Detection device calibration method

Abstract

To arrange a reflector in an accurate direction to a vehicle according to a simple method to calibrate a transmission direction of a detection wave from a detecting device.SOLUTION: A first reflector 30 is attached to a side face of a motorcycle 1 so that a reflection surface of the first reflector 30 becomes perpendicular to a vehicle width direction. A direction of a laser marker 50 is adjusted so that the reflection surface of the first reflector 30 is perpendicularly irradiated with a first laser beam 101 emitted from the laser marker 50. A direction of a second reflector 40 is adjusted so that a reflection surface 41 of the second reflector 40 arranged in front of or behind the motorcycle 1 is perpendicularly irradiated with a second laser beam 102 emitted by the laser marker 50 in a vehicle length direction and perpendicularly to the first laser beam 101. A radar device 22 provided on the motorcycle 1 emits a detection wave to the second reflector 40, and calibrates a transmission direction of the detection wave on the basis of, a result of the detection of a reflected wave.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present application mainly relates to a detection device calibration method for calibrating the transmission direction of a detection wave by a detection device installed in a vehicle. [Background technology]

[0002] Patent Document 1 discloses a vehicle equipped with a radar device (detection device). The radar device includes a main body that transmits and receives electromagnetic waves, and an orientation adjustment mechanism. The orientation of the radar device can be adjusted by operating the orientation adjustment mechanism. This allows the transmission orientation of the electromagnetic waves to be calibrated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-95060 Summary of the Invention [Problem to be solved by the invention]

[0004] Detection devices such as radar devices and sonar devices transmit a transmission wave and detect the reflected wave that is reflected by an object. In order to calibrate this type of detection device, it is necessary to install a calibration reflector that reflects the transmission wave in a precise orientation relative to the vehicle. However, the task of arranging the reflector in a precise orientation relative to the vehicle is not easy and takes a lot of time.

[0005] The present application has been made in consideration of the above circumstances, and its main object is to provide a detection device calibration method for calibrating a detection device installed on a vehicle, by simply arranging a reflector for calibrating the detection device in an accurate orientation relative to the vehicle, and calibrating the transmission direction of the detection wave of the detection device. [Means for solving the problem]

[0006] The problem to be solved by the present application is as described above. Next, the means for solving this problem and the effects thereof will be described.

[0007] According to an aspect of the present application, there is provided the following detection device calibration method. A first reflector is attached to the side of a vehicle so that the reflective surface of the first reflector is perpendicular to the vehicle width direction. The orientation of a laser mark is adjusted so that a first laser light emitted by the laser mark is emitted perpendicular to the reflective surface of the first reflector. The orientation of a second reflector disposed in the front or rear of the vehicle is adjusted so that a second laser light, which the laser mark irradiates in the vehicle length direction perpendicular to the first laser light, is emitted perpendicular to the reflective surface of the second reflector. A detection device provided on the vehicle irradiates a detection wave to the second reflector, and the transmission direction of the detection wave is calibrated based on the detection result of the reflected wave. Effect of the Invention

[0008] According to the present application, the reflector can be arranged in a simple manner in a correct orientation relative to the vehicle, thereby calibrating the transmission direction of the detection wave of the detection device. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a side view of a motorcycle on which the detection device calibration method is performed. [Diagram 2] FIG. 4 is a diagram showing the flow of a detection device calibration method. [Diagram 3] FIG. 4 is a perspective view of a state in which a first reflector of the present embodiment is attached to a rear brake disc. [Figure 4] FIG. 13 is a perspective view of another example of a first reflector attached to a rear brake disc. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, the detection device calibration method of the present application will be described with reference to the drawings. First, a motorcycle 1 on which the detection device calibration method is performed will be briefly described with reference to Fig. 1. Fig. 1 is a side view of the motorcycle 1.

[0011] In the following description, the left-right direction of motorcycle 1 is defined as the direction seen by a rider riding motorcycle 1. Therefore, the front-rear direction corresponds to the vehicle length direction, and the left-right direction corresponds to the vehicle width direction. Moreover, the vertical direction and the up-down direction correspond to the height direction. As shown in FIG. 1, motorcycle 1 includes a body 10, a front wheel 11, and a rear wheel 12.

