JP6928436B2 - Radar device and control method of radar device - Google Patents

Description

The present invention relates to a radar device and a control method for the radar device.

In Patent Document 1, target information (information indicating a relative speed, distance, and direction of a target) acquired by a radar device and an imaging device is transmitted to a target recognition ECU (upper ECU), and integrated processing is performed in the upper ECU. However, a technique for executing driving support processing based on the result of integrated processing is disclosed.

Japanese Unexamined Patent Publication No. 2015-21858

By the way, depending on the vehicle, the target information acquired by the radar device and the image pickup device may not be integratedly processed by the host ECU. In such a case, the radar device itself needs to execute the driving support process. For this reason, since it is necessary to change the settings and wiring for each vehicle to be installed, there is a problem that the installation work becomes complicated and the management of the product number of the radar device becomes complicated.

An object of the present invention is to provide a radar device and a control method for the radar device, which do not require complicated settings for each vehicle type to be mounted.

In order to solve the above problems, the present invention detects, in a radar device mounted on a vehicle, a target detection unit that detects a target existing in the vicinity of the vehicle and a state in which the radar device is attached to the vehicle. It has a mounting status detection unit and a selection unit for selecting an output format of information about the target detected by the target detection unit according to the mounting status detected by the mounting status detection unit. It is a feature.
According to such a configuration, it is possible to reduce the need for complicated settings for each vehicle type to be installed.

Further, in the present invention, when a warning unit for issuing a warning to the radar device is connected to the selection unit and a target is detected by the target detection unit, the warning is given. It is characterized in that a unit is driven to issue a warning, and in other cases, information indicating the state of the target is output.
According to such a configuration, since the operation method can be automatically selected according to the attachment method of the radar device, it is possible to save the trouble of attaching the radar device to the vehicle.

Further, in the present invention, the warning unit is an LED (Light Emitting Diode), a lamp, a speaker, or a buzzer, and the selection unit is the LED when a target is detected by the target detection unit. Alternatively, the lamp is turned on, or a sound is emitted from the speaker or the buzzer to issue a warning, and in other cases, information indicating the state of the target is output.
According to such a configuration, since the operation method can be automatically selected according to the attachment method of the radar device, it is possible to save the trouble of attaching the radar device to the vehicle.

Further, in the present invention, a pair of radar devices are mounted on the left and right sides of the front or rear of the vehicle, and the LED, the lamp, the speaker, or the buzzer are connected to each of the pair of radars. The device has a connection presence / absence detection unit that detects the presence / absence of connection of the LED, the lamp, the speaker, or the buzzer, and both of the pair of connection presence / absence detection units are the LED, the lamp, the speaker, or the buzzer. When it is detected that the buzzer is not connected, information indicating the state of the target is output.
According to such a configuration, when the LED is connected but the open failure occurs, it is possible to prevent erroneous detection that the LED is not connected.

Further, in the present invention, the radar device can be connected to a higher-level ECU (Electric Control Unit), and when the mounting status detection unit receives predetermined information from the higher-level ECU, the selection unit is the above-mentioned object. It is characterized in that information indicating the state of the target is selected and output.
According to such a configuration, selection can be made according to the information from the host ECU, so that the configuration for electrically detecting the LED can be omitted.

Further, in the present invention, the radar device has a storage unit for storing parameters for detecting the target and a parameter selection unit for selecting the parameters according to the vehicle type for each vehicle type to be attached. When the mounting status detection unit receives information about a vehicle model from the higher-level ECU, the parameter selection unit selects the corresponding parameter.
According to such a configuration, the optimum parameters according to the vehicle type to which the radar device is attached are automatically selected, so that the trouble of installing the radar device can be saved.

Further, in the present invention, the storage unit has an area for storing parameters different for each vehicle type and an area for storing invariant parameters for each vehicle type, and the mounting status detection unit provides information on the vehicle type from the upper ECU. When the parameter is received, the parameter selection unit selects a parameter from an area for storing invariant parameters for each vehicle type, and also selects a corresponding parameter from an area for storing different parameters for each vehicle type. And.
With such a configuration, the radar device can be easily installed in any vehicle type.

Further, according to the present invention, in the control method of the radar device mounted on the vehicle, the target detection step for detecting the target existing around the vehicle and the mounting status for detecting the mounting status of the radar device on the vehicle. It is characterized by having a detection step and a selection step of selecting an output format of information about the target detected in the target detection step according to the mounting status detected in the mounting status detection step. ..
According to such a method, it is possible to reduce the need to make complicated settings for each vehicle type to be installed.

