JP2012068216A - Sensor orientation deviation detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect deviation of an orientation of a front object detecting sensor.SOLUTION: A sensor orientation deviation detecting device includes a yaw rate sensor 30 for detecting a yaw rate of its own vehicle, the front object detecting sensor 31 for detecting an object in front of the own vehicle, a front object identification unit 10 for identifying whether an object detected by the front object detecting sensor 31 is a fixed article or not, a lateral moving quantity measuring unit 12 for measuring a lateral moving quantity of the fixed article which is identified by the front object identification unit 10 and moves relatively to the own vehicle in a lateral direction, and a deviation detection unit 13 for detecting the orientation deviation of the front object detecting sensor 31 based on the yaw rate detection value detected by the yaw rate sensor 30 and the lateral moving quantity measured by the lateral moving quantity measuring unit 12.

Description

  The present invention relates to a sensor azimuth shift detection device that detects a shift in the direction of a front object detection sensor.

  A preceding vehicle recognition device that detects a preceding vehicle ahead of the host vehicle using a front object detection sensor such as a radar is known as a conventional technique, and performs a follow-up control to follow the detected preceding vehicle. In this preceding vehicle recognition device, there is an apparatus that estimates the traveling path of the host vehicle based on the detection value of the yaw rate sensor that detects the yaw rate of the host vehicle and the detection value of the vehicle speed sensor that detects the vehicle speed of the host vehicle. (For example, refer to Patent Document 1). That is, in this, the turning radius of the host vehicle is calculated from the yaw rate and the vehicle speed, and the turning radius is assumed to be the curvature radius of the traveling path of the host vehicle. When tracking control that follows the preceding vehicle is performed, it is determined whether or not the detected preceding vehicle exists on the estimated traveling path, and the preceding vehicle exists on the traveling path. If it is determined that the vehicle does not exist on the traveling path, the constant speed control is performed so that the vehicle travels at the target vehicle speed set by the occupant.

JP-A-8-161697

  By the way, the direction of the front object detection sensor may be shifted due to the influence of a light vehicle collision or the like. For this reason, when follow-up control is performed, there is a risk of erroneously detecting a preceding vehicle.

  The present invention has been made in view of such a point, and a problem thereof is to detect a deviation in the direction of the front object detection sensor.

  1st invention recognizes whether the object detected by the yaw rate sensor which detects the yaw rate of the own vehicle, the front object detection sensor which detects the object ahead of the own vehicle, and the said front object detection sensor is a fixed object Forward object recognizing means, a movement locus calculating means for calculating a movement locus in which the fixed object recognized by the forward object recognition means moves relative to the host vehicle, and a yaw rate detection value detected by the yaw rate sensor. And a deviation detecting means for detecting a deviation in the direction of the front object detection sensor based on the movement locus calculated by the movement locus calculating means.

  According to this, a yaw rate sensor that detects the yaw rate of the host vehicle, a front object detection sensor that detects an object ahead of the host vehicle, and whether the object detected by the front object detection sensor is a fixed object is recognized. Forward object recognition means, movement trajectory calculation means for calculating a movement trajectory in which the fixed object recognized by the front object recognition means moves relative to the host vehicle, and the yaw rate detection value detected by the yaw rate sensor and movement Since it includes deviation detecting means for detecting the deviation of the direction of the front object detection sensor based on the movement locus calculated by the locus calculation means, it is possible to detect the deviation of the direction of the front object detection sensor.

  In a second aspect based on the first aspect, the shift detection means detects the front object detection based on the yaw rate detection value detected by the yaw rate sensor and the movement locus calculated by the movement locus calculation means. In addition to the deviation of the sensor direction, the deviation of the yaw rate detection value is detected.

  By the way, the detection value of the yaw rate sensor fluctuates due to the influence of deterioration of the yaw rate sensor with time, temperature drift, noise, and the like, so that it may be erroneously detected. For this reason, when tracking control is performed, the traveling path of the host vehicle is erroneously estimated, and the traveling of the host vehicle is progressed even though the preceding vehicle exists on an adjacent route adjacent to the traveling path of the host vehicle. There is a risk of misjudging that it is on the road.

  Here, according to the present invention, based on the yaw rate detection value detected by the yaw rate sensor and the movement trajectory calculated by the movement trajectory calculation means by the deviation detection means, in addition to the deviation of the direction of the front object detection sensor. The deviation of the detected yaw rate value can be detected.

  In a third aspect based on the second aspect, the deviation detecting means performs a least square method based on the yaw rate detection value detected by the yaw rate sensor and the movement locus calculated by the movement locus calculation means. It is configured to detect the deviation of the direction of the front object detection sensor and the deviation of the yaw rate detection value.

  According to this, the best embodiment of the present invention can be realized.

  In a fourth aspect based on the third aspect, when the distance between the most distant fixed objects recognized by the front object recognition means is shorter than a predetermined distance, The apparatus further includes deviation detection prohibiting means for prohibiting detection of deviation in direction and deviation in detected yaw rate value.

  By the way, when the distance between the most distant fixed objects recognized by the front object recognizing means is short, the distance from the own vehicle to the fixed object is biased, the deviation of the direction of the front object detection sensor by the deviation detecting means and the yaw rate detection value There is a possibility that the detection of the deviation cannot be performed accurately. In other words, the detection accuracy increases as the distance from the host vehicle to the fixed object increases.

  Here, according to the present invention, when the distance between the farthest fixed objects recognized by the front object recognition means is shorter than the predetermined distance, the deviation of the direction of the front object detection sensor and the yaw rate detection by the deviation detection means are detected. Since the deviation detection prohibiting means for prohibiting the detection of the value deviation is provided, it is possible to accurately detect the deviation of the direction of the front object detection sensor and the deviation of the yaw rate detection value by the deviation detection means.

  According to a fifth invention, in any one of the second to fourth inventions, when the absolute value of the deviation amount of the direction of the front object detection sensor detected by the deviation detection means is larger than a predetermined value, It further comprises use prohibiting means for prohibiting the use of the detection result of the object detection sensor.

  According to this, when the absolute value of the deviation amount of the direction of the front object detection sensor detected by the deviation detection unit is larger than a predetermined value, the detection result of the front object detection sensor is determined to be abnormal. Since the use prohibiting means for prohibiting the use of the vehicle is provided, it is possible to reliably prevent erroneous detection of an object in front of the host vehicle.

