Radar unit, adjustment system, and adjustment method

Abstract

To provide a radar unit, an adjustment system, and an adjustment method that can facilitate beam axis adjustment.SOLUTION: A radar unit 10 mounted on the side of a vehicle T for detecting dynamic objects, comprises a radar 1 that emits radio waves from an antenna surface 1S, a cover 2 that houses the radar 1, and a reference member 3 that is attached to the cover so as to be exposed to the outside of the cover 2 and has a reference 4 for adjusting the beam axis Ax, which is the normal to the antenna surface 1S of the radar 1. The reference 4 is a mark for identifying a specified position, which is the installation position of a Doppler generator 20, where radio waves emitted from the antenna surface 1S and reflected by the Doppler generator 20 to produce the Doppler effect are incident on the antenna surface 1S.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a radar unit, an adjustment system, and an adjustment method. [Background technology]

[0002] Patent Document 1 describes a positioning system that performs relative positioning between a vehicle and a target having an incident surface onto which a beam from the radar device is incident when adjusting the beam axis of a radar device mounted on the vehicle. This system includes an imaging means for capturing a planar image of the vehicle, an identification means for identifying a normal direction of the beam axis based on the planar image of the vehicle captured by the imaging means, and a moving means for moving at least either the target or the vehicle so that the normal direction identified by the identification means is perpendicular to the incident surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-331353 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to adjust the beam axis of a radar for detecting dynamic objects, a target that reflects radio waves emitted from the radar while generating a Doppler effect may be used. In this case, the target must be placed at a specific position within the radar's recognizable range. A method for placing the target at a specific position, which involves repeatedly transmitting and receiving radio waves from the radar and moving the target, requires a significant amount of time. Therefore, there is a demand for facilitating beam axis adjustment by reducing the time required for target placement.

[0005] An object of the present invention is to provide a radar unit, an adjustment system, and an adjustment method that can facilitate beam axis adjustment. [Means for solving the problem]

[0006] The radar unit of the present invention is [1] "a radar unit mounted on the side of a vehicle for detecting dynamic objects, comprising: a radar that emits radio waves from an antenna surface; a cover that houses the radar; and a reference member that is provided on the cover so as to be exposed to the outside of the cover and has a reference for adjusting the beam axis that is the normal to the antenna surface of the radar, wherein the reference is a mark for identifying a predetermined position that is the installation position of the target where the radio waves emitted from the antenna surface and reflected by the target causing the Doppler effect are incident on the antenna surface."

[0007] In this radar unit, a reference member is provided on the cover that houses the radar so as to be exposed from the cover (so as to be accessible from the outside). The reference member has a reference for adjusting the beam axis, which is the normal to the antenna surface of the radar. This reference identifies a predetermined position, which is the installation position of the target, at which radio waves emitted from the antenna surface and reflected by the target, which causes the Doppler effect, enter the antenna surface. Therefore, when installing a target at a predetermined position relative to the radar, the predetermined position can be determined by accessing the reference member from outside the cover. This reduces the time required to position the target compared to a method that repeatedly transmits and receives radio waves from the radar and moves the target. This facilitates beam axis adjustment.

[0008] The radar unit according to the present invention may be the radar unit according to [1] above, [2] "wherein the reference includes a cross mark whose relative position with respect to the antenna plane is defined, and the cross mark includes a first reference line extending in a vertical direction, a second reference line extending in a first horizontal direction and intersecting the first reference line, and a reference point which is an intersection of the first reference line and the second reference line." In this case, the cross mark can be used to more easily and reliably grasp the defined position of the target. That is, as an example, a display member is provided which displays a first point, a first line passing through the first point, and a second line indicating the direction of the beam axis when the reference point of the cross mark and the first point are aligned vertically and a marking line extending in a second horizontal direction intersecting the first horizontal direction in a plane passing through the first reference line of the cross mark is aligned with the first line. When the display member is positioned below the cover so that the line extending vertically downward from the reference point of the cross mark coincides with the first point and so that the marking line coincides with the first line, the target can be placed on the extension of the second line, thereby making it possible to place the target in the specified position.