According to the present invention, it is possible to provide a radar device and a control method of the radar device, which do not require complicated settings for each vehicle type to be attached.

It is a figure which shows the mounting example of the radar apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the structural example of the radar apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows the detailed configuration example of the control / processing part shown in FIG. It is a flowchart for demonstrating operation of 1st Embodiment of this invention. It is a flowchart for demonstrating operation of 2nd Embodiment of this invention. It is a figure which shows the structural example of the 3rd Embodiment of this invention. It is a flowchart for demonstrating operation of 3rd Embodiment of this invention.

Next, an embodiment of the present invention will be described.

(A) Explanation of Configuration of First Embodiment FIG. 1 is a diagram showing an implementation example of a radar device according to the first embodiment of the present invention. As shown in this figure, the radar devices 1-1 to 1-4 according to the first embodiment of the present invention are arranged on the left and right sides of the front portion and the left and right sides of the rear portion of the vehicle C, respectively. Radar devices 1-1 and 1-2 arranged on the left and right sides of the front part of the vehicle C detect targets (for example, other vehicles, bicycles, people, etc.) existing in the detection areas DFL and DFR. Further, radar devices 1-3 and 1-4 arranged on the left and right sides of the rear part of the vehicle C detect targets existing in the detection areas DRL and DRR.

FIG. 2 is a diagram showing a configuration example of the radar device 1 shown in FIG. Since the radar devices 1-1 to 1-4 have the same configuration, they will be described below as the radar device 1. As shown in FIG. 2, the radar device 1 has a local oscillation unit 10, a transmission unit 11, a control / processing unit 14, a reception unit 15, and an A / D (Analog to Digital) conversion unit 20 as main components. There is. A bus 22, a host ECU (Electric Control Unit), and a camera 24 composed of an LED (Light Emitting Diode) 21, a CAN (Controller Area Network), and the like are connected to the radar device 1 according to the arrangement location. ..

Here, the local oscillation unit 10 generates a CW (Continuous Wave) signal having a predetermined frequency and supplies it to the transmission unit 11 and the reception unit 15.

The transmission unit 11 has a modulation unit 12 and a transmission antenna 13, and the CW signal supplied from the local oscillation unit 10 is pulse-modulated by the modulation unit 12 and transmitted to a target via the transmission antenna 13.

The modulation unit 12 of the transmission unit 11 is controlled by the control / processing unit 14, and pulse-modulates and outputs the CW signal supplied from the local oscillation unit 10. The transmitting antenna 13 transmits the pulse signal supplied from the modulation unit 12 toward the target.

The control / processing unit 14 controls the modulation unit 12, the gain variable amplification unit 18, and the antenna switching unit 17, and executes arithmetic processing on the received data supplied from the A / D conversion unit 20. , Detects a target.

FIG. 3 is a block diagram showing a detailed configuration example of the control / processing unit 14 shown in FIG. As shown in FIG. 3, the control / processing unit 14 includes a control unit 14a, a processing unit 14b, a detection unit 14c, and a selection unit 14d. Here, the control unit 14a is composed of, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and each unit of the device is based on the data stored in the ROM and the RAM. To control. The processing unit 14b is configured by, for example, a DSP (Digital Signal Processor) or the like, executes processing on a digital signal supplied from the A / D conversion unit 20, and detects a target. The detection unit 14c detects the mounting status of the radar device 1 on the vehicle. The selection unit 14d selects and outputs information according to the mounting status of the radar device 1 on the vehicle C.

The receiving unit 15 has a receiving antenna 16, an antenna switching unit 17, a gain variable amplification unit 18, and a demodulation unit 19, and receives a signal transmitted from the transmission antenna 13 and reflected by a target to perform demodulation processing. After the application, the output is output to the A / D conversion unit 20.

