Processing apparatus for estimating a movement direction of a target

A target detection apparatus installed in a predetermined direction, comprising:

• a transmitter configured to output radio waves;
• a receiver configured to receive the transmitted radio waves reflected by a target;
• and
• a processing apparatus comprising a processor and associated memory configured to:
• generate, for each of a plurality of reflection points at which the transmitted radio waves are reflected by the target, a plurality of instantaneous data sets, each of which includes a projected relative velocity of a said reflection point with respect to a host vehicle;
• align starting points of the projected relative velocities to a predetermined point;
• estimate a movement direction of the host vehicle from an intersection of perpendicular lines to the projected relative velocities whose starting points are aligned;
• and
• detect an axis deviation from the predetermined direction based on the estimated movement direction of the host vehicle.

An axis deviation detection method of a target detection apparatus installed in a predetermined direction,

• the target detection apparatus comprising:
• a transmitter configured to output radio waves;
• and
• a receiver configured to receive the transmitted radio waves reflected by a target;
• and
• the method, which is executed by a processing apparatus comprising a processor and associated memory, comprising:
• (a) generating, for each of a plurality of reflection points at which the transmitted radio waves are reflected by the target, a plurality of instantaneous data sets, each of which includes a projected relative velocity of a said reflection point with respect to a host vehicle;
• (b) aligning starting points of the projected relative velocities to a predetermined point;
• (c) estimating a movement direction of the host vehicle from an intersection of perpendicular lines to the projected relative velocities whose starting points are aligned;
• and
• (d) detecting an axis deviation from the predetermined direction based on the estimated movement direction of the host vehicle.