US 12,366,646 B2
Axial displacement estimation device
Hiroyuki Hotta, Kariya (JP); Koichi Sato, Kariya (JP); Hiroto Nakatani, Kariya (JP); and Yuuji Katou, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Nov. 10, 2022, as Appl. No. 18/054,454.
Application 18/054,454 is a continuation of application No. PCT/JP2021/018479, filed on May 14, 2021.
Claims priority of application No. 2020-085975 (JP), filed on May 15, 2020.
Prior Publication US 2023/0061836 A1, Mar. 2, 2023
Int. Cl. G01S 13/68 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/68 (2013.01) [G01S 13/931 (2013.01)] 3 Claims
OG exemplary drawing
 
1. An axial displacement estimation device that estimates an axial displacement angle of a radar apparatus mounted on a mobile body, comprising:
an angle calculation unit configured to repeatedly calculate the axial displacement angle based on a detection result of the radar apparatus;
an average value calculation unit configured to extract the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles calculated by the angle calculation unit, and calculate an average value of the extracted plurality of axial displacement angles to be an axial displacement angle average value;
a median value calculation unit configured to extract the axial displacement angle included in the predetermined extraction angle range among the plurality of axial displacement angles calculated by the angle calculation unit, and calculate a median value of the extracted plurality of axial displacement angles to be an axial displacement angle median value;
a utilization determination unit configured to determine, based on the axial displacement angle average value calculated by the average value calculation unit and the axial displacement angle median value calculated by the median value calculation unit, whether a predetermined allowable condition is met; and
a utilization unit configured to utilize, when the utilization determination unit determines that the predetermined allowable condition is met, the axial displacement angle average value calculated by the average value calculation unit as an estimation result of the axial displacement angle.