WO2019156023A1

WO2019156023A1 - Method for manufacturing object detection device, vehicle manufacturing method and program

Info

Publication number: WO2019156023A1
Application number: PCT/JP2019/003852
Authority: WO
Inventors: スタニスラスペテル; パスカルロレ
Original assignee: ヴィオニアスウェーデンエービー; スタニスラスペテル; パスカルロレ
Priority date: 2018-02-06
Filing date: 2019-02-04
Publication date: 2019-08-15
Also published as: JP2021060195A; JP6971161B2

Abstract

Provided is a method for manufacturing an object detection device which is to be mounted on a vehicle being conveyed at a prescribed conveyance speed on a conveyance path of a manufacturing line, the method comprising a step for acquiring information about the conveyance speed, a step, implemented by the object detection device, for, before and after a vehicle passes an object disposed alongside the conveyance path at the conveyance speed, transmitting transmission waves multiple times and receiving, multiple times, waves reflected by the object, a step for deriving, on the basis of the multiple reflective waves that have been received, a reference detection point used to derive a reference distance between the object detection device and the object, a step for deriving an azimuth between the object and the object detection device at the derived reference detection point; a step for deriving an overall correction angle of the object detection device on the basis of the derived azimuth; and a step for storing information concerning the derived overall correction angle in a prescribed storage area.

Description

Method for manufacturing target detection apparatus, method for manufacturing vehicle, and program

The present invention relates to a method for manufacturing a target detection device, a method for manufacturing a vehicle, and a program.

Conventionally, an on-vehicle radar device is used to detect other vehicles that can be a collision target, or a target such as a structure provided on a side road, and based on the distance or azimuth angle with these targets, the vehicle There is known a target detection device (laser radar device) that alerts the operator (for example, Patent Document 1).

In the manufacturing process of the vehicle on which the target detection device is mounted, it is necessary to inspect whether the mounting angle (reference optical axis angle) of the target detection device matches the reference installation axis. On the other hand, the radar optical axis inspection method of the target detection apparatus described in Patent Document 1 uses an inspection imaging device in a vehicle manufacturing process so that the camera axis coincides with the reference optical axis. And the inspection is performed by the imaging apparatus.

JP 2012-215523 A

However, in order to attach and remove the imaging device in the vehicle manufacturing process, it is necessary to stop the transportation of the vehicle on the production line. Therefore, the radar optical axis inspection method of the target detection apparatus of Patent Document 1 has a problem in that the time required for the manufacturing process is increased because the vehicle transport must be stopped in the manufacturing process including the optical axis inspection.

This invention is made in view of such a situation, and it aims at providing the manufacturing method of the target detection apparatus etc. which can manufacture the target detection apparatus mounted in a vehicle efficiently.

The manufacturing method of the target detection apparatus which concerns on 1 aspect of this indication is a manufacturing method of the target detection apparatus mounted in the vehicle conveyed by the predetermined conveyance speed in the conveyance path of a production line, Comprising: The said conveyance speed The target detecting device transmits the transmission wave a plurality of times before and after the vehicle passes through the object provided on the side of the conveyance path at the conveyance speed, A reference detection point for deriving a reference distance between the target detection device and the object is derived based on the step of receiving the reflected wave reflected by the object a plurality of times and the reflected waves received a plurality of times. A step of deriving an azimuth angle between the target detection device and the object at the derived reference detection point, and a step of deriving an overall correction angle of the target detection device based on the derived azimuth angle. And the derived overall correction angle The information includes a step of storing in a predetermined storage area.

In this aspect, the entire correction angle that depends on the mounting angle of the target detection device is derived without stopping the transportation of the vehicle on which the target detection device is mounted. The time required for manufacturing can be shortened, and the target detection apparatus can be manufactured efficiently. Since the derived overall correction angle is stored in a predetermined storage area, an individual overall correction angle can be set for each target detection device. Therefore, it is possible to manufacture a target detection device that individually corresponds to variations in the mounting position or mounting angle of the target detection device in the vehicle.

In the method of manufacturing a target detection device according to an aspect of the present disclosure, the step of deriving the reference detection point is performed in each of the reflected waves received a plurality of times. A step of deriving the detection point of the reflected wave having the shortest distance from the object as a reference detection point.

In this aspect, since the detection point of the reflected wave with the shortest distance is derived as the reference detection point, the reference distance can be accurately derived based on the reference detection point. it can.

In the method of manufacturing a target detection device according to an aspect of the present disclosure, the step of determining the reference detection point is derived from each of two reflected waves received in succession in each of the reflected waves received a plurality of times. When the sign of the relative speed between the target detection device and the target is reversed, a step of deriving a reference detection point based on each of the two reflected waves is included.

In this aspect, when the sign of the relative velocity between the target detection device derived from the two reflected waves successively received and the object is reversed, the reference detection point is determined based on the two reflected waves. Therefore, the reference distance can be accurately derived based on the reference detection point.

In the method for manufacturing the target detection device according to one aspect of the present disclosure, the azimuth angle between the target detection device and the object in each of the reflected waves received a plurality of times after the step of deriving the reference detection point is determined. A step of deriving, a step of deriving a time difference between a reference reception time at which the reflected wave at the reference detection point is received and a reception time at which each of the reflected waves received a plurality of times is received, the reference distance, the acquired The method includes a step of deriving an individual correction angle for each reflected wave based on the conveyance speed, the derived azimuth angle, and the time difference, and a step of storing information on the derived individual correction angle in a predetermined storage area.

In this embodiment, the individual correction angle in each reflected wave is derived, and the information related to the derived individual correction angle is stored in a predetermined storage area. Therefore, the target detection apparatus in which the individual correction angle corresponding to each azimuth angle is stored. Can be efficiently manufactured.

In the method for manufacturing the target detection device according to one aspect of the present disclosure, the distance and direction between the target detection device and the object in each of the reflected waves received a plurality of times after the step of deriving the reference detection point. A step of deriving each angle; a step of deriving an individual correction angle in each of the reflected waves based on the reference distance, the derived distance and an azimuth angle; and information on the derived individual correction angle Storing in the area.

In this aspect, since the individual correction angle in each reflected wave is derived based on the reference distance, each of the derived distance, and each azimuth angle, it is possible to accurately derive the individual correction angle corresponding to each azimuth angle. it can.