[0012] The body 10 includes a plurality of body frames that form the skeleton of the motorcycle 1. Various parts that constitute the motorcycle 1 are attached to these body frames. An engine 13 is provided near the center of the body 10 in the vehicle length direction. The engine 13 is a drive source for propelling the motorcycle 1. The engine 13 in this embodiment is a gasoline engine. Note that another drive source, for example, an electric motor for propelling the motorcycle 1, may be provided instead of or in addition to the gasoline engine. The power generated by the engine 13 is transmitted to the rear wheel 12 via a drive chain 14. This allows the motorcycle 1 to propel.

[0013] The front wheels 11 include a front wheel 11a and a front tire 11b. The front wheel 11a is rotatably attached to the vehicle body 10 via an axle. The front tire 11b is attached to the front wheel 11a. A front brake disc 11c is also attached to the front wheel 11a. The front brake disc 11c rotates integrally with the front wheel 11a. A braking force is generated when the brake pads of the brake caliper are pressed against the front brake disc 11c by the driver's operation.

[0014] The rear wheel 12 includes a rear wheel 12a and a rear tire 12b. The rear wheel 12a is rotatably attached to the vehicle body 10 via an axle. The rear tire 12b is attached to the rear wheel 12a. A rear brake disc 12c and a sprocket 12e are further attached to the rear wheel 12a. The rear brake disc 12c rotates integrally with the rear wheel 12a. A braking force is generated when the brake pads of the brake caliper are pressed against the rear brake disc 12c by the driver's operation.

[0015] The sprocket 12e transmits the driving force transmitted via the drive chain 14 to the rear wheel 12a. The drive chain 14 is disposed on one side of the rear brake disc 12c in the vehicle width direction. More specifically, the drive chain 14 is disposed on one side of the vehicle width center. The rear brake disc 12c is disposed on the other side of the vehicle width center. In this embodiment, the one side corresponds to the left side, and the other side corresponds to the right side. Note that the rear brake disc 12c and the sprocket 12e may be disposed together on one side or the other side of the vehicle width center.

[0016] A front fork 16 is attached to the body frame. A pair of front forks 16 are arranged on the left and right sides of the front wheel 11 when viewed from the front. A steering handle 17 is arranged near the upper end of the front fork 16. When the rider turns the steering handle 17, the front fork 16 and the front wheel 11 turn, so that the motorcycle 1 can turn and change its direction of travel. In other words, the front wheel 11 is a steered wheel. The motorcycle 1 is a lean-type vehicle in which the body 10 is tilted toward the center of the turn with respect to the road surface when turning.

[0017] A fuel tank 20 that stores fuel to be supplied to the engine 13 is disposed behind the steering handle 17 and above the engine 13. A seat 21 on which a rider sits is disposed behind the fuel tank 20. Steps are disposed on both the left and right sides of the body 10. The rider straddles the seat 21 and places his / her feet on the left and right steps. As the rider sits astride the seat 21, the motorcycle 1 is a saddle-ride type vehicle.

[0018] A radar device 22 for detecting the front is disposed at or near the front end of the motorcycle 1. The radar device 22 detects the direction of an object and the distance to the object by transmitting detection waves forward and acquiring the waves reflected by the object. The detection waves transmitted by the radar device 22 are electromagnetic waves, specifically infrared, millimeter waves, or microwaves. Based on the detection result of the radar device 22, the motorcycle 1 notifies the rider of information about the detected object and activates the brakes to help prevent collision with the object. The radar device 22 also has an adjustment mechanism for adjusting the transmission direction of the detection waves in the height direction and the vehicle width direction. However, the adjustment mechanism may be capable of adjusting only one of the height direction and the vehicle width direction.

[0019] Next, a detection device calibration method for calibrating the transmission direction of the detection wave of the radar device 22 will be described with reference to FIGS.

[0020] In the following, the detection device calibration method will be explained by dividing it into the first to third steps as shown in Fig. 2. Before carrying out the first step, the first reflector 30, the second reflector 40, and the laser marking device 50 are prepared. However, the second reflector 40 may be prepared after carrying out the first step.

