Sensor device for vehicles

Abstract

To ensure that, in a sensor device for vehicles in which snow, etc. sticking to an outer cover is melted by a heating wire, the impact of a magnetic field generated from the heating wire on the sensitivity of a sensor unit is suppressed and a decrease in the accuracy of detecting a physical object is thereby suppressed.SOLUTION: The sensor device for vehicles comprises: an outer cover; a sensor unit for transmitting / receiving electromagnetic waves via the outer cover and outputting a signal related to the electromagnetic wave entering the inside of the outer cover; a heater provided to the outer cover, for heating a passage region of the outer cover in which the electromagnetic wave emitted from the sensor unit passes through; and a control unit. The control unit outputs a physical object detection signal at a prescribed time interval on the basis of a signal from the sensor unit, and reduces a first voltage V1 applied to the heating wire in at least a section of a transmission / reception period in which the electromagnetic wave used for the detection signal is transmitted / received by the sensor unit, to be lower than a second voltage V2 applied to the heating wire in at least some period between the transmission / reception periods.SELECTED DRAWING: Figure 26

Description

[Technical Field]

[0001] The present invention relates to a sensor device for a vehicle. [Background technology]

[0002] BACKGROUND ART There is known a vehicle sensor device that detects an object outside the vehicle using electromagnetic waves. Patent Document 1 below discloses such a vehicle sensor device.

[0003] The vehicle sensor device disclosed in Patent Document 1 below includes a lamp unit that emits light toward the front of the vehicle, a radar device that detects objects located in front of the vehicle using electromagnetic waves, a reflected wave intensity acquisition unit that acquires the intensity of reflected waves of the electromagnetic waves, a control unit, a cover, and a separator. The cover is disposed in front of the radar device, and the electromagnetic waves emitted from the radar device pass through the cover and are irradiated toward the front of the vehicle. The separator is disposed between the lamp unit and the radar device and connected to the cover, and absorbs a portion of the radiant heat from the lamp unit and transfers it to the cover.

[0004] The intensity of the electromagnetic waves acquired by the reflected wave intensity acquisition unit tends to change depending on the presence of ice, snow, frost, or other attachments on the cover. Generally, the intensity of the electromagnetic waves reflected by the cover when there is attachment on the cover tends to be higher than when there is no attachment on the cover. In the vehicle sensor device, when attachments are present, the intensity of the electromagnetic waves increases as described above, and in this case, the control unit controls the lighting unit to ON. As a result, the attachments are removed by radiant heat as described above. Furthermore, when the attachments are removed, the intensity of the electromagnetic waves decreases, and in this case, the control unit controls the lighting unit to OFF.

[0005] The control unit determines whether ice, snow, or frost has adhered to the cover based on the intensity of the reflected electromagnetic waves, and controls the lighting unit to turn on or off depending on the result of this determination. This vehicle sensor device is said to be able to melt or vaporize ice, snow, frost, etc. that has adhered to the cover by heating the cover with radiant heat from the lighting unit, thereby suppressing a decrease in the accuracy of object detection due to ice, snow, or frost. [Patent Document 1] Japanese Patent Application Publication No. 2020-50271 Summary of the Invention

[0006] A vehicle sensor device according to a first aspect of the present invention comprises an outer cover, a sensor unit arranged inside the vehicle relative to the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic waves incident on the inside of the outer cover, a heater provided on the outer cover, heating a transparent area in the outer cover through which the electromagnetic waves emitted from the sensor unit pass, and a control unit, wherein the control unit outputs a detection signal of an object located outside the outer cover based on the signal from the sensor unit during at least a portion of the period when the heater is OFF, and stops outputting the detection signal during at least a portion of the period when the heater is ON.

[0007] In the vehicle sensor device of the first aspect, when electromagnetic waves emitted from the sensor unit toward the outside of the vehicle are reflected by an object outside the vehicle in the direction of propagation of the electromagnetic waves and pass through the transmission area, the electromagnetic waves can be received by the sensor unit, and the object can be detected from a signal related to the electromagnetic waves. Furthermore, in this vehicle sensor device, the control unit outputs an object detection signal based on the signal related to the electromagnetic waves from the sensor unit during at least a portion of the period when the heater is OFF. Generally, when the heater is OFF, there tends to be no attachments in the transmission area. In this case, interference with the propagation of the electromagnetic waves due to attachments is suppressed, thereby suppressing a decrease in the detection accuracy of the vehicle sensor device. Generally, when the heater is ON, there tends to be attachments in the transmission area. In this case, the propagation of the electromagnetic waves is obstructed by attachments, thereby reducing the detection accuracy of the vehicle sensor device. Therefore, the information obtained by detection is difficult to use, and the power used to output the detection signal containing that information may be wasted. However, in the vehicle sensor device, the control unit stops outputting the detection signal during at least a portion of the time period when the heater is on. That is, the output of the detection signal is stopped during at least a portion of the time period while the deposits are being removed by the heat of the heater. This can reduce unnecessary power consumption.

[0008] In addition, in the vehicle sensor device of the first aspect, the control unit may stop outputting the detection signal when, during a period in which the heater is ON, the intensity of the electromagnetic wave indicated by the signal is greater than a first threshold and is equal to or greater than a second threshold indicating that the amount of adhesion of the deposits adhering to the transparent area is greater than the amount of adhesion at the first threshold, and may output the detection signal when the intensity is equal to or greater than the first threshold and less than the second threshold.

[0009] As described above, generally, when the heater is ON, attachments tend to be attached to the transparent area. In a vehicle sensor device, when attachments adhere to the transparent area, a portion of the electromagnetic waves emitted from the sensor unit is reflected by the attachments and received by the sensor unit. The intensity of the received electromagnetic waves tends to increase as the amount of attachment increases, because the electromagnetic waves reflected by the attachments increase. Generally, the intensity of the electromagnetic waves received by the sensor unit tends to increase in the order of when dust or water droplets are attached to the transparent area and when ice or snow is attached to the transparent area. In this case, the first threshold value is set to a value lower than the intensity of the electromagnetic waves received by the sensor unit when dust or water droplets are attached to the transparent area. Furthermore, the second threshold value is set to a value higher than the intensity of the electromagnetic waves received by the sensor unit when dust or water droplets are attached to the transparent area and lower than the intensity of the electromagnetic waves received by the sensor unit when ice or snow is attached to the transparent area. When the electromagnetic wave intensity is equal to or greater than the second threshold, the detection accuracy of the vehicle sensor device decreases compared to when the intensity is equal to or greater than the first threshold but less than the second threshold. Therefore, the information obtained in this case becomes difficult to use, resulting in a longer period of wasted power consumption. However, when the electromagnetic wave intensity is equal to or greater than the second threshold, the vehicle sensor device stops outputting the detection signal, which can shorten the period of wasted power consumption.

[0010] Furthermore, as the amount of attached matter begins to dissolve and decreases, the reflection of the electromagnetic waves by the attached matter is suppressed, and the intensity decreases. When the intensity is equal to or greater than the first threshold and less than the second threshold, the amount of attached matter is smaller than when the intensity is equal to or greater than the second threshold, so the obstruction of the propagation of the electromagnetic waves by the attached matter is suppressed, and the deterioration of the detection accuracy of the vehicle sensor device can be suppressed. In this case, even if the vehicle sensor device outputs a detection signal, it can obtain more accurate information than when the intensity is equal to or greater than the second threshold, and using this information can improve the safety of the vehicle while driving.

[0011] Alternatively, in the vehicle sensor device of the first aspect, the control unit may stop outputting the detection signal when a signal output from a temperature sensor measuring the temperature of the transparent area indicates a temperature below a predetermined temperature during a period in which the heater is ON, and output the detection signal when the signal output from the temperature sensor indicates a temperature above the predetermined temperature.

[0012] When the temperature of the transparent area is below a predetermined temperature, compared to when the temperature of the transparent area is above the predetermined temperature, the attached matter is less likely to melt when heated, and the electromagnetic waves are blocked by the attached matter, reducing the detection accuracy of the vehicle sensor device. Therefore, the information obtained in this case becomes difficult to use, resulting in a longer period of wasted power consumption. However, in the vehicle sensor device, if the signal output from the temperature sensor indicates a temperature below the predetermined temperature while the heater is on, the output of the detection signal stops, which can shorten the period of wasted power consumption.

[0013] Furthermore, when the temperature of the transmissive region is equal to or higher than the predetermined temperature, the attached matter melts more easily than when the temperature of the transmissive region is lower than the predetermined temperature, which reduces the obstruction of the electromagnetic waves caused by the attached matter and reduces the decrease in the detection accuracy of the vehicle sensor device. In this case, even if the vehicle sensor device outputs a detection signal, it can use information with higher accuracy than when the temperature of the transmissive region is lower than the predetermined temperature, and the use of this information can improve the safety of the vehicle while it is traveling.

[0014] Alternatively, in the vehicle sensor device of the first aspect, the control unit may output a detection signal during a period when the heater is ON and a light source unit that emits light toward the outside of the vehicle through the outer cover is ON.

[0015] The outer cover including the transmissive region is heated by light emitted from the light source and transmitted through the outer cover. Therefore, the attachment is heated by the light from the light source as well as the heat from the heater, and can be melted and removed more quickly than when heated by heat from the heater. When the attachment is removed, even if a detection signal is output, a decrease in the detection accuracy of the vehicle sensor device can be suppressed. Therefore, the vehicle sensor device can use more accurate information than when the attachment is not removed, and the use of this information can improve the safety of the vehicle while it is traveling.

[0016] In the vehicle sensor device of the first aspect, the sensor unit may emit the electromagnetic waves toward the outside of the vehicle through the outer cover while the heater is on.

[0017] In the above configuration, the sensor unit emits electromagnetic waves during periods when the heater is ON and periods when the heater is OFF, and does not stop or switch the emission of electromagnetic waves in response to switching the heater ON / OFF. This reduces the burden on the sensor unit due to switching. Furthermore, while it generally takes time to start up the sensor unit, in the above configuration, the sensor unit is always operating and emitting electromagnetic waves, so the time required to start up the sensor unit can be eliminated. When this time is eliminated, the detection signal can be output earlier when the heater is switched from ON to OFF than when the time is not eliminated.

[0018] In addition, in the vehicle sensor device of the first aspect, during a period when the heater is ON, the sensor unit may receive the electromagnetic waves that are incident from the outside of the vehicle to the inside of the vehicle through the outer cover.

[0019] In the above configuration, the sensor unit receives electromagnetic waves both when the heater is ON and when the heater is OFF, and does not stop or switch reception of electromagnetic waves in response to switching the heater ON / OFF. This reduces the burden on the sensor unit due to switching. Furthermore, because the sensor unit is always operating and receiving electromagnetic waves, the time required for startup can be eliminated. Eliminating this time allows the detection signal to be output earlier, as described above.

[0020] In addition, in the vehicle sensor device of the first aspect, during the period when the heater is ON, the sensor unit may receive the electromagnetic waves that are incident from the outside of the vehicle to the inside of the vehicle through the outer cover and output the signal to the control unit.

[0021] In the above configuration, the sensor unit outputs a signal to the control unit CO during periods when the heater is ON and periods when the heater is OFF, and does not stop or switch the signal output in response to switching the heater ON / OFF. This reduces the burden on the sensor unit due to switching. Furthermore, because the sensor unit is always operating and outputting a signal, the time required for startup can be eliminated. Eliminating this time allows the detection signal to be output earlier, as described above.

[0022] In addition, in the vehicle sensor device of the first aspect, the control unit may control the heater to be ON during at least a portion of the period when the vehicle is stopped, and may stop outputting the detection signal during at least a portion of the period when the heater is ON.

[0023] Generally, when a vehicle is stopped, removing any attached matter is more important than detecting objects in order to improve vehicle safety when the vehicle is moving. In a vehicle sensor device, the heater is turned on during at least a portion of the time the vehicle is stopped, and output of a detection signal is stopped during at least a portion of the time the heater is on. When the heater is turned on, the heat from the heater removes the attached matter. Therefore, when the vehicle starts moving, obstruction of the propagation of electromagnetic waves by attached matter is suppressed, and a decrease in the detection accuracy of the vehicle sensor device can be suppressed. Furthermore, in the above configuration, since output of the detection signal is stopped, power consumption due to output of the detection signal can be suppressed compared to when the detection signal is output.

[0024] A second aspect of the present invention provides a vehicle sensor device comprising an outer cover, a sensor unit arranged inside the vehicle relative to the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal indicating the intensity of the electromagnetic waves incident on the inside of the outer cover, a heater provided on the outer cover, heating a transparent area of ​​the outer cover through which the electromagnetic waves emitted from the sensor unit pass, and a control unit, wherein the control unit sets the driving period of the heater and the amount of power of the heater during the driving period based on the intensity, and applies a voltage for the set amount of power to the heater during the set driving period.

[0025] In a second aspect of the vehicle sensor device, when electromagnetic waves emitted from the sensor unit toward the outside of the vehicle are reflected by an object outside the vehicle in the direction of travel of the electromagnetic waves and then pass through the transmission area, the electromagnetic waves can be received by the sensor unit, and the object can be detected from a signal related to the electromagnetic waves. Furthermore, in this vehicle sensor device, the control unit sets the heater drive period and the heater power amount during the drive period based on the intensity of the electromagnetic waves. The heater power amount is calculated by multiplying the heater power by the heater drive period. Furthermore, the power is calculated from the voltage applied to the heater and the heater resistance, which is a fixed value. The control unit applies a voltage corresponding to the set power amount to the heater during the set drive period. Generally, when the heater is ON, deposits tend to adhere to the transmission area. Furthermore, when the heater is ON, deposits tend to melt and decrease over time because they are warmed by the heat from the heater. The intensity of the electromagnetic waves received by the sensor unit tends to decrease as the amount of attachment decreases because the electromagnetic waves reflected by the attachment decreases. In the vehicle sensor device, the heater drive period and the amount of power supplied to the heater are set based on the intensity as described above, so the burden on the control unit can be reduced compared to when the amount of power supplied to the heater is constantly controlled based on the intensity each time the intensity changes.

[0026] Generally, the strength of the electromagnetic waves received by the sensor unit tends to increase when dust or water droplets are attached to the transmission area, compared to when ice or snow is attached to the transmission area. The more the attachments, the higher the strength, and the more power is required to remove the attachments. In the vehicle sensor device, the amount of power is set based on the strength, preventing the amount of power from being set too low or too high for the amount of attachments, and the attachments can be appropriately removed with the amount of power according to the strength.

[0027] In the sensor device for a vehicle according to the second aspect, the control unit may abruptly increase the voltage applied to the heater.

[0028] When deposits are present, the more abrupt the voltage rise, the greater the temperature rise of the heat from the heater in a short period of time, and the deposits can be heated and melted more quickly.

[0029] Alternatively, in the sensor device for a vehicle according to the second aspect, the control unit may increase the voltage applied to the heater in a stepwise manner.

[0030] With the above configuration, the control unit controls the heater at the timing when the voltage is increased in stages, which reduces the burden on the control unit compared to when the voltage is not increased in stages.

[0031] Alternatively, in the sensor device for a vehicle according to the second aspect, the control unit may gradually increase the voltage applied to the heater.

[0032] With the above configuration, sudden temperature changes in the outer cover can be suppressed, and thermal shock to the outer cover due to sudden temperature changes can be suppressed.

[0033] In the vehicle sensor device of the second aspect, the control unit may abruptly decrease the voltage after the voltage has increased.

[0034] This configuration can reduce unnecessary power consumption by the heater compared to when the voltage does not drop sharply. Furthermore, even if the voltage drops, residual heat can remain in the outer cover, so that any deposits remaining on the outer cover can be removed by the residual heat.

[0035] Alternatively, in the vehicle sensor device of the second aspect, the control unit may decrease the voltage in a stepwise manner after the voltage has increased.

[0036] With the above configuration, the control unit controls the heater at the timing when the voltage is gradually reduced. This reduces the burden on the control unit compared to when the voltage is not gradually reduced. Also, compared to when the voltage is not gradually reduced but is reduced abruptly, the time required to heat the outer cover at a high temperature may be longer, which may make it easier for deposits to melt.

[0037] Alternatively, in the vehicle sensor device of the second aspect, the control unit may gradually decrease the voltage after the voltage has increased.

[0038] With the above configuration, sudden temperature changes in the outer cover can be suppressed compared to when the voltage does not decrease gradually, and thermal shock to the outer cover due to sudden temperature changes can be suppressed.

[0039] In addition, in the second aspect of the vehicle sensor device, the control unit may increase the voltage applied to the heater when a signal output from a temperature sensor that measures the temperature outside the vehicle indicates a temperature lower than a predetermined temperature.

[0040] When the temperature outside the vehicle is below a predetermined temperature, such as the temperature of attached matter or the temperature at which water freezes, attached matter is more likely to freeze and less likely to melt than when the temperature outside the vehicle is above the predetermined temperature. With the above-described configuration, the vehicle sensor device can melt and remove attached matter more quickly than when the voltage does not increase.

[0041] A vehicle sensor device according to a third aspect of the present invention includes an outer cover, a sensor unit that is disposed inside the outer cover of the vehicle and transmits and receives electromagnetic waves via the outer cover and outputs a signal indicating the intensity of the electromagnetic waves incident on the inside of the outer cover, a heater that is provided on the outer cover and heats a transmission area of ​​the outer cover through which the electromagnetic waves emitted from the sensor unit pass, a cleaner that sprays at least one of a liquid and a gas from outside the vehicle through the outer cover toward the transmission area, and a control unit, wherein the control unit, when the intensity indicated by the signal is within a predetermined range, The heater and the cleaner are controlled so that the heater is operated for at least a part of the predetermined period, and when the intensity indicated by the signal is in a specific range different from the predetermined range, the cleaner is operated for at least a part of the predetermined period, and a combination of the operation of the heater and the operation of the cleaner with the passage of time in the predetermined period when the intensity indicated by the signal is in the specific range is different from a combination of the operation of the heater and the operation of the cleaner with the passage of time in the predetermined period when the intensity indicated by the signal is in the predetermined range.

[0042] In the vehicle sensor device of the third aspect, when electromagnetic waves emitted from the sensor unit toward the outside of the vehicle are reflected by an object outside the vehicle in the direction of propagation of the electromagnetic waves and then pass through the transmission area, the electromagnetic waves can be received by the sensor unit, and the object can be detected from a signal related to the electromagnetic waves. Furthermore, in this vehicle sensor device, the electromagnetic waves from the sensor unit propagate toward the outside of the vehicle through the outer cover, and a portion of the electromagnetic waves is reflected by the outer cover and received by the sensor unit. Furthermore, if there is an attachment in the transmission area of ​​the outer cover, another portion of the electromagnetic waves is reflected by the attachment and received by the sensor unit. Therefore, when there is an attachment in the transmission area of ​​the outer cover, the intensity of the electromagnetic waves received by the sensor unit tends to be higher than when there is no attachment on the outer cover. Furthermore, when there is an attachment in the transmission area, the intensity of the electromagnetic waves received by the sensor unit tends to vary depending on the attachment. Generally, the intensity of the electromagnetic waves received by the sensor unit when dirt such as mud is attached to the transmission area tends to be higher than the intensity of the electromagnetic waves received by the sensor unit when ice or snow is attached to the transmission area. Therefore, this vehicle sensor device can change the combination of heater operation and cleaner operation over a predetermined period of time depending on the type of adhesion. For example, this vehicle sensor device can melt and remove ice or snow attached to the outer cover by heating the outer cover with the heater, or remove dirt such as mud attached to the outer cover with a liquid or gas sprayed from the cleaner. Therefore, this vehicle sensor device can appropriately remove adhesions and suppress a decrease in object detection accuracy compared to when the combination of heater operation and cleaner operation over a predetermined period of time does not change depending on the intensity of the electromagnetic waves indicated by the signal from the sensor unit.

[0043] In addition, in a third aspect of the vehicle sensor device, the specific range may include at least one of a first range in which the intensity indicated by the signal is greater than or equal to a first threshold and less than a second threshold that is greater than the first threshold, and a third range in which the intensity indicated by the signal is greater than or equal to a third threshold that is greater than the second threshold, and the predetermined range may be a second range in which the intensity indicated by the signal is greater than or equal to the second threshold and less than the third threshold.

[0044] As described above, the intensity of the electromagnetic waves received by the sensor unit when dirt such as mud is attached to the transparent area of ​​the outer cover tends to be higher than the intensity of the electromagnetic waves received by the sensor unit when ice or snow is attached to the transparent area. Furthermore, the intensity of the electromagnetic waves received by the sensor unit when ice or snow is attached to the transparent area tends to be higher than the intensity of the electromagnetic waves received by the sensor unit when dust or water droplets are attached to the transparent area. Therefore, the first threshold, the second threshold, and the third threshold can be set so that the signal intensity when dust or water droplets are attached falls within the first range, the signal intensity when ice or snow is attached falls within the second range, and the signal intensity when dirt such as mud is attached falls within the third range. Furthermore, in this vehicle sensor device, at least the cleaner is activated when the signal intensity is within at least one of the first and third ranges. Furthermore, at least the heater is activated when the signal intensity is within the second range. Therefore, with this vehicle sensor device, for example, dust and water droplets adhering to the outer cover can be removed using liquid or gas from the cleaner, ice and snow adhering to the outer cover can be melted and removed by heating the outer cover with a heater, and dirt such as mud adhering to the outer cover can be removed using liquid or gas from the cleaner.

[0045] In this case, in the vehicle sensor device of the third aspect, the control unit may be configured to control the heater and the cleaner so that, when the intensity indicated by the signal is within the second range, the timing at which the cleaner starts to operate is later than the timing at which the heater starts to operate.

[0046] In the vehicle sensor device of the third aspect, when the signal intensity is within the second range, the outer cover is heated and then at least one of a liquid and a gas is sprayed toward the outer cover. Therefore, when ice and snow adhere to the outer cover, this vehicle sensor device can spray at least one of a liquid and a gas toward the ice and snow after heating the outer cover to create a state in which water is present at least partially between the ice and snow and the outer cover. When water is present at least partially between the ice and snow and the outer cover, the adhesion of the ice and snow to the outer cover tends to be weaker than when no water is present between the ice and snow and the outer cover. Therefore, this vehicle sensor device can more easily remove the ice and snow than when the outer cover is not heated before spraying the liquid or gas toward the outer cover.

[0047] In this case, in the vehicle sensor device of the third aspect, the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is in the second range, the timing at which the cleaner starts to operate is later than the timing at which the heater starts to operate, and there is a period of time during which the heater is operating after the timing at which the cleaner stops to operate.

[0048] In the vehicle sensor device of the third aspect, the outer cover is heated even after the cleaner has stopped operating. This prevents liquid adhering to the outer cover after the liquid or gas spray onto the outer cover has stopped, such as liquid from the cleaner, from freezing, or vaporizes and removes the liquid. This vehicle sensor device can therefore prevent a decrease in object detection accuracy compared to when the outer cover is not heated after the cleaner has stopped operating.

