Vehicle sensor device

Abstract

A vehicle sensor device (1) comprises an outer cover (12), a sensor unit (20) for transmitting and receiving electromagnetic waves through the outer cover (12) and outputting a signal that pertains to electromagnetic waves incident on the inside of the outer cover (12), a heater (30) which is provided to the outer cover (12) and which heats a transmission region (AR) through which electromagnetic waves emitted from the sensor unit (20) pass through the outer cover (12), and a control unit (CO). The control unit (CO) outputs a sensing signal of an object positioned outside the outer cover (12) on the basis of the signal from the sensor unit (20) in at least a portion of a period in which the heater (30) is OFF, and stops outputting of the sensing signal in at least a portion of a period in which the heater (30) is ON.

Description

Technical Field

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

Background Art

[0002] A vehicle sensor device that detects an object outside the vehicle using electromagnetic waves is known. The following Patent Document 1 discloses such a vehicle sensor device.

[0003] The vehicle sensor device of the following Patent Document 1 includes a lamp unit that emits light toward the front of the vehicle, a radar device that detects an object located in front of the vehicle using electromagnetic waves, a reflected wave intensity acquisition unit that acquires the intensity of the reflected wave of the electromagnetic wave, a control unit, a cover, and a separator. The cover is disposed in front of the radar device, and the electromagnetic wave emitted from the radar device passes through the cover and irradiates the front of the vehicle. The separator is disposed between the lamp unit and the radar device and is connected to the cover, and absorbs a part of the radiant heat of the lamp unit and transmits it to the cover.

[0004] The intensity of the electromagnetic wave acquired by the reflected wave intensity acquisition unit tends to change due to deposits such as ice, snow, and frost adhering to the cover. Generally, when deposits adhere to the cover, the intensity of the electromagnetic wave reflected by the cover tends to be higher than when no deposits adhere to the cover. In the vehicle sensor device, when deposits adhere, the intensity of the electromagnetic wave increases as described above, and in this case, the control unit controls the lamp unit to be turned on. As a result, the deposits are removed by the radiant heat as described above. Further, when the deposits are removed, the intensity of the electromagnetic wave decreases, and in this case, the control unit controls the lamp unit to be turned off.

[0005] Further, the control unit determines the adhesion of ice, snow, or frost to the cover based on the intensity of the reflected wave of the electromagnetic wave, and controls the lighting unit to be turned on or off according to this determination result. According to this vehicle sensor device, it is said that by heating the cover with the radiant heat of the lighting unit, ice, snow, frost, etc. attached to the cover can be melted or vaporized, and a decrease in the accuracy of object detection due to ice, snow, or frost can be suppressed. [Patent Document 1] Japanese Patent Application Laid-Open No. 2020-50271 [Summary of the Invention]

[0006] The vehicle sensor device according to the first aspect of the present invention includes an outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover for heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, and a control unit. 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 part of the period when the heater is OFF, and stops the output of the detection signal during at least a part of the period when the heater is ON.

[0007] In the vehicle sensor device according to the first aspect, when the electromagnetic wave emitted from the sensor unit toward the outside of the vehicle is reflected by an object in the traveling direction of the electromagnetic wave and outside the vehicle and passes through the transmission region, the sensor unit can receive the electromagnetic wave, and an object can be detected from the signal related to the electromagnetic wave. Further, in this vehicle sensor device, the control unit outputs a detection signal of an object based on a signal related to the electromagnetic wave from the sensor unit during at least a part of the period when the heater is OFF. Generally, during the period when the heater is OFF, deposits tend not to adhere to the transmission region. In this case, since the progress of the electromagnetic wave by the deposits is suppressed, a decrease in the detection accuracy of the vehicle sensor device can be suppressed. Further, generally, during the period when the heater is ON, deposits tend to adhere to the transmission region. In this case, since the progress of the electromagnetic wave is hindered by the deposits, the detection accuracy of the vehicle sensor device decreases. Therefore, the information obtained by the detection is difficult to use, and the power used to output the detection signal including the information may be wasted. However, in the vehicle sensor device, the control unit stops the output of the detection signal during at least a part of the period when the heater is ON. That is, the output of the detection signal stops during at least a part of the period while the deposits are removed by the heat of the heater. For this reason, wasteful consumption of power can be suppressed.

[0008] Further, in the vehicle sensor device according to the first aspect, during the period when the heater is ON, the control unit stops the output of the detection signal when the intensity of the electromagnetic wave indicated by the signal is greater than a first threshold and the amount of deposits adhering to the transmission region is equal to or greater than a second threshold indicating that the amount of deposits is greater than the amount of deposits 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, during the period when the heater is ON, deposits tend to adhere to the transmission region. In a vehicle sensor device, when deposits adhere to the transmission region, a part of the electromagnetic wave emitted from the sensor unit is reflected by the deposits and received by the sensor unit. The intensity of the received electromagnetic wave tends to increase as the amount of the deposits adhering increases because the reflection of the electromagnetic wave reflected by the deposits increases. Generally, when dust or water droplets adhere to the transmission region, and when ice and snow adhere to the transmission region, the intensity of the electromagnetic wave received by the sensor unit tends to increase in this order. In this case, the first threshold value is set to a value lower than the intensity of the electromagnetic wave received by the sensor unit when dust or water droplets adhere to the transmission region. Also, the second threshold value is set to a value higher than the intensity of the electromagnetic wave received by the sensor unit when dust or water droplets adhere to the transmission region and lower than the intensity of the electromagnetic wave received by the sensor unit when ice and snow adhere to the transmission region. When the intensity of the electromagnetic wave is equal to or higher than the second threshold value, the detection accuracy of the vehicle sensor device decreases compared to the case where the intensity is equal to or higher than the first threshold value and lower than the second threshold value. Therefore, in this case, the information obtained is difficult to use, so the time during which power is wasted becomes longer. However, in a vehicle sensor device, when the intensity of the electromagnetic wave is equal to or higher than the second threshold value, the output of the detection signal stops, so the time during which power is wasted can be shortened.

[0010] Also, when the deposits start to melt and decrease, the reflection of the electromagnetic wave by the deposits is suppressed, and the intensity decreases. When the intensity is equal to or higher than the first threshold value and lower than the second threshold value, since the amount of the deposits adhering is less than when the intensity is equal to or higher than the second threshold value, the hindrance to the progress of the electromagnetic wave by the deposits is suppressed, and the decrease in the detection accuracy of the vehicle sensor device can be suppressed. In this case, in the vehicle sensor device, even when a detection signal is output, information with higher accuracy can be obtained compared to the case where the intensity is equal to or higher than the second threshold value, and the safety during the running of the vehicle can be improved by using the information.

[0011] Alternatively, in the vehicle sensor device according to the first aspect, during the period when the heater is ON, if the signal output from the temperature sensor that measures the temperature of the transmission region indicates a temperature lower than a predetermined temperature, the control unit may stop outputting the detection signal, and if the signal output from the temperature sensor indicates a temperature equal to or higher than the predetermined temperature, the control unit may output the detection signal.

[0012] When the temperature of the transmission region is lower than the predetermined temperature, compared with the case where the temperature of the transmission region is equal to or higher than the predetermined temperature, the deposit is difficult to melt even when heated, the progress of the electromagnetic wave is obstructed by the deposit, and the detection accuracy of the vehicle sensor device decreases. Therefore, in this case, the information obtained is difficult to use, so the time during which power is wasted becomes longer. However, in the vehicle sensor device, when the signal output from the temperature sensor during the period when the heater is ON indicates a temperature lower than the predetermined temperature, the output of the detection signal stops, so the time during which power is wasted can be shortened.

[0013] Also, when the temperature of the transmission region is equal to or higher than the predetermined temperature, compared with the case where the temperature of the transmission region is lower than the predetermined temperature, the deposit is easily melted, the obstruction of the progress of the electromagnetic wave by the deposit is suppressed, and the decrease in the detection accuracy of the vehicle sensor device can be suppressed. In this case, in the vehicle sensor device, even if the detection signal is output, information with higher accuracy can be used compared with the case where the temperature of the transmission region is lower than the predetermined temperature, and the safety during the running of the vehicle can be improved by using the information.

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

[0015] The outer cover including the transmission area is heated by the light emitted from the light source unit and transmitted through the outer cover. For this reason, the deposit can be melted and removed earlier by the light from the light source unit as well as the heat from the heater, compared to the case where it is heated only by the heat from the heater. When the deposit is removed, even if a detection signal is output, a decrease in the detection accuracy of the vehicle sensor device can be suppressed. For this reason, in the vehicle sensor device, information with higher accuracy can be used compared to the case where the deposit is not removed, and the safety during the running of the vehicle can be improved by using the information.

[0016] Also, in the vehicle sensor device according to the first aspect, during the period when the heater is ON, the sensor unit may emit the electromagnetic wave toward the outside of the vehicle through the outer cover.

[0017] In the above configuration, the sensor unit emits the electromagnetic wave during the period when the heater is ON and during the period when the heater is OFF, and does not stop or switch the emission of the electromagnetic wave in response to the ON / OFF switching of the heater. Therefore, the burden on the sensor unit due to the switching can be reduced. Also, generally, it takes time to activate the sensor unit, but in the above configuration, since the sensor unit is always driven to emit the electromagnetic wave, the time required to activate the sensor unit can be omitted. When the time is omitted, the detection signal can be output earlier when the heater switches from ON to OFF, compared to the case where the time is not omitted.

[0018] Also, in the vehicle sensor device according to the first aspect, during the period when the heater is ON, the sensor unit may receive the electromagnetic wave incident from the outside of the vehicle into the vehicle through the outer cover.

[0019] In the above configuration, the sensor unit receives electromagnetic waves during the period when the heater is ON and during the period when the heater is OFF, and does not stop receiving electromagnetic waves or switch the reception of electromagnetic waves in response to the ON / OFF switching of the heater. Therefore, the burden on the sensor unit due to switching can be reduced. In addition, since the sensor unit is always driven to receive electromagnetic waves, the time required for startup can be omitted. When this time is omitted, the detection signal can be output earlier as described above.

[0020] Also, in the vehicle sensor device according to the first aspect, during the period when the heater is ON, the sensor unit may receive the electromagnetic wave 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 the period when the heater is ON and during the period when the heater is OFF, and does not stop outputting the signal or switch the output of the signal in response to the ON / OFF switching of the heater. Therefore, the burden on the sensor unit due to switching can be reduced. In addition, since the sensor unit is always driven to output a signal, the time required for startup can be omitted. When this time is omitted, the detection signal can be output earlier as described above.

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

[0023] Generally, when the vehicle is stopped, removal of deposits is required for improving the safety of the vehicle when it is moving, rather than for detecting objects. In the vehicle sensor device, the heater is turned on during at least a part of the period when the vehicle is stopped, and the output of the detection signal stops during at least a part of the period when the heater is on. When the heater is turned on, the deposits are removed by the heat of the heater. Therefore, when the vehicle starts to move, the progress of electromagnetic waves is prevented by the deposits, and a decrease in the detection accuracy of the vehicle sensor device can be suppressed. Further, in the above configuration, since the output of the detection signal stops, power consumption due to the output of the detection signal can be suppressed as compared with the case where the detection signal is output.

[0024] The vehicle sensor device according to the second aspect of the present invention includes an outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal indicating the intensity of the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, and a control unit. The control unit sets a driving period of the heater and an amount of electric power of the heater during the driving period based on the intensity, and applies a voltage at the set amount of electric power to the heater during the set driving period.

[0025] In the vehicle sensor device according to the second aspect, when an electromagnetic wave emitted from the sensor unit toward the outside of the vehicle is reflected by an object in the traveling direction of the electromagnetic wave and the outside of the vehicle and passes through the transmission region, the electromagnetic wave can be received by the sensor unit, and an object can be detected from a signal related to the electromagnetic wave. Further, in this vehicle sensor device, the control unit sets the driving period of the heater and the amount of electric power of the heater during the driving period based on the intensity of the electromagnetic wave. The amount of electric power of the heater is obtained by integrating the power of the heater over the driving period of the heater. Further, the power is obtained by the voltage applied to the heater and the resistance of the heater, which is a fixed value. The control unit applies the set voltage to the heater during the set driving period for the set amount of electric power. Generally, during the period when the heater is ON, deposits tend to adhere to the transmission region. Further, during the period when the heater is ON, the deposits are warmed by the heat from the heater, and thus tend to melt and decrease with the passage of time. As the deposits decrease, the intensity of the electromagnetic wave received by the sensor unit tends to decrease because the reflection of the electromagnetic wave reflected by the deposits decreases. In the vehicle sensor device, since the driving period of the heater and the amount of electric power of the heater are set based on the intensity as described above, the burden on the control unit can be reduced as compared with the case where the amount of electric power of the heater is always controlled based on the intensity each time the intensity changes.

[0026] Generally, when dust or water droplets adhere to the transmission region and when ice and snow adhere to the transmission region, the intensity of the electromagnetic wave received by the sensor unit tends to increase in this order. Thus, the more deposits there are, the higher the intensity, and the more electric power is required to remove the deposits. In the vehicle sensor device, since the amount of electric power is set based on the intensity, it is suppressed that the amount of electric power is set too little or too much with respect to the adhesion amount of the deposits, and the deposits can be appropriately removed with the amount of electric power corresponding to the intensity.

[0027] Further, in the vehicle sensor device according to the second aspect, the control unit may sharply increase the voltage applied to the heater.

[0028] When an adherend is attached, the steeper the increase in voltage, the faster the temperature of the heat from the heater rises in a short time, so that the adherend can be quickly warmed and melted.

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

[0030] With the above configuration, at the timing of gradually increasing the voltage, the control unit may control the heater. Therefore, the burden on the control unit can be reduced as compared with the case where the voltage does not increase step by step.

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

[0032] With the above configuration, a rapid temperature change of the outer cover can be suppressed, and a thermal shock applied to the outer cover due to the rapid temperature change can be suppressed.

[0033] Further, in the vehicle sensor device according to the second aspect, the control unit may rapidly decrease the voltage after the voltage has increased.

[0034] With the above configuration, wasteful consumption of the electric power of the heater can be suppressed as compared with the case where the voltage does not rapidly decrease. Also, since residual heat can remain in the outer cover even when the voltage decreases, the adherend remaining on the outer cover can be removed by the residual heat.

[0035] Alternatively, in the vehicle sensor device according to the second aspect, the control unit may gradually decrease the voltage after the voltage has increased.

[0036] With the above configuration, at the timing of gradually decreasing the voltage, the control unit may control the heater. Therefore, the burden on the control unit can be reduced as compared with the case where the voltage does not decrease step by step. Also, as compared with the case where the voltage rapidly decreases without decreasing step by step, the time for warming the outer cover at a high temperature can be lengthened, and the adherend can be more easily melted.

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

[0038] With the above configuration, compared to the case where the voltage does not gradually decrease, a rapid temperature change of the outer cover can be suppressed, and a thermal shock applied to the outer cover due to the rapid temperature change can be suppressed.

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

[0040] When the temperature outside the vehicle is lower than a predetermined temperature, such as the temperature of an attachment or a temperature at which water freezes, the attachment is less likely to melt and more likely to freeze compared to the case where the temperature outside the vehicle is equal to or higher than the predetermined temperature. In the vehicle sensor device, with the above configuration, the attachment can be melted and removed earlier compared to the case where the voltage does not increase.

[0041] The vehicle sensor device according to the third aspect of the present invention includes an outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal indicating the intensity of the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, a cleaner that injects at least one of a liquid and a gas from the outside of the vehicle toward the transmission region from the outer cover, and a control unit. When the intensity indicated by the signal is within a predetermined range, the control unit drives at least the heater for at least a part of a predetermined period. When the intensity indicated by the signal is within a specific range different from the predetermined range, the control unit controls the heater and the cleaner so that at least the cleaner is driven for at least a part of a predetermined period. The combination of the operation of the heater and the operation of the cleaner as time elapses during the predetermined period when the intensity indicated by the signal is within the specific range is different from the combination of the operation of the heater and the operation of the cleaner as time elapses during the predetermined period when the intensity indicated by the signal is within the predetermined range.

[0042] In the vehicle sensor device according to the third aspect, when the electromagnetic wave emitted from the sensor unit toward the outside of the vehicle is reflected by the traveling direction of the electromagnetic wave and an object outside the vehicle and passes through the transmission region, the electromagnetic wave can be received by the sensor unit, and the object can be detected from the signal related to the electromagnetic wave. Further, in this vehicle sensor device, since the electromagnetic wave from the sensor unit propagates toward the outside of the vehicle through the outer cover, a part of this electromagnetic wave is reflected by the outer cover and received by the sensor unit. Further, when there is an attachment in the above-described transmission region in the outer cover, another part of the electromagnetic wave is reflected by the attachment and received by the sensor unit. Therefore, when there is an attachment in this transmission region in the outer cover, the intensity of the electromagnetic wave received by the sensor unit tends to be higher than when there is no attachment on the outer cover. Further, when there is an attachment in this transmission region, the intensity of the electromagnetic wave received by the sensor unit tends to change depending on the attachment. Generally, when dirt such as mud adheres to this transmission region, the intensity of the electromagnetic wave received by the sensor unit tends to be higher than the intensity of the electromagnetic wave received by the sensor unit when ice and snow adhere to this transmission region. Therefore, according to this vehicle sensor device, the combination of the operation of the heater and the operation of the cleaner over a predetermined period can be changed according to the difference in the attachment. For example, this vehicle sensor device can melt and remove the ice and snow adhering to the outer cover by heating the outer cover with a heater, or remove dirt such as mud adhering to the outer cover with a liquid or gas jetted from a cleaner. Therefore, this vehicle sensor device can appropriately remove attachments and suppress a decrease in the accuracy of object detection as compared with the case where the combination of the operation of the heater and the operation of the cleaner over a predetermined period does not change according to the intensity of the electromagnetic wave indicated by the signal from the sensor unit.

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

[0044] As described above, when dirt such as mud adheres to the transmission region in the outer cover, the intensity of the electromagnetic wave received by the sensor unit tends to be higher than the intensity of the electromagnetic wave received by the sensor unit when ice and snow adhere to this transmission region. Further, when ice and snow adhere to this transmission region, the intensity of the electromagnetic wave received by the sensor unit tends to be higher than the intensity of the electromagnetic wave received by the sensor unit when dust or water droplets adhere to this transmission region. Therefore, the first threshold value, the second threshold value, and the third threshold value can be set so that when dust or water droplets adhere, the intensity indicated by the signal is included in the first range described above, when ice and snow adhere, the intensity indicated by the signal is included in the second range described above, and when dirt such as mud adheres, the intensity indicated by the signal is included in the third range described above. Further, in this vehicle sensor device, at least the cleaner is driven when the intensity indicated by the signal is in at least one of the first range and the third range described above. Further, when the intensity indicated by the signal is in the second range described above, at least the heater is driven. Therefore, according to this vehicle sensor device, for example, dust and water droplets adhering to the outer cover can be removed by the liquid or gas from the cleaner, the ice and snow adhering to the outer cover can be melted and removed by heating the outer cover with the heater, and dirt such as mud adhering to the outer cover can be removed by the liquid or gas from the cleaner.

[0045] In this case, in the vehicle sensor device according to 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 of starting the drive of the cleaner is later than the timing of starting the drive of the heater.