  According to the present invention, a yaw rate sensor that detects the yaw rate of the host vehicle, a front object detection sensor that detects an object ahead of the host vehicle, and whether the object detected by the front object detection sensor is a fixed object is recognized. Forward object recognizing means, a moving locus calculating means for calculating a moving locus in which the fixed object recognized by the forward object recognizing means moves relative to the host vehicle, a yaw rate detection value detected by the yaw rate sensor, Since there is provided a deviation detecting means for detecting a deviation in the direction of the front object detection sensor based on the movement locus calculated by the movement locus calculating means, it is possible to detect a deviation in the direction of the front object detection sensor.

It is a block diagram of a vehicle travel control apparatus provided with the azimuth | direction deviation detection apparatus of the sensor which concerns on embodiment of this invention. It is a schematic diagram which shows a mode that the own vehicle is drive | working. It is a figure explaining a mode that a fixed thing moves relatively with respect to the own vehicle when the own vehicle is drive | working, (a) is a case where the own vehicle is running straight ahead, Comprising: The figure when the optical axis of the detection sensor faces the front of the vehicle, (b) is a case where the host vehicle is traveling straight, and the optical axis direction of the front object detection sensor is deviated from the central axis direction of the host vehicle. It is a figure when it is. It is a figure explaining the situation where the fixed object moves relative to the host vehicle when the host vehicle is traveling straight ahead and the zero point of the yaw rate sensor is shifted. It is a figure explaining the amount of lateral movement which a fixed thing moves relatively to the transverse direction with respect to the own vehicle by centripetal acceleration of the own vehicle. It is a figure explaining the amount of lateral movement to which a fixed object moves relatively to the transverse direction with respect to the own vehicle by rotation of the own vehicle, and (a) is the own vehicle at the start of one detection cycle of the forward object detection sensor. FIG. 8B is a diagram showing the host vehicle at the end of one cycle. It is a figure explaining the amount of lateral movement to which a fixed thing moves relatively to the side direction with respect to the own vehicle by the side slip angle of the own vehicle, and (a) is at the start and end of one detection cycle of the front object detection sensor. The figure which shows the own vehicle at the time, (b) is a figure which shows the skid angle of the own vehicle. It is a figure explaining the amount of lateral movement by which a fixed thing moves relatively to the transverse direction with respect to the own vehicle by deviation of the direction of an optical axis of a front object detection sensor. It is a graph which shows the approximate straight line of (x, y). It is a figure explaining the distance from the own vehicle to a fixed object. It is a flowchart which shows the vehicle travel control by a vehicle travel control apparatus. It is a flowchart which shows the azimuth | direction deviation detection control of a sensor. It is a flowchart which shows ACC control.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram of a vehicle travel control device including a sensor azimuth detection device according to an embodiment of the present invention. Reference numeral 1 denotes a cruise controller that automatically controls the vehicle speed of the host vehicle V and the inter-vehicle distance from the preceding vehicle W (see FIG. 2 for the host vehicle V and the preceding vehicle W). The cruise controller 1 includes a yaw rate sensor 30 (see also FIGS. 3 and 4) that detects a yaw rate generated in the host vehicle V, and a front object detection sensor 31 (see FIGS. 3 and 4) that detects an object in front of the host vehicle V. And a signal from a vehicle speed sensor 32 or the like that detects the vehicle speed of the host vehicle V and when the preceding vehicle W does not exist by controlling the engine ECU 50 and the DSC (dynamic stability control) unit 52. Performs constant speed control at the target vehicle speed, and when there is a preceding vehicle W, performs tracking control so that the inter-vehicle distance from the preceding vehicle W becomes the target inter-vehicle distance, and there is an obstacle ahead. In some cases, ACC control is performed to perform collision avoidance control so as to avoid collision with the obstacle.

  The forward object detection sensor 31 is configured by a scan-type millimeter wave radar. The millimeter wave radar is disposed so that its optical axis o (see FIG. 3 and the like) faces the front of the vehicle at a substantially center position in the vehicle width direction of the front end of the own vehicle V. It is possible to detect whether an object is present in front of the host vehicle V by transmitting a millimeter wave in a predetermined range (see the broken lines in FIGS. 3 and 10) and receiving the reflected wave. The front object detection sensor 31 can simultaneously detect a plurality (for example, eight) of objects in front of the host vehicle V.

  The front object detection sensor 31 may be other than the millimeter wave radar, and a laser radar, an ultrasonic radar, an infrared radar, a camera, or the like may be employed.

  The engine ECU 50 mainly controls the engine (not shown) and adjusts the throttle opening of the throttle 51 as one of its functions to accelerate the host vehicle V.

  The DSC unit 52 is an active safety system that ensures a stable traveling posture of the host vehicle V during a sudden steering or a sharp curve traveling, and includes an engine output and a braking force separately applied to each of the four wheels. Is controlled in an integrated manner to prevent a side slip of the host vehicle V. The DSC unit 52 adjusts the braking force by controlling a hydraulic unit (hereinafter referred to as HU) 53 that supplies a brake pressure to a brake device provided on each wheel, and decelerates the host vehicle V.

  The cruise controller 1 includes a front object recognition unit 10 (a front object recognition unit) to which a detection signal from the front object detection sensor 31 is input, a vehicle speed recognition unit 11 to which a detection signal from the vehicle speed sensor 32 is input, Movement amount measurement unit 12 (movement trajectory calculation unit), deviation detection unit 13 (deviation detection unit) to which the detection signal of the yaw rate sensor 30 is input, deviation detection prohibition unit 14 (deviation detection prohibition unit), travel path An estimation unit 15, a vehicle travel control unit 16, an ACC control restriction unit 17 (usage prohibition unit), and a zero point correction unit 18 are included.

  When the vehicle speed recognized by the vehicle speed recognition unit 11 is 10 km / h or more, the front object recognition unit 10 determines whether an object exists in front of the host vehicle V based on a detection signal (detection result) from the front object detection sensor 31. From the relative speed of the recognized object with respect to the host vehicle V, it is recognized whether the object is a fixed object F (for example, a utility pole, a guardrail, etc., see FIG. 3) or a moving object. . For example, when the relative speed of the recognized object with respect to the host vehicle V is 5 km / h or less, the object is recognized as the fixed object F. Further, the front object recognition unit 10 recognizes whether or not an object exists in front of the host vehicle V from the detection signal from the front object detection sensor 31, and the host vehicle estimated by the traveling path estimation unit 15 based on the result. It recognizes whether or not an object is present on the traveling path S of V (see FIG. 2). Further, it is recognized from the relative speed of the recognized object whether the object is an obstacle or a preceding vehicle W traveling ahead.

