JP6168784B2 - Perimeter monitoring system and axis deviation detection method for perimeter monitoring system - Google Patents

Description

  The present invention relates to a periphery monitoring system that includes two or more radar devices and detects a target in a detection area, and particularly relates to a periphery monitoring system that can detect an axis deviation between two or more radar devices. It is.

  In order to detect an obstacle or the like existing around the vehicle, a periphery monitoring system including a radar device has been mounted on the vehicle. In addition, an increasing number of peripheral monitoring systems including two or more radar devices so that the periphery of the vehicle can be monitored in a wide range, and in order to eliminate blind spots between the radar devices, the detection areas of each radar partially overlap. Are arranged as follows. In the periphery monitoring system provided with two or more radar devices, if there is a target in the overlapping detection area where the detection areas of the two radar devices overlap, this is detected by the two radar devices.

  In a periphery monitoring device including two or more radar devices, when an axis deviation occurs between two radar devices sharing an overlap detection area, the position of a target detected by one radar device and the other radar device are detected. The position of the detected target is different, and the periphery monitoring system cannot correctly detect the position of the target.

  As conventional techniques for detecting such an axis deviation between two radar devices, for example, those described in Patent Documents 1 and 2 are known. In Patent Document 1, a vehicle equipped with two radar devices is stopped, and only one target for axis adjustment is arranged in the overlap detection area of the two radar devices. It is described that each axis adjustment is performed based on the detected result.

  Patent Document 2 describes a method for adjusting the axis of a radar apparatus that can detect and adjust an axis deviation while the vehicle is running. In Patent Document 2, in a periphery monitoring system including a plurality of radar devices, a trajectory vector of a roadside object is created based on the detection result of each radar device. It is described that an angle formed by a reference axis and a trajectory vector of a roadside object is obtained and the axis is adjusted so that the angle matches a predetermined set value.

JP 2009-281862 A JP 2011-43387 A

  However, in the prior art of Patent Document 1, it is necessary to arrange a target for adjusting the axis in order to adjust the axis, stop the vehicle and detect the target, and prepare a special inspection facility for adjusting the axis. There is a need to. Therefore, there is a problem that the shaft misalignment cannot be detected as appropriate during traveling, and can only be detected during a specific inspection.

  Moreover, in the prior art described in Patent Document 2, an environment in which a roadside object capable of creating a linear trajectory vector such as a guardrail or a side wall is required, and an axis deviation can be detected only during straight running. There is a problem that can not be. In addition, it is necessary to input information such as a yaw rate sensor and GPS in order to determine that the vehicle is running in a straight line, which causes a problem that the system becomes complicated and the processing time increases.

  The present invention has been made in view of the above problems, and a peripheral monitoring system capable of detecting an axial shift between radar devices using a target detection result in operation and an axial shift detecting method of the peripheral monitoring system The purpose is to provide.

In order to solve the above problems, a first aspect of the periphery monitoring system of the present invention is a periphery monitoring system including two or more radar devices that detect a target in a detection area at a predetermined repetition period, The detection area of each of the two or more radar devices includes an overlapping detection area that partially overlaps a part of the detection area of another radar device, and detects the target from each of the radar devices. Input the position data at the time, and determine the target located in each of the overlap detection area based on the position data, to output the position data of the target, overlapping area target determination means, The common position common to the two radar devices which input the position data of the target for each of the overlap detection areas from the overlap area target determination means and share each of the overlap detection areas. Coordinate system conversion means for converting and outputting the position data to a system; and the position data of the common coordinate system for each overlap detection area from the coordinate system conversion means, and the two units for each overlap detection area Object labeling means for associating the position data detected on one side of the radar device with the position data detected on the other side, and the correlated position from the object labeling means for each overlap detection area When data is input and the number of targets detected by the two radar devices sharing one of the overlap detection areas is different, or a difference between the associated position data is a predetermined threshold value when exceeding, the possess and determining axis misalignment determination means for axial displacement between two of the radar apparatus, wherein the axis deviation determining means, the number of target object detected by the two radar devices Different Period is equal to or determining the axial deviation between the two radar apparatus when continuously continues for more than a predetermined axial deviation determination count.

  According to another aspect of the periphery monitoring system of the present invention, the difference between the associated position data is calculated by calculating a distance between the associated position data for each repetition period, and for the latest consecutive predetermined number of times. It is the average value which averaged the said distance over.