[0046] In the vehicle sensor device according to the third aspect, when the intensity indicated by the signal is within the second range, at least one of a liquid and a gas is jetted toward the outer cover after the outer cover is heated. Therefore, when ice and snow adhere to the outer cover, this vehicle sensor device can jet at least one of a liquid and a gas toward the ice and snow after making water intervene at least partly between the ice and snow and the outer cover by heating the outer cover. The adhesion force of the ice and snow to the outer cover when water intervenes at least partly between the ice and snow and the outer cover tends to be smaller than when no water intervenes between the ice and snow and the outer cover. Therefore, this vehicle sensor device can more easily remove ice and snow than when the outer cover is not heated before jetting a liquid or a gas toward the outer cover.

[0047] In this case, in the vehicle sensor device according to the third aspect, when the intensity indicated by the signal is within the second range, the control unit may control the heater and the cleaner such that the timing of starting the drive of the cleaner is after the timing of starting the drive of the heater and there is a period during which the heater is driven after the timing of ending the drive of the cleaner.

[0048] In the vehicle sensor device according to the third aspect, the outer cover is heated even after the timing of ending the drive of the cleaner. Therefore, this vehicle sensor device can suppress the freezing of the liquid adhering to the outer cover, for example, the liquid from the cleaner, or vaporize and remove this liquid after the jetting of the liquid or the gas toward the outer cover is completed. Therefore, this vehicle sensor device can suppress a decrease in the accuracy of object detection as compared with the case where the outer cover is not heated after the timing of ending the drive of the cleaner.

[0049] Alternatively, in the vehicle sensor device according to the third aspect, 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 the liquid and the gas separately. When the intensity indicated by the signal is within the second range, the control unit is configured such that the timing of starting the injection of the liquid by the cleaner is after the timing of starting the driving of the heater, and there is a period during which the heater is driven after the timing of ending the injection of the liquid by the cleaner. The heater and the cleaner may be controlled such that the timing of starting the injection of the gas by the cleaner is after the timing of ending the injection of the liquid by the cleaner.

[0050] In the vehicle sensor device according to the third aspect, since the liquid is injected toward the outer cover after the outer cover is heated, snow and ice can be easily removed. Further, the outer cover is heated even after the injection of the liquid by the cleaner is completed. Therefore, it is possible to suppress the liquid adhering to the outer cover, for example, the liquid from the cleaner, from freezing after the injection of the liquid onto the outer cover is completed, or to vaporize and remove this liquid. Further, the gas is injected toward the outer cover after the injection of the liquid by the cleaner is completed. Therefore, the liquid adhering to the outer cover after the injection of the liquid onto the outer cover is completed can be removed by the gas from the cleaner.

[0051] Further, in the vehicle sensor device according to the third aspect, 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 liquid. The specific range includes at least the third range. When the intensity indicated by the signal is within the third range, the control unit may control the heater and the cleaner such that there is a period during which the heater is driven after the timing of ending the injection of the liquid by the cleaner.

[0052] In the vehicle sensor device according to the third aspect, the outer cover is heated after the injection of the liquid onto the outer cover has ended. Therefore, this vehicle sensor device can suppress the freezing of the liquid adhering to the outer cover, for example, the liquid from the cleaner, or vaporize and remove this liquid after the injection of the liquid onto the outer cover has ended.

[0053] In this case, in the vehicle sensor device according to the third aspect, when the intensity indicated by the signal is within the third range, the control unit may control the heater and the cleaner such that the timing of the start of the injection of the liquid of the cleaner is earlier than the timing of the start of the drive of the heater, and there is a period during which the heater is driven after the timing of the end of the injection of the liquid of the cleaner.

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

[0055] Alternatively, in the vehicle sensor device according to the third aspect, 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 the liquid and the gas individually, the specific range includes at least the third range, and when the intensity indicated by the signal is within the third range, the control unit may control the heater and the cleaner such that the timing of the start of the injection of the gas of the cleaner is after the timing of the end of the injection of the liquid of the cleaner.

[0056] In the vehicle sensor device according to the third aspect, after the injection of the liquid of the cleaner is completed, gas is injected toward the outer cover. Therefore, after the injection of the liquid onto the outer cover is completed, the liquid adhering to the outer cover can be removed by the gas from the cleaner.

[0057] In this case, in the vehicle sensor device according to the third aspect, when the intensity indicated by the signal is within the third range, the control unit drives the heater after the timing of the end of the injection of the liquid of the cleaner, and the heater and the cleaner may be controlled such that the timing of the start of the injection of the gas of the cleaner is after the timing of the end of the injection of the liquid of the cleaner.

[0058] In the vehicle sensor device according to the third aspect, the outer cover is heated after the injection of the liquid onto the outer cover is completed. Therefore, this vehicle sensor device can suppress the liquid adhering to the outer cover from freezing or vaporize and remove the liquid after the injection of the liquid onto the outer cover is completed.

[0059] In this case, in the vehicle sensor device according to the third aspect, when the intensity indicated by the signal is within the third range, the control unit controls the heater and the cleaner such that the timing of the start of the injection of the liquid of the cleaner is before the timing of the start of the drive of the heater, there is a period during which the heater is driven after the timing of the end of the injection of the liquid of the cleaner, and the timing of the start of the injection of the gas of the cleaner is after the timing of the end of the injection of the liquid of the cleaner.

[0060] In the vehicle sensor device according to the third aspect, the outer cover is not heated before the liquid is injected toward the outer cover. Therefore, it is possible to suppress a decrease in the moisture of the mud adhering to the outer cover before the liquid is injected toward the outer cover, and the mud can be easily removed.

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

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

[0063] In addition, in the vehicle sensor device according to the third aspect, when the temperature indicated by the signal output from the temperature sensor that measures the temperature outside the vehicle is equal to or lower than a predetermined temperature and the intensity indicated by the signal output from the sensor unit is within the specific range, the control unit controls the heater and the cleaner so that the timing of starting the drive of the cleaner is later than the timing of starting the drive of the heater, and 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, the control unit may control the heater and the cleaner so that only the cleaner is driven.

[0064] At temperatures outside the vehicle where water or the like freezes, mud, dust, etc. adhering to the outer cover tend to have the moisture in the mud freeze or ice adhere to the dust. In this vehicle sensor device, by setting a predetermined temperature to, for example, the temperature at which water or the like begins to freeze, when the temperature outside the vehicle is such that water or the like freezes and mud, dust, etc. adhere to the outer cover, after the outer cover is heated, a liquid or gas can be sprayed toward the outer cover. Therefore, according to this vehicle sensor device, after the moisture in the mud is melted or the ice adhering to the dust is melted, a liquid or gas can be sprayed, and the mud, dust, etc. can be removed more easily. Also, in this vehicle sensor device, for example, when the temperature outside the vehicle exceeds the temperature at which water or the like freezes and mud, dust, etc. adhere to the outer cover, only the cleaner can be driven without driving the heater. Therefore, according to this vehicle sensor device, the mud, dust, etc. adhering to the outer cover can be removed while reducing the chance of driving the heater.

[0065] In this case, in the vehicle sensor device of the third aspect, the cleaner can spray at least the liquid, and when the temperature indicated by the signal output from the temperature sensor is equal to or lower than the predetermined temperature and the intensity indicated by the signal output from the sensor unit is within the specific range, the timing of starting the injection of the liquid of the cleaner is after the timing of starting the drive of the heater, and the heater is driven after the timing of ending the injection of the liquid of the cleaner so that there is a period during which the heater is driven. It is also possible to control the heater and the cleaner.

[0066] The outer cover is heated even after the timing of ending the injection of the liquid of the cleaner at a temperature outside the vehicle where water or the like freezes. Therefore, it is possible to more appropriately suppress the liquid adhering to the outer cover after the injection of the liquid, for example, the liquid from the cleaner, from freezing.

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

[0068] With such a configuration, for example, it is possible to suppress the injection of the liquid or gas by the cleaner and the driving of the heater when the deposits on the outer cover are removed.

[0069] The vehicle sensor device according to the fourth aspect of the present invention includes an outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover, a heating wire provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, and a control unit. The control unit outputs a detection signal of an object located outside the outer cover at a predetermined time interval based on the signal from the sensor unit, and sets a first voltage applied to the heating wire in at least a part of a transmission and reception period during 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 in at least a part of a period sandwiched by the transmission and reception period.

[0070] It takes a certain amount of time for the control unit to process the signals input from the sensor unit. In this vehicle sensor device, since the detection signals are output from the control unit at predetermined time intervals, the control unit can perform at least part of the processing of the signals input from the sensor unit during the period when the detection signals are not being output from the control unit. Since the detection signals are output from the control unit at predetermined time intervals in this way, the electromagnetic waves used for the detection signals are periodically transmitted and received by the sensor unit. Therefore, the above transmission and reception period is a periodic period, for example, generally at a predetermined time interval. However, during the period sandwiched by this transmission and reception period, the sensor unit may or may not perform the transmission and reception of electromagnetic waves. For example, the transmission and reception of electromagnetic waves may be continuously performed in the sensor unit. In this case, not all of the electromagnetic waves received by the sensor unit are used for the detection signals, and in the sensor unit, the electromagnetic waves used for the detection signals and the electromagnetic waves not used for the detection signals are alternately transmitted and received. In the vehicle sensor device of the present invention, the first voltage applied to the heating wire in at least part of this transmission and reception period is lower than the second voltage applied to the heating wire in at least part of the period sandwiched by the transmission and reception period. Therefore, the intensity 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 intensity of the magnetic field generated from the heating wire during the period when the second voltage is applied to the heating wire. For this reason, compared with the case where the second voltage is continuously applied to the heating wire, it is possible to suppress the magnetic field generated from the heating wire from affecting the sensitivity of the sensor unit. Therefore, according to the present invention, a vehicle sensor device capable of suppressing a decrease in the accuracy of object detection is provided.

[0071] Also, in the vehicle sensor device of the fourth aspect, it is preferable that the control unit sets the voltage applied to the heating wire to the first voltage during all of the transmission and reception period.

[0072] In this case, compared with the case where the voltage applied to the heating wire is set to the first voltage in a part of the transmission and reception period and the voltage applied to the heating wire is set to the second voltage in another part of the transmission and reception period, it is possible to suppress the magnetic field generated from the heating wire from affecting the sensitivity of the sensor unit.

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

[0074] In this case, since the first voltage is applied to the heating wire at at least one of the start and end of the transmission / reception period, it is possible to more appropriately suppress the influence of the magnetic field generated from the heating wire on the sensitivity of the sensor unit.

[0075] Also, in the vehicle sensor device 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 part of the transmission / reception period. Therefore, it is possible to further suppress the radiation of the magnetic field from the heating wire during at least a part of the transmission / reception period, and it is possible to further suppress the influence of the magnetic field generated from the heating wire on the sensitivity of the sensor unit.

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

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

[0079] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the magnitude of the first voltage in a state where the distance of the object indicated by the detection signal is smaller than a predetermined distance smaller than the first voltage in a state where the distance of the object indicated by the detection signal is greater than or equal to the predetermined distance.

[0080] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the period for applying the first voltage in a state where the distance of the object indicated by the detection signal is smaller than a predetermined distance longer than the period for applying the first voltage in a state where the distance of the object indicated by the detection signal is equal to or greater than the predetermined distance.

[0081] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the magnitude of the first voltage in a state where a signal indicating rainy weather is input to the control unit smaller than the first voltage in a state where the signal indicating rainy weather is not input.

[0082] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the period for applying the first voltage in a state where a signal indicating rainy weather is input to the control unit longer than the period for applying the first voltage in a state where the signal indicating rainy weather is not input.

[0083] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the magnitude of the first voltage in a state where a signal indicating that the vehicle's headlight is on is input to the control unit smaller than the first voltage in a state where the signal indicating that the vehicle's headlight is on is not input.

[0084] Also, in the vehicle sensor device according to the fourth aspect, it is preferable that the control unit makes the period for applying the first voltage in a state where a signal indicating that the vehicle's headlight is on is input to the control unit longer than the period for applying the first voltage in a state where the signal indicating that the vehicle's headlight is on is not input.

[0085] When the vehicle is moving at a high speed, when the distance from the vehicle to an object is small, when it is raining, or when the headlights are on, information about the surroundings of the vehicle by means other than visual inspection is more necessary. In these states, by reducing the magnitude of the first voltage to reduce the magnetic field generated by the heating wire, or by increasing the period during which the first voltage is applied to increase the period during which the magnetic field generated by the heating wire is suppressed, the vehicle sensor device can further suppress a decrease in the accuracy of object detection and can further contribute to safety.

[0086] Also, in the vehicle sensor device according to the fourth aspect, the control unit stops outputting the detection signal and applies a voltage to the heating wire during at least a part of the period when the vehicle is stopped, and outputs the detection signal at the predetermined time interval during at least a part of the period when the vehicle is running. It is preferable that the first voltage applied to the heating wire during at least a part of the transmission / reception period is set to a voltage lower than the second voltage applied to the heating wire during at least a part of the period sandwiched by the transmission / reception period.

[0087] When the vehicle is stopped, there is a tendency that concerns about safety are lower than when the vehicle is moving. In particular, during the period from when the ignition is turned on until the vehicle starts moving, concerns about safety are generally low. Therefore, by applying a voltage to the heating wire during at least a part of the period when the vehicle is stopped, even if snow or the like adheres to the outer cover, melting the snow or the like takes precedence over detecting an object around the vehicle, and after the vehicle starts moving, a decrease in the accuracy of object detection of the vehicle sensor device due to snow or the like can be suppressed. Also, in at least a part of the state where the vehicle is running, the first voltage applied to the heating wire during at least a part of the transmission / reception period is set to a voltage lower than the second voltage applied to the heating wire during at least a part of the period sandwiched by the transmission / reception period. Therefore, in at least a part of the state where the vehicle is running, it is possible to suppress the magnetic field generated by the heating wire from affecting the sensitivity of the sensor unit and to suppress a decrease in the accuracy of object detection compared to the case where the second voltage is continuously applied to the heating wire.

Brief Description of the Drawings

[0088]

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Mode for Carrying Out the Invention

[0089] Hereinafter, preferred embodiments of the vehicle sensor device according to the present invention will be described in detail with reference to the drawings. The embodiments illustrated below are for facilitating the understanding of the present invention and are not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from its gist. In the drawings referred to below, for the sake of easy understanding, the dimensions of each member may be shown changed.

[0090] (First Embodiment) The first embodiment as the first aspect of the present invention will be described. FIG. 1 is a diagram schematically showing a vehicle lamp equipped with the vehicle sensor device according to the first embodiment of the present invention. The vehicle lamp VL in the present embodiment is a headlamp for an automobile. Headlamps for automobiles are generally provided one by one in the left and right directions at the front of the vehicle, and the left and right headlamps have a generally symmetrical configuration in the left and right directions. For this reason, one of the headlamps will be described. As shown in FIG. 1, the vehicle lamp VL in the present embodiment, which is a headlamp, mainly includes a vehicle sensor device 1 and a lamp unit LU.

[0091] The vehicle sensor device 1 of this embodiment mainly includes 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 a vertical cross-section.

[0092] The housing 10 of this embodiment mainly includes a housing 11 and an outer cover 12. The housing 11 and the outer cover 12 are made of, for example, resins of different types. 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 unit 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. And, an accommodation space 13 surrounded by the housing 11 and the outer cover 12 is formed in the housing 10, and the sensor unit 20 and the lamp unit LU are arranged in the accommodation space 13. Most of the outer surface 12o of the outer cover 12 is exposed outside the vehicle VE and is a part of the outer surface of the vehicle VE.

[0093] The control unit CO is composed of, for example, an integrated circuit such as a microcontroller, an IC (Integrated Circuit), an LSI (Large-scale Integrated Circuit), an ASIC (Application Specific Integrated Circuit), or an NC (Numerical Control) device. Also, when using an NC device, the control unit CO may use a machine learning device or may not use a machine learning device. As will be described below, some components of the vehicle sensor device 1 and the lamp unit LU are controlled by the control unit CO.

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

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

[0096] Also, a rain sensor 51 that detects rainfall is connected to the control unit CO, and the rain sensor 51 outputs a signal indicating the measured rainfall to the control unit CO. As the rain sensor 51, for example, those that detect rainfall by detecting the amount of moisture on the rain sensor 51 through infrared transmission and reception, or those that detect rainfall by detecting the amount of moisture on the front windshield can be mentioned. The rain sensor 51 of this embodiment is attached near, for example, the front windshield of the vehicle VE. Note that the configuration and mounting position of the rain sensor 51 are not particularly limited. Therefore, the signal indicating the rainfall input to the control unit CO may be input from the ECU 100 to the control unit CO.

[0097] Further, a storage unit 52 for storing a table described later is connected to the control unit CO. The storage unit 52 is, for example, a non-transitory recording medium, and a semiconductor recording medium such as a RAM (Random Access Memory) or a ROM (Read Only Memory) is suitable, but it may include any form of recording medium such as an optical recording medium or a magnetic recording medium. Note that the "non-transitory" recording medium includes all computer-readable recording media except for transitory, propagating signals, and does not exclude volatile recording media. The storage unit 52 may be provided inside the control unit CO.

[0098] The sensor unit 20 is a transceiver that transmits and receives electromagnetic waves via the outer cover 12. The sensor unit 20 mainly includes a housing 21 having an accommodation space, a transmission unit 25, and a reception unit 26. In the present embodiment, radio waves are used as the electromagnetic waves, and the radio waves are millimeter waves.

[0099] The transmission unit 25 is disposed in the accommodation space of 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 transmission part 22 facing the outer cover 12 in the housing 21 toward the outer cover 12, pass through the outer cover 12, and irradiate the front of the vehicle VE. In the present embodiment, the transmission unit 25 is configured such that radio waves spreading at a predetermined angle in the left-right direction of the vehicle VE are emitted from the electromagnetic wave transmission part 22, and the frequency of the radio waves can be changed. The transmission unit 25 includes an antenna (not shown). The transmission unit 25 emits radio waves whose intensity is generally constant and whose frequency changes so as to increase and decrease at a predetermined period according to a control signal from the control unit CO. When the transmission unit 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 on the intensity of the radio waves EW1 and information on the 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 plurality of antennas are arranged, for example, in the left-right direction of the vehicle VE. A part of the radio wave EW2 that enters the accommodation space 13 through the outer cover 12 from the outside of the vehicle VE is received by the antennas of the receiving unit 26 via the electromagnetic wave transmission unit 22. When each antenna receives the radio wave EW2 incident on the electromagnetic wave transmission unit 22, the receiving unit 26 outputs a signal Se related to the radio wave EW2 to the control unit CO. This signal Se may include information on the intensity of the radio wave EW2 and information on the phase of the radio wave EW2.

[0101] When an object such as a preceding vehicle or a person is located in front of the vehicle VE, a part of the radio wave EW1 transmitted from the transmitting unit 25 is reflected by the object. A part of the radio wave reflected by this object passes through the outer cover 12 and enters the accommodation space 13 and is received by the receiving unit 26 of the sensor unit 20. The control unit CO of the present embodiment performs detection and the like of an object located in front of the vehicle VE based on the signal Se related to the radio wave EW2 input from the receiving unit 26 of the sensor unit 20 and the signal related to the radio wave EW1 input from the transmitting unit 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 transmitting unit 25 and the receiving unit 26. Each of the signals from the transmitting unit 25 and the receiving unit 26 is a signal related to the electromagnetic wave from the sensor unit 20. Note that the control unit CO performs detection of an object located in front of the vehicle VE, calculation of the azimuth of the object with respect to the vehicle VE, and calculation of the distance from the vehicle VE to the object, for example, by the FMCW (Frequency Modulated Continuous Wave) method based on these signals. The detection signal Sd may include information related to the object such as the presence or absence, azimuth, and distance of the object. The detection signal Sd output from the control unit CO is input to, for example, the ECU 100. The ECU 100 assists the running of the vehicle VE based on the detection signal Sd.

