one first axis differential adjustment value that is included in the first adjustment value information provided by the ambient sensor.

[0018] The vehicle element can be an element used in the execution of the driver assistance control system. For example, if two environmental sensors are mounted on the vehicle body, the vehicle element can be one of the environmental sensors. In this case, the environmental sensor is the first environmental sensor, and the vehicle element is a second environmental sensor. The second environmental sensor stores at least one initial axis differential adjustment value from the first environmental sensor.If the second environmental sensor, as the vehicle element, stores at least one first axis differential adjustment value of the defective first environmental sensor removed from the vehicle body, then the at least one first axis differential adjustment value stored in the second environmental sensor, as the vehicle element, can be used as the at least one first axis differential adjustment value of the new first environmental sensor attached to the vehicle body.This eliminates the need for the factory worker to perform the axis differential adjustment operation in order to (i) measure the at least one first axis differential of the first detection axis of the new first environmental sensor, (ii) obtain the at least one first axis differential adjustment value in order to adjust the measured at least one first axis differential, and (iii) store the obtained at least one first axis differential adjustment value in the new first environmental sensor as the at least one first axis differential adjustment value.

[0019] According to the invention, the environmental sensor is configured to provide the vehicle component with the first adjustment value information and to receive the first adjustment information from the vehicle component. For example, when the axle differential adjustment operation is performed at the environmental sensor, the environmental sensor stores the at least one first axle differential adjustment value, thereby providing the vehicle component with the first adjustment value information. The vehicle component stores the at least one first axle differential adjustment value that is included in the first adjustment value information provided by the environmental sensor.

[0020] If the defective ambient sensor is replaced with the new one, the first axis differential adjustment value is not stored in the new sensor. However, if (i) the first axis differential adjustment value is not stored in the new sensor and (ii) the first axis differential adjustment value of the defective sensor is stored in the vehicle component, then the first axis differential adjustment value of the defective sensor, which is included in the initial adjustment value information provided by the vehicle component, is stored in the new sensor. In this case, the initial adjustment value information, including the first axis differential adjustment value of the previously installed sensor, is provided by the vehicle component to the newly installed sensor.The first adjustment value information about at least one initial axis differential adjustment value of the previously installed environmental sensor, provided by the vehicle element, is received by the newly installed environmental sensor.

[0021] As a result, when the defective ambient sensor is replaced with the new one, at least one initial axis differential adjustment value from the defective sensor is transferred to the new sensor. Therefore, the factory worker does not need to perform the axis differential adjustment operation with respect to the new sensor. Consequently, the work involved in replacing the ambient sensors can be reduced.

[0022] According to one embodiment of the invention, the at least one vehicle element can further be configured to periodically provide the at least one environmental sensor with the first adjustment value information.

[0023] In this configuration, the initial adjustment value information is periodically provided by the vehicle element to the environmental sensor after at least one initial axle differential adjustment value has been stored in the vehicle element. This initial adjustment value information can be provided by the vehicle element to the environmental sensor via an internal vehicle communication network, such as a CAN bus. The environmental sensor can determine that at least one initial axle differential adjustment value is stored in the vehicle element when this initial adjustment value information is provided to the environmental sensor.

[0024] When the defective ambient sensor is replaced with the new one, at least one initial axis differential adjustment value is not stored in the new sensor. However, if (i) the initial axis differential adjustment value is not stored in the sensor and (ii) the initial adjustment value information is provided to the sensor by the vehicle component, then the initial axis differential adjustment value contained within this information is stored in the sensor. This automatically transfers the initial axis differential adjustment value of the sensor removed from the vehicle body to the sensor newly installed on the vehicle body. Therefore, the work involved in replacing the sensors can be reduced.

[0025] According to another embodiment of the invention, the at least one environmental sensor can further be configured to request that an axis differential adjustment operation be performed in order to store the at least one first axis differential adjustment value in the at least one environmental sensor if (i) the at least one first axis differential adjustment value is not stored in the at least one environmental sensor and (ii) the at least one vehicle element does not provide the at least one environmental sensor with the first adjustment value information.

[0026] If at least one initial axle differential adjustment value is not stored in the vehicle component, the initial adjustment value information will not be provided by the vehicle component to the environmental sensor. For example, if (i) the vehicle component is defective and (ii) the defective vehicle component is replaced with a new one, at least one initial axle differential adjustment value will not be stored in the new vehicle component. In this case, the initial adjustment value information will not be provided by the new vehicle component to the new environmental sensor. In this case, the factory operator must perform the axle differential adjustment operation with respect to the new environmental sensor.

[0027] In this embodiment of the invention, if (i) the at least one first axis differential adjustment value is not stored in the environmental sensor and (ii) the first adjustment value information is not provided to the environmental sensor by the vehicle component, the system requests that the axis differential adjustment operation be performed. In this case, a diagnostic fault code indicating that the first axis differential of the environmental sensor has not been adjusted can be generated to request that the axis differential adjustment operation be performed. This allows the vehicle driver assistance system to request factory workers to perform the axis differential adjustment operation with respect to the new environmental sensor.

[0028] According to a further embodiment of the invention, the at least one environmental sensor can be configured to adjust at least one first axis difference by adjusting a position of a coordinate system based on the first detection axis to a position of a coordinate system based on a predetermined first basic detection axis by the at least one first axis difference adjustment value.

[0029] According to a further embodiment of the invention, the at least one first axis difference can comprise at least one of (i) a difference in a pitch angle between the first detection axis and the predetermined first base detection axis, (ii) a difference in a yaw angle between the first detection axis and the predetermined first base detection axis, and (iii) a difference in a roll angle between the first detection axis and the predetermined first base detection axis.

[0030] According to a further embodiment of the invention, the at least one environmental sensor can comprise a camera sensor having an optical axis as the first detection axis. In this case, the camera sensor can be configured to (i) capture images of a view around the vehicle within a range around the optical axis and (ii) capture the situation around the vehicle as the first detected situation based on the images captured by the camera sensor.

[0031] According to a further embodiment of the invention, the at least one vehicle element can be configured (i) to detect the situation around the vehicle as a second detected situation and (ii) to generate information about the second detected situation as second environmental information. In this case, the electronic control unit can be configured to execute the driver assistance control based on the first environmental information and the second environmental information.

[0032] According to a further embodiment of the invention, at least one vehicle element can comprise a radar sensor that detects the situation around the vehicle as the second detected situation.

[0033] According to a further embodiment of the invention, the radar sensor can have a second detection axis. In this case, the radar sensor can further be configured to detect the situation around the vehicle as the second detected situation within a range around the second detection axis. The radar sensor can further be configured to store at least one second axis differential adjustment value, which adjusts at least one second axis differential of the second detection axis with respect to a predetermined second base detection axis. The radar sensor can further be configured to generate the second environmental information by adjusting the at least one second axis differential using the at least one second axis differential adjustment value.The radar sensor can also be configured to provide the at least one environment sensor with information about the at least one second axis differential adjustment value stored in the radar sensor as second adjustment value information.