In the method for manufacturing a target detection apparatus according to an aspect of the present disclosure, the step of storing in the predetermined storage area includes the azimuth angle and the individual correction angle in each of the received reflected waves, or the azimuth angle and the overall correction. A step of registering the sum of the angle and the individual correction angle in a table format.

In this aspect, the azimuth angle and the individual correction angle in each received reflected wave, or the sum of the azimuth angle and the overall correction angle and the individual correction angle are registered in a table format and stored in a predetermined storage area. Thus, it is possible to efficiently store and read out the individual correction angle and the like.

In the method for manufacturing a target detection device according to an aspect of the present disclosure, the step of storing in the predetermined storage area is a transmission transmitted by the target detection device based on individual correction angles in an arbitrary plurality of azimuth angles. An individual correction angle corresponding to each of the rated azimuth angles obtained by dividing the transmission angle of the transmission range in the horizontal direction of the wave by a predetermined angle unit is derived, and the rated azimuth angle and the individual correction angle corresponding to the derived rated azimuth angle are obtained. A step of storing in a predetermined storage area in association with each other is included.

In this aspect, it is possible to efficiently register individual correction angles corresponding to the rated azimuth angles.

In the method for manufacturing a target detection device according to an aspect of the present disclosure, the step of storing in the predetermined storage area associates the rated azimuth angle with an individual correction angle corresponding to the rated azimuth angle in a table format. Including the step of registering.

In this aspect, since it is registered in a table format and stored in a predetermined storage area, the rated azimuth angle and the individual correction angle can be efficiently stored and read out.

A method for manufacturing a vehicle according to one aspect of the present disclosure is a method for manufacturing a vehicle on which the target detection device is mounted and is transported at a predetermined transport speed on a transport path of a manufacturing line. The manufacturing method of the target detection apparatus which concerns on.

In this aspect, since the overall correction angle based on the mounting position or the mounting angle of the target detection device is derived without stopping the transportation of the vehicle on which the target detection device is mounted, the time required for manufacturing the vehicle is reduced. The vehicle can be shortened and manufactured efficiently. Since the derived overall correction angle is stored in a predetermined storage area, it is possible to manufacture a vehicle equipped with a target detection device that individually corresponds to variations in mounting position.

A program according to an aspect of the present disclosure acquires a conveyance speed on a conveyance path of a production line that conveys a vehicle on which a target detection device is mounted on a computer, and the object is provided on the side of the conveyance path. Before and after passing at the transport speed, to obtain each reflected wave reflected by the object of the transmission wave transmitted a plurality of times by the target detection device, based on each obtained reflected wave, Deriving a reference detection point for deriving a reference distance between the target detection device and the object, deriving an azimuth angle between the target detection device and the object at the derived reference detection point, and deriving the direction Based on the angle, an overall correction angle of the target detection apparatus is derived, and a process of storing information on the derived overall correction angle in a predetermined storage area is executed.

In this aspect, it is possible to cause a computer to execute a program that can efficiently manufacture a target detection apparatus.

An object of the present invention is to provide a method of manufacturing a target detection device that can efficiently manufacture a target detection device mounted on a vehicle.

It is a schematic diagram which shows an example of the vehicle provided with the target detection apparatus manufactured by the manufacturing process which concerns on Embodiment 1. FIG. It is a block diagram which shows the structure of the target detection apparatus which concerns on Embodiment 1. FIG. It is explanatory drawing regarding the manufacturing line of the vehicle by which the target detection apparatus is mounted. It is explanatory drawing regarding the reflective point of the reflected wave received before and behind passing through a target object. It is explanatory drawing regarding the relative velocity and azimuth | direction angle in the reflective point of the received reflected wave. It is explanatory drawing regarding a response | compatibility (table) with an azimuth angle and an individual correction angle. It is a flowchart which shows the manufacturing process (process of a control part) which concerns on Embodiment 1 (shortest distance, conveyance speed). It is a flowchart which shows the manufacturing process (process of a control part) which concerns on Embodiment 2 (relative speed, distance). It is explanatory drawing regarding the response | compatibility (table) with the azimuth | direction angle by the manufacturing process which concerns on the modification 1, and an individual correction angle. 10 is an explanatory diagram relating to a production line in a production process according to Modification 2. FIG.

(Embodiment 1)
Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a vehicle including a target detection device manufactured by a manufacturing process according to the first embodiment. FIG. 2 is a block diagram illustrating a configuration of the target detection device 3 according to the first embodiment. First, the target detection device 3 and the vehicle 1 including the target detection device 3 will be described.

The vehicle 1 includes a front bumper 11, a rear bumper 12, a vehicle body frame 10, and a target detection device 3 including a radar device 4 and a radar ECU (Electronic Control Unit) 5.

The radar device 4 is provided at each of the front and rear corners of the vehicle 1. The front and rear corners of the vehicle 1 include the front bumper 11, the rear bumper 12, and the body frame 10.

The radar devices 4 are provided at the left and right corners of the front bumper 11 and the rear bumper 12, respectively. Each radar ECU 5 is connected to a corresponding radar ECU 5, and each of these radar ECUs 5 is connected to a body ECU 6 by an in-vehicle LAN (Local Area Network) 2 described later.