[0049] Alternatively, in a third aspect of the vehicle sensor device, when the specific range includes at least one of the first range and the third range, and the predetermined range is the second range, the cleaner can spray the liquid and the gas separately, and the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is in the second range, the timing at which the cleaner starts spraying the liquid is after the timing at which the heater starts driving, there is a period in which the heater is driven after the timing at which the cleaner stops spraying the liquid, and the timing at which the cleaner starts spraying the gas is after the timing at which the cleaner stops spraying the liquid.

[0050] In the vehicle sensor device of the third aspect, liquid is sprayed toward the outer cover after the outer cover is heated, making it easy to remove ice and snow. Furthermore, the outer cover is heated even after the spraying of liquid from the cleaner has finished. This prevents liquid adhering to the outer cover after the spraying of liquid onto the outer cover has finished, such as liquid from the cleaner, from freezing, or vaporizes and removes this liquid. Furthermore, gas is sprayed toward the outer cover after the spraying of liquid from the cleaner has finished. This allows liquid adhering to the outer cover after the spraying of liquid onto the outer cover has finished to be removed by the gas from the cleaner.

[0051] In addition, in a third aspect of the vehicle sensor device, when the specific range includes at least one of the first range and the third range and the predetermined range is the second range, the cleaner is capable of injecting at least the liquid, the specific range includes at least the third range, and the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is in the third range, there is a period in which the heater is operating after the timing at which the cleaner finishes injecting the liquid.

[0052] In the vehicle sensor device of the third aspect, the outer cover is heated after the liquid spray onto the outer cover is completed, which makes it possible to prevent the liquid adhering to the outer cover after the liquid spray onto the outer cover is completed, such as the liquid from a cleaner, from freezing, or to vaporize and remove the liquid.

[0053] In this case, in the vehicle sensor device of the third aspect, the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is within the third range, the timing at which the cleaner starts spraying the liquid comes before the timing at which the heater starts driving, and there is a period of time in which the heater is driving after the timing at which the cleaner stops spraying the liquid.

[0054] In the vehicle sensor device of the third aspect, the outer cover is not heated before the liquid is sprayed toward the outer cover. Here, when the outer cover is heated and the moisture content of dirt such as mud adhering to the outer cover decreases, the adhesion of the dirt to the outer cover tends to increase. Therefore, this vehicle sensor device can more easily remove dirt such as mud than when the liquid is sprayed toward the outer cover after the outer cover is heated.

[0055] Alternatively, in a third aspect of the vehicle sensor device, when the specific range includes at least one of the first range and the third range and the predetermined range is the second range, the cleaner can spray the liquid and the gas separately, the specific range includes at least the third range, and the control unit may control the heater and the cleaner so that when the intensity indicated by the signal is in the third range, the timing at which the cleaner starts spraying the gas is after the timing at which the cleaner stops spraying the liquid.

[0056] In the vehicle sensor device of the third aspect, gas is sprayed toward the outer cover after the spraying of liquid from the cleaner has finished, so that the liquid adhering to the outer cover after the spraying of liquid onto the outer cover has finished can be removed by the gas from the cleaner.

[0057] In this case, in the vehicle sensor device of the third aspect, the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is in the third range, there is a period in which the heater is operated after the timing at which the cleaner stops spraying the liquid, and the timing at which the cleaner starts spraying the gas is after the timing at which the cleaner stops spraying the liquid.

[0058] In the vehicle sensor device of the third aspect, the outer cover is heated after the liquid spray onto the outer cover is completed, which makes it possible to prevent the liquid adhering to the outer cover from freezing after the liquid spray onto the outer cover is completed, or to vaporize and remove the liquid.

[0059] In this case, in the vehicle sensor device of the third aspect, the control unit may control the heater and the cleaner so that, when the intensity indicated by the signal is in the third range, the timing at which the cleaner starts to inject the liquid is before the timing at which the heater starts to operate, there is a period in which the heater is operated after the timing at which the cleaner stops injecting the liquid, and the timing at which the cleaner starts to inject the gas is after the timing at which the cleaner stops injecting the liquid.

[0060] In the vehicle sensor device of the third aspect, the outer cover is not heated before the liquid is sprayed onto the outer cover, which makes it possible to prevent the moisture in the mud adhering to the outer cover from decreasing before the liquid is sprayed onto the outer cover, and makes it easy to remove the mud.

[0061] In addition, in a third aspect of the vehicle sensor device, when the specific range includes at least one of the first range and the third range described above and the predetermined range is the second range described above, the cleaner can inject at least the gas, the specific range includes at least the first range, and the control unit may control the heater and the cleaner so that the cleaner injects at least the gas when the intensity indicated by the signal is in the first range.

[0062] According to the sensor device for a vehicle of the third aspect, for example, dust and water droplets adhering to the outer cover can be removed by gas from the cleaner.

[0063] In addition, in the vehicle sensor device of the third aspect, the control unit may control the heater and the cleaner so that the timing of starting operation of the cleaner is later than the timing of starting operation of the heater when the temperature indicated by the signal output from a temperature sensor that measures the temperature outside the vehicle is below a predetermined temperature and the intensity indicated by the signal output from the sensor unit is within the specific range, and may control the heater and the cleaner so that only the cleaner is operated when the temperature indicated by the signal output from the temperature sensor exceeds the predetermined temperature and the intensity indicated by the signal output from the sensor unit is within the specific range.

[0064] When the temperature outside the vehicle exceeds a temperature at which water freezes, mud, dust, and the like that adhere to the outer cover tend to freeze as water in the mud or as ice adhering to the dust. In this vehicle sensor device, by setting the predetermined temperature to, for example, a temperature at which water begins to freeze, if the temperature outside the vehicle is at a temperature at which water freezes and mud, dust, and the like adheres to the outer cover, the outer cover can be heated and then a liquid or gas can be sprayed toward the outer cover. Therefore, this vehicle sensor device can spray a liquid or gas after melting the water in the mud or melting the ice adhering to the dust, making it easier to remove the mud, dust, and the like. Furthermore, in this vehicle sensor device, for example, if the temperature outside the vehicle exceeds a temperature at which water freezes and mud, dust, and the like adheres to the outer cover, the heater can be turned off and only the cleaner can be activated. Therefore, this vehicle sensor device can remove mud, dust, and the like that adhere to the outer cover while reducing the frequency with which the heater is activated.

[0065] In this case, in the vehicle sensor device of the third aspect, the cleaner is capable of injecting at least the liquid, and when the temperature indicated by the signal output from the temperature sensor is below a predetermined temperature and the intensity indicated by the signal output from the sensor unit is within the specific range, the timing at which the cleaner starts injecting the liquid is after the timing at which the heater starts to be driven, and there is a period of time during which the heater is driven after the timing at which the cleaner stops injecting the liquid, the heater and the cleaner may be controlled.

[0066] When the temperature outside the vehicle is high enough to freeze water, the outer cover is heated even after the spray of the cleaner liquid has finished, which makes it possible to more appropriately prevent liquid adhering to the outer cover, such as the liquid from the cleaner, from freezing after the spray of the liquid has finished.

[0067] The cleaner may be capable of injecting at least the liquid, and the control unit may control the cleaner to terminate injection of the liquid when the intensity indicated by the signal output from the sensor unit during injection of the liquid becomes equal to or less than a first predetermined value that is smaller than the intensity at the start of injection of the liquid. The cleaner may be capable of injecting at least the gas, and the control unit may control the cleaner to terminate injection of the gas when the intensity indicated by the signal output from the sensor unit during injection of the gas becomes equal to or less than a second predetermined value that is smaller than the intensity at the start of injection of the gas. The control unit may also control the heater to terminate operation of the heater when the intensity indicated by the signal output from the sensor unit during operation of the heater becomes equal to or less than a third predetermined value that is smaller than the intensity at the start of operation of the heater.

[0068] With this configuration, for example, it is possible to suppress the spraying of liquid or gas by the cleaner and the driving of the heater when deposits on the outer cover have been removed.

[0069] A fourth aspect of the present invention provides a vehicle sensor device comprising an outer cover, a sensor unit arranged inside the vehicle relative to the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic waves incident on the inside of the outer cover, an electric heating wire provided on the outer cover, which heats a transparent area of ​​the outer cover through which the electromagnetic waves emitted from the sensor unit pass, and a control unit, wherein the control unit outputs a detection signal of an object located outside the outer cover at predetermined time intervals based on the signal from the sensor unit, and sets a first voltage applied to the electric heating wire during at least a portion of a transmission and reception period in which the electromagnetic waves used for the detection signal are transmitted and received by the sensor unit to a voltage lower than a second voltage applied to the electric heating wire during at least a portion of a period sandwiched between the transmission and reception periods.

[0070] It takes a certain amount of time for the control unit to process a signal input from the sensor unit. In this vehicle sensor device, the control unit outputs a detection signal at a predetermined time interval, so that the control unit can perform at least a portion of the processing of the signal input from the sensor unit during periods when the control unit is not outputting a detection signal. Since the control unit outputs the detection signal at a predetermined time interval, the electromagnetic waves used for the detection signal are periodically transmitted and received by the sensor unit. Therefore, the transmission and reception periods are periodic periods, for example, approximately at predetermined time intervals. However, during periods sandwiched between these transmission and reception periods, the sensor unit may or may not transmit and receive electromagnetic waves. For example, the sensor unit may continuously transmit and receive electromagnetic waves. In this case, not all of the electromagnetic waves received by the sensor unit are used for the detection signal, and the sensor unit alternately transmits and receives electromagnetic waves used for the detection signal and electromagnetic waves not used for the detection signal. In the vehicle sensor device of the present invention, the first voltage applied to the heating wire during at least a portion of the transmission and reception period is lower than the second voltage applied to the heating wire during at least a portion of the period sandwiched between the transmission and reception periods. Therefore, the strength of the magnetic field generated from the heating wire during the period when the first voltage is applied to the heating wire is lower than the strength of the magnetic field generated from the heating wire during the period when the second voltage is applied to the heating wire. Therefore, compared to when the second voltage is continuously applied to the heating wire, the magnetic field generated from the heating wire can be prevented from affecting the sensitivity of the sensor unit. Therefore, according to the present invention, a vehicle sensor device that can prevent a decrease in object detection accuracy is provided.

[0071] In the vehicle sensor device of the fourth aspect, it is preferable that the control unit applies the first voltage to the heating wire throughout the entire transmission / reception period.

[0072] In this case, the influence of the magnetic field generated from the heating wire on the sensitivity of the sensor unit can be reduced compared to when the voltage applied to the heating wire during part of the transmission / reception period is the first voltage and the voltage applied to the heating wire during another part of the transmission / reception period is the second voltage.

[0073] Furthermore, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit applies the first voltage to the heating wire during a period longer than the transmission / reception period.

[0074] In this case, the first voltage is applied to the heating wire at least at the start and end of the transmission / reception period, so that the influence of the magnetic field generated from the heating wire on the sensitivity of the sensor unit can be more appropriately suppressed.

[0075] In the sensor device for a vehicle according to the fourth aspect, it is preferable that the control unit sets the first voltage to zero.

[0076] In this case, no voltage is applied to the heating wire during at least a portion of the transmission / reception period, which further reduces the radiation of a magnetic field from the heating wire during at least a portion of the transmission / reception period, thereby further reducing the effect of the magnetic field generated by the heating wire on the sensitivity of the sensor unit.

[0077] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit makes the magnitude of the first voltage when the vehicle speed is greater than a predetermined speed smaller than the magnitude of the first voltage when the vehicle speed is less than or equal to the predetermined speed.

[0078] In addition, in the fourth aspect of the vehicle sensor device, it is preferable that the control unit makes the period during which the first voltage is applied when the vehicle speed is greater than a predetermined speed longer than the period during which the first voltage is applied when the vehicle speed is equal to or less than the predetermined speed.

[0079] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit reduces the magnitude of the first voltage when the distance of the object indicated by the detection signal is less than a predetermined distance, compared to the first voltage when the distance of the object indicated by the detection signal is greater than or equal to the predetermined distance.

[0080] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit applies the first voltage for a period when the distance of the object indicated by the detection signal is less than a predetermined distance, longer than the period when the first voltage is applied when the distance of the object indicated by the detection signal is equal to or greater than the predetermined distance.

[0081] In addition, in the fourth aspect of the vehicle sensor device, it is preferable that the control unit makes the magnitude of the first voltage when a signal indicating rain is input to the control unit smaller than the magnitude of the first voltage when the signal indicating rain is not input.

[0082] In addition, in the fourth aspect of the vehicle sensor device, it is preferable that the control unit applies the first voltage for a period when a signal indicating rain is input to the control unit, longer than the period when the first voltage is applied when the signal indicating rain is not input.

[0083] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit makes the magnitude of the first voltage when a signal indicating that the vehicle's headlights are on is input to the control unit smaller than the magnitude of the first voltage when the signal indicating that the vehicle's headlights are on is not input.

[0084] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit applies the first voltage for a period when a signal indicating that the vehicle's headlights are on is input to the control unit, longer than the period when the first voltage is applied when the signal indicating that the vehicle's headlights are on is not input to the control unit.

[0085] When the vehicle is traveling at a high speed, when the distance from the vehicle to an object is short, when it is raining, or when the headlights are on, information about the vehicle's surroundings needs to be obtained by means other than visual inspection. In these conditions, the vehicle sensor device can further suppress a decrease in object detection accuracy and contribute to safety by reducing the magnetic field generated from the heating wire by reducing the magnitude of the first voltage and lengthening the period during which the magnetic field generated from the heating wire is suppressed by extending the period during which the first voltage is applied.

[0086] In addition, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit stops outputting the detection signal and applies a voltage to the heating wire during at least a portion of the period when the vehicle is stopped, outputs the detection signal at the predetermined time interval during at least a portion of the period when the vehicle is running, and sets the first voltage applied to the heating wire during at least a portion of the transmission and reception period to a voltage lower than the second voltage applied to the heating wire during at least a portion of the period sandwiched between the transmission and reception periods.

[0087] When a vehicle is stopped, safety concerns tend to be lower than when the vehicle is moving. In particular, safety concerns are generally lower during the period from when the ignition is turned on until the vehicle starts moving. Therefore, by applying a voltage to the heating wire during at least a portion of the period when the vehicle is stopped, even if snow or the like is attached to the outer cover, prioritizing melting the snow or the like over detecting objects around the vehicle can be suppressed, thereby suppressing a decrease in the accuracy of object detection by the vehicle sensor device due to snow or the like after the vehicle starts moving. Furthermore, during at least a portion of the period when the vehicle is moving, the first voltage applied to the heating wire during at least a portion of the transmission / reception period is set to a voltage lower than the second voltage applied to the heating wire during at least a portion of the period sandwiched between the transmission / reception periods. Therefore, during at least the portion of the period when the vehicle is moving, the magnetic field generated by the heating wire can be suppressed from affecting the sensitivity of the sensor unit, thereby suppressing a decrease in the accuracy of object detection, compared to when the second voltage is continuously applied to the heating wire. [Brief explanation of the drawings]

[0088] [Figure 1] 1 is a diagram schematically illustrating a vehicle lamp including a vehicle sensor device according to a first embodiment of the present invention. [Figure 2] FIG. 3 is a diagram showing an example of a control flowchart of a control unit in the first embodiment. [Figure 3] 10 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to intensity in a first modified example of the first embodiment. [Figure 4] 10 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to intensity in a second modified example of the first embodiment. [Figure 5] 10 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to intensity in a third modified example of the first embodiment. [Figure 6] 10 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to the temperature of the transparent area of ​​the outer cover in a fourth modified example of the first embodiment. [Figure 7] 13 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to the temperature of the transparent area of ​​the outer cover in the fifth modified example of the first embodiment. [Figure 8] 13 is a timing chart relating to ON / OFF of a heater and output / stop of a detection signal according to the temperature of the transparent area of ​​the outer cover in the sixth modified example of the first embodiment. [Figure 9] 13 is a timing chart relating to ON / OFF of the light source unit and the heater, and output / stop of the detection signal in the seventh modified example of the first embodiment. [Figure 10] 13 is a timing chart relating to ON / OFF of the heater and output / stop of the detection signal according to the vehicle speed in the eighth modified example of the first embodiment. [Figure 11] FIG. 10 is a diagram showing an example of a control flowchart of a control unit in a second embodiment as a second aspect of the present invention. [Figure 12] 10 is a diagram showing an example of a table showing the relationship between the range of radio wave intensity indicated by a signal from a sensor unit, the driving period, and the voltage. FIG. [Figure 13] 10 is a flowchart showing a process for setting a heater driving period and an amount of power to the heater based on the intensity of a radio wave indicated by a signal from a sensor unit. [Figure 14] 10 is a timing chart relating to a driving period and voltage in the second embodiment. [Figure 15] 10 is a timing chart relating to a driving period and voltage in a first modified example of the second embodiment. [Figure 16] 10 is a timing chart relating to a driving period and voltage in a second modified example of the second embodiment. [Figure 17] FIG. 10 is a diagram showing an example of a control flowchart of a control unit in a third embodiment as a third aspect of the present invention. [Figure 18] 10 is a timing chart schematically showing a modified example of the second operation of the third embodiment. [Figure 19] 10 is a timing chart schematically showing a first modified example of the third operation of the third embodiment. [Figure 20] 10 is a timing chart schematically showing a second modified example of the third operation of the third embodiment. [Figure 21] 10 is a timing chart schematically showing a third modified example of the third operation of the third embodiment. [Figure 22] 11 is a timing chart schematically showing a first modified example of the first operation of the third embodiment. [Figure 23] 10 is a timing chart schematically showing a second modified example of the first operation of the third embodiment. [Figure 24] FIG. 10 is a diagram showing an example of a control flowchart of a control unit in a fourth embodiment as a third aspect of the present invention. [Figure 25] 10 is a flowchart showing the operation of a control unit in a fifth embodiment as a fourth aspect of the present invention. [Figure 26]26 is a timing chart showing the relationship between the electromagnetic waves transmitted and received by the sensor unit, the detection signal output by the control unit, and the operation of the heater in step SP65 of FIG. 25. [Figure 27] FIG. 13 is a diagram illustrating the operation of a heater in Modification 1 of the fifth embodiment. [Figure 28] FIG. 13 is a diagram illustrating the operation of a heater in Modification 2 of the fifth embodiment. [Figure 29] FIG. 13 is a diagram illustrating the operation of a heater in Modification 3 of the fifth embodiment. [Figure 30] 13 is a flowchart showing the operation of the control unit in step SP65 in the fourth to seventh modifications of the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0089] Preferred embodiments of a vehicle sensor device according to the present invention will be described in detail below with reference to the drawings. The embodiments exemplified below are intended to facilitate understanding of the present invention and are not intended to limit the scope of the present invention. The present invention can be modified and improved without departing from the spirit and scope of the present invention. In the drawings referred to below, the dimensions of each component may be changed to facilitate understanding.

[0090] (First embodiment) A first embodiment as a first aspect of the present invention will be described. FIG. 1 is a diagram schematically showing a vehicle lamp including a vehicle sensor device according to the first embodiment of the present invention. The vehicle lamp VL of this embodiment is a headlamp for an automobile. Automotive headlamps are generally provided one on each side of the front of the vehicle in the left and right directions, with the left and right headlamps being configured approximately symmetrically in the left-right direction. Therefore, only one of the headlamps will be described. As shown in FIG. 1, the vehicle lamp VL of this embodiment, which is a headlamp, mainly comprises a vehicle sensor device 1 and a lamp unit LU.

[0091] The vehicle sensor device 1 of this embodiment mainly comprises a housing 10, a sensor unit 20, a heater 30, a cleaner 40, and a control unit CO. In Fig. 1, the housing 10 is shown in vertical cross section.

[0092] The housing 10 of this embodiment mainly comprises a housing 11 and an outer cover 12. The housing 11 and the outer cover 12 are made of, for example, different types of resin. The outer cover 12 is made of a material that transmits light emitted from the lamp unit LU and electromagnetic waves emitted from the sensor section 20. The housing 11 is configured in a box shape with an opening at the front, and the outer cover 12 is fixed to the housing 11 so as to close the opening. The housing 10 defines an accommodation space 13 surrounded by the housing 11 and the outer cover 12, and the sensor section 20 and the lamp unit LU are disposed in the accommodation space 13. Most of the outer surface 12o of the outer cover 12 is exposed to the outside of the vehicle VE and is part of the exterior surface of the vehicle VE.

[0093] The control unit CO is composed of, for example, an integrated circuit such as a microcontroller, an integrated circuit (IC), a large-scale integrated circuit (LSI), or an application specific integrated circuit (ASIC), or an NC (Numerical Control) device. Furthermore, when an NC device is used as the control unit CO, the control unit CO may or may not use a machine learning device. As will be described below, some components of the vehicle sensor device 1 and the lighting unit LU are controlled by the control unit CO.

[0094] An ECU (Electronic Control Unit) 100 of the vehicle VE is connected to the control unit CO. In this embodiment, a signal indicating the speed of the vehicle VE and a signal indicating the gear position are input from the ECU 100 to the control unit CO. The signal indicating the speed of the vehicle VE may be input to the control unit CO from a speed sensor provided in the vehicle VE without passing through the ECU 100. In addition, the signal indicating the gear position may also be input to the control unit CO from a sensor (not shown) that detects the gear position without passing through the ECU 100.

[0095] A temperature sensor 50 that measures the temperature outside the vehicle VE is also connected to the control unit CO, and the temperature sensor 50 outputs a signal indicating the measured temperature to the control unit CO. An example of the temperature sensor 50 is one that uses a thermistor. In this embodiment, the temperature sensor 50 is attached to, for example, the front bumper of the vehicle VE. The configuration and attachment position of the temperature sensor 50 are not particularly limited. Therefore, the signal indicating the temperature to be input to the control unit CO may be input to the control unit CO from the ECU 100.

[0096] A rain sensor 51 that detects rainfall is also connected to the control unit CO, and the rain sensor 51 outputs a signal indicating the measured rainfall to the control unit CO. Examples of the rain sensor 51 include a type that detects rainfall by detecting the amount of wetness on the rain sensor 51 through infrared transmission and reception, and a type that detects rainfall by detecting the amount of wetness on the windshield. In this embodiment, the rain sensor 51 is attached, for example, near the windshield of the vehicle VE. Note that the configuration and attachment position of the rain sensor 51 are not particularly limited. Therefore, the signal indicating rainfall input to the control unit CO may be input to the control unit CO from the ECU 100.

[0097] The control unit CO is also connected to a storage unit 52 that stores a table, which will be described later. The storage unit 52 is, for example, a non-transitory storage medium, and is preferably a semiconductor storage medium such as a random access memory (RAM) or a read-only memory (ROM), but may include any type of storage medium, such as an optical storage medium or a magnetic storage medium. Note that "non-transitory" storage medium includes all computer-readable storage media except for transient, propagating signals, and does not exclude volatile storage media. The storage unit 52 may be provided inside the control unit CO.

[0098] The sensor unit 20 is a transmitting / receiving unit that transmits and receives electromagnetic waves via the outer cover 12. The sensor unit 20 mainly comprises a housing 21 having an accommodation space, a transmitting unit 25, and a receiving unit 26. In this embodiment, radio waves are used as the electromagnetic waves, and the radio waves are millimeter waves.