  The vehicle speed recognition unit 11 recognizes the vehicle speed from the detection signal from the vehicle speed sensor 32, and calculates a vehicle speed deviation between the detected vehicle speed and the target vehicle speed in the constant speed control described later.

  When the vehicle speed recognized by the vehicle speed recognition unit 11 is 10 km / h or more, the lateral movement amount measurement unit 12 determines that the fixed object F recognized by the front object recognition unit 10 is detected from the detection signal from the front object detection sensor 31. A movement trajectory that moves relative to the host vehicle V is calculated. From the calculated movement trajectory, the fixed object F moves to the host vehicle V per detection cycle of the front object detection sensor 31 (for example, 100 msec). On the other hand, the amount of lateral movement relatively moving in the lateral direction (width direction) is measured for each detection cycle. That is, by observing the fixed object F by the front object detection sensor 31 while the host vehicle V is traveling, the relative lateral movement amount of the fixed object F with respect to the host vehicle V is calculated. At this time, for the sake of convenience, a positive sign is assigned when moving horizontally to the left, and a negative sign is assigned when moving horizontally to the right (note that the positive and negative signs may be reversed). When there are a plurality of fixed objects F recognized by the front object recognition unit 10, the amount of lateral movement of the fixed objects F corresponding to the number is measured. Here, the lateral direction of the host vehicle V is a direction perpendicular to the direction of the optical axis o of the front object detection sensor 31 at the end of one detection cycle of the front object detection sensor 31. That is, when the optical axis direction of the front object detection sensor 31 coincides with the direction (vehicle front-rear direction) of the center axis (front axis) a of the host vehicle V, at the end of one detection cycle of the front object detection sensor 31. This is a direction perpendicular to the central axis direction of the host vehicle V.

  The lateral movement measuring unit 12 is configured so that the optical axis direction of the front object detection sensor 31 (when the optical axis direction of the front object detection sensor 31 coincides with the central axis direction of the host vehicle V, When the distance from the host vehicle V to the fixed object F regarding the direction (which is also the direction) is shorter than the predetermined distance, the lateral movement amount of the fixed object F is not measured in order to accurately estimate the yaw rate of the host vehicle V.

  When the vehicle speed recognized by the vehicle speed recognition unit 11 is 10 km / h or more, the deviation detection unit 13 detects the yaw rate detection value detected by the yaw rate sensor 30 and the fixed object F measured by the lateral movement amount measurement unit 12. From the amount of lateral movement, the deviation of the direction of the optical axis a of the front object detection sensor 31 with respect to the vehicle plan view from the central axis direction of the host vehicle V (azimuth error of the optical axis o of the front object detection sensor 31) and the yaw rate detection value The deviation (error) from the true yaw rate is detected. Specifically, from the yaw rate detection value and the amount of lateral movement of the fixed object F, using the least square method, the deviation of the front object detection sensor 31 in the direction of the optical axis (the vehicle V of the zero point of the front object detection sensor 31). Of the yaw rate detection value). Hereinafter, detection of the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value by the deviation detection unit 13 will be described in detail with reference to FIGS. 3 and 4. FIG. 3 is a diagram for explaining how the fixed object F moves relative to the host vehicle V while the host vehicle V is traveling. FIG. FIG. 5B is a view when the optical axis o of the front object detection sensor 31 faces the front of the vehicle. FIG. 5B is a case where the host vehicle V is traveling straight ahead. It is a figure when the optical axis direction has shifted | deviated from the central-axis direction of the own vehicle V. FIG. FIG. 4 illustrates a state in which the fixed object F moves relative to the host vehicle V when the host vehicle V is traveling straight ahead and the zero point of the yaw rate sensor 30 is shifted. FIG. That is, FIGS. 3 and 4 show a state in which the fixed object F moves relative to the reference coordinate system to which the host vehicle V is fixed.

  As shown in FIG. 3A, when the host vehicle V is traveling straight ahead and the optical axis o of the front object detection sensor 31 faces the front of the vehicle, the fixed object F moves to the host vehicle V. On the other hand, as shown in FIG. 3 (b), the vehicle V is traveling straight ahead, and the direction of the optical axis of the front object detection sensor 31 is from the direction of the central axis of the vehicle V. When it is deviated (deviated to the right in FIG. 3B), the fixed object F is relatively lateral to the host vehicle V in the same direction as the direction of deviation from the detection signal from the front object detection sensor 31. Misrecognized as moving. At this time, the lateral movement amount is constant regardless of the distance from the host vehicle V to the fixed object F.

  On the other hand, as shown in FIG. 4, when the host vehicle V is traveling straight ahead and the zero point of the yaw rate sensor 30 is shifted (shifted in the right turn direction in FIG. 4), the yaw rate sensor From the detection signal 30, the central axis a of the host vehicle V rotates (the host vehicle V turns), and the fixed object F moves laterally relative to the host vehicle V in a direction opposite to the turning direction. It is mistakenly recognized as being. At this time, the lateral movement amount increases as the distance from the host vehicle V to the fixed object F increases.

  As described above, the lateral movement amount of the fixed object F due to the deviation of the front object detection sensor 31 in the optical axis direction is constant regardless of the distance to the fixed object F, whereas the yaw rate sensor The amount of lateral movement of the fixed object F due to the deviation of the zero point of 30 increases as the distance to the fixed object F increases. From this difference, the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value can be separated.