[0102] Note that the sensor unit 20 only needs to transmit and receive electromagnetic waves via the outer cover 12 and output a signal related to the electromagnetic waves, and the configuration of the sensor unit 20 is not particularly limited. For example, the transmission unit 25 may be configured to repeatedly emit pulsed radio waves. In this case, the control unit CO performs object detection and distance calculation to the object by, for example, the ToF (Time of Flight) method. Further, the sensor unit 20 may include a detection unit disposed in the housing 21, and the detection unit may detect an object located in front of the vehicle VE based on the signal input from the transmission unit 25 and the signal Se input from the reception unit 26. In this case, the detection unit outputs a signal indicating the intensity of the electromagnetic wave received together with the information related to the above object to the control unit CO. The control unit CO inputs the detection signal Sd to the ECU 100 based on the signal. As a configuration of such a detection unit, for example, a configuration similar to that of the control unit CO can be mentioned. Further, the sensor unit 20 may be a LiDAR (Light Detection and Ranging) that emits laser light as an electromagnetic wave and receives the laser light. Further, the electromagnetic wave transmitted and received by the sensor unit 20 may be infrared rays or ultraviolet rays. That is, the signal Se includes not only the signal related to the radio wave as described above but also the signal related to the electromagnetic wave received by the sensor unit 20.

[0103] As shown in FIG. 1, the heater 30 of the present embodiment mainly includes a heating wire 31 and a power supply circuit 32. The heating wire 31 is provided on the inner surface 12i, which is the surface on the sensor unit 20 side of the outer cover 12, 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 is configured to generate heat when an electric current flows, and may be composed of a conductive paste or a metal wire or the like. The power supply circuit 32 applies a voltage to the heating wire 31 according to a control signal from the control unit CO. When a current flows through the heating wire 31 due to the applied voltage, the heating wire 31 generates heat and the outer cover 12 is heated. The heating wire 31 is provided on the outer cover 12 such that a transmission region AR through which the radio wave EW1 emitted from the sensor unit 20 passes is heated by the heat generated by the heating wire 31. In the present embodiment, in the propagation direction of the radio wave EW1, the transmission region AR overlaps a part of the heating wire 31. Further, the amount of heat generated by the heating wire 31 is set such that deformation or burning of the outer cover 12 due to heat does not occur. In this description, the transmission region AR is described as a region through which the radio wave EW1 passes. However, as described above, since the sensor unit 20 includes a form of transmitting and receiving laser light as an electromagnetic wave, the transmission region AR is a region through which the electromagnetic wave emitted from the sensor unit 20 passes. Further, the heater 30 may include a heating element composed of a conductive paste instead of the heating wire 31, and the heating element may be attached to the inner surface 12i. Further, the heater 30 may be configured to blow heated air onto the inner surface 12i. In this case, the heater 30 includes a heat source for heating air and a motor for rotating a fan for blowing the heated air. In this case, the driving period of the heater 30 indicates the driving periods of the heat source and the motor, the power consumption of the heater 30 indicates the power consumptions of the heat source and the motor, the voltage applied to the heater 30 indicates the voltages applied to the heat source and the motor, and the resistance of the heater 30 indicates the resistances of the heat source and the motor.

[0104] Note that the heating wire 31 only needs to be able to heat the transmission region AR. For example, in the propagation direction of the radio wave EW1, the transmission region AR and the heating wire 31 do not have to overlap, and it may be attached to the outer surface 12o or the inside of the outer cover 12.

[0105] The cleaner 40 is configured to inject at least one of a liquid and a gas from the outside of the vehicle VE relative to the outer cover 12 toward the transmission region AR of the outer surface 12o. The vehicle sensor device 1 can remove deposits adhering to the transmission region AR by the liquid or gas injected from the cleaner 40. In the present embodiment, the cleaner 40 is configured to be able to inject the liquid and the gas individually toward the transmission region AR, and includes a liquid unit 41 that injects the liquid toward the transmission region AR and a gas unit 45 that injects the gas toward the transmission region AR.

[0106] At the front end below the housing 11, a support base 15 extending in the front-rear direction is attached. The front end of the support base 15 is located in front of the outer cover 12. The liquid unit 41 of this embodiment mainly includes a tank 41a for storing liquid, a pump 41b, and an injection nozzle 41c. A pipe 42a connected to the tank 41a and a pipe 42b connected to the injection nozzle 41c are connected to the pump 41b. The pump 41b pumps the liquid in the tank 41a to the injection nozzle 41c. The pump 41b adjusts the amount of liquid pumped to the injection nozzle 41c or stops the pumping of the liquid according to a control signal from the control unit CO. The injection nozzle 41c is attached to a part located in front of the outer cover 12 of the support base 15 so that the liquid pumped from the tank 41a is injected toward the permeation region AR. Also, the injection nozzle 41c is located below the permeation region AR. Therefore, when the pump 41b pumps the liquid to the injection nozzle 41c, the liquid is injected from the lower side toward the permeation region AR. Examples of the liquid stored in the tank 41a include water, windshield washer fluid, etc. When this liquid is windshield washer fluid, the tank 41a may be a windshield washer tank provided in the vehicle VE. Note that the liquid unit 41 only needs to be able to inject the liquid from the outside of the vehicle VE through the outer cover 12 toward the permeation region AR, and the configuration of the liquid unit 41 is not particularly limited. The injection nozzle 41c is preferably configured such that the liquid is sprayed over the entire permeation region AR, but may also be configured such that the liquid is sprayed on a part of the permeation region AR. Also, the injection nozzle 41c may be provided above the permeation region AR and configured to inject the liquid from the upper side toward the permeation region AR. Also, the liquid unit 41 may be configured to inject mist-like liquid toward the permeation region AR. Also, the liquid unit 41 may be provided with a heater for heating the injected liquid and configured to inject the liquid at a predetermined temperature, for example, 50°C or higher, toward the permeation region AR.

[0107] The gas unit 45 of this embodiment mainly includes a tank 45a for storing gas at a pressure higher than atmospheric pressure, a valve 45b, and an injection nozzle 45c. A pipe 46a connected to the tank 45a and a pipe 46b connected to the injection nozzle 45c are connected to the valve 45b. When the valve 45b opens, the gas in the tank 41a is pumped to the injection nozzle 45c. The valve 45b adjusts the opening degree of the valve 45b according to a control signal from the control unit CO. The injection nozzle 45c is attached to a portion located in front of the outer cover 12 on the support base 15 so that the gas pumped from the tank 45a is injected toward the permeation region AR. Further, the injection nozzle 45c is located below the permeation region AR. Therefore, when the valve 45b opens, the gas is injected from the lower side toward the permeation region AR. Examples of the gas stored in the tank 41a include air and the like. When this 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. Note that the gas unit 45 only needs to be able to inject gas from the outside of the vehicle VE through the outer cover 12 toward the permeation region AR, and the configuration of the gas unit 45 is not particularly limited. The injection nozzle 45c is preferably configured such that the gas is sprayed over the entire permeation region AR, but may also be configured such that the gas is sprayed on a part of the permeation region AR. Further, the injection nozzle 45c may be provided above the permeation region AR and configured to inject gas from the upper side toward the permeation region AR. Further, the gas unit 45 may further include a heater for heating the gas to be injected, and may be configured to inject gas at a predetermined temperature, for example, 50°C or higher, toward the permeation region AR.

[0108] The lighting unit LU of the present embodiment is configured to emit light L with a predetermined light distribution pattern forward. The light L emitted from the lighting unit LU is irradiated forward of the vehicle VE through the outer cover 12. In the present embodiment, the lighting unit LU is configured to switch between emission and non-emission of 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 by a control signal from the control unit CO. As such a lighting unit LU, for example, 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 can be mentioned. As this light source unit, for example, an LED (Light Emitting Diode) array can be mentioned. Note that the configuration of the lighting unit LU is not particularly limited. The lighting unit LU may not be able to change the light distribution pattern of the emitted light, and may be a parabolic lighting unit or a projector-type lighting unit. Also, the lighting unit LU may be controlled by another control unit different from the control unit CO.

[0109] Next, the operation of the vehicle sensor device 1 of the present embodiment, specifically, the operation of controlling the ON / OFF of the heater 30 and the 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 the present embodiment. As shown in FIG. 2, the control flow of the present embodiment includes steps SP11 to SP13.

[0110] In the start state shown in FIG. 2, the sensor unit 20 transmits and receives electromagnetic waves through the outer cover 12, and a signal related to the electromagnetic waves is input from the sensor unit 20 to the control unit CO. The signal is the signal from the transmission unit 25 and the signal Se from the reception unit 26 as described above. Also, in the start state, the control unit CO turns off the heater 30 and outputs the detection signal Sd.

[0111] (Step SP11) This step is to determine whether the intensity of the radio wave EW2 indicated by the signal Se input from the receiving unit 26 by the control unit CO is less than the first threshold value. As described above, the radio wave EW1 emitted from the sensor unit 20 propagates toward the outer cover 12. A part of the radio wave EW1 passes through the outer cover 12 and irradiates the front of the vehicle VE. Another part of the radio wave EW1 is reflected by the outer cover 12 and received by the sensor unit 20 as the radio wave EW2. Further, when there is an attachment in the transmission area AR, another part of the radio wave EW1 is reflected by the attachment and received by the sensor unit 20 as the radio wave EW2. Therefore, when there is an attachment in the transmission area AR, the intensity of the radio wave EW2 received by the sensor unit 20 tends to be higher than when there is no attachment in the transmission area AR. Also, the intensity of the radio wave EW2 received by the sensor unit 20 when there is an attachment in the transmission area AR tends to change depending on the attachment. Generally, when ice and snow are attached to the transmission area AR, and when dust or water droplets are attached to the transmission area AR in this order, the intensity of the radio wave EW2 received by the sensor unit 20 tends to decrease. In the present embodiment, the first threshold value is set to a value lower than the intensity of the radio wave EW2 received by the sensor unit 20 when a predetermined amount of dust or water droplets are attached to the transmission area AR. Then, when the intensity of the radio wave EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold value, the control unit CO advances the control flow to step SP12. On the other hand, when the intensity of the radio wave EW2 indicated by this signal Se is equal to or greater than the first threshold value, the control unit CO advances the control flow to step SP13. In this way, the control unit CO makes a case-by-case decision according to the signal Se input from the receiving unit 26 and changes the step to proceed to next.

[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 during all periods when the heater 30 is OFF. As a result, the heater 30 stops, the transmitter 25 emits a radio wave EW1 outward from the vehicle VE via the outer cover 12, and the receiver 26 receives, via the outer cover 12, a radio wave EW2 that is reflected by an object on the traveling path of the radio wave EW1 among the radio waves EW1. Further, the transmitter 25 outputs a signal related to the transmitted radio wave EW1 to the control unit CO, and the receiver 26 outputs a signal Se related to the received radio wave 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 turned on and controls the sensor unit 20 to be turned on, and stops the output of the detection signal Sd during all periods when the heater 30 is on. As a result, the heater 30 is driven to generate heat, and the heat is transmitted to the outer cover 12, and the outer cover 12 including the transmission region AR is heated to a predetermined temperature. The deposits adhering to the outer cover begin to melt due to the heat from the outer cover 12. In this step, the transmission unit 25 emits the radio wave EW1 toward the outer cover 12, and the reception unit 26 receives the radio wave EW2 reflected from the deposits among the emitted radio waves EW1. Also, in this step, similar to step SP12, the transmission unit 25 outputs a signal related to the radio wave EW1 to the control unit CO, and the reception unit 26 outputs a signal Se related to the received radio wave 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 transmission unit 25 and the signal Se input from the reception unit 26. However, in this step, different from step SP12, the control unit CO stops the output of the detection signal Sd. Therefore, in this step, it is not that the transmission unit 25 and the reception unit 26 stop, but the control unit CO does not output the detection signal Sd. In this step, since the detection signal Sd is not output, the power consumption due to the output of the detection signal Sd is suppressed compared to the case where 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 stops the output of the detection signal Sd but receives the signal Se from the reception unit 26. Therefore, when the control flow returns from step SP13 to step SP11, in step SP11, the control unit CO determines whether or not the intensity is less than the first threshold value based on the intensity of the radio wave EW2 indicated by the signal Se.

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

[0115] By the way, in the vehicle sensor device of Patent Document 1, in order to detect an object, even if an attachment adheres to the cover, electromagnetic waves are emitted. In this case, the progress of the electromagnetic waves may be obstructed by the attachment, and the detection accuracy of the vehicle sensor device may decrease. 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 the present embodiment includes an outer cover 12 and a sensor unit 20 that is disposed inside the vehicle VE from the outer cover 12, transmits and receives electromagnetic waves through the outer cover 12, and outputs a signal related to the electromagnetic waves incident on the inside of the outer cover 12. Further, the vehicle sensor device 1 includes a heater 30 provided on the outer cover 12 and configured to heat a transmission region AR through which the electromagnetic waves emitted from the sensor unit 20 in the outer cover 12 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 a signal related to the electromagnetic waves from the sensor unit 20 during all periods when the heater 30 is OFF, and stops the output of 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 electromagnetic wave traveling direction and the vehicle VE and pass through the transmission region AR, the electromagnetic waves can be received by the sensor unit 20, and an object can be detected from a signal related to the electromagnetic waves. In the vehicle sensor device 1, the control unit CO outputs a detection signal Sd of an object based on a signal related to the electromagnetic waves from the sensor unit 20 during a period when the heater 30 is OFF. Generally, during a period when the heater 30 is OFF, deposits tend not to adhere to the transmission region AR. In this case, since the progress of the electromagnetic waves by the deposits is suppressed, a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Also, generally, during a period when the heater 30 is ON, deposits tend to adhere to the transmission region AR. In this case, since the progress of the electromagnetic waves is obstructed by the deposits, the detection accuracy of the vehicle sensor device 1 decreases. Therefore, the information obtained by the detection is difficult to use, and the power used to output the detection signal Sd including the information may be wasted. However, in the vehicle sensor device 1, the control unit CO stops the output of the detection signal Sd during all periods when the heater 30 is ON. That is, the output of the detection signal Sd stops during all periods while the deposits are removed by the heat of the heater 30. For this reason, wasteful consumption of power can be suppressed.

[0118] Also, in step SP13, during a period when the heater 30 is ON, the transmitter 25 of the sensor unit 20 emits a radio wave EW1 as an electromagnetic wave toward the outside of the vehicle VE through the outer cover 12.

[0119] In the above configuration, the transmission unit 25 emits the radio wave EW1 during the period when the heater 30 is ON and during the period when the heater 30 is OFF, and does not stop the emission of the radio wave EW1 or switch the emission of the radio wave EW1 in response to the ON / OFF switching of the heater 30. Therefore, the burden on the transmission unit 25 due to switching can be reduced. Also, generally, it takes time to activate the transmission unit 25, but in the above configuration, since the transmission unit 25 is always driven to emit the radio wave EW1, the time required for activation can be omitted. When this time is omitted, the detection signal Sd can be output earlier when the heater 30 switches from ON to OFF compared to the case where the time is not omitted.

[0120] Also, in step SP13, during the period when the heater 30 is ON, the receiving unit 26 of the sensor unit 20 receives the radio wave EW2 as an electromagnetic wave incident from the outside of the vehicle VE to the inside of the vehicle VE through the outer cover 12.

[0121] In the above configuration, the receiving unit 26 receives the radio wave EW2 during the period when the heater 30 is ON and during the period when the heater 30 is OFF, and does not stop the reception of the radio wave EW2 or switch the reception of the radio wave EW2 in response to the ON / OFF switching of the heater 30. Therefore, the burden on the receiving unit 26 due to switching can be reduced. Also, since the receiving unit 26 is always driven to receive the radio wave EW2, the time required for activation can be omitted. When this time is omitted, the detection signal Sd can be output earlier as described above.

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

[0123] In the above configuration, the receiving unit 26 outputs the signal Se to the control unit CO during both the period when the heater 30 is ON and the period when the heater 30 is OFF, and does not stop the output of the signal Se or switch the output of the signal Se in response to the ON / OFF switching of the heater 30. Therefore, the burden on the receiving unit 26 due to switching can be reduced. Also, since the receiving unit 26 is always driven to output the signal Se, the time required for startup can be omitted. When this time is omitted, the detection signal Sd can be output earlier as described above.

[0124] In step SP13, the control unit CO may simply stop the output of the detection signal Sd, and the operations of the sensor unit 20 and the control unit CO are not particularly limited. For example, in step SP13, the transmission unit 25 may stop without outputting the radio wave EW1, or the transmission unit 25 may stop without outputting the signal related to the radio wave EW1 to the control unit CO, or the receiving unit 26 may stop without 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 transmission unit 25 and the receiving unit 26, and the output of the detection signal Sd stops. Since at least one of the transmission unit 25 and the receiving unit 26 becomes OFF and the output of the detection signal Sd stops, the power consumption is suppressed compared to the case where both the transmission unit 25 and the receiving unit 26 are ON and the output of the detection signal Sd stops. When at least one of the transmission unit 25 and the receiving unit 26 becomes OFF, after a predetermined period has elapsed since the heater 30 became ON in step SP13, both the transmission unit 25 and the receiving unit 26 are controlled to be ON. Thereby, the transmission unit 25 emits the radio wave EW1 toward the outer cover 12, and the receiving unit 26 receives the reflected radio wave EW2 of the emitted radio wave EW1. Also, the transmission unit 25 outputs the signal related to the transmitted radio wave EW1 to the control unit CO, and the receiving unit 26 outputs the signal related to the received radio wave EW2 to the control unit CO. The control unit CO may output the detection signal Sd generated based on the signals input from each of the transmission unit 25 and the receiving unit 26 and return the control flow to step SP11.

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

[0126] When the control unit CO returns 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. Thereby, compared with the case where the control flow returns from step SP13 to step SP11 before the predetermined period has elapsed, the interval for determining the intensity in step SP11 becomes longer, and the burden on the control unit CO can be reduced.

[0127] Next, a modified example of the present embodiment will be described.

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

[0129] During the period in which the heater 30 is ON, when the intensity is greater than the first threshold value and the adhesion amount of the deposits is greater than or equal to a second threshold value indicating that the adhesion amount is greater than the adhesion amount at the first threshold value, the control unit CO stops the output of the detection signal Sd. Also, during the period in which the heater 30 is ON, when the intensity is greater than or equal to the first threshold value and less than the second threshold value, the control unit CO outputs the detection signal Sd. The intensity is the intensity of the radio wave EW2 as described in the first embodiment, is indicated by the signal Se from the receiving unit 26, and changes according to the adhesion amount of the deposits adhering to the transmission region AR.

[0130] At time t11 shown in FIG. 3, the intensity is less than the first threshold value, and the control unit CO turns off the heater 30 and outputs a detection signal Sd. When deposits adhere to the transmission region AR at time t12 after time t11, the intensity becomes equal to or greater than the first threshold value. At time t12, a large amount of deposits have adhered and the intensity has become equal to or greater than the second threshold value. In this case, the control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd. As time elapses from time t12, generally, the deposits melt due to the heat from the heater 30 and decrease with the passage of time. When the deposits decrease, the reflection of the electromagnetic wave reflected by the deposits decreases, so the intensity decreases. At time t13 after time t12, when the intensity becomes equal to or greater than the first threshold value and less than the second threshold value, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. As time elapses from time t13, the deposits further decrease and the intensity further decreases. At time t14 after time t13, when the intensity becomes less than the first threshold value, the control unit CO switches the heater 30 to OFF, but keeps outputting the detection signal Sd. Note that at time t14, the heater 30 may remain ON.

