US 12,411,006 B2
Estimation device
Katsuhiko Kondo, Nisshin (JP); and Akiyoshi Mizutani, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Apr. 6, 2022, as Appl. No. 17/658,226.
Application 17/658,226 is a continuation of application No. PCT/JP2020/036965, filed on Sep. 29, 2020.
Claims priority of application No. 2019-186316 (JP), filed on Oct. 9, 2019.
Prior Publication US 2022/0228861 A1, Jul. 21, 2022
Int. Cl. G01B 15/02 (2006.01); G01S 13/931 (2020.01)
CPC G01B 15/02 (2013.01) [G01S 13/931 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An estimation device mounted to a mobile object, comprising:
an acquisition unit configured to acquire reflection point information for each of a plurality of reflection points detected by a radar device mounted to the mobile object, the reflection point information including at least an azimuth angle of the corresponding one of the reflection points and the distance from the radar device to the corresponding one of the reflection points, the azimuth angle being a horizontal angle and a vertical angle obtained with reference to a beam direction which is a direction along a central axis of a radar beam;
an extraction unit configured to extract, among the plurality of reflection points, at least one road surface reflection point detected by reflection on a road surface, based on at least the reflection point information; and
a correspondence acquisition unit configured to acquire correspondence information from a storage device that stores the correspondence information, the correspondence information indicating respective correspondences between each individual measurement height of a plurality of measurement heights and a respective position of a road surface observed the most by the radar device installed at the individual measurement height; and
an estimation unit configured to estimate a device height which is a height of the radar device mounted to the mobile object, based on at least a road surface reflection point distance which is a distance from the radar device to the road surface reflection point; wherein the estimation unit comprises an identification unit configured to:
acquire an extraction frequency that represents a value obtained by adding the number of times the road surface reflection point is extracted in a predetermined acquisition period for each position of the road surface reflection point,
identify a calculation position, which represents a position of the road surface reflection point with the highest extraction frequency, and
identify, a first height as the device height, the first height being identified as the measurement height corresponding to the calculation position according to the correspondence information.