[0099] The transmitter 25 is disposed in the housing 21 and emits radio waves EW1. The frequency of the radio waves EW1 is, for example, 30 GHz or more and 300 GHz or less. The radio waves EW1 propagate from the electromagnetic wave-transmitting portion 22 of the housing 21 facing the outer cover 12 toward the outer cover 12, pass through the outer cover 12, and are emitted forward of the vehicle VE. In this embodiment, the transmitter 25 is configured to emit radio waves from the electromagnetic wave-transmitting portion 22 that spread at a predetermined angle in the left-right direction of the vehicle VE and to change the frequency of the radio waves. The transmitter 25 includes an antenna (not shown). The transmitter 25 emits radio waves whose intensity is generally constant and whose frequency changes so that it repeatedly increases and decreases at a predetermined cycle in response to a control signal from the control unit CO. When the transmitter 25 emits the radio waves EW1, it outputs a signal related to the radio waves EW1 to the control unit CO. This signal may include information about the intensity and phase of the radio waves EW1.

[0100] The receiving unit 26 is disposed in the accommodation space of the housing 21 and includes a plurality of antennas (not shown). These multiple antennas are aligned, for example, in the left-right direction of the vehicle VE. A portion of the radio waves EW2 that pass through the outer cover 12 from outside the vehicle VE and enter the accommodation space 13 is received by the antenna of the receiving unit 26 via the electromagnetic wave transmitting portion 22. When each antenna receives the radio waves EW2 that enter the electromagnetic wave transmitting portion 22, the receiving unit 26 outputs a signal Se related to the radio waves EW2 to the control unit CO. This signal Se may include information about the intensity and phase of the radio waves EW2.

[0101] When an object, such as a preceding vehicle or a person, is located ahead of the vehicle VE, a portion of the radio waves EW1 transmitted from the transmitter 25 is reflected by the object. A portion of the radio waves reflected by the object passes through the outer cover 12, enters the accommodation space 13, and is received by the receiver 26 of the sensor unit 20. The control unit CO of this embodiment detects an object located ahead of the vehicle VE based on a signal Se related to the radio waves EW2 input from the receiver 26 of the sensor unit 20 and a signal related to the radio waves EW1 input from the transmitter 25 of the sensor unit 20, and outputs a detection signal Sd of the object. Therefore, the detection signal Sd is generated based on the signals from the transmitter 25 and the receiver 26. Each of the signals from the transmitter 25 and the receiver 26 is a signal related to the electromagnetic waves from the sensor unit 20. Based on these signals, the control unit CO detects an object located ahead of the vehicle VE, calculates the direction of the object relative to the vehicle VE, and calculates the distance from the vehicle VE to the object, using, for example, an FMCW (Frequency Modulated Continuous Wave) method. The detection signal Sd may include information related to the object, such as the presence or absence of the object, its direction, distance, etc. The detection signal Sd output from the control unit CO is input to, for example, the ECU 100. The ECU 100 assists the vehicle VE in traveling based on the detection signal Sd.

[0102] The sensor unit 20 is not particularly limited in configuration as long as it transmits and receives electromagnetic waves via the outer cover 12 and outputs signals related to the electromagnetic waves. For example, the transmitter 25 may be configured to repeatedly emit pulsed radio waves. In this case, the control unit CO detects objects and calculates the distance to the objects, for example, using a Time of Flight (ToF) method. The sensor unit 20 may also include a detector disposed within the housing 21, which detects objects located in front of the vehicle VE based on a signal input from the transmitter 25 and a signal Se input from the receiver 26. In this case, the detector outputs a signal indicating the intensity of the received electromagnetic waves along with information related to the object to the control unit CO. The control unit CO then inputs a detection signal Sd to the ECU 100 based on the signal. An example of the configuration of such a detector is the same as that of the control unit CO. The sensor unit 20 may also be a LiDAR (Light Detection and Ranging) device that emits and receives laser light as electromagnetic waves. The electromagnetic waves transmitted and received by the sensor unit 20 may be infrared or ultraviolet. That is, the signal Se includes not only a signal related to radio waves as described above, but also a signal related to electromagnetic waves received by the sensor unit 20.

[0103] As shown in FIG. 1 , the heater 30 of this embodiment mainly comprises a heating wire 31 and a power supply circuit 32. The heating wire 31 is provided on an inner surface 12i of the outer cover 12, which is the surface facing the sensor unit 20, and is connected to the power supply circuit 32 via a connector 33. The heating wire 31 is not particularly limited as long as it generates heat when a current flows through it, and may be made of a conductive paste, a metal wire, or the like. The power supply circuit 32 applies a voltage to the heating wire 31 in response to a control signal from the control unit CO. When a current flows through the heating wire 31 due to the application of the voltage, the heating wire 31 generates heat, thereby heating the outer cover 12. The heating wire 31 is provided on the outer cover 12 such that a transmission area AR, through which radio waves EW1 emitted from the sensor unit 20 pass, is heated by the heat generated by the heating wire 31 on the outer surface 12o, which is the surface of the outer cover 12 opposite the sensor unit 20 side. In this embodiment, the transmission area AR overlaps a portion of the heating wire 31 in the propagation direction of the radio waves EW1. The heating wire 31 generates heat at a level that prevents the outer cover 12 from being deformed or burned due to heat. While the transmission area AR is described herein as a region through which the radio waves EW1 pass, as described above, the sensor unit 20 also includes a configuration in which it transmits and receives laser light as electromagnetic waves. Therefore, the transmission area AR is a region through which the electromagnetic waves emitted from the sensor unit 20 pass. The heater 30 may include a heating element made of conductive paste instead of the heating wire 31, and the heating element may be attached to the inner surface 12i. The heater 30 may also be configured to blow heated air onto the inner surface 12i. In this case, the heater 30 includes a heat source that heats the air and a motor that rotates a fan that blows the heated air. In this case, the driving period of the heater 30 refers to the driving period of the heat source and the motor, the power amount of the heater 30 refers to the power amount of the heat source and the motor, the voltage applied to the heater 30 refers to the voltage applied to the heat source and the motor, and the resistance of the heater 30 refers to the resistance of the heat source and the motor.

[0104] Furthermore, the heating wire 31 only needs to be able to heat the transparent area AR, and for example, the transparent area AR and the heating wire 31 do not need to overlap in the propagation direction of the radio waves EW1, and may be attached to the outer surface 12o or inside the outer cover 12.

[0105] The cleaner 40 is configured to spray at least one of a liquid and a gas toward the transmission area AR of the outer surface 12o from outside the vehicle VE via the outer cover 12. The vehicle sensor device 1 can remove deposits adhering to the transmission area AR by the liquid or gas sprayed from the cleaner 40. In this embodiment, the cleaner 40 is configured to be able to spray the liquid and the gas separately toward the transmission area AR, and has a liquid unit 41 that sprays the liquid toward the transmission area AR, and a gas unit 45 that sprays the gas toward the transmission area AR.

[0106] A support base 15 extending forward and rearward is attached to the front end of the lower part of the housing 11. The front end of the support base 15 is located forward of the outer cover 12. The liquid unit 41 of this embodiment mainly comprises a tank 41a for storing liquid, a pump 41b, and a spray nozzle 41c. A pipe 42a connected to the tank 41a and a pipe 42b connected to the spray nozzle 41c are connected to the pump 41b. The pump 41b pumps the liquid in the tank 41a to the spray nozzle 41c. The pump 41b adjusts the amount of liquid pumped to the spray nozzle 41c or stops pumping the liquid in response to a control signal from the control unit CO. The spray nozzle 41c is attached to a portion of the support base 15 located forward of the outer cover 12 so that the liquid pumped from the tank 41a is sprayed toward the transmission area AR. The spray nozzle 41c is also located below the transmission area AR. Therefore, when the pump 41b pressure-feeds the liquid to the spray nozzle 41c, the liquid is sprayed from below toward the transparent area AR. Examples of the liquid stored in the tank 41a include water and windshield washer fluid. If the liquid is windshield washer fluid, the tank 41a may be a windshield washer tank provided in the vehicle VE. The configuration of the liquid unit 41 is not particularly limited as long as it can spray the liquid toward the transparent area AR from outside the vehicle VE via the outer cover 12. The spray nozzle 41c is preferably configured to spray the liquid onto the entire transparent area AR, but may also be configured to spray the liquid onto a portion of the transparent area AR. The spray nozzle 41c may also be configured to be provided above the transparent area AR and to spray the liquid toward the transparent area AR from above. The liquid unit 41 may also be configured to spray a mist of liquid toward the transparent area AR. The liquid unit 41 may also be configured to include a heater that heats the liquid to be sprayed and to spray liquid at a predetermined temperature, for example, 50°C or higher, toward the transparent area AR.

[0107] The gas unit 45 of this embodiment mainly comprises a tank 45a that stores gas at a pressure higher than atmospheric pressure, a valve 45b, and an injection nozzle 45c. A pipe 46a that connects to the tank 45a and a pipe 46b that connects to the injection nozzle 45c are connected to the valve 45b. When the valve 45b is opened, the gas in the tank 41a is pressure-fed to the injection nozzle 45c. The valve 45b adjusts the opening / closing degree of the valve 45b based on a control signal from the control unit CO. The injection nozzle 45c is attached to a portion of the support base 15 located forward of the outer cover 12 so that the gas pressure-fed from the tank 45a is injected toward the transmission area AR. The injection nozzle 45c is located below the transmission area AR. Therefore, when the valve 45b is opened, the gas is injected from below toward the transmission area AR. Examples of the gas stored in the tank 41a include air. If the gas is air, a compressor may be connected to the tank 41a, and the compressor may maintain the pressure of the air in the tank 41a within a predetermined range. The gas unit 45 is not particularly limited in configuration as long as it can inject gas toward the transparent region AR from outside the vehicle VE via the outer cover 12. The injection nozzle 45c is preferably configured to inject gas onto the entire transparent region AR, but may also be configured to inject gas onto a portion of the transparent region AR. The injection nozzle 45c may also be configured to be provided above the transparent region AR and to inject gas toward the transparent region AR from above. The gas unit 45 may further include a heater that heats the gas to be injected, and may be configured to inject gas at a predetermined temperature, for example, 50°C or higher, toward the transparent region AR.

[0108] The lamp unit LU of this embodiment is configured to emit light L in a predetermined light distribution pattern forward. The light L emitted from the lamp unit LU is irradiated forward of the vehicle VE through the outer cover 12. In this embodiment, the lamp unit LU is configured to switch between emitting and not emitting the light L and to switch the light distribution pattern of the emitted light L between a low beam light distribution pattern and a high beam light distribution pattern in response to a control signal from the control unit CO. An example of such a lamp unit LU is a configuration including a light source unit in which a plurality of light-emitting elements are arranged in a matrix and a lens through which the light emitted from the light source unit passes. An example of this light source unit is an LED (Light Emitting Diode) array. The configuration of the lamp unit LU is not particularly limited. The lamp unit LU does not need to be able to change the light distribution pattern of the emitted light, and may be a parabolic lamp unit or a projector lamp unit. Furthermore, the lamp unit LU may be controlled by a control unit separate from the control unit CO.

[0109] Next, the operation of the vehicle sensor device 1 of this embodiment, specifically, the operation of controlling ON / OFF of the heater 30 and output / stop of the detection signal Sd, will be described. Fig. 2 is a diagram showing an example of a control flowchart of the control unit CO in this embodiment. As shown in Fig. 2, the control flow of this embodiment includes steps SP11 to SP13.

[0110] 2, the sensor unit 20 transmits and receives electromagnetic waves via the outer cover 12, and a signal related to the electromagnetic waves is input from the sensor unit 20 to the control unit CO. As described above, the signal is the signal from the transmitter 25 and the signal Se from the receiver 26. Also, in the start state, the control unit CO turns off the heater 30 and outputs a detection signal Sd.

[0111] (Step SP11) In this step, the control unit CO determines whether the intensity of the radio waves EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold value. As described above, the radio waves EW1 emitted from the sensor unit 20 propagate toward the outer cover 12. A portion of the radio waves EW1 passes through the outer cover 12 and irradiates the area ahead of the vehicle VE. Another portion of the radio waves EW1 is reflected by the outer cover 12 and received by the sensor unit 20 as the radio waves EW2. If there is an object attached to the transmission area AR, another portion of the radio waves EW1 is reflected by the object and received by the sensor unit 20 as the radio waves EW2. Therefore, if there is an object attached to the transmission area AR, the intensity of the radio waves EW2 received by the sensor unit 20 tends to be higher than when there is no object attached to the transmission area AR. Furthermore, the intensity of the radio waves EW2 received by the sensor unit 20 when there is an object attached to the transmission area AR tends to vary depending on the object. Generally, the intensity of the radio waves EW2 received by the sensor unit 20 tends to decrease in the following order: when ice and snow are attached to the transparent area AR; and when dust or water droplets are attached to the transparent area AR. In this embodiment, the first threshold is set to a value lower than the intensity of the radio waves EW2 received by the sensor unit 20 when a predetermined amount of dust or water droplets is attached to the transparent area AR. If the intensity of the radio waves EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold, the control unit CO advances the control flow to step SP12. On the other hand, if the intensity of the radio waves EW2 indicated by the signal Se is equal to or greater than the first threshold, the control unit CO advances the control flow to step SP13. In this way, the control unit CO distinguishes between cases depending on the signal Se input from the receiving unit 26 and changes the next step to proceed to.

[0112] (Step SP12) In this step, the control unit CO controls the heater 30 to be OFF and the sensor unit 20 to be ON, and outputs a detection signal Sd throughout the entire period during which the heater 30 is OFF. As a result, the heater 30 stops, the transmitter 25 emits radio waves EW1 toward the outside of the vehicle VE through the outer cover 12, and the receiver 26 receives, through the outer cover 12, radio waves EW2 that are reflected from an object on the path of the radio waves EW1. The transmitter 25 also outputs a signal related to the transmitted radio waves EW1 to the control unit CO, and the receiver 26 outputs a signal Se related to the received radio waves EW2 to the control unit CO. The control unit CO outputs a detection signal Sd generated based on the signal input from the transmitter 25 and the signal Se input from the receiver 26. Next, the control unit CO returns the control flow to step SP11.

[0113] (Step SP13) In this step, the control unit CO controls the heater 30 to be ON, controlling the sensor unit 20 to be ON, and also stops outputting the detection signal Sd throughout the entire period during which the heater 30 is ON. This drives the heater 30 to generate heat, which is transferred to the outer cover 12, warming the outer cover 12, including the transparent area AR, to a predetermined temperature. Any attachments adhering to the outer cover 12 begin to melt due to the heat from the outer cover 12. In this step, the transmitter 25 emits radio waves EW1 toward the outer cover 12, and the receiver 26 receives radio waves EW2, which are reflected from the attachments. Also, in this step, similar to step SP12, the transmitter 25 outputs a signal related to the radio waves EW1 to the control unit CO, and the receiver 26 outputs a signal Se related to the received radio waves EW2 to the control unit CO. Also, in this step, similar to step SP12, the control unit CO generates the detection signal Sd based on the signal input from the transmitter 25 and the signal Se input from the receiver 26. However, in this step, unlike step SP12, the control unit CO stops outputting the detection signal Sd. Therefore, in this step, the transmitter 25 and the receiver 26 are not stopped, but the control unit CO does not output the detection signal Sd. In this step, since the detection signal Sd is not output, power consumption due to the output of the detection signal Sd is reduced compared to when the detection signal Sd is output. Next, the control unit CO returns the control flow to step SP11. In this step, the control unit CO has stopped outputting the detection signal Sd, but is still receiving the signal Se from the receiver 26. Therefore, when the control flow returns from step SP13 to step SP11, in step SP11, the control unit CO determines, based on the intensity of the radio wave EW2 indicated by the signal Se, whether the intensity is less than the first threshold value.

[0114] As described in each step above, the control unit CO switches the heater 30 ON / OFF based on the strength of the radio wave EW2 indicated by the signal Se, and also stops outputting the detection signal Sd / switches the output of the detection signal Sd based on the ON / OFF switching of the heater 30.

[0115] In the vehicle sensor device of Patent Document 1, electromagnetic waves are emitted to detect objects even if there is an attachment on the cover. In this case, the electromagnetic waves may be blocked by the attachment, reducing the detection accuracy of the vehicle sensor device. If the detection accuracy is low, the information obtained by the detection is difficult to use, and the power used to output the information may be wasted.

[0116] Therefore, the vehicle sensor device 1 of this embodiment includes an outer cover 12, a sensor unit 20 that is disposed inside the outer cover 12 in the vehicle VE, transmits and receives electromagnetic waves via the outer cover 12, and outputs a signal related to the electromagnetic waves that enter the inside of the outer cover 12. The vehicle sensor device 1 also includes a heater 30 that is provided on the outer cover 12 and heats a transmission area AR in the outer cover 12 through which the electromagnetic waves emitted from the sensor unit 20 pass, and a control unit CO. The control unit CO outputs a detection signal Sd of an object located outside the outer cover 12 based on the signal related to the electromagnetic waves from the sensor unit 20 during all periods when the heater 30 is OFF, and stops outputting the detection signal Sd during all periods when the heater 30 is ON.

[0117] In this vehicle sensor device 1, when electromagnetic waves emitted from the sensor unit 20 toward the outside of the vehicle VE are reflected by an object outside the vehicle VE in the direction of propagation of the electromagnetic waves and then pass through the transmission area AR, the electromagnetic waves can be received by the sensor unit 20, and the object can be detected from a signal related to the electromagnetic waves. In the vehicle sensor device 1, the control unit CO outputs an object detection signal Sd based on the signal related to the electromagnetic waves from the sensor unit 20 while the heater 30 is OFF. Generally, when the heater 30 is OFF, there tends to be no attachments in the transmission area AR. In this case, interference with the propagation of the electromagnetic waves due to attachments is suppressed, and therefore a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Furthermore, generally, when the heater 30 is ON, there tends to be attachments in the transmission area AR. In this case, the propagation of the electromagnetic waves is obstructed by attachments, and therefore the detection accuracy of the vehicle sensor device 1 decreases. Therefore, the information obtained by detection is difficult to use, and the power used to output the detection signal Sd containing that information may be wasted. However, in the vehicle sensor device 1, the control unit CO stops outputting the detection signal Sd during the entire period when the heater 30 is ON. That is, the output of the detection signal Sd is stopped during the entire period when the deposits are being removed by the heat of the heater 30. This can reduce unnecessary consumption of power.

[0118] In step SP13, while the heater 30 is ON, the transmitter 25 of the sensor unit 20 emits radio waves EW1 as electromagnetic waves toward the outside of the vehicle VE via the outer cover 12.

[0119] In the above configuration, the transmitter 25 emits the radio waves EW1 during the period when the heater 30 is ON and during the period when the heater 30 is OFF, and does not stop or switch the emission of the radio waves EW1 in response to the ON / OFF switching of the heater 30. This reduces the burden on the transmitter 25 due to switching. Furthermore, while it generally takes time to start up the transmitter 25, in the above configuration, the transmitter 25 is always operating and emitting the radio waves EW1, so the time required for startup can be omitted. When this time is omitted, the detection signal Sd can be output earlier when the heater 30 is switched from ON to OFF than when the time is not omitted.

[0120] In step SP13, while the heater 30 is ON, the receiver 26 of the sensor unit 20 receives radio waves EW2 as electromagnetic waves incident from the outside of the vehicle VE through the outer cover 12 to the inside of the vehicle VE.

[0121] In the above configuration, the receiver 26 receives the radio waves EW2 during the period when the heater 30 is ON and during the period when the heater 30 is OFF, and does not stop or switch reception of the radio waves EW2 in response to switching the heater 30 ON / OFF. This reduces the burden on the receiver 26 due to switching. Furthermore, because the receiver 26 is always operating and receiving the radio waves EW2, the time required for startup can be eliminated. Eliminating this time allows the detection signal Sd to be output earlier, as described above.

[0122] Also, in step SP13, while the heater 30 is ON, the receiving unit 26 of the sensor unit 20 receives radio waves EW2 as electromagnetic waves incident from the outside of the vehicle VE through the outer cover 12 to the inside of the vehicle VE, and outputs a signal Se to the control unit CO.

[0123] In the above configuration, the receiver 26 outputs the signal Se to the controller CO during periods when the heater 30 is ON and periods when the heater 30 is OFF, and does not stop outputting the signal Se or switch the output of the signal Se in response to ON / OFF switching of the heater 30. This reduces the burden on the receiver 26 due to switching. Furthermore, because the receiver 26 is always operating and outputting the signal Se, the time required for startup can be eliminated. Eliminating this time allows the detection signal Sd to be output earlier, as described above.

[0124] In step SP13, the control unit CO only needs to stop outputting the detection signal Sd, and the operation of the sensor unit 20 and the control unit CO is not particularly limited. For example, in step SP13, the transmitter 25 may stop outputting the radio wave EW1, the transmitter 25 may stop outputting the signal related to the radio wave EW1 to the control unit CO, or the receiver 26 may stop outputting the signal Se related to the radio wave EW2 to the control unit CO. As a result, the detection signal Sd is not generated based on the signals from the transmitter 25 and the receiver 26, and output of the detection signal Sd is stopped. Because at least one of the transmitter 25 and the receiver 26 is turned OFF and output of the detection signal Sd is stopped, power consumption is reduced compared to when both the transmitter 25 and the receiver 26 are turned ON and output of the detection signal Sd is stopped. Note that when at least one of the transmitter 25 and the receiver 26 is turned OFF, both the transmitter 25 and the receiver 26 are controlled to be ON after a predetermined period has elapsed since the heater 30 was turned ON in step SP13. As a result, the transmitter 25 emits radio waves EW1 toward the outer cover 12, and the receiver 26 receives radio waves EW2 that are reflected from the emitted radio waves EW1. The transmitter 25 outputs a signal related to the transmitted radio waves EW1 to the control unit CO, and the receiver 26 outputs a signal related to the received radio waves EW2 to the control unit CO. The control unit CO outputs a detection signal Sd generated based on the signals input from the transmitter 25 and the receiver 26, and returns the control flow to step SP11.

[0125] In step SP12, the control unit CO may output the detection signal Sd during at least a portion of the predetermined period in which the heater 30 is OFF. Also, in step SP13, the control unit CO may stop outputting the detection signal Sd during at least a portion of the predetermined period in which the heater 30 is ON.

[0126] When returning the control flow from step SP13 to step SP11, the control unit CO may return the control flow to step SP11 after a predetermined period has elapsed since the heater 30 was turned on in step SP13. This increases the interval for determining the intensity in step SP11 compared to when the control flow returns from step SP13 to step SP11 before the predetermined period has elapsed, thereby reducing the burden on the control unit CO.

[0127] Next, a modification of this embodiment will be described.

[0128] The first modified example will be described with reference to Fig. 3. Fig. 3 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the intensity in this modified example.

[0129] The control unit CO stops outputting the detection signal Sd when the intensity is greater than the first threshold and equal to or greater than a second threshold indicating that the amount of adhesion of the foreign matter is greater than the first threshold during the period when the heater 30 is ON. Furthermore, the control unit CO outputs the detection signal Sd when the intensity is greater than the first threshold and less than the second threshold during the period when the heater 30 is ON. The intensity is the intensity of the radio wave EW2 as described in the first embodiment, and is indicated by the signal Se from the receiving unit 26 and changes depending on the amount of adhesion of the foreign matter adhering to the transmission area AR.