[0021] The first reflector 30 is a member that is attached to the motorcycle 1 to adjust the direction using the laser light. As shown in FIG. 3, the first reflector 30 is a plate-shaped member, one surface of which is a reflecting surface 30a, and the opposite surface of which is a back surface 30b. The reflecting surface 30a is, for example, a mirror surface, and can reflect the laser light with almost no scattering. The first reflector 30 is attached to the vehicle body 10 so that the back surface 30b contacts the side surface of the motorcycle 1. The side surface of the motorcycle 1 is, for example, a surface that is visible in a side view. In this embodiment, the first reflector 30 is attached to the mounting surface 12d of the rear brake disc 12c. As described later, the first reflector 30 may be attached to a surface other than the rear brake disc 12c.

[0022] The first reflector 30 is fan-shaped and includes an arc-shaped contour that follows the contour of the rear brake disc 12c. However, this shape is only an example, and may be rectangular as shown in FIG. 4. Also, the entire first reflector 30 may overlap the rear brake disc 12c in side view. In this case, the first reflector 30 and the rear brake disc 12c can be firmly connected. On the other hand, a part of the first reflector 30 may protrude from the rear brake disc 12c in side view. In this case, since the first reflector 30 can be positioned over a wide range, the first step described below may be easier. The first reflector 30 is not limited to a plate shape, and may be a block shape.

[0023] The first reflector 30 includes a reflecting member 31 and a magnet 32. The reflecting member 31 and the magnet 32 ​​are fixed with an adhesive, tape, or the like. The reflecting member 31 is flat and has a reflecting surface 30a. The magnet 32 ​​is fixed to the surface opposite to the reflecting surface 30a.

[0024] The second reflector 40 is a member for reflecting the detection wave transmitted by the radar device 22. The second reflector 40 has a reflecting surface 41 that can reflect the laser light with almost no scattering. The second reflector 40 is disposed in a direction in which the radar device 22 transmits the detection wave. In this embodiment, the second reflector 40 is disposed in front of the radar device 22. The radar device 22 can detect the relative orientation of the radar device 22 with respect to the second reflector 40 by receiving and analyzing the reflected wave reflected by the second reflector 40. However, when a radar device that detects the rear of the motorcycle 1 is provided and the radar device is calibrated, the second reflector 40 is disposed behind the motorcycle 1.

[0025] The laser marking device 50 can irradiate laser light in two directions perpendicular to each other on a horizontal plane. The laser marking device 50 irradiates a first laser light 101 in a direction parallel to the vehicle width direction, and irradiates a second laser light 102 in a direction parallel to the vehicle length direction. The laser marking device 50 is used to adjust the positional relationship so that the motorcycle 1 faces the second reflector 40 directly.

[0026] In the first step, first, the first reflector 30 is attached to the rear brake disc 12c. Since the rear brake disc 12c is a magnetic body, the first reflector 30 can be fixed to the rear brake disc 12c by the magnetic force of the magnet 32 ​​of the first reflector 30. The mounting surface 12d of the rear brake disc 12c is a surface perpendicular to the vehicle width direction. Furthermore, the mounting surface 12d, the reflecting surface 30a, and the back surface 30b are all parallel surfaces. As a result, simply by attaching the first reflector 30 to the rear brake disc 12c, the reflecting surface 30a becomes a surface perpendicular to the vehicle width direction.

[0027] The first reflector 30 is removed after the third step is completed. In this embodiment, the first reflector 30 is attached to the rear brake disc 12c by magnetic force, so that the first reflector 30 can be easily attached and detached. However, the first reflector 30 may be attached to the rear brake disc 12c by another detachable method such as tape or bolts.

[0028] In the first step, the orientation of the laser marking device 50 is adjusted so that the first laser light 101 is irradiated perpendicularly to the first reflector 30. Specifically, the orientation of the laser marking device 50 is adjusted so that the position of the first laser light 101 traveling from the laser marking device 50 toward the first reflector 30 coincides with the position of the first laser light 101 reflected by the first reflector 30 toward the laser marking device 50. This causes the first laser light 101 to be irradiated parallel to the vehicle width direction.