[0009] The radar unit according to the present invention may be [3] "the radar unit according to the above [1] or [2], wherein the radar includes an adjustment unit that adjusts the irradiation range of the radio waves emitted from the antenna surface." In this case, for example, by adjusting the irradiation range of the radio waves to a narrow range that includes a target placed at a specified position, the influence of radio wave reflection (multipath) from various objects other than the target can be reduced.

[0010] The adjustment system according to the present invention is [4] "an adjustment system for adjusting the beam axis of the radar provided in the radar unit described in any one of [1] to [3] above, comprising: the target; a measuring instrument for measuring the reference; a support part that integrally supports the target and the measuring instrument; a moving mechanism that moves the support part along the longitudinal direction of the vehicle; and a control part that controls at least the target, the measuring instrument, and the moving mechanism, wherein the control part executes a target placement process that places the target at the specified position by controlling the moving mechanism to move the support part to a predetermined position so that the radio waves emitted from the antenna surface and reflected by the target are incident on the antenna surface; and a measuring instrument placement process that places the measuring instrument at a position where the reference of the reference member can be measured by controlling the moving mechanism to move the support part."

[0011] In this adjustment system, the control unit controls the movement mechanism to move the support unit that supports the target to a predetermined position, thereby placing the target at a specified position. Therefore, the time required to place the target can be reduced compared to a method that repeatedly transmits and receives radio waves from the radar and moves the target. Also, in this adjustment system, the control unit controls the movement mechanism to move the support unit, thereby placing the measuring device at a position where the reference of the reference member can be measured. The measuring device is supported by the support unit integrally with the target (i.e., the relative position between the measuring device and the target is specified). Therefore, by measuring the reference with the measuring device, it is possible to obtain information for determining whether the relative position between the radar and the target is appropriate.

[0012] The adjustment system according to the present invention may be [5] "the adjustment system according to the above [4], further comprising a camera, the camera being supported integrally with the target and the measuring instrument by the support unit, and the control unit further executing a camera placement process for placing the camera at a position where it can capture an image of the cover by controlling the movement mechanism to move the support unit." In this case, by capturing an image of the radar unit cover with a camera supported by the support unit integrally with the target (i.e., whose relative position with respect to the target has been specified), it is possible to obtain information for determining whether the relative position between the radar and the target is appropriate.

[0013] The adjustment method according to the present invention is [6] "an adjustment method for adjusting the beam axis of a radar unit mounted on the side of a vehicle for detecting a dynamic object, comprising a target placement step of placing a target that generates a Doppler effect on the radar unit, wherein the radar unit has a radar that emits radio waves from an antenna face, a cover that houses the radar, and a reference member that is provided on the cover so as to be exposed to the outside of the cover and has a reference for adjusting the beam axis that is a normal to the antenna face of the radar, the reference including a cross mark whose relative position with respect to the antenna face is defined, the cross mark having a first reference line extending in a vertical direction, a second reference line that extends in a first horizontal direction and intersects with the first reference line ... and a reference point which is an intersection of a first line and a second line, the target placement process including: a first step of preparing an indicator member on which is indicated a first point, a first line passing through the first point, and a second line which indicates the direction of the beam axis when the reference point of the cross mark and the first point are aligned in the vertical direction and a marking line extending in a second horizontal direction which intersects the first horizontal direction in a plane passing through the first reference line of the cross mark is aligned with the first line; a second step of, after the first step, placing the indicator member below the cover so that a line extending vertically downward from the reference point of the cross mark is aligned with the first point and so that the marking line is aligned with the first line; and a third step of, after the second step, placing the target on an extension of the second line.

[0014] As described above, the radar unit to be adjusted in this adjustment method is provided with a reference member that is exposed from the cover that houses the radar (so that it is accessible from the outside) and has a reference for adjusting the radar beam axis. The reference includes a cross mark that defines a relative position with respect to the radar antenna face. The cross mark includes a first reference line extending in the vertical direction, a second reference line extending in the first horizontal direction and intersecting the first reference line, and a reference point that is the intersection of the first reference line and the second reference line.