By the way, when the host vehicle V is traveling, as a factor recognized from the detection signal from the front object detection sensor 31 that the fixed object F moves relative to the host vehicle V in the lateral direction, The fixed object F moves relative to the host vehicle V in the lateral direction due to the centripetal acceleration of the vehicle V, and the fixed object F moves relative to the host vehicle V in the lateral direction due to the rotation of the host vehicle V. The fixed object F is moved by the side slip angle of the host vehicle V relative to the host vehicle V in the lateral direction, and the fixed object F is moved by the deviation of the front object detection sensor 31 in the optical axis direction. It may move relative to the vehicle V in the lateral direction. That is, the amount of lateral movement in which the fixed object F recognized by the front object recognition unit 10 moves relative to the host vehicle V in the lateral direction during one period with the detection period of the front object detection sensor 31 is LM. (M) LM1 (m), the amount of lateral movement that the fixed object F moves relative to the host vehicle V in the lateral direction during one cycle due to the centripetal acceleration of the host vehicle V, and the rotation of the host vehicle V The amount of lateral movement of the fixed object F relative to the own vehicle V in the lateral direction during one cycle is set to LM2 (m), and the fixed object F has a certain period according to the side slip angle of the own vehicle V. The amount of lateral movement relative to the own vehicle V is LM3 (m), and the fixed object F is moved during the one cycle due to the deviation of the front object detection sensor 31 in the optical axis direction. The amount of lateral movement relative to V in the lateral direction is LM4 (m) Then, LM is expressed by the following equation.
LM = LM1 + LM2 + LM3 + LM4 (1)

  Hereinafter, the amount of lateral movement LM1 of the fixed object F relative to the host vehicle V due to the centripetal acceleration of the host vehicle V will be described in detail with reference to FIG. FIG. 5 is a diagram for explaining a lateral movement amount LM1 in which the fixed object F moves relative to the host vehicle V in the lateral direction due to the centripetal acceleration of the host vehicle V. FIG. 5 shows the time when the host vehicle V is turning (FIG. 5 is turning right. The same applies to FIGS. 6 and 7), and the optical axis direction of the front object detection sensor 31 is that of the host vehicle V. It coincides with the central axis direction (the same applies to FIGS. 6 and 7). In FIG. 5, the host vehicle V at the start of one detection cycle of the forward object detection sensor 31 is represented by a solid line, and the host vehicle V at the end of the cycle is represented by a two-dot chain line (FIG. 7A and FIG. 7). The same applies to FIG. 8).

As shown in FIG. 5, when the own vehicle V is turning (right turning in FIG. 5; the same applies to FIGS. 6 and 7), the own vehicle V moves sideways in the turning direction due to the centripetal acceleration. Therefore, the fixed object F moves laterally relative to the host vehicle V in the direction opposite to the turning direction. Here, the centripetal acceleration of the host vehicle V is α (m / s ² ), the detection cycle of the front object detection sensor 31 is t (s), the turning radius of the host vehicle V is r (m), and the vehicle speed of the host vehicle V is When v (m / s) and the true value of the yaw rate of the host vehicle V are ψ (rad / sec), LM1 is expressed by the following equation.
LM1 = 1/2 · α · t ² (2)

Α is expressed by the following equation.
α = r · ψ ² = v · ψ (3)

Substituting equation (3) into equation (2), LM1 is expressed by the following equation.
LM1 = 1/2 · v · ψ · t ² (4)

  Hereinafter, the amount of lateral movement LM2 of the fixed object F relative to the host vehicle V due to the rotation of the host vehicle V will be described in detail with reference to FIG. FIG. 6 is a diagram for explaining the lateral movement amount LM2 in which the fixed object F moves relative to the own vehicle V in the lateral direction due to the rotation of the own vehicle V. FIG. The figure which shows the own vehicle V at the time of a detection cycle one period, (b) is a figure which shows the own vehicle V at the time of the end of the one cycle.

As shown in FIG. 6, when the host vehicle V is turning, the host vehicle V rotates in the turning direction, so that the fixed object F is relative to the host vehicle V in a direction opposite to the turning direction. Move horizontally to. Here, at the start of one detection cycle of the front object detection sensor 31, the distance from the own vehicle V to the fixed object F in the optical axis direction of the front object detection sensor 31 is Ld, and the own vehicle V is rotated by the rotation of the own vehicle V. , LM2 is expressed by the following equation, where θ is the rotation angle that rotates during one cycle.
LM2 = Ld · sin θ

Here, since θ << 1, LM2 is expressed by the following equation.
LM2 = Ld · θ (5)

Θ is expressed by the following equation.
θ = ψ · t (6)

Substituting equation (6) into equation (5), LM2 is expressed by the following equation.
LM2 = Ld · ψ · t (7)

  Hereinafter, the amount of lateral movement LM3 of the fixed object F relative to the host vehicle V due to the side slip angle of the host vehicle V will be described in detail with reference to FIG. FIG. 7 is a diagram for explaining a lateral movement amount LM3 in which the fixed object F moves relative to the own vehicle V in the lateral direction according to the side slip angle of the own vehicle V. FIG. The figure which shows the own vehicle V at the time of a detection period 1 period start and completion | finish, (b) is a figure which shows the skid angle of the own vehicle V.

As shown in FIG. 7, when the host vehicle V is turning, the traveling direction of the host vehicle V does not coincide with the central axis direction of the host vehicle V. And the turning posture of the own vehicle V changes according to the vehicle speed. For this reason, the fixed object F moves laterally relative to the host vehicle V. Here, the side slip angle of the host vehicle V is β (rad), and the deviation amount of the center of gravity of the host vehicle V with respect to the central axis direction of the host vehicle V indicating the side slip angle from the turning center of the host vehicle V is d (m). ), The host vehicle V advances by v · t (m) during one detection cycle of the forward object detection sensor 31, and therefore LM3 is expressed by the following equation.
LM3 = v · t · sinβ

Here, since β << 1, LM3 is expressed by the following equation.
LM3 = v · t · β (8)

Β is expressed by the following equation.
β = tan (d / r)

Here, since β << 1, β is expressed by the following equation.
β = d / r (9)

Substituting equation (9) into equation (8), LM3 is expressed by the following equation.
LM3 = v · t · (d / r) (10)

Further, v / r is expressed by the following formula.
v / r = ψ (11)

Substituting equation (11) into equation (10), LM3 is expressed by the following equation.
LM3 = d · ψ · t (12)

In addition, d is represented by the following formula using v.
d = a · v ² + b

  The constant a is determined in advance from actual travel data of the host vehicle V. The constant b is the distance between the center of gravity of the host vehicle V and the center of the rear wheel of the host vehicle V in the central axis direction of the host vehicle V, and is determined in advance from actual data of the host vehicle V.

  Hereinafter, the relative lateral movement amount LM4 of the fixed object F with respect to the host vehicle V due to the deviation of the front object detection sensor 31 in the optical axis direction will be described in detail with reference to FIG. FIG. 8 is a diagram for explaining the lateral movement amount LM4 in which the fixed object F moves relative to the host vehicle V in the lateral direction due to the deviation of the front object detection sensor 31 in the optical axis direction. In FIG. 8, the host vehicle V is traveling straight, and the optical axis direction of the front object detection sensor 31 is shifted from the central axis direction of the host vehicle V (shifted to the right in FIG. 8). Is shown.