[0034] In this configuration, the at least one environmental sensor can be configured to store the at least one second axis differential adjustment value contained in the second adjustment value information provided by the radar sensor. The at least one environmental sensor can further be configured to provide the radar sensor with the second adjustment value information about the at least one second axis differential adjustment value stored in the at least one environmental sensor.

[0035] In this configuration, the radar sensor can further be configured to store the at least one second axis differential adjustment value contained in the second adjustment value information provided by the at least one environment sensor, if the at least one second axis differential adjustment value is not stored in the radar sensor.

[0036] According to a further embodiment of the invention, the radar sensor can be configured to adjust at least one second axis difference by adjusting a position of a coordinate system based on the second detection axis to a position of a coordinate system based on the predetermined second basic detection axis by the at least one second axis difference adjustment value.

[0037] According to a further embodiment of the invention, the at least one second axis difference can comprise (i) a difference in a pitch angle between the second detection axis and the predetermined second base detection axis, (ii) a difference in a yaw angle between the second detection axis and the predetermined second base detection axis, and (iii) a difference in a roll angle between the second detection axis and the predetermined second base detection axis.

[0038] If the vehicle's driver assistance system includes the camera sensor as the environmental sensor that detects the situation around the vehicle, the electronic control unit performs the driver assistance control based on the initial environmental information generated by the camera sensor.

[0039] If the vehicle driver assistance device includes the radar sensor as the vehicle element that detects the situation around the vehicle, the electronic control unit performs the driver assistance control based on the second set of environmental information generated by the radar sensor.

[0040] If the vehicle assistance system includes (i) the camera sensor that detects the situation around the vehicle as the environment sensor and (ii) the radar sensor that detects the situation around the vehicle as the vehicle element, the electronic control unit executes the driver assistance control based on the first set of environmental information generated by the camera sensor and the second set of environmental information generated by the radar sensor. In this case, the electronic control unit can execute the driver assistance control with high accuracy.

[0041] The camera sensor and the radar sensor can be the environmental sensors. The radar sensor functions as the vehicle element. The radar sensor (i) receives the initial adjustment value information about the at least one initial axis differential adjustment value of the camera sensor (in particular, an optical axis differential adjustment value of the camera sensor) from the camera sensor and (ii) stores the at least one initial axis differential adjustment value contained in the received initial adjustment value information.

[0042] If (i) the environment sensor is the camera sensor and (ii) the axis differential adjustment operation with respect to the camera sensor is complete, the camera sensor provides the radar sensor with the initial adjustment value information. The radar sensor stores the at least one initial axis differential adjustment value that is included in the initial adjustment value information provided by the camera sensor. Additionally, the radar sensor provides the camera sensor with the initial adjustment information about the at least one initial axis differential adjustment value stored in the radar sensor.Accordingly, if (i) the at least one first axis differential adjustment value is not stored in the camera sensor and (ii) the first adjustment value information is provided to the camera sensor by the radar sensor, the camera sensor stores the at least one first axis differential adjustment value that is included in the first adjustment value information provided by the radar sensor.

[0043] If the camera sensor is defective and replaced with a new one, the first axis differential adjustment value of the new camera sensor is not stored in the new camera sensor. If the first axis differential adjustment value of the defective camera sensor is stored in the radar sensor, the radar sensor provides the new camera sensor with the first adjustment value information from the defective camera sensor. The new camera sensor then stores the first axis differential adjustment value contained in the initial adjustment value information provided by the radar sensor.

[0044] As a result, when the defective camera sensor is replaced with the new one, at least one initial axis differential adjustment value from the defective sensor is transferred from the radar sensor to the new one. Consequently, factory workers do not need to perform the axis differential adjustment operation with respect to the new camera sensor. This reduces the workload associated with replacing the camera sensors.

[0045] According to a further embodiment of the invention, the at least one environmental sensor can comprise a first environmental sensor having the first detection axis and being mounted on the vehicle body at the predetermined first position. In this case, the first environmental sensor can be configured to (i) detect the situation around the vehicle as the first detected situation within a range around the first detection axis and (ii) generate the information about the first detected situation as the first environmental information.

[0046] In this embodiment, at least one vehicle element can include a second environmental sensor having a second sensing axis and being mounted on the vehicle body at a predetermined second position that differs from the predetermined first position. In this case, the second environmental sensor can be configured to (i) detect the situation around the vehicle as a second detected situation within a range around the second sensing axis and (ii) generate information about the second detected situation as second environmental information.

[0047] In this configuration, the electronic control unit can further be configured to execute the driver assistance control based on the first environmental information and the second environmental information.

[0048] According to a further embodiment of the invention, the second environmental sensor can also be configured to store at least one second axis differential adjustment value, which adjusts at least one second axis differential of the second detection axis with respect to a predetermined second base detection axis. The second environmental sensor can further be configured to generate the second environmental information by adjusting the at least one second axis differential using the at least one second axis differential adjustment value. The second environmental sensor can also be configured to provide the first environmental sensor with information about the at least one second axis differential adjustment value stored in the second environmental sensor as second adjustment value information.

[0049] In this configuration, the first environmental sensor can be configured to store at least one second axis differential adjustment value, which is included in the second adjustment value information provided by the second environmental sensor. The first environmental sensor can further be configured to provide the second environmental sensor with information about the at least one second axis differential adjustment value stored in the first environmental sensor, as the second adjustment value information.

[0050] In this embodiment, the second environmental sensor can further be configured to store the at least one second axis differential adjustment value contained in the second adjustment value information provided by the first environmental sensor, if the at least one second axis differential adjustment value is not stored in the second environmental sensor.

[0051] According to a further embodiment of the invention, the second environmental sensor can be configured to adjust at least a second axis difference by adjusting a position of a coordinate system based on the second detection axis to a position of a coordinate system based on the predetermined second basic detection axis by the at least one second axis difference adjustment value.

[0052] According to a further embodiment of the invention, the at least one second axis difference can comprise at least one of (i) a difference in a pitch angle between the second detection axis and the predetermined second base detection axis, (ii) a difference in a yaw angle between the second detection axis and the predetermined second base detection axis, and (iii) a difference in a roll angle between the second detection axis and the predetermined second base detection axis.

[0053] According to a further embodiment of the invention, the driver assistance control can be a control system to automatically control one or more parameters from the acceleration of the vehicle, the deceleration of the vehicle and the steering of the vehicle.

[0054] Elements of the invention are not limited to elements of exemplary embodiments and modified examples of the invention described together with the drawing. The other problems, features, and associated advantages of the invention can be easily understood from the exemplary embodiments and modified examples of the invention. BRIEF DESCRIPTION OF THE DRAWING Fig. Figure 1 shows a representation illustrating a general configuration of a vehicle driver assistance system according to an embodiment of the invention. Fig. Figure 2 shows a diagram illustrating the processes for transferring optical assistance adjustment values ​​from an old camera sensor to a new camera sensor. Fig. Figure 3 shows a diagram illustrating a flowchart of operations for adjusting an optical axis of the camera sensor, as performed at a vehicle factory. Fig. Figure 4 shows a diagram illustrating a flowchart of an optical axis difference adjustment value communication routine. Fig. Figure 5 shows a diagram illustrating a flowchart of an adjustment value reading routine. DESCRIPTION OF PREFERRED EXECUTION EXAMPLES

[0055] A vehicle driver assistance device according to an embodiment of the invention is described below with reference to the drawing.

