MOUNTING ANGLE ERROR DETECTION METHOD AND DEVICE, AND ON-VEHICLE RADAR DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a technique for detecting an error of the mounting angle of an on-vehicle radar device in short time, and further to provide a technique for improving detection performance of the azimuth to which an object is present using the detection result.SOLUTION: In a first step (S120), a signal obtained by performing transmission and reception of a continuous wave is subjected to a frequency analysis so as to obtain a relative speed to an object reflecting the continuous wave. In a second step (S130 to S140), the estimated azimuth of an object is obtained for every frequency bin in which the presence of the object is recognized. In a third step (S220 to S230), an approximate straight line representing a relation between the relative speed of a stopped object for a self vehicle and the azimuth in which the stopped object is located is calculated from the calculation results of the first and second steps. In a fourth step (S240 to S260), a difference between the azimuth angle in which the relative speed specified from the approximate straight line becomes zero and the azimuth angle in which the relative speed becomes zero when installed at a desired mounting angle is obtained as a mounting angle error.SELECTED DRAWING: Figure 3