[0130] At time t11 shown in FIG. 3 , the intensity is less than the first threshold, and the control unit CO turns off the heater 30 and outputs a detection signal Sd. At time t12, after time t11, when a substance adheres to the transmission area AR, the intensity becomes equal to or greater than the first threshold. At time t12, a large amount of substance adheres, and the intensity becomes equal to or greater than the second threshold. In this case, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. As time passes from time t12, the substance generally melts due to the heat from the heater 30 and decreases over time. As the substance decreases, the reflection of electromagnetic waves from the substance decreases, and the intensity decreases. At time t13, after time t12, when the intensity becomes equal to or greater than the first threshold but less than the second threshold, the control unit CO leaves the heater 30 on and outputs the detection signal Sd. As time passes from time t13, the substance further decreases and the intensity further decreases. At time t14, which is later than time t13, when the intensity becomes less than the first threshold, the control unit CO switches the heater 30 OFF but continues to output the detection signal Sd. Note that the heater 30 may remain ON at time t14.

[0131] As described above, generally, when the heater 30 is ON, attachments tend to be attached to the transparent area AR. In the vehicle sensor device 1, when attachments adhere to the transparent area AR, part of the electromagnetic waves emitted from the sensor unit 20 are reflected by the attachments and received by the sensor unit 20. The intensity of the received electromagnetic waves tends to increase as the amount of attachment increases, because the electromagnetic waves reflected by the attachments increase. Generally, the intensity of the electromagnetic waves received by the sensor unit 20 tends to increase in the order of when dust or water droplets are attached to the transparent area AR and when ice or snow is attached to the transparent area AR. In this case, the first threshold value is set to a value lower than the intensity of the electromagnetic waves received by the sensor unit 20 when dust or water droplets are attached to the transparent area AR. Furthermore, the second threshold value is set to a value that is higher than the intensity of the electromagnetic waves received by the sensor unit 20 when a predetermined amount of dust or water droplets is attached to the transmission area AR, but lower than the intensity of the electromagnetic waves received by the sensor unit 20 when ice or snow is attached to the transmission area AR. When the intensity of the electromagnetic waves is equal to or greater than the second threshold value, the detection accuracy of the vehicle sensor device 1 decreases compared to when the intensity is equal to or greater than the first threshold value but less than the second threshold value. Therefore, the information obtained in this case becomes difficult to use, and the time during which power is wasted increases. However, in the vehicle sensor device 1 of this modified example, when the intensity of the electromagnetic waves is equal to or greater than the second threshold value, the output of the detection signal Sd stops, and the time during which power is wasted can be shortened.

[0132] Furthermore, as the amount of attached matter begins to dissolve and decreases, the reflection of the electromagnetic waves by the attached matter is suppressed, and the intensity decreases. When the intensity is equal to or greater than the first threshold and less than the second threshold, the amount of attached matter is smaller than when the intensity is equal to or greater than the second threshold, so the obstruction of the propagation of the electromagnetic waves by the attached matter is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, even if the vehicle sensor device 1 outputs the detection signal Sd, it can obtain information with higher accuracy than when the intensity is equal to or greater than the second threshold, and using this information can improve the safety of the vehicle while it is traveling.

[0133] Next, a second modified example will be described with reference to Fig. 4. Fig. 4 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the intensity in this modified example.

[0134] When the intensity is equal to or greater than a second threshold that is greater than the first threshold, the control unit CO turns on the heater 30 for a predetermined period after the intensity reaches or exceeds the second threshold. Furthermore, during the period when the heater 30 is on, the control unit CO makes the period during which the output of the detection signal Sd is stopped longer than the period during which the detection signal Sd is output. The intensity, first threshold, and second threshold are the same as those in the first modified example.

[0135] At time t21 shown in FIG. 4, the intensity is less than the first threshold, and the control unit CO turns off the heater 30 and outputs a detection signal Sd. At time t22, after time t21, when a large amount of attachment adheres to the transmission area AR, the intensity becomes equal to or greater than the second threshold. In this case, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. The control unit CO also turns on the heater 30 for a predetermined period. The time after the predetermined period from time t22 is set as time t25. The control unit CO also sets the time between time t22 and time t25 as time t24. Time t24 is set so that the period from time t22 to time t24 is longer than the period from time t24 to time t25. As time passes from time t22, the attachment warms and decreases, and the intensity decreases. At time t23, which is between time t22 and time t24, even if the intensity becomes equal to or greater than the first threshold and less than the second threshold, the control unit CO keeps the heater 30 ON and stops outputting the detection signal Sd. At time t24, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. At time t25, the control unit CO switches the heater 30 OFF but continues to output the detection signal Sd.

[0136] As described above, when the intensity of the electromagnetic waves is equal to or greater than the second threshold, the heater 30 is turned on for a predetermined period. If the output period of the detection signal Sd during the heater 30 is longer than the output stop period of the detection signal Sd during the ON period, a large amount of attachment adheres to the transmission area AR, as described above, and the detection accuracy of the vehicle sensor device 1 decreases. Therefore, the information obtained in this case becomes difficult to use, resulting in a longer period of wasted power consumption. However, in the vehicle sensor device 1 of this modified example, the output stop period of the detection signal Sd is longer than the output period of the detection signal Sd, so the time of wasted power consumption can be shortened. The timing at which the detection signal Sd switches from stopped to output varies depending on the time during which the intensity is equal to or greater than the second threshold and the time during which the intensity is equal to or greater than the first threshold but less than the second threshold. Therefore, the timing may be when the intensity is equal to or greater than the second threshold, or when the intensity is equal to or greater than the first threshold but less than the second threshold. Furthermore, the heater 30 may remain on at time t25.

[0137] Next, a third modified example will be described with reference to Fig. 5. Fig. 5 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the intensity in this modified example.

[0138] When the intensity is equal to or greater than the first threshold and less than the second threshold, the control unit CO turns on the heater 30 for a predetermined period after the intensity becomes equal to or greater than the first threshold and less than the second threshold. Furthermore, during the period when the heater 30 is on, the control unit CO makes the output period of the detection signal Sd longer than the output stop period of the detection signal Sd. The intensity, first threshold, and second threshold are the same as those in the first modified example.

[0139] At time t31 shown in FIG. 5, the intensity is less than the first threshold, and the control unit CO turns off the heater 30 and outputs a detection signal Sd. At time t32, after time t31, a substance adheres to the transparent area AR, and the intensity is equal to or greater than the first threshold and less than the second threshold. In this case, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. The control unit CO also turns on the heater 30 for a predetermined period. The time after time t32 is set as time t34. The control unit CO also sets the time between time t32 and time t34 as time t33. Time t33 is set so that the period from time t33 to time t34 is longer than the period from time t32 to time t34. As time passes from time t32, the substance warms up and decreases, and the intensity decreases. At time t33, the control unit CO leaves the heater 30 on and outputs the detection signal Sd. At time t34, the control unit CO switches the heater 30 OFF, but continues to output the detection signal Sd.

[0140] As described above, when the intensity is equal to or greater than the first threshold and less than the second threshold, the amount of attached matter is smaller than when the intensity is equal to or greater than the second threshold, so that the obstruction of the electromagnetic waves due to the attached matter is suppressed, and the deterioration of the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, in the vehicle sensor device 1 of this modified example, the output period of the detection signal Sd is longer than the output stop period of the detection signal Sd, so that more accurate information can be obtained compared to when the intensity is equal to or greater than the second threshold, and the use of this information can improve the safety of the vehicle VE during driving. Note that at time t34, the heater 30 may remain ON.

[0141] The fourth modified example will be described with reference to Fig. 6. Fig. 6 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the temperature of the transmissive area AR in this modified example.

[0142] The control unit CO stops outputting the detection signal Sd when the signal output from the temperature sensor 50 measuring the temperature of the transmissive area AR indicates a temperature lower than a predetermined temperature while the heater 30 is ON. Furthermore, the control unit CO outputs the detection signal Sd when the signal output from the temperature sensor indicates a temperature equal to or higher than a predetermined temperature while the heater 30 is ON. The predetermined temperature may be a value preset in the memory unit 52.

[0143] The temperature sensor 50 is attached to, for example, the outer surface of the outer cover 12, and measures the temperature of the transmission area AR through the outer surface of the outer cover 12. Because the transmission area AR has approximately the same temperature as the outer surface, the temperature sensor 50 measures the temperature of the outer surface as the temperature of the transmission area AR. Note that the temperature sensor 50 may be disposed in the transmission area AR so as not to interfere with the propagation of electromagnetic waves, and may measure the temperature of the transmission area AR. The temperature sensor 50 is electrically connected to the control unit CO, and outputs a signal indicating the measured temperature to the control unit CO.

[0144] At time t41 shown in FIG. 6, the temperature of the transmissive region AR is below a predetermined temperature, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t42, which is later than time t41, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. When the heater 30 is turned on, the heat from the heater 30 increases the temperature of the transmissive region AR. If the temperature is below the predetermined temperature, the control unit CO continues to stop outputting the detection signal Sd. At time t43, which is later than time t42, when the temperature reaches or exceeds the predetermined temperature, the control unit CO keeps the heater 30 on and outputs the detection signal Sd. From time t43 until time t44, the control unit CO keeps the heater 30 on and outputs the detection signal Sd. At time t44, the control unit CO turns off the heater 30 but continues to output the detection signal Sd. Note that the heater 30 may remain on at time t44.

[0145] When the temperature of the transparent area AR is below a predetermined temperature, compared to when the temperature of the transparent area AR is equal to or higher than the predetermined temperature, the attached matter is less likely to melt even when heated, and the electromagnetic waves are impeded by the attached matter, resulting in a decrease in the detection accuracy of the vehicle sensor device 1. Therefore, the information obtained in this case becomes difficult to use, and the time during which power is wasted increases. However, in the vehicle sensor device 1 of this modified example, if the signal output from the temperature sensor 50 indicates a temperature below the predetermined temperature while the heater 30 is ON, the output of the detection signal Sd stops, and the time during which power is wasted can be shortened.

[0146] Furthermore, when the temperature of the transparent region AR is equal to or higher than a predetermined temperature, compared to when the temperature of the transparent region AR is below the predetermined temperature, the attached matter melts more easily, which reduces the obstruction of the electromagnetic wave propagation caused by the attached matter and can reduce the decrease in the detection accuracy of the vehicle sensor device 1. In this case, even if the detection signal Sd is output, the vehicle sensor device 1 can use information with higher accuracy compared to when the temperature of the transparent region AR is below the predetermined temperature, and the use of this information can improve the safety of the vehicle while it is traveling.

[0147] Next, a fifth modified example will be described with reference to Fig. 7. Fig. 7 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the temperature of the transmissive area AR in this modified example.

[0148] When the signal output from the temperature sensor 50 indicates a temperature lower than a predetermined temperature after the heater 30 has been turned on for a predetermined period, the control unit CO makes the period during which the output of the detection signal Sd is stopped longer than the output period of the detection signal Sd during the period when the heater 30 is on.

[0149] At time t51 shown in FIG. 7, the temperature of the transmission area AR is below a predetermined temperature, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t52, which is later than time t51, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. The control unit CO also turns on the heater 30 for a predetermined period. The time after the predetermined period from time t52 is set as time t54. The control unit CO also sets the time between time t52 and time t54 as time t53. Time t53 is set so that the period from time t52 to time t53 is longer than the period from time t53 to time t54. Between time t52 and time t53, the control unit CO keeps the heater 30 on and stops outputting the detection signal Sd. At time t53, the amount of deposits is warmer and less than at time t52. Therefore, at time t53, the control unit CO outputs the detection signal Sd while keeping the heater 30 ON. At time t54, the control unit CO switches the heater 30 OFF, but continues to output the detection signal Sd. Note that the heater 30 may remain ON at time t54.

[0150] When the temperature of the transmission area AR is below a predetermined temperature, such as the temperature of an attached substance, the attached substance is less likely to melt when heated than when the temperature of the transmission area AR is equal to or higher than the predetermined temperature, and the attached substance impedes the propagation of electromagnetic waves. In this case, even if the output period of the detection signal Sd becomes longer than the output stop period of the detection signal Sd, the detection accuracy of the vehicle sensor device 1 decreases. Therefore, the information obtained in this case becomes difficult to use, and the time spent wasting power increases. However, in the vehicle sensor device 1 of this modified example, the above configuration can shorten the time spent wasting power.

[0151] Next, a sixth modified example will be described with reference to Fig. 8. Fig. 8 is a timing chart relating to the output / stop of the detection signal Sd in accordance with the temperature of the transmissive area AR in this modified example.

[0152] When the signal output from the temperature sensor 50 indicates a temperature higher than a predetermined temperature after the heater 30 has been turned on for a predetermined period, the control unit CO makes the output period of the detection signal Sd longer than the period during which the output of the detection signal Sd is stopped during the period when the heater 30 is on.

[0153] At time t61 shown in FIG. 8, the temperature of the transmissive region AR is below a predetermined temperature, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t62, which is later than time t61, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. The control unit CO also turns on the heater 30 for a predetermined period. The time after the predetermined period from time t62 is set as time t65. The control unit CO also sets the time between time t62 and time t65 as time t64. Time t64 is set so that the period from time t64 to time t65 is longer than the period from time t62 to time t64. When the heater 30 is turned on, the heat from the heater 30 raises the temperature of the transmissive region AR. If the temperature is below the predetermined temperature, the control unit CO continues to stop outputting the detection signal Sd. At time t63, which is between time t62 when the temperature reaches or exceeds the predetermined temperature and time t64, the control unit CO keeps the heater 30 ON and stops outputting the detection signal Sd. Furthermore, between time t63 and time t64, the control unit CO keeps the heater 30 ON and stops outputting the detection signal Sd. At time t64, the control unit CO outputs the detection signal Sd while keeping the heater 30 ON. Furthermore, at time t65, the control unit CO switches the heater 30 OFF but continues to output the detection signal Sd. Note that the heater 30 may remain ON at time t65.

[0154] When the temperature of the transmission area AR is equal to or higher than a predetermined temperature, such as the temperature of an attached substance, the attached substance melts more easily than when the temperature of the transmission area AR is lower than the predetermined temperature, which reduces the obstruction of the electromagnetic waves caused by the attached substance and reduces the decrease in the detection accuracy of the vehicle sensor device 1. In this case, with the above-described configuration, the vehicle sensor device 1 of this modified example can use information with higher accuracy than when the temperature of the heater 30 is lower than the predetermined temperature, and the use of this information can improve the safety of the vehicle VE during driving.

[0155] Next, a seventh modified example will be described with reference to Fig. 9. Fig. 9 is a timing chart relating to the ON / OFF of the light source unit 61 and the heater 30, and the output / stop of the detection signal Sd in this modified example.

[0156] The control unit CO outputs a detection signal Sd during a period when the heater 30 is ON and during a period when the light source unit 61, which emits light toward the outside of the vehicle VE through the outer cover 12, is ON. When a light source switch (not shown) is turned OFF, a control signal indicating that the light source unit 61 is ON is not input from the light source switch to the control unit CO, and when the light source switch is turned ON, the control signal is input from the light source switch to the control unit CO.

[0157] At time t71 shown in FIG. 9 , the light source unit 61 is OFF, and no control signal is input to the control unit CO, which turns the heater 30 OFF and outputs a detection signal Sd. At time t72, which is later than time t71, the light source unit 61 remains OFF and no control signal is input to the control unit CO, which switches the heater 30 ON and stops outputting the detection signal Sd. At time t73, which is later than time t72, the light source unit 61 turns ON, and a control signal is input to the control unit CO, which outputs the detection signal Sd while keeping the heater 30 ON. At time t74, which is later than time t73, the control unit CO switches the heater 30 OFF but continues to output the detection signal Sd. At time t73, the light source unit 61 is ON, but it may also be OFF.

[0158] In the vehicle sensor device 1, the outer cover 12 including the transmissive region AR is heated by light emitted from the light source unit 61 and transmitted through the outer cover 12. Therefore, the attached matter is warmed by the light from the light source unit 61 as well as the heat from the heater 30, and can be melted and removed more quickly than when heated by the heat from the heater 30. When the attached matter is removed, even if the detection signal Sd is output, a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Therefore, the vehicle sensor device 1 of this modified example can use more accurate information than when the attached matter is not removed, and the use of this information can improve the safety of the vehicle VE during driving.

[0159] Next, an eighth modified example will be described with reference to Fig. 10. Fig. 10 is a timing chart relating to ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the speed of the vehicle VE in this modified example.

[0160] When the vehicle VE is stopped, the control unit CO controls the heater 30 to be ON, and stops outputting the detection signal Sd while the heater 30 is ON.

[0161] 10, the vehicle VE is stopped, and the control unit CO turns on the heater 30 and stops outputting the detection signal Sd. At time t82, which is later than time t81, when the vehicle VE starts to move, the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t83, which is later than time t82, when the vehicle VE is stopped, the control unit CO turns on the heater 30 and stops outputting the detection signal Sd.

[0162] Generally, when the vehicle VE is stopped, removing attached matter is more important than detecting an object in order to improve the safety of the vehicle VE when the vehicle VE is moving. In the vehicle sensor device 1, when the vehicle VE is stopped, the heater 30 is turned on, and output of the detection signal Sd is stopped while the heater 30 is on. The stopped state of the vehicle VE includes at least a portion of the period from when an ignition switch (not shown) of the vehicle VE is turned on until a drive command for the vehicle VE is input from the ECU 100 to the control unit CO. The stopped state of the vehicle VE also includes when the shift lever of the vehicle VE is in the parking position. When the heater 30 is turned on, attached matter is removed by the heat of the heater 30. Therefore, when the vehicle starts moving, interference with the propagation of electromagnetic waves due to attached matter is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Furthermore, in the above configuration, since output of the detection signal Sd is stopped, power consumption due to output of the detection signal Sd can be suppressed compared to when the detection signal Sd is output.

[0163] Furthermore, when the vehicle VE is moving, the control unit CO controls the heater 30 to be OFF, and outputs the detection signal Sd during the period when the heater 30 is OFF.

[0164] Generally, when the vehicle VE is moving, it is more important to detect objects to improve the safety of the vehicle VE during its travel than to remove any attached matter. In the vehicle sensor device 1, when the vehicle VE is moving, the heater 30 is turned OFF, and the detection signal Sd is output during the period when the heater 30 is OFF. As a result, when the vehicle VE is moving, an object is detected by the detection signal Sd, and the safety of the vehicle VE during its travel can be improved. In addition, generally, when the vehicle VE is moving, attached matter tends to be removed by wind pressure and reduced. Therefore, interference with the propagation of electromagnetic waves due to attached matter is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Furthermore, in the above configuration, since the heater 30 is turned OFF, power consumption by the heater 30 can be suppressed compared to when the heater 30 is ON.

[0165] In this modification, the control unit CO may control the heater 30 to be ON during at least a portion of the period when the vehicle VE is stopped, and may stop outputting the detection signal Sd during at least a portion of the predetermined period when the heater 30 is ON. Alternatively, the control unit CO may control the heater 30 to be OFF during at least a portion of the period when the vehicle VE is moving, and may output the detection signal Sd during at least a portion of the predetermined period when the heater 30 is OFF.

[0166] The speed may be used as a criterion for determining whether to turn the heater 30 on or off. In this case, a signal indicating the speed of the vehicle VE measured by a measurement unit (not shown) is input to the control unit CO. When the signal is input, the control unit CO determines whether the speed is greater than a predetermined value. If the speed is greater than the predetermined value, the control unit CO controls the heater 30 to be OFF for at least a portion of the period when the speed of the vehicle VE is greater than the predetermined value, and outputs the detection signal Sd for at least a portion of the period when the heater 30 is OFF. If the speed is equal to or less than the predetermined value, the control unit CO controls the heater 30 to be ON for at least a portion of the period when the speed is equal to or less than the predetermined value, and stops outputting the detection signal Sd for at least a portion of the period when the heater 30 is ON.

[0167] The criteria for determining whether to turn the heater 30 on or off may be the outside air temperature or a heater switch (not shown).

[0168] When the outside air temperature falls below a predetermined temperature, deposits such as frost may adhere to the transparent area AR. In this case, when the outside air temperature rises above the predetermined temperature, the deposits such as frost, even if they are attached to the transparent area AR, are melted by the outside air temperature and removed from the outer cover 12. In this case, when a signal indicating that the outside air temperature is above the predetermined temperature is input from the temperature sensor 50 to the control unit CO, the control unit CO advances the control flow to step SP12. Furthermore, when a signal indicating that the outside air temperature is below the predetermined temperature is input from the temperature sensor 50 to the control unit CO, the control unit CO advances the control flow to step SP13.

[0169] Alternatively, when the heater switch is turned OFF, no control signal is input from the heater switch to the control unit CO, and the control unit CO advances the control flow to step SP12. When the heater switch is turned ON, a control signal indicating that the heater 30 is turned ON is input from the heater switch to the control unit CO, and the control unit CO advances the control flow to step SP13. When the heater switch is turned OFF, no control signal from the heater switch is input to the power supply circuit 32, and the power supply circuit 32 does not pass current from a power supply (not shown) to the heating wire 31, turning the heater OFF. When the heater switch is turned ON, the power supply circuit 32 passes current from a power supply (not shown) to the heating wire 31 in response to the control signal from the heater switch, turning the heater 30 ON.

[0170] As described above, the ON / OFF control of the heater 30 is not particularly limited, and the control unit CO simply outputs the detection signal Sd during the period when the heater 30 is OFF and stops outputting the detection signal Sd during the period when the heater 30 is ON.

[0171] (Second embodiment) A second embodiment as a second aspect of the present invention will be described. Components that are the same as or equivalent to those in the first embodiment will be assigned the same reference numerals and will not be described again unless otherwise specified. The vehicular lamp VL of this embodiment has the same configuration as the vehicular lamp VL of the first embodiment, and therefore its description will be omitted.

[0172] Next, the operation of the vehicle sensor device 1 of this embodiment, specifically, the setting of the drive period and voltage, and the operation of applying the voltage during the drive period will be described. Fig. 11 is a diagram showing an example of a control flowchart of the control unit CO in this embodiment. As shown in Fig. 11, the control flow of this embodiment includes step SP11 and steps SP21 to SP24.

[0173] In the start state shown in FIG. 11 , an ignition switch (not shown) of the vehicle VE is switched from OFF to ON, causing the transmitter 25 to emit radio waves EW1. Furthermore, a signal Se indicating the intensity of radio waves EW2 when the ignition switch is switched from OFF to ON is input from the receiver 26 to the controller CO. In the start state, the controller CO turns off the heater 30 and does not apply voltage to the heater 30. Therefore, the power supply circuit 32 does not apply voltage from a power source (not shown) to the heating wire 31 in response to a control signal from the controller CO. When no voltage is applied, no current flows through the heating wire 31, the heating wire 31 does not generate heat, and the outer cover 12 is not heated.

[0174] (Step SP11) In this step, the control unit CO repeats step SP11 if the intensity of the radio wave EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold. On the other hand, if the intensity is equal to or greater than the first threshold, the control unit CO advances the control flow to step SP21.