[0131] As described above, generally, during the period when the heater 30 is ON, deposits tend to adhere to the transmission region AR. In the vehicle sensor device 1, when deposits adhere to the transmission region AR, a part of the electromagnetic wave emitted from the sensor unit 20 is reflected by the deposits and received by the sensor unit 20. The intensity of the received electromagnetic wave tends to increase as the amount of the deposits adhering increases because the reflection of the electromagnetic wave reflected by the deposits increases. Generally, when dust or water droplets adhere to the transmission region AR, and when ice and snow adhere to the transmission region AR, the intensity of the electromagnetic wave received by the sensor unit 20 tends to increase in this order. In this case, the first threshold value is set to a value lower than the intensity of the electromagnetic wave received by the sensor unit 20 when dust or water droplets adhere to the transmission region AR. Further, the second threshold value is set to a value higher than the intensity of the electromagnetic wave received by the sensor unit 20 when a predetermined amount of dust or water droplets adhere to the transmission region AR and lower than the intensity of the electromagnetic wave received by the sensor unit 20 when ice and snow adhere to the transmission region AR. When the intensity of the electromagnetic wave is equal to or higher than the second threshold value, the detection accuracy of the vehicle sensor device 1 decreases compared to the case where the intensity is equal to or higher than the first threshold value and lower than the second threshold value. Therefore, in this case, the information obtained is difficult to use, and the time during which power is wasted becomes longer. However, in the vehicle sensor device 1 of this modification example, when the intensity of the electromagnetic wave is equal to or higher than the second threshold value, the output of the detection signal Sd stops, so the time during which power is wasted can be shortened.

[0132] Also, when the deposits start to melt and decrease, the reflection of the electromagnetic wave by the deposits is suppressed, and the intensity decreases. When the intensity is equal to or higher than the first threshold value and lower than the second threshold value, since the amount of the deposits adhering is smaller compared to the case where the intensity is equal to or higher than the second threshold value, the hindrance to the progress of the electromagnetic wave by the deposits is suppressed, and the decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, in the vehicle sensor device 1, even when the detection signal Sd is output, information with higher accuracy can be obtained compared to the case where the intensity is equal to or higher than the second threshold value, and the safety during the running of the vehicle can be improved by using the information.

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

[0134] When the intensity is equal to or greater than a second threshold value that is greater than the first threshold value, the control unit CO turns on the heater 30 for a predetermined period after the intensity becomes equal to or greater than the second threshold value. Also, the control unit CO makes the output stop period of the detection signal Sd longer than the output period of the detection signal Sd while the heater 30 is ON. The intensity, the first threshold value, and the second threshold value are the same as the intensity, the first threshold value, and the second threshold value in the first modification example.

[0135] At time t21 shown in FIG. 4, the intensity is less than the first threshold value, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. When a large amount of deposits adhere to the transmission region AR at time t22 after time t21, the intensity becomes equal to or greater than the second threshold value. In this case, the control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd. Also, the control unit CO turns on the heater 30 for a predetermined period. Let the time when a predetermined period has elapsed from time t22 be time t25. Also, the control unit CO sets the time between time t22 and time t25 as time t24. Time t24 is set such that the period between time t22 and time t24 is longer than the period between time t24 and time t25. As time passes from time t22, the deposits are warmed and decrease, and the intensity decreases. At time t23 between time t22 and time t24, even if the intensity becomes equal to or greater than the first threshold value and less than the second threshold value, the control unit CO keeps the heater 30 ON and keeps the output of the detection signal Sd stopped. When time t24 is reached, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. Also, when time t25 is reached, the control unit CO switches the heater 30 to OFF, but keeps the detection signal Sd output.

[0136] When the intensity of the electromagnetic wave is equal to or greater than the second threshold as described above, the heater 30 is turned on for a predetermined period. If the output period of the detection signal Sd is longer than the output stop period of the detection signal Sd during the period when the heater 30 is on, since deposits adhere more to the transmission region AR as described above, the detection accuracy of the vehicle sensor device 1 will decrease. Therefore, in this case, the information obtained is difficult to utilize, and the time during which power is wasted is prolonged. However, in the vehicle sensor device 1 of this modified example, since the output stop period of the detection signal Sd is longer than the output period of the detection signal Sd, the time during which power is wasted can be shortened. Note that the timing at which the detection signal Sd switches from stop to output changes appropriately depending on the time when the intensity is equal to or greater than the second threshold and the time when the intensity is equal to or greater than the first threshold and 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 and less than the second threshold. Also, at time t25, the heater 30 may remain on.

[0137] Next, a third modified example will be described with reference to FIG. 5. FIG. 5 is a timing chart regarding the ON / OFF of the heater 30 and the 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. Also, 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, the first threshold, and the second threshold are the same as the intensity, the first threshold, and the second threshold 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, an attachment adheres to the transmission region AR, and it is assumed that the intensity in this case is equal to or greater than the first threshold and less than the second threshold. In this case, the control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd. Further, the control unit CO turns on the heater 30 for a predetermined period. Let the time when a predetermined period has elapsed from time t32 be time t34. Further, the control unit CO sets the time between time t32 and time t34 as time t33. Time t33 is set such 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 attachment is warmed and decreases, and the intensity decreases. At time t33, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. When time t34 is reached, the control unit CO switches the heater 30 to 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, compared with the case where the intensity is equal to or greater than the second threshold, the amount of attachment of the attachment is small, so the interference with the progress of the electromagnetic wave by the attachment is suppressed, and the decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, in the vehicle sensor device 1 of this modification, since the output period of the detection signal Sd is longer than the output stop period of the detection signal Sd, information with higher accuracy can be obtained compared with the case where the intensity is equal to or greater than the second threshold, and the safety during the running of the vehicle VE can be improved by using the information. Note that at time t34, the heater 30 may remain ON.

[0141] A fourth modification will be described with reference to FIG. 6. FIG. 6 is a timing chart regarding ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the temperature of the transmission region AR in this modification.

[0142] When the signal output from the temperature sensor 50 that measures the temperature of the transmission region AR indicates a temperature lower than a predetermined temperature during the period when the heater 30 is ON, the control unit CO stops outputting the detection signal Sd. Also, when the signal output from the temperature sensor during the period when the heater 30 is ON indicates a temperature equal to or higher than the predetermined temperature, the control unit CO outputs the detection signal Sd. The predetermined temperature may be a value preset in the storage 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 region AR through the outer surface of the outer cover 12. Since the transmission region AR has substantially the same temperature as the outer surface, the temperature sensor 50 measures the temperature of the outer surface as the temperature of the transmission region AR. Note that the temperature sensor 50 may be disposed in the transmission region AR so as not to obstruct the propagation of electromagnetic waves and measure the temperature of the transmission region 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 transmission region AR is lower than the predetermined temperature, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t42 after time t41, the control unit CO switches the heater 30 to ON and stops outputting the detection signal Sd. When the heater 30 is turned ON, the temperature of the transmission region AR rises due to the heat from the heater 30. If the temperature is lower than the predetermined temperature, the control unit CO remains in the state where the output of the detection signal Sd is stopped. At time t43 after time t42, when the temperature becomes equal to or higher than the predetermined temperature, the control unit CO outputs the detection signal Sd with the heater 30 remaining ON. Between time t43 and time t44 when time has elapsed from time t43, the control unit CO outputs the detection signal Sd with the heater 30 remaining ON. At time t44, the control unit CO switches the heater 30 to OFF, but continues to output the detection signal Sd. Note that at time t44, the heater 30 may remain ON.

[0145] When the temperature of the transmission region AR is less than a predetermined temperature, compared with the case where the temperature of the transmission region AR is equal to or higher than the predetermined temperature, the deposit is difficult to melt even when heated, the progress of the electromagnetic wave is obstructed by the deposit, and the detection accuracy of the vehicle sensor device 1 decreases. Therefore, in this case, the information obtained is difficult to use, so the time during which power is wasted increases. However, in the vehicle sensor device 1 of this modification, when the signal output from the temperature sensor 50 indicates a temperature less than the predetermined temperature during the period when the heater 30 is ON, the output of the detection signal Sd stops, so the time during which power is wasted can be shortened.

[0146] Also, when the temperature of the transmission region AR is equal to or higher than a predetermined temperature, compared with the case where the temperature of the transmission region AR is less than the predetermined temperature, the deposit is more likely to melt, the obstruction of the progress of the electromagnetic wave by the deposit is suppressed, and the decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, in the vehicle sensor device 1, even when the detection signal Sd is output, information with higher accuracy can be used compared with the case where the temperature of the transmission region AR is less than the predetermined temperature, and the safety during the running of the vehicle can be improved by using the information.

[0147] Next, a fifth modification will be described with reference to FIG. 7. FIG. 7 is a timing chart regarding ON / OFF of the heater 30 and output / stop of the detection signal Sd according to the temperature of the transmission region AR in this modification.

[0148] When the signal output from the temperature sensor 50 indicates a temperature less than the predetermined temperature after the heater 30 has been ON for a predetermined period, the control unit CO makes the output stop period of the detection signal Sd 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 region AR is less than a predetermined temperature, and the control unit CO turns off the heater 30 and outputs a detection signal Sd. At time t52 after time t51, the control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd. Further, the control unit CO turns on the heater 30 for a predetermined period. Let the time when a predetermined period has elapsed from time t52 be time t54. Also, the control unit CO sets the time between time t52 and time t54 as time t53. Time t53 is set such that the period between time t52 and time t53 is longer than the period between time t53 and time t54. Between time t52 and time t53, the control unit CO keeps the heater 30 ON and stops the output of the detection signal Sd. When time t53 is reached, the deposit is warmed and reduced compared to the case of time t52. For this reason, when time t53 is reached, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. Also, when time t54 is reached, the control unit CO switches the heater 30 to OFF, but keeps outputting the detection signal Sd. Note that at time t54, the heater 30 may remain ON.

[0150] When the temperature of the transmission region AR is less than a predetermined temperature, such as the temperature of the deposit, the deposit is difficult to melt even when warmed, and the progress of the electromagnetic wave is obstructed by the deposit, compared to the case where the temperature of the transmission region AR is equal to or higher than the predetermined temperature. In this case, even if the output period of the detection signal Sd is 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 is difficult to use, and the time during which power is wasted increases. However, in the vehicle sensor device 1 of this modification, the above configuration can shorten the time during which power is wasted.

[0151] Next, a sixth modification will be described with reference to FIG. 8. FIG. 8 is a timing chart regarding the output / stop of the detection signal Sd according to the temperature of the transmission region AR in this modification.

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

[0153] At time t61 shown in FIG. 8, the temperature of the transmission region AR is lower than the predetermined temperature, and the control unit CO turns off the heater 30 and outputs the detection signal Sd. At time t62 after time t61, the control unit CO turns on the heater 30 and stops the output of the detection signal Sd. Further, the control unit CO turns on the heater 30 for a predetermined period. Let the time when a predetermined period has elapsed from time t62 be time t65. Further, the control unit CO sets the time between time t62 and time t65 as time t64. Time t64 is set such that the period between time t64 and time t65 is longer than the period between time t62 and time t64. When the heater 30 is turned on, the temperature of the transmission region AR rises due to the heat from the heater 30. If the temperature is lower than the predetermined temperature, the control unit CO remains in a state where the output of the detection signal Sd is stopped. Even at time t63 between time t62 and time t64 when the temperature becomes equal to or higher than the predetermined temperature, the control unit CO keeps the heater 30 ON and keeps the output of the detection signal Sd stopped. Also, between time t63 and time t64, the control unit CO keeps the heater 30 ON and keeps the output of the detection signal Sd stopped. When time t64 is reached, the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. Also, when time t65 is reached, the control unit CO switches the heater 30 to OFF, but keeps the detection signal Sd output. Note that at time t65, the heater 30 may remain ON.

[0154] When the temperature of the transmission area AR is equal to or higher than a predetermined temperature, such as the temperature of the deposit, the deposit is more likely to melt compared to the case where the temperature of the transmission area AR is lower than the predetermined temperature. The obstruction of the progress of the electromagnetic wave by the deposit is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. In this case, in the vehicle sensor device 1 of this modification example, due to the above configuration, information with higher accuracy can be used compared to the case where the temperature of the heater 30 is lower than the predetermined temperature, and the safety during the running of the vehicle VE can be improved by using the information.

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

[0156] The control unit CO outputs the detection signal Sd during a period when the heater 30 is ON and the light source unit 61 that emits light outward from the vehicle VE through the outer cover 12 is ON. When a light source switch (not shown) is 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. When the light source switch is 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, the control signal is not input to the control unit CO, the control unit CO turns off the heater 30, and outputs the detection signal Sd. Also, at time t72 after time t71, the light source unit 61 remains OFF and the control signal is not input to the control unit CO. The control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd. Also, at time t73 after time t72, when the light source unit 61 becomes ON, the control signal is input to the control unit CO, and the control unit CO keeps the heater 30 ON and outputs the detection signal Sd. Also, at time t74 after time t73, the control unit CO switches the heater 30 to OFF, but keeps outputting the detection signal Sd. At time t73, the light source unit 61 is ON, but it may be OFF.

[0158] In the vehicle sensor device 1, the outer cover 12 including the transmission region AR is heated by the light emitted from the light source unit 61 and transmitted through the outer cover 12. Therefore, the deposit is heated by the light from the light source unit 61 as well as the heat from the heater 30, and can melt and be removed earlier than when it is heated only by the heat from the heater 30. When the deposit 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, in the vehicle sensor device 1 of this modification example, information with higher accuracy can be used compared to the case where the deposit is not removed, and the safety during the running of the vehicle VE can be improved by using the information.

[0159] Next, a description will be given of the eighth modification example with reference to FIG. 10. FIG. 10 is a timing chart regarding the ON / OFF of the heater 30 and the output / stop of the detection signal Sd according to the speed of the vehicle VE in this modification example.

[0160] The control unit CO controls the heater 30 to be ON in a state where the vehicle VE is stopped, and stops the output of the detection signal Sd during the period when the heater 30 is ON.

[0161] At time t81 shown in FIG. 10, the vehicle VE is stopped, and the control unit CO turns on the heater 30 and stops the output of the detection signal Sd. Also, at time t82 after time t81, when the vehicle VE starts running, the control unit CO switches the heater 30 to OFF and outputs the detection signal Sd. Further, at time t83 after time t82, when the vehicle VE stops, the control unit CO switches the heater 30 to ON and stops the output of the detection signal Sd.

[0162] Generally, when the vehicle VE is stopped, removal of deposits is required for improving the safety of the vehicle VE when it is moving rather than for detecting objects. In the vehicle sensor device 1, when the vehicle VE is stopped, the heater 30 is turned on, and the output of the detection signal Sd stops during the period when the heater 30 is on. The state where the vehicle VE is stopped includes at least a part of the period from when an ignition switch (not shown) of the vehicle VE is turned on until a drive instruction of the vehicle VE is input from the ECU 100 to the control unit CO. Also, the state where the vehicle VE is stopped includes the case where the shift lever of the vehicle VE is in the parking position. When the heater 30 is turned on, the deposits are removed by the heat of the heater 30. Therefore, when the vehicle starts to move, the progress of electromagnetic waves due to the deposits is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Also, in the above configuration, since the output of the detection signal Sd stops, power consumption due to the output of the detection signal Sd can be suppressed compared to the case where the detection signal Sd is output.

[0163] Also, in the state where 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, detecting an object is required to improve the safety of the vehicle VE during traveling rather than removing deposits. 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. Thereby, in the state where the vehicle VE is moving, an object is detected by the detection signal Sd, and the safety of the vehicle VE during traveling can be improved. Also, generally, when the vehicle VE moves, the deposits tend to be removed by the wind pressure and decrease. Therefore, the progress of electromagnetic waves due to the deposits is suppressed, and a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Also, in the above configuration, since the heater 30 is turned off, power consumption by the heater 30 can be suppressed compared to the case where the heater 30 is on.

[0165] In addition, in this modified example, the control unit CO may control the heater 30 to be ON during at least a part of the period when the vehicle VE is stopped, and may stop the output of the detection signal Sd during at least a part of the predetermined period when the heater 30 is ON. Further, the control unit CO may control the heater 30 to be OFF during at least a part of the period when the vehicle VE is moving, and may output the detection signal Sd during at least a part of the predetermined period when the heater 30 is OFF.

[0166] Speed may be used as a criterion for determining ON / OFF of the heater 30. In this case, a signal indicating the speed of the vehicle VE measured by a measuring 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. When the speed is greater than the predetermined value, the control unit CO controls the heater 30 to be OFF during at least a part of the period when the speed of the vehicle VE is greater than the predetermined value, and outputs the detection signal Sd during at least a part of the period when the heater 30 is OFF. Further, when the speed is less than or equal to the predetermined value, the control unit CO controls the heater 30 to be ON during at least a part of the period when the speed is less than or equal to the predetermined value, and stops the output of the detection signal Sd during at least a part of the period when the heater 30 is ON.

[0167] Note that the outside air temperature or a heater switch (not shown) may be used as a criterion for determining ON / OFF of the heater 30.

[0168] When the outside air temperature is less than a predetermined temperature, deposits such as frost may adhere to the transmission region AR. In this case, when the outside air temperature becomes equal to or higher than the predetermined temperature, for example, even if deposits such as frost adhere to the transmission region AR, they will melt due to the outside air temperature and be removed from the outer cover 12. In this case, when a signal indicating that the outside air temperature is equal to or higher than 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. Further, when a signal indicating that the outside air temperature is less than 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 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. Also, when the heater switch is ON, a control signal indicating that the heater 30 is 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 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 the current from a power supply (not shown) to the heating wire 31, and the heater turns OFF. When the heater switch is ON, the power supply circuit 32 passes the current from a power supply (not shown) to the heating wire 31 according to the control signal from the heater switch, and the heater 30 turns ON.

[0170] As described above, the ON / OFF control of the heater 30 is not particularly limited, and the control unit CO may output the detection signal Sd during the period when the heater 30 is OFF, and stop the output of 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. For components that are the same as or equivalent to those in the first embodiment, the same reference numerals are given and redundant descriptions are omitted, unless otherwise specifically described. Since the vehicle lamp VL in this embodiment has the same configuration as the vehicle lamp VL in the first embodiment, the description thereof is omitted.

[0172] Next, the operation of the vehicle sensor device 1 in this embodiment, specifically, the setting of the driving period and voltage, and the operation of applying voltage during the driving 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 in 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, and the transmission unit 25 emits radio wave EW1. Further, a signal Se indicating the intensity of the radio wave EW2 at the time of ON when the ignition switch is switched from OFF to ON is input from the reception unit 26 to the control unit CO. In the start state, the control unit CO turns off the heater 30 and does not apply a voltage to the heater 30. Therefore, the power supply circuit 32 does not apply a voltage from a power source (not shown) to the heating wire 31 according to the control signal from the control unit 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, when the intensity of the radio wave EW2 indicated by the signal Se input from the reception unit 26 is less than the first threshold value, the control unit CO repeats step SP11. On the other hand, when the intensity is equal to or greater than the first threshold value, the control flow proceeds to step SP21.

