Vehicle-mounted radar device and method of detecting axial deviation in vehicle-mounted radar device

A vehicle-mounted radar device that is attached to a vehicle, the device comprising:

• a radar transmitting circuit that transmits radar transmission waves;
• a radar receiving circuit that receives radar reflected waves created as a result of the radar transmission waves being reflected by a target;
• a landmark detecting circuit that detects landmark information corresponding to the target from the radar reflected waves;
• a landmark pursuing circuit that decides whether the target is a known still object by pursuing a time-varying change in a relative position with respect to the vehicle, the relative position being included in the landmark information;
• a radar's axial deviation detecting circuit that, if the target is a known still object, decides whether a radar axis of the vehicle-mounted radar device has a deviation according to a difference between a first value and a second value, the first value being a first distance between the vehicle and the known still object calculated based on a shape of the known still object, the shape being obtained according to the landmark information, and information about an initial attachment position of the vehicle-mounted radar device, the second value being a second distance at a point of time when a radar reflected wave having attenuated power of the known still object among the radar reflected waves is received;
• and
• an axial deviation notifying circuit that makes a notification of a deviation of the radar axis of the vehicle-mounted radar device.