Axis misalignment estimation device

Abstract

To improve estimation accuracy of an axial deviation angle.SOLUTION: An estimating device 6 extracts, as a roadside object point, from among a plurality of first modulation observation points detected by a radar device 2, a first modulation observation point that is reflected by a roadside object disposed at the side of a travel path along which a self vehicle travels, at a position higher than the travel path, and in the direction in which the travel path extends. The estimating device 6 extracts a corresponding observation point, which is a second modulation observation point corresponding to the roadside object point, from among a plurality of second modulation observation points detected by the radar device 2, on the basis of a predetermined association condition. The estimating device 6 calculates an inclination indicating the direction in which the roadside object extends, on the basis of the distribution of positions of the extracted corresponding observation points, to calculate a vertical axial deviation angle at which a central axis of the radar device 2 is inclined with respect to a front-rear direction of the self vehicle.SELECTED DRAWING: Figure 1

Claims

1. An axial misalignment estimation device (6) for estimating the axial misalignment angle (θm) of a radar device (2) mounted on a mobile vehicle (VH0), The radar device is configured to repeatedly output first observation point information, which includes the distance between the radar device and the first observation point, and the azimuth angle of the first observation point, by transmitting and receiving a first radar wave modulated by the first modulation method, and the azimuth angle of the first observation point, which is the azimuth angle at which the first observation point is located. The radar device is configured to repeatedly output second observation point information, which includes the second observation point distance, which is the distance between the radar device and the second observation point, and the second observation point azimuth angle, which is the azimuth angle at which the second observation point is located, by transmitting and receiving a second radar wave modulated by a second modulation method different from the first modulation method, and the second observation point information, which includes the second observation point distance, which is the distance between the radar device and the second observation point, and the second observation point azimuth angle, which is the azimuth angle at which the second observation point is located. The axial misalignment estimation device is A first roadside object extraction unit (S10, S20) is configured to extract, from among a plurality of first observation points detected by the radar device, the first observation point that was reflected by a roadside object located on the side of the road on which the moving body travels, at a position higher than the road, and along the direction in which the road extends, as the first roadside object observation point. A second roadside object extraction unit (S30) is configured to extract a second roadside object observation point, which is the second observation point corresponding to the first roadside object observation point, from among a plurality of second observation points detected by the radar device, based on a preset correspondence condition indicating that the position of the first roadside object observation point and the position of the second observation point are close together. An axial misalignment angle calculation unit (S40) is configured to calculate the angle at which the central axis (CA) indicating the direction in which the first and second radar waves are transmitted and received by the radar device is tilted with respect to the front-rear direction of the moving body, by calculating direction information (β) indicating the direction in which the roadside object extends based on the distribution of the positions of a plurality of second roadside object observation points extracted by the second roadside object extraction unit, and to calculate the axial misalignment angle. Equipped with, The first maximum detection distance, which is the maximum value of the first observation point distance detectable by the first modulation method, is longer than the second maximum detection distance, which is the maximum value of the second observation point distance detectable by the second modulation method. An axis misalignment estimation device in which the second vertical angle measurement accuracy, which is the accuracy when detecting the azimuth angle of the second observation point in the vertical direction using the second modulation method, is higher than the first vertical angle measurement accuracy, which is the accuracy when detecting the azimuth angle of the first observation point in the vertical direction using the first modulation method.

2. The axis misalignment estimation device according to Claim 1, The axis misalignment angle calculation unit is configured to calculate the direction information using both the plurality of second roadside object observation points extracted by the second roadside object extraction unit and the first roadside object observation points extracted by the first roadside object extraction unit that are not associated with the second roadside object observation points.

3. The axis misalignment estimation device according to Claim 1, The radar device is configured to output a plurality of first observation point information and a plurality of second observation point information at each preset modulation period. The axial misalignment angle calculation unit is configured to calculate the axial misalignment angle by calculating the directional information based on the distribution of positions of a plurality of second roadside object observation points obtained at a plurality of modulation periods.

4. An axis misalignment estimation device according to any one of claims 1 to 3, The correspondence condition is that the second observation point is such that the distance difference between the first roadside object observation point and the second observation point is less than a preset correspondence threshold.

5. An axis misalignment estimation device according to any one of claims 1 to 3, The correspondence condition is that, among a plurality of second observation points, the second observation point is the one where the difference in distance between observation points, which is the distance between the first roadside object observation point and the second observation point, is smallest, and where the difference in distance between observation points is less than a preset correspondence threshold.

6. An axis misalignment estimation device according to any one of claims 1 to 3, The correspondence conditions are that the second observation point is such that the radius distance difference, which is the difference between the distance to the first observation point of the first roadside object observation point and the distance to the second observation point of the second observation point, is less than a preset radius distance threshold, and the azimuth angle difference, which is the difference between the azimuth angle of the first observation point of the first roadside object observation point and the azimuth angle of the second observation point of the second observation point, is less than a preset azimuth angle threshold.

7. An axis misalignment estimation device according to any one of claims 1 to 3, The axial misalignment angle calculation unit is configured to calculate the axial misalignment angle by utilizing the fact that the height of the roadside object is constant along the direction in which the roadway extends.

8. An axis misalignment estimation device according to any one of claims 1 to 3, The axial misalignment angle calculation unit is an axial misalignment estimation device configured to calculate the directional information by approximating the distribution of the positions of a plurality of second roadside object observation points with a straight line.

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