[0015] On the other hand, this adjustment method involves preparing a display member that displays a first point, a first line passing through the first point, and a second line indicating the direction of the beam axis when the reference point of the cross mark and the first point are aligned vertically and a marking line extending in a second horizontal direction that intersects with the first horizontal direction in a plane passing through the first reference line of the cross mark is aligned with the first line. Then, the display member is placed below the cover so that the line extending vertically downward from the reference point of the cross mark is aligned with the first point and the marking line is aligned with the first line. By placing the target on an extension of the second line, the target can be positioned at a specified position. This reduces the time required to position the target compared to a method that repeatedly transmits and receives radio waves from the radar and moves the target. This facilitates beam axis adjustment. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a radar unit, an adjustment system, and an adjustment method that can facilitate beam axis adjustment. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing the mounting position of a radar unit according to this embodiment. [Figure 2] FIG. 2 is a diagram showing the inside of the radar unit shown in FIG. [Figure 3] FIG. 3 is a diagram showing the appearance of the radar unit shown in FIG. [Figure 4] FIG. 4 is a plan view showing an outline of the beam axis adjustment. [Figure 5] FIG. 5 is a flowchart showing one step of the adjustment method according to this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of the angled paper P. As shown in FIG. [Figure 7] FIG. 7 is a schematic diagram showing the relationship between the cross mark and the angle setting paper shown in FIG. [Figure 8] FIG. 8 is a plan view showing the adjustment system according to this embodiment. [Figure 9] FIG. 9 is a flowchart showing one step of a beam axis adjustment method using the adjustment system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, a radar unit, an adjustment system, and an adjustment method according to an embodiment will be described with reference to the drawings. In the description of each drawing, the same or corresponding elements are denoted by the same reference numerals, and duplicated descriptions may be omitted.

[0019] FIG. 1 is a diagram showing the mounting position of a radar unit according to this embodiment. As shown in FIG. 1, the radar unit 10 is provided on the side of a vehicle T. More specifically, one radar unit 10 is mounted on one side (e.g., the right side) of the vehicle T, and another radar unit 10 is mounted on the other side (e.g., the left side) of the vehicle T. The radar unit 10 is for detecting dynamic objects. The vehicle T may be any vehicle, but in the illustrated example, it is a truck, and other examples include large vehicles such as buses and industrial vehicles.

[0020] Fig. 2 is a diagram showing the interior of the radar unit shown in Fig. 1, and Fig. 3 is a diagram showing the exterior of the radar unit shown in Fig. 1. Fig. 3(b) is an enlarged view of area AR in Fig. 3(a). As shown in Figs. 1 to 3, the radar unit 10 includes a radar 1, a cover 2, and a reference member 3.

[0021] The radar 1 has an antenna surface 1S. The radar 1 detects an object by emitting radio waves from the antenna surface 1S and receiving radio waves reflected from the object at the antenna surface 1S. As described above, the radar 1 is designed to detect dynamic objects. Therefore, in order to adjust the beam axis Ax, which is the normal to the antenna surface 1S of the radar 1 (hereinafter, sometimes referred to as "beam axis adjustment"), it is necessary to use a target, which is a dynamic target. Therefore, in this embodiment, when adjusting the beam axis, a target (here, a Doppler generator) is used that generates the Doppler effect by modulating and timing-shifting the transmitted radio waves and bouncing them back.

[0022] The cover 2 houses the radars 1. One radar unit 10 includes a pair of radars 1 whose antenna planes 1S intersect when viewed vertically. In the example of Fig. 1, the pair of radars 1 are arranged so as not to overlap when viewed vertically, but in the example of Fig. 3, the pair of radars 1 are housed within the cover 2 in a state where they are arranged so as to overlap in the vertical direction.

[0023] The reference member 3 is provided on the cover 2 so as to be exposed to the outside of the cover 2. In this embodiment, the reference member 3 is a seat provided on the underside of the cover 2. The reference member 3 has a reference 4 for adjusting the beam axis Ax, which is the normal to the antenna surface 1S of the radar 1. The reference 4 is a mark for identifying a specified position, which is the installation position of a target where radio waves emitted from the antenna surface 1S and reflected by a target (Doppler generator 20) that causes the Doppler effect are incident on the antenna surface 1S.

