Mitsubishi Denki Kabushiki Kaisha

Mitsubishi Electric Corporation

Rokuzou Hara

Atsushi Okamura

Koichi Kai

Toshio Wakayama

Toshiyuki Hirai

Without using a traveling velocity of a vehicular object mounted with a radar device, an off-axis angle which is an offset angle between a reference direction of the radar device and a traveling direction of the vehicular object is estimated. An off-axis angle estimation method for estimating an off-axis angle (&#x3c6;) of a radar device () mounted on the vehicular object having a predetermined traveling direction includes that, from among reflection points of which a relative-velocity component (q) along the line of radar sight and an azimuthal angle (&#x3b8;) are detected by the radar device (), a plurality of reflection points of which the relative-velocity components in the traveling direction of the vehicular object being approximately equal to one another is selected without using the traveling velocity of the vehicular object; and based on the relative-velocity components along the line of radar sight, and on the azimuthal angles, of the plurality of reflection points having been selected, the off-axis angle (&#x3c6;) is autonomously calculated solely from the observed values based on radar waves.

Off-axis angle estimation method and apparatus using the same

To obtain a radar system capable of obtaining an appropriate angular precision by calculating an angle error based on distributions of relative speeds and angles of reflecting points, and of obtaining the appropriate angular precision including an axis deviation angle by simultaneously calculating the angle error and the axis deviation angle. A radar system mounted on a movable body is provided with a radar device that calculates relative speeds and azimuth angles of plural reflecting points; an azimuth angle error estimating device that estimates an error of the azimuth angle calculated by the radar device based on the relative speeds and the azimuth angles of the plural reflecting points; and a correcting device that corrects the azimuth angle calculated by the radar device by using the azimuth angle error estimated by the azimuth angle error estimating device.

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Tokyo, Japan

Rokuzou Hara