Detection and calibration of horizontal error in a scanning type radar device
First Claim
1. A method of detecting a horizontal error which is an error in a horizontal plane between a scanning center line of a scanning type radar device mounted on a vehicle and the vehicle'"'"'s traveling direction during straight line driving where a steering angle of the vehicle is substantially zero, comprising:
- a storing step of storing a reference locus of a reference point at a predetermined position previously obtained by a radar device when the vehicle is not subject to a horizontal error, during straight line driving;
a locus calculation step of obtaining a locus of a predetermined point from data on obstacles detected by a radar device when the vehicle actually travels on a road; and
a detection step of detecting a horizontal error from the difference between the locus obtained in the locus calculation step and the previously stored reference locus.
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Abstract
A method to determine a horizontal error of a radar device mounted on a vehicle along with the mounting error or imbalance in the diameters of wheels based on an echo signal from a reflector provided on a road. A vehicle'"'"'s traveling locus is stored in advance as a reference locus obtained from the distance L between the vehicle and reflector and the direction θR. A traveling locus when the vehicle is actually traveling in a straight line where the steering handle is kept in a neutral position is compared with the previously stored reference locus. A horizontal error is obtained from the traveling locus on the coordinate axis θR and the shift from the reference locus.
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Citations
35 Claims
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1. A method of detecting a horizontal error which is an error in a horizontal plane between a scanning center line of a scanning type radar device mounted on a vehicle and the vehicle'"'"'s traveling direction during straight line driving where a steering angle of the vehicle is substantially zero, comprising:
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a storing step of storing a reference locus of a reference point at a predetermined position previously obtained by a radar device when the vehicle is not subject to a horizontal error, during straight line driving; a locus calculation step of obtaining a locus of a predetermined point from data on obstacles detected by a radar device when the vehicle actually travels on a road; and a detection step of detecting a horizontal error from the difference between the locus obtained in the locus calculation step and the previously stored reference locus. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 22, 23, 24)
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12. A method of detecting a horizontal error which is a deviation in a horizontal plane of a scanning center line of a scanning type radar device mounted on a vehicle with respect to the vehicle'"'"'s traveling direction dung straight line driving where a steering angle of the vehicle is substantially zero, comprising:
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a locus calculation step of calculating a movement locus of a predetermined point on a road while the vehicle travels on the road, the calculation of locus being made based on relative position data of the predetermined point with respect to the vehicle position; and a detection step of detecting the horizontal error by comparing the locus obtained in the locus calculation step with a previously Stored reference locus which is represented by relative position data of a reference point with respect to the vehicle and which is previously stored. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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25. An apparatus for detecting a horizontal error which is an error in a horizontal plane between a scanning center line of a scanning type radar device mounted on a vehicle and the vehicle'"'"'s traveling direction during straight line driving where a steering angle of the vehicle is substantially zero, comprising:
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storage means for storing a reference locus of a reference point at a predetermined position previously obtained by a radar device when the vehicle is not subject to a horizontal error, during straight line driving; locus calculation means for calculating a locus of a predetermined point from data on obstacles detected by a radar device when the vehicle actually travels on a road; and detection means for detecting a horizontal error from the difference between the locus obtained by the locus calculation means and the previously stored reference locus. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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Specification