[0029] Next, in the second step, the second laser light 102 is emitted from the laser marking device 50. Then, the orientation of the second reflector 40 is adjusted so that the second laser light 102 is perpendicularly irradiated to the reflecting surface 41 of the second reflector 40. Specifically, the orientation of the laser marking device 50 is adjusted so that the position of the second laser light 102 traveling from the laser marking device 50 toward the second reflector 40 coincides with the position of the second laser light 102 reflected by the second reflector 40 toward the laser marking device 50.

[0030] Since the first laser beam 101 and the second laser beam 102 are almost exactly perpendicular to each other, the second laser beam 102 is parallel to the vehicle length direction. Therefore, when the second step is completed, the motorcycle 1 and the second reflector 40 face each other directly. In other words, the vehicle length direction of the motorcycle 1 is perpendicular to the reflecting surface 41 of the second reflector 40.

[0031] Next, in the third step, the radar device 22 transmits detection waves while calibrating the transmission direction of the detection waves. Specifically, the radar device 22 is set in an adjustment mode and the radar device 22 transmits detection waves. The radar device 22 receives the detection waves reflected by the second reflector 40. The radar device 22 detects the relative orientation of the radar device 22 with respect to the second reflector 40 based on the received reflected waves. The operator performing the calibration work repeatedly transmits and receives detection waves while operating the adjustment mechanism of the radar device 22, and ends the calibration work when the radar device 22 faces the second reflector 40 directly.

[0032] As described above, when the second step is completed, the vehicle length direction of the motorcycle 1 is perpendicular to the reflecting surface 41 of the second reflector 40. Therefore, by facing the radar device 22 directly toward the second reflector 40, the direction in which the radar device 22 transmits the detection waves becomes appropriate.

[0033] In the detection device calibration method of this embodiment, preparation of the first reflector 30 is completed simply by attaching the first reflector 30 to the rear brake disc 12c in the first step. Therefore, the work is simpler than a method in which a jig or the like is attached to the motorcycle 1 and a reflector is attached to the jig. Furthermore, since the orientation of the laser marking device 50 is adjusted in the first step and the orientation of the second reflector 40 is adjusted in the second step, there is no need to change the orientation of the motorcycle 1, which is heavy. Therefore, the work is simpler than a method that includes a step of adjusting the orientation of the motorcycle 1.

[0034] Next, advantages of attaching the first reflector 30 to the rear brake disc 12c and other attachment locations will be described.

[0035] In order to calibrate the radar device 22 with high accuracy, it is necessary to perform the adjustments of the first, second, and third steps with high accuracy. For example, if the orientation of the reflecting surface 30a of the first reflector 30 is significantly deviated from the direction perpendicular to the vehicle width direction, the first step cannot be performed with high accuracy. In this regard, since the front wheel 11 and the rear wheel 12 are members directly related to the direction in which the motorcycle 1 travels, the orientation of the front wheel 11 and the rear wheel 12 is generally highly accurate. In particular, since the rear wheel 12 is not a steered wheel, the orientation of the rear wheel 12 is not variable. In other words, the side of the rear wheel 12 is perpendicular to the vehicle width direction with high accuracy.

[0036] As described above, by attaching the first reflector 30 to the rear wheel 12 or a member supported by the rear wheel 12, the accuracy of the orientation of the first reflector 30 can be increased. The rear brake disc 12c is preferable because it is a member supported by the rear wheel 12 and its orientation with respect to the rear wheel 12 is fixed. Furthermore, since the mounting surface 12d of the rear brake disc 12c is a surface perpendicular to the vehicle width direction, no jig or the like for adjusting the mounting orientation is required. And, since the rear brake disc 12c is expected to press the brake pads, the surface of the rear brake disc 12c has a high degree of flatness.

[0037] Instead of the rear brake disc 12c, the first reflector 30 may be attached to the sprocket 12e, a chain guide that guides the drive chain 14, or the rear wheel 12a. When the first reflector 30 is attached to the rear wheel 12a, it is preferable that the first reflector 30 is attached to a hub to which the rear brake disc 12c is attached.

