Apparatus for detecting axial misalignment

• US 10,539,659 B2
• Filed: 08/27/2015
• Issued: 01/21/2020
• Est. Priority Date: 08/27/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Takaki, Ryo
• Primary Examiner(s): Brainard, Timothy A
• Application Number:
  US15/506,396
• Publication Number:
  US 20170254881A1
• Time in Patent Office: 1,608 Days
• Field of Search: 342 52
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane

Abstract

A diagnostic apparatus includes an obtaining unit for obtaining horizontal misalignment information indicative of whether there is horizontal misalignment in a probing beam. The diagnostic apparatus includes a diagnostic unit for diagnosing whether there is vertical misalignment. The vertical misalignment is misalignment of the probing beam with respect to a designed beam axis position in a vertical direction. The vertical direction corresponds to a height direction of the vehicle. The diagnostic apparatus includes a determining unit for determining, based on the horizontal misalignment information, whether the diagnostic unit executes diagnosis of the vertical misalignment. The determining unit causes the diagnostic unit to execute diagnosis of the vertical misalignment upon the horizontal misalignment information representing that there is no horizontal misalignment. The determining unit disables the diagnostic unit from executing diagnosis of the vertical misalignment upon the horizontal misalignment information representing that there is horizontal misalignment.

Claims

1. A diagnostic apparatus of a beam sensor installed in a vehicle, the beam sensor transmitting a probing beam and receiving a reflected beam based on the probing beam, the diagnostic apparatus comprising:

an obtaining means for obtaining horizontal misalignment information indicative of whether a horizontal misalignment exists, the horizontal misalignment being misalignment of the probing beam with respect to a designed beam axis position in a horizontal direction, the horizontal direction corresponding to a width direction of the vehicle;

a diagnostic means for diagnosing whether vertical misalignment exists, the vertical misalignment being misalignment of the probing beam with respect to the designed beam axis position in a vertical direction, the vertical direction corresponding to a height direction of the vehicle; and

a determining means for;

determining, based on the horizontal misalignment information, whether the diagnostic means executes diagnosis of the vertical misalignment;

causing the diagnostic means to execute diagnosis of the vertical misalignment upon the horizontal misalignment information representing that no horizontal misalignment exists; and

disabling the diagnostic means from executing diagnosis of the vertical misalignment upon the horizontal misalignment information representing that horizontal misalignment exists.

2. The diagnostic apparatus according to claim 1, wherein:

the diagnostic means is configured to detect, as a vertical misalignment quantity, a misalignment quantity of the probing beam with respect to the designed beam position in the vertical misalignment based on determining that vertical misalignment exists.

3. The diagnostic apparatus according to claim 1, further comprising:

a beam recognition means configured to repeatedly execute a first target recognition task in front of the vehicle based on a result of receiving the reflected beam by the beam sensor; and

an image recognition means configured to repeatedly execute a second target recognition task based on a captured image in front of the vehicle captured by an image sensor,

wherein the diagnostic means comprises;

a misalignment detection means configured to;

calculate, based on a result of the first target recognition tasks by the beam recognition means and a result of the second target recognition tasks by the image recognition means, a relationship between the number of times at least one preceding vehicle is recognized by a pair of the first and second target recognition tasks and the number of times the at least one preceding vehicle is recognized by at least the image recognition task; and

detect, based on the calculated relationship, a misalignment quantity of an axis of the probing beam of the beam sensor with respect to the designed beam axis position in a vertical plane including the axis of the probing beam as the vertical misalignment quantity.

4. The diagnostic apparatus according to claim 3, wherein:

the beam recognition means comprises a beam recognition counter that counts the number of times the at least one preceding vehicle is recognized by the first target recognition tasks; and

the image recognition means comprises an image recognition counter that counts the number of times the at least one preceding vehicle is recognized by the second target recognition tasks,

the diagnostic apparatus further comprising;

a reset means for resetting a counted value of each of the beam recognition counter and the image recognition counter upon it being determined by the diagnostic means that the horizontal misalignment information represents that horizontal misalignment exists.

5. The diagnostic apparatus according to claim 3, wherein:

the at least one preceding vehicle includes a preceding vehicle normally recognized by the first target recognition tasks and a preceding vehicle abnormally recognized by the first target recognition tasks;

the misalignment detection means is configured to;

calculate a percentage of the sum of the number of times the at least one preceding vehicle running in front of the vehicle is recognized by the pair of the first and second target recognition tasks, the number of times the at least one preceding vehicle is abnormally recognized by the pair of the first and second target recognition tasks, and the number of times the at least one preceding vehicle is recognized by only the second target recognition tasks to the number of times the at least one preceding vehicle is recognized by the pair of the first and second target recognition tasks; and

detect, based on the calculated percentage, the misalignment quantity of the axis of the probing beam of the beam sensor with respect to the designed beam axis position in the vertical plane including the axis of the probing beam as the vertical misalignment quantity.

6. The diagnostic apparatus according to claim 5, wherein:

the beam recognition means comprises;

a first counter that counts the number of times the at least one preceding vehicle is normally recognized by the pair of the first and second target recognition tasks; and

a second counter that counts the number of times the at least one preceding vehicle is abnormally recognized by the pair of the first and second target recognition tasks,

the image recognition means comprises a third counter that counts the number of times the at least one preceding vehicle is recognized by only the second target recognition tasks,

the diagnostic apparatus further comprising;

a reset means for resetting a counted value of each of the first to third counters upon it being determined by the diagnostic means that the horizontal misalignment information represents that horizontal misalignment exists.

7. A method for detecting axial misalignment of a beam sensor installed in a vehicle, the beam sensor transmitting a probing beam and receiving a reflected beam based on the probing beam, the method comprising:

obtaining horizontal misalignment information indicative of whether a horizontal misalignment exists, the horizontal misalignment being misalignment of the probing beam with respect to a designed beam axis position in a horizontal direction, the horizontal direction corresponding to a width direction of the vehicle;

diagnosing whether vertical misalignment exists, the vertical misalignment being misalignment of the probing beam with respect to the designed beam axis position in a vertical direction, the vertical direction corresponding to a height direction of the vehicle;

determining, based on the horizontal misalignment information, whether diagnosis of the vertical misalignment is performed;

executing diagnosis of the vertical misalignment upon the horizontal misalignment information representing that no horizontal misalignment exists; and

disabling diagnosis of the vertical misalignment upon the horizontal misalignment information representing that horizontal misalignment exists.

8. A system for detecting axial misalignment of a beam sensor installed in a vehicle, the beam sensor transmitting a probing beam and receiving a reflected beam based on the probing beam, the system comprising:

a central processor;

a non-transitory computer-readable storage medium; and

a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the central processor to implement;

obtaining horizontal misalignment information indicative of whether a horizontal misalignment exists, the horizontal misalignment being misalignment of the probing beam with respect to a designed beam axis position in a horizontal direction, the horizontal direction corresponding to a width direction of the vehicle;

diagnosing whether vertical misalignment exists, the vertical misalignment being misalignment of the probing beam with respect to the designed beam axis position in a vertical direction, the vertical direction corresponding to a height direction of the vehicle;

determining, based on the horizontal misalignment information, whether diagnosis of the vertical misalignment is performed;

executing diagnosis of the vertical misalignment upon the horizontal misalignment information representing that no horizontal misalignment exists; and

disabling diagnosis of the vertical misalignment upon the horizontal misalignment information representing that horizontal misalignment exists.