[0056] Fig. Figure 1 shows a general configuration of a vehicle driver assistance device 1 according to the embodiment of the invention. The vehicle driver assistance device 1 is mounted on a vehicle. In some instances below, the vehicle on which the vehicle driver assistance device 1 is mounted will be referred to as "the owner's vehicle" to distinguish it from other vehicles.

[0057] The vehicle driver assistance device 1 comprises a camera sensor unit 10 and a radar sensor 40. The camera sensor unit 10 includes a driver assistance ECU 20, a camera sensor 30, and a housing. The driver assistance ECU 20 and the camera sensor 30 are housed within the housing. The camera sensor unit 10 is formed as a single unit comprising the driver assistance ECU 20, the camera sensor 30, and the housing. The radar sensor 40, a measuring instrument ECU 50, a brake ECU 60, a buzzer 70, vehicle status sensors 80, and driving operation status sensors or driving activity status sensors 90 are electrically connected to the driver assistance ECU 20 via a CAN (Controller Area Network).

[0058] The term "ECU" stands for "electronic control unit." Each of the driver assistance ECU 20, the instrument cluster ECU 50, and the brake ECU 60 incorporates a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and an I / F interface. The CPU is configured to perform various functions by executing instructions, programs, and routines stored in the ROM. An ECU can function as some or all of the driver assistance ECU 20, the instrument cluster ECU 50, and the brake ECU 60.

[0059] The camera sensor unit 10 is mounted on the upper part of a windshield glass on one side of the vehicle's interior. Specifically, a clamp (not shown) is attached to the upper part of the windshield glass. The camera sensor unit 10 is attached to the clamp by fitting it into the clamp. This positions the camera sensor unit 10 at a predetermined location on the upper part of the windshield glass.

[0060] The camera sensor 30 comprises a camera section 31, an image processing section 32, an optical axis difference adjustment value storage section 33 and an adjustment value communication section 34.

[0061] Camera section 31, for example, is a monocular camera. The image acquisition area of ​​camera section 31 is defined by a predetermined angle around the optical axis of camera section 31. Camera section 31 captures images of a view in front of the vehicle within the image acquisition area. Camera section 31 then provides the captured images to image processing section 32.

[0062] The image processing section 32 detects (i) lane markings provided on a road and (ii) stationary objects in front of the vehicle based on images captured by the camera section 31. The image processing section 32 provides information about the detected lane markings to the driver assistance ECU 20 as lane marking information on a predetermined cycle and also provides information about detected stationary objects to the driver assistance ECU 20 as stationary object information on a predetermined cycle. The lane marking information specifies a positional relationship between the vehicle and each detected lane marking. This positional relationship includes the orientation of each detected lane marking relative to the vehicle.The stationary object information is information that specifies (i) the type of each detected stationary object, (ii) the size of each detected stationary object, and (iii) the positional relationship between the vehicle and each detected stationary object. Hereinafter, the information generated by the image processing section 32 and provided to the driver assistance ECU 20 is referred to as "the camera information" or "the environment information".

[0063] The image processing section 32 corrects the position of a coordinate system in the images using optical axis differential adjustment values ​​to generate the camera information. The optical axis differential adjustment value storage section 33 is a device that stores the optical axis differential adjustment values. The optical axis differential adjustment values ​​are values ​​that correspond to the difference magnitudes of the optical axis of the camera section 31 with respect to a base optical axis. The optical axis differential adjustment values ​​are obtained by performing an optical axis differential adjustment operation for each vehicle. The obtained optical axis differential adjustment values ​​are stored in the optical axis differential adjustment value storage section 33. The optical axis differential adjustment values ​​correspond to at least one first axis differential adjustment value according to the invention.

[0064] The optical axis differential adjustment operation includes, for example, (i) a process to position a target plate at a predetermined position in front of the vehicle, (ii) a process to acquire an image of the target plate by the camera sensor 30, (iii) a process to measure the differential amounts of the optical axis of the camera sensor 30 based on the position of a center of the target plate in the coordinate system of the acquired image, (iv) a process to obtain the optical axis differential adjustment values ​​according to the measured differential amounts, and (v) a process to store the acquired optical axis differential adjustment values ​​in the optical axis differential adjustment value storage section 33.If the optical axis of the camera sensor 30 is not aligned in an intended direction, the position of the coordinate system in the image captured by the camera sensor 30 is corrected by the optical axis differential adjustment values ​​to eliminate the optical axis deviations of the camera sensor 30. This provides the driver assistance ECU 20 with the correct camera information, including lane marking information and stationary object information. Any known optical axis differential adjustment operation other than the one described in this embodiment can be used.

[0065] The adjustment value communication section 34 comprises a communication circuit. This communication circuit sends and receives information about the optical axis differential adjustment values ​​of the camera sensor 30 via the CAN bus. The adjustment value communication section 34 has a function to send information about the optical axis differential adjustment values ​​of the environment sensor 30 (in this embodiment, the radar sensor 40). The information about the optical axis differential adjustment values ​​of the camera sensor 30 is the same information stored in the optical axis differential adjustment value storage section 33.Additionally, the adjustment value communication section 34 has a function to (i) receive information about the optical axis differential adjustment values ​​of the camera sensor 30, which are provided externally (in this embodiment by the radar sensor 40), and (ii) store the optical axis differential adjustment values ​​contained in the information provided externally in the optical axis differential adjustment value storage section 33. The information about the optical axis differential adjustment values ​​of the camera sensor 30 that is provided externally is information about the optical axis differential adjustment values ​​of the camera sensor 30 that is stored in a second adjustment value storage section 45, which is described below.

[0066] The radar sensor 40 is electrically connected to the camera sensor unit 10 via the CAN bus. The radar sensor 40 is mounted on a vehicle body element at a predetermined position corresponding to the front center end of the vehicle. The front center end is the end of the vehicle located at its midpoint along its width. For example, the radar sensor 40 is mounted on the vehicle body element near the rear of a company logo plate. The logo plate is located near the center of a front grille. The radar sensor 40 is, for example, a millimeter-wave radar sensor that detects stationary objects in front of the vehicle.The radar sensor 40 comprises a millimeter wave transmit / receive section 41, a signal processing section 42, a target object information generation section 43, a first adjustment value storage section 44, a second adjustment value storage section 45 and an adjustment value communication section 46.