The radar devices 4 are provided at the left and right corners of the front bumper 11 and the rear bumper 12, respectively. The horizontal transmission angle (θFL) of the radar device 4 provided at the left corner of the front bumper 11 is set to be 90 ° or more. Similarly, the horizontal transmission angles (θFR, θBL, θBR) of the radar devices 4 provided at the right corner of the front bumper 11 and the left and right corners of the rear bumper 12 are also set to 90 ° or more. It is set. The direction of the radar apparatus 4 is such that the transmission range of the radio wave transmitted from the radar apparatus 4 is substantially perpendicular to the direction in which each radar apparatus 4 is laterally lateral to the outside of the vehicle 1, that is, the traveling direction of the vehicle 1. It is set to include direction. Accordingly, when the forward direction of the vehicle 1 when traveling straight is 90 °, the transmission range of the radar device 4 provided on the right side of the front bumper 11 is a direction from approximately 335 ° (−25 °) to approximately 115 ° in the horizontal direction. including. The transmission range of the radar device 4 provided on the left side of the front bumper 11 includes a direction from approximately 65 ° to approximately 205 ° in the horizontal direction. The transmission range of the radar apparatus 4 provided on the left side of the rear bumper 12 includes a direction from approximately 155 ° to approximately 295 ° in the horizontal direction. The transmission range of the radar device 4 provided on the right side of the rear bumper 12 includes a direction from approximately 245 ° to approximately 25 ° (385 °) in the horizontal direction. That is, when the transmission angle (θFL, θFR, θBL, θBR) of each radar device 4 is 140 °, this optical axis is based on the optical axis (baudite / boresight) that is the center line that is half the transmission angle. Radio waves (transmission waves) are transmitted from each of the radar devices 4 in a range of ± 70 ° in the horizontal direction. The angle of the optical axis with respect to the traveling direction of the vehicle 1 is the mounting angle of the radar device 4. Although the installation location of the radar device 4 is described as the front and rear corners of the vehicle 1, it is not limited to this. The radar apparatus 4 may be installed in the center part of the left and right side surfaces of the vehicle 1 or in the front and rear center parts.

The radar apparatus 4 includes a transmission unit 41, a transmission antenna 42, a reception unit 43, and a reception antenna 44. The transmission unit 41 is connected to the radar ECU 5 via an input / output interface 54 described later, and transmits a radio wave (transmission wave) based on a signal from a control unit 51 of the radar ECU 5 described later. The transmission wave is, for example, a radio wave in the millimeter wave band of 30 GHz to 300 GHz or a radio wave in the microwave frequency band of 10 GHz to 30 GHz.

The transmission antenna 42 is a transmission direction of a transmission wave, that is, a directional antenna having directivity. A transmission range is set in the horizontal direction as described above, and the transmission range is used for detecting a target described later. The detection range. The transmission antenna 42 is connected to the transmission unit 41, and transmits a radio wave (transmission wave) by output from the transmission unit 41.

The receiving antenna 44 is connected to the receiving unit 43 and is disposed so as to face substantially the same direction as the transmitting antenna 42. The receiving antenna 44 receives the reflected wave reflected by the target and outputs it to the receiving unit 43.

The receiving unit 43 is connected to the radar ECU 5 via an input / output interface 54 described later, and acquires the reflected wave reflected by the target via the receiving antenna 44. The target includes, for example, other vehicles that travel around the host vehicle, facilities provided on the side edges of the road, pedestrians, and the like. The receiving unit 43 performs A / D conversion on the acquired reflected wave, for example, and outputs the result to the control unit 51.

When the radar apparatus 4 uses, for example, the FMCW method (Frequency Modulated Continuous Wave), the transmission unit 41 transmits a radio wave (transmission wave) whose frequency changes in proportion to time, and the reception unit 43 receives a target. The beat signal obtained by mixing the reflected wave and the transmission wave reflected by is received.

The radar ECU 5 includes a control unit 51, a storage unit 52, a communication unit 53, and an input / output interface 54. The control unit 51 is configured by a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and various control processes and data are read and executed by reading and executing a control program and data stored in the storage unit 52 in advance. Arithmetic processing and the like are performed. The control unit 51 functions as a target detection unit, a distance deriving unit, an azimuth angle deriving unit, and a relative speed deriving unit by executing a control program stored in the storage unit 52. The control unit 51 has a clock function, and stores the time when the reflected wave is received in the storage unit 52 when functioning as a target detection unit. Further, the control unit 51 is responsible for each process such as a process of deriving and storing a correction angle (overall correction angle, individual correction angle) for correcting the derived azimuth angle in a method for manufacturing a target detection apparatus to be described later. The radar ECU 5 corrects the derived azimuth angle based on the correction angle stored in the storage unit 52 with respect to the azimuth angle derived by analyzing the reflected wave when functioning as the azimuth angle deriving unit. Improve the accuracy of the azimuth angle.

The target detection unit transmits a radio wave (transmission wave) whose frequency changes in proportion to time by using a known method such as the FMCW method, and a reflected wave in which the transmission wave is reflected by the target. The target is detected by receiving.

For example, in the case of the FMCW system, the distance deriving unit receives a beat signal in which a transmission wave and a reflected wave are mixed, and analyzes the beat signal frequency by performing FFT analysis (Fast Fourier Transform) on the beat signal. Based on the analysis result, the distance between the vehicle and the target is derived.

The azimuth angle deriving unit analyzes the frequency of the beat signal in the same manner as the distance deriving unit, and derives the azimuth angle with the target with respect to the host vehicle based on the analysis result of the frequency.

The relative speed deriving unit analyzes the frequency of the beat signal in the same manner as the distance deriving unit, and derives the relative speed of the target vehicle with respect to the host vehicle based on the analysis result of the frequency.

The receiving unit 43 of the radar device 4 has a computing capability such as Fourier transform, and may function as a target detecting unit, a distance deriving unit, an azimuth angle deriving unit, or a relative velocity deriving unit. Alternatively, the receiving unit 43 of the radar apparatus 4 and the control unit 51 of the radar ECU 5 may function together to function as a target detection unit, a distance deriving unit, an azimuth angle deriving unit, or a relative speed deriving unit. Alternatively, the control unit 61 of the body ECU 6 described later executes a control program, communicates with and controls the control unit 51 of the radar device 4 or the radar ECU 5, or cooperates with the target detection unit, the distance deriving unit, and the direction. It may function as an angle deriving unit or a relative speed deriving unit. Further, the control unit 61 of the body ECU 6 communicates and controls or cooperates with the control unit 51 of the radar device 4 or the radar ECU 5 to perform each step in the method of manufacturing the target detection device described later. May be.

The storage unit 52 is configured by a volatile memory element such as a RAM (Random Access Memory) or a non-volatile memory element such as a ROM (Read Only Memory), an EEPROM (Electrically Erasable Programmable ROM), or a flash memory. A control program and data to be referred to during processing are stored in advance. The control program stored in the storage unit 52 may store a control program read from the recording medium 521 that can be read by the target detection device 3. Alternatively, a control program may be downloaded from an external computer (not shown) connected to a communication network (not shown) and stored in the storage unit 52. Although details will be described later, the storage unit 52 stores azimuth angles and correction angles corresponding to the azimuth angles. The storage unit 52 stores the angle of the optical axis of each radar device 4 with respect to the traveling direction of the vehicle 1, that is, the mounting angle of each radar device 4.