[0024] Specifically, the reference 4 includes a cross mark 4A whose relative position with respect to the antenna surface 1S is defined. The cross mark 4A includes a first reference line 4a extending in the vertical direction, a second reference line 4b extending in the first horizontal direction and intersecting the first reference line 4a, and a reference point 4c which is the intersection of the first reference line 4a and the second reference line 4b. On the reference member 3, the cross mark 4A is accessible and visible from the outside. The first reference line 4a and the second reference line 4b are, for example, marking lines.

[0025] FIG. 4 is a plan view showing an outline of beam axis adjustment. As shown in FIG. 4, when performing beam axis adjustment, the Doppler generator 20 is placed so as to face the antenna surface 1S of the radar 1. The specified position of the Doppler generator 20 is a position where the beam axis Ax passes through an opening 20a, which is the entrance and exit portion of the Doppler generator 20 for radio waves. There is a demand for the Doppler generator 20 to be installed in such a specified position easily and in a short time. On the other hand, in order to reduce the influence of radio wave reflection (multipath) from various objects other than the Doppler generator 20, the radar 1 has an adjustment unit 1c that adjusts the irradiation range of the radio waves, i.e., narrows the directivity of the radio waves from the state shown in FIG. 4(a) to the state shown in FIG. 4(b) (see FIG. 2).

[0026] Next, the details of the beam axis adjustment will be explained. Fig. 5 is a flowchart showing one step of the adjustment method according to this embodiment. This adjustment method is a method that enables beam axis adjustment with the same accuracy as in a manufacturing factory, for example, at a dealership (or a post-process after shipping from a factory) that cannot set up dedicated equipment similar to that in a manufacturing factory for vehicle T.

[0027] As shown in Fig. 5, in the adjustment method according to this embodiment, first, an angle setting paper P (indicator member) is prepared (step S101, first step, target placement step). Fig. 6 is a diagram showing an example of the angle setting paper P. As shown in Fig. 6, the angle setting paper P shows a first point P0, a first straight line L0, second straight lines L1 and L2, and a pair of second points P1.

[0028] The first straight line L0 is a straight line passing through the first point P0. As shown in Fig. 7, the second straight line L1 indicates the direction of the beam axis Ax of one of the pair of radars 1 housed in one cover 2 when the reference point 4c of the cross mark 4A and the first point P0 are aligned with the vertical direction V and a marking line Ls extending in a second horizontal direction H2 intersecting (orthogonal to) the first horizontal direction H1 in a plane S passing through the first reference straight line 4a of the cross mark 4A is aligned with the first straight line L0. In this case, the first horizontal direction H1 is a direction parallel to the second reference straight line 4b of the cross mark 4A.

[0029] Similarly, the second straight line L2 indicates the direction of the beam axis Ax of the other of the pair of radars 1 housed in one cover 2 when the reference point 4c of the cross mark 4A and the first point P0 are aligned in the vertical direction V and when a marking line Ls extending in a second horizontal direction H2 intersecting (orthogonal to) the first horizontal direction H1 in a plane S passing through the first reference straight line 4a of the cross mark 4A is aligned with the first straight line L0. Note that the pair of second points P1 each indicate the center position of the pair of radars 1 housed in one cover 2.

[0030] In the next step, the angle setting paper P is placed below the cover 2 so that the straight line Lc extending vertically downward from the reference point 4c of the cross mark 4A coincides with the first point P0 and so that the marking line Ls coincides with the first straight line L0 (step S102, second step, target placement step). More specifically, in step S102, first, a plumb bob, which is a string with a sharp weight at the tip, is hung from the reference point 4c of the cross mark 4A, and the angle setting paper P is positioned so that the first point P0 coincides with the tip position of the plumb bob.