[0038] In this embodiment, the first reflector 30 is attached to the rear brake disc 12c, which is a member whose orientation does not change when steering, but the first reflector 30 may be attached to a member whose orientation changes when steering. For example, the first reflector 30 may be attached to the front wheel 11 or a member supported by the front wheel, instead of the rear wheel 12. In this case, it is necessary to fix the front wheel 11 so that the steering angle of the front wheel 11 does not change. The first reflector 30 may be attached to, for example, the front brake disc 11c or the front wheel 11a. Alternatively, in the case where a vehicle speed sensor is provided that includes a rotor that rotates integrally with the front wheel 11a and a sensor that detects the rotation of the rotor, the first reflector 30 may be attached to the rotor.

[0039] In this embodiment, the first reflector 30 is attached directly to the motorcycle 1, but it may be attached via another member. For example, when the first reflector 30 is attached to a mounting surface inclined by θ° with respect to a plane perpendicular to the vehicle width direction, the first reflector 30 may be attached via a jig inclined by θ° in the opposite direction.

[0040] The first reflector 30 may be attached to a member other than the front wheel 11 and the rear wheel 12. For example, the first reflector 30 may be attached to the body frame or the engine 13. In this case, too, it is preferable that the orientation of the attachment surface is perpendicular to the vehicle width direction, but the orientation of the attachment surface does not have to be perpendicular to the vehicle width direction.

[0041] As described above, in the detection device calibration method of this embodiment, the first reflector 30 is attached to the side of the motorcycle 1 so that the reflection surface 30a of the first reflector 30 is perpendicular to the vehicle width direction. The orientation of the laser marking device 50 is adjusted so that the first laser light 101 emitted by the laser marking device 50 is perpendicular to the reflection surface 30a of the first reflector 30. The orientation of the second reflector 40 arranged in the front or rear of the motorcycle 1 is adjusted so that the second laser light 102 emitted by the laser marking device 50 perpendicular to the first laser light 101 and in the vehicle length direction is perpendicular to the reflection surface 41 of the second reflector 40. A detection wave is irradiated from the radar device 22 provided on the motorcycle 1 to the second reflector 40, and the transmission direction of the detection wave is calibrated based on the detection result of the reflected wave.

[0042] This allows the second reflector 40 to be disposed perpendicular to the vehicle length direction of the motorcycle 1 with a simple operation. This reduces the effort required for calibrating the radar device 22.

[0043] In the detection device calibration method of this embodiment, the first reflector 30 is attached to a mounting surface 12d on a side surface of the motorcycle 1 that is perpendicular to the vehicle width direction.

[0044] As a result, the reflecting surface 30a of the first reflector 30 is parallel to the mounting surface 12d of the motorcycle 1. Therefore, by utilizing the orientation of the mounting surface 12d of the motorcycle 1, the orientation of the reflecting surface 30a can be made perpendicular to the vehicle width direction.

[0045] In the detection device calibration method of this embodiment, the first reflector 30 has a reflecting surface 30a and a back surface 30b behind the reflecting surface 30a. The reflecting surface 30a and the back surface 30b are parallel to each other. The first reflector 30 is attached to the motorcycle 1 such that the back surface 30b of the first reflector 30 is in contact with the mounting surface 12d of the motorcycle 1.

[0046] This allows the first reflector 30 to be directly attached to the motorcycle 1, reducing the amount of work required by the worker.

[0047] In the detection device calibration method of this embodiment, the steered wheel of the motorcycle 1 is the front wheel 11. A first reflector 30 is attached to the rear wheel 12 or a member supported by the rear wheel 12.

[0048] Since the wheels are parts directly related to driving, the precision of the wheel orientation relative to the motorcycle 1 is high, making them an appropriate attachment point for the first reflector 30. Furthermore, the rear wheel 12 is not a steered wheel, and the orientation of the rear wheel 12 does not change, making it an even more appropriate attachment point for the first reflector 30.

[0049] In the detection device calibration method of this embodiment, the first reflector 30 is attached to the rear brake disc 12 c of the rear wheel 12 .

