Radar device and vertical axis-misalignment detecting method

A vertical axis-misalignment detecting method of a radar device which is mounted on a moving object and configured to detect a target on the basis of reception signals acquired by receiving reflected waves from the target by receiving antennae, the vertical axis-misalignment detecting method comprising:

• a transmitting process of transmitting transmission waves around a transmission axis as a center thereof, the transmission axis substantially parallel to a traveling direction of the moving object;
• and
• a determining process of determining upward axis misalignment or downward axis misalignment of the transmission axis, on the basis of the reception signals acquired by receiving the reflected waves of the transmission waves, wherein
• in a case where a velocity of the moving object is equal to or higher than a predetermined moving velocity, if a peak frequency corresponding to the target is extracted for a predetermined time from a search range of a frequency bin corresponding to a short distance area from the moving object and corresponding to deterioration of detection performance, determining that the transmission axis has the downward axis misalignment.

A radar device which is mounted on a moving object and configured to detect a target on the basis of reception signals acquired by receiving reflected waves from the target by receiving antennae, the radar device comprising:

• a transmitter having a transmission axis substantially parallel to a traveling direction of the moving object and configured to transmit transmission waves around the transmission axis as a center thereof;
• and
• at least one processor programmed to determine upward axis misalignment or downward axis misalignment of the transmission axis, on the basis of the reception signals acquired by receiving the reflected waves of the transmission waves, wherein
• in a case where a velocity of the moving object is equal to or higher than a predetermined moving velocity, the at least one processor accumulates data items on final detection distance of a still object detected within a movement path of the moving object up to a short distance, and in a case where a frequency of data items having values equal to or less than a predetermined distance threshold in a predetermined number of the accumulated data items is equal to or higher than a predetermined frequency threshold, the at least one processor determines that the transmission axis has the upward axis misalignment.