[0031] In this state, the position of the angle setting paper P is adjusted so that, for example, the laser line (marking line Ls) passing through the first reference straight line 4a of the laser marking device coincides with the first straight line L0. As a result, the angle setting paper P is positioned below the cover 2 so that the line Lc extending vertically downward from the reference point 4c of the cross mark 4A coincides with the first point P0 and so that the marking line Ls coincides with the first straight line L0.

[0032] In this state, the second straight lines L1 and L2 on the angle setting sheet P indicate the directions of the beam axes Ax of the pair of radars 1 housed in one cover 2. Therefore, in the next step, the Doppler generators 20 are placed on the extension lines Le of the second straight lines L1 and L2 (step S103, third step, target placement step). This allows the Doppler generators 20 to be placed in the specified positions. Thereafter, in this adjustment method, the beam axes of each radar 1 are adjusted using the Doppler generators 20 placed in the specified positions.

[0033] Next, an embodiment of the adjustment system will be described. Fig. 8 is a plan view showing an adjustment system according to this embodiment. The adjustment system 100 shown in Fig. 8 is a dedicated facility that enables beam axis adjustment in a mass production factory. As shown in Fig. 8, the adjustment system 100 includes a plurality (four in this case) of Doppler generators 20 (targets), a pair of three-dimensional measuring devices (measuring devices) 30, a pair of traceability cameras (cameras) 40, a pair of traveling carriages 50 (support units), a pair of moving mechanisms 60, and a control unit 70.

[0034] In the environment in which the adjustment system 100 is placed, a vehicle facing device Q and a pair of rails F are laid. The vehicle T is faced by the vehicle facing device Q. The pair of rails F are laid along the front-to-rear direction of the vehicle T on each side of the vehicle T placed at the reference position. As described above, a radar unit 10 is mounted on each side of the vehicle T. A traveling carriage 50 is placed on each of the pair of rails F.

[0035] A pair of Doppler generators 20, one three-dimensional measuring device 30, and one traceability camera 40 are integrally supported on one traveling carriage 50. A movement mechanism 60 is provided on each of the pair of traveling carriages 50, and moves the traveling carriage 50 along the rails F (i.e., along the front-to-rear direction of the vehicle T) under the control of the control unit 70. This makes it possible for the adjustment system 100 to adjust the relative positions of the Doppler generators 20, three-dimensional measuring device 30, and traceability camera 40 with respect to the vehicle T.

[0036] The three-dimensional measuring device 30 is used to measure the three-dimensional position of a reference 4 (cross mark 4A) of a reference member 3 provided on the cover 2 of the radar unit 10. The traceability camera 40 is used to capture an image of the cover 2 of the radar unit 10.

[0037] The control unit 70 controls at least the Doppler generator 20, the three-dimensional measuring device 30, the traceability camera 40, and the moving mechanism 60. The control unit 70 is, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control unit 70 performs various processes, which will be described later, by, for example, storing data in the RAM based on a signal output by the CPU, loading a program stored in the ROM into the RAM, and executing the program loaded into the RAM.

[0038] The adjustment system 100 further includes a radio wave absorber 21 provided on the side of the Doppler generator 20 opposite to the side facing the radar unit 10 (that is, on the rear side of the Doppler generator 20).

[0039] Next, a description will be given of an example of a beam axis adjustment method using the above adjustment system 100. The following adjustment method includes each process of the control unit 70. That is, the following adjustment method corresponds to the operation of the adjustment system 100.

[0040] 9 is a flowchart showing one step of the beam axis adjustment method using the adjustment system according to this embodiment. As shown in FIG. 9, first, a vehicle T is carried in (step S101). As described above, the vehicle T is placed at a predetermined reference position and is directed by the vehicle directing device Q.

[0041] Next, the control unit 70 controls the movement mechanism 60 to move the traveling carriage 50, thereby placing the traceability camera 40 in a position where it can capture an image of the cover 2 of the radar unit 10 (step S202, camera placement process). Then, the control unit 70 controls the traceability camera 40 to capture an image of the cover 2 of the radar unit 10 (step S203). The image (video) acquired in step S203 can be stored in the control unit 70.

