CPC G01S 17/89 (2013.01) [B60W 50/0098 (2013.01); G01S 7/4808 (2013.01); G01S 7/4817 (2013.01); G01S 17/32 (2013.01); G01S 17/86 (2020.01); G06V 20/588 (2022.01); B60W 2552/15 (2020.02)] | 12 Claims |
1. An axial deviation estimation apparatus of an in-vehicle sensor, the axial deviation estimation apparatus comprising:
a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle;
an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle; and
a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit,
wherein the estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar,
wherein the estimation unit updates an estimation result of the axial deviation amount when a predetermined condition is satisfied,
wherein the predetermined condition is that a variation amount of the axial deviation amount based on the inclination is equal to or smaller than a threshold when the vehicle travels a predetermined distance or more, and
wherein the road surface recognition unit, the estimation unit, and the plane creation unit are each implemented via at least one processor.
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