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

[0176] (Step SP21) In this step, the control unit CO sets the driving period of the heater 30 and the amount of electric power of the heater 30 during the driving period based on the intensity of the radio wave EW2 indicated by the signal Se. 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 generally the resistance value of the heating wire 31 and is a fixed value, and the amount of electric power of the heater 30 can be understood as the amount of electric 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 electric power of the heater 30 is obtained by integrating the power consumed by the heater 30 over the driving period. Also, the power of the heater 30 is obtained by the voltage applied to the heater 30 and the resistance value of the heater 30 which is a fixed value. In the following, the driving period of the heater 30 indicates the period during which a voltage is applied to the heating wire 31.

[0177] The application time and voltage of the voltage during the driving 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 the table of the storage unit 52. FIG. 12 is a diagram showing an example of the table showing the relationship between the above intensity range, driving period, and voltage. The table stores a first range and a second range. The first range indicates that the intensity is equal to or greater than the first threshold value and less than the second threshold value, which is greater than the first threshold value. The second range indicates that the intensity is equal to or greater than the second threshold value. As described in the first embodiment, the intensity of the electromagnetic wave 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 value is set to a value lower than the intensity of the electromagnetic wave received by the sensor unit 20 when a predetermined amount of dust or water droplets adheres to the transmission region AR. The second threshold value is set to a value higher than the intensity of the electromagnetic wave received by the sensor unit 20 when a predetermined amount of dust or water droplets adheres to the transmission region AR and lower than the intensity of the electromagnetic wave received by the sensor unit 20 when ice and snow adheres to the transmission region AR. Therefore, when an attachment such as dust or water droplets adheres to the transmission region AR, the intensity is included in the first range that is equal to or greater than the first threshold value and less than the second threshold value. When an attachment such as ice and snow adheres to the transmission region AR, the intensity is included in the second range that is equal to or greater than the second threshold value. The table stores the driving period and voltage in each range. A predetermined period T1, which is the driving period, and a predetermined value V1, which is the voltage value, are set in the first range, and a predetermined period T2, which is the driving period, and a predetermined value V2, which is the voltage value, are set in the second range. The predetermined periods T1 and T2 are preset values, for example, 15 minutes. The predetermined values V1 and V2 are preset values, and the predetermined value V1 is lower than the predetermined value V2. Note that 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 within the first range, in this embodiment, as shown in FIG. 14 described later, the control unit CO sharply increases the voltage applied to the heater 30 from zero volts to a predetermined value V1. "Sharply" means that the voltage changes like a single step as time elapses. Also, when the voltage reaches the predetermined value V1, the control unit CO maintains the voltage at the predetermined value V1 for a predetermined period T1. Further, when a predetermined period T1 elapses after the voltage reaches the predetermined value V1, the control unit CO sharply decreases the voltage from the predetermined value V1 to zero volts. When the intensity is within the second range, except that the predetermined value V1 is changed to a predetermined value V2 and the predetermined period T1 is changed to a predetermined period T2, the control unit CO controls the voltage in the same manner as when the intensity is within the first range.

[0179] FIG. 13 is a flowchart showing the setting process of the driving period described in step SP21 and the power consumption of the heater 30 during the driving period.

[0180] (Step SP31) This step is a step in which the control unit CO determines whether or not the intensity of the radio wave EW2 indicated by the signal Se is within a first range that is equal to or greater than a first threshold value and less than a second threshold value that is greater than the first threshold value. As described above, when dust or water droplets adhere to the transmission region AR, the intensity of the radio wave EW2 indicated by the signal Se is included in the first range. When the intensity is within the above-described first range, the control unit CO advances the control flow to step SP32. On the other hand, when the intensity is not equal to or greater than the first threshold value and less than the second threshold value, the control unit CO advances the control flow to step SP33.

[0181] (Step SP32) In this step, the control unit CO reads the driving period and voltage corresponding to the first range from the table, sets the driving 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 adhere to the transmission region AR, the intensity of the radio wave EW2 indicated by the signal Se is included in the second range. In this step, the control unit CO reads out the driving period and voltage corresponding to the second range from the table, sets the driving period to a predetermined period T2, and sets 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 description continues. In this step, the control unit CO applies the voltage of the predetermined value V1 set in step SP32 or the voltage of the predetermined value V2 set in step SP33 to the heater 30. As a result, the voltage sharply rises from zero V to the predetermined value V1 or the predetermined value V2, and the heat from the heater 30 is transmitted to the outer cover 12, and the outer cover 12 including the transmission region AR is heated to a predetermined temperature. The deposits adhering to the transmission region AR begin to melt due to the heat from the outer cover 12. The steeper the rise in voltage, the higher the temperature of the heat from the heater 30 rises in a short time, so that the deposits can be heated and melted quickly.

[0184] Also in this step, as described above, the transmission unit 25 emits the radio wave EW1, and the reception unit 26 receives the radio wave EW2. Similarly, as described above, the transmission unit 25 outputs a signal related to the radio wave EW1 to the control unit CO, the reception unit 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 transmission unit 25 and the signal Se input from the reception unit 26. However, in this step, unlike the case where the heater 30 is OFF, the control unit CO stops the output of the detection signal Sd. Therefore, in this step, the transmission unit 25 and the reception unit 26 do not stop, but the control unit CO does not output the detection signal Sd. In this step, since the detection signal Sd is not output, the power consumption is suppressed compared to the case where the detection signal Sd is output.

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

[0186] (Step SP23) In this step, the control unit CO determines whether or not a predetermined period T1, T2, which is the driving period set in steps SP32 and SP33, has elapsed. If the predetermined period T1, T2 has not elapsed, the process returns to step SP22, and the control unit CO applies a voltage to the heater 30 until the predetermined period T1, T2 elapses. If the predetermined period T1, T2 has elapsed, the control unit CO advances the control flow to step SP24.

[0187] (Step SP24) In this step, the control unit CO stops applying the voltage to the heater 30. As a result, the voltage drops steeply from the predetermined value V1 or the predetermined value V2, and the heater 30 turns OFF. Generally, deposits tend to be removed and reduced as the heating time increases. Therefore, after the predetermined period T1, T2 has elapsed, the deposits tend to be less than during the passage of the predetermined period T1, T2. For this reason, the temperature of the heat from the heater 30 may be lowered. Also, in the vehicle sensor device 1, the voltage rises to the predetermined value V1 or the predetermined value V2 and then drops steeply after the predetermined period T1, T2 has elapsed. Thereby, compared with the case where the voltage does not drop steeply, wasteful consumption of the electric power of the heater 30 can be suppressed. Also, even when the voltage drops, residual heat may remain in the outer cover 12, so that the small deposits remaining on the outer cover 12 can be removed by the residual heat. When the application of the voltage stops, the control unit CO returns the control flow to step SP11. In this control flow, the control unit CO receives the signal Se from the receiving unit 26 as described above. Therefore, when the control flow returns from step SP24 to step SP11, in step SP11, the control unit CO determines whether or not the intensity is less than the first threshold value based on the intensity of the radio wave EW2 indicated by the signal Se.

[0188] FIG. 14 is a timing chart regarding the driving period and the voltage in the present embodiment. In FIG. 14, the first range is used for explanation, but in the second range, the same operations and effects as in the first range can be obtained.

[0189] At time t110 shown in FIG. 14, the intensity of the radio wave EW2 is less than the first threshold value, and the control unit CO does not apply a voltage to the heater 30 and turns off the heater 30. When the intensity becomes equal to or greater than the first threshold value at time t111 after time t110, the control unit CO advances the control flow from step SP11 to step SP21. As described in step SP21, step SP31, and step SP32, when the intensity is equal to or greater than the first threshold value and less than the second threshold value, the control unit CO sets it to a predetermined period T1 and a 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 the present embodiment, the voltage sharply rises from 0 V to the predetermined value V1 at time t111 and remains at the predetermined value V1 for the predetermined period T1 after rising to the predetermined value V1. When it reaches time t112 at which the predetermined period T1 has elapsed from time t111, the control unit CO advances the control flow from step SP22 to step SP24 via step SP23. In this case, in the present embodiment, the voltage sharply drops from the predetermined value V1 to 0 V at time t112 at which the predetermined period T1 has elapsed from time t111. Note that even when the intensity is in the second range, the voltage profile is substantially the same as that in FIG. 14.

[0190] By the way, in the vehicle sensor device of Patent Document 1, not only when an object is detected, but also when an attachment adheres to the cover, the electromagnetic wave is emitted as described above. In this case, it is necessary to always control the ON and OFF of the lamp unit as a heater based on the intensity of the electromagnetic wave, which increases the burden on the control unit.

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

[0192] In this vehicle sensor device 1, when the electromagnetic waves emitted from the sensor unit 20 toward the outside of the vehicle VE are reflected by the traveling direction of the electromagnetic waves and an object outside the vehicle VE and pass through the transmission region AR, the electromagnetic waves can be received by the sensor unit 20, and an object can be detected from the signal related to the electromagnetic waves. In the vehicle sensor device 1, the control unit CO sets the driving period of the heater 30 and the amount of electric power of the heater 30 during the driving period based on the intensity of the electromagnetic waves. The amount of electric power of the heater 30 is obtained by integrating the power of the heater 30 over the driving period of the heater 30. Further, the power is obtained by 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 at the set amount of electric power to the heater 30 during the set driving period. Generally, during the period when the heater is ON, deposits tend to adhere to the transmission region AR. Further, during the period when the heater is ON, the deposits are warmed by the heat from the heater and thus tend to melt and decrease over time. As the deposits decrease, the intensity of the electromagnetic waves received by the sensor unit tends to decrease because the reflection of the electromagnetic waves reflected by the deposits decreases. In the vehicle sensor device 1, since the driving period of the heater 30 and the amount of electric power of the heater 30 are set based on the intensity as described above, the burden on the control unit CO can be reduced compared to the case where the amount of electric power of the heater 30 is always controlled based on the intensity each time the intensity changes.

[0193] Generally, when dust or water droplets adhere to the transmission area AR, and when ice and snow adhere to the transmission area AR in that order, the intensity of the electromagnetic wave received by the sensor unit 20 tends to increase. Thus, the more deposits there are, the higher the intensity, and the greater the amount of electric power required to remove the deposits. In the vehicle sensor device 1, since the amount of electric power is set based on the intensity, it is suppressed that the amount of electric power is set too low or too high with respect to the amount of deposits adhered, and the deposits can be appropriately removed with the amount of electric power corresponding to the intensity.

[0194] During the period when the heater 30 is ON, as described above, deposits tend to adhere to the transmission area AR, and the progress of the electromagnetic wave is obstructed by the deposits. Therefore, the detection accuracy of the vehicle sensor device 1 decreases. Accordingly, the information obtained by the detection is difficult to use, and the electric power used to output the detection signal Sd including the information may be wasted. However, in the vehicle sensor device 1, the control unit CO stops the output of the detection signal Sd during all periods when the heater 30 is ON. That is, the output of the detection signal Sd stops during all periods while the deposits are being removed by the heat of the heater 30. For this reason, wasteful consumption of electric power can be suppressed. Note that the control unit CO may stop the output of the detection signal Sd during at least a part of a predetermined period when the heater 30 is ON. Also, in the vehicle sensor device 1 of the present embodiment, during the period when the heater 30 is OFF, the control unit CO outputs the detection signal Sd. During the period when the heater 30 is OFF, deposits tend not to adhere. In this case, since the obstruction of the progress of the electromagnetic wave by the deposits is suppressed, a decrease in the detection accuracy of the vehicle sensor device 1 can be suppressed. Note that the control unit CO may output the detection signal Sd during at least a part of a predetermined period when 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. Further, the storage unit 52 also stores the intensity at the time of ON when the ignition switch is switched from ON to OFF. Note that when the storage unit 52 stores the intensity at the time of ON when the ignition switch is switched from ON to OFF, the intensity stored in other cases may be erased. Incidentally, when the ignition switch is switched from ON to OFF and then switched from OFF to ON again, the control unit CO reads out from the storage unit 52 the intensity at the time of ON when the ignition switch is switched from ON to OFF. Also, when the ignition switch is switched from OFF to ON again, as described above, the signal Se from the receiving unit 26 is input to the control unit CO, and the control unit CO acquires the intensity of the radio wave EW2 indicated by the signal Se. When the intensity at the time of ON when the ignition switch is switched from OFF to ON is higher than the intensity at the time of ON when the ignition switch is switched from ON to OFF, there is a tendency that the deposits are more when the engine is driving than when the engine of the vehicle VE is stopped. When the intensity at the time of ON when the ignition switch is switched from OFF to ON is equal to or higher than the first threshold value, in the vehicle sensor device 1, the driving period of the heater 30 and the electric power amount of the heater 30 are set based on the intensity, and the heater 30 is driven with the set driving period and electric power amount. In this case, the deposits can be removed earlier than when the heater 30 is not driven 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, step SP24 may be omitted, and when the driving period has elapsed, the control unit CO may return the control flow to step SP11.

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

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

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

[0200] When the temperature outside the vehicle VE is lower than a predetermined temperature such as the temperature of the deposit or a temperature at which water freezes, the deposit is less likely to melt and more likely to freeze compared to when the temperature outside the vehicle VE is higher than the predetermined temperature. In the vehicle sensor device 1, with the above configuration, the deposit can melt and be removed earlier compared to the case where the voltage does not increase.

[0201] Next, a modification of the present embodiment will be described. In each modification, the first range will be used for the description, but in the second range, the same operations and effects as those in the first range can be obtained.

[0202] The first modification will be described with reference to FIG. 15. FIG. 15 is a timing chart regarding the drive period and the voltage in this modification.

[0203] In this modified example, the voltage rises step by step up to a predetermined value V1. In this case, the voltage changes like a plurality of steps as time passes. At time t120 in this example, the intensity of the radio wave EW2 is less than the first threshold value, 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 value and less than the second threshold value. The control unit CO sets a period T4 within a predetermined period T1 and a predetermined value V1, and raises the voltage step by step up 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 modified example is different from the example of the predetermined period T1 in the above embodiment.

[0204] Also, in this modified example, when the voltage rises to the predetermined value V1, it remains at the predetermined value V1 during a period T5 within the predetermined period T1 from time t122. The control unit CO sets a period T5 within 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, for example, 15 minutes, which is longer than the period T4. Note that the period T5 may be the same as the period T4, or may be shorter than the period T4.

[0205] Also, in this modified example, the voltage drops step by step from the predetermined value V1 to zero V. At time t123 when the period T5 has elapsed from time t122, the control unit CO sets a period T6 within the predetermined period T1 and drops the voltage step by step 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, may be shorter than each of them, or may be longer than each of them.

[0206] In the vehicle sensor device 1 of this modified example, the control unit CO may control the heater 30 at the timing when the voltage is raised step by step. Therefore, the burden on the control unit CO can be reduced compared to the case where the voltage does not rise step by step.

[0207] In addition, in the vehicle sensor device 1 of this modified example, the control unit CO may control the heater 30 at the timing of gradually decreasing the voltage. Therefore, the burden on the control unit CO can be reduced as compared with the case where the voltage does not decrease stepwise. Also, as compared with the case where the voltage drops steeply without decreasing stepwise, the time for warming the outer cover 12 at a high temperature can be lengthened, and the deposits can be more easily melted.

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

[0209] In this modified example, the voltage gradually rises to a predetermined value V1. In this case, it is preferable that the voltage rises at a constant rate of change. Note that this rate of change may increase or decrease as time elapses. At time t130 in this example, the intensity of the radio wave EW2 is less than the first threshold value, and the control unit CO does not apply a 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 value and less than the second threshold value, and the control unit CO sets the period T4 within the predetermined period T1 and the predetermined value V1, and gradually increases the voltage to the predetermined value V1 from time t131 until time t132 when the period T4 has elapsed. The period T4 may be different from, for example, the period T4 in the first modified example. Note that also in this modified example, the example of the predetermined period T1 is different from the example of the predetermined period T1 in the above-described embodiment, as in the first modified example.

[0210] Also, in this modified example, in the same manner as in the first modified example, when the voltage rises to the predetermined value V1, the voltage remains at the predetermined value V1 during the period T5 within the predetermined period T1 from time t132.

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

[0212] In the vehicle sensor device 1 of this modification example, the temperature of the heat from the heater 30 gradually rises. As a result, a steep temperature change of the outer cover 12 can be suppressed, and it can be suppressed that a thermal shock is applied to the outer cover 12 due to the steep temperature change.

[0213] Also, in the vehicle sensor device 1 of this modification example, compared with the case where the voltage does not gradually decrease, a rapid temperature change of the outer cover 12 can be suppressed, and it can be suppressed that a thermal shock is applied to the outer cover 12 due to the rapid temperature change.

[0214] In the voltage setting, for example, like the combination of this embodiment and the first modification example or the second modification example, the voltage may rise steeply and then decrease stepwise or gradually. Alternatively, like the combination of the first modification example and this embodiment or the second modification example, the voltage may rise stepwise and then decrease steeply or gradually. Alternatively, like the combination of the second modification example and this embodiment or the first modification example, the voltage may rise gradually and then decrease steeply or stepwise. Alternatively, like the combination of this embodiment and the first modification example or the second modification example, the voltage may rise steeply and then rise stepwise or gradually. In the above, the rising order is not particularly limited. Alternatively, like the combination of this embodiment and the first modification example or the second modification example, the voltage may decrease steeply and then decrease stepwise or gradually. In the above, the decreasing order is not particularly limited. In the above combination, the voltage may repeat any one of the increases among this embodiment, the first modification example, and the second modification example and any one of the decreases among this embodiment, the first modification example, and the second modification example. In the above combination, a period during which the voltage remains constant at predetermined values V1 and V2 may be provided. The above combination is an example, and the voltage setting may appropriately combine each of the above embodiments and modification examples.

[0215] (Third Embodiment) A third embodiment as a third aspect of the present invention will be described. Regarding components that are the same as or equivalent to those in the first embodiment, the same reference numerals will be given and redundant explanations will be omitted, except when specifically described. Since the configuration of the vehicle lamp VL in this embodiment is the same as that of the vehicle lamp VL in the first embodiment, the description thereof will be omitted.

[0216] Next, the operation of the vehicle sensor device 1 in this embodiment, specifically, the operation of removing deposits adhering to the outer surface 12o of the outer cover 12 will be described. Examples of the deposits in this embodiment include mud, in addition to the ice and snow, dust, and water droplets described in the above embodiment. Generally, the intensity of the radio wave EW2 received by the sensor unit 20 tends to be lower in the order of when mud adheres to the transmission region AR, when ice and snow adhere to the transmission region AR, and when dust or water droplets adhere to the transmission region AR. FIG. 17 is a diagram showing an example of the control flowchart of the control unit CO in this embodiment. As shown in FIG. 17, the control flow in this embodiment includes step SP11 and steps SP41 to SP45.

[0217] In the state of start 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) When the intensity of the radio wave EW2 indicated by the signal Se input from the receiving unit 26 is less than the first threshold value, the control unit CO repeats step SP11. On the other hand, when the intensity is equal to or greater than the first threshold value, the control flow proceeds to step SP41.