[0175] When the control flow repeats step SP11, the control unit CO controls the sensor unit 20 to ON while keeping the heater 30 controlled to OFF. As a result, the heater 30 remains stopped, and as described in the first embodiment, the transmitter 25 emits radio waves EW1 and the receiver 26 receives radio waves EW2. The transmitter 25 outputs a signal related to the transmitted radio waves EW1 to the control unit CO, and the receiver 26 outputs a signal Se related to the received radio waves EW2 to the control unit CO. The control unit CO outputs a detection signal Sd generated based on the signal input from the transmitter 25 and the signal Se input from the receiver 26.

[0176] (Step SP21) In this step, the control unit CO sets the drive period of the heater 30 and the amount of power of the heater 30 during that drive period based on the intensity of the radio wave EW2 indicated by the signal Se. Note that, in the following, the power consumption of the power supply circuit 32 is ignored. Therefore, in the following, the resistance value of the heater 30 is roughly the resistance value of the heating wire 31, which is a fixed value, the amount of power of the heater 30 can be understood as the amount of power consumed by the heating wire 31, and the voltage applied to the heater 30 can be understood as the voltage applied to the heating wire 31. The amount of power of the heater 30 is calculated by multiplying the power consumed by the heater 30 by the drive period. Furthermore, the power of the heater 30 is calculated from the voltage applied to the heater 30 and the resistance value of the heater 30, which is a fixed value. In the following, the drive period of the heater 30 refers to the period during which voltage is applied to the heating wire 31.

[0177] The voltage application time and voltage, which are the drive period, are preset based on the intensity of the radio wave EW2, which is the electromagnetic wave indicated by the signal Se, and are stored in a table in the storage unit 52. FIG. 12 is a diagram showing an example of the table showing the relationship between the intensity range, the drive period, and the voltage. The table stores a first range and a second range. The first range indicates that the intensity is equal to or greater than a first threshold and less than a second threshold that is greater than the first threshold. The second range indicates that the intensity is equal to or greater than the second threshold. As described in the first embodiment, the intensity of the electromagnetic waves received by the sensor unit 20 tends to increase in the order of dust, water droplets, and ice and snow. In this case, the first threshold is set to a value lower than the intensity of the electromagnetic waves received by the sensor unit 20 when a predetermined amount of dust or water droplets is attached to the transmission area AR. The second threshold is set to a value higher than the intensity of the electromagnetic waves received by the sensor unit 20 when a predetermined amount of dust or water droplets is attached to the transparent area AR, but lower than the intensity of the electromagnetic waves received by the sensor unit 20 when ice or snow is attached to the transparent area AR. Therefore, when dust or water droplets adhere to the transparent area AR, the intensity falls within a first range equal to or greater than the first threshold and less than the second threshold. When ice or snow adheres to the transparent area AR, the intensity falls within a second range equal to or greater than the second threshold. The table stores drive periods and voltages for each range. The first range includes a predetermined drive period T1 and a predetermined voltage value V1. The second range includes a predetermined drive period T2 and a predetermined voltage value V2. The predetermined periods T1 and T2 are preset values, e.g., 15 minutes. The predetermined values ​​V1 and V2 are preset values, with V1 being lower than V2. The predetermined period T1 may be longer or shorter than the predetermined period T2, and the predetermined value V1 may be equal to or greater than the predetermined value V2.

[0178] When the intensity of the radio wave EW2 is in the first range, in this embodiment, the control unit CO steeply increases the voltage applied to the heater 30 from zero V to a predetermined value V1, as shown in FIG. 14 (described later). "Steep" refers to a step-like change in the voltage over time. Once the voltage reaches the predetermined value V1, the control unit CO maintains the voltage at the predetermined value V1 for a predetermined period T1. Once the predetermined period T1 has elapsed since the voltage reached the predetermined value V1, the control unit CO steeply reduces the voltage from the predetermined value V1 to zero V. When the intensity is in the second range, the control unit CO controls the voltage in the same manner as when the intensity is in the first range, except that the predetermined value V1 is set to a predetermined value V2 and the predetermined period T1 is set to a predetermined period T2.

[0179] FIG. 13 is a flowchart showing the process for setting the drive period and the amount of power to the heater 30 during the drive period, as explained in step SP21.

[0180] (Step SP31) In this step, the control unit CO determines, based on the intensity of the radio waves EW2 indicated by the signal Se, whether the intensity is within a first range that is equal to or greater than a first threshold and less than a second threshold that is greater than the first threshold. As described above, when dust or water droplets are attached to the transparent area AR, the intensity of the radio waves EW2 indicated by the signal Se falls within the first range. If the intensity is within the first range, the control unit CO advances the control flow to step SP32. On the other hand, if the intensity is not equal to or greater than the first threshold and less than the second threshold, the control unit CO advances the control flow to step SP33.

[0181] (Step SP32) In this step, the control unit CO reads out the drive period and voltage corresponding to the first range from the table, sets the drive period to a predetermined period T1, and sets the voltage to a predetermined value V1. Next, the control unit CO advances the control flow to step SP22.

[0182] (Step SP33) As described above, when ice and snow are attached to the transparent area AR, the intensity of the radio wave EW2 indicated by the signal Se falls within the second range. In this step, the control unit CO reads out the drive period and voltage corresponding to the second range from the table, and sets the drive period to a predetermined period T2 and the voltage to a predetermined value V2. Next, the control unit CO advances the control flow to step SP22.

[0183] (Step SP22) Next, returning to FIG. 11 , the explanation will continue. In this step, the control unit CO applies a voltage of the predetermined value V1 set in step SP32 or a voltage of the predetermined value V2 set in step SP33 to the heater 30. As a result, the voltage rises sharply from zero V to the predetermined value V1 or V2, and heat from the heater 30 is transferred to the outer cover 12, heating the outer cover 12, including the transmissive area AR, to a predetermined temperature. Any deposits adhering to the transmissive area AR begin to melt due to the heat from the outer cover 12. The steeper the voltage rise, the greater the temperature rise of the heat from the heater 30 in a short period of time, and therefore the deposits can be heated and melted more quickly.

[0184] In this step, as in the above, the transmitter 25 emits the radio wave EW1, and the receiver 26 receives the radio wave EW2. Also, as in the above, the transmitter 25 outputs a signal related to the radio wave EW1 to the control unit CO, the receiver 26 outputs a signal related to the radio wave EW2 to the control unit CO, and the control unit CO generates a detection signal Sd based on the signal input from the transmitter 25 and the signal Se input from the receiver 26. However, in this step, unlike when the heater 30 is OFF, the control unit CO stops outputting the detection signal Sd. Therefore, in this step, the transmitter 25 and the receiver 26 are not stopped, but the control unit CO does not output the detection signal Sd. In this step, because the detection signal Sd is not output, power consumption is reduced compared to when the detection signal Sd is output.

[0185] After applying a voltage of the predetermined value V1 to the heater 30 for the predetermined period T1 or a voltage of the predetermined value V2 to the heater 30 for the predetermined period T2, the control unit CO advances the control flow to step SP23.

[0186] (Step SP23) In this step, the control unit CO determines whether the predetermined periods T1 and T2, which are the drive periods set in steps SP32 and SP33, have elapsed. If the predetermined periods T1 and T2 have not elapsed, the process returns to step SP22, where the control unit CO applies voltage to the heater 30 until the predetermined periods T1 and T2 have elapsed. If the predetermined periods T1 and T2 have elapsed, the control unit CO advances the control flow to step SP24.

[0187] (Step SP24) In this step, the control unit CO stops applying voltage to the heater 30. As a result, the voltage drops sharply from the predetermined value V1 or V2, and the heater 30 turns off. Generally, the longer the heating time, the more likely it is that deposits will be removed and reduced. Therefore, after the predetermined periods T1 and T2 have elapsed, the amount of deposits tends to be less than during the predetermined periods T1 and T2. For this reason, the temperature of the heat from the heater 30 may be lowered. Furthermore, in the vehicle sensor device 1, the voltage rises to the predetermined value V1 or V2 and then drops sharply after the predetermined periods T1 and T2 have elapsed. This reduces unnecessary power consumption by the heater 30 compared to when the voltage does not drop sharply. Even after the voltage drops, residual heat may remain on the outer cover 12, allowing the remaining deposits on the outer cover 12 to be removed by the residual heat. When the application of voltage is stopped, the control unit CO returns the control flow to step SP11. In this control flow, as described above, the control unit CO receives the signal Se from the receiving unit 26. Therefore, when the control flow returns from step SP24 to step SP11, the control unit CO determines in step SP11, based on the intensity of the radio wave EW2 indicated by the signal Se, whether or not the intensity is less than the first threshold value.

[0188] Fig. 14 is a timing chart relating to the driving period and voltage in this embodiment. In Fig. 14, the first range is used for explanation, but the same actions and effects as those in the first range can also be obtained in the second range.

[0189] At time t110 shown in FIG. 14 , the intensity of the radio wave EW2 is less than the first threshold, and the control unit CO turns off the heater 30 without applying voltage to the heater 30. When the intensity becomes equal to or greater than the first threshold at time t111 after time t110, the control unit CO advances the control flow from step SP11 to step SP21. As described in steps SP21, SP31, and SP32, if the intensity is equal to or greater than the first threshold and less than the second threshold, the control unit CO sets the predetermined period T1 and the predetermined value V1. Next, as described in step SP22, the control unit CO applies a voltage of the predetermined value V1 to the heater 30 from time t111. In this embodiment, the voltage rises sharply from zero V to the predetermined value V1 at time t111, and after rising to the predetermined value V1, it remains at the predetermined value V1 for the predetermined period T1. At time t112, when a predetermined period T1 has elapsed since time t111, the control unit CO advances the control flow from step SP22 to step SP23 and then to step SP24. In this case, in this embodiment, the voltage drops sharply from the predetermined value V1 to zero V at time t112, when a predetermined period T1 has elapsed since time t111. Note that even when the intensity is in the second range, the voltage profile is generally similar to that shown in FIG.

[0190] Incidentally, the vehicle sensor device of Patent Document 1 emits electromagnetic waves as described above not only when detecting an object but also when there is something attached to the cover. In this case, it is necessary to constantly control the ON / OFF of the lamp unit as a heater based on the strength of the electromagnetic waves, which increases the burden on the control unit.

[0191] Therefore, the vehicle sensor device 1 of this embodiment includes an outer cover 12, a sensor unit 20 that is arranged inside the outer cover 12 in the vehicle VE, transmits and receives electromagnetic waves via the outer cover 12, and outputs a signal indicating the intensity of the electromagnetic waves incident on the inside of the outer cover 12. The vehicle sensor device 1 also includes a heater 30 that is provided on the outer cover 12 and heats a transmission area AR in the outer cover 12 through which the electromagnetic waves emitted from the sensor unit 20 pass, and a control unit CO. The control unit CO sets a drive period of the heater 30 and an amount of power to the heater 30 during the drive period based on the intensity, and applies a voltage at the set amount of power to the heater 30 during the set drive period.

[0192] In this vehicle sensor device 1, when electromagnetic waves emitted from the sensor unit 20 toward the outside of the vehicle VE are reflected by an object outside the vehicle VE in the direction of propagation of the electromagnetic waves and then pass through the transmission area AR, the electromagnetic waves can be received by the sensor unit 20, and the object can be detected from a signal related to the electromagnetic waves. In the vehicle sensor device 1, the control unit CO sets the drive period of the heater 30 and the amount of power of the heater 30 during the drive period based on the intensity of the electromagnetic waves. The amount of power of the heater 30 is calculated by multiplying the power of the heater 30 by the drive period of the heater 30. The power is calculated from the voltage applied to the heater 30 and the resistance of the heater 30, which is a fixed value. The control unit CO applies a voltage corresponding to the set amount of power to the heater 30 during the set drive period. Generally, when the heater is ON, deposits tend to adhere to the transmission area AR. Furthermore, when the heater is ON, the deposits are warmed by the heat from the heater, and therefore tend to melt and decrease over time. As the amount of adhesion decreases, the intensity of the electromagnetic waves received by the sensor unit tends to decrease because the electromagnetic waves are less reflected by the adhesion. In the vehicle sensor device 1, the driving period of the heater 30 and the amount of power of the heater 30 are set based on the intensity as described above, so the burden on the control unit CO can be reduced compared to when the amount of power of the heater 30 is always controlled based on the intensity each time the intensity changes.

[0193] Generally, the intensity of the electromagnetic waves received by the sensor unit 20 tends to increase when dust or water droplets are attached to the transmission area AR, compared to when ice and snow are attached to the transmission area AR. As such, the more attachments there are, the higher the intensity becomes, and the more power is required to remove the attachments. In the vehicle sensor device 1, the amount of power is set based on the intensity, so that the amount of power is prevented from being set too low or too high for the amount of attachments, and attachments can be appropriately removed with the amount of power according to the intensity.

[0194] As described above, during the ON period of the heater 30, attachments tend to adhere to the transmission area AR, which impedes the propagation of electromagnetic waves, thereby reducing the detection accuracy of the vehicle sensor device 1. Therefore, the information obtained through detection is difficult to use, and the power used to output the detection signal Sd containing the information may be wasted. However, in the vehicle sensor device 1, the control unit CO stops outputting the detection signal Sd during the entire period during which the heater 30 is ON. In other words, the output of the detection signal Sd is stopped during the entire period during which attachments are being removed by the heat of the heater 30. This reduces unnecessary power consumption. The control unit CO may stop outputting the detection signal Sd during at least a portion of the predetermined period during which the heater 30 is ON. Furthermore, in the vehicle sensor device 1 of this embodiment, the control unit CO outputs the detection signal Sd during the period during which the heater 30 is OFF. During the period during which the heater 30 is OFF, attachments tend not to adhere. In this case, it is possible to suppress the obstruction of the propagation of the electromagnetic waves due to the attached matter, thereby suppressing the deterioration of the detection accuracy of the vehicle sensor device 1. Note that the control unit CO may output the detection signal Sd during at least a part of the predetermined period in which the heater 30 is OFF.

[0195] When an ignition switch (not shown) of the vehicle VE is switched from OFF to ON, the control unit CO outputs a signal indicating the intensity of the radio wave EW2 indicated by the signal Se from the receiving unit 26 to the storage unit 52, and the storage unit 52 may store the intensity from the signal Se. While the ignition switch is ON, the storage unit 52 stores the intensity. The storage unit 52 also stores the intensity at ON when the ignition switch is switched from ON to OFF. The storage unit 52 may also store the intensity at ON when the ignition switch is switched from ON to OFF, and may erase the intensity stored at other times. When the ignition switch is switched from ON to OFF and then from OFF to ON again, the control unit CO reads from the storage unit 52 the intensity at ON when the ignition switch was switched from ON to OFF. Furthermore, when the ignition switch is switched from OFF to ON again, the control unit CO receives the signal Se from the receiver 26 as described above, and acquires the intensity of the radio wave EW2 indicated by the signal Se. If the intensity of the signal when the ignition switch is switched from OFF to ON is higher than the intensity when the ignition switch is switched from ON to OFF, there is a tendency for more deposits to be present when the engine of the vehicle VE is running than when the engine is stopped. If the intensity of the signal when the ignition switch is switched from OFF to ON is equal to or greater than the first threshold, the vehicle sensor device 1 sets the operating period and the amount of power for the heater 30 based on the intensity, and the heater 30 is operated for the set operating period and amount of power. In this case, deposits can be removed more quickly than when the heater 30 is not operated when the ignition switch is switched from OFF to ON.

[0196] In step SP24, the control unit CO does not need to stop applying voltage to the heater 30, and step SP24 may be omitted, and the control unit CO may return the control flow to step SP11 after the driving period has elapsed.

[0197] When the intensity of the radio wave EW2 is in the first range, after the voltage has increased to a predetermined value V1, it does not have to remain at that value but may increase or decrease from that value. Also, the voltage does not have to decrease to zero V but may be less than the predetermined value V1 or may be equal to or greater than the predetermined value V1. Even when the intensity is in the second range, the voltage may change from the predetermined value V2 as described above.

[0198] Furthermore, the control unit CO may calculate the drive period and the amount of power based on the intensity, and set the drive period and the amount of power to the calculated drive period and amount of power.

[0199] Furthermore, in step SP22, the control unit CO may increase the voltage applied to the heater 30 if the signal output from the temperature sensor 50 that measures the temperature outside the vehicle VE indicates a temperature lower than the predetermined temperature.

[0200] When the temperature outside the vehicle VE is below a predetermined temperature, such as the temperature of attached matter or the temperature at which water freezes, attached matter is more likely to freeze and less likely to melt than when the temperature outside the vehicle VE is equal to or higher than the predetermined temperature. In the vehicle sensor device 1, the above-described configuration allows attached matter to melt and be removed more quickly than when the voltage does not increase.

[0201] Next, modified examples of this embodiment will be described. In each modified example, the first range will be used for the description, but the same actions and effects as those in the first range can also be obtained in the second range.

[0202] The first modified example will be described with reference to Fig. 15. Fig. 15 is a timing chart relating to the driving period and voltage in this modified example.

[0203] In this modification, the voltage increases stepwise to a predetermined value V1. In this case, the voltage changes in multiple steps over time. At time t120 in this example, the intensity of the radio wave EW2 is less than the first threshold, and the control unit CO does not apply voltage to the heater 30 and turns off the heater 30. At time t121 after time t120, the intensity becomes equal to or greater than the first threshold and less than the second threshold, and the control unit CO sets the period T4 of the predetermined period T1 to the predetermined value V1, and increases the voltage stepwise to the predetermined value V1 between time t121 and time t122, when the period T4 has elapsed. The period T4 is, for example, 3 minutes. Note that the example of the predetermined period T1 in this modification differs from the example of the predetermined period T1 in the above embodiment.

[0204] In this modification, once the voltage has increased to the predetermined value V1, it remains at the predetermined value V1 for a period T5 of the predetermined period T1 from time t122. The control unit CO sets the period T5 of the predetermined period T1, and continues to apply the voltage of the predetermined value V1 to the heater 30 during the period T5. The period T5 is set to, for example, 15 minutes, which is longer than the period T4. The period T5 may be the same as the period T4, or may be shorter than the period T4.

[0205] Furthermore, in this modification, the voltage is gradually reduced from a predetermined value V1 to zero V. At time t123, when a period T5 has elapsed since time t122, the control unit CO sets a period T6 within the predetermined period T1, and gradually reduces the voltage from the predetermined value V1 to zero V between time t123 and time t124, when the period T6 has elapsed. The period T6 is, for example, the same as the period T5. However, the period T6 may be the same as each of the periods T4 and T5, or may be shorter or longer than each of the periods T4 and T5.

[0206] In the vehicle sensor device 1 of this modified example, the control unit CO controls the heater 30 at the timing when the voltage is increased in stages. Therefore, the burden on the control unit CO can be reduced compared to when the voltage is not increased in stages.

[0207] Furthermore, in the vehicle sensor device 1 of this modified example, the control unit CO controls the heater 30 at the timing when the voltage is reduced in stages. Therefore, the burden on the control unit CO can be reduced compared to when the voltage is not reduced in stages. Also, compared to when the voltage is reduced abruptly rather than in stages, the time required to heat the outer cover 12 at a high temperature can be longer, which can make it easier for attached matter to dissolve.

[0208] Next, a second modified example will be described with reference to Fig. 16. Fig. 16 is a timing chart relating to the driving period and voltage in this modified example.

[0209] In this modification, the voltage gradually increases to a predetermined value V1. In this case, it is preferable that the voltage increase at a constant rate of change. Note that this rate of change may increase or decrease over time. In this modification, at time t130, the intensity of the radio wave EW2 is less than the first threshold, and the control unit CO does not apply voltage to the heater 30 and turns off the heater 30. At time t131 after time t130, the intensity becomes equal to or greater than the first threshold and less than the second threshold, and the control unit CO sets the period T4 of the predetermined period T1 to a predetermined value V1. Between time t131 and time t132, when the period T4 has elapsed, the voltage gradually increases to the predetermined value V1. For example, the period T4 may be different from the period T4 in the first modification. Note that, in this modification, as in the first modification, the example of the predetermined period T1 differs from the example of the predetermined period T1 in the above embodiment.

[0210] Furthermore, in this modification, similarly to the first modification, once the voltage has increased to the predetermined value V1, it remains at the predetermined value V1 for a period T5 of the predetermined period T1 from time t132.

[0211] In this modification, the voltage gradually decreases from the predetermined value V1 to zero V. At time t133, when a period T5 has elapsed since time t132, the control unit CO sets a period T6 within the predetermined period T1, and gradually decreases the voltage from the predetermined value V1 to zero V between time t133 and time t134, when the period T6 has elapsed. The period T6 may be different from the period T6 in the first modification, for example.

[0212] In the vehicle sensor device 1 of this modified example, the temperature of the heat from the heater 30 gradually increases. This can suppress abrupt temperature changes in the outer cover 12, and can suppress thermal shock to the outer cover 12 due to abrupt temperature changes.

[0213] Furthermore, in the vehicle sensor device 1 of this modified example, sudden temperature changes in the outer cover 12 can be suppressed compared to when the voltage does not decrease gradually, and thermal shock to the outer cover 12 due to sudden temperature changes can be suppressed.

[0214] In setting the voltage, for example, as in the combination of this embodiment with the first or second modification, the voltage may rise sharply and then fall stepwise or gradually. Alternatively, as in the combination of the first modification with this embodiment or the second modification, the voltage may rise stepwise and then fall steeply or gradually. Alternatively, as in the combination of the second modification with this embodiment or the first modification, the voltage may rise gradually and then fall steeply or gradually. Alternatively, as in the combination of this embodiment with the first or second modification, the voltage may rise sharply and then fall stepwise or gradually. In the above, the order in which the voltages rise is not particularly limited. Alternatively, as in the combination of this embodiment with the first or second modification, the voltage may fall sharply and then fall stepwise or gradually. In the above, the order in which the voltages fall is not particularly limited. In the above combinations, the voltage may alternate between rising in any of the present embodiment, the first modification, and the second modification, and falling in any of the present embodiment, the first modification, and the second modification. In the above combinations, a period may be provided in which the voltages remain constant at the predetermined values ​​V1 and V2. The above combinations are examples, and the voltages may be set by appropriately combining the above embodiments and modifications.

[0215] (Third embodiment) A third embodiment as a third aspect of the present invention will be described. Components that are the same as or equivalent to those in the first embodiment will be assigned the same reference numerals and will not be described again unless otherwise specified. The configuration of the vehicular lamp VL of this embodiment is the same as that of the vehicular lamp VL of the first embodiment, and therefore, the description thereof will be omitted.

[0216] Next, the operation of the vehicle sensor device 1 of this embodiment, specifically the operation of removing deposits adhering to the outer surface 12o of the outer cover 12, will be described. In this embodiment, the deposits include mud in addition to the ice and snow, dust, and water droplets described in the above embodiments. The intensity of the radio waves EW2 received by the sensor unit 20 generally tends to decrease in the following order: when mud is attached to the transmission area AR, when ice and snow is attached to the transmission area AR, and when dust and water droplets are attached to the transmission area AR. FIG. 17 is a diagram showing an example of a control flowchart of the control unit CO in this embodiment. As shown in FIG. 17, the control flow of this embodiment includes step SP11 and steps SP41 to SP45.

