Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Ichiro Aizawa

Jun Tsuchida

Syogo Matsunaga

Koichi Sato

Ryo Takaki

Yusuke Matsumoto

Akira Isogai

Naoki Sugimoto

Hiroto Nakatani

Hiroyuki Hotta

Yuuji Katou

Takahiro Kohara

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.

Axial displacement estimation device

A driving assistance ECU that serves as a vehicle control apparatus performs traveling control of a vehicle based on a detection result of a radar apparatus that detects a target in the periphery of an own vehicle. An angle calculating unit of the driving assistance ECU calculates an axial misalignment angle that is a misalignment amount of an attachment angle of the radar apparatus by statistically processing angle misalignment information of the radar apparatus acquired at a predetermined cycle. A control processing unit sets the angle misalignment amount of the radar apparatus to a predetermined initial angle until a predetermined initial period elapses after startup, and performs operation restriction on traveling control based on the initial angle. After the initial angle elapses after startup, the operation restriction on traveling control is performed based on a calculation value of the axial misalignment angle.

Vehicle control apparatus and vehicle control method

A vehicle control apparatus performs traveling control of a vehicle based on a detection result of a radar apparatus that detects a target in the periphery of an own vehicle. The vehicle control apparatus calculates a shaft misalignment angle that is a misalignment amount of an attachment angle of the radar apparatus and a shaft misalignment direction, and sets a detection range over which a target to be subjected to traveling control of the own vehicle is detected. Until elapse of a predetermined initial period after startup, a width in a lateral direction of the detection range is reduced based on a predetermined initial angle that is the misalignment amount of the attachment angle of the radar apparatus. After the elapse of the initial period after startup, the width in the lateral direction of the detection range is reduced based on calculation values of the shaft misalignment angle and the shaft misalignment direction.

A driving assist ECU which performs collision avoidance control for the target based on a detection result of a target around an own vehicle by a radar device acquires, at a predetermined cycle, angle deviation information of the radar device in the vertical direction, the angle deviation information being calculated from a detection position of the target, and calculates an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation, the axis deviation angle being a deviation amount of a mounting angle of the radar device in the vertical direction. Until a predetermined initial time period elapses after the activation, a limitation is imposed on the collision avoidance control for, among targets detected by the radar device, a stationary target which is a target corresponding to a stationary object.

A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis Xof the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.

Object recognition apparatus using a plurality of object detecting means

A radar apparatus is provided to receive a transmission wave reflected by a target object by antennas. The radar apparatus includes a signal analysis unit to analyze reception waves, and to obtain amplitudes and phases of the reception waves, at a frequency with which reception strength shows a peak. The radar apparatus also includes a direction detection unit to detect a direction of the target object based on the phases of the reception waves, and an estimated amplitude and phase output unit to output estimated amplitudes and estimated phases of reception waves to be received, assuming that the target object exists in the detected direction. The radar apparatus further includes a comparison unit to compare the amplitude or phase obtained by the signal analysis unit with that output by the estimated amplitude and phase output unit.

Radar apparatus and angle verification method

A radar apparatus is disclosed which includes: a distance detecting part configured to detect, among plural bins, an existence distance bin in which the target object exists, a direction detecting process executing part configured to execute a process of detecting a direction in which the target object exists, with respect to a distance bin other than the existence distance bin detected by the distance detecting part, among plural bins from which relative distances to the target object can be calculated, if a predetermined criterion is met; an existence area detecting part configured to detect, based on an execution result of the direction detecting process executing part, an area in which the target object exists.

Radar apparatus

Provided is a radar apparatus capable of accurately calculating the presence direction of an object. The radar apparatus radiates an electromagnetic wave, receives a reflected wave caused by the electromagnetic wave reflected from the object, and detects the presence direction of the object. The radar apparatus includes: an electromagnetic wave radiating section configured to radiate the electromagnetic wave; a reflected wave reception section configured to receive the reflected wave and detect information about the received reflected wave; and a reflected wave type estimation section configured to determine which the type of the received reflected wave received by the reflected wave reception section is, a single reflected wave which is just reflected from an object, or a composite reflected wave which is composed of a plurality of reflected waves, reflected from different objects, that have interfered with each other, based on the information about the received reflected wave.

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Toyota, Japan

Ichiro Aizawa