Axial misalignment estimation apparatus

An axial misalignment estimation apparatus that estimates an axial misalignment angle of a radar apparatus that is mounted in a moving body, the axial misalignment estimation apparatus comprising:

• an acquiring unit that is configured to repeatedly acquire, for each reflection point that is detected by the radar apparatus, reflection point information that includes at least a relative speed between the radar apparatus and the reflection point, and an orientation angle that is an orientation angle of the reflection point and is at least either of a horizontal angle and a vertical angle that are determined with reference to a beam direction that is a direction along a center axis of a radar beam;
• an extracting unit that is configured to acquire a speed of the moving body and extract a stationary reflection point that is estimated to be a stationary object from the reflection points based on the speed of the moving body;
• a selecting unit that is configured to select, for each divided region, the stationary reflection point that is included in the divided region such that a predetermined condition is met, the divided region being a detection region of the radar apparatus that is divided into a plurality of parts in at least either of a horizontal direction and a vertical direction;
• and
• an axial misalignment calculating unit that is configured to determine the axial misalignment angle using the stationary reflection point selected by the selecting unit.