[0219] (Step SP41) This step is a step in which the control unit CO determines, based on the intensity of the radio wave EW2 indicated by the signal Se in the same manner as in step SP31, whether or not the intensity is within a first range that is equal to or greater than a first threshold value and less than a second threshold value that is greater than the first threshold value. When dust or water droplets adhere to the transmission area AR, the intensity of the radio wave EW2 indicated by the signal Se can be included in the first range. Then, when the intensity is within the first range, the control unit CO advances the control flow to step SP42. On the other hand, when the intensity is not equal to or greater than the first threshold value and less than the second threshold value, the control unit CO advances the control flow to step SP43.

[0220] (Step SP42) This step is a step in which the control unit CO controls the heater 30 and the cleaner 40 so that an operation composed of a combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period becomes a first operation. The predetermined period may be constant or may change according to 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 during at least a part of the predetermined period. The first operation of the present embodiment is an operation in which 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, 3 seconds. Therefore, the control unit CO controls the valve 45b so that the valve 45b opens only for 3 seconds. When the valve 45b opens, gas is injected from the injection nozzle 45c toward the transmission area AR. Also, the predetermined period in the first operation is 3 seconds, and the cleaner 40 is driven for the entire predetermined period. Note that the first operation may be an operation in which the heater 30 is not driven and the cleaner 40 injects gas intermittently. Then, the control unit CO returns the control flow to step SP11.

[0221] (Step SP43) This step is a step in which the control unit CO determines whether the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is in a second range where the intensity is equal to or greater than a second threshold value and less than a third threshold value greater than the second threshold value. In the present embodiment, the third threshold value is higher than the intensity of the radio wave EW2 received by the sensor unit 20 when a predetermined amount of ice and snow adheres to the transmission region AR, and lower than the intensity of the radio wave EW2 received by the sensor unit 20 when a predetermined amount of mud adheres to the transmission region AR. Therefore, when ice and snow adheres to the transmission region AR, the intensity indicated by the signal Se from the sensor unit 20 can be included in the second range. Further, when mud adheres to the transmission region AR, the intensity indicated by the signal Se from the sensor unit 20 can be included in a third range where the intensity is equal to or greater than the third threshold value. Then, when the intensity is in the above-described second range, the control unit CO advances the control flow to step SP44. On the other hand, when the intensity is not equal to or greater than the second threshold value and less than the third threshold value, that is, when it is in the third range, the control unit CO advances the control flow to step SP45.

[0222] (Step SP44) This step is a step in which the control unit CO controls the heater 30 and the cleaner 40 so that an operation consisting of a combination of the operation of the heater 30 and the operation of the cleaner 40 as time elapses during a predetermined period becomes the second operation. The predetermined period in the second operation may be constant, may change according to the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20, may be the same as the predetermined period in the first operation, or may be different. In this second operation, the heater 30 is driven at least during at least a part of the predetermined period, and this second operation is different from the first operation in step SP42. The second operation of the present embodiment is an operation in which 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 15 minutes. When current flows through the heating wire 31, the heating wire 31 generates heat and the outer cover 12 is heated. Also, the predetermined period in the second operation is 15 minutes, and the heater 30 is driven for the entire period of the 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 such that the operation consisting of the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period becomes the third operation. The predetermined period in the third operation may be constant, may change according to the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20, may be the same as the predetermined periods in the first operation and the second operation, or may be different. In this third operation, at least the cleaner 40 is driven during at least a part of the predetermined period, and this third operation is different from the second operation in step SP44. That is, the first operation and the third operation are different from the second operation. The third operation of the present embodiment is an operation in which the heater 30 is not driven and the liquid is injected from the liquid unit 41 of the cleaner 40 toward the transmission region AR for, for example, only 3 seconds. Therefore, the control unit CO controls the pump 41b so that the pump 41b operates for only 3 seconds. When the pump 41b operates, the liquid is injected from the injection nozzle 41c toward the transmission region AR. Also, the predetermined period in the third operation is 3 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 emits the liquid. Then, the control unit CO returns the control flow to step SP11.

[0224] Incidentally, mud or the like may adhere to the cover of the vehicle sensor device in addition to ice, snow, and frost, and this mud or the like cannot be removed even by heating the cover. For this reason, there is a demand to appropriately remove the deposits adhering to the cover and suppress a decrease in the accuracy of object detection.

[0225] Therefore, the vehicle sensor device 1 of the present 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 from the outer cover 12 and transmits and receives radio waves through the outer cover 12. The sensor unit 20 outputs a signal indicating the intensity of the radio wave EW2 incident on the inside of the outer cover 12. The heater 30 is provided on the outer cover 12 and heats a transmission region AR through which the radio wave EW1 emitted from the sensor unit 20 in the outer cover 12 passes. The cleaner 40 injects at least one of a liquid and a gas from the outside of the vehicle VE from the outer cover 12 toward the transmission region AR.

[0226] When the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is within the above-described second range, the control unit CO controls the heater 30 and the cleaner 40 so that at least the heater 30 is driven during at least a part of a predetermined period. Further, when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is within a first range or a third range different from the second range, the control unit CO controls the heater 30 and the cleaner 40 so that at least the cleaner 40 is driven during at least a part of a predetermined period. For this reason, if the second range is set as a predetermined range and the range consisting of the first range and the third range is set as a specific range, the control unit CO drives at least the heater 30 during at least a part of a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the predetermined range, and drives at least the cleaner 40 during at least a part of a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within a specific range different from the predetermined range. It can be understood that the control unit CO controls the heater 30 and the cleaner 40 accordingly. Further, a second operation, which is a combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the second range, is different from a first operation, which is a combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the first range. Further, this second operation is different from a third operation, which is a combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the third range. That is, it can be understood that the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the specific range is different from the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity indicated by the signal Se from the sensor unit 20 is within the predetermined range.

[0227] According to the vehicle sensor device 1 of the present embodiment for the above reasons, the combination of the operation of the heater 30 and the operation of the cleaner 40 over a predetermined period can be changed according to the difference in the deposits on the outer cover 12. And, the vehicle sensor device of the present embodiment can remove dust and water droplets adhering to the outer cover 12 with the gas from the cleaner 40. Further, the vehicle sensor device 1 of the present embodiment can melt and remove the ice and snow adhering to the outer cover 12 by heating the outer cover 12 with the heater 30. Also, the vehicle sensor device 1 of the present embodiment can remove the mud adhering to the outer cover 12 with the liquid from the cleaner 40. Therefore, the vehicle sensor device 1 of the present embodiment can appropriately remove deposits and suppress a decrease in the accuracy of object detection as compared with the case where the operation consisting of the combination of the operation of the heater 30 and the operation of the cleaner 40 does not change according to the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20.

[0228] From the viewpoint of appropriately removing deposits, when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is within a predetermined range, at least the heater 30 is driven for at least a part of the predetermined period, and when this intensity is within a specific range different from the predetermined range, at least the cleaner 40 is driven for at least a part of the predetermined period, and it is sufficient that the combination of the operation of the heater 30 and the operation of the cleaner 40 when this intensity is within the specific range is different from the combination of the operation of the heater 30 and the operation of the cleaner 40 when this 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 operations of the heater 30 and the cleaner 40 become the operations shown in FIG. 18. FIG. 18 is a timing chart schematically showing a modified example of the second operation.

[0229] As shown in FIG. 18, the heater 30 starts driving at time t201 and begins to heat the outer cover 12. The cleaner 40 starts injecting the liquid at a time t202 later than the time t201, and ends the injection of the liquid at a time t203, for example, 3 seconds after the time t202. Therefore, the cleaner 40 injects the liquid toward the transmission region AR for 3 seconds from the time t202. Further, the cleaner 40 starts injecting the gas at a time t204 later than the time t203, and ends the injection of the gas at a time t205, for example, 3 seconds after the time t204. Therefore, the cleaner 40 injects the gas toward the transmission region AR for 3 seconds from the time t204. The timing of the start of driving of the cleaner 40 is the time t202 which is the timing of the start of injection of the liquid, and the timing of the end of driving of the cleaner 40 is the time t205 which is the timing of the end of injection of the gas. Further, the heater 30 stops driving at a time t206 later than the time t205. Therefore, the heater 30 heats the outer cover 12 during the period from the time t201 to the time t206.

[0230] In this second operation, the predetermined period is the period from the time t201 to the time t206, and the time t202 which is the timing of the start of injection of the liquid by the cleaner 40 is after the time t201 which is the timing of the start of driving of the heater 30. That is, when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is in the second range, the control unit CO controls the heater 30 and the cleaner 40 so as to be like this. Therefore, by adopting such a configuration, after making water intervene in at least a part between the ice and snow adhering to the outer cover 12 and the outer cover 12 by heating the outer cover 12, the liquid can be injected toward the ice and snow. The adhesion force of the ice and snow to the outer cover 12 when water intervenes in at least a part between the ice and snow and the outer cover 12 tends to be smaller than when no water intervenes between the ice and snow and the outer cover 12. Therefore, by adopting such a configuration, the ice and snow can be easily removed as compared with the case where the outer cover 12 is not heated before injecting the liquid toward the outer cover 12.

[0231] From the perspective of easily removing ice and snow from the outer cover 12, it is sufficient that the time t202, which is the timing of starting the drive of the cleaner 40, is after the time t201, which is the timing of starting the drive of the heater 30. For example, the heater 30 may stop driving during the period TW when the cleaner 40 is injecting liquid, before the time t202, during the period TA when the cleaner 40 is injecting gas, etc. Also, the cleaner 40 may inject only liquid or only gas. When the cleaner 40 injects only gas, the timing of starting the drive of the cleaner 40 is the time t204, which is after the time t201. In this case, after water is interposed in at least a part between the ice and snow adhering to the outer cover 12 and the outer cover 12, gas can be injected toward the ice and snow. Therefore, even in such a case, the ice and snow can be easily removed. Also, the heater 30 may be driven intermittently, and the cleaner 40 may inject liquid or gas intermittently. However, the timing of starting the drive of the cleaner 40 may be before the timing of starting the drive of the heater.

[0232] Also, in this second operation, there is a period during which the heater 30 is driving after the time t205, which is the timing of ending the drive of the cleaner 40. That is, the control unit CO controls the heater 30 and the cleaner 40 so as to be like this. Therefore, even after the injection of liquid or gas to the outer cover 12 has ended, the outer cover 12 is heated. Therefore, by adopting such a configuration, it is possible to suppress the freezing of the liquid adhering to the outer cover 12 or to vaporize and remove this liquid after the injection of liquid or gas to the outer cover 12 has ended. Accordingly, it is possible to suppress a decrease in the accuracy of object detection compared to the case where the outer cover 12 is not heated after the timing of ending the drive of the cleaner 40.

[0233] In addition, from the perspective of suppressing the freezing of the liquid adhering to the outer cover 12 or removing this liquid after the driving of the cleaner 40 is completed, it is sufficient to have a period during which the heater 30 is driven after the time t205 which is the timing of the end of the driving of the cleaner 40. For example, the cleaner 40 may inject only liquid or only gas. However, it is also possible that there is no period during which the heater 30 is driven after the timing of the end of the driving of the cleaner 40.

[0234] Also, in this second operation, there is a period during which the heater 30 is driven after the time t203 which is the timing of the end of the injection of the liquid by the cleaner 40. That is, the control unit CO controls the heater 30 and the cleaner 40 so as to be like this. Therefore, even after the injection of the liquid onto the outer cover 12 is completed, the outer cover 12 is heated. Accordingly, by adopting such a configuration, it is possible to suppress the freezing of the liquid adhering to the outer cover 12, for example, the liquid from the cleaner 40, or to vaporize and remove this liquid after the injection of the liquid onto the outer cover 12 is completed.

[0235] In addition, from the perspective of suppressing the freezing of the liquid from the cleaner 40 or vaporizing and removing this liquid, it is sufficient to have a period during which the heater 30 is driven after the time t203 which is the timing of the end of the injection of the liquid by the cleaner 40. For example, the heater 30 may start driving during the period TW or after the time t203, the heater 30 may be driven intermittently, and the cleaner 40 may inject the liquid intermittently. However, the injection of the liquid by the cleaner 40 may be completed before the driving of the heater 30 ends.

[0236] Also, in this second operation, a time t204, which is the timing of starting the injection of the gas of the cleaner 40, is after a time t203, which is the timing of ending the injection of the liquid of the cleaner 40. That is, the control unit CO controls the heater 30 and the cleaner 40 so as to be like this. For this reason, after the injection of the liquid of the cleaner 40 ends, the gas is injected toward the outer cover 12. Therefore, by adopting such a configuration, after the injection of the liquid onto the outer cover 12 ends, the liquid adhering to the outer cover 12 can be removed by the gas from the cleaner 40.

[0237] From the viewpoint of removing the liquid adhering to the outer cover 12, it is sufficient that the time t204, which is the timing of starting the injection of the gas of the cleaner 40, is after the time t203, which is the timing of ending the injection of the liquid of the cleaner 40. For example, the cleaner 40 may intermittently inject the liquid or the gas. However, the injection of the gas of the cleaner 40 may start before the injection of the liquid of the cleaner 40 ends.

[0238] Also, 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 are the operations shown in FIG. 19. FIG. 19 is a timing chart schematically showing a first modification of the third operation.

[0239] As shown in FIG. 19, the cleaner 40 starts injecting the liquid at time t211 and ends injecting the liquid at time t212, for example, 3 seconds after time t211. Also, the cleaner 40 does not inject the gas. The heater 30 starts driving at a time t213 later than time t212 and starts heating the outer cover 12, and stops driving at a 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 of the end of the liquid injection of the cleaner 40. Therefore, the outer cover 12 is heated after the liquid injection onto the outer cover 12 has ended. Thus, with such a configuration, it is possible to suppress the freezing of the liquid adhering to the outer cover 12, for example, the liquid from the cleaner 40, after the liquid injection onto the outer cover 12 has ended, or to vaporize and remove this liquid.

[0241] Also, in this third operation, time t211, which is the timing of the start of the liquid injection of the cleaner 40, is before time t213, which is the timing of the start of the drive of the heater 30. Therefore, the outer cover 12 is not heated before the liquid is injected toward the outer cover 12. Here, when the outer cover 12 is heated and the moisture of dirt such as mud adhering to the outer cover 12 decreases, the adhesion force of dirt such as mud to the outer cover tends to increase. Thus, with such a configuration, it is possible to more easily remove dirt such as mud compared to the case where the liquid is injected toward the outer cover 12 after heating the outer cover 12.

[0242] Note that from the viewpoint of easily removing dirt such as mud, it is sufficient that time t211, which is the timing of the start of the liquid injection of the cleaner 40, is before time t213, which is the timing of the start of the drive of the heater 30. For example, the heater 30 may start driving during the period TW in which the cleaner 40 is injecting the liquid.

[0243] Also, 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 are the operations shown in FIG. 20. FIG. 20 is a timing chart schematically showing a second modification of the third operation.

[0244] As shown in FIG. 20, the third operation of this modified example is different from the third operation shown in FIG. 19 in that the timing of the start of the injection of the liquid of the cleaner 40 is after the timing of the start of the drive of the heater 30. The heater 30 starts driving at time t221 and starts heating the outer cover 12, and stops driving at time t224. The cleaner 40 starts injecting the liquid at time t222, which is later than time t221 and earlier than time t224, and ends the injection of the liquid at time t223, which is earlier than time t224. Also, the cleaner 40 does not inject gas.

[0245] In this third operation, the predetermined period is the period from time t221 to time t224, and the time t222, which is the timing of the start of the injection of the liquid of the cleaner 40, is after the time t221, which is the timing of the start of the drive of the heater 30. Therefore, the outer cover 12 is heated before the liquid is injected onto the outer cover 12. Here, when the temperature outside the vehicle VE is such that water or the like freezes, the moisture in the mud adhering to the outer cover 12 tends to freeze. With such a configuration, after the moisture in the mud adhering to the outer cover 12 is melted by heating the outer cover 12, the liquid can be injected. Therefore, it is useful when the moisture in the mud adhering to the outer cover 12 is frozen.

[0246] Note that from the viewpoint of appropriately removing the mud when the moisture in the mud is frozen, it is sufficient that the timing of the start of the drive of the cleaner 40 is after the timing of the start of the drive of the heater 30. For example, the heater 30 may end driving before the timing of the start of the injection of the liquid of the cleaner 40, and the cleaner 40 may inject gas instead of the liquid.

[0247] Also, 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 are the operations shown in FIG. 21. FIG. 21 is a timing chart schematically showing a third modified example of the third operation.

[0248] As shown in FIG. 21, the cleaner 40 starts injecting liquid at time t231 and ends injecting liquid at time t232, for example, 3 seconds after time t231. Further, the cleaner 40 starts injecting gas at time t233, which is later than time t232, and ends injecting gas at time t235, for example, 3 seconds after time t233. The heater 30 starts driving at time t234, which is later than time t233 and earlier than time t235, and starts 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 the timing t233 of the start of gas injection by the cleaner 40 is after the timing t232 of the end of liquid injection by the cleaner 40. Therefore, gas is injected toward the outer cover 12 after the liquid injection by the cleaner 40 has ended. Thus, with such a configuration, the liquid adhering to the outer cover 12 after the liquid injection to the outer cover 12 has ended can be removed by the gas from the cleaner 40.

[0250] Also, in this third operation, similar to the third operation shown in FIG. 19, there is a period during which the heater 30 is driven after the timing t232 of the end of liquid injection by the cleaner 40. Therefore, the outer cover 12 is heated after the liquid injection to the outer cover 12 has ended. Thus, with such a configuration, it is possible to suppress the liquid adhering to the outer cover 12 after the liquid injection to the outer cover 12 has ended, for example, the liquid from the cleaner 40, from freezing, or to vaporize and remove this liquid.

[0251] Also, although the description with reference to the drawings is omitted, the third operation may be an operation in which the heater 30 is not driven and the cleaner 40 injects liquid and gas. In this case, from the viewpoint of removing the liquid adhering to the outer cover 12, similar to the third operation shown in FIG. 21, the timing of starting the injection of the gas by the cleaner 40 is preferably after the timing of ending the injection of the liquid by the cleaner 40, but the timing of starting the injection of the gas may be before the timing of starting the injection of the liquid. Further, the third operation may be an operation in which the heater 30 is driven and the cleaner 40 injects only gas, or an operation in which the heater 30 is not driven and the cleaner 40 injects only gas. Also, the third operation may be the same operation as the second operation shown in FIG. 18. When the control unit CO controls the heater 30 and the cleaner 40 so as to perform the second operation shown in FIG. 18 in step SP44, for example, at least one of the period TH during which the heater 30 is driven, the period TW during which the cleaner 40 injects liquid, and the period TA during which the cleaner 40 injects gas is made different between the third operation and the second operation.

[0252] Also, 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 modification of the first operation.

[0253] As shown in FIG. 22, the heater 30 starts driving at time t241 and starts heating the outer cover 12, and stops driving at time t244. The cleaner 40 starts injecting gas at time t242, which is later than time t241 and earlier than time t244, and ends injecting gas at time t243, which is earlier than time t244. Also, the cleaner 40 does not inject liquid.

[0254] In this first operation, the predetermined period is the period from time t241 to time t244, and time t242, which is the timing of the start of gas injection of the cleaner 40, is after time t241, which is the timing of the start of driving of the heater 30. Therefore, the outer cover 12 is heated before the gas is injected toward the outer cover 12. Here, when the temperature outside the vehicle VE is such that water or the like freezes, ice tends to adhere to the dust. With such a configuration, after the ice adhering to the dust adhering to the outer cover 12 is melted by heating the outer cover 12, the gas can be injected. Therefore, this is useful when ice adheres to the dust adhering to the outer cover 12.