The receiving antenna 16 of the receiving unit 15 is composed of a plurality of antennas, receives a signal transmitted from the transmitting antenna 13 and reflected by a target, and supplies the signal to the antenna switching unit 17. The antenna switching unit 17 is controlled by the control unit 14a of the control / processing unit 14, selects any one of the receiving antennas 16, and supplies the received signal to the gain variable amplification unit 18. The gain variable amplification unit 18 has a gain controlled by the control unit 14a of the control / processing unit 14, amplifies the received signal supplied from the antenna switching unit 17 with a predetermined gain, and outputs the gain to the demodulation unit 19. The demodulation unit 19 demodulates the received signal supplied from the gain variable amplification unit 18 using the CW signal supplied from the local oscillation unit 10 and outputs it.

The A / D conversion unit 20 samples the received signal supplied from the demodulation unit 19 at a predetermined cycle, converts it into a digital signal, and supplies it to the control / processing unit 14.

The LED 21 emits a part of the side mirrors when, for example, the radar devices 1 arranged in the left and right side mirrors SML and SMR and the rear left and right radar devices 1 detect another vehicle approaching from behind. By letting the driver know the existence of a vehicle approaching from behind, he calls attention.

The bus 22 is a group of signal lines for connecting a plurality of radar devices 1 arranged in the front-rear direction or the left-right direction to each other and enabling information exchange between them. Further, the bus 22 connects the upper ECU 23, the camera 24, a plurality of radar devices 1 and the like to each other, and enables information to be exchanged between them. An ultrasonic sensor or the like may be connected to the bus 22.

The upper ECU 23 is composed of, for example, a CPU, a ROM, a RAM, or the like, executes a process of integrating information supplied from a plurality of radar devices 1 and a camera 23, and issues a warning based on the integrated information. , Execute control such as operating brakes to avoid danger.

The camera 24 is arranged on, for example, a windshield or a rear glass, captures a situation in front of or behind the vehicle, and supplies the camera 24 to the upper ECU 23. Although only one camera 24 is shown in FIG. 2, a plurality of cameras may be provided.

(B) Description of Operation of First Embodiment Next, the operation of the first embodiment of the present invention will be described. In FIG. 1, it is assumed that the radar devices 1-1 and 1-2 are connected to the upper ECU 23 via the bus 22. Further, it is assumed that the radar devices 1-3 and 1-4 are connected to the LEDs 21 arranged in the side mirrors SML and SMR of the vehicle C, respectively. Of course, such a connection method is an example, and it goes without saying that the present invention is not limited to such a case.

The radar devices 1-1 and 1-2 arranged at the front of the vehicle C are connected to each other by the bus 22, and are connected to the camera 24 and the upper ECU 23 arranged on the windshield by the bus 22. The LED 21 is not connected to the radar devices 1-1 and 1-2 in this example. Of course, it may be configured to connect the LED 21.

In such a configuration, the detection unit 14c of the control / processing unit 14 of the radar devices 1-1 and 1-2 determines whether or not the LED 21 is connected. In the present example, since the LED 21 is not connected to the radar devices 1-1 and 1-2, the detection unit 14c determines that the radar devices 14c are not connected.

Next, the control unit 14a of the control / processing unit 14 of the radar devices 1-1 and 1-2 makes an inquiry to the other radar device via the bus 22, and the LED 21 is not connected to the other radar device either. Check if. It should be noted that the reason for making such an inquiry is that it is assumed that the LED 21 is out of order in the open state, and in such a case, it is possible to prevent erroneous detection that the LED 21 is not connected. As a result of the inquiry, when it is confirmed that the LED 21 is not connected to the other radar device, it is determined that the upper ECU 23 performs the integrated processing, and the selection unit 14d is the object detected by the processing unit 14b. Information about the position and speed of the target is selected and set to be supplied to the upper ECU 23 via the bus 22.

As a result, the upper ECU 23 executes a process of integrating the information on the position and speed of the target detected by the radar devices 1-1 and 1-2 and the image information captured by the camera 24, and the result of the integration. For example, a warning is given or control for avoiding danger (for example, brake control) is performed based on the above.

On the other hand, the radar devices 1-3 and 1-4 installed at the rear of the vehicle C are connected to the two LEDs 21 arranged in the side mirrors SML and SMR, respectively. As a result, the detection unit 14c of each of the control / processing units 14 of the radar devices 1-3 and 1-4 detects that the LED 21 is connected.

When the detection unit 14c detects that the LED 21 is connected, the selection unit 14d executes control for driving the LED 21 instead of outputting the position and speed information of the target as described above. As a result, for example, when another vehicle approaching from the rear is detected in the rear detection area DRR, the LED 21 arranged in the side mirror SMR is turned on to warn the approach of the vehicle from the right rear. do. Further, when another vehicle approaching from the rear is detected in the rear detection area DRL, the LED 21 arranged in the side mirror SML is turned on to warn the approach of the vehicle from the left rear.