As shown in FIG. 8, when the host vehicle V is traveling straight and the optical axis direction of the front object detection sensor 31 is deviated from the central axis direction of the host vehicle V, the fixed object F is It is misrecognized that it is moving laterally relative to V in the same direction as the displacement direction. Here, if the amount of deviation (deviation angle) from the central axis direction of the host vehicle V in the direction of the optical axis of the front object detection sensor 31 is θerr (rad), the host vehicle V detects the detection cycle of the front object detection sensor 31. Since it advances by v · t (m) during one period, LM4 is expressed by the following equation.
LM4 = v · t · sin θerr

Here, since θerr << 1, LM4 is expressed by the following equation.
LM4 = v · t · θerr (13)

Then, when Expression (4), Expression (7), Expression (12), and Expression (13) are substituted into Expression (1), LM is expressed by the following expression.
LM = 1/2 · v · ψ · t ² + Ld · ψ · t + d · ψ · t + v · t · θerr (14)

Further, assuming that the detected yaw rate value is ψdef (rad / sec) and the amount of deviation of the detected yaw rate value from the true yaw rate value is ψerr (rad / sec), ψ is expressed by the following equation.
ψ = ψdef−ψerr (15)

Substituting equation (15) into equation (14), the equation is modified as follows.
ψdef · (1/2 · v · t + Ld + d) / v−LM / (v · t) = ψerr · (1/2 · v · t + Ld + d) / v−θerr (16)

here,
(1/2 · v · t + Ld + d) / v = x (17),
ψdef · (1/2 · v · t + Ld + d) / v−LM / (v · t) = y (18),
ψerr = a (19),
−θerr = b (20)
Then, Expression (16) is expressed by the following linear function expression.
y = ax + b (21)

ｂ＝Ｙ−ａＸ…（２３） When the number of data of (x, y) is n, the slope a and the intercept b in Equation (21) can be calculated by the following least squares formula.

b = Y−aX (23)

Here, X is an average value of x, and Y is an average value of y, each represented by the following formula.

  Then, (x, y) is calculated by substituting the actually measured value for the variable on the left side of Equation (17) and Equation (18). The data (x, y) is collected, and the slope a and the intercept b are calculated from the collected data (x, y) using the equations (22) and (23). In this way, as shown in FIG. 9, the relationship between x and y is approximated by a linear function from the data (x, y) using the least square method. If the number n of (x, y) data is smaller than a predetermined number (for example, 50), the slope a and the intercept b are not calculated.

  Then, the deviation amount ψerr of the yaw rate detection value and the deviation amount θerr in the direction of the optical axis of the front object detection sensor 31 are calculated from the calculated values of the inclination a and the intercept b using the equations (19) and (20).

  In FIG. 9, the upper part of the broken line indicates a component due to the deviation of the yaw rate detection value, and the lower part indicates a component due to the deviation of the front object detection sensor 31 in the optical axis direction. The deviation of the optical axis direction 31 and the deviation of the yaw rate detection value are separated.

Subsequently, filter processing is performed on the calculated value ψerr of the deviation amount of the yaw rate detection value and the calculated value θerr of the deviation amount of the front object detection sensor 31 in the optical axis direction. Specifically, the calculated value ψerr of the deviation amount of the yaw rate detection value is set to the previous smoothing value of the deviation amount of the yaw rate detection value, and the calculated value θerr of the deviation amount of the front object detection sensor 31 in the optical axis direction is set to the front. An annealing process is performed in which the deviation amount of the object detection sensor 31 in the optical axis direction is reflected by a predetermined ratio (for example, 1/8) in the previous annealing process value. That is, the current smoothing processing value of the deviation amount of the yaw rate detection value is ψerr_filter (current value), the previous annealing processing value of the deviation amount of the yaw rate detection value is ψerr_filter (previous value), and the forward object detection sensor 31 If the current annealing process value of the deviation amount in the optical axis direction is θerr_filter (current value) and the previous annealing process value of the deviation amount in the optical axis direction of the front object detection sensor 31 is θerr_filter (previous value), ψerr_filter (current value) and θerr_filter (current value) are expressed by the following equations.
ψerr_filter (current value) = (7 · ψerr_filter (previous value) + ψerr) / 8
θerr_filter (current value) = (7 · θerr_filter (previous value) + θerr) / 8

  Then, the current annealing process value of the deviation amount of the front object detection sensor 31 in the direction of the optical axis with the current annealing process value ψerr_filter (current value) of the deviation amount of the yaw rate detection value as the deviation amount of the yaw rate detection value. Θerr_filter (current value) is used as a deviation amount of the front object detection sensor 31 in the optical axis direction.

  As described above, the deviation detection unit 13 is measured by the yaw rate detection value detected by the yaw rate sensor 30 and the lateral movement amount measurement unit 12 when the vehicle speed recognized by the vehicle speed recognition unit 11 is 10 km / h or more. The deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value are detected from the lateral movement amount of the fixed object F.

Since LM3 is smaller than LM1, LM2, and LM4, LM may be expressed by the following equation.
LM = LM1 + LM2 + LM4

  At this time, the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value are detected using the least square method, as described above.

  Further, the deviation detection unit 13 performs a filter process on the calculated deviation value ψerr of the yaw rate detection value and the calculated deviation value θerr of the forward object detection sensor 31 in the optical axis direction. It does not have to be done. At this time, the calculated value ψerr of the deviation amount of the yaw rate detection value is directly used as the deviation amount of the yaw rate detection value, and the calculated value θerr of the deviation amount in the optical axis direction of the front object detection sensor 31 is directly used as the optical axis direction of the front object detection sensor 31. The amount of deviation is used respectively.

  The deviation detection prohibiting unit 14 has a distance between the most distant fixed objects F and F recognized by the front object recognition unit 10 in the optical axis direction of the front object detection sensor 31 shorter than a predetermined distance (for example, 100 m). Sometimes, the detection of the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value by the deviation detection unit 13 is prohibited. That is, as shown in FIG. 10, assuming that the distance to the nearest fixed object F is Ld_min (m) and the distance to the farthest fixed object F is Ld_max (m), when Ld_max−Ld_min <100 m, the deviation detection unit 13, the detection of the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value is prohibited.

  The traveling path estimation unit 15 calculates the yaw rate turning radius of the host vehicle V (for example, yaw rate turning radius = vehicle speed / yaw rate) from the yaw rate detection value detected by the yaw rate sensor 30 and the vehicle speed recognized by the vehicle speed recognition unit 11. The traveling path S of the host vehicle V is estimated based on the calculated yaw rate turning radius.