The communication unit 53 is a communication interface using a communication protocol such as CAN (Control Area Network), LIN (Local Interconnect Network), or Ethernet (registered trademark), and is connected to an in-vehicle device such as a body ECU 6 connected to the in-vehicle LAN 2. Communicate with each other.

The input / output interface 54 is connected to the transmission unit 41 and the reception unit 43 of the radar apparatus 4 by a serial cable or the like, and inputs / outputs data between the control unit 51 and the transmission unit 41 and the reception unit 43. Interface.

The target detection device 3 is described with the radar device 4 and the radar ECU 5 as separate bodies, but is not limited to this. For example, the radar device 4 and the radar ECU 5 may be modularized and integrated with the target detection device 3.

The vehicle 1 is provided with in-vehicle devices such as a vehicle speed detection unit 9 and a notification unit 8, and the in-vehicle devices such as the notification unit 8 are, for example, via a body ECU 6 and an input / output interface 64 included in the body ECU 6. It is connected.

The body ECU 6 includes a control unit 61, a storage unit 62, a communication unit 63, and an input / output interface 64 like the radar ECU 5. The control unit 61 is configured by a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and by reading and executing a control program and data stored in the storage unit 62 in advance, various control processes and Arithmetic processing and the like are performed.

The storage unit 62 is configured by a volatile memory element such as a RAM (Random Access Memory) or a nonvolatile memory element such as a ROM (Read Only Memory), an EEPROM (Electrically Erasable Programmable ROM), or a flash memory. A control program and data to be referred to during processing are stored in advance.

The communication unit 63 is a communication interface using a communication protocol such as CAN (Control Area Network), LIN (Local Interconnect Network), or Ethernet (registered trademark), and is connected to an in-vehicle device such as a radar ECU 5 connected to the in-vehicle LAN 2. Communicate with each other.

The input / output interface 64 is an interface group that is connected to in-vehicle devices such as the vehicle speed detection unit 9 and the notification unit 8 by a serial cable or the like, and inputs / outputs data between the control unit 61 and these in-vehicle devices. .

The vehicle speed detection unit 9 is a vehicle speed sensor composed of, for example, a hall element, and detects the traveling speed (vehicle speed) of the vehicle 1 and outputs the detected data related to the vehicle speed to the body ECU 6 via the input / output interface 64. To do.

The notification unit 8 includes, for example, a speaker or a display, and is connected to the body ECU 6 via the input / output interface 64. Based on an output from the body ECU 6, a display such as an alert for a target located around the vehicle 1 is displayed. Or an audio | voice output is performed and the operator of the vehicle 1 is alert | reported.

The output from the body ECU 6 includes the output from the radar ECU 5 obtained by the body ECU 6, that is, the output from the radar ECU 5 to the notification unit 8 when the body ECU 6 relays the output. In the present embodiment, the vehicle speed detection unit 9 and the notification unit 8 are connected to the input / output interface 64 of the body ECU 6. However, the present invention is not limited to this. The vehicle speed detection unit 9 and the notification unit 8 may be connected to the input / output interface 54 of the radar ECU 5 and input / output may be performed directly with the radar ECU 5. Alternatively, the vehicle speed detection unit 9 and the notification unit 8 are connected to an ECU other than the body ECU 6 and the radar ECU 5, and the radar ECU 5 communicates with the other ECUs, so that input / output between the vehicle speed detection unit 9 and the like is performed. May be performed.

FIG. 3 is an explanatory diagram relating to the production line 7 of the vehicle 1 on which the target detection device 3 is mounted. The vehicle 1 transported by the transport path 71 of the production line 7 is transported with the target detection device 3 already mounted. The vehicle 1 is transported at a predetermined transport speed (vline [m / s]) with the front portion of the vehicle 1, that is, the front bumper 11 in front. An object 72 is provided in a stationary state at a predetermined position that is lateral to the conveyance direction of the conveyance path 71. The object 72 is an inspection target made of a material having a high reflectivity so that the transmission wave transmitted by the target detection device 3 is strongly reflected. Since the energy (db) of the reflected wave reflected by the object 72 (inspection target) is higher than that of production facilities provided around the conveyance path 71, the target detection device 3 Can analyze the reflected wave and specify the target (detection point) of the reflected wave having a predetermined peak or more as the object 72 (inspection target).

FIG. 4 is an explanatory diagram regarding the reflection point of the reflected wave received before and after passing through the object 72. When the vehicle 1 on which the target detection device 3 is mounted is transported on the transport path 71 and approaches the object 72, for example, from a control system (not shown) that controls the entire production line 7, the target detection device. A signal including the conveyance speed in the conveyance path 71 is output to the third radar ECU 5. Radar ECU5 exhibits the function for taking the process of manufacturing the target detection apparatus 3 mentioned later, such as transmitting a transmission wave by acquiring the signal containing the said conveyance speed.

The radar ECU 5 transmits a transmission wave a plurality of times at a predetermined cycle, and receives a reflected wave obtained by reflecting the transmission wave by the object 72 a plurality of times. The transmission wave is transmitted a plurality of times before and after the vehicle 1 on which the target detection device 3 is mounted passes through the object 72. For example, when the transmission angle of the transmission range of the radar device 4 is 140 °, 141 transmission waves are transmitted when the azimuth angle between the radar device 4 and the object 72 is set to a resolution of 1 °. Then, the conveyance speed (vline [m / s]) and the transmission wave are set so that the azimuth angle between the 141 transmission waves transmitted in a predetermined cycle and the object 72 changes in units of 1 °. The distance to the target detection device 3 mounted on the vehicle 1 when starting the transmission of is set.

4, the azimuth angle between the object 72 and the radar device 4 of the target detection device 3 in the description of FIG. 4 is derived based on the transport direction, that is, the traveling direction when the vehicle 1 travels. Therefore, as will be described later, the relative speed between the object 72 and the target detection device 3 is vline × cos θ (θ is, for example, θA, θB, θC).

FIG. 4A shows the azimuth angle (θA) and the distance (1A) derived based on the reflected wave received before the target detection device 3 passes through the object 72. The relative speed between the target detection device 3 and the object 72 is calculated by vline × cos θA.

