US 12,436,263 B2
In-vehicle sensor device
Takuya Takayama, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Dec. 29, 2021, as Appl. No. 17/646,380.
Application 17/646,380 is a continuation of application No. PCT/JP2020/025525, filed on Jun. 29, 2020.
Claims priority of application No. 2019-123590 (JP), filed on Jul. 2, 2019.
Prior Publication US 2022/0120887 A1, Apr. 21, 2022
Int. Cl. G01S 13/60 (2006.01); G01S 13/92 (2006.01)
CPC G01S 13/60 (2013.01) [G01S 13/92 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An in-vehicle sensor device comprising:
an active sensor mounted to a moving body and configured to detect detected relative position values of a stationary object present around the moving body, the detected relative position values comprising a relative distance and relative azimuth between the moving body and the stationary object, the detected relative position values of the stationary object determined based on position information parameters of the active sensor that is mounted to the moving body;
an odometry sensor configured to detect a speed and a yaw rate of the moving body; and
a processing part which is configured to:
perform an initialization process in which initial values are assigned to each of (i) position information parameters of the active sensor, (ii) a mounting angle of the active sensor, and (iii) a detection error of the odometry sensor;
estimate estimated position information parameters of the active sensor during a repetition period based on (i) the position information parameters and movement of the moving body that is detected by the odometry sensor during the repetition period, (ii) the mounting angle of the active sensor, and (iii) the detection error of the odometry sensor;
estimate estimated relative position values of the stationary object during the repetition period based on the estimated position information parameters of the active sensor during the repetition period; and
update (i) relative position values of the stationary object, (ii) the mounting angle of the active sensor, and (iii) the detection error of the odometry sensor based on a difference between the estimated relative position values of the stationary object during the repetition period and the detected relative position values of the stationary object detected by the active sensor.