  The vehicle travel control unit 16 maintains the predetermined inter-vehicle distance with the preceding vehicle W ahead of the host vehicle V, which exists on the travel path S of the host vehicle V estimated by the travel path estimation unit 15. Thus, the ACC control is performed to perform the follow-up control in which the host vehicle V follows the preceding vehicle W by performing the accelerator control or the brake control. Specifically, the vehicle travel control unit 16 performs accelerator control to accelerate the host vehicle V. In this accelerator control, the vehicle travel control unit 16 outputs an accelerator control amount signal corresponding to a predetermined accelerator control amount to the engine ECU 50 so as to obtain a desired engine output. The engine ECU 50 that has received this accelerator control amount signal outputs a control signal to the throttle 51 in accordance with the accelerator control amount signal, and controls the throttle 51 so that the throttle opening degree in accordance with a predetermined accelerator control amount is obtained. The predetermined accelerator control amount is set for each of the follow-up control and the constant speed control.

  Further, the vehicle travel control unit 16 performs brake control so as to decelerate the host vehicle V. In this brake control, the vehicle travel control unit 16 outputs a brake control amount signal corresponding to a predetermined brake control amount to the DSC unit 52 so that a desired braking force can be obtained. The DSC unit 52 that has received the brake control amount signal outputs a control signal to the HU 53 according to the brake control amount signal, and controls the HU 53 so that a braking force according to a predetermined brake control amount is generated. The predetermined brake control amount is set for each of the follow-up control, the constant speed control, and the collision avoidance control.

  When the absolute value of the deviation amount in the optical axis direction of the front object detection sensor 31 detected by the deviation detection unit 13 is larger than a predetermined value (for example, 2 deg), the ACC control restriction unit 17 Use of the detection signal is prohibited. Specifically, when the absolute value of the deviation amount of the front object detection sensor 31 in the optical axis direction is larger than a predetermined value, the ACC control using the detection signal of the front object detection sensor 31 by the vehicle travel control unit 16 is prohibited. At the same time, an operation signal is output to an alarm device 54 provided in the vehicle. Receiving this operation signal, the alarm device 54 notifies the driver of the host vehicle that the ACC control by the vehicle travel control unit 16 is prohibited.

  Further, the ACC control limiting unit 17 determines the ACC by the vehicle travel control unit 16 when the absolute value of the deviation amount of the yaw rate detection value detected by the deviation correction unit 13 is larger than a first predetermined value (for example, 3 deg / sec). Control is prohibited and an operation signal is output to the alarm device 54. Upon receiving this operation signal, the alarm device 54 notifies the driver of the host vehicle V that the ACC control by the vehicle travel control unit 16 has been prohibited.

  Note that the ACC control restriction unit 17 may degenerate the ACC control when the absolute value of the deviation amount of the yaw rate detection value is larger than the first predetermined value. Here, the degeneration of the ACC control means that the vehicle Z on the adjacent road T adjacent to the traveling path S of the host vehicle V is the preceding vehicle by reducing the target inter-vehicle distance with the preceding vehicle W, for example. Prevent misrecognition (see Fig. 2 for adjacent road T and vehicle Z), or reduce the braking force to prevent the passenger from feeling uncomfortable when performing wrong brake control To do.

  The zero point correction unit 18 corrects the zero point deviation (offset) of the yaw rate sensor 30 at high speed when the ignition is on and the host vehicle V is stably stopped. Here, when "the host vehicle V is stably stopped", for example, the host vehicle V is stopped and the host vehicle V is not on an unstable object such as a turntable or a ship in a parking lot. Say time.

  The vehicle travel control device configured as described above recognizes the preceding vehicle W ahead of the host vehicle V by the front object detection sensor 31 and the front object recognition unit 10, and the inter-vehicle distance becomes a preset target inter-vehicle distance. Follow-up control is performed.

  Hereinafter, vehicle travel control by the vehicle travel control device will be described with reference to the flowchart of FIG.

  First, in step S1, sensor misorientation detection control is performed, and in step S2, ACC control is performed based on the misorientation detection.

  First, the azimuth deviation detection control of the sensor in step S1 will be described using the flowchart of FIG.

  In the yaw rate deviation detection control routine, it is first determined in step SA1 whether or not the ignition is on. If the ignition is on (YES), the process proceeds to step SA2. On the other hand, if the ignition is off (NO), the process proceeds to step SA18.

  In step SA2, it is determined from the vehicle speed recognized by the vehicle speed recognition unit 11 whether or not the host vehicle V is stopped. If the vehicle is traveling (NO), the process proceeds to step SA3. If the vehicle is stopped (YES), the process proceeds to step SA14.

  In step SA3, it is determined whether or not the vehicle speed recognized by the vehicle speed recognition unit 11 is 10 km / h or more. If it is 10 km / h or more (YES), the process proceeds to step SA4, whereas if it is less than 10 km / h (NO), the process proceeds to return. As described above, when the speed is less than 10 km / h, it is difficult to recognize whether the object ahead of the host vehicle V is a fixed object F or a moving object if the speed is very low. At the same time, the detection accuracy of the yaw rate sensor 30 is lowered.

  In step SA4, the forward object recognition unit 10 recognizes from the detection signal from the forward object detection sensor 31 whether or not an object exists in front of the host vehicle V, and the recognized object with respect to the host vehicle V is recognized. From the relative speed, it is recognized whether the object is a fixed object F or a moving object.

  In subsequent step SA5, the fixed object F recognized by the front object recognition unit 10 from the detection signal from the front object detection sensor 31 by the lateral movement amount measurement unit 12 per detection cycle of the front object detection sensor 31 is detected. A lateral movement amount LM that moves relative to the host vehicle V in the lateral direction is measured.

  In the subsequent step SA6, it is determined whether or not the number of data (x, y) n is 50 or more. If it is 50 or more (YES), the process proceeds to step SA7, whereas if it is less than 50 (NO), the process proceeds to return.

を算出する。さらに、最も近い固定物Ｆまでの距離Ｌｄ_ｍｉｎと最も遠い固定物Ｆまでの距離Ｌｄ_ｍｉｎを算出する。 In step SA7, the deviation detector 13 calculates values such as x and y. Specifically, (x, y) is calculated by substituting the actually measured value into the variable on the left side of the above equations (17) and (18). And from the calculated data number n of (x, y) and (x, y),

Is calculated. Further, a distance Ld_min to the nearest fixed object F and a distance Ld_min to the farthest fixed object F are calculated.