FIG. 4B is based on the reflected wave received when the target detection device 3 passes through the target object 72, that is, when the target object 72 is positioned substantially perpendicular to the conveyance direction. The derived azimuth angle (θB) and distance (1B) are shown. Accordingly, the azimuth angle (θB) at this point is approximately 90 ° with respect to the transport direction. The distance (1B) at this time point is the shortest distance between the target detection device 3 and the target object 72, and is a substantially vertical direction component with respect to the conveyance direction in the distance from the target object 72 derived in other reflected waves. The relative speed between the target detection device 3 and the object 72 is vline × cos θB (θB = approximately 90 °), which is approximately 0 m / s. Accordingly, the Doppler effect at this point disappears, and the frequencies of the transmitted wave and the reflected wave are substantially the same.

FIG. 4C shows the azimuth angle (θC) and the distance (1C) derived based on the reflected wave received after the target detection device 3 passes through the object 72. The relative speed between the target detection device 3 and the object 72 is calculated by vline × cos θC.

As shown in FIG. 4, before and after the vehicle 1 is transported and the target detection device 3 passes through the object 72, the target detection device 3 transmits the transmission wave a plurality of times, so that the target detection device 3 In each state where the relative position to the object 72 is different, the reflected wave reflected by the object 72 is received a plurality of times.

In the radar apparatus 4, the angle (mounting angle) of the optical axis (bauxite) is determined with respect to the traveling direction of the vehicle 1 as described above. Accordingly, the radar ECU 5 takes into account the angle (mounting angle) of the optical axis (baudite) of the radar device 4 and the object 72 with a reference angle that sets the optical axis (baudite) of the radar device 4 to 0 °, for example. The azimuth angle may be determined.

FIG. 5 is an explanatory diagram regarding the relative velocity and azimuth angle at the reflection point of the received reflected wave. The horizontal axis in FIG. 5 is the azimuth angle between the target detection device 3 and the object 72. The left vertical axis in FIG. 5 is the distance between the target detection device 3 and the object 72. The right vertical axis in FIG. 5 is the relative speed between the target detection device 3 and the object 72. The solid line is the distance between the target detection device 3 and the object 72. A broken line is a relative speed between the target detection device 3 and the object 72. The distance in the vertical direction (reference distance Ydist) between the target detection device 3 and the object 72 in the transport direction is set to 1 m, for example. The conveyance speed (vline) is set to 1 m / s, for example.

The control unit 51 of the radar ECU 5 can derive the distance, the azimuth angle, and the relative speed between the target detection device 3 and the target object 72 by analyzing the plurality of received reflected waves. Since the control unit 51 of the radar ECU 5 has a clock function, the reception time of each of the plurality of received reflected waves is acquired. That is, the control unit derives a detection point of the reflected wave based on the analysis result of the reflected wave. The information related to the detection point includes the distance between the reflection point and the target detection device 3 in the reflected wave, the relative speed, the azimuth angle, the radio wave intensity, and whether or not it is a stationary point.

As shown in FIG. 5, the relative speed between the target detection device 3 and the target object 72 is initially a negative value, the target detection apparatus 3 is approaching the target object 72, and the relative speed is 0 [m / s]. Exceeds the value, it indicates a positive value, indicating that the target detection device 3 is moving away from the object 72. The azimuth angle at which the relative speed is 0 [m / s] is, for example, 0 °.

The distance between the target detection device 3 and the object 72 also changes so that the distance becomes small at first, and after the time when the distance becomes the minimum value, the distance changes so as to become large. This time point when the distance becomes the minimum value coincides with a time point when the relative speed becomes 0 [m / s]. The minimum value of the distance can be regarded as a vertical component (reference distance) with respect to the conveyance direction in the radar device 4 of the target detection device 3 and the object 72. Therefore, the radar ECU 5 can derive a vertical component (reference distance) with respect to the conveyance direction in the radar device 4 of the target detection device 3 and the object 72 by analyzing the plurality of received reflected waves.

FIG. 6 is an explanatory diagram regarding the correspondence (table) with the azimuth angle and the individual correction angle. In the storage unit 52 of the target detection device 3, for example, a correction angle with respect to an azimuth angle (rated azimuth angle) obtained by dividing a transmission angle in a transmission range of a transmission wave by a predetermined unit in a table format as shown in FIG. And stored in the storage unit 52. The rated azimuth angle is an azimuth angle divided in units of 1 ° when the transmission angle of the transmission wave from the radar device 4 is 140 °, for example. The correction angle includes an overall correction angle and an individual correction angle. The overall correction angle is for correcting the deviation of the optical axis (bauxite) depending on the mounting angle or mounting position of the radar device 4. The individual correction angle is used to correct a deviation due to a detection error or the like with respect to each azimuth angle derived in the reflected wave. Moreover, the total value of the whole correction angle and the individual correction angle may be registered in the table. Alternatively, the correction angle of either the whole correction angle or the individual correction angle may be registered in the table.

The method of manufacturing the target detection device 3 in the present embodiment includes, for example, an overall correction angle that depends on the mounting state of the radar device 4 and an individual azimuth angle (rated azimuth angle) determined in the table. The method includes the steps of deriving different individual correction angles for each azimuth angle and registering these correction angles (overall correction angle and individual correction angle).

When the target detection device 3 is mounted on the vehicle 1, variations in the mounting angle or the mounting position may occur in the individual target detection devices 3 due to tolerances or the like. On the other hand, in the manufacturing process, the target detection device 3 in which the correction angle corresponding to each target detection device 3 is registered and stored in a table format, for example, or the vehicle on which the target detection device 3 is mounted. By manufacturing 1, the variation can be eliminated.

FIG. 7 is a flowchart showing a manufacturing process (processing of the control unit 51) according to Embodiment 1 (shortest distance, conveyance speed). The control unit 51 of the radar ECU 5 of the target detection device 3 performs the following when the target detection device 3 is already carried on the vehicle 1 on the conveyance path 71 of the production line 7 of the vehicle 1. Processing is performed, and the manufacturing process of the target detection device 3 is performed.