[0255] Note that from the viewpoint of appropriately removing the dust when ice adheres to the dust, it is sufficient that the timing of the start of driving of the cleaner 40 is after the timing of the start of driving of the heater 30. For example, the heater 30 may end driving before the timing of the start of gas injection of the cleaner 40, and the cleaner 40 may inject a liquid instead of the gas.

[0256] Also, 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 are the operations shown in FIG. 23. FIG. 23 is a timing chart schematically showing a second modification of the first operation.

[0257] As shown in FIG. 23, the heater 30 is not driven. The cleaner 40 starts gas injection at time t251 and ends gas injection at time t252, for example, 3 seconds after time t251. Also, the cleaner 40 starts liquid injection at time t253, which is later than time t252, and ends gas injection at time t254, for example, 1 second after time t253.

[0258] In this first operation, the predetermined period is the period from time t251 to time t254, and time t253, which is the timing of the start of the injection of the liquid by the cleaner 40, is after time t252, which is the timing of the end of the injection of the gas. Therefore, the dust adhering to the outer cover 12 that is not removed by the injection of the gas can be removed by the injection of the liquid, and the dust can be removed more reliably. From the viewpoint of more reliably removing the dust, it is sufficient that the timing of the start of the injection of the liquid is after the timing of the end of the injection of the gas. In this example, the period TW during which the liquid is being injected is shorter than the period TA during which the gas is being injected, but it may be equal to or longer than the period TA. Also, the cleaner 40 may inject the liquid or the gas intermittently.

[0259] Also, 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 injects only the liquid, or an operation in which the cleaner 40 injects only the liquid without the heater 30 being driven.

[0260] (Fourth Embodiment) Next, a fourth embodiment as the third aspect of the present invention will be described in detail. Note that for components that are the same as or equivalent to those in the above-described embodiments, the same reference numerals will be given and redundant descriptions will be omitted, unless otherwise specifically described.

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

[0262] FIG. 24 is a diagram showing an example of the control flowchart of the control unit CO in the present embodiment. As shown in FIG. 24, the control flowchart in the present embodiment is different 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 the present embodiment, in step SP41, when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is in the first range that is equal to or greater than the first threshold value and less than the second threshold value, the control unit CO advances the control flow to step SP51. On the other hand, when the intensity is equal to or greater than the second threshold value, the control unit CO advances the control flow to step SP54.

[0264] (Step SP51) This step is a step in which the control unit CO determines whether or not 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 starts to freeze, or a temperature close thereto, and in the present embodiment, it is set to 0°C. Then, when 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, when the temperature indicated by the signal exceeds the predetermined temperature, the control unit CO advances the control flow to step SP53.

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

[0266] In this step, the temperature outside the vehicle VE is such that water or the like freezes, and in the fourth operation, the timing of starting the gas injection of the cleaner 40 is after the timing of starting the drive of the heater 30. For this reason, the vehicle sensor device 1 of the present embodiment can inject gas after melting the ice adhering to the dust adhering to the outer cover 12 by heating the outer cover 12, and can more easily remove the dust. Further, since the cleaner 40 does not inject liquid, the liquid does 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 an operation composed of a combination of the operation of the heater 30 and the operation of the cleaner 40 as time elapses during a predetermined period becomes the fifth operation. In this fifth operation, at least the cleaner 40 is driven during at least a part of the predetermined period. The fifth operation of the present embodiment is an operation in which the heater 30 is not driven and the cleaner 40 injects gas, for example, for only 3 seconds. The control unit CO controls the heater 30 and the cleaner 40 so as to achieve such a fifth operation. Then, the control unit CO returns the control flow to step SP11.

[0268] In this fifth operation, since gas is injected from the cleaner 40 toward the transmission region AR, 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, in the same manner as in step SP43, whether or not the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is in a second range where the intensity is equal to or greater than the second threshold value and less than the third threshold value. In the present embodiment, when the intensity of the radio wave is in the second range, the control unit CO advances the control flow to step SP55. On the other hand, when the intensity is not equal to or greater than the second threshold value and less than the third threshold value, that is, when it is in the third range where the intensity is equal to or greater than the third threshold value, the control unit CO advances the control flow to step SP56.

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

[0271] In this step, the ice and snow adhering to the outer cover 12 can be removed by heating the outer cover 12 and the liquid from the cleaner 40. Also, after the injection of the liquid onto the outer cover 12 is completed, the liquid adhering to the outer cover 12 can be removed by the gas from the cleaner 40.

[0272] (Step SP56) This step is a step in which the control unit CO determines, in the same manner as in step SP51, whether or not the temperature indicated by the signal from the temperature sensor 50 is equal to or lower than the above-mentioned predetermined temperature. Then, when 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 SP57. On the other hand, when the temperature indicated by this signal exceeds the predetermined temperature, the control unit CO advances the control flow to step SP58.

[0273] (Step SP57) This step is a step in which the control unit CO controls the heater 30 and the cleaner 40 so that the operation consisting of the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period becomes the seventh operation. In this seventh operation, at least the cleaner 40 is driven during at least a part of the predetermined period, and this seventh operation is different from the sixth operation in step SP55. The seventh operation of the present embodiment is the same operation as the third operation shown in FIG. 20, and the control unit CO controls the heater 30 and the cleaner 40 so as to perform such an operation. Then, the control unit CO returns the control flow to step SP11.

[0274] In this step, the temperature outside the vehicle VE is such that water or the like freezes, and in the seventh operation, the timing of starting the injection of the liquid of the cleaner 40 is after the timing of starting the drive of the heater 30. For this reason, the vehicle sensor device 1 of the present embodiment can inject the liquid after melting the moisture in the mud adhering to the outer cover 12 by heating the outer cover 12, and can more easily remove the mud.

[0275] Also, in the seventh operation, there is a period during which the heater 30 is driven after the timing of ending the injection of the liquid of the cleaner 40. For this reason, even after the timing of ending the injection of the liquid of the cleaner 40 at a temperature outside the vehicle VE such that water or the like freezes, the outer cover 12 is heated. Therefore, according to the vehicle sensor device 1 of the present embodiment, it is possible to more appropriately suppress the liquid adhering to the outer cover 12, for example, the liquid from the cleaner 40, from freezing after the injection of the liquid has ended.

[0276] (Step SP58) This step is a step in which the control unit CO controls the heater 30 and the cleaner 40 so that the operation consisting of the combination of the operation of the heater 30 and the operation of the cleaner 40 over time in a predetermined period becomes the eighth operation. In this eighth operation, at least the cleaner 40 is driven for at least a part of the predetermined period, and this eighth operation is different from the sixth operation in step SP55. The eighth operation of the present embodiment is an operation in which the heater 30 is not driven and the cleaner 40 injects liquid for, for example, only 3 seconds, and the control unit CO controls the heater 30 and the cleaner 40 so as to be such an eighth operation. Then, the control unit CO returns the control flow to step SP11.

[0277] In this eighth operation, since the liquid is injected from the cleaner 40 toward the permeation region AR, the mud adhering to the outer cover 12 can be removed by the liquid.

[0278] Here, if the second range is set as a predetermined range and the range consisting of the first range and the third range is set as a specific range, the control unit CO of the present embodiment, similar to the third embodiment, 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 driven for at least a part of a predetermined period, and when the intensity is within a specific range different from the predetermined range, at least the cleaner 40 is driven for at least a part of a predetermined period. Thus, it can be understood that the heater 30 and the cleaner 40 are controlled. Also, the sixth operation, which is a combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity is within the second range, is different from the fourth operation and the fifth operation, which are combinations of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity is within the first range. Further, this sixth operation is different from the seventh operation and the eighth operation, which are combinations of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity is within the third range. That is, it can be understood that the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity is within the specific range is different from the combination of the operation of the heater 30 and the operation of the cleaner 40 over time during a predetermined period when the intensity is within the predetermined range. Therefore, the vehicle sensor device 1 of the present embodiment can suppress a decrease in the accuracy of object detection in the same manner as the third embodiment.

[0279] Also, as described above, in step SP53 and step SP58, only the cleaner 40 is driven without driving the heater 30. Therefore, in the vehicle sensor device 1 of the present embodiment, when the temperature outside the vehicle VE exceeds a temperature at which water or the like freezes and mud, dust, or the like adheres to the outer cover 12, only the cleaner 40 can be driven without driving the heater. Thus, according to the vehicle sensor device 1 of the present embodiment, it is possible to reduce the chance of driving the heater 30 while removing mud, dust, or the like adhering to the outer cover 12.

[0280] Note that the sixth operation of this embodiment may be the same as the second operation of the third embodiment or a modification of the second operation. Also, each of the fourth, fifth, seventh, and eighth operations may be the same as any one of the first operation, the third operation, a modification of the first operation, and a modification of the third operation of the third embodiment. Further, 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, etc., in the fourth and seventh operations, it is preferable that the heater 30 and the cleaner 40 are driven and the timing of starting the drive of the cleaner 40 is after the timing of starting the drive of the heater 30. Also, from the viewpoint of reducing the opportunity for the heater 30 to be driven, in the fifth and eighth operations, it is preferable that only the cleaner 40 is driven without driving the heater 30. Also, the predetermined period in each of the fourth, fifth, seventh, and eighth operations may be constant or may change according to the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20. Also, these predetermined periods may be the same as each other or may be different from each other.

[0281] As described above, the third aspect of the present invention has been described by taking the third and fourth embodiments and modifications as examples, but the present invention is not limited to these.

[0282] Also, in the third and fourth embodiments and the above-described modification, the specific range was described as the first range where the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is equal to or greater than the first threshold value and less than the second threshold value, and the third range where the intensity of the radio wave EW2 indicated by this signal is equal to or greater than the third threshold value. Further, the predetermined range was described as the second range where the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is equal to or greater than the second threshold value and less than the third threshold value. However, the predetermined range and the specific range are not limited thereto. For example, the specific range may be the first range and the predetermined range may be the second range. Also, 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, when the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20 is less than the second threshold value, the control unit CO repeats step SP11, and when this intensity is equal to or greater than the second threshold value, the control flow proceeds to step SP43. Also, the specific range may be the second range and the third range, and the predetermined range may be the first range, or the specific range may be the first range and the second range, 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 width at the boundary between the predetermined range and the specific range. Also, the values of the first threshold value, the second threshold value, and the third threshold value are not particularly limited and can be set as appropriate.

[0283] In addition, the operation of the heater 30 includes the amount of heat added to the transmission region AR per unit time, and for example, also includes the value of the current flowing through the heating wire 31. The operation of the cleaner 40 includes the injection rate of the liquid and the injection rate of the gas. Therefore, the control unit CO may change the value of the current flowing through the heating wire 31, change the injection rate of the liquid, or change the injection rate of the gas according to the intensity of the radio wave EW2 indicated by the signal Se from the sensor unit 20. For example, in the fourth embodiment, the value of the current flowing through the heating wire 31 in the sixth operation may be greater than the value of the current flowing through the heating wire 31 in the seventh operation. Also, in the fourth embodiment, the injection rate of the liquid in the seventh operation may be faster than the injection rate in the eighth operation.

[0284] Further, the control unit CO may control the transmission unit 25 so that the emission of the electromagnetic wave from the transmission unit 25 stops at least in part of the period TW during which the cleaner 40 is injecting the liquid.

[0285] Also, in step SP55 of the fourth embodiment, the sixth operation may be changed according to 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 according to the temperature indicated by the signal.

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

[0287] Further, the lengths of these periods TW, TA, and TH do not have to be predetermined. For example, the control unit CO may control the cleaner 40 such that when the intensity of the radio wave EW2 indicated by the signal output from the sensor unit 20 during the injection of the liquid becomes equal to or less than a first predetermined value that is smaller than the intensity at the start of the liquid injection. The first predetermined value may be, for example, a predetermined value, 7 / 10 of the initial intensity which is the intensity at the start of the liquid injection, 1 / 2 of the initial intensity, 1 / 10 of the initial intensity, or the like. By adopting such a configuration, for example, it is possible to suppress the injection of the liquid in a state where the deposits on the outer cover 12 have been removed. Further, when the intensity of the radio wave EW2 at the time when a predetermined time has elapsed since the start of the liquid injection is greater than the first predetermined value, the control unit CO may cause the cleaner 40 to end the liquid injection and output a signal indicating an abnormality to the ECU.

[0288] Further, the control unit CO may control the cleaner 40 such that when the intensity of the radio wave EW2 indicated by the signal output from the sensor unit 20 during the injection of the gas becomes equal to or less than a second predetermined value that is smaller than the intensity at the start of the gas injection, the gas injection ends. The second predetermined value may be, for example, a predetermined value, 7 / 10 of the initial intensity which is the intensity at the start of the gas injection, 1 / 2 of the initial intensity, 1 / 10 of the initial intensity, or the like. By adopting such a configuration, for example, it is possible to suppress the injection of the gas in a state where the deposits on the outer cover 12 have been removed. Further, when the intensity of the radio wave EW2 at the time when a predetermined time has elapsed since the start of the gas injection is greater than the second predetermined value, the control unit CO may cause the cleaner 40 to end the gas injection and output a signal indicating an abnormality to the ECU, or may cause the cleaner 40 to end the gas injection and start the liquid injection. The period TW when starting the liquid injection may be predetermined. Alternatively, the control unit CO may cause the cleaner 40 to end the liquid injection when the intensity of the radio wave EW2 during the liquid injection becomes equal to or less than the first predetermined value as described above.

[0289] Further, when the intensity of the radio wave EW2 indicated by the signal output from the sensor unit 20 becomes equal to or less than a third predetermined value that is less than the intensity at the start of driving of the heater 30 during the driving of the heater 30, the control unit CO may control the heater 30 so that the driving of the heater 30 ends. The third predetermined value may be, for example, a predetermined value, or may be 7 / 10 of the initial intensity that is the intensity at the start of driving of the heater 30, 1 / 2 of the initial intensity, 1 / 10 of the initial intensity, or the like. By adopting such a configuration, for example, driving of the heater 30 in a state where deposits on the outer cover 12 are removed can be suppressed. Further, when the intensity of the radio wave EW2 at a time when a predetermined time has elapsed since the start of driving of the heater 30 is greater than the third predetermined value, the control unit CO may stop the heater 30 and output a signal indicating an abnormality to the ECU.

[0290] Also, for example, when the intensity of the radio wave EW2 during the injection of the liquid becomes equal to or less than the first predetermined value as described above during the second operation shown in FIG. 18 or the third operation shown in FIG. 21, the control unit CO controls the cleaner 40 so that the injection of the liquid ends. Thus, when the intensity becomes equal to or less than the first predetermined value, the injection of the liquid ends and the injection of the gas starts. That is, the control unit CO controls the cleaner 40 so as to switch from the injection of the liquid to the injection of the gas when the intensity of the radio wave EW2 during the injection of the liquid becomes equal to or less than the first predetermined value. The period TA in this case may be predetermined. Alternatively, the control unit CO may end the injection of the liquid to the cleaner 40 when the intensity of the radio wave EW2 during the injection of the gas becomes equal to or less than the second predetermined value as described above. The second predetermined value in this case is smaller than the first predetermined value.

[0291] Also, when the intensity of the radio wave EW2 during the injection of the gas becomes equal to or less than the second predetermined value, the control unit CO may control the cleaner 40 so as to switch from the injection of the gas to the injection of the liquid. The period TW in this case may be predetermined. Alternatively, the control unit CO may end the injection of the liquid to the cleaner 40 when the intensity of the radio wave EW2 during the injection of the liquid becomes equal to or less than the first predetermined value as described above. The first predetermined value in this case is smaller than the second predetermined value. As an operation in which the control unit CO performs such control, for example, the first operation shown in FIG. 23 can be cited.

[0292] Further, when the intensity of the radio wave EW2 during the injection of the liquid becomes equal to or less than the first predetermined value, or when the intensity of the radio wave EW2 during the injection of the gas becomes equal to or less than the second predetermined value, the control unit CO may stop the cleaner 40 and drive the heater 30. The period TH in this case may be determined in advance. Alternatively, the control unit CO may control the heater 30 so that the driving ends when the intensity of the radio wave EW2 during the driving as described above becomes equal to or less than the third predetermined value. In this case, the third predetermined value is smaller than the first predetermined value and the second predetermined value. As an operation in which the control unit CO performs such control, for example, the third operation shown in FIG. 19 can be cited. Further, when the intensity of the radio wave EW2 during the driving of the heater 30 becomes equal to or less than the third predetermined value, the control unit CO may stop the heater 30 and start the injection of the liquid or the gas into the cleaner 40. The period TW and the period TA in this case may be determined in advance. Alternatively, the control unit CO may end the injection of the liquid into the cleaner 40 based on the intensity of the radio wave EW2 during the injection of the liquid as described above, or may end the injection of the gas into the cleaner 40 based on the intensity of the radio wave EW2 during the injection of the gas.

[0293] (Fifth Embodiment) The fifth embodiment as the fourth aspect of the present invention will be described. Note that components that are the same as or equivalent to those of the first embodiment are given the same reference numerals and redundant description is omitted, unless otherwise specifically described. Since the configuration of the vehicle lamp VL of the present embodiment is the same as the configuration of the vehicle lamp VL of the first embodiment, the description thereof is omitted.

[0294] Next, the operation of the vehicle sensor device 1 of the present 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 with reference to FIG. 25, the vehicle VE is parked in a parking lot or the like, and the engine is stopped. In this state, when the driver uses the vehicle VE, first, in this step, the driver turns on the ignition of the vehicle VE. When the ignition is turned on, a signal indicating that the ignition is on is input from the ECU 100 of the vehicle VE to the control unit CO.

[0296] <Step SP62> When a signal indicating that the ignition is on is input to the control unit CO, a signal related to the outside air temperature of the vehicle VE is input from the temperature sensor 50 to the control unit CO. When the signal related to the outside air temperature is input, the control unit CO determines whether the outside air temperature indicated by the signal is equal to or lower than a predetermined temperature or higher than the predetermined temperature in this step. If the outside air temperature indicated by the signal is equal to or lower than 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, when 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 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 with time. Therefore, a current flows through the heating wire 31, and the heating wire 31 generates heat. For this reason, even if frost or the like adheres to the outer surface 12o of the outer cover 12, this frost or the like can be melted. Also, in this step, the control unit CO does not operate the sensor unit 20. Therefore, no input related to electromagnetic waves is sent 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 so that electromagnetic waves are transmitted from the transmission unit 25 and received by the reception unit 26, and a signal Se related to electromagnetic waves may be input from the sensor unit 20 to the control unit CO. However, in this step, even if a signal Se related to electromagnetic waves 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 controls the sensor unit 20 to cause the transmission unit 25 and the reception unit 26 to transmit and receive electromagnetic waves as described above, but it may not output a signal Se related to electromagnetic waves from the sensor unit 20.

[0298] <Step SP64> In this step, the control unit CO determines whether the signal of the gear position input from the ECU100 indicates a state in which the vehicle VE can travel. The state in which the vehicle VE can travel is a state in which the vehicle VE can travel if the brake is not applied, for example, a state in which the gear position is drive or reverse. When a signal indicating a state in which the vehicle VE can travel is not input from the ECU100, the control unit CO repeats this step. On the other hand, when the signal input from the ECU100 indicates a state in which the vehicle VE can travel, the control unit CO advances the control flow to step SP65.