  In subsequent step SA8, it is determined whether or not the difference obtained by subtracting the distance Ld_min from the distance Ld_min to the nearest fixed object F from the distance Ld_min to the furthest fixed object F is 100 m or more. If it is 100 m or longer (YES), the process proceeds to step SA9, whereas if it is less than 100 m (NO), the process proceeds to return. That is, when the distance is less than 100 m, the deviation detection prohibiting unit 14 prohibits detection of the deviation of the front object detection sensor 31 in the optical axis direction and the deviation of the yaw rate detection value by the deviation detecting unit 13.

  In step SA9, the deviation detector 13 detects a deviation in the optical axis direction of the front object detection sensor 31 and a deviation in the yaw rate detection value using the least square method. Specifically, the slope a and the intercept b are calculated from the calculated values calculated in step SA6 using the above formulas (22) to (25), and the above formula is calculated from the calculated values of the slope a and the intercept b. Using (19) and Equation (20), the deviation amount ψerr of the yaw rate detection value and the deviation amount θerr of the front object detection sensor 31 in the optical axis direction are calculated.

  In subsequent step SA10, the deviation detection unit 13 performs filtering on the calculated deviation value ψerr of the yaw rate detection value and the calculated deviation value θerr of the forward object detection sensor 31 in the optical axis direction. Specifically, the calculated value ψerr of the deviation amount of the yaw rate detection value is set to the previous smoothing value ψerr_filter (previous value) of the deviation amount of the yaw rate detection value, and the deviation amount of the front object detection sensor 31 in the optical axis direction is calculated. An annealing process is performed in which the calculated value θerr is reflected by 1/8 of the previous annealing process value θerr_filter (previous value) of the deviation amount of the front object detection sensor 31 in the optical axis direction.

  In subsequent step SA11, the calculated value calculated in step SA6 is reset (set to zero). In the subsequent step SA12, it is determined whether or not the number of times of calculation of the deviation amount ψerr in the optical axis direction of the front object detection sensor 31 and the deviation amount θerr of the yaw rate detection value by the deviation detection unit 13 has become 100 or more. If it is 100 times or more (YES), the process proceeds to step SA13, whereas if it is less than 100 times (NO), the process proceeds to return.

  In step SA13, a learning completion flag during traveling is set. Then proceed to return.

  Further, in step SA14, which has been determined to be stopped at step SA2, the stop state of the host vehicle V is determined.

  In subsequent step SA15, it is determined whether or not the host vehicle V is stably stopped. If the vehicle is stably stopped (YES), the process proceeds to step SA16. If the vehicle is unstablely stopped (NO), the process proceeds to return.

  In step SA16, the zero point correction unit 18 corrects the deviation of the zero point of the yaw rate sensor 30. In the subsequent step SA17, a stop-learning completion flag is set. Then proceed to return.

  Further, in step SA18, which has proceeded after determining that the ignition is off in step SA1, the stop-time learning completion flag and the travel time learning completion flag are reset. Then proceed to return.

  Next, the ACC control in step S2 will be described using the flowchart of FIG.

  In the ACC control routine, first, in step SB1, −2 deg ≦ the amount of deviation in the optical axis direction of the front object detection sensor 31 (that is, the current annealing process value θerr_filter ( It is determined whether or not this value)) ≦ 2 deg is satisfied. That is, it is determined whether or not the absolute value of the deviation amount of the front object detection sensor 31 in the optical axis direction is equal to or less than the predetermined value. When it is satisfied (below the predetermined value) (YES), the process proceeds to step SB2, while when it is not satisfied (larger than the predetermined value) (NO), the process proceeds to step SB8.

  In step SB2, whether or not −3 deg / sec ≦ the deviation amount of the yaw rate detection value (that is, the current smoothing processing value of the deviation amount of the yaw rate detection value satisfies ψerr_filter (current value)) ≦ 3 deg / sec is determined. judge. That is, it is determined whether or not the absolute value of the deviation amount of the yaw rate detection value is equal to or less than the first predetermined value. When it is satisfied (below the first predetermined value) (YES), the process proceeds to step SB3, whereas when it is not satisfied (larger than the first predetermined value) (NO), the process proceeds to step SB8.

  In SB3, it is determined whether or not −0.4 deg / sec ≦ yaw rate detection value deviation amount ≦ 0.4 deg / sec is satisfied. That is, it is determined whether or not the absolute value of the deviation amount of the yaw rate detection value is equal to or smaller than a second predetermined value that is smaller than the first predetermined value. When it is satisfied (below the second predetermined value) (YES), the process proceeds to step SB4, whereas when it is not satisfied (larger than the second predetermined value) (NO), the process proceeds to step SB5.

  In step SB4, it is determined from the learning completion flag at the time of stopping whether learning at the time of stopping is completed. If not completed (NO), the process proceeds to step SB5, whereas if completed (YES), the process proceeds to SB6.

  In step SB5, it is determined from the learning completion flag when running whether or not learning is completed. If completed (YES), the process proceeds to step SB6, whereas if not completed (NO), the process proceeds to SB7.

  In step SB6, the ACC control by the vehicle travel control unit 16 is permitted. When the ACC main switch is on, the vehicle travel control unit 16 performs ACC control. Specifically, the inter-vehicle distance with the preceding vehicle W ahead of the host vehicle V existing on the travel route S of the host vehicle V estimated by the travel route estimation unit 15 is maintained at a predetermined target inter-vehicle distance. Next, accelerator control or brake control is performed to perform follow-up control for causing the host vehicle V to follow the preceding vehicle W. Then proceed to return.

  Further, in step SB7 which has been determined that the learning at the time of traveling has not been completed in step SB5, the ACC control limiting unit 17 degenerates the ACC control by the vehicle traveling control unit 16, and the operation signal is output to the alarm device 54. The alarm device 54 that has received this operation signal notifies the driver of the host vehicle V that the ACC control by the vehicle travel control unit 16 has been degenerated. Then proceed to return.

