Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Hiroyuki Hotta

Hiroto Nakatani

Koichi Sato

Yuuji Katou

Naoki Sugimoto

Ichiro Aizawa

Takahiro Kohara

An axial displacement angle estimation device repeatedly calculates an axial displacement angle based on the detection result of the radar apparatus. The axial displacement angle estimation device extracts the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles, and calculate an average value and a median value of the extracted plurality of axial displacement angles to be an axial displacement angle average value and an axial displacement median value. The axial displacement angle estimation device determines, based on the axial displacement angle average value and the axial displacement angle median value, whether a predetermined allowable condition is met. The axial displacement angle estimation device utilizes, when determined that the predetermined allowable condition is met, the axial displacement angle average value as an estimation result of the axial displacement angle.

Axial displacement estimation device

An axial displacement estimation device estimates an axial displacement angle of a radar apparatus mounted on a mobile body. The axial displacement estimation device uses a plurality of detection values acquired by mutually different plurality of modulation methods to estimate an axial displacement angle for each of the plurality of modulation methods. The axial displacement estimation device determines whether a predetermined allowable condition is met based on a plurality of axial displacement angle estimation results estimated using a plurality of detection values corresponding to respective plurality of modulation methods. The axial displacement estimation device utilizes at least one of a plurality of axial displacement angle estimation results when determined that the predetermined allowable condition is met.

An axis-misalignment estimation device estimates an axis-misalignment angle of a radar device mounted to a moving object. The axis-misalignment estimation device estimates the axis-misalignment angle using a plurality of different axis-misalignment angle estimation methods based on detection results of the radar device. The axis-misalignment estimation device determines whether a predefined employment condition is met, based on a plurality of axis-misalignment angle estimates estimated using respective ones of the plurality of axis-misalignment angle estimation methods. In response to determining that the employment condition is met, the axis-misalignment estimation device employs at least one of the plurality of axis-misalignment angle estimates.

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Kariya, Japan

Hiroyuki Hotta