A first aspect of the axis deviation detection method for the periphery monitoring system of the present invention is an axis deviation detection method for an area monitoring system provided with two or more radar devices that detect a target in a detection area at a predetermined repetition period. In addition, each of the detection areas of the two or more radar apparatuses includes an overlapping detection area that partially overlaps a part of the detection area of another radar apparatus, and the object is detected from each of the radar apparatuses. An overlapping area target determination step for inputting position data when a target is detected, determining the target positioned in each of the overlap detection areas, and outputting the position data of the target, and the overlap detection area A coordinate system for inputting the position data of each target and converting the position data into a common coordinate system common to the two radar devices sharing the overlap detection area and outputting the same An object indicator for associating a replacement step with the position data of the common coordinate system detected by one of the two radar devices for each overlap detection area and the position data of the common coordinate system detected by the other When the number of targets detected by the two radar devices sharing one of the overlapping detection areas is different from that in another step, or the difference between the associated position data has a predetermined threshold value more than time, have a, a shaft deviation determination step of determining an axial deviation between the two said radar device, in the axial deviation determination step, the number of target objects are detected by the two radar devices are different The axis deviation between the two radar devices is determined when the cycle continues for a predetermined number of axis deviation determination times or more .

  According to another aspect of the axis deviation detection method of the periphery monitoring system of the present invention, the difference between the associated position data is calculated by calculating the distance between the associated position data for each repetition period, It is an average value obtained by averaging the distance over a predetermined number of consecutive times.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the periphery monitoring system which can detect the axial shift between radar apparatuses using the target detection result in operation, and the axial shift detection method of a peripheral monitoring system.

It is a flowchart which shows the flow of a process of the axis deviation detection method of the periphery monitoring system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the structure of the periphery monitoring system which concerns on 1st Embodiment of this invention. It is a conceptual diagram which shows the detection area of the periphery monitoring system which concerns on 1st Embodiment of this invention. It is a conceptual diagram which shows the detection area of the periphery monitoring system which concerns on embodiment provided with three radar apparatuses. It is a conceptual diagram which shows an example of a detection area when an axis shift arises with one radar apparatus. It is a comparison figure of the position data of the target detected when the axis deviation has occurred and when it has not occurred. It is a figure which shows an example of the threshold value for determining an axis deviation.

  A peripheral monitoring system and a method for detecting an axis deviation of the peripheral monitoring system in a preferred embodiment of the present invention will be described in detail with reference to the drawings. Each component having the same function is denoted by the same reference numeral for simplification of illustration and description.

(First embodiment)
A perimeter monitoring system and a perimeter monitoring method for the perimeter monitoring system according to the first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a flowchart showing the flow of processing of the axis deviation detection method of the periphery monitoring system of this embodiment, and FIG. 2 is a block diagram showing the configuration of the periphery monitoring system of this embodiment. FIG. 3 is a conceptual diagram showing a detection area in which a target can be detected in the periphery monitoring system of the present embodiment.

  The periphery monitoring system of this embodiment includes two or more radar devices, and the reference axes of the radar devices are set so that the detection areas of two adjacent radar devices partially overlap. . In the following, for simplicity of explanation, it is assumed that the periphery monitoring device of this embodiment includes two radar devices.

  The periphery monitoring system 100 according to this embodiment shown in FIG. 2 includes two radar devices, a first radar device 101 and a second radar device 102. When the radar devices 101 and 102 detect the target in the respective detection areas, the radar devices 101 and 102 output the position data. In each of the radar apparatuses 101 and 102, the position data can be represented by, for example, a polar coordinate system centered on the position of the radar apparatus 101 or 102, and can be given by the distance and direction from the center to the target.

  An example of the detection areas of the first radar device 101 and the second radar device 102 is shown in FIG. In the figure, an area 11 indicates a detection area of the first radar apparatus 101, and is an area having a predetermined angle range symmetrical to the reference axis 11a. Similarly, an area 12 indicates a detection area of the second radar device 102, and is an area having a predetermined angle range that is symmetrical with respect to the reference axis 12a. The reference axes 11a and 12a are the central axes of the detection areas 11 and 12, respectively.

  In the first radar device 101 and the second radar device 102, the orientations of the reference axes 11a and 12a are set so that the detection areas 11 and 12 partially overlap each other. The area where the detection areas 11 and 12 overlap is hereinafter referred to as an overlap detection area 20. Since the first radar device 101 and the second radar device 102 are arranged at different positions, for example, when the target 1 in the overlap detection area 20 is detected by each radar device, the objects detected by the respective radar devices are detected. The distance to the mark and the azimuth are different from each other.

  Therefore, in order to be able to correctly identify the detected target, particularly in order to be able to identify that the targets in the overlap