[0067] The millimeter-wave transceiver section 41 transmits millimeter waves. The transmitted millimeter waves propagate in a space that extends around a radar axis at a predetermined angle. The radar axis extends in the forward direction of the vehicle. The millimeter-wave transceiver section 41 modulates the frequency of a reference signal to generate a signal with a frequency that changes over time, i.e., to generate a millimeter wave. The reference signal has a predetermined frequency. The millimeter-wave transceiver section 41 transmits the generated millimeter wave as a signal via a transmitting antenna. The transmitted millimeter wave is reflected by an object, such as another vehicle, pedestrians, and two-wheeled vehicles.The millimeter wave transmit / receive section 41 receives the millimeter wave propagating in a space within the detection range via receiving antennas. Consequently, the millimeter wave transmit / receive section 41 receives the millimeter wave reflected by the object as a received signal when the object is present within the detection range.

[0068] The signal processing section 42 mixes the transmitted signals generated by the millimeter-wave transmit / receive section 41 and the received signals reflected by the objects and received by the millimeter-wave transmit / receive section 41. The signal processing section 42 takes a frequency difference between the transmitted and received signals to generate a beat signal. The signal processing section 42 generates the beat signal for each channel, that is, for each receiving antenna. The signal processing section 42 provides a radar detection signal, which includes the generated beat signal, to the target information generation section 43.

[0069] The target information generation section 43 is a computing circuit that includes a microcomputer as its main component. The target information generation section 43 performs a frequency analysis of the radar detection signal, for example, by means of a fast Fourier transform, to obtain the time between the transmission and reception of the received signal, known as the delay time. Based on this delay time, the target information generation section 43 calculates the distance between the radar sensor 40 and the object. The target information generation section 43 also calculates the relative velocity of the object to the radar sensor 40 based on the frequency difference between the transmitted and received signals.In addition, the target object information generation section 43 calculates a horizontal direction of the object with respect to the radar sensor 40 and a vertical direction (i.e. an elevation angle) of the object with respect to the radar sensor 40 based on a signal phase difference between the channels.

[0070] Hereinafter, the information about the objects calculated by the target object information generation section 43 is referred to as "the target object information." The target object information is information about the relative position of each object to the radar sensor 40 and the relative speed of the object relative to the radar sensor 40. The relative position is defined by the relative distance of the object to the radar sensor 40 and the relative direction of the object to the radar sensor 40. In some cases, the object detected by the radar sensor 40 is referred to as "the target object." The target object information generation section 43 provides the calculated target object information (i.e., the calculated environment information) to the driver assistance ECU 20 via the CAN bus.

[0071] When the target object information generation section 43 generates the target object information, it reads the radar axis differential adjustment values ​​stored in the first adjustment value storage section 44 and corrects the object's position in the coordinate system using these radar axis differential adjustment values. The radar axis differential adjustment values ​​correspond to the differences between the radar axis of the radar sensor 40 and a base radar axis. The radar axis differential adjustment values ​​are stored in the first adjustment value storage section 44 by performing a radar axis differential adjustment operation on each vehicle at the vehicle factory. Several operations are known as the radar axis differential adjustment operation. Any one of these known operations can be used as the radar axis differential adjustment operation according to this embodiment.

[0072] The radar axis differential adjustment values ​​cannot be stored in the radar sensor 40 if the alignment of the radar sensor 40 is physically adjusted, for example by adjustment screws, so that the measured differential values ​​of the radar axis of the radar sensor 40 become zero at the vehicle factory. In this case, the first adjustment value storage section 44 can be omitted.

[0073] The adjustment value communication section 46 comprises a communication circuit that sends and receives information about the optical axis differential adjustment values ​​of the camera sensor 30 via the CAN bus. The adjustment value communication section 46 has a function to (i) receive information about the optical axis differential adjustment values ​​of the camera sensor 30 from an external source (in this embodiment, from the camera sensor 30), and (ii) store the optical axis differential adjustment values ​​contained in the received information in the second adjustment value storage section 45. Additionally, the adjustment value communication section 46 has a function to send information about the optical axis differential adjustment values ​​of the camera sensor 30 (in this embodiment, to the camera sensor 30).The information about the optical axis differential adjustment values ​​of the camera sensor 30, which is provided by the adjustment value communication section 46, is information about the optical axis differential adjustment values ​​of the camera sensor 30, which is stored in the second adjustment value storage section 45.

[0074] The second adjustment value storage section 45 is a device that stores the optical axis differential adjustment values ​​of the camera sensor 30, which are included in the information received by the adjustment value communication section 46.

[0075] As can be seen from the above description, the camera sensor 30 and the radar sensor 40 can communicate information about the optical axis differential adjustment values ​​of the camera sensor 30 with each other. A process for communicating the information about the optical axis differential adjustment values ​​of the camera sensor 30 between the camera sensor 30 and the radar sensor 40 is described below.

[0076] The instrument cluster ECU 50 is electrically connected to the display 51. The display 51 is, for example, a multi-information display located in front of the driver's seat, providing the driver with various information using symbols. The instrument cluster ECU 50 controls the display of the display 51 according to a display command sent by the driver assistance ECU 20.

[0077] The brake ECU 60 is electrically connected to the brake actuation device 61. The brake actuation device 61 is provided in a hydraulic circuit between a master cylinder (not shown) and a respective friction brake mechanism 62. The master cylinder compresses hydraulic oil by a pressing force applied at the brake pedal. The friction brake mechanism 62 is provided at each of the following wheels: left front wheel, right front wheel, left rear wheel, and right rear wheel. Each brake mechanism 62 has a brake disc and a brake caliper. The brake disc is attached to the corresponding wheel. The brake caliper is mounted to the vehicle body. The brake actuation device 61 adjusts the hydraulic pressure supplied to a wheel cylinder according to a command sent by the brake ECU 60. The wheel cylinder is located in the brake caliper.The brake actuation device 61 activates the wheel cylinder by means of the adjusted hydraulic pressure to press the brake pad against the brake disc, thereby generating a frictional braking force. The brake ECU 60 can control the braking force applied to the vehicle by controlling the brake actuation device 61.

[0078] For example, when the brake ECU 60 receives a compression assist command from the driver assistance ECU 20, the brake ECU 60 controls the brake actuation device 61 to generate a friction braking force greater than the friction braking force produced by normal application of the brake pedal. In other words, the brake ECU 60 increases the ratio of friction braking force to brake pedal travel to a ratio greater than that normally achieved when the brake ECU 60 does not receive the compression assist command. When the brake ECU 60 receives an automatic braking command from the driver assistance ECU 20, the brake ECU 60 controls the brake actuation device 61 to generate a predetermined friction braking force, regardless of whether the driver applies the brake pedal.

[0079] When the buzzer 70 receives a sound generation command from the driver assistance ECU 20, the buzzer 70 is activated according to the sound generation command to produce a buzzing sound in the manner specified by the sound generation command. The buzzing sound attracts the driver's attention.

[0080] The vehicle condition sensors 80 are various types of sensors that detect vehicle conditions. These include, for example, a vehicle motion speed sensor, vehicle wheel speed sensors, a longitudinal acceleration sensor, a lateral acceleration sensor, and a yaw rate sensor. The vehicle motion speed sensor detects the vehicle's speed. Each vehicle wheel speed sensor detects the rotational speed of the corresponding wheel. The longitudinal acceleration sensor detects the vehicle's longitudinal acceleration. The lateral acceleration sensor detects the vehicle's lateral acceleration. The yaw rate sensor detects the vehicle's yaw rate.