[0299] <Step SP65> In this step, the gear position is in, for example, drive or reverse. In this embodiment, in this state, the brake may be operating and the vehicle VE may not be moving, 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 wave 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. In FIG. 26, as shown by the solid line, the sensor unit 20 periodically transmits and receives electromagnetic waves. This period is, for example, from 5 milliseconds to 200 milliseconds. When the sensor unit 20 receives an electromagnetic wave, it outputs a signal Se related to the electromagnetic wave, 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 for an object located outside the outer cover 12 at a predetermined time interval. The period at which the control unit CO outputs the detection signal Sd is the same as the period at which the sensor unit 20 transmits and receives electromagnetic waves. However, as shown by the arrow in FIG. 26, the timing at which the control unit CO outputs the detection signal Sd is delayed with respect to the timing at which the sensor unit 20 transmits and receives electromagnetic waves. Also, in each period, the length of the period during which the control unit CO outputs the detection signal Sd is different from the length of the period during which the sensor unit 20 transmits and receives electromagnetic waves, as shown in FIG. 26. However, the length of the period during which the control unit CO outputs the detection signal Sd and the length of the period during which the sensor unit 20 transmits and receives electromagnetic waves may be the same.

[0301] As described above, the detection signal Sd output by the control unit CO uses the electromagnetic wave periodically transmitted and received from the sensor unit 20 shown by the solid line in FIG. 26. Therefore, the transmission and reception period Ta of the electromagnetic wave used for the detection signal Sd output by the control unit CO and transmitted and received by the sensor unit 20 is the periodic period during which the electromagnetic wave shown by the solid line in FIG. 26 is transmitted and received.

[0302] During the period Tb sandwiched by this transmission / reception period Ta, electromagnetic wave transmission and reception in the sensor unit 20 may or may not be performed. For example, as shown by the dashed line in FIG. 26, electromagnetic wave transmission and reception may be continuously performed in the sensor unit 20. Even in this case, since the detection signal Sd is output from the control unit CO at a predetermined time interval, not all of the electromagnetic waves received by the sensor unit 20 are used for the detection signal Sd, and the electromagnetic waves used for the detection signal Sd are periodically transmitted and received by the sensor unit 20. Therefore, in this case, in the sensor unit 20, the electromagnetic waves used for the detection signal Sd and the electromagnetic waves not used for the detection signal Sd are alternately transmitted and received. Thus, even in this case, the above transmission / reception period Ta is a periodic period shown in FIG. 26. In the example shown by the dashed line in FIG. 26, even if a signal Se related to the electromagnetic wave is output from the sensor unit 20 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 a signal Se related to the electromagnetic wave received during the period Tb. In this way, during the period Tb, the electromagnetic waves transmitted and received by the sensor unit 20 become electromagnetic waves not used for the detection signal Sd.

[0303] Also, the control unit CO 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 the first voltage V1 during at least a part of the above transmission / reception period Ta, and sets the voltage applied to the heating wire 31 to the second voltage V2 during at least a part of the period Tb sandwiched by the transmission / reception periods, and makes the first voltage V1 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 all of the transmission / reception period Ta, and sets the voltage applied to the heating wire 31 to the second voltage V2 during all of the 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, and the heating wire 31 generates heat. Due to this heat, even if snow or ice adheres to the outer cover 12, these can melt. Also, even if moisture adheres to the outer cover 12, the moisture can evaporate.

[0305] In addition, in this embodiment, even when the vehicle VE is in a running state after this, the control unit CO continues with this step. That is, in this example, in all states where the vehicle VE is running, the control unit CO continues with this step. Note that in this embodiment, in at least a part of the state where the vehicle VE is running, the control unit CO may perform step SP65. That is, in a part of the state where the vehicle VE is running, the control unit CO does not have to perform step SP65. As an example of such control, there is control in which the control unit CO performs step SP65 when the vehicle VE is running at a speed of 5 km / h or more and does not perform step SP65 when the vehicle VE is running at a speed less than 5 km / h.

[0306] By the way, as a heater for melting ice, snow, or frost adhering to the cover of the vehicle sensor device, a heating wire provided on the cover can be cited. When a voltage is applied to the heating wire and an electric current flows, a magnetic field is generated around the heating wire. There is a concern that this magnetic field affects the sensitivity of the radar device and the accuracy of object detection decreases.

[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 the electromagnetic wave from the sensor unit 20, and a first voltage applied to the heating wire 31 in at least a part of a transmission / reception period Ta during which the electromagnetic wave used for the detection signal Sd is transmitted and received by the sensor unit 20 is set to be lower than a second voltage applied to the heating wire 31 in at least a part of a period Tb sandwiched between the transmission / reception periods.

[0308] Therefore, the intensity of the magnetic field generated from the heating wire during at least a part of the transmission / reception period Ta in which the first voltage V1 is applied to the heating wire is lower than the intensity of the magnetic field generated from the heating wire 31 during at least a part of the period Tb sandwiched by the transmission / reception periods in which the second voltage V2 is applied to the heating wire. For this reason, compared with the case where the second voltage V2 is continuously applied to the heating wire 31, the magnetic field generated from the heating wire 31 can be suppressed from affecting the sensitivity of the sensor unit 20. Therefore, according to the vehicle sensor device 1 of the present embodiment, a decrease in the accuracy of object detection can be suppressed.

[0309] Further, in the vehicle sensor device 1 of the present embodiment, the control unit CO sets the voltage applied to the heating wire 31 as the first voltage V1 during all of the transmission / reception period Ta. Therefore, compared with the case where the voltage applied to the heating wire 31 is the first voltage V1 in a part of the transmission / reception period Ta and the voltage applied to the heating wire 31 is the second voltage V2 in another part of the transmission / reception period Ta, the magnetic field generated from the heating wire 31 can be suppressed from affecting the sensitivity of the sensor unit 20.

[0310] Further, in the vehicle sensor device 1 of the present embodiment, the control unit CO stops the output of the detection signal Sd and applies a voltage to the heating wire 31 during the period from when a signal indicating ignition on is input to the control unit CO until a signal indicating that the vehicle VE is in a travelable state is input to the control unit CO. During the period from when the ignition is turned on until the vehicle VE starts to move, the concern about safety is generally low. Therefore, during the period from when the ignition is turned on until the vehicle VE is in a travelable state, a voltage is applied to the heating wire 31 to melt snow or the like adhering to the outer cover, giving priority over the detection of objects around the vehicle VE. Thereby, the amount of snow accumulation on the outer cover and the like can be reduced, and a decrease in the accuracy of object detection of the vehicle sensor device 1 after the vehicle VE starts to move can be suppressed. Then, in the state where the vehicle VE is traveling, the control unit CO performs step SP65. Therefore, in the state where the vehicle VE is traveling, compared with the case where the second voltage V2 is continuously applied to the heating wire 31, the magnetic field generated from the heating wire 31 can be suppressed from affecting the sensitivity of the sensor unit 20, and a decrease in the accuracy of object detection can be suppressed.

[0311] In addition, in the present embodiment, during a partial period rather than the entire period from when a signal indicating ignition on is input to the control unit CO until a signal indicating that the vehicle VE is in a drivable state is input to the control unit CO, the output of the detection signal Sd may be stopped and a voltage may be applied to the heating wire 31. Further, in the vehicle sensor device 1, the control unit CO may stop the output of the detection signal Sd and apply a voltage to the heating wire 31 not only during the period from when a signal indicating ignition on is input to the control unit CO until a signal indicating that the vehicle VE is in a drivable state is input, but also during at least a partial period in a state where the vehicle VE is stopped. For example, during a period when a signal indicating that the speed is zero is input to the control unit CO from a speed sensor, the ECU 100, etc., the control unit CO may stop the output of the detection signal Sd and apply a voltage to the heating wire 31. When the vehicle VE is stopped, there is a tendency that concerns about safety are lower than when the vehicle VE is moving. Therefore, by the control unit CO operating in this manner, the amount of snow accumulation on the outer cover during the stop of the vehicle VE can be reduced, and a decrease in the accuracy of object detection of the vehicle sensor device 1 after the vehicle VE starts moving can be suppressed.

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

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

[0314] (Modification 1) FIG. 27 is a diagram showing the operation of the heater 30 in this modified example. In FIG. 27, the operation of the heater 30 in FIG. 26 is shown by a dashed line. As shown by the solid line in FIG. 27, this modified example is different from the above-described 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-described embodiment. In the above-described 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 sets the voltage applied to the heating wire 31 as the first voltage V1 in a part of the transmission / reception period Ta.

[0315] According to this modified example, since 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, the amount of electric power applied to the heating wire 31 is larger than that in the above-described embodiment, so that snow melting or the like can be performed more efficiently.

[0316] (Modified Example 2) FIG. 28 is a diagram showing the operation of the heater 30 in this modified example. In FIG. 28, in the same manner as in FIG. 27, the operation of the heater 30 in FIG. 26 is shown by a dashed line. As shown by the solid line in FIG. 28, this modified example is different from the above-described 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-described embodiment. In this modified example, the control unit CO sets the voltage applied to the heating wire 31 as the first voltage V1 in a period including the transmission / reception period Ta and longer than this. In the example shown 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 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 modification example, since the first voltage V1, which is lower than the second voltage V2, is applied to the heating wire at at least one of the start and end of the transmission / reception period Ta, it is possible to more appropriately suppress the influence of the magnetic field generated from the heating wire 31 on the sensitivity of the sensor unit 20 compared to the above-described embodiment.

[0318] (Modification Example 3) FIG. 29 is a diagram showing the operation of the heater 30 in this modification example. In FIG. 29, in the same manner as FIG. 27, the operation of the heater 30 in FIG. 26 is shown by a broken line. As shown by the solid line in FIG. 29, this modification example is different from the above-described embodiment in that the first voltage V1 applied to the heating wire 31 during the transmission / reception period Ta is zero. That the first voltage V1 applied to the heating wire 31 is zero means that no voltage is applied to the heating wire 31. That is, in this modification 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 example, no voltage is applied to the heating wire 31 during the transmission / reception period Ta. Therefore, it is possible to suppress the radiation of the magnetic field from the heating wire during the transmission / reception period Ta more than in the above-described embodiment, and it is possible to further suppress the influence of the magnetic field generated from the heating wire 31 on the sensitivity of the sensor unit 20.

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

[0321] (Modification Example 4) FIG. 30 is a flowchart showing the operation of the control unit CO in step SP65 in Modification 7 described later from this modification. Step SP71 is a determination step of 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 where the vehicle VE is traveling at a speed greater than a predetermined speed. Therefore, in step SP71 of this modification, based on the signal indicating the speed of the vehicle VE input from the ECU100 or the like to the control unit CO, the control unit CO determines whether the speed of the vehicle VE indicated by the signal is greater than the predetermined speed. When the signal indicating the speed of the vehicle VE indicates a state where the speed is greater than the predetermined speed, 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. On the other hand, when the signal indicating the speed of the vehicle VE does not indicate a state where the speed is greater than the predetermined speed, that is, when the signal indicates a speed less than or equal to the predetermined speed, the control unit CO advances the control flow to step SP73 and sets the heater 30 to the second operating state. This speed is, for example, 5 km / h.

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

[0323] (Modification 5) In this modified example, the specific state shown in FIG. 30 is a state where the distance between the vehicle VE and an object detected outside the vehicle is smaller than a predetermined distance. Therefore, in step SP71 of this modified example, the control unit CO determines whether the distance of the object indicated by the detection signal Sd is smaller than the predetermined distance. When the distance of the object indicated by the detection signal Sd is smaller 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 set the heater 30 to the first operating state described in Modified Example 4. On the other hand, when the distance of the object 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 sets the heater 30 to the second operating state described in Modified Example 4. This predetermined distance is, for example, 5 m. That is, in this modified example, the control unit CO makes the magnitude of the first voltage V1 in the state where the distance of the object indicated by the detection signal Sd is smaller than the predetermined distance smaller than the first voltage V1 in the state where the distance of the object indicated by the detection signal Sd is equal to or greater than the predetermined distance. Alternatively, the control unit CO makes the period during which the first voltage V1 is applied in the state where the distance of the object indicated by the detection signal Sd is smaller than the predetermined distance longer than the period during which the first voltage V1 is applied in the state where the distance of the object indicated by the detection signal Sd is equal to or greater than the predetermined distance.

[0324] (Modified Example 6) In this modified example, the specific state shown in FIG. 30 is a state where the vehicle VE is in the rain. Therefore, in step SP71 of this modified example, based on the signal input from the rain sensor 51 to the control unit CO, the control unit CO determines whether or not the signal indicates rain. When a signal indicating rain is input to the control unit CO, the control unit CO advances the control flow to step SP72, controls the power supply circuit 32 of the heater 30, and sets the heater 30 to the first operating state described in Modified Example 4. On the other hand, when a signal indicating rain 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 Modified Example 4. That is, in this modified example, the control unit CO makes the magnitude of the first voltage V1 in the state where a signal indicating rain is input to the control unit CO smaller than the first voltage V1 in the state where a signal indicating rain is not input. Alternatively, the control unit CO makes the period during which the first voltage V1 is applied in the state where a signal indicating rain is input to the control unit CO longer than the period during which the first voltage V1 is applied in the state where a signal indicating rain is not input.

[0325] (Modified Example 7) In this modification example, 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 example, the control unit CO determines whether or not the signal input from the ECU100 or the like to the control unit CO indicates that the headlights of the vehicle VE are on, based on the signal. In a state where a signal indicating that the headlights are on is input, low beam or 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, controls the power supply circuit 32 of the heater 30, and sets the heater 30 to the first operating state described in Modification Example 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 Example 4. That is, in this modification example, the control unit CO makes the magnitude of the first voltage V1 in a state where a signal indicating that the headlights are on is input to the control unit CO smaller than the first voltage V1 in a state where a signal indicating that the headlights are on is not input. Alternatively, the control unit CO makes the period during which the first voltage V1 is applied in a state where a signal indicating that the headlights are on is input to the control unit CO longer than the period during which the first voltage V1 is applied in a state where a signal indicating that the headlights are on is not input.

[0326] In the states of the vehicle VE described in Modification Examples 4 to 7 above, such as a state where the speed of the vehicle VE is high, a state where the distance from the vehicle VE to an object is small, a rainy day state, and a state where the headlights are on, the occupant needs more information about the surroundings of the vehicle VE by means other than visual observation. In these states, by reducing the magnitude of the first voltage V1 to reduce the magnetic field generated from the heating wire ۳۱, or by increasing the period during which the first voltage V1 is applied to increase the period during which the magnetic field generated from the heating wire ۳۱ is suppressed, the vehicle sensor device 1 can suppress a decrease in the accuracy of object detection and contribute more to safety.

[0327] [[ID=۸]]As described above, the fourth aspect of the present invention has been described by taking the fifth embodiment as an example, but the present invention is not limited to the above description.

[0328] For example, in the fifth embodiment, in at least a part of the state where the vehicle VE is running, the control unit CO performs step SP65. However, in the present invention, the control unit CO may perform step SP65 in at least a part of the state where the vehicle VE is stopped and in at least a part of the state where the vehicle VE is running. Therefore, for example, in at least a part of the state where the vehicle VE is stopped, the control unit CO may perform step SP65. However, the state where the vehicle VE is running is a state in which the occupant needs information around the vehicle VE by means other than visual observation more than the state where the vehicle VE is stopped. Therefore, it is preferable that the control unit CO performs step SP65 in at least a part of the state where the vehicle VE is running.

[0329] Also, 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, in all of the state where the vehicle VE is stopped and in all of the state where the vehicle VE is running, the control unit CO performs step SP65.

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

[0331] Also, 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 embodiment, in step SP63 of FIG. 25, when applying a predetermined voltage to the heating wire 31, the cleaner 40 may be operated. For example, liquid may be sprayed from the injection nozzle 41c of the liquid unit 41 into the permeation region AR before applying a voltage to the heating wire 31.

[0332] As described above, the present invention has been described by taking the above-described embodiments and modified examples as examples, but the present invention is not limited thereto.

[0333] For example, in the above embodiment, the vehicle sensor device 1 provided in the vehicle lamp VL which is a headlamp has been described as an example. However, the vehicle sensor device 1 may be provided in a turn lamp, a brake lamp, or the like which is a vehicle lamp. Further, the vehicle sensor device 1 does not have to be provided in the vehicle lamp. As a configuration of such a vehicle sensor device 1, for example, a configuration in which the vehicle lamp VL in the above embodiment does not include the lamp unit LU can be cited.

[0334] According to the first aspect of the present invention, there is provided a vehicle sensor device capable of suppressing wasteful power consumption while suppressing a decrease in detection accuracy. According to the second aspect of the present invention, there is provided a vehicle sensor device capable of reducing the burden on the control unit. According to the third and fourth aspects of the present invention, there is provided a vehicle sensor device capable of suppressing a decrease in the accuracy of object detection, and it can be used in the field of automobiles and the like.

Claims

1. An outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, a control unit, and comprising, 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 part of the period when the heater is OFF, and during the period when the heater is ON, when the intensity of the electromagnetic wave indicated by the signal is greater than a first threshold value and the amount of deposits adhering to the transmission region is greater than the amount of deposits at the first threshold value, that is, when it is equal to or greater than a second threshold value, the output of the detection signal is stopped, and when the intensity is equal to or greater than the first threshold value and less than the second threshold value, the detection signal is output A vehicle sensor device characterized by the above.

2. An outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, a control unit, and comprising, 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 part of the period when the heater is OFF, and during the period when the heater is ON, when the signal output from a temperature sensor that measures the temperature of the transmission region indicates a temperature lower than a predetermined temperature, the output of the detection signal is stopped, and when the signal output from the temperature sensor indicates a temperature equal to or higher than the predetermined temperature, the detection signal is output A vehicle sensor device characterized by the above.

3. An outer cover, a sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover, a heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes, a control unit, and comprising, 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 part of the period when the heater is OFF, stops the output of the detection signal during at least a part of the period when the heater is ON, and outputs the detection signal during the period when the heater is ON and the light source unit that emits light toward the outside of the vehicle through the outer cover is ON. A vehicle sensor device characterized by the above.

4. An outer cover, A sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover. A heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes. A control unit, Comprising: 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 part of the period when the heater is OFF, controls the heater to be ON during at least a part of the period when the vehicle is stopped, and stops the output of the detection signal during at least a part of the period when the heater is ON. A vehicle sensor device characterized by the above.

5. An outer cover, A sensor unit disposed inside the vehicle from the outer cover, transmitting and receiving electromagnetic waves through the outer cover, and outputting a signal related to the electromagnetic wave incident on the inside of the outer cover. A heater provided on the outer cover and heating a transmission region through which the electromagnetic wave emitted from the sensor unit in the outer cover passes. A control unit, Comprising: 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 part of the period when the heater is OFF, and stops the output of the detection signal during at least a part of the period when the heater is ON. During the period when the heater is ON, the sensor unit emits the electromagnetic wave toward the outside of the vehicle through the outer cover. A vehicle sensor device characterized by the above.

6. During the period when the heater is ON, the sensor unit emits the electromagnetic wave toward the outside of the vehicle through the outer cover. The vehicle sensor device according to any one of claims 1 to 4, characterized by the above.

7. During the period when the heater is ON, the sensor unit receives the electromagnetic wave incident from the outside of the vehicle into the inside of the vehicle through the outer cover. The vehicle sensor device according to claim 5 or 6, characterized by the above.

8. During the period when the heater is ON, the sensor unit receives the electromagnetic wave incident from the outside of the vehicle into the inside of the vehicle through the outer cover and outputs the signal to the control unit. The vehicle sensor device according to claim 7, characterized by the above.

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