Next, an example of the processing executed in the first embodiment will be described with reference to FIG. The flowchart shown in FIG. 4 is executed in each radar device. When the processing of the flowchart shown in FIG. 4 is started, the following steps are executed.

In step S10, the detection unit 14c detects whether or not the LED 21 is connected. For example, the detection unit 14c detects the presence or absence of the connection of the LED 21 based on the resistance value of the terminal to which the LED 21 is connected.

In step S11, the control unit 14a determines whether or not the LED 21 is connected based on the detection result of the detection unit 14c in step S10, and when it is determined that the LED 21 is connected (step S11: Y). Proceeds to step S12, and otherwise proceeds to step S13 (step S11: N).

In step S12, the selection unit 14d selects the LED 21 as an output destination so as to operate as a driving support function. More specifically, the radar device 1 detects a target in the detection area, and when it is determined that the target may come into contact with or collide with the own vehicle, the LED 21 is turned on to warn the user. I do.

In step S13, the control unit 14a determines whether or not the LED 21 is not connected based on the detection result of the detection unit 14c in step S10, and if it is determined that the LED 21 is not connected (step S13: Y), The process proceeds to step S14, and in other cases (step S13: N), the process ends.

In step S14, the control unit 14a makes an inquiry to the other radar device 1 via the bus 22, determines whether or not the LED 21 is not connected to the other radar device 1, and determines whether the LED 21 is not connected to the other radar device 1. If it is determined that the LED 21 is not connected even in the device 1 (step S14: Y), the process proceeds to step S15, and in other cases (step S14: N), the process ends.

In step S15, the selection unit 14d outputs the position and speed information of the target detected by the processing unit 14b to the upper ECU 23 via the bus 22. As a result, the host ECU 23 executes a process of integrating the information detected by the plurality of radar devices 1 and the camera 24. In addition to the position and velocity information of the target, for example, acceleration information, information indicating the relationship with TTC (Time to Collision), and the like are transmitted to the upper ECU 23 via the bus 22 as information indicating the state of the target. It may be output. Of course, information other than these may be output.

As described above, according to the first embodiment of the present invention, the information to be output by the selection unit 14d is selected according to the arrangement status of the radar device 1, so that the setting is changed according to the mounting location. Since it is not necessary to do so, the trouble of installation can be saved.

Further, since the same radar devices 1-1, 1-2 installed in the front and the radar devices 1-3, 1-4 installed in the rear can be used, the radar device 1 can be reduced in part number. It is possible to suppress an increase in the manufacturing cost of the manufacturer and reduce the management cost of the vehicle manufacturer who attaches the radar device 1 to the vehicle.

(C) Description of Second Embodiment Next, a second embodiment of the present invention will be described. The configuration of the second embodiment is the same as that of FIGS. 1 to 3, but the processing to be executed is different. Therefore, in the following, the explanation will be focused on the different parts.

In the first embodiment, the information to be output by the selection unit 14d is selected according to the connection status of the LED 21, but when the information is received from the upper ECU 23, the position and speed information of the target is selected and output. If not received, the process of driving the LED 21 is executed.

By selecting the information to be output based on the information supplied from the host ECU 23 in this way, it is not necessary to electrically detect the connection state of the LED 21 as in the case of the first embodiment. The configuration can be simplified.

FIG. 5 is a flowchart for explaining an example of the process executed in the second embodiment. The process shown in FIG. 5 is executed in each radar device. When the flowchart shown in FIG. 5 is executed, the following steps are executed.

In step S30, the control unit 14a receives information from the host ECU 23. For example, the control unit 14a receives information regarding initial settings or bus control.

In step S31, the control unit 14a determines whether or not the predetermined information has been received in step S30, and if it is determined that the predetermined information has been received (step S31: Y), the upper ECU 23 is connected. If it is determined to be present, the process proceeds to step S32, and in other cases (step S31: N), the process proceeds to step S33.

In step S32, the selection unit 14d outputs the position and speed information of the target detected by the processing unit 14b to the upper ECU 23 via the bus 22. As a result, the host ECU 23 executes a process of integrating the information detected by the plurality of radar devices 1 and the camera 24.

