US 12,222,439 B2
Aliasing determination device
Katsuhiko Kondo, Nisshin (JP); and Takuya Takayama, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Mar. 3, 2022, as Appl. No. 17/653,437.
Application 17/653,437 is a continuation of application No. PCT/JP2020/032912, filed on Aug. 31, 2020.
Claims priority of application No. 2019-162006 (JP), filed on Sep. 5, 2019.
Prior Publication US 2022/0187422 A1, Jun. 16, 2022
Int. Cl. G01S 7/40 (2006.01); G01S 7/35 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/40 (2013.01) [G01S 7/35 (2013.01); G01S 13/931 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An aliasing determination device comprising:
an information acquisition section configured to repeatedly acquire observation point information of an object that is present within a predetermined detection region from a radar device mounted on a vehicle, the observation point information including an observation point and an observation direction, which is an observed direction of the observation point relative to a designated direction, wherein the designated direction is at least one of a horizontal direction and a vertical direction;
an axial misalignment acquisition section configured to obtain an orientation of the radar device when the radar device is mounted at a reference position as a reference mounting direction and an actual orientation of the radar device as an actual mounting direction and to acquire an axial misalignment amount of the actual mounting direction with respect to the reference mounting direction toward the designated direction;
a target object determination section configured to determine whether a target object is present in the reference mounting direction of a vehicle;
an aliasing calculation section configured to calculate an aliasing direction, which is a direction estimated when there is phase aliasing in the observation direction included in the observation point information; and
an instantaneous determination section configured to perform a phase aliasing determination in response to the target object determination section determining that the target object is present in the reference mounting direction of the vehicle, the phase aliasing determination determining whether the phase aliasing is present in the observation direction of the observation point,
wherein,
the instantaneous determination section is configured to:
calculate a first difference value which is a difference between the observation direction and the reference mounting direction and a second difference value which is a difference between the aliasing direction and the reference mounting direction;
when the first difference value is greater than the second difference value, determine that the aliasing direction is closer to the reference mounting direction than the observation direction and the phase aliasing is present in the observation direction of the observation point, and set the aliasing direction as an actual direction of the observation point; and
when the first difference value is lower than or equal to the second difference value, determine that the observation direction is closer to the reference mounting direction than the aliasing direction and the phase aliasing is absent in the observation direction of the observation point, and set the observation direction as the actual direction of the observation point.