The control unit 51 of the radar ECU 5 acquires the transport speed of the transport path 71 included in the control signal, for example, by acquiring a control signal from a control system that performs overall control of the production line 7 (S101). The control unit 51 may acquire a control signal including the conveyance speed via, for example, the body ECU 6. Or the control part 51 may acquire the control signal containing a conveyance speed with the output from the apparatus for an inspection mounted in the vehicle 1. FIG.

The control unit 51 transmits the transmission wave a plurality of times at a predetermined cycle via the transmission unit 41 of the radar device 4 (S102). Since the target detection device 3 is mounted on the vehicle 1 and the vehicle 1 is transported at a predetermined transport speed on the transport path 71, the control unit 51 transports, that is, moves, the target detection device 3. In the state of being transmitted, the transmission wave is transmitted a plurality of times. That is, the control unit 51 transmits the transmission wave a plurality of times without stopping the conveyance of the vehicle 1.

The control unit 51 receives the reflected wave reflected by the object 72 (inspection target) a plurality of times via the receiving unit 43 of the radar apparatus 4 (S103). In the description of the flowchart, transmission of transmission waves and reception of reflected waves are described separately, but it goes without saying that transmission and reception are actually performed a plurality of times in a predetermined cycle.

The control unit 51 analyzes the received plurality of reflected waves (S104). The reflected wave is analyzed by, for example, FFT analysis, and the control unit 51 derives the distance, the azimuth angle, and the relative velocity between the object 72 and the radar device 4 in each reflected wave by performing the analysis. The control unit 51 has a clock function and acquires the reception time in each reflected wave. The control unit 51 associates the reception time, distance, azimuth angle, and relative speed of each of the derived reflected waves, and stores them in the storage unit 52 as the detection points of the reflected waves.

The control unit 51 derives a reference detection point based on the distance from the object 72 (S105). The control unit 51 derives the detection point of the reflected wave having the shortest distance from the object 72 as the reference detection point in the plurality of received reflected waves. At the time of receiving the reflected wave that is the detection point with the shortest distance to the object 72, the radar device 4 is present beside the object 72, that is, at a position substantially perpendicular to the transport direction (see FIG. 4B). Can be considered.

The control unit 51 derives a reference distance from the object 72 (S106). This reference distance corresponds to a vertical component with respect to the transport direction at the distance between the radar apparatus 4 and the object 72. The reference detection point derived in S105 is the detection point having the shortest distance from the object 72, and the control unit 51 derives the shortest distance from the object 72 as the reference distance.

The control unit 51 derives and stores the overall correction angle (S107). The azimuth angle with the object 72 at the reference detection point should be perpendicular to the conveyance direction, that is, 90 °. If the azimuth angle derived by the reference detection point is not 90 °, the difference between these angles is the radar device. 4 corresponds to the overall correction angle depending on the mounting position or mounting angle. The control unit 51 derives an overall correction angle based on the difference between the azimuth angle derived from the reference detection point and 90 °, and stores the overall correction angle in the nonvolatile storage unit 52. The control part 51 may memorize | store the whole correction angle by registering in a table (refer FIG. 6), for example. The storage area in which the entire correction angle is stored is not limited to the storage unit 52 of the radar ECU 5, but includes all storage areas that the radar ECU 5 can refer to, for example, via the in-vehicle LAN 2, such as the storage unit 62 of the body ECU 6. .

The control unit 51 derives a traveling direction component of the distance from the object 72 based on the reception time of each reflected wave received a plurality of times (S108). The control unit 51 calculates a difference between the reception time of the reflected wave at the reference detection point and the reception time of each of the reflected waves received a plurality of times. For example, the difference (dt [s]) is obtained by subtracting the reception time of the reflected wave at the reference detection point from the reception time of each reflected wave (difference = reception time of the reflected wave−reception time of the reflected wave at the reference detection point). And In this case, the reflected wave whose difference is a negative value is received before passing through the object 72, and the reflected wave whose difference is a positive value is received after passing through the object 72. is there. Since the vehicle 1 is transported at a predetermined transport speed (vline [m / s]) in the transport path 71, by multiplying the transport speed by a difference (vline [m / s] × dt [s]), It is possible to derive a parallel component with respect to the conveyance direction at the distance between the radar device 4 and the object 72 at the time of receiving each reflected wave, that is, the traveling direction component (Xdist) and the front-rear direction.

The control unit 51 derives an individual correction angle for each of the reflected waves received a plurality of times (S109). Based on the traveling direction component (Xdist) of the distance between the radar apparatus 4 and the object 72 derived in S108 and the reference distance (Ydist) derived in S106, the control unit 51 uses the radar apparatus 4 and the object 72. An assumed azimuth angle is derived. The assumed azimuth angle is calculated by arctan (reference distance (Ydist) / traveling direction component (Xdist)) using, for example, a trigonometric function.

The control unit 51 derives, as the individual correction angle, the difference between the derived assumed angle and the azimuth angle derived in the process of S104 in each of the reflected waves received a plurality of times. The control unit 51 stores the individual correction angle of each derived reflected wave in the storage unit 52 as in the process of S104. Accordingly, in this step, the reception time, distance, azimuth angle, relative speed, and individual correction angle of each reflected wave are associated and stored in the storage unit 52.

The control unit 51 derives the individual correction angle of the rated azimuth angle based on the individual correction angle, and stores it in the storage unit 52 (S110). As shown in FIG. 6, each individual correction angle is stored as corresponding to a rated azimuth angle obtained by dividing the transmission angle in the transmission range of the transmission wave, for example, in units of 1 °. However, the azimuth angle of each reflected wave derived by the process of S104 may not coincide with such a rated azimuth angle. Therefore, for example, the control unit 51 calculates a rated azimuth angle by using an interpolation method with respect to an arbitrary plurality of azimuth angles, and based on the individual correction angles corresponding to the arbitrary plural azimuth angles, An individual correction angle corresponding to the azimuth angle is derived.

For example, with respect to the rated azimuth angle of 68 °, there are a first reflected wave with an azimuth angle of 67.5 ° and a second reflected wave with an angle of 68.5 °, and the correction angle of the first reflected wave is 0.02 °. If the correction angle of the second reflected wave is 0.04 °, the individual correction angle of the rated azimuth angle 68 ° can be derived as 0.03 °. A reflected wave that becomes a plurality of azimuth angles that increase or decrease with respect to the rated azimuth angle is identified, and a weighted average obtained by multiplying each correction angle by a weight based on the deviation between the azimuth angle and the rated azimuth angle is used to obtain the rated azimuth angle. A corresponding individual correction angle may be derived.