  Further, it is determined in step SB1 that −2 deg ≦ the deviation in the optical axis direction of the front object detection sensor 31 ≦ 2 deg is not satisfied, or in step SB2, −3 deg / sec ≦ the deviation of the yaw rate detection value ≦ 3 deg / sec. In step SB8, which has been determined to not satisfy the condition, the ACC control restriction unit 17 prohibits the ACC control by the vehicle travel control unit 16 and outputs an operation signal to the alarm device 54, thereby receiving the operation signal. The warning device 54 notifies the driver of the host vehicle V that the ACC control by the vehicle travel control unit 16 is prohibited. Then proceed to return.

-Effect-
As described above, according to the present embodiment, the yaw rate sensor 31 that detects the yaw rate of the host vehicle V, the front object detection sensor 31 that detects an object in front of the host vehicle V, and the front object detection sensor 31 detect the vehicle. A front object recognition unit 10 for recognizing whether the object is a fixed object F, and a lateral movement amount by which the fixed object F recognized by the front object recognition unit 10 moves relative to the own vehicle V in the lateral direction. Based on the yaw rate detection value detected by the yaw rate sensor 31 and the lateral movement amount measured by the lateral movement amount measurement unit 12, the forward object detection sensor using the least square method Since the displacement detection unit 13 that detects the displacement of the direction of 31 is provided, the displacement of the direction of the front object detection sensor 31 can be detected.

  By the way, since the detection value of the yaw rate sensor 31 fluctuates due to the influence of deterioration with time, temperature drift, noise, etc. of the yaw rate sensor 31, it may be erroneously detected. For this reason, when the follow-up control is performed, the traveling path S of the host vehicle V is erroneously estimated and the preceding vehicle W is present on the adjacent path T adjacent to the traveling path S of the host vehicle V. Therefore, there is a risk of erroneous determination that the vehicle V exists on the traveling path S.

  Here, according to the present embodiment, the least square method is used based on the yaw rate detection value detected by the yaw rate sensor 31 and the lateral movement amount measured by the lateral movement amount measurement unit 12 by the deviation detection unit 13. In addition to the deviation in the direction of the front object detection sensor 31, the deviation in the yaw rate detection value can be detected.

  By the way, when the distance between the farthest fixed objects F, F recognized by the front object recognition unit 10 is short, the distance from the host vehicle V to the fixed object F is biased, and the front object detection sensor 31 by the deviation detection unit 13. There is a possibility that it is not possible to accurately detect the deviation of the direction of and the deviation of the detected yaw rate value. That is, the detection accuracy increases as the distance from the host vehicle V to the fixed object F increases.

  Here, according to the present embodiment, when the distance between the farthest fixed objects F, F recognized by the front object recognition unit 10 is shorter than a predetermined distance, the front object detection sensor 31 by the deviation detection unit 13. Since the deviation detection prohibiting unit 14 that prohibits the detection of the deviation of the direction and the deviation of the yaw rate detection value is provided, the deviation detection unit 13 accurately detects the deviation of the direction of the front object detection sensor 31 and the deviation of the yaw rate detection value. be able to.

  Further, when the absolute value of the deviation amount of the direction of the front object detection sensor 31 detected by the deviation detection unit 13 is larger than a predetermined value, the front object detection sensor 31 detects that the front object detection sensor 31 is abnormal. Since the ACC control restriction unit 17 that prohibits the use of the signal is provided, it is possible to reliably suppress erroneous detection of an object in front of the host vehicle V.

(Other embodiments)
In the embodiment described above, the deviation detection unit 13 detects the deviation of the direction of the front object detection sensor 31 and the deviation of the detected yaw rate value, but may detect only the deviation of the direction of the front object detection sensor 31.

  In the above-described embodiment, the amount of lateral movement of the fixed object F relative to the host vehicle V is measured, and the light of the front object detection sensor 31 is calculated from the amount of lateral movement and the detected yaw rate. The deviation in the axial direction and the deviation in the yaw rate detection value are detected. However, the present invention is not limited to this. For example, a movement vector in which the fixed object F moves relative to the host vehicle V is calculated. A deviation in the direction of the optical axis of the front object detection sensor 31 and a deviation in the yaw rate detection value may be detected from the detection value.

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is defined by the claims, and is not limited by the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, the sensor azimuth shift detection apparatus according to the present invention can be applied to applications that need to detect a shift in the direction of the front object detection sensor.

1 Cruise control 10 Front object recognition unit (front object recognition means)
12 Horizontal movement amount measurement unit (movement trajectory calculation means)
13 Deviation detection unit (deviation detection means)
14 Deviation detection prohibition section (deviation detection prohibition means)
17 ACC control restriction unit (use prohibition means)
30 Yaw rate sensor 31 Front object detection sensor F Fixed object V Own vehicle

Claims (5)

A yaw rate sensor for detecting the yaw rate of the host vehicle;
A front object detection sensor for detecting an object in front of the host vehicle;
Forward object recognition means for recognizing whether the object detected by the forward object detection sensor is a fixed object;
A movement locus calculating means for calculating a movement locus in which the fixed object recognized by the front object recognition means moves relative to the host vehicle;
And a deviation detecting means for detecting a deviation in the direction of the front object detection sensor based on the yaw rate detection value detected by the yaw rate sensor and the movement locus calculated by the movement locus calculating means. A sensor misorientation detector. The sensor misorientation detection apparatus according to claim 1,
The deviation detecting means is based on the yaw rate detection value detected by the yaw rate sensor and the movement locus calculated by the movement locus calculating means, in addition to the deviation of the direction of the front object detection sensor, An apparatus for detecting an azimuth deviation of a sensor, wherein the apparatus is configured to detect a deviation of the sensor. In the sensor orientation shift detection device according to claim 2,
The deviation detecting means uses the least square method based on the yaw rate detection value detected by the yaw rate sensor and the movement locus calculated by the movement locus calculation means, and the deviation of the direction of the front object detection sensor and the A sensor azimuth shift detection device configured to detect a shift in a yaw rate detection value. In the sensor orientation shift detection device according to claim 3,
When the distance between the farthest fixed objects recognized by the front object recognition means is shorter than a predetermined distance, the deviation detection means prohibits detection of a deviation in the direction of the front object detection sensor and a deviation in the yaw rate detection value. A sensor azimuth deviation detecting device, further comprising a deviation detection prohibiting means. In the azimuth | direction deviation detection apparatus of the sensor as described in any one of Claims 2-4,
And further comprising a use prohibiting means for prohibiting the use of the detection result of the front object detection sensor when the absolute value of the deviation amount of the direction of the front object detection sensor detected by the shift detection means is larger than a predetermined value. A sensor misorientation detecting device characterized by comprising:

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