[0042] Next, the control unit 70 controls the movement mechanism 60 to move the traveling carriage 50, thereby placing the three-dimensional measuring device 30 at a position where it can measure the position of the reference 4 (cross mark 4A) of the reference member 3, which is the seating surface of the cover 2 (step S204, measuring device placement process).The control unit 70 then controls the three-dimensional measuring device 30 to measure the three-dimensional position of the reference 4 of the reference member 3 (seating surface) (step S205).The information related to the position acquired in step S205 can be stored in the control unit 70.

[0043] Next, the control unit 70 controls the moving mechanism 60 to move the traveling carriage 50 to a predetermined position so that the radio waves emitted from the antenna surface 1S of the radar 1 of the radar unit 10 and reflected by the Doppler generator 20 are incident on the antenna surface 1S, thereby placing the Doppler generator 20 at a specified position (step S206, target placement processing).

[0044] In this state, radio waves are emitted from the antenna surface 1S of the radar 1, and the Doppler effect is generated by the Doppler generator 20, which reflects the radio waves and makes them incident on the antenna surface 1S, thereby adjusting the beam axis of the radar 1 (step S207). Thereafter, the vehicle T is carried out.

[0045] If an abnormality is detected in the results of the beam axis adjustment in step S207, an analysis (fault diagnosis) can be performed to determine whether the relative positions of the Doppler generator 20 and the radar unit 10 were appropriate, based on the image (video) acquired by the traceability camera 40 in step S203 and the position information acquired by the three-dimensional measuring device 30 in step S205.

[0046] As described above, in the radar unit 10 according to this embodiment, the reference member 3 is provided on the cover 2 that houses the radar 1 so as to be exposed from the cover 2 (so as to be accessible from the outside). The reference member 3 has a reference 4 for adjusting the beam axis, which is the normal to the antenna surface 1S of the radar 1. This reference 4 identifies a specified position, which is the installation position of the Doppler generator 20, at which radio waves emitted from the antenna surface 1S and reflected by the Doppler generator 20 enter the antenna surface 1S.

[0047] Therefore, when installing the Doppler generator 20 at a specified position relative to the radar 1, the specified position can be grasped by accessing and using the reference 4 of the reference member 3 from outside the cover 2. This reduces the time required to position the Doppler generator 20 compared to a method in which radio waves from the radar 1 are repeatedly transmitted and received and the Doppler generator 20 is moved. This makes it easier to adjust the beam axis.

[0048] Furthermore, in the radar unit 10 according to this embodiment, the reference 4 includes a cross mark 4A that defines the relative position with respect to the antenna plane 1S. The cross mark 4A includes a first reference line 4a extending in the vertical direction V, a second reference line 4b extending in the first horizontal direction H1 and intersecting with the first reference line 4a, and a reference point 4c that is the intersection of the first reference line 4a and the second reference line 4b. Therefore, by using the cross mark 4A, it is possible to more easily and reliably determine the defined position of the Doppler generator 20.

[0049] That is, as an example, an angle setting paper P is prepared, which shows a first point P0, a first straight line L0 passing through the first point P0, and second straight lines L1 and L2 that indicate the direction of the beam axis Ax when the reference point 4c of the cross mark 4A and the first point P0 are aligned in the vertical direction V and a marking line Ls extending in a second horizontal direction H2 that intersects with the first horizontal direction H1 in a plane S that passes through the first reference straight line 4a of the cross mark 4A is aligned with the first straight line L0. Then, when the angle setting paper P is placed below the cover 2 so that the straight line Lc extending vertically downward from the reference point 4c of the cross mark 4A is aligned with the first point P0 and so that the marking line Ls is aligned with the first straight line L0, the Doppler generator 20 is placed on the extension line Le of the second straight lines L1 and L2, and it is possible to place the Doppler generator 20 at a specified position.

[0050] Furthermore, in the radar unit 10 according to this embodiment, the radar 1 includes an adjustment unit 1c that adjusts the irradiation range of the radio waves emitted from the antenna surface 1S. Therefore, for example, by adjusting the irradiation range of the radio waves to a narrow range that includes the Doppler generator 20 placed at a specified position, the influence of radio wave reflection (multipath) from various objects other than the Doppler generator 20 can be reduced.