The control unit 51 stores the individual correction angle corresponding to the derived rated azimuth angle in the storage unit 52 in association with the rated azimuth angle. The control part 51 may memorize | store an individual correction angle by registering in a table (refer FIG. 6), for example. The rated azimuth angle corresponds to the azimuth angle between the target detected by the target detection device 3 and the vehicle 1 during normal driving of the vehicle 1.

Since the production line 7 can produce the target detection device 3 or the vehicle 1 on which the target detection device 3 is mounted without stopping the conveyance of the vehicle 1, the time required for the production process can be shortened. it can.

When the vehicle 1 is transported, the shortest distance between the object 72 (inspection target) installed next to the transport path 71 of the production line 7 and the radar device 4 is the reference distance, that is, the object 72. By using a vertical component of the distance to the radar apparatus 4 with respect to the transport direction, it is possible to accurately derive the overall correction angle that depends on the mounting position of the radar apparatus 4 and the like.

The individual correction corresponding to each azimuth angle derived from each reflected wave by the parallel component (traveling direction component) of the distance between the object 72 and the radar apparatus 4 derived from the reference distance and the conveyance speed with respect to the conveyance direction. An angle can be derived.

Based on these individual correction angles, an individual correction angle corresponding to a predetermined rated azimuth angle is derived, and by storing the rated azimuth angle and the individual correction angle in association with each other, the direction derived by the vehicle 1 during traveling is derived. Angle correction can be performed by simple processing, and processing time can be reduced.

(Embodiment 2)
FIG. 8 is a flowchart showing a manufacturing process (processing of the control unit 51) according to the second embodiment (relative speed, distance). The manufacturing process according to the second embodiment is different from the first embodiment in that a reference detection point is derived based on the relative speed with the object 72. The processing from S201 to S204 is the same as the processing from S101 to S104 of the first embodiment.

The control unit 51 derives a reference detection point based on the relative speed with the object 72 (S205). The relative speed between the object 72 and the radar apparatus 4 in each of the plurality of reflected waves is derived and stored in the storage unit 52 by the process of S204. The relative speed between the object 72 and the radar apparatus 4 is reversed between positive and negative depending on the positional relationship between the object 72 and the radar apparatus 4 in the conveyance path 71. That is, in two reflected waves received in succession, when the relative velocity of one of these reflected waves is positive and the other relative velocity is negative, the radar device 4 receives the two reflected waves. , The object 72 is passed. The control unit 51 identifies two consecutively received reflected waves in which one relative velocity is positive and the other relative velocity is negative, and includes the two reflected waves or the two reflected waves. Based on the plurality of reflected waves, a virtual reference detection point having a relative velocity of 0 m / s is derived using, for example, an interpolation method. Then, the control unit 51 determines the radar apparatus 4 and the target at the virtual reference detection point where the relative speed is 0 m / s based on the relative speed and distance between the radar apparatus 4 and the object 72 for each of the two reflected waves. The distance from the object 72 is derived. The process of deriving the virtual reference detection point is performed by, for example, interpolation method or the like, based on the two reflected waves, the reception time at which the relative velocity is assumed to be 0 m / s, and the radar device 4 and the object at the reception time. The process of deriving the distance to 72 and the relative distance is included. Or the control part 51 may determine the reflected wave with the smallest absolute value of relative velocity with the target object 72 as a reference | standard detection point.

The control unit 51 derives a reference distance from the object 72 (S206). The control unit 51 derives the distance at the virtual reference detection point derived in S205 as the reference distance from the object 72. The process of 207 is the same as the process of S107 of the first embodiment.

The control unit 51 derives the distance from the object 72 in each reflected wave (S208). Based on the analysis result of the reflected wave, which is the process of S204, the control unit 51 derives the distance from the object 72 in each reflected wave (detection point).

The control unit 51 derives an individual correction angle for each reflected wave (S209). The control unit 51 assumes each reflected wave (detection point) based on the distance (R) between the radar apparatus 4 and the object 72 in each reflected wave (detection point) derived in S208 and the reference distance derived in S206. The assumed azimuth angle between the radar device 4 and the object 72 is derived. The control unit 51 uses, for example, a trigonometric function to derive an assumed azimuth angle based on arcsin (reference distance / distance (R) between the radar device 4 and the object 72). The control unit 51 derives the difference between the azimuth angle of each reflected wave (detection point) and the assumed azimuth angle as an individual correction angle. The process of S210 is the same as the process of S110 of the first embodiment.

Based on two consecutively received reflected waves in which one relative velocity is positive and the other relative velocity is negative, the radar apparatus 4 and the object 72 at the virtual reference detection point where the relative velocity is 0 m / s. Since the distance (reference distance) is derived, the reference distance can be accurately derived. Based on the reference distance, the overall correction angle and the individual correction angle can be accurately derived.

(Modification 1)
FIG. 9 is an explanatory diagram regarding the correspondence (table) between the azimuth angle and the individual correction angle in the manufacturing process according to the first modification. The manufacturing process according to Modification 1 is different from

Embodiments

1 and 2 in that the detected azimuth angle itself and the individual correction angle corresponding to the azimuth angle are stored in the storage unit 52.

In the first and second embodiments, based on the detected azimuth angle, for example, an individual correction angle corresponding to a predetermined azimuth angle predetermined in a table format is derived, and the rated azimuth angle and the individual correction angle are associated with each other and stored. However, the present invention is not limited to this. As shown in FIG. 9, the control unit 51 of the radar ECU 5 stores the detected azimuth angle itself and the individual correction angle corresponding to the azimuth angle in the storage unit 52 by, for example, registering them in a table. Good.

The manufacturing process can be simplified by storing the detected azimuth angle itself and the individual correction angle corresponding to the azimuth angle in association with each other.

(Modification 2)
FIG. 10 is an explanatory diagram relating to the production line 7 in the production process according to the second modification. The manufacturing process according to the modified example 1 is different from that of the first embodiment in that transmission waves are transmitted from the front and rear of the vehicle 1, that is, the radar devices 4 provided on the front bumper 11 and the rear bumper 12 and the like.

