To provide a lidar shaft misalignment detector for mounting in a vehicle, with which it is possible to detect the shaft misalignment of a lidar with good accuracy without relying on vehicle behavior.SOLUTION: The lidar shaft misalignment detector comprises: a first detection unit for detecting a first object from imaging information acquired by a camera that is disposed in the inside of a vehicle compartment; a second detection unit for detecting a second object from point information acquired by a lidar that is disposed on the outside of the vehicle compartment; and an angle estimation unit for estimating a shaft misalignment angle of the lidar relative to the camera. When a result of comparison of the detection result of the first detection unit with the detection result of the second detection unit after being rotated around a position where the lidar is attached to the vehicle at a prescribed angle satisfies a prescribed condition, the shaft misalignment estimation unit estimates that the prescribed angle is a shaft misalignment angle of the lidar relative to the camera.SELECTED DRAWING: Figure 1

    【課題】ライダの軸ずれを車両挙動によることなく精度よく検出することが可能な、車両搭載用のライダ軸ずれ検出装置を提供する。【解決手段】車両の車室の内部に配設されたカメラが取得した撮像情報から第一の対象物を検出する第一検出部と、車両の車室の外部に配設されたライダが取得した点情報から第二の対象物を検出する第二検出部と、ライダのカメラに対する軸ずれ角度を推定する軸ずれ角度推定部と、を備え、軸ずれ角度推定部は、第一検出部の検出結果と、第二検出部の検出結果を所定角度でライダの車両への取り付け位置を中心に回転させた回転後検出結果と、の比較結果が所定条件を満たした場合に、当該所定角度を、ライダのカメラに対する軸ずれ角度であると推定する。【選択図】図1


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    Titel :

    LIDAR SHAFT MISALIGNMENT DETECTOR FOR MOUNTING IN VEHICLE


    Weitere Titelangaben:

    車両搭載用のライダ軸ずれ検出装置


    Beteiligte:
    ARAKI RYUTARO (Autor:in) / OSUGI MASAMICHI (Autor:in)

    Erscheinungsdatum :

    2020-09-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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