[0051] Moreover, the adjustment system 100 according to this embodiment is an adjustment system for adjusting the beam axis of the radar 1 included in the radar unit 10 according to this embodiment. In the adjustment system 100, the control unit 70 controls the movement mechanism 60 to move the traveling carriage 50 supporting the Doppler generator 20 to a predetermined position, thereby disposing the Doppler generator 20 at a specified position. Therefore, the time required to dispose the Doppler generator 20 can be shortened compared to a method in which transmission and reception of radio waves from the radar 1 and movement of the Doppler generator 20 are repeatedly performed.

[0052] Furthermore, in the adjustment system 100 according to this embodiment, the control unit 70 controls the movement mechanism 60 to move the traveling carriage 50, thereby placing the three-dimensional measuring device 30 at a position where the reference 4 (cross mark 4A) of the reference member 3 can be measured. The three-dimensional measuring device 30 is supported integrally with the Doppler generator 20 by the traveling carriage 50 (i.e., the relative position between the three-dimensional measuring device 30 and the Doppler generator 20 is specified). Therefore, by measuring the reference 4 with the three-dimensional measuring device 30, it is possible to obtain information for determining whether the relative position between the radar 1 and the Doppler generator 20 is appropriate.

[0053] The adjustment system 100 according to this embodiment further includes a traceability camera 40. The traceability camera 40 is supported integrally with the Doppler generator 20 and the three-dimensional measuring device 30 by a traveling carriage 50. The control unit 70 then controls the movement mechanism 60 to move the traveling carriage 50, thereby further executing a camera placement process for placing the traceability camera 40 in a position where it can capture an image of the cover 2. Therefore, by capturing an image of the cover 2 of the radar unit 10 using the traceability camera 40 supported by the traveling carriage 50 integrally with the Doppler generator 20 (i.e., the relative position with respect to the Doppler generator 20 has been identified), it becomes possible to obtain information for determining whether the relative position between the radar 1 and the Doppler generator 20 is appropriate.

[0054] Furthermore, as described above, the radar unit 10 that is the target of the adjustment method according to this embodiment is provided with a reference member 3 that is exposed from the cover 2 that houses the radar 1 (so that it is accessible from the outside) and has a reference 4 for adjusting the beam axis Ax of the radar 1. The reference 4 includes a cross mark 4A that defines a relative position with respect to the antenna surface 1S of the radar 1. The cross mark 4A includes a first reference line 4a extending in the vertical direction V, a second reference line 4b extending in the first horizontal direction H1 and intersecting the first reference line 4a, and a reference point 4c that is the intersection of the first reference line 4a and the second reference line 4b.

[0055] On the other hand, in the adjustment method according to this embodiment, an angle-setting paper P is prepared which shows a first point P0, a first straight line L0 passing through the first point P0, and second straight lines L1 and L2 which indicate the direction of the beam axis Ax when the reference point 4c of the cross mark 4A and the first point P0 are aligned in the vertical direction V and the marking line Ls extending in a second horizontal direction H2 which intersects with the first horizontal direction H1 within a plane S passing through the first reference straight line 4a of the cross mark 4A is aligned with the first straight line L0.

[0056] Then, by placing the angle setting paper P below the cover 2 so that the line Lc extending vertically downward from the reference point 4c of the cross mark 4A coincides with the first point P0 and so that the marking line Ls coincides with the first line L0, the Doppler generator 20 can be placed on the extension line Le of the second lines L1 and L2, thereby making it possible to place the Doppler generator 20 in a specified position. Therefore, compared to a method in which the transmission and reception of radio waves from the radar 1 and the movement of the Doppler generator 20 are repeatedly carried out, the time required to place the Doppler generator 20 can be shortened. This makes it easier to adjust the beam axis.

[0057] The above embodiment describes one aspect of the radar unit, adjustment system, and adjustment method according to the present invention. Therefore, the radar unit, adjustment system, and adjustment method according to the present invention are not limited to the above embodiment and may be modified as desired.