[0050] The rear brake disc 12c is supported by the rear wheel 12, has a flat surface facing in the vehicle width direction, and has a high degree of flatness, so is suitable as a mounting target for the first reflector 30.

[0051] In the detection device calibration method of this embodiment, the motorcycle 1 is equipped with a drive chain 14 that transmits a driving force for driving the rear wheel 12. The drive chain 14 is located on one side in the vehicle width direction of the rear brake disc 12c. A first reflector 30 is attached to a surface on the other side in the vehicle width direction of the rear brake disc 12c.

[0052] Since the first laser light 101 does not interfere with the drive chain 14, the direction of the laser marking device 50 can be easily adjusted.

[0053] In the detection device calibration method of this embodiment, the first reflector 30 is a member formed by bonding a reflective member 31 having a reflective surface 30a and a magnet 32. The first reflector 30 is attached to the motorcycle 1 by the magnetic force of the magnet 32.

[0054] This allows the first reflector 30 to be easily attached and detached.

[0055] Although the preferred embodiment of the present application has been described above, the above configuration can be modified, for example, as follows.

[0056] In the above embodiment, the radar device 22 has been described as an example of a detection device, but the detection device calibration method of this embodiment can also be applied to detection devices other than the radar device 22, such as sonar or cameras.

[0057] In the above embodiment, a motorcycle 1 has been given as an example of a vehicle, but the detection device calibration method of this embodiment can also be applied to vehicles other than motorcycle 1, such as a vehicle with two front wheels and one rear wheel, a vehicle with one front wheel and two rear wheels, or a vehicle with two front wheels and two rear wheels. [Explanation of symbols]

[0058] 1. Motorcycles 22 Radar Equipment 30 1st reflector 40 Second reflector 50 Laser Ink

Claims

1. A first reflector is attached to a side of the vehicle so that a reflective surface of the first reflector is perpendicular to a vehicle width direction; Adjusting the orientation of the laser marking device so that the first laser light emitted by the laser marking device is perpendicular to the reflecting surface of the first reflector; adjusting an orientation of a second reflector disposed at the front or rear of the vehicle so that a second laser light emitted by the laser marking device in a vehicle length direction perpendicular to the first laser light is emitted perpendicular to a reflecting surface of the second reflector; A detection device calibration method for irradiating a detection wave from a detection device installed in the vehicle to the second reflector and calibrating the transmission direction of the detection wave based on the detection result of the reflected wave.

2. 2. A method for calibrating a detection device according to claim 1, comprising: The detection device calibration method, wherein the first reflector is attached to a mounting surface on a side of the vehicle that is perpendicular to a vehicle width direction.

3. 3. A method for calibrating a detection device according to claim 2, comprising: The first reflector has the reflecting surface and a back surface behind the reflecting surface, The reflecting surface and the rear surface are parallel to each other, A detection device calibration method, comprising: mounting the first reflector to the vehicle such that the rear surface of the first reflector is in contact with the mounting surface of the vehicle.

4. A detection device calibration method according to any one of claims 1 to 3, comprising: The vehicle has front steered wheels, A detection device calibration method, in which the first reflector is attached to a rear wheel or a member supported by the rear wheel.

5. 5. A method for calibrating a detection device according to claim 4, comprising: The method of calibrating a detection device, wherein the first reflector is attached to a rear brake disc of the rear wheel.

6. 6. A method for calibrating a detection device according to claim 5, comprising: the vehicle includes a drive chain that transmits driving force for driving the rear wheels; the drive chain is located on one side of the rear brake disc in a vehicle width direction, A detection device calibration method, wherein the first reflector is attached to the other side surface of the rear brake disc in the vehicle width direction.

7. A method for calibrating a detection device according to any one of claims 1 to 6, comprising: the first reflector is a member formed by bonding a reflective member having the reflective surface and a magnet together, The detection device calibration method, wherein the first reflector is attached to the vehicle by the magnetic force of the magnet.

8. A method for calibrating a detection device according to any one of claims 1 to 7, comprising: The detection device calibration method, wherein the detection device is a radar device.

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