[0217] In the starting state shown in FIG. 17, the sensor unit 20 emits the radio wave EW1 and outputs a signal Se indicating the intensity of the received radio wave EW2.

[0218] (Step SP11) The control unit CO repeats step SP11 if the intensity of the radio wave EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold. On the other hand, if the intensity is equal to or greater than the first threshold, the control unit CO advances the control flow to step SP41.

[0219] (Step SP41) In this step, the control unit CO determines, similarly to step SP31, based on the intensity of the radio waves EW2 indicated by the signal Se, whether the intensity is within a first range that is equal to or greater than a first threshold and less than a second threshold that is greater than the first threshold. If dust or water droplets are attached to the transparent area AR, the intensity of the radio waves EW2 indicated by the signal Se may be set to fall within the first range. If the intensity is within the first range, the control unit CO proceeds to step SP42. On the other hand, if the intensity is not equal to or greater than the first threshold and less than the second threshold, the control unit CO proceeds to step SP43.

[0220] (Step SP42) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the first operation is a combination of the heater 30 and the cleaner 40 over a predetermined period of time. The predetermined period may be constant or may vary depending on the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20. In this first operation, at least the cleaner 40 is driven for at least a portion of the predetermined period. In the first operation of this embodiment, the heater 30 is not driven, and the cleaner 40 injects gas from the gas unit 45 toward the transmission area AR for, for example, three seconds. For this reason, the control unit CO controls the valve 45b to open for three seconds. By opening the valve 45b, gas is injected from the injection nozzle 45c toward the transmission area AR. The predetermined period in the first operation is three seconds, and the cleaner 40 is driven throughout the entire period. Note that the first operation may also be an operation in which the heater 30 is not driven, and the cleaner 40 intermittently injects gas. Then, the control unit CO returns the control flow to step SP11.

[0221] (Step SP43) In this step, the control unit CO determines, based on the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20, whether the intensity is within a second range that is equal to or greater than the second threshold and less than a third threshold that is greater than the second threshold. In this embodiment, the third threshold is set to a value that is higher than the intensity of the radio waves EW2 received by the sensor unit 20 when a predetermined amount of snow and ice has adhered to the transparent region AR and lower than the intensity of the radio waves EW2 received by the sensor unit 20 when a predetermined amount of mud has adhered to the transparent region AR. Therefore, when snow and ice have adhered to the transparent region AR, the intensity indicated by the signal Se from the sensor unit 20 may be set to fall within the second range. Furthermore, when mud has adhered to the transparent region AR, the intensity indicated by the signal Se from the sensor unit 20 may be set to fall within a third range that is equal to or greater than the third threshold. If the intensity is within the second range, the control unit CO proceeds to step SP44. On the other hand, if the intensity is not equal to or greater than the second threshold value and not less than the third threshold value, that is, if the intensity is within the third range, the control unit CO advances the control flow to step SP45.

[0222] (Step SP44) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the second operation is a combination of the heater 30 and the cleaner 40 operating over a predetermined period of time. The predetermined period in the second operation may be constant or may vary depending on the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20. It may be the same as or different from the predetermined period in the first operation. In this second operation, the heater 30 is driven for at least a portion of the predetermined period. This second operation differs from the first operation in step SP42. In the second operation of this embodiment, the cleaner 40 is not driven, and the heater 30 is driven for, for example, 15 minutes. Therefore, the control unit CO controls the power supply circuit 32 so that current flows through the heating wire 31 for only 15 minutes. When current flows through the heating wire 31, the heating wire 31 generates heat, thereby heating the outer cover 12. The predetermined period in the second operation is 15 minutes, and the heater 30 is driven for the entire predetermined period. Note that the second operation may be an operation in which the cleaner 40 is not driven and the heater 30 is driven intermittently. Then, the control unit CO returns the control flow to step SP11.

[0223] (Step SP45) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the third operation is a combination of the heater 30 and the cleaner 40 over a predetermined period of time. The predetermined period in the third operation may be constant or may vary depending on the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20. It may be the same as or different from the predetermined periods in the first and second operations. In the third operation, the cleaner 40 is driven for at least a portion of the predetermined period, and the third operation differs from the second operation in step SP44. That is, the first and third operations differ from the second operation. In the third operation of this embodiment, the heater 30 is not driven, and liquid is sprayed from the liquid unit 41 of the cleaner 40 toward the transmission area AR for, for example, three seconds. Therefore, the control unit CO controls the pump 41b to operate for three seconds. By operating the pump 41b, liquid is sprayed from the spray nozzle 41c toward the transmission area AR. The predetermined period in the third operation is three seconds, and the cleaner 40 is driven for the entire predetermined period. Note that the third operation may be an operation in which the heater 30 is not driven and the cleaner 40 intermittently ejects liquid. Then, the control unit CO returns the control flow to step SP11.

[0224] However, in addition to ice, snow, and frost, mud and other materials may adhere to the cover of a vehicle sensor device, and this mud and other materials cannot be removed even by heating the cover. For this reason, there is a demand for a method for appropriately removing the adhesions on the cover to prevent a decrease in the accuracy of object detection.

[0225] Therefore, the vehicle sensor device 1 of this embodiment includes an outer cover 12, a sensor unit 20, a heater 30, a cleaner 40, and a control unit CO. The sensor unit 20 is disposed inside the vehicle VE relative to the outer cover 12, and transmits and receives radio waves via the outer cover 12. The sensor unit 20 outputs a signal indicating the intensity of radio waves EW2 incident on the inside of the outer cover 12. The heater 30 is provided on the outer cover 12, and heats a transmission area AR in the outer cover 12 through which radio waves EW1 emitted from the sensor unit 20 pass. The cleaner 40 sprays at least one of a liquid and a gas from outside the vehicle VE through the outer cover 12 toward the transmission area AR.

[0226] When the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is within the second range, the control unit CO controls the heater 30 and the cleaner 40 so that the heater 30 is driven for at least a portion of the predetermined period. Furthermore, when the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is within a first range or a third range that is different from the second range, the control unit CO controls the heater 30 and the cleaner 40 so that the cleaner 40 is driven for at least a portion of the predetermined period. Therefore, if the second range is defined as a predetermined range and the range consisting of the first and third ranges is defined as a specific range, it can be understood that the control unit CO controls the heater 30 and the cleaner 40 so that the heater 30 is driven for at least a portion of the predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the predetermined range, and so that the cleaner 40 is driven for at least a portion of the predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within a specific range that is different from the predetermined range. Furthermore, a second operation consisting of a combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is in the second range is different from a first operation consisting of a combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is in the first range. Furthermore, this second operation is different from a third operation consisting of a combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is in a third range. In other words, it can be understood that the combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is in a specific range is different from the combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is in a predetermined range.

[0227] For the above reasons, the vehicle sensor device 1 of this embodiment can change the combination of the operation of the heater 30 and the operation of the cleaner 40 over a predetermined period of time depending on the type of material adhering to the outer cover 12. The vehicle sensor device 1 of this embodiment can remove dust and water droplets adhering to the outer cover 12 using gas from the cleaner 40. The vehicle sensor device 1 of this embodiment can also melt and remove ice and snow adhering to the outer cover 12 by heating the outer cover 12 with the heater 30. The vehicle sensor device 1 of this embodiment can also remove mud adhering to the outer cover 12 using liquid from the cleaner 40. Therefore, the vehicle sensor device 1 of this embodiment can appropriately remove material adhering to the outer cover 12 and suppress a decrease in the accuracy of object detection, compared to a case in which the combination of the operation of the heater 30 and the operation of the cleaner 40 does not change depending on the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20.

[0228] From the viewpoint of properly removing deposits, at least the heater 30 is driven for at least a portion of the predetermined period when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is within a predetermined range, and at least the cleaner 40 is driven for at least a portion of the predetermined period when the intensity is within a specific range different from the predetermined range. Furthermore, the combination of the operation of the heater 30 and the cleaner 40 when the intensity is within the specific range may be different from the combination of the operation of the heater 30 and the cleaner 40 when the intensity is within the predetermined range. For example, the second operation may be the operation shown in FIG. 18, and the control unit CO may control the heater 30 and the cleaner 40 so that the operation of the heater 30 and the cleaner 40 becomes the operation shown in FIG. 18. FIG. 18 is a timing chart schematically illustrating a modified example of the second operation.

[0229] As shown in FIG. 18 , the heater 30 starts driving at time t201 and begins heating the outer cover 12. The cleaner 40 starts spraying liquid at time t202, which is later than time t201, and ends spraying liquid at time t203, for example, three seconds after time t202. Therefore, the cleaner 40 sprays liquid toward the transmission area AR for three seconds from time t202. The cleaner 40 also starts spraying gas at time t204, which is later than time t203, and ends spraying gas at time t205, for example, three seconds after time t204. Therefore, the cleaner 40 sprays gas toward the transmission area AR for three seconds from time t204. The cleaner 40 starts driving at time t202, which is the timing when liquid spraying starts, and ends driving at time t205, which is the timing when gas spraying ends. The heater 30 stops driving at time t206, which is later than time t205. Therefore, the heater 30 heats the outer cover 12 during the period from time t201 to time t206.

[0230] In this second operation, the predetermined period is the period from time t201 to time t206, and time t202, when the cleaner 40 starts spraying liquid, occurs after time t201, when the heater 30 starts operating. In other words, when the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is within the second range, the control unit CO controls the heater 30 and the cleaner 40 to operate in this manner. Therefore, with this configuration, the outer cover 12 can be heated to create a state in which water is present at least partially between the outer cover 12 and the ice and snow adhering to the outer cover 12, and then liquid can be sprayed toward the ice and snow. When water is present at least partially between the ice and snow and the outer cover 12, the adhesion of the ice and snow to the outer cover 12 tends to be weaker than when no water is present between the ice and snow and the outer cover 12. Therefore, with this configuration, the ice and snow can be more easily removed than when the outer cover 12 is not heated before spraying liquid toward the outer cover 12.

[0231] To easily remove ice and snow from the outer cover 12, it is sufficient that the time t202, when the cleaner 40 starts operating, is after the time t201, when the heater 30 starts operating. For example, the heater 30 may stop operating during the period TW in which the cleaner 40 sprays liquid, before time t202, or during the period TA in which the cleaner 40 sprays gas. The cleaner 40 may also spray only liquid or only gas. If the cleaner 40 sprays only gas, the cleaner 40 starts operating at time t204, which is after time t201. In this case, gas may be sprayed toward the ice and snow after water is interposed at least partially between the ice and snow adhering to the outer cover 12 and the outer cover 12. Therefore, ice and snow can be easily removed even in such a case. The heater 30 may also be operated intermittently, and the cleaner 40 may intermittently spray liquid or gas. However, the timing at which the cleaner 40 starts to be driven may be earlier than the timing at which the heater starts to be driven.

[0232] Furthermore, in this second operation, there is a period during which the heater 30 is activated after time t205, which is the timing at which the cleaner 40 stops operating. That is, the control unit CO controls the heater 30 and the cleaner 40 in this manner. As a result, the outer cover 12 is heated even after the spraying of liquid or gas onto the outer cover 12 has finished. Therefore, this configuration can prevent liquid adhering to the outer cover 12 from freezing after the spraying of liquid or gas onto the outer cover 12 has finished, or can vaporize and remove the liquid. Therefore, a decrease in the accuracy of object detection can be suppressed compared to when the outer cover 12 is not heated after the cleaner 40 stops operating.

[0233] Note that, from the viewpoint of preventing liquid adhering to the outer cover 12 from freezing after the operation of the cleaner 40 is completed and removing this liquid, it is sufficient that the heater 30 is driven for a period after time t205, which is the timing at which the operation of the cleaner 40 is completed. For example, the cleaner 40 may spray only liquid or only gas. However, there does not have to be a period at which the heater 30 is driven after the timing at which the operation of the cleaner 40 is completed.

[0234] Furthermore, in this second operation, there is a period during which the heater 30 is driven after time t203, which is the timing at which spraying of liquid from the cleaner 40 ends. That is, the control unit CO controls the heater 30 and the cleaner 40 in this manner. Therefore, the outer cover 12 is heated even after spraying of liquid onto the outer cover 12 ends. Therefore, with this configuration, it is possible to prevent liquid adhering to the outer cover 12 after spraying of liquid onto the outer cover 12 ends, such as liquid from the cleaner 40, from freezing, or to vaporize and remove this liquid.

[0235] From the viewpoint of preventing the liquid from the cleaner 40 from freezing or vaporizing and removing the liquid, it is sufficient that the heater 30 is driven for a period after time t203, which is the timing at which the cleaner 40 stops spraying the liquid. For example, the heater 30 may start driving during the period TW or after time t203, or the heater 30 may be driven intermittently, or the cleaner 40 may spray the liquid intermittently. However, the cleaner 40 may stop spraying the liquid before the heater 30 stops driving.

[0236] Furthermore, in this second operation, time t204, which is the timing when the cleaner 40 starts spraying gas, is after time t203, which is the timing when the cleaner 40 stops spraying liquid. In other words, the control unit CO controls the heater 30 and the cleaner 40 in this manner. Therefore, gas is sprayed toward the outer cover 12 after the cleaner 40 stops spraying liquid. Therefore, with this configuration, liquid adhering to the outer cover 12 after the cleaner 40 stops spraying liquid toward the outer cover 12 can be removed by the gas from the cleaner 40.

[0237] From the viewpoint of removing liquid adhering to the outer cover 12, it is sufficient that time t204, which is the timing when the cleaner 40 starts spraying gas, is after time t203, which is the timing when the cleaner 40 stops spraying liquid. For example, the cleaner 40 may spray liquid or gas intermittently. However, the cleaner 40 may start spraying gas before the cleaner 40 stops spraying liquid.

[0238] Moreover, the third operation may be the operation shown in Fig. 19, and the control unit CO may control the heater 30 and the cleaner 40 so that the operations of the heater 30 and the cleaner 40 become the operations shown in Fig. 19. Fig. 19 is a timing chart schematically showing a first modified example of the third operation.

[0239] 19, the cleaner 40 starts spraying liquid at time t211 and stops spraying liquid at time t212, for example, three seconds after time t211. The cleaner 40 also does not spray gas. The heater 30 starts driving at time t213, which is later than time t212, to begin heating the outer cover 12, and stops driving at time t214, for example, 15 minutes after time t213.

[0240] In this third operation, the predetermined period is the period from time t211 to time t214, and there is a period during which the heater 30 is driven after time t212, which is the timing when spraying of liquid from the cleaner 40 ends. Therefore, the outer cover 12 is heated after spraying of liquid onto the outer cover 12 ends. Therefore, with this configuration, it is possible to prevent liquid adhering to the outer cover 12 after spraying of liquid onto the outer cover 12 ends, such as the liquid from the cleaner 40, from freezing, or to vaporize and remove this liquid.

[0241] Furthermore, in this third operation, time t211, when the cleaner 40 starts spraying liquid, occurs before time t213, when the heater 30 starts driving. Therefore, the outer cover 12 is not heated before the liquid is sprayed toward it. Here, when the outer cover 12 is heated and the moisture content of dirt such as mud adhering to the outer cover 12 decreases, the adhesion of the dirt such as mud to the outer cover tends to increase. Therefore, with this configuration, dirt such as mud can be more easily removed compared to when liquid is sprayed toward the outer cover 12 after the outer cover 12 is heated.

[0242] From the viewpoint of easily removing dirt such as mud, it is sufficient that time t211, which is the timing when the cleaner 40 starts spraying liquid, is before time t213, which is the timing when the heater 30 starts to be driven. For example, the heater 30 may start to be driven during the period TW when the cleaner 40 is spraying liquid.

[0243] Furthermore, the third operation may be the operation shown in Fig. 20, and the control unit CO may control the heater 30 and the cleaner 40 so that the operations of the heater 30 and the cleaner 40 become the operations shown in Fig. 20. Fig. 20 is a timing chart schematically showing a second modified example of the third operation.

[0244] As shown in Fig. 20, the third operation of this modified example differs from the third operation shown in Fig. 19 in that the timing at which the cleaner 40 starts spraying liquid is after the timing at which the heater 30 starts to be driven. The heater 30 starts to be driven at time t221 to begin heating the outer cover 12 and stops being driven at time t224. The cleaner 40 starts spraying liquid at time t222, which is later than time t221 and earlier than time t224, and ends spraying liquid at time t223, which is earlier than time t224. In addition, the cleaner 40 does not spray gas.

[0245] In this third operation, the predetermined period is the period from time t221 to time t224, and time t222, when the cleaner 40 starts spraying liquid, is after time t221, when the heater 30 starts operating. Therefore, the outer cover 12 is heated before the liquid is sprayed onto the outer cover 12. Here, if the temperature outside the vehicle VE is at a temperature at which water or the like freezes, the moisture in the mud adhering to the outer cover 12 tends to freeze. With this configuration, the moisture in the mud adhering to the outer cover 12 can be melted by heating the outer cover 12, and then the liquid can be sprayed. Therefore, this is useful when the moisture in the mud adhering to the outer cover 12 is frozen.

[0246] In order to properly remove mud when the water in the mud is frozen, the timing at which the cleaner 40 starts to operate may be after the timing at which the heater 30 starts to operate. For example, the heater 30 may stop operating before the cleaner 40 starts to spray liquid, and the cleaner 40 may spray gas instead of liquid.

[0247] Furthermore, the third operation may be the operation shown in Fig. 21, and the control unit CO may control the heater 30 and the cleaner 40 so that the operations of the heater 30 and the cleaner 40 become the operations shown in Fig. 21. Fig. 21 is a timing chart schematically showing a third modified example of the third operation.

[0248] 21, the cleaner 40 starts injecting liquid at time t231 and ends the injection of liquid at time t232, for example, three seconds after time t231. The cleaner 40 also starts injecting gas at time t233, which is later than time t232, and ends the injection of gas at time t235, for example, three seconds after time t233. The heater 30 starts driving at time t234, which is later than time t233 and earlier than time t235, to begin heating the outer cover 12, and stops driving at time t236, for example, 15 minutes after time t234.

[0249] In this third operation, the predetermined period is the period from time t231 to time t236, and time t233, which is the timing when the cleaner 40 starts spraying gas, is after time t232, which is the timing when the cleaner 40 stops spraying liquid. Therefore, with this configuration, gas is sprayed toward the outer cover 12 after the cleaner 40 stops spraying liquid. Therefore, with this configuration, liquid adhering to the outer cover 12 after the cleaner 40 stops spraying liquid toward the outer cover 12 can be removed by the gas from the cleaner 40.

[0250] 19 , there is a period in which the heater 30 is driven after time t232, which is the timing when spraying of liquid from the cleaner 40 ends. Therefore, the outer cover 12 is heated after spraying of liquid onto the outer cover 12 ends. Therefore, with this configuration, it is possible to prevent liquid adhering to the outer cover 12 after spraying of liquid onto the outer cover 12 ends, such as liquid from the cleaner 40, from freezing, or to vaporize and remove this liquid.

[0251] Although not illustrated, the third operation may be an operation in which the heater 30 is not driven and the cleaner 40 sprays both liquid and gas. In this case, from the viewpoint of removing liquid adhering to the outer cover 12, similar to the third operation shown in FIG. 21 , it is preferable that the timing at which the cleaner 40 starts spraying gas is after the timing at which the cleaner 40 stops spraying liquid, but the timing at which the gas starts spraying may be before the timing at which the liquid starts spraying. Furthermore, the third operation may be an operation in which the heater 30 is driven and the cleaner 40 sprays only gas, or an operation in which the heater 30 is not driven and the cleaner 40 sprays only gas. Furthermore, the third operation may be an operation similar to the second operation shown in FIG. 18 . In addition, when the control unit CO controls the heater 30 and the cleaner 40 in step SP44 to perform the second operation shown in Figure 18, for example, at least one of the period TH during which the heater 30 is operating, the period TW during which the cleaner 40 is spraying liquid, and the period TA during which the cleaner 40 is spraying gas is made different between the third operation and the second operation.

[0252] Furthermore, the first operation may be the operation shown in Fig. 22, and the control unit CO may control the heater 30 and the cleaner 40 so that the operations of the heater 30 and the cleaner 40 become the operations shown in Fig. 22. Fig. 22 is a timing chart schematically showing a first modified example of the first operation.

[0253] 22, the heater 30 starts driving at time t241 to begin heating the outer cover 12 and stops driving at time t244. The cleaner 40 starts spraying gas at time t242, which is later than time t241 and earlier than time t244, and ends spraying gas at time t243, which is earlier than time t244. The cleaner 40 does not spray liquid.

[0254] In this first operation, the predetermined period is the period from time t241 to time t244, and time t242, when the cleaner 40 starts spraying gas, is after time t241, when the heater 30 starts operating. Therefore, the outer cover 12 is heated before the gas is sprayed toward the outer cover 12. Here, when the temperature outside the vehicle VE is high enough to freeze water, ice tends to adhere to the dust. With this configuration, the outer cover 12 can be heated to melt the ice adhering to the dust, and then the gas can be sprayed. Therefore, this is useful when ice is adhering to the dust adhering to the outer cover 12.

[0255] In order to properly remove dust when ice is attached to the dust, the timing at which the cleaner 40 starts to operate may be after the timing at which the heater 30 starts to operate. For example, the heater 30 may stop operating before the cleaner 40 starts to spray gas, and the cleaner 40 may spray liquid instead of gas.

[0256] Furthermore, the first operation may be the operation shown in Fig. 23, and the control unit CO may control the heater 30 and the cleaner 40 so that the operations of the heater 30 and the cleaner 40 become the operations shown in Fig. 23. Fig. 23 is a timing chart schematically showing a second modified example of the first operation.

[0257] 23, the heater 30 is not driven. The cleaner 40 starts injecting gas at time t251 and ends gas injection at time t252, for example, three seconds after time t251. The cleaner 40 also starts liquid injection at time t253, which is later than time t252, and ends gas injection at time t254, for example, one second after time t253.

[0258] In this first operation, the predetermined period is the period from time t251 to time t254, and time t253, when the cleaner 40 starts spraying liquid, is after time t252, when the cleaner 40 stops spraying gas. Therefore, dust that adheres to the outer cover 12 and is not removed by the gas spray can be removed by the liquid spray, thereby more reliably removing the dust. To more reliably remove dust, it is sufficient that the liquid spray starts after the gas spray stops. In this example, the period TW during which the liquid is sprayed is shorter than the period TA during which the gas is sprayed, but it may be longer than the period TA. The cleaner 40 may also spray liquid or gas intermittently.

[0259] Furthermore, the first operation may be the same as the third operation. For example, the first operation may be an operation in which the heater 30 is driven and the cleaner 40 sprays only the liquid, or an operation in which the heater 30 is not driven and the cleaner 40 sprays only the liquid.

[0260] (Fourth embodiment) Next, a fourth embodiment of the present invention will be described in detail. Components identical or equivalent to those in the above-described embodiments will be designated by the same reference numerals and redundant descriptions will be omitted unless otherwise specified.

[0261] The configuration of the vehicle lamp VL of this embodiment is the same as the configuration of the vehicle lamp VL of the third embodiment. However, the operation of removing deposits of the vehicle sensor device 1 in the vehicle lamp VL of this embodiment is different from the operation of the vehicle sensor device 1 of the third embodiment.