[0081] Driving condition sensors (or driving operation condition sensors 90) are various types of sensors that detect driving operation states performed by the driver. Examples of driving condition sensors (or driving operation condition sensors 90) include an accelerator pedal actuation sensor, a brake pedal actuation sensor, a brake switch, a steering angle sensor, a steering torque sensor, a turn signal lever actuation sensor, and a gear shift position sensor. The accelerator pedal actuation sensor detects the amount of deduction of the accelerator pedal. The brake pedal actuation sensor detects the amount of deduction of the brake pedal. The brake switch detects deduction of the brake pedal. The steering angle sensor detects the steering angle. The steering torque sensor detects the steering torque. The turn signal lever actuation sensor detects deduction of a turn signal lever.The shift position sensor detects the shift position of a transmission.

[0082] The driver assistance ECU 20 executes a driver assistance control to support driving actions performed by the driver. In this embodiment, the driver assistance ECU 20 executes a collision avoidance assistance control as its driver assistance control. The collision avoidance assistance control is known. The collision avoidance assistance control is briefly described below.

[0083] The driver assistance ECU 20 identifies an obstacle in front of the vehicle and determines the probability of the vehicle colliding with it, based on camera and target object information. The camera information is provided by the camera sensor 30 of the driver assistance ECU 20. The target object information is provided by the radar sensor 40 of the driver assistance ECU 20. For example, the driver assistance ECU 20 calculates a predicted collision time TTC (=Dr / Vr) based on the relative distance Dr and the relative speed Vr. The predicted collision time TTC is the time it is predicted the vehicle will need to travel from its current position to the obstacle in order to collide with it. The obstacle is located in front of the vehicle.The relative distance Dr is the distance between the vehicle and the obstacle. The relative speed Vr is the difference in speed between the vehicle and the obstacle. The predicted collision time TTC is used as an index value indicating the probability of the vehicle colliding with the obstacle. The probability of the vehicle colliding with the obstacle increases as the predicted collision time TTC decreases. In other words, an emergency level increases as the predicted collision time TTC decreases.

[0084] When the predicted collision time (TTC) decreases to an alert level, the driver assistance ECU 20 controls the buzzer 70 to emit intermittent sounds and sends a brake initiation command to the gauges ECU 50 to display "Brake!" through the characters on the display 51 to alert the driver. Furthermore, when the brake pedal is depressed, the driver assistance ECU 20 sends the compression assist command to the brake ECU 60 to assist in compressing the brake hydraulic fluid, thereby increasing the brake hydraulic fluid pressure and thus enhancing the braking effect. Additionally, if the predicted collision time (TTC) continues to decrease to an automatic braking level, the driver assistance ECU 20 sends the automatic braking command to the brake ECU 60 to generate the predetermined friction braking force, regardless of the driver's application of the brake pedal.

[0085] The collision avoidance assistance control supports the driver's driving actions to avoid a collision between the vehicle and the obstacle, or reduces damage resulting from a collision between the vehicle and the obstacle.

[0086] The driver assistance ECU 20 can be configured to execute another driver assistance control, such as an inter-vehicle distance keeping motion assist control, in addition to or instead of the collision avoidance assist control. The inter-vehicle distance keeping motion assist control is a control to move the vehicle following a vehicle in front of it while maintaining a predetermined inter-vehicle distance.When the driver assistance ECU 20 initiates an execution of the inter-vehicle distance maintenance motion assistance control, it selects a vehicle ahead from among the vehicles moving in front of its own vehicle. It calculates a target acceleration or deceleration to maintain the inter-vehicle distance between its own vehicle and the vehicle ahead, based on camera information provided by camera sensor 30 and target object information provided by radar sensor 40. The vehicle ahead is the vehicle closest to the own vehicle. The driver assistance ECU 20 sends an acceleration / deceleration command to the (not shown) power engine ECU. The acceleration / deceleration command specifies the target acceleration or deceleration.This causes the vehicle to move automatically, following the vehicle in front while maintaining the appropriate distance between vehicles.

[0087] The driver assistance ECU 20 can be configured, for example, to execute a lane keeping assist control to move the vehicle along the center line of a lane. When the driver assistance ECU 20 initiates a lane keeping assist control execution, it calculates a target steering angle for moving the vehicle along the center line of the lane based on the lane marking information provided by the camera sensor 30, sending a steering command to a power steering ECU (not shown). The steering command specifies the target steering angle. The power steering ECU controls an assist motor to adjust the steering angle to the target steering angle, thereby moving the vehicle along the center line of the lane. <optische-achsendifferenzjustierungswertspeichervorgang>

[0088] For example, the camera sensor 30 may be defective. In this case, the defective camera sensor 30 must be replaced with a new camera sensor 30. To replace the defective camera sensor 30 with the new camera sensor 30, the camera sensor unit 10 is removed from the sensor mounting bracket. Then, a new camera sensor unit 10 is fitted into the sensor mounting bracket. This completes the process of replacing the defective camera sensor unit 10 with the new camera sensor unit 10. Hereinafter, the process of replacing the camera sensor unit 10 with the new camera sensor unit 10 is referred to as "the sensor replacement process."

[0089] When the sensor replacement operation is performed, the optical axis differential adjustment values ​​are not stored in the optical axis differential adjustment value storage section 33 of the new camera sensor 30. Consequently, factory workers conventionally perform the optical axis differential adjustment operation at the vehicle factory after replacing the camera sensors 30. The optical axis differential adjustment operation includes (i) a procedure to position the target plate in front of the vehicle, (ii) a procedure to measure the optical axis differential values ​​of the new camera sensor 30 with respect to the optical base axis, and (iii) a procedure to store the optical axis differential adjustment values ​​in the optical axis differential adjustment value storage section 33 according to the measured differential values. As described above, the sensor replacement operation results in the optical axis differential adjustment operation.

[0090] In this context, the sensor replacement procedure includes a process to fit the new camera sensor unit 10 into the sensor mounting bracket into which the defective camera sensor unit 10 was fitted. The sensor mounting bracket is not replaced and remains attached to the windshield glass. Thus, the new camera sensor unit 10 fits into the existing (or shared) sensor mounting bracket. Therefore, the orientation of the optical axis of the camera sensor 30 relative to the vehicle body does not change after the sensor replacement procedure has been performed.

[0091] The vehicle assistance device 1 according to this embodiment is configured to pre-store the optical axis differential adjustment values ​​of the camera sensor 30 in the other element (corresponding to a vehicle element according to the invention). The vehicle assistance device 1 reads the optical axis differential adjustment values ​​stored in the other element and stores them in the optical axis differential adjustment value storage section 33 of the new camera sensor 30 after the sensor replacement process has been performed. This eliminates the need to perform the optical axis differential adjustment operation even after the sensor replacement process has been carried out. In this embodiment, the other element is the radar sensor 40. In this context, the other element can be any element that is provided to communicate electrically with the camera sensor 30.The radar sensor 40 is electrically connected to the camera sensor unit 10 via CAN bus to enable communication. Consequently, the camera sensor 30 and the radar sensor 40 can exchange information about the optical axis differential adjustment values ​​using the existing communication function.

