| 摘要 |
Without using a traveling velocity of a vehicular object mounted with a radar device, an off-axis angle which is an offset angle between a reference direction of the radar device and a traveling direction of the vehicular object is estimated. An off-axis angle estimation method for estimating an off-axis angle (phi) of a radar device (1) mounted on the vehicular object having a predetermined traveling direction includes that, from among reflection points of which a relative-velocity component (q) along the line of radar sight and an azimuthal angle (theta) are detected by the radar device (1), a plurality of reflection points of which the relative-velocity components in the traveling direction of the vehicular object being approximately equal to one another is selected without using the traveling velocity of the vehicular object; and based on the relative-velocity components along the line of radar sight, and on the azimuthal angles, of the plurality of reflection points having been selected, the off-axis angle (phi) is autonomously calculated solely from the observed values based on radar waves.
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