| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately detect an axis deviation angleθof an axial line 7 determined in advance and an axial line 21 of straight running of a vehicle by scanning and deflecting a beam radiated to detect a distance between objects 18 and 19 to be detected on both right and left sides of the axial line 7 determined in advance in a substantially horizontal plane around a vertical axial line 6. SOLUTION: A radar means 25 is mounted on a vehicle 13 for angular displacement drive so that a beam from the radar means 25 scans by a drive means 5 to receive a reflection beam. While the vehicle 13 runs on a left running lane 16 of a straight road, a linear guard rail 18 provided on a road side on the left side is detected for a plurality of times in which scanning angles differ on the left side of the axial line 7 determined in advance, virtual straight lines yLa, yRa connecting a plurality of each detection position are obtained by computing, and the axis deviation angleθcorresponding to the inclination k is obtained by computing.</p> |
