Driving support device and control method of driving support device

1. A driving support device comprising:

a radar installed in a vehicle, for detecting an object in a predetermined area; and

an electronic control unit comprising a CPU, a ROM, a RAM, a no-volatile memory, an interface I/F, wherein

the electronic control unit is configured to

perform a driving support control for supporting driving of a driver based on object information on the object detected by the radar;

detect an axis tilt state of the radar;

prohibit from performing the driving support control based on the object information without confirming an axis tilt error, at and after a time point at which the radar axis tilt state is detected;

determine whether or not the axis tilt state of the radar has disappeared before a predetermined time period elapses from the time point at which the radar axis tilt state is initially detected, the predetermined time period being a time period within which a cause for a temporary axis tilt state is expected to be removed;

stop prohibiting the driving support control, when the radar axis tilt state has disappeared before the predetermined time period elapses; and

determine whether or not the predetermined time period has elapsed using a continuation time period during which the radar axis tilt state continues being detected.

2. The driving support device according to claim 1 , wherein the electronic control unit is further configured to inform that the driving support control is unavailable without informing that an inspection is necessary, when prohibiting from performing the driving support control based on the object information without confirming the axis tilt error.

3. The driving support device according to claim 1 , wherein the electronic control unit is further configured to confirm the axis tilt error and to prohibit from performing the driving support control until a predetermined reset operation is detected, when the radar axis tilt state has not disappeared before the predetermined elapses.

4. The driving support device according to claim 3 , wherein the electronic control unit is further configured to inform that the driving support control is unavailable and an inspection is necessary, when prohibiting from performing the driving support control while the radar axis tilt error is confirmed.

5. A driving support device comprising:

a radar installed in a vehicle, for detecting an object in a predetermined area; and

an electronic control unit comprising a CPU, a ROM, a RAM, a no-volatile memory, an interface I/F, wherein

the electronic control unit is configured to

perform a driving support control for supporting driving of a driver based on object information on the object detected by the radar;

detect an axis tilt state of the radar;

prohibit from performing the driving support control based on the object information without confirming an axis tilt error, at and after a time point at which the radar axis tilt state is detected;

determine whether or not the axis tilt state of the radar has disappeared before a predetermined time period elapses from the time point at which the radar axis tilt state is initially detected, the predetermined time period being a time period within which a cause for a temporary axis tilt state is expected to be removed;

stop prohibiting the driving support control, when the radar axis tilt state has disappeared before the predetermined time period elapses; and

determine whether or not the predetermined time period has elapsed using the number of trips after the axis tilt is initially detected, each of the trips being one period for which an ignition switch continues being in an on state.

6. The driving support device according to claim 5 , wherein the electronic control unit is further configured to

count an axis tilt continuation time period which is a period for which the radar axis tilt state continues being detected;

determine whether or not a continuation condition is established, the continuation condition being a condition satisfied when the axis tilt continuation time period is equal to or longer than a predetermined time period in one trip being one period for which an ignition switch continues being in an on state;

count the number of the trips in each of which the continuation condition is established; and

determine that the predetermined time period has elapsed while the axis tilt state does not disappear, when the number of the trips reaches a predetermined number.

7. A control method of a driving support device including:

a detection step for determining whether or not an axis tilt state of a radar which is installed in a vehicle and which is able to detect an object in a predetermined area occurs;

a prohibition step for prohibiting the driving support device from performing a driving support control for supporting driving of a driver of the vehicle based on object information at and after a time point at which the axis tilt is initially detected in the detection step without confirming an axis tilt error;

a determination step for determining whether or not the axis tilt state has disappeared before a predetermined time period elapses from the time point at which the axis tilt is initially detected; and

a cancel step for stopping prohibiting the driving support device from performing the driving support control, when it is determined that the axis tilt state has disappeared before the predetermined time period elapses in the determination step, wherein

the determination step further determines whether or not the predetermined time period has elapsed using a continuation time period during which the radar axis tilt state continues being detected.