US 12,442,916 B2
Axis deviation detection device and axis deviation detection program
Yasuhiro Suzuki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Sep. 8, 2022, as Appl. No. 17/930,671.
Application 17/930,671 is a continuation of application No. PCT/JP2021/008139, filed on Mar. 3, 2021.
Claims priority of application No. 2020-042049 (JP), filed on Mar. 11, 2020.
Prior Publication US 2023/0003877 A1, Jan. 5, 2023
Int. Cl. G01S 13/931 (2020.01); G01S 13/68 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/68 (2013.01); G01S 2013/93271 (2020.01)] 5 Claims
OG exemplary drawing
 
1. An axis deviation detection device configured to detect a deviation of a central axis of an in-vehicle measurement device that radiates radar waves while varying the radiation direction over a predetermined angle on both sides of the central axis and that performs measurements on a stationary object by detecting reflected waves of the radiated radar waves, wherein:
the axis deviation detecting device comprises a storage medium storing instructions and a computer, and the computer executes instructions to perform operations comprising:
correcting data obtained from the measurements performed by the measurement device, with the correction being executed by a method corresponding to the case in which the travel locus of the vehicle having the measurement device mounted thereon is a predetermined specific travel locus, and configured to generate first data, expressing a value relating to the position and/or the velocity of the stationary object;
generating second data, which indicate the position and/or velocity of the stationary object, based on behavior of the vehicle as measured by a sensor unit, where the sensor unit is different from devices that radiate the radar waves and detect the reflected waves;
judging whether the travel locus of the vehicle is the specific travel locus; and
detecting a deviation of the central axis by comparing the first data and second data, when the first data are based on measurements performed by the measurement device in the case in which the computer judges that the travel locus of the vehicle is the specific travel locus, and the second data are based on measurements performed by the sensor unit in the case in which the computer judges that the travel locus of the vehicle is the specific travel locus,
the specific travel locus is a curve having a radius of curvature that is within a predetermined range, and
the computer performs the correction based on the relative centripetal acceleration of the stationary object with respect to the vehicle when the vehicle travels along the specific travel locus.