[0092] Fig. Figure 2 shows a representation illustrating a process for transferring the optical axis difference adjustment values ​​of the old camera sensor 30 to the new camera sensor 30 via the other element (in this embodiment the radar sensor 40). I-1. The optical axis differential adjustment operation is performed when the vehicle is manufactured. At this time, the optical axis differential adjustment values ​​of camera sensor 30 are stored in the camera sensor 30. I-2. The camera sensor 30 provides the radar sensor 40 with information about the optical axis differential adjustment values ​​stored in the camera sensor 30 after the optical axis differential adjustment operation has ended. I-3. The radar sensor 40 receives the information about the optical axis differential adjustment values ​​provided by the camera sensor 30 and stores the optical axis differential adjustment values ​​included in the received information.

[0093] If the camera sensor 30 is defective, the optical axis differential adjustment values ​​of the defective camera sensor 30 are transferred to the new camera sensor 30 as described below. II-1. The sensor replacement process is carried out by the factory workers. II-2. The radar sensor 40 provides the new camera sensor 30 with the information about the optical axis differential adjustment values ​​of the camera sensor 30 that are stored in the radar sensor 40 (that is, the information about the optical axis differential adjustment values ​​that are provided by the defective camera sensor 30 before the sensor replacement process is carried out). II-3. The new camera sensor 30 receives the information about the optical axis differential adjustment values ​​provided by the radar sensor 40 and stores the optical axis differential adjustment values ​​contained in the received information. This completes the optical axis differential adjustment operation.

[0094] As described above, even when the sensor replacement process is performed, the optical axis differential adjustment values ​​of the old camera sensor 30 are transferred when the vehicle is moved to the new camera sensor 30. Therefore, factory workers do not need to perform the optical axis differential adjustment operation.

[0095] The following describes a process for transferring the optical axis differential adjustment values ​​to the new camera sensor 30.

[0096] Fig. Figure 3 shows a diagram illustrating the flowchart of operations performed at the vehicle factory to adjust the optical axis difference of camera sensor 30. First, factory workers perform an operation to initiate the optical axis difference adjustment (step S10). Specifically, they position the target plate at the predetermined position in front of the vehicle and execute the operation to initiate the optical axis difference adjustment using a diagnostic tool. The positional relationship between the vehicle and the target plate significantly affects the measurement accuracy of the optical axis difference of camera sensor 30 relative to the optical base axis. Therefore, factory workers must precisely position the target plate at the predetermined position in front of the vehicle.

[0097] When the factory workers execute the procedure to start the optical axis differential adjustment operation, the optical axis differential adjustment command is sent to the camera sensor 30. The camera sensor 30 proceeds to processing step S20 to (i) acquire an image of the target plate, (ii) obtain the position of the center of the target plate in the coordinate system of the acquired image, and (iii) measure the optical axis differentials of the camera sensor 30 based on the obtained position in the coordinate system.The optical axis differentials of the camera sensor 30 are, for example, (i) the difference of a pitch angle of the optical axis of the camera sensor 30 with respect to a base pitch angle, (ii) the difference of a yaw angle of the optical axis of the camera sensor 30 with respect to a base yaw angle, and (iii) the difference of a roll angle of the optical axis of the camera sensor 30 with respect to a base roll angle. The optical axis differentials of the camera sensor 30 with respect to the optical base axis correspond to the optical axis differential adjustment values ​​of the camera sensor 30. An operation according to step S20 is, for example, performed by the image processing section 32.

[0098] Next, the camera sensor 30 proceeds with processing to step S21 in order to store the optical axis differential adjustment values ​​in the optical axis differential adjustment value storage section 33 according to the differential amounts of the optical axis of the camera sensor 30, which are measured as described above.

[0099] Next, the camera sensor 30 proceeds to processing step S22 to provide the radar sensor 40 with information about the optical axis differential adjustment values ​​stored in the camera sensor 30. An operation according to step S22 is performed by the adjustment value communication section 34. After the camera sensor 30 has provided the radar sensor 40 with the information about the optical axis differential adjustment values, the camera sensor 30 proceeds to processing step S23 to terminate the optical axis differential adjustment operation. An error code indicating that the optical axis differentials have not been adjusted to zero is stored in the camera sensor 30 as a diagnostic code before the optical axis differential adjustment operation is terminated.After an operation according to step S23 has been performed, the error code indicating that the optical axis differences have not been adjusted to zero is removed from camera sensor 30.

[0100] The radar sensor 40 is configured to execute an optical axis differential adjustment value communication routine, which is in Fig. Figure 4 shows the optical axis difference adjustment value communication routine is executed by the adjustment value communication section 46 of the radar sensor 40.

[0101] When radar sensor 40 starts an execution of the optical axis differential adjustment value communication routine, radar sensor 40 (specifically the adjustment value communication section 46) proceeds to step S31 to determine whether it is receiving information about the optical axis differential adjustment values ​​from camera sensor 30. Radar sensor 40 repeatedly performs a determination operation according to step S31 until it receives information about the optical axis differential adjustment values ​​from camera sensor 30.

[0102] When the radar sensor 40 receives the information about the optical axis differential adjustment values ​​from the camera sensor 30, while the radar sensor 40 repeatedly performs the determination process according to step S31, the radar sensor 40 determines “Yes” in step S31, proceeding with the processing to a step S32 to store the optical axis differential adjustment values ​​contained in the received information in the second adjustment value storage section 45.

[0103] Next, the radar sensor 40 proceeds to step S33 to initiate a periodic provision of information about the optical axis differential adjustment values ​​stored in the second adjustment value storage section 45. The radar sensor 40 then terminates the optical axis differential adjustment value communication routine. Consequently, after (i) the radar sensor 40 has stored the optical axis differential adjustment values ​​in the second adjustment value storage section 45, and (ii) the optical axis differential adjustment value communication routine has terminated, the radar sensor 40 provides the information about the optical axis differential adjustment values ​​stored in the radar sensor 40 at a predetermined short interval.

[0104] Next, a procedure is described that is performed after the defective camera sensor 30 has been replaced with a new camera sensor 30. Once the factory workers have completed the sensor replacement process, they verify whether the optical axis differential adjustment values ​​are stored in the new camera sensor 30 using the diagnostic tool. The optical axis differential adjustment values ​​may not be stored in the new camera sensor 30. Therefore, the factory workers can confirm the diagnostic error code indicating that the optical axis differentials have not been adjusted to zero by using the diagnostic tool.

[0105] If the factory workers confirm the diagnostic error code indicating that the optical axis differences have not been adjusted to zero, they execute an operation to start reading the optical axis difference adjustment values ​​using the diagnostic tool. This starts an adjustment value readout routine that is displayed in Fig. 5 is shown.

