To provide a technique that allows for estimating both an axial misalignment angle and misalignment in the height direction of a radar device.SOLUTION: An axial misalignment estimation device 4 provided herein is configured to be mounted in a mobile vehicle VH. The axial misalignment estimation device 4 comprises an acquisition unit, extraction unit, device system coordinate unit, and estimation unit. The estimation unit is configured to estimate an axial misalignment angle and a mounted height using a relational expression between at least two unknown parameters, including the axial misalignment angle and the mounted height of the radar device, and at least two elements included at device system coordinates of a road surface reflection point. The axial misalignment angle is a misalignment angle of a coordinate axis of the radar device about a target axis, which is either of a horizontal axis and a travel direction axis representing coordinate axes of the mobile vehicle.SELECTED DRAWING: Figure 1
【課題】レーダ装置の軸ずれ角度と高さ方向における軸ずれとの両方を推定できる技術を提供する。【解決手段】軸ずれ推定装置4は、移動体VHに搭載される。軸ずれ推定装置4は、取得部と、抽出部と、装置系座標部と、推定部と、を備える。推定部は、軸ずれ角度とレーダ装置の搭載高さと含む少なくとも2つの未知パラメータと、路面反射点の装置系座標に含まれる少なくとも2つの要素と、の間に成立する関係式を用いて、軸ずれ角度と搭載高さとを推定するように構成される。軸ずれ角度は、移動体の座標軸である水平軸及び進行方向軸のうちの1つである対象軸まわりのレーダ装置の座標軸のずれ角度である。【選択図】図1
AXIAL MISALIGNMENT ESTIMATION DEVICE
軸ずれ推定装置
2021-04-15
Patent
Electronic Resource
Japanese
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