PROBLEM TO BE SOLVED: To make corrections with excellent accuracy regardless of a category to be loaded even when a state varies from an initial state.SOLUTION: A radar device includes: relative speed detection means (speed detection/object detection unit 15) that detects a relative speed of an object; observation angle detection means (speed detection/object detection unit 15) that detects an observation angle of the object; own vehicle speed detection means (control unit 11) that detects a speed of a vehicle itself; storage means (control unit 11) that stores information indicative of an attachment angle of the radar device to the vehicle; difference value calculation means (control unit 11) that calculates a difference value between an estimated estimation relative speed of the object and the relative speed as to a plurality stationary objects or a plurality of object points of the stationary object on the basis of the attachment angle, observation angle, and speed of the vehicle itself; median value request means (control 11) that obtains a median value of a plurality of difference values; and angle deviation detection means (control unit 11) that detects an angle deviation from an initial value of the attachment angle on the basis of the median value of the difference value.SELECTED DRAWING: Figure 1
【課題】初期状態から状態が変化した場合でも、搭載される車種に拘わらず、精度良く補正すること。【解決手段】対象物の相対速度を検出する相対速度検出手段(速度検出・物体検出部15)と、対象物の観測角度を検出する観測角度検出手段(速度検出・物体検出部15)と、自車両の速度を検出する自車速度検出手段(制御部11)と、レーダ装置の車両への取り付け角度を示す情報を格納する格納手段(制御部11)と、取り付け角度、観測角度、および、自車両の速度に基づいて推定した対象物の推定相対速度と、相対速度との差分値を、複数の静止物または静止物の複数の対象点について算出する差分値算出手段(制御部11)と、複数の差分値の中央値を求める中央値求出手段(制御部11)と、差分値の中央値に基づいて取り付け角度の初期値からの角度ずれを検出する角度ずれ検出手段(制御部11)とを有する。【選択図】図1
RADAR DEVICE AND CONTROL METHOD OF RADAR DEVICE
レーダ装置およびレーダ装置の制御方法
2016-12-15
Patent
Electronic Resource
Japanese
RADAR DEVICE, VEHICLE CONTROL SYSTEM AND RADAR DEVICE CONTROL METHOD
European Patent Office | 2016
|