[0106] When the camera sensor 30 receives an optical axis differential adjustment value readout start command from the diagnostic tool, the camera sensor 30 starts an execution of the adjustment value readout routine. The adjustment value readout routine is executed by the adjustment value communication section 34 of the camera sensor 30.

[0107] When the adjustment value readout routine starts, the camera sensor 30 proceeds to step S41 to determine whether the information about the optical axis differential adjustment values ​​from the radar sensor 40 is available. The information provided by the radar sensor 40 consists of the optical axis differential adjustment values ​​of the original camera sensor 30, which are stored in the second adjustment value storage section 45 of the radar sensor 40. The camera sensor 30 then performs an operation according to step S41 for a predetermined time longer than the predetermined short interval, during which the adjustment value communication section 46 of the radar sensor 40 outputs the stored value information. The stored values ​​are optical axis differential adjustment values ​​stored in the second adjustment value storage section 45.This determines that if the camera sensor 30 has performed the operation according to step S41 for the predetermined time and has not received the information about the stored values, the radar sensor 40 will not provide the new camera sensor 30 with the information about the stored values.

[0108] If the adjustment value communication section 46 of the radar sensor 40 provides the adjustment value communication section 34 of the camera sensor 30 with information about the stored values ​​at the predetermined short interval, the camera sensor 30 determines "Yes" in step S41. In other words, if the optical axis differential adjustment values ​​of the camera sensor 30 are stored in the radar sensor 40 as the stored values, the camera sensor 30 determines "Yes" in step S41. Conversely, if the adjustment value communication section 46 of the radar sensor 40 does not provide the adjustment value communication section 34 of the camera sensor 30 with information about the stored values ​​at the predetermined short interval, the camera sensor 30 determines "No" in step S41.In other words, if the optical axis difference adjustment values ​​of the camera sensor 30 are not stored in the radar sensor 40, the camera sensor 30 determines "No" in step S41.

[0109] When the camera sensor 30 receives the information about the stored values ​​from the radar sensor 40, the camera sensor 30 determines "Yes" in step S41 and proceeds with processing to step S42 to store the stored values ​​contained in the received information in the optical axis differential adjustment value storage section 33 as its own optical axis differential adjustment values.

[0110] The camera sensor 30 then proceeds to step S43 to (i) clear the diagnostic fault code indicating that the optical axis differences have not been adjusted to zero, and (ii) terminate the optical axis difference adjustment operation. This allows the diagnostic tool to indicate that the optical axis difference adjustment is complete, for example, by displaying a message on the diagnostic display that the optical axis difference adjustment is finished.

[0111] In contrast, if the information about the stored values ​​has not been provided by the radar sensor 40 to the camera sensor 30, the camera sensor 30 determines "No" in step S41 and then proceeds to step S44 to request that the optical axis differential adjustment operation be performed. In this case, for example, the camera sensor 30 does not clear the diagnostic fault code indicating that the optical axis differential adjustment has not been completed. In other words, the camera sensor 30 retains the diagnostic fault code indicating that the optical axis differential adjustment has not been completed.This means that the diagnostic error code indicating that the optical axis differential adjustment has not been completed has not been cleared, whereby the diagnostic tool realizes that the optical axis differential adjustment operation is being requested, for example by indicating on the diagnostic display that the optical axis differential adjustment operation has been requested.

[0112] After the camera sensor 30 has performed an operation according to step S43 or step S44, the camera sensor 30 terminates the adjustment value readout routine.

[0113] When the sensor replacement process is performed, the optical axis differential adjustment values ​​are not typically stored in the new camera sensor 30. Consequently, if the optical axis differential adjustment values ​​are stored in the new camera sensor 30, it can be estimated that the optical axis differential adjustment values ​​stored in the new camera sensor 30 are incorrect. In other words, if the factory workers do not acknowledge the diagnostic error code indicating that the optical axis adjustment has not been completed, it can be estimated that the optical axis differential adjustment values ​​stored in the new camera sensor 30 are incorrect. In this case, even if the optical axis differential adjustment values ​​are stored in the radar sensor 40, the reliability of the optical axis differential adjustment values ​​stored in the radar sensor 40 is low.Accordingly, in this case, the factory workers perform the optical axis differential adjustment operation at the vehicle factory without executing the adjustment value readout routine. Consequently, the adjustment value readout routine is only executed if the optical axis differential adjustment values ​​are not stored in the new camera sensor 30.

[0114] As described above, according to the vehicle assistance device 1, information about the optical axis differential adjustment values ​​is provided to the radar sensor 40 when the optical axis differential adjustment operation is performed with respect to the camera sensor 30. This results in the optical axis differential adjustment values ​​being stored in both the camera sensor 30 and the radar sensor 40. After the radar sensor 40 has stored the optical axis differential adjustment values, it periodically transmits the information about the stored optical axis differential adjustment values ​​to the camera sensor 30 via the CAN bus. Specifically, the radar sensor 40 transmits the information about the stored optical axis differential adjustment values ​​to the camera sensor 30 via the CAN bus at predetermined short intervals.Afterwards, even if the camera sensor 30 is replaced with the new camera sensor 30, the new camera sensor 30 receives the information about the stored optical axis differential adjustment values ​​that are provided to the CAN, storing the received optical axis differential adjustment values ​​as its own optical axis differential adjustment values.

[0115] Consequently, according to the embodiment, the information about the optical axis differential adjustment values ​​of the old camera sensor 30 is automatically transferred to the new camera sensor 30. Therefore, even if the camera sensor 30 is replaced with the new camera sensor 30, there is no need to perform the optical axis differential adjustment operation again after it has been performed once. As a result, factory workers do not need to perform the optical axis differential adjustment operation when replacing the camera sensor 30 with the new camera sensor 30. The operations required for replacing the camera sensor 30 can be reduced.

[0116] The vehicle driver assistance device 1 according to the exemplary embodiment has been described. The invention is not limited to the exemplary embodiment, and various modifications can be applied to the exemplary embodiment without departing from the scope of the invention.

[0117] For example, according to the exemplary embodiment, the vehicle assistance device 1 is configured to store the optical axis differential adjustment values ​​of the camera sensor 30 in the radar sensor 40. In this context, the element in which the optical axis differential adjustment values ​​are stored is not limited to the radar sensor 40. The element in which the optical axis differential adjustment values ​​are stored can be any of the elements that can communicate with the camera sensor 30. For example, the vehicle assistance device 1 can be configured to store the optical axis differential adjustment values ​​in the vehicle element, such as any of the brake ECU 60, the gauge ECU 50, the (not shown) power engine ECU, and the (not shown) power steering ECU, which control at least one actuating device when the driver assistance control is executed.

[0118] The invention is not limited to a device configured to store the optical axis differential adjustment values ​​of the camera sensor 30 in the other element. The invention can be applied to a device configured to store radar axis differential adjustment values ​​of the radar sensor 40 in a vehicle element that can communicate electrically with the radar sensor 40. In this case, the radar sensor 40 corresponds to the environment sensor according to the invention. For example, the invention can be applied to a device configured to store the radar axis differential adjustment values ​​of the radar sensor 40 in the vehicle element, such as any of the driver assistance ECU 20, the camera sensor 30, the brake ECU 60, the gauge ECU 50, the (not shown) power engine ECU, and the (not shown) power steering ECU.In this case, there is no need to perform a radar axis differential adjustment operation when the radar sensor 40 is replaced with a new radar sensor 40.