In the description of the first embodiment, a transmission wave is transmitted from the radar device 4 mounted on the left side of the front bumper 11, and a correction angle corresponding to each azimuth angle is derived and stored based on the received reflected wave. However, the present invention is not limited to this. The radar device 4 is provided in front of and behind the vehicle 1, that is, in each of the front bumper 11 and the rear bumper 12, and transmits a transmission wave from each radar device 4 according to the conveyance state of the vehicle 1. The step of receiving the reflected wave reflected may be started.

The required time in the manufacturing process can be shortened by performing at least a part of the manufacturing process of the radar apparatus 4 provided before and after the vehicle 1 in parallel with the same object 72.

Although the target object 72 is installed on the left side with respect to the conveyance path 71, it is not limited to this. The object 72 may be installed on the right side with respect to the conveyance path 71, and the object 72 may be installed on each of the left and right sides of the conveyance path 71.

By installing the object 72 on each of the left and right sides of the conveyance path 71, the radar apparatus 4 is provided on the front and rear sides and right and left sides of the vehicle 1, that is, on the left and right sides of the front bumper 11 and the left and right sides of the rear bumper 12. By performing at least a part of the manufacturing process of one radar device 4 in parallel, the time required for the manufacturing process can be shortened.

It should be considered that the embodiment disclosed this time is illustrative in all respects and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Body frame 11 Front bumper 12 Rear bumper 13 Holding member 2 Car interior LAN
DESCRIPTION OF SYMBOLS 3 Target detection apparatus 4 Radar apparatus 41 Transmission part 42 Transmission antenna 43 Reception part 44 Reception antenna 5 Radar ECU
51 Control Unit 52 Storage Unit 521 Recording Medium 53 Communication Unit 54 Input / Output Interface 6 Body ECU
61 Control Unit 62 Storage Unit 63 Communication Unit 64 Input / Output Interface 7 Production Line 71 Transport Path 72 Object (Inspection Target)
8 Notification unit 9 Vehicle speed detection unit

Claims

A method for manufacturing a target detection device mounted on a vehicle transported at a predetermined transport speed on a transport path of a production line,
Obtaining information on the transport speed;
Before and after the vehicle passes through an object provided on the side of the conveyance path at the conveyance speed, the target detection device transmits a transmission wave a plurality of times, and is reflected by the object. Receiving a plurality of times,
Deriving a reference detection point for deriving a reference distance between the target detection device and the object based on each of the reflected waves received a plurality of times;
Deriving an azimuth angle between the target detection device and the object at the derived reference detection point;
Deriving an overall correction angle of the target detection device based on the derived azimuth angle;
Storing the derived information relating to the overall correction angle in a predetermined storage area.
The step of deriving the reference detection point includes
In each of the reflected waves received a plurality of times, a step of deriving the detection point of the reflected wave with the shortest distance as the reference detection point is the distance between the target detection device derived from each of the reflected waves and the object. The manufacturing method of the target detection apparatus of Claim 1 characterized by these.
The step of determining the reference detection point includes
In each of the reflected waves received a plurality of times, when the sign of the relative velocity between the target detection device and the object derived from the two consecutively received reflected waves is reversed, based on each of the two reflected waves The method for producing a target detection apparatus according to claim 1, further comprising a step of deriving a reference detection point.
After the step of deriving the reference detection point,
Deriving each azimuth angle between the target detection device and the object in each of the reflected waves received a plurality of times;
Deriving a time difference between a reference reception time at which the reflected wave at the reference detection point is received and a reception time at which each of the reflected waves received a plurality of times is received;
Deriving an individual correction angle in each of the reflected waves based on the reference distance, the acquired transport speed, each of the derived azimuth angles and each of the time differences;
The method for manufacturing a target detection apparatus according to any one of claims 1 to 3, further comprising: storing information on the derived individual correction angle in a predetermined storage area.
After the step of deriving the reference detection point,
Deriving each distance and azimuth angle between the target detection device and the object in each of the reflected waves received a plurality of times;
Deriving an individual correction angle in each of the reflected waves based on the reference distance, each of the derived distances and each of the azimuth angles;
The method for manufacturing a target detection apparatus according to any one of claims 1 to 3, further comprising: storing information on the derived individual correction angle in a predetermined storage area.
The step of storing in the predetermined storage area includes:
The method further comprises a step of registering, in a table format, an azimuth angle and an individual correction angle in each of the received reflected waves, or a sum of the azimuth angle and the overall correction angle and the individual correction angle. The manufacturing method of the target detection apparatus of Claim 5.
The step of storing in the predetermined storage area includes:
An individual correction angle corresponding to each of the rated azimuth angles obtained by dividing the transmission angle of the transmission range in the horizontal direction of the transmission wave transmitted by the target detection device in a predetermined angle unit based on the individual correction angles at an arbitrary plurality of azimuth angles. The method includes: a step of deriving and storing the rated azimuth angle and the individual correction angle corresponding to the derived rated azimuth angle in association with each other in a predetermined storage area. The manufacturing method of the target detection apparatus as described in any one.
The step of storing in the predetermined storage area includes:
The method for manufacturing a target detection apparatus according to claim 7, further comprising: registering the rated azimuth angle and an individual correction angle corresponding to the rated azimuth angle in a table format.
A method for manufacturing a vehicle in which the target detection device is mounted and transported at a predetermined transport speed on a transport path of a manufacturing line,
A method for manufacturing a vehicle, comprising the method for manufacturing a target detection device according to any one of claims 1 to 8.
Obtain the transport speed on the transport path of the production line that transports the vehicle equipped with the target detection device on the computer,
Each of the reflected waves reflected by the object of the transmission wave transmitted a plurality of times by the target detection device before and after the vehicle passes through the object provided on the side of the conveyance path at the conveyance speed. Get
Based on each of the acquired reflected waves, a reference detection point for deriving a reference distance between the target detection device and the object is derived.
Deriving the azimuth angle between the target detection device and the object at the derived reference detection point,
Based on the derived azimuth angle, an overall correction angle of the target detection device is derived,
A program for executing a process of storing information on the derived overall correction angle in a predetermined storage area.