In step S33, the selection unit 14d selects the LED 21 as an output destination so as to operate as a driving support function. More specifically, the radar device 1 detects a target in the detection area, and when it is determined that the target may come into contact with or collide with the own vehicle, the LED 21 is turned on to warn the user. I do.

As described above, according to the second embodiment of the present invention, by selecting the information to be output based on the information supplied from the upper ECU 23, the LED 21 is connected as in the case of the first embodiment. Since it is not necessary to detect the state electrically, the configuration of the device can be simplified.

(D) Description of Configuration of Third Embodiment Next, a configuration example of the third embodiment will be described. In the third embodiment, only the configuration of the control / processing unit 14 is different, and the other configurations are the same as those of the first embodiment shown in FIGS. 1 and 2. Hereinafter, a configuration example of the control / processing unit 14 will be described with reference to FIG.

FIG. 6 is a diagram showing a configuration example of the control / processing unit 14. In FIG. 6, the same reference numerals are given to the portions corresponding to those in FIG. 3, and the description thereof will be omitted. In FIG. 6, a storage unit 14e is newly added as compared with FIG. Here, the storage unit 14e stores the common parameter 14f and the parameter 14g for each vehicle type. Here, the common parameter 14f is a parameter that can be commonly used even if the vehicle type changes. Further, the parameter 14g for each vehicle type is a parameter different for each vehicle type on which the radar device 1 is mounted. The reason for using the parameters for each vehicle type is that the mounting position, angle, and the like of the radar device 1 are different for each vehicle type, so that the setting or correction is performed according to the vehicle type.

(E) Description of Operation of Third Embodiment Next, the operation of the third embodiment of the present invention will be described. In the third embodiment, when the control unit 14a acquires the information indicating the vehicle model from the upper ECU 23, the control unit 14a acquires the corresponding parameter from the vehicle model-specific parameter 14g of the storage unit 14e and supplies the corresponding parameter to the processing unit 14b to rewrite the parameter. At the same time as executing, the common parameter 14f is acquired and supplied to the processing unit 14b.

As a result, the processing unit 14b can accurately detect the target by using the parameters corresponding to the vehicle type to which the radar device 1 is attached.

FIG. 7 is a flowchart for explaining an example of the process executed in the third embodiment. The process shown in FIG. 7 is executed in each radar device. When the processing of the flowchart shown in FIG. 7 is started, the following steps are executed.

In step S50, the control unit 14a acquires information indicating the vehicle type from the host ECU 23 via the bus 22. It should be noted that information for specifying a desired parameter according to the vehicle type (for example, ID information, etc.) may be received instead of the information indicating the vehicle type.

In step S51, the control unit 14a acquires the parameter corresponding to the information indicating the vehicle model acquired in step S50 from the parameter 14g for each vehicle model of the storage unit 14e.

In step S52, the control unit 14a acquires the common parameter from the common parameter 14f of the storage unit 14e.

In step S53, the control unit 14a executes a process of rewriting the parameters stored in advance by the processing unit 14b according to the parameters acquired in steps S51 and S52.

In step S54, the processing unit 14b executes the target detection process based on the new parameters.

In step S55, the processing unit 14b outputs information regarding the position and speed of the target obtained in the processing of step S54 to the upper ECU 23 via the bus 22. As a result, the upper ECU 23 executes the integrated processing of the information detected by the plurality of radar devices 1 and the camera 24, and executes the processing of issuing a warning based on the information obtained by the integrated processing, or causes a danger. Execute processing to avoid.

(C) Description of Modified Embodiment The above embodiment is an example, and it goes without saying that the present invention is not limited to the above-mentioned cases. For example, in each of the above embodiments, as shown in FIG. 1, the case where the radar device 1 is arranged at the front and rear of the vehicle C has been described as an example, but the radar device 1 has been described in other places. May be placed.

Further, in each of the above embodiments, the upper ECU 23 integrates the information output from the plurality of radar devices 1 and the camera 24, but in addition to this, for example, the information output from the ultrasonic sensor can be integrated. It may be integrated processing.

Further, in each of the above embodiments, the LED 21 is used to issue a warning, but in addition to this, for example, a lamp (bulb or fluorescent lamp) that emits light, a speaker that emits a beep sound, a piezoelectric element, or the like is used. A buzzer may be used to issue a warning.