[0058] For example, in the above embodiment, an example has been described in which the angle setting paper P is used. However, the member for displaying the first point P0, the first straight line L0, and the second straight lines L1 and L2 is not limited to a paper medium such as the angle setting paper P, and a display or the like may also be used.

[0059] Furthermore, the reference 4 of the reference member 3 is not limited to the cross mark 4A and may be another mark. Furthermore, the target that reflects radio waves while generating the Doppler effect is not limited to the Doppler generator 20. [Explanation of symbols]

[0060] 1...Radar, 2...Cover, 3...Reference member, 4...Reference, 4A...Cross mark, 10...Radar unit, 20...Doppler generator, 21...Radio wave absorber, 30...3D measuring device (measuring device), 40...Traceability camera (camera), 50...Traveling cart (support part), 60...Moving mechanism, 70...Control part, 100...Adjustment system, P...Angle setting paper (display part).

Claims

1. A radar unit mounted on the side of a vehicle for detecting dynamic objects, comprising: A radar that emits radio waves from the antenna surface, a cover that houses the radar; a reference member provided on the cover so as to be exposed to the outside of the cover, the reference member having a reference for adjusting a beam axis that is a normal to the antenna surface of the radar; Equipped with The reference is a mark for identifying a predetermined position, which is a target installation position, at which the radio wave emitted from the antenna surface and reflected by the target, which causes the Doppler effect, is incident on the antenna surface. Radar unit.

2. the reference includes a cross mark whose relative position with respect to the antenna surface is defined; the cross mark includes a first reference line extending in a vertical direction, a second reference line extending in a first horizontal direction and intersecting the first reference line, and a reference point which is an intersection of the first reference line and the second reference line; The radar unit according to claim 1 .

3. the radar includes an adjustment unit that adjusts an irradiation range of the radio waves emitted from the antenna surface, The radar unit according to claim 1 .

4. An adjustment system for adjusting a beam axis of the radar provided in the radar unit according to any one of claims 1 to 3, the target; a measuring instrument for measuring the standard; a support unit that integrally supports the target and the measuring device; a movement mechanism for moving the support part along a front-rear direction of the vehicle; a control unit that controls at least the target, the measuring device, and the movement mechanism; Equipped with The control unit a target placement process for placing the target at a predetermined position by controlling the moving mechanism to move the support unit to a predetermined position so that the radio waves emitted from the antenna surface and reflected by the target are incident on the antenna surface; a measuring device placement process for placing the measuring device at a position where the reference of the reference member can be measured by controlling the movement mechanism to move the support part; To execute Adjustment system.

5. It also has a camera, the camera is supported integrally with the target and the measuring instrument by the support part, The control unit further executes a camera placement process of placing the camera at a position where the camera can capture an image of the cover by controlling the movement mechanism to move the support unit. The adjustment system of claim 4 .

6. 1. A method for adjusting a beam axis of a radar unit mounted on the side of a vehicle for detecting a dynamic object, comprising: a target placement step of placing a target that generates a Doppler effect relative to the radar unit, The radar unit A radar that emits radio waves from the antenna surface, a cover that houses the radar; a reference member provided on the cover so as to be exposed to the outside of the cover, the reference member having a reference for adjusting a beam axis that is a normal to the antenna surface of the radar; and the reference includes a cross mark whose relative position with respect to the antenna surface is defined; the cross mark includes a first reference line extending in a vertical direction, a second reference line extending in a first horizontal direction and intersecting the first reference line, and a reference point which is an intersection of the first reference line and the second reference line; The target placement step includes: a first step of preparing a display member on which a first point, a first line passing through the first point, and a second line indicating the direction of the beam axis when the reference point of the cross mark and the first point are aligned in the vertical direction and a marking line extending in a second horizontal direction that intersects with the first horizontal direction in a plane passing through the first reference line of the cross mark is aligned with the first line; a second step of, after the first step, disposing the indicator member below the cover so that a straight line extending vertically downward from the reference point of the cross mark coincides with the first point and so that the marking line coincides with the first straight line; a third step of arranging the target on an extension of the second straight line after the second step; Including, Adjustment method.

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