[0262] Fig. 24 is a diagram showing an example of a control flowchart of the control unit CO in this embodiment. As shown in Fig. 24, the control flowchart in this embodiment differs from the control flowchart in the third embodiment in that it has steps SP51 to SP58 instead of steps SP42 to SP45 in the control flowchart in the third embodiment.

[0263] In this embodiment, in step SP41, if the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is in a first range that is equal to or greater than the first threshold and less than the second threshold, the control unit CO advances the control flow to step SP51. On the other hand, if the intensity is equal to or greater than the second threshold, the control unit CO advances the control flow to step SP54.

[0264] (Step SP51) In this step, the control unit CO determines whether the temperature indicated by the signal from the temperature sensor 50 is equal to or lower than a predetermined temperature. The predetermined temperature is, for example, the temperature at which water or the like begins to freeze, or a temperature close to that temperature, and in this embodiment, it is set to zero degrees Celsius. If the temperature indicated by this signal is equal to or lower than the predetermined temperature, the control unit CO advances the control flow to step SP52. On the other hand, if the temperature indicated by the signal exceeds the predetermined temperature, the control unit CO advances the control flow to step SP53.

[0265] (Step SP52) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the operation consisting of a combination of the operation of the heater 30 and the operation of the cleaner 40 as time passes during a predetermined period becomes the fourth operation. In this fourth operation, at least the cleaner 40 is driven for at least a part of the predetermined period. The fourth operation in this embodiment is the same as the first operation shown in FIG. 22, and the control unit CO controls the heater 30 and the cleaner 40 so that this operation occurs. Then, the control unit CO returns the control flow to step SP11.

[0266] In this step, the temperature outside the vehicle VE is at a temperature at which water or the like freezes, and in the fourth operation, the timing at which the cleaner 40 starts spraying gas occurs after the timing at which the heater 30 starts operating. Therefore, the vehicle sensor device 1 of this embodiment can spray gas after heating the outer cover 12 to melt ice adhering to the dust adhering to the outer cover 12, making it easier to remove the dust. Also, because the cleaner 40 does not spray liquid, the liquid will not adhere to or freeze on the outer cover 12.

[0267] (Step SP53) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the fifth operation is a combination of the heater 30 and the cleaner 40 as time passes during a predetermined period. In this fifth operation, at least the cleaner 40 is driven for at least a portion of the predetermined period. In the fifth operation of this embodiment, the heater 30 is not driven and the cleaner 40 sprays gas for, for example, three seconds. The control unit CO controls the heater 30 and the cleaner 40 so that this fifth operation is performed. Then, the control unit CO returns the control flow to step SP11.

[0268] In the fifth operation, gas is sprayed from the cleaner 40 toward the transmission area AR, so that dust and water droplets adhering to the outer cover 12 can be removed by the gas.

[0269] (Step SP54) In this step, the control unit CO determines, similarly to step SP43, based on the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20, whether the intensity is within a second range that is equal to or greater than the second threshold and less than the third threshold. In this embodiment, if the intensity of the radio wave is within the second range, the control unit CO proceeds to step SP55. On the other hand, if the intensity is not equal to or greater than the second threshold and less than the third threshold, that is, if the intensity is within the third range that is equal to or greater than the third threshold, the control unit CO proceeds to step SP56.

[0270] (Step SP55) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the sixth operation is a combination of the heater 30 and the cleaner 40 as time passes during a predetermined period. In this sixth operation, at least the heater 30 is driven for at least a portion of the predetermined period, and this sixth operation differs from the fourth operation in step SP52 and the fifth operation in step SP53. The sixth operation in this embodiment is the same as the second operation shown in FIG. 18, and the control unit CO controls the heater 30 and the cleaner 40 to perform this operation. Then, the control unit CO returns the control flow to step SP11.

[0271] In this step, ice and snow adhering to the outer cover 12 can be removed by heating the outer cover 12 and by using the liquid from the cleaner 40. Furthermore, after the spraying of the liquid onto the outer cover 12 has finished, the liquid adhering to the outer cover 12 can be removed by using the gas from the cleaner 40.

[0272] (Step SP56) In this step, control unit CO determines whether the temperature indicated by the signal from temperature sensor 50 is equal to or lower than the predetermined temperature, as in step SP51. If the temperature indicated by this signal is equal to or lower than the predetermined temperature, control unit CO advances the control flow to step SP57. On the other hand, if the temperature indicated by this signal exceeds the predetermined temperature, control unit CO advances the control flow to step SP58.

[0273] (Step SP57) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the seventh operation is a combination of the heater 30 and the cleaner 40 as time passes during a predetermined period. In this seventh operation, at least the cleaner 40 is driven for at least a portion of the predetermined period, and this seventh operation differs from the sixth operation in step SP55. The seventh operation in this embodiment is the same as the third operation shown in FIG. 20, and the control unit CO controls the heater 30 and the cleaner 40 to perform this operation. Then, the control unit CO returns the control flow to step SP11.

[0274] In this step, the temperature outside the vehicle VE is at a temperature at which water or the like freezes, and in the seventh operation, the timing at which the cleaner 40 starts spraying liquid is after the timing at which the heater 30 starts operating. Therefore, the vehicle sensor device 1 of this embodiment can spray liquid after heating the outer cover 12 to melt the water in the mud adhering to the outer cover 12, making it easier to remove the mud.

[0275] Furthermore, in the seventh operation, there is a period during which the heater 30 is activated after the timing at which the spray of liquid from the cleaner 40 ends. Therefore, even if the temperature outside the vehicle VE is at a temperature at which water or the like freezes, the outer cover 12 is heated even after the timing at which the spray of liquid from the cleaner 40 ends. Therefore, the vehicle sensor device 1 of this embodiment can more appropriately prevent liquid adhering to the outer cover 12 after the spray of liquid ends, for example, liquid from the cleaner 40, from freezing.

[0276] (Step SP58) In this step, the control unit CO controls the heater 30 and the cleaner 40 so that the eighth operation is a combination of the heater 30 and the cleaner 40 as time passes during a predetermined period. In this eighth operation, at least the cleaner 40 is driven for at least a portion of the predetermined period, and this eighth operation differs from the sixth operation in step SP55. In the eighth operation of this embodiment, the heater 30 is not driven and the cleaner 40 sprays liquid for, for example, three seconds. The control unit CO controls the heater 30 and the cleaner 40 so that this eighth operation is performed. Then, the control unit CO returns the control flow to step SP11.

[0277] In the eighth action, the liquid is sprayed from the cleaner 40 toward the transmission area AR, so that the mud adhering to the outer cover 12 can be removed by the liquid.

[0278] Here, assuming that the second range is the predetermined range and the range consisting of the first and third ranges is the specific range, the control unit CO of this embodiment, as in the third embodiment, can be understood to control the heater 30 and the cleaner 40 so that when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is within the predetermined range, at least the heater 30 is activated for at least a portion of the predetermined period, and when the intensity is within a specific range different from the predetermined range, at least the cleaner 40 is activated for at least a portion of the predetermined period. Furthermore, the sixth action, which is a combination of the operation of the heater 30 and the operation of the cleaner 40 over time in the predetermined period when the intensity is within the second range, differs from the fourth and fifth actions, which are combinations of the operation of the heater 30 and the operation of the cleaner 40 over time in the predetermined period when the intensity is within the first range. Furthermore, this sixth action differs from the seventh and eighth actions, which are combinations of the operation of the heater 30 and the operation of the cleaner 40 over time in the predetermined period when the intensity is within the third range. In other words, it can be understood that the combination of the operation of the heater 30 and the operation of the cleaner 40 with the passage of time in a predetermined period when the intensity is within a specific range is different from the combination of the operation of the heater 30 and the operation of the cleaner 40 with the passage of time in a predetermined period when the intensity is within a predetermined range. Therefore, the vehicle sensor device 1 of this embodiment can suppress a decrease in the accuracy of object detection, similar to the third embodiment.

[0279] Furthermore, as described above, in steps SP53 and SP58, the heater 30 is not driven and only the cleaner 40 is driven. Therefore, in the vehicle sensor device 1 of this embodiment, when the temperature outside the vehicle VE exceeds a temperature at which water or the like freezes and mud, dust, or the like is attached to the outer cover 12, the heater is not driven and only the cleaner 40 is driven. Therefore, according to the vehicle sensor device 1 of this embodiment, mud, dust, and the like attached to the outer cover 12 can be removed while reducing the number of times the heater 30 is driven.

[0280] The sixth operation of the present embodiment may be the same as the second operation of the third embodiment or a modified version of the second operation. Furthermore, the fourth, fifth, seventh, and eighth operations may each be the same as any of the first, third, modified versions of the first, and modified versions of the third operation of the third embodiment. Furthermore, at least two of the fourth, fifth, seventh, and eighth operations may be the same as each other. However, from the viewpoint of appropriately removing mud, dust, and the like, the fourth and seventh operations are preferably operations in which the heater 30 and the cleaner 40 are driven, and the cleaner 40 starts to be driven after the heater 30 starts to be driven. Furthermore, from the viewpoint of reducing the number of times the heater 30 is driven, the fifth and eighth operations are preferably operations in which the heater 30 is not driven, and only the cleaner 40 is driven. Furthermore, the predetermined periods in the fourth, fifth, seventh, and eighth operations may be constant, or may vary depending on the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20. Furthermore, these predetermined periods may be the same as or different from one another.

[0281] Although the third aspect of the present invention has been described above using the third and fourth embodiments and the modified examples as examples, the present invention is not limited to these.

[0282] In the third and fourth embodiments and the above-described modified examples, the specific range was described as a first range in which the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is equal to or greater than the first threshold and less than the second threshold, and a third range in which the intensity of the radio waves EW2 indicated by this signal is equal to or greater than the third threshold. The predetermined range was described as a second range in which the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is equal to or greater than the second threshold and less than the third threshold. However, the predetermined range and the specific range are not limited to these. For example, the specific range may be the first range and the predetermined range may be the second range. Alternatively, the specific range may be the third range and the predetermined range may be the second range. In the latter case, for example, in step SP11 of the third embodiment, if the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20 is less than the second threshold, the control unit CO repeats step SP11. If the intensity is equal to or greater than the second threshold, the control unit CO proceeds to step SP43. Alternatively, the specific range may be the second and third ranges and the predetermined range may be the first range, or the specific range may be the first and second ranges and the predetermined range may be the third range. In the latter case, for example, in step SP42 of the third embodiment, the control unit CO controls the heater 30 and the cleaner 40 to perform the first operation, in step SP44 the control unit CO controls the heater 30 and the cleaner 40 to perform the third operation, and in step SP45 the control unit CO controls the heater 30 and the cleaner 40 to perform the second operation. There may be a certain width between the predetermined range and the specific range. Furthermore, the values ​​of the first threshold, the second threshold, and the third threshold are not particularly limited and can be set as appropriate.

[0283] The operation of the heater 30 also includes the amount of heat applied to the transparent area AR per unit time, such as the value of the current flowing through the heating wire 31. The operation of the cleaner 40 also includes the liquid ejection speed and the gas ejection speed. Therefore, the control unit CO may change the value of the current flowing through the heating wire 31, the liquid ejection speed, or the gas ejection speed, depending on the intensity of the radio waves EW2 indicated by the signal Se from the sensor unit 20. For example, in the fourth embodiment, the current value flowing through the heating wire 31 in the sixth operation may be greater than the current value flowing through the heating wire 31 in the seventh operation. Also, in the fourth embodiment, the liquid ejection speed in the seventh operation may be greater than the liquid ejection speed in the eighth operation.

[0284] Furthermore, the control unit CO may control the transmitting unit 25 so that the transmission of electromagnetic waves from the transmitting unit 25 stops during at least a part of the period TW during which the cleaner 40 is spraying liquid.

[0285] In addition, in step SP55 of the fourth embodiment, the sixth operation may be changed depending on the temperature indicated by the signal output from the temperature sensor 50, for example, the length of the period TH during which the heater 30 is driven may be changed depending on the temperature indicated by the signal.

[0286] The length of the period TH during which the heater 30 is driven, the length of the period TW during which the cleaner 40 sprays liquid, and the length of the period TA during which the cleaner 40 sprays gas can be set as appropriate. However, the length of the period TH is preferably 1 minute or longer, and the lengths of the periods TW and TA are preferably 0.5 seconds or longer.

[0287] The lengths of these periods TW, TA, and TH do not need to be predetermined. For example, the control unit CO may control the cleaner 40 to terminate liquid injection when the intensity of the radio waves EW2 indicated by the signal output from the sensor unit 20 during liquid injection becomes equal to or less than a first predetermined value that is lower than the intensity at the start of liquid injection. The first predetermined value may be, for example, a predetermined value, such as 7 / 10, 1 / 2, or 1 / 10 of the initial intensity, which is the intensity at the start of liquid injection. This configuration may prevent liquid injection when, for example, deposits on the outer cover 12 have been removed. Furthermore, if the intensity of the radio waves EW2 is greater than the first predetermined value a predetermined time after the start of liquid injection, the control unit CO may cause the cleaner 40 to terminate liquid injection and output a signal indicating an abnormality to the ECU.

[0288] The control unit CO may also control the cleaner 40 to terminate gas injection when the intensity of the radio wave EW2 indicated by the signal output from the sensor unit 20 during gas injection becomes equal to or less than a second predetermined value that is lower than the intensity at the start of gas injection. The second predetermined value may be, for example, a predetermined value, such as 7 / 10, 1 / 2, or 1 / 10 of the initial intensity, which is the intensity at the start of gas injection. This configuration may suppress gas injection when deposits on the outer cover 12 have been removed, for example. Furthermore, if the intensity of the radio wave EW2 is greater than the second predetermined value after a predetermined time has elapsed since the start of gas injection, the control unit CO may cause the cleaner 40 to terminate gas injection and output a signal indicating an abnormality to the ECU, or may cause the cleaner 40 to terminate gas injection and start liquid injection. The period TW for starting liquid injection may be predetermined. Alternatively, the control unit CO may cause the cleaner 40 to stop spraying the liquid when the intensity of the radio waves EW2 during the spraying of the liquid becomes equal to or less than the first predetermined value as described above.

[0289] The control unit CO may also control the heater 30 to terminate operation when the intensity of the radio waves EW2 indicated by the signal output from the sensor unit 20 while the heater 30 is in operation becomes equal to or less than a third predetermined value that is lower than the intensity at the start of operation of the heater 30. The third predetermined value may be, for example, a predetermined value, such as 7 / 10, 1 / 2, or 1 / 10 of the initial intensity, which is the intensity at the start of operation of the heater 30. This configuration may, for example, prevent the heater 30 from being operated when any deposits on the outer cover 12 have been removed. The control unit CO may also stop the heater 30 and output a signal indicating an abnormality to the ECU if the intensity of the radio waves EW2 is greater than the third predetermined value a predetermined time after the start of operation of the heater 30.

[0290] 18 or the third operation shown in FIG. 21, the controller CO controls the cleaner 40 to terminate liquid spray when the intensity of the radio waves EW2 during liquid spraying becomes equal to or less than the first predetermined value. This causes liquid spraying to terminate and gas spraying to begin when the intensity becomes equal to or less than the first predetermined value. In other words, the controller CO controls the cleaner 40 to switch from liquid spraying to gas spray when the intensity of the radio waves EW2 during liquid spraying becomes equal to or less than the first predetermined value. The period TA in this case may be determined in advance. Alternatively, the controller CO may cause the cleaner 40 to terminate liquid spray when the intensity of the radio waves EW2 during gas spraying becomes equal to or less than the second predetermined value, in which case the second predetermined value is smaller than the first predetermined value.

[0291] Furthermore, the control unit CO may control the cleaner 40 to switch from spraying gas to spraying liquid when the intensity of the radio waves EW2 during spraying of gas becomes equal to or less than a second predetermined value. In this case, the period TW may be determined in advance. Alternatively, the control unit CO may cause the cleaner 40 to end spraying of liquid when the intensity of the radio waves EW2 during spraying of liquid becomes equal to or less than a first predetermined value, as described above, and in this case, the first predetermined value is smaller than the second predetermined value. An example of an operation in which the control unit CO performs such control is the first operation shown in FIG. 23.

[0292] Furthermore, the control unit CO may stop the cleaner 40 and drive the heater 30 when the intensity of the radio waves EW2 during liquid spraying becomes equal to or less than a first predetermined value, or when the intensity of the radio waves EW2 during gas spraying becomes equal to or less than a second predetermined value. In this case, the period TH may be determined in advance. Alternatively, the control unit CO may control the heater 30 to terminate its operation when the intensity of the radio waves EW2 during driving becomes equal to or less than a third predetermined value, where the third predetermined value is smaller than the first predetermined value or the second predetermined value. An example of an operation in which the control unit CO performs such control is the third operation shown in FIG. 19 . Furthermore, the control unit CO may stop the heater 30 and cause the cleaner 40 to start spraying liquid or gas when the intensity of the radio waves EW2 during driving of the heater 30 becomes equal to or less than a third predetermined value. In this case, the period TW and the period TA may be determined in advance. Alternatively, the control unit CO may cause the cleaner 40 to terminate the spraying of liquid based on the intensity of the radio waves EW2 during the spraying of liquid, as described above, or may cause the cleaner 40 to terminate the spraying of gas based on the intensity of the radio waves EW2 during the spraying of gas.

[0293] (Fifth embodiment) A fifth embodiment as a fourth aspect of the present invention will be described. Components that are the same as or equivalent to those in the first embodiment will be assigned the same reference numerals and will not be described again unless otherwise specified. The configuration of the vehicular lamp VL of this embodiment is the same as that of the vehicular lamp VL of the first embodiment, and therefore, its description will be omitted.

[0294] Next, the operation of the vehicle sensor device 1 of this embodiment will be described. In the following description, it is assumed that electromagnetic waves are transmitted and received by the sensor unit 20. Fig. 25 is a flowchart showing the operation of the control unit CO.

[0295] <Step SP61> At the start of the example described in Fig. 25, the vehicle VE is parked in a parking lot or the like, and the engine is stopped. When the driver uses the vehicle VE in this state, the driver first turns on the ignition of the vehicle VE in this step. When the ignition is turned on, an ignition-on signal is input from the ECU 100 of the vehicle VE to the control unit CO.

[0296] <Step SP62> When an ignition-on signal is input to the control unit CO, a signal related to the outside air temperature of the vehicle VE is input to the control unit CO from the temperature sensor 50. When the signal related to the outside air temperature is input to the control unit CO, in this step the control unit CO determines whether the outside air temperature indicated by the signal is below a predetermined temperature or higher than the predetermined temperature. If the outside air temperature indicated by the signal is below the predetermined temperature, the control unit CO advances the control flow to step SP63. This predetermined temperature is, for example, 3°C. On the other hand, if the outside air temperature indicated by the signal is higher than the predetermined temperature, the control unit CO advances the control flow to step SP64.

[0297] <Step SP63> In this step, the control unit CO controls the power supply circuit 32 of the heater 30 to apply a predetermined voltage to the heating wire 31. This predetermined voltage may be a constant voltage or a voltage that changes over time. Therefore, a current flows through the heating wire 31, causing the heating wire 31 to generate heat. As a result, even if frost or the like is present on the outer surface 12o of the outer cover 12, the frost or the like can be melted. Also, in this step, the control unit CO does not operate the sensor unit 20. Therefore, no electromagnetic wave-related signal is input from the sensor unit 20 to the control unit CO, and the control unit CO does not output an object detection signal Sd. Alternatively, the control unit CO may operate the sensor unit 20 to emit electromagnetic waves from the transmitter 25 and receive electromagnetic waves from the receiver 26, and the electromagnetic wave-related signal Se is input from the sensor unit 20 to the control unit CO. However, in this step, even if the electromagnetic wave-related signal Se is input from the sensor unit 20 to the control unit CO, the control unit CO does not output an object detection signal Sd. Alternatively, the control unit CO may control the sensor unit 20 to transmit and receive electromagnetic waves between the transmitter 25 and the receiver 26 as described above, but may not cause the sensor unit 20 to output a signal Se related to the electromagnetic waves.

[0298] <Step SP64> In this step, the control unit CO determines whether the gear position signal input from the ECU 100 is a signal indicating that the vehicle VE is in a state where it can run. The state where the vehicle VE is in a state where it can run is a state where the vehicle VE can run if the brakes are not applied, for example, a state where the gear position is in drive or reverse. If the signal indicating that the vehicle VE is in a state where it can run is not input from the ECU 100, the control unit CO repeats this step. On the other hand, if the signal input from the ECU 100 is a signal indicating that the vehicle VE is in a state where it can run, the control unit CO advances the control flow to step SP65.

[0299] <Step SP65> In this step, the gear position is, for example, in drive or reverse. In this embodiment, the brakes may be applied to stop the vehicle VE from moving in this state, or the vehicle VE may start moving. In this step, the sensor unit 20 and the heater 30 are operated. FIG. 26 is a timing chart showing the relationship between the electromagnetic waves transmitted and received by the sensor unit 20, the detection signal Sd output by the control unit CO, and the operation of the heater 30 in this step. As shown by the solid line in FIG. 26, the sensor unit 20 periodically transmits and receives electromagnetic waves. This period is, for example, 5 milliseconds to 200 milliseconds. When the sensor unit 20 receives electromagnetic waves, it outputs a signal Se related to the electromagnetic waves, and the signal Se is input to the control unit CO. In this example, the signal Se is periodically input from the sensor unit 20 to the control unit CO.

[0300] The control unit CO processes the signal Se input from the sensor unit 20 and periodically outputs a detection signal Sd of an object located outside the outer cover 12 at predetermined time intervals. The period in which the control unit CO outputs the detection signal Sd is the same as the period in which the sensor unit 20 transmits and receives electromagnetic waves. However, as shown by the arrow in FIG. 26 , the timing in which the control unit CO outputs the detection signal Sd is delayed relative to the timing in which the sensor unit 20 transmits and receives electromagnetic waves. Furthermore, in each period, the length of the period in which the control unit CO outputs the detection signal Sd differs from the length of the period in which the sensor unit 20 transmits and receives electromagnetic waves, as shown in FIG. 26 . However, the length of the period in which the control unit CO outputs the detection signal Sd may be the same as the length of the period in which the sensor unit 20 transmits and receives electromagnetic waves.

[0301] As described above, the detection signal Sd output by the control unit CO uses electromagnetic waves periodically transmitted and received from the sensor unit 20, as indicated by the solid lines in Fig. 26. Therefore, the transmission and reception period Ta during which the electromagnetic waves used for the detection signal Sd output by the control unit CO are transmitted and received by the sensor unit 20 is the periodic period during which the electromagnetic waves indicated by the solid lines in Fig. 26 are transmitted and received.

