US 12,228,681 B2
Radar device
Katsuhiko Kondo, Nisshin (JP); and Takuya Takayama, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Sep. 15, 2022, as Appl. No. 17/932,587.
Application 17/932,587 is a continuation of application No. PCT/JP2021/007097, filed on Feb. 25, 2021.
Claims priority of application No. 2020-047820 (JP), filed on Mar. 18, 2020.
Prior Publication US 2023/0008853 A1, Jan. 12, 2023
Int. Cl. G01S 7/40 (2006.01); G01S 7/41 (2006.01); G01S 13/93 (2020.01); G01S 13/931 (2020.01)
CPC G01S 7/4034 (2021.05) [G01S 7/40 (2013.01); G01S 7/411 (2013.01); G01S 13/931 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A radar device including an axis deviation estimation device for estimating an axis deviation of the radar device when the radar device is mounted on a moving object, the radar device comprising:
an object information acquisition unit configured to repeatedly acquire object information including an object distance and an object azimuth angle, the object distance being a distance between the radar device and a reflection object corresponding to a reflection point of a radar wave that is detected by the radar device, the object azimuth angle being an azimuth angle at which the reflection object is located;
a roadside object extraction unit configured to extract roadside object information from the object information based on a predetermined extraction condition, the roadside object information being information on the reflection point on a roadside object provided in accordance with a predetermined condition on a side of a travel path at a higher position than the travel path in a direction in which the travel path extends, the travel path being a path in which the moving object travels;
a road surface extraction unit configured to extract road surface information from the object information based on a predetermined extraction condition, the road surface information being information on the reflection point on a road surface of the travel path in which the moving object travels; and
an axis deviation angle estimation unit configured to estimate a vertical axis deviation angle based on the roadside object information including information on a plurality of the reflection points on the roadside object and the road surface information including information on a plurality of the reflection points on the road surface, the vertical axis deviation angle being an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction, the actual mounting direction being an actual direction of the radar device, the reference mounting direction being a direction of the radar device when the radar device is mounted in a reference state.