[0119] According to the exemplary embodiment, the driver assistance ECU 20 and the camera sensor 30 are integrated in a single unit. Alternatively, the driver assistance ECU 20 and the camera sensor 30 can be provided separately. In this case, the vehicle driver assistance device 1 can be configured to store the optical axis differential adjustment values ​​of the camera sensor 30 in the driver assistance ECU 20 as the vehicle element.

[0120] A vehicle driver assistance device comprises at least one environmental sensor (30) and at least one vehicle element (40). The environmental sensor stores at least one axis differential adjustment value that adjusts at least one axis difference of a sensing axis of the environmental sensor with respect to a predetermined base sensing axis, and provides the vehicle element with information about the axis differential adjustment value stored in the environmental sensor as adjustment value information. The vehicle element stores the axis differential adjustment value included in the adjustment value information provided by the environmental sensor and provides the environmental sensor with information about the axis differential adjustment value stored in the vehicle element as the adjustment value information.The environmental sensor stores the axle differential adjustment value, which is included in the adjustment value information provided by the vehicle element, if the axle differential adjustment value is not stored in the environmental sensor.

Claims

[1] Vehicle driver assistance device with: at least one environmental sensor (30) having a first detection axis and being mounted on the body of a vehicle at a predetermined first position, wherein the at least one environmental sensor (30) is configured (i) to detect a situation around the vehicle as a first detected situation within an area around the first detection axis and (ii) to generate information about the first detected situation as first environmental information; and an electronic control unit (20) which, based on the initial environmental information, performs a driver assistance control to control a movement of the vehicle; characterized by , that the vehicle assistance device further comprises at least one vehicle element (40) which is attached to the body of the vehicle in addition to the at least one environmental sensor (30); which at least one environmental sensor (30) is further configured: to store at least one initial axis difference adjustment value that adjusts at least one initial axis difference of the first acquisition axis with respect to a predetermined first basic acquisition axis; to generate the first environmental information by adjusting at least one initial axis difference using at least one initial differential adjustment value; and to provide at least one vehicle element (40) with information about the at least one first axle differential adjustment value stored in the at least one environmental sensor (30) as first adjustment value information; that at least one vehicle element (40) is configured: to store at least one initial axis differential adjustment value contained in the adjustment value information provided by the at least one environmental sensor (30); and to provide at least one environmental sensor (30) with information about at least one first axis differential adjustment value stored in at least one vehicle element (40) as the first adjustment value information; and the at least one environmental sensor (30) is further configured to store the at least one first axle differential adjustment value in the first adjustment value information provided by the at least one vehicle element (40) if the at least one first axle differential adjustment value is not stored in the at least one environmental sensor (30). [2] Vehicle driver assistance device according to claim 1, characterized by, that the at least one vehicle element (40) is further configured to periodically provide the at least one environmental sensor (30) with the first adjustment value information. [3] Vehicle driver assistance device according to one of claims 1 and 2, characterized by , that the at least one environmental sensor (30) is further configured to request to perform an axis differential adjustment operation to store the at least one first axis differential adjustment value in the at least one environmental sensor (30) if (i) the at least one first axis differential adjustment value is not stored in the at least one environmental sensor (30) and (ii) the at least one vehicle element (40) does not provide the at least one environmental sensor (30) with the first adjustment value information. [4] Vehicle driver assistance device according to one of claims 1 to 3, characterized by, that the at least one environmental sensor (30) is configured to adjust at least one first axis difference by adjusting a position of a coordinate system based on the first sensing axis to a position of a coordinate system based on the predetermined first basic sensing axis by the at least one first axis difference adjustment value. [5] Vehicle driver assistance device according to one of claims 1 to 4, characterized by , that: comprising at least one environmental sensor (30) and a camera sensor (30) having an optical axis as the first detection axis; and the camera sensor (30) is configured (i) to capture images of a view around the vehicle within an area around the optical axis and (ii) to capture the situation around the vehicle as the first captured situation based on the images captured by the camera sensor (30). [6] Vehicle driver assistance device according to one of claims 1 to 5, characterized by , that: that at least one vehicle element (40) is further configured (i) to detect the situation around the vehicle as a second detected situation and (ii) to generate information about the second detected situation as second environmental information; and the electronic control unit (20) is configured to execute the driver assistance control based on the first environmental information and the second environmental information. [7] Vehicle driver assistance device according to claim 6, characterized by , that at least one vehicle element (40) includes a radar sensor (40) which detects the situation around the vehicle as the second detected situation. [8] Vehicle driver assistance device according to claim 7, characterized by , that: the radar sensor (40) has a second detection axis and is further configured as follows: to capture the situation around the vehicle as the second captured situation in an area around the second detection axis; to store at least a second axis difference adjustment value that adjusts at least a second axis difference of the second acquisition axis with respect to a predetermined second basic acquisition axis; to generate the second set of environmental information by adjusting at least one second axis difference using at least one second axis difference adjustment value; and to provide at least one environmental sensor (30) with information about at least one second axis differential adjustment value stored in the radar sensor (40) as second adjustment value information; which has at least one environmental sensor (30) configured: to store at least one second axis differential adjustment value that is included in the second adjustment value information provided by the radar sensor (40); and to provide the radar sensor (40) with the second adjustment value information via the at least one second axis differential adjustment value stored in the at least one environment sensor (30); and the radar sensor (40) is further configured to store the at least one second axis differential adjustment value contained in the second adjustment value information provided by the at least one environment sensor (30), if the at least one second axis differential adjustment value is not stored in the radar sensor (40). [9] Vehicle driver assistance device according to claim 8, characterized by, that the radar sensor (40) is configured to adjust the at least one second axis difference by adjusting a position of a coordinate system based on the second detection axis to a position of a coordinate system based on the predetermined second basic detection axis by the at least one second axis difference adjustment value. [10] Vehicle driver assistance device according to one of claims 1 to 4, characterized by , that comprising at least one environmental sensor (30) comprising a first environmental sensor (30) having the first detection axis and being attached to the body of the vehicle at a predetermined first position, wherein the first environmental sensor (30) is configured (i) to detect the situation around the vehicle as the first detected situation within the area around the first detection axis and (ii) to generate the information about the first detected situation as the first environmental information; the at least one vehicle element (40) comprises a second environmental sensor (40) having a second sensing axis and being attached to the body of the vehicle at a predetermined second position that is different from the predetermined first position, wherein the second environmental sensor is configured (i) to sensing the situation around the vehicle as a second sensing situation within a range around the second sensing axis and (ii) to generate information about the second sensing situation as second environmental information; and the electronic control unit (20) is further configured to execute the driver assistance control based on the first environmental information and the second environmental information.

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