[0302] Note that during the period Tb sandwiched between the transmission / reception periods Ta, the sensor unit 20 may or may not transmit and receive electromagnetic waves. For example, as indicated by the dashed lines in FIG. 26 , the sensor unit 20 may continuously transmit and receive electromagnetic waves. Even in this case, because the control unit CO outputs the detection signal Sd at predetermined time intervals, not all of the electromagnetic waves received by the sensor unit 20 are used for the detection signal Sd. Instead, the electromagnetic waves used for the detection signal Sd are periodically transmitted and received by the sensor unit 20. Therefore, in this case, the sensor unit 20 alternately transmits and receives the electromagnetic waves used for the detection signal Sd and the electromagnetic waves not used for the detection signal Sd. Therefore, even in this case, the transmission / reception period Ta is a periodic period as shown in FIG. 26 . In the example indicated by the dashed lines in FIG. 26 , even if the sensor unit 20 outputs a signal Se related to the electromagnetic waves to the control unit CO during the period Tb, the control unit CO does not output a detection signal Sd using the signal Se. Alternatively, the sensor unit 20 may not output the signal Se related to the electromagnetic waves received during the period Tb. In this way, during the period Tb, the electromagnetic waves transmitted and received by the sensor unit 20 are electromagnetic waves that are not used for the detection signal Sd.

[0303] The control unit CO also controls the power supply circuit 32 of the heater 30 to apply a voltage to the heating wire 31. At this time, the control unit CO sets the voltage applied to the heating wire 31 to a first voltage V1 during at least a portion of the transmission-reception period Ta, sets the voltage applied to the heating wire 31 to a second voltage V2 during at least a portion of a period Tb sandwiched between the transmission-reception periods, and sets the first voltage V1 to a voltage lower than the second voltage V2. In the example shown in FIG. 26 , the control unit CO sets the voltage applied to the heating wire 31 to the first voltage V1 during the entire transmission-reception period Ta, and sets the voltage applied to the heating wire 31 to the second voltage V2 during the entire period Tb. Therefore, in this example, the period during which the voltage applied to the heating wire 31 is the first voltage V1 coincides with the transmission-reception period Ta, and the period during which the voltage applied to the heating wire 31 is the second voltage V2 coincides with the period Tb.

[0304] In this way, an electric current flows through the heating wire 31, causing the heating wire 31 to generate heat. This heat can melt snow or ice that has adhered to the outer cover 12. Furthermore, even if moisture has adhered to the outer cover 12, the moisture can evaporate.

[0305] In this embodiment, the control unit CO continues this step even if the vehicle VE subsequently enters a traveling state. That is, in this example, the control unit CO continues this step throughout the entire traveling state of the vehicle VE. In this embodiment, the control unit CO only needs to perform step SP65 during at least part of the traveling state of the vehicle VE. That is, the control unit CO does not need to perform step SP65 during part of the traveling state of the vehicle VE. An example of such control is control in which the control unit CO performs step SP65 when the vehicle VE is traveling at 5 km / h or more, and does not perform step SP65 when the vehicle VE is traveling at a speed less than 5 km / h.

[0306] Incidentally, an electric heating wire attached to the cover of a vehicle sensor device can be used as a heater to melt ice, snow, and frost that has accumulated on the cover. When a voltage is applied to the electric heating wire and a current flows through it, a magnetic field is generated around the electric heating wire. There is a concern that this magnetic field may affect the sensitivity of the radar device and reduce the accuracy of object detection.

[0307] Therefore, in the vehicle sensor device 1 of this embodiment, the control unit CO outputs a detection signal Sd of an object located outside the outer cover 12 at a predetermined time interval based on a signal Se related to an electromagnetic wave from the sensor unit 20, and sets the first voltage applied to the heating wire 31 during at least a part of the transmission / reception period Ta in which the electromagnetic wave used for the detection signal Sd is transmitted and received by the sensor unit 20 to a voltage lower than the second voltage applied to the heating wire 31 during at least a part of the period Tb sandwiched between the transmission / reception periods.

[0308] Therefore, the strength of the magnetic field generated from the heating wire during at least a part of the transmission / reception period Ta during which the first voltage V1 is applied to the heating wire is lower than the strength of the magnetic field generated from the heating wire 31 during at least a part of the period Tb sandwiched between the transmission / reception periods during which the second voltage V2 is applied to the heating wire. Therefore, compared to when the second voltage V2 is continuously applied to the heating wire 31, the magnetic field generated from the heating wire 31 can be prevented from affecting the sensitivity of the sensor unit 20. Therefore, the vehicle sensor device 1 of this embodiment can prevent a decrease in the accuracy of object detection.

[0309] Furthermore, in the vehicle sensor device 1 of this embodiment, the control unit CO applies the first voltage V1 to the heating wire 31 throughout the entire transmission and reception period Ta. Therefore, the influence of the magnetic field generated by the heating wire 31 on the sensitivity of the sensor unit 20 can be reduced compared to when the voltage applied to the heating wire 31 is the first voltage V1 during part of the transmission and reception period Ta and the voltage applied to the heating wire 31 is the second voltage V2 during the other part of the transmission and reception period Ta.

[0310] Furthermore, in the vehicle sensor device 1 of this embodiment, the control unit CO stops outputting the detection signal Sd and applies voltage to the heating wire 31 during the period from when an ignition-on signal is input to the control unit CO until a signal indicating that the vehicle VE is ready to move is input to the control unit CO. Safety concerns are generally low during the period from when the ignition is turned on until the vehicle VE starts moving. Therefore, during the period from when the ignition is turned on until the vehicle VE is ready to move, voltage is applied to the heating wire 31, and melting snow and other particles adhering to the outer cover takes priority over detecting objects around the vehicle VE. This reduces the amount of snow and other particles adhering to the outer cover, thereby preventing a decrease in the accuracy of object detection by the vehicle sensor device 1 after the vehicle VE starts moving. Then, while the vehicle VE is moving, the control unit CO performs step SP65. Therefore, when the vehicle VE is running, the magnetic field generated from the heating wire 31 can be prevented from affecting the sensitivity of the sensor unit 20, and a decrease in the accuracy of object detection can be suppressed, compared to when the second voltage V2 is continuously applied to the heating wire 31.

[0311] In this embodiment, the control unit CO may stop outputting the detection signal Sd and apply a voltage to the heating wire 31 during a part of the period from when an ignition-on signal is input to the control unit CO until a signal indicating that the vehicle VE is in a driveable state is input to the control unit CO, rather than during the entire period. Furthermore, in the vehicle sensor device 1, the control unit CO may stop outputting the detection signal Sd and apply a voltage to the heating wire 31 during at least a part of the period when the vehicle VE is stopped, not limited to the period from when an ignition-on signal is input to the control unit CO until a signal indicating that the vehicle VE is in a driveable state is input to the control unit CO. For example, the control unit CO may stop outputting the detection signal Sd and apply a voltage to the heating wire 31 during a period when a signal indicating that the speed is zero is input to the control unit CO from a speed sensor, ECU 100, or the like. When the vehicle VE is stopped, there tends to be less concern about safety than when the vehicle VE is moving, so by operating the control unit CO in this manner, the amount of snow that accumulates on the outer cover while the vehicle VE is stopped can be reduced, and a decrease in the accuracy of object detection by the vehicle sensor device 1 after the vehicle VE starts moving can be suppressed.

[0312] In this embodiment, step SP62 may be omitted. In this case, the control unit CO proceeds to step SP63 after step SP61 regardless of the outside air temperature.

[0313] Next, a modification of the above embodiment will be described.

[0314] (Variation 1) FIG. 27 is a diagram showing the operation of the heater 30 in this modified example. Note that in FIG. 27, the operation of the heater 30 in FIG. 26 is indicated by a dashed line. As indicated by a solid line in FIG. 27, this modified example differs from the above embodiment in that the period during which the first voltage V1 is applied to the heating wire 31 is shorter than the period during which the first voltage V1 is applied to the heating wire 31 in the above embodiment. In the above embodiment, the period during which the voltage applied to the heating wire 31 is the first voltage V1 coincides with the transmission / reception period Ta. Therefore, in this modified example, the control unit CO applies the first voltage V1 to the heating wire 31 during part of the transmission / reception period Ta.

[0315] According to this modified example, the period during which the first voltage V1, which is lower than the second voltage V2, is applied is shorter than the transmission / reception period Ta, and therefore the amount of power applied to the heating wire 31 is greater than in the above embodiment, making it possible to melt snow, etc. more efficiently.

[0316] (Variation 2) FIG. 28 illustrates the operation of the heater 30 in this modified example. Similar to FIG. 27, the operation of the heater 30 in FIG. 26 is indicated by a dashed line in FIG. 28. As indicated by a solid line in FIG. 28, this modified example differs from the above embodiment in that the period during which the first voltage V1 is applied to the heating wire 31 is longer than the period during which the first voltage V1 is applied to the heating wire 31 in the above embodiment. In this modified example, the control unit CO applies the first voltage V1 to the heating wire 31 during a period that includes and is longer than the transmission / reception period Ta. In the example illustrated in FIG. 28, the control unit CO changes the voltage applied to the heating wire 31 from the second voltage V2 to the first voltage V1 before the start of the transmission / reception period Ta, and changes the voltage applied to the heating wire 31 from the first voltage V1 to the second voltage V2 after the end of the transmission / reception period Ta. However, the control unit CO may also change the voltage applied to the heating wire 31 from the second voltage V2 to the first voltage V1 at the start of the transmission / reception period Ta. Alternatively, the control unit CO may change the voltage applied to the heating wire 31 from the first voltage V1 to the second voltage V2 at the end of the transmission / reception period Ta.

[0317] According to this modified example, the first voltage V1, which is lower than the second voltage V2, is applied to the heating wire at least at the start and end of the transmission / reception period Ta, so that the influence of the magnetic field generated from the heating wire 31 on the sensitivity of the sensor unit 20 can be more appropriately suppressed than in the above embodiment.

[0318] (Variation 3) FIG. 29 is a diagram showing the operation of the heater 30 in this modified example. Note that in FIG. 29, the operation of the heater 30 in FIG. 26 is indicated by a dashed line, as in FIG. 27. As indicated by a solid line in FIG. 29, this modified example differs from the above embodiment in that the first voltage V1 applied to the heating wire 31 during the transmission / reception period Ta is zero. The fact that the first voltage V1 applied to the heating wire 31 is zero means that no voltage is applied to the heating wire 31. In other words, in this modified example, the control unit CO does not apply a voltage to the heating wire 31 during the transmission / reception period Ta.

[0319] According to this modification, no voltage is applied to the heating wire 31 during the transmission / reception period Ta. Therefore, radiation of a magnetic field from the heating wire during the transmission / reception period Ta can be suppressed more effectively than in the above embodiment, and the influence of the magnetic field generated by the heating wire 31 on the sensitivity of the sensor unit 20 can be further suppressed.

[0320] Note that Modification 3 may be applied to Modification 1 or Modification 2. When Modification 3 is applied to Modification 1, the control unit CO applies a first voltage V1 of zero magnitude to the heating wire 31 during part of the transmission and reception period Ta. When Modification 3 is applied to Modification 2, the control unit CO applies a first voltage V1 of zero magnitude to the heating wire 31 during a period that includes the transmission and reception period Ta and is longer than this period.

[0321] (Variation 4) FIG. 30 is a flowchart showing the operation of the control unit CO in step SP65 in this modification to modification 7, which will be described later. Step SP71 is a determination step for determining whether to proceed to step SP72 or step SP73 depending on whether the vehicle VE is in a specific state. In this modification, this specific state is a state in which the vehicle VE is traveling at a speed greater than a predetermined speed. Therefore, in step SP71 of this modification, the control unit CO determines, based on a signal indicating the speed of the vehicle VE input from the ECU 100 or the like to the control unit CO, whether the speed of the vehicle VE indicated by this signal is greater than the predetermined speed. If the signal indicating the speed of the vehicle VE indicates a speed greater than the predetermined speed, the control unit CO proceeds to step SP72 and controls the power supply circuit 32 of the heater 30 to place the heater 30 in the first operating state. On the other hand, if the signal indicating the speed of the vehicle VE does not indicate a speed greater than the predetermined speed, i.e., if the signal indicates a speed equal to or less than the predetermined speed, the control unit CO proceeds to step SP73 and places the heater 30 in the second operating state. This speed is, for example, 5 km / h.

[0322] In this modification, the control unit CO applies a voltage to the heating wire 31 in the first operating state, for example, as in Modification 2 shown in FIG. 27 or Modification 3 shown in FIG. 29 , and in the second operating state, for example, as in the above embodiment shown in FIG. 26 or Modification 1 shown in FIG. 27 . Furthermore, the control unit CO applies a voltage to the heating wire 31 in the first operating state, for example, as in the above embodiment, Modification 2, or Modification 3, and in the second operating state, for example, as in Modification 1 shown in FIG. 27 . That is, in this modification, the control unit CO makes the magnitude of the first voltage V1 smaller when the speed of the vehicle VE is greater than a predetermined speed than when the speed of the vehicle VE is equal to or less than the predetermined speed. Alternatively, the control unit CO makes the period during which the first voltage V1 is applied when the speed of the vehicle VE is greater than the predetermined speed longer than the period during which the first voltage V1 is applied when the speed of the vehicle VE is equal to or less than the predetermined speed.

[0323] (Variation 5) In this modification, the specific state shown in FIG. 30 is a state in which the distance between the vehicle VE and an object detected outside the vehicle is shorter than a predetermined distance. Therefore, in step SP71 of this modification, the control unit CO determines whether the object distance indicated by the detection signal Sd is shorter than the predetermined distance. If the object distance indicated by the detection signal Sd is shorter than the predetermined distance, the control unit CO advances the control flow to step SP72 and controls the power supply circuit 32 of the heater 30 to place the heater 30 in the first operating state described in Modification 4. On the other hand, if the object distance indicated by the detection signal Sd is equal to or greater than the predetermined distance, the control unit CO advances the control flow to step SP73 and places the heater 30 in the second operating state described in Modification 4. This predetermined distance is, for example, 5 m. In other words, in this modification, the control unit CO reduces the magnitude of the first voltage V1 when the object distance indicated by the detection signal Sd is shorter than the predetermined distance to a value smaller than the magnitude of the first voltage V1 when the object distance indicated by the detection signal Sd is equal to or greater than the predetermined distance. Alternatively, the control unit CO applies the first voltage V1 for a period when the distance of the object indicated by the detection signal Sd is less than a predetermined distance, longer than the period when the first voltage V1 is applied for a period when the distance of the object indicated by the detection signal Sd is equal to or greater than the predetermined distance.

[0324] (Variation 6) In this modification, the specific state shown in FIG. 30 is a state in which the vehicle VE is in the rain. Therefore, in step SP71 of this modification, the control unit CO determines whether or not the signal input from the rain sensor 51 to the control unit CO is a signal indicating rain. If the signal indicating rain is input to the control unit CO, the control unit CO proceeds to step SP72 and controls the power supply circuit 32 of the heater 30 to set the heater 30 to the first operating state described in Modification 4. On the other hand, if the signal indicating rain is not input to the control unit CO, the control unit CO proceeds to step SP73 and sets the heater 30 to the second operating state described in Modification 4. That is, in this modification, the control unit CO reduces the magnitude of the first voltage V1 when the signal indicating rain is input to the control unit CO to be smaller than the first voltage V1 when the signal indicating rain is not input. Alternatively, the control unit CO applies the first voltage V1 for a period when a signal indicating rain is input to the control unit CO that is longer than the period when the first voltage V1 is applied for a period when no signal indicating rain is input.

[0325] (Variation 7) In this modification, the specific state shown in FIG. 30 is a state in which the vehicle VE has its headlights on. Therefore, in step SP71 of this modification, the control unit CO determines whether a signal input to the control unit CO from the ECU 100 or the like indicates that the headlights of the vehicle VE are on. When a signal indicating that the headlights are on is input to the control unit CO, a low beam or a high beam is emitted from the lamp unit LU. When a signal indicating that the headlights are on is input to the control unit CO, the control unit CO advances the control flow to step SP72 and controls the power supply circuit 32 of the heater 30 to set the heater 30 to the first operating state described in Modification 4. On the other hand, when a signal indicating that the headlights of the vehicle VE are on is not input to the control unit CO, the control unit CO advances the control flow to step SP73 and sets the heater 30 to the second operating state described in Modification 4. That is, in this modification, the control unit CO sets the magnitude of the first voltage V1 when a signal indicating that the headlights are on is input to the control unit CO to be smaller than the first voltage V1 when a signal indicating that the headlights are on is not input to the control unit CO. Alternatively, the control unit CO sets the period during which the first voltage V1 is applied when a signal indicating that the headlights are on is input to the control unit CO to be longer than the period during which the first voltage V1 is applied when a signal indicating that the headlights are on is not input to the control unit CO.

[0326] As described in the above modified examples 4 to 7, when the speed of the vehicle VE is high, when the distance from the vehicle VE to an object is short, when it is raining, or when the headlights are on, the occupants need more information about the surroundings of the vehicle VE by means other than visual inspection. In these conditions, the vehicle sensor device 1 can suppress a decrease in the accuracy of object detection and contribute to greater safety by reducing the magnitude of the first voltage V1 to reduce the magnetic field generated from the heating wire 31, or by lengthening the period during which the magnetic field generated from the heating wire 31 is suppressed by lengthening the period during which the first voltage V1 is applied.

[0327] Although the fourth aspect of the present invention has been described above using the fifth embodiment as an example, the present invention is not limited to the above description.

[0328] For example, in the fifth embodiment, the control unit CO performed step SP65 during at least part of the state in which the vehicle VE was moving. However, in the present invention, it is sufficient that the control unit CO performs step SP65 during at least part of the state in which the vehicle VE was stopped and at least part of the state in which the vehicle VE was moving. Therefore, for example, the control unit CO may perform step SP65 during at least part of the state in which the vehicle VE was stopped. However, when the vehicle VE was moving, the occupant needs information about the surroundings of the vehicle VE by means other than visual inspection, more so than when the vehicle VE was stopped. Therefore, it is preferable that the control unit CO perform step SP65 during at least part of the state in which the vehicle VE was moving.

[0329] Furthermore, for example, steps SP62 to SP64 of the fifth embodiment may be omitted, and the control unit CO may perform step SP65 after step SP61. In this case, for example, the control unit CO performs step SP65 in all states in which the vehicle VE is stopped and in all states in which the vehicle VE is running.

[0330] In the fifth embodiment, the vehicle sensor device 1 only needs to include at least the outer cover 12, the sensor unit 20, the heating wire 31, and the control unit CO, and for example, the lamp unit LU does not need to be disposed in the accommodation space 13 of the housing 10. In this case, the lamp unit LU is disposed in a housing different from the housing 10.

[0331] Furthermore, in the fifth embodiment, the cleaner 40 is not an essential component, and the cleaner 40 may not be provided. Alternatively, when the cleaner 40 is provided as in the above-described embodiment, the cleaner 40 may be operated when a predetermined voltage is applied to the heating wire 31 in step SP63 of Figure 25. For example, liquid may be sprayed onto the transmission area AR from the spray nozzle 41c of the liquid unit 41 before the voltage is applied to the heating wire 31.

[0332] Although the present invention has been described above using the above-mentioned embodiment and modified examples as examples, the present invention is not limited to these.

[0333] For example, in the above embodiment, the vehicle sensor device 1 is provided in a vehicle lamp VL, which is a headlamp. However, the vehicle sensor device 1 may also be provided in a vehicle lamp such as a turn signal lamp or a brake lamp. Furthermore, the vehicle sensor device 1 does not have to be provided in a vehicle lamp. An example of the configuration of such a vehicle sensor device 1 is a configuration in which the vehicle lamp VL in the above embodiment does not include the lamp unit LU.

[0334] According to a first aspect of the present invention, a vehicle sensor device is provided that can suppress wasteful consumption of power while suppressing a decrease in detection accuracy; according to a second aspect of the present invention, a vehicle sensor device is provided that can reduce the burden on a control unit; and according to third and fourth aspects of the present invention, a vehicle sensor device is provided that can suppress a decrease in object detection accuracy, and can be used in fields such as automobiles.

Claims

1. An outer cover and a sensor unit that is disposed inside the outer cover of the vehicle, transmits and receives electromagnetic waves via the outer cover, and outputs a signal related to the electromagnetic waves that are incident on the inside of the outer cover; a heating wire provided in the outer cover and configured to heat a transmission area of ​​the outer cover through which the electromagnetic waves emitted from the sensor unit pass; A control unit; Equipped with The control unit outputs a detection signal of an object located outside the outer cover at predetermined time intervals based on the signal from the sensor unit, and sets a first voltage applied to the heating wire during at least a part of a transmission / reception period in which the electromagnetic wave used for the detection signal is transmitted and received by the sensor unit to be lower than a second voltage applied to the heating wire during at least a part of a period sandwiched between the transmission / reception periods. A sensor device for a vehicle.

2. The control unit sets the voltage applied to the heating wire to the first voltage throughout the entire transmission and reception period.

2. The sensor device for a vehicle according to claim 1.

3. The control unit sets the voltage applied to the heating wire to the first voltage during a period longer than the transmission / reception period.

3. The sensor device for a vehicle according to claim 2.

4. The control unit sets the first voltage to zero.

4. The sensor device for a vehicle according to claim 1.

5. The control unit reduces the magnitude of the first voltage when the speed of the vehicle is higher than a predetermined speed compared to the magnitude of the first voltage when the speed of the vehicle is equal to or lower than the predetermined speed.

4. The sensor device for a vehicle according to claim 1.

6. The control unit applies the first voltage for a period when the vehicle speed is higher than a predetermined speed longer than a period when the vehicle speed is equal to or lower than the predetermined speed.

5. The sensor device for a vehicle according to claim 1.

7. The control unit reduces the magnitude of the first voltage when the distance of the object indicated by the detection signal is shorter than a predetermined distance, compared to the first voltage when the distance of the object indicated by the detection signal is equal to or greater than the predetermined distance.

4. The sensor device for a vehicle according to claim 1.

8. The control unit applies the first voltage for a period when the distance of the object indicated by the detection signal is shorter than a predetermined distance, longer than a period when the distance of the object indicated by the detection signal is equal to or greater than the predetermined distance.

5. The sensor device for a vehicle according to claim 1.

9. The control unit reduces the magnitude of the first voltage when a signal indicating rain is input to the control unit compared to the magnitude of the first voltage when the signal indicating rain is not input.

4. The sensor device for a vehicle according to claim 1.

10. The control unit applies the first voltage for a period in which a signal indicating rain is input to the control unit, longer than a period in which the first voltage is applied in a state in which the signal indicating rain is not input.

5. The sensor device for a vehicle according to claim 1.

11. The control unit reduces the magnitude of the first voltage in a state in which a signal indicating that the headlights of the vehicle are on is input to the control unit, compared to the first voltage in a state in which the signal indicating that the headlights of the vehicle are on is not input.

4. The sensor device for a vehicle according to claim 1.

12. The control unit applies the first voltage for a period in which a signal indicating that the headlights of the vehicle are on is input to the control unit, longer than a period in which the first voltage is applied for a period in which the signal indicating that the headlights of the vehicle are on is not input to the control unit.

5. The sensor device for a vehicle according to claim 1.

13. The control unit stops output of the detection signal and applies a voltage to the heating wire during at least a portion of a period when the vehicle is stopped, outputs the detection signal at the predetermined time interval during at least a portion of a period when the vehicle is running, and sets the first voltage applied to the heating wire during at least a portion of the transmission / reception period to a voltage lower than the second voltage applied to the heating wire during at least a portion of a period sandwiched between the transmission / reception periods. The sensor device for a vehicle according to any one of claims 1 to 12.

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