Further, in each of the above embodiments, the information output format is changed according to the connection status between the radar devices 1-3 and 1-4 arranged at the rear of the vehicle and the LED 21, but the front of the vehicle The arranged radar devices 1-1 and 1-2 may also perform the same processing.

Further, in the present embodiment, as shown in FIG. 2, a plurality of receiving antennas 16 are switched by the antenna switching unit 17, but a single receiving antenna may be used and the antenna switching unit 17 may not be provided. good.

Further, in the above embodiment, the motorcycle has been described as an example of the vehicle, but other than this, a motorcycle, a bicycle, or the like may be detected. That is, in the present specification, the vehicle is not limited to a four-wheeled vehicle.

Further, it goes without saying that the processing of the flowcharts shown in FIGS. 4, 5, and 7 is an example, and the present invention is not limited to the processing of these flowcharts.

1 Radar device 10 Local oscillator 11 Transmitter 12 Modulator 13 Transmitter antenna 14 Control / processing unit 14a Control unit (parameter selection unit)
14b Processing unit (target detection unit)
14c detection unit (mounting status detection unit, connection presence / absence detection unit)
14d selection section (selection section)
14e Storage unit (storage unit)
14f Common parameter 14g Parameter for each model 15 Receiver 16 Receiver antenna 17 Antenna switching unit 18 Gain variable amplification unit 19 Demodulation unit 20 A / D converter 21 LED (warning unit)
22 Bus 23 Higher ECU
24 camera

Claims (5)

In a radar device that is mounted on a vehicle and can be connected to a higher-level ECU (Electric Control Unit)
A target detection unit that detects targets existing around the vehicle, and
An attachment status detection unit that detects the attachment status of the radar device to the vehicle, and
When the target is detected by the target detection unit according to the mounting status detected by the mounting status detection unit, the control for driving the warning unit for issuing a warning is executed or the object is used. A selection unit that outputs information indicating the state of the target to the upper ECU, and
Have a,
When the warning unit is connected to the radar device and the target detection unit detects a target, the selection unit drives the warning unit to issue a warning. In other cases, the radar device is characterized by outputting information indicating the state of the target to the higher-level ECU. The warning unit is an LED (Light Emitting Diode), a lamp, a speaker, or a buzzer.
When a target is detected by the target detection unit, the selection unit lights the LED or the lamp, or emits a sound from the speaker or the buzzer to issue a warning, and other than that. The radar device according to claim 1 , wherein in the case, information indicating the state of the target is output to the higher-level ECU. A pair of radar devices are mounted on the left and right sides of the front or rear of the vehicle.
The LED, lamp, a speaker, or a buzzer are connected to each pair of the radar device,
The radar device has a connection presence / absence detection unit that detects the presence / absence of connection of the LED, the lamp, the speaker, or the buzzer, respectively.
When both of the pair of connection presence / absence detection units detect that the LED, the lamp, the speaker, or the buzzer is not connected, information indicating the state of the target is output to the upper ECU. The radar device according to claim 2 , wherein the radar device is characterized. In a radar device that is mounted on a vehicle and can be connected to a higher-level ECU (Electric Control Unit)
A target detection unit that detects targets existing around the vehicle, and
An attachment status detection unit that detects the attachment status of the radar device to the vehicle, and
When the target is detected by the target detection unit according to the mounting status detected by the mounting status detection unit, the control for driving the warning unit for issuing a warning is executed or the object is used. A selection unit that outputs information indicating the state of the target to the upper ECU, and
Have,
When the mounting status detection unit receives predetermined information from the higher-level ECU, the selection unit selects information indicating the state of the target and outputs it to the higher-level ECU.
Features and, Relais over Da device that. In the control method of the radar device mounted on the vehicle and connected to the upper ECU (Electric Control Unit)
A target detection step that detects a target existing around the vehicle, and
A mounting status detection step for detecting the mounting status of the radar device on the vehicle, and
When the target is detected in the target detection step according to the mounting status detected in the mounting status detection step, a control for driving a warning unit for issuing a warning is executed or the target is executed. A selection step that outputs information indicating the state of the target to the upper ECU, and
Have a,
In the selection step, when the warning unit is connected to the radar device and a target is detected in the target detection step, the warning unit is driven to issue a warning. A method for controlling a radar device, which comprises outputting information indicating the state of the target to the higher-level ECU in cases other than the above.

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