US 12,066,540 B2
Axial deviation estimation apparatus
Motoki Chiba, Saitama (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 24, 2022, as Appl. No. 17/679,741.
Claims priority of application No. 2021-053743 (JP), filed on Mar. 26, 2021.
Prior Publication US 2022/0308225 A1, Sep. 29, 2022
Int. Cl. G01S 17/89 (2020.01); B60W 50/00 (2006.01); G01S 7/48 (2006.01); G01S 7/481 (2006.01); G01S 17/32 (2020.01); G01S 17/86 (2020.01); G06V 20/56 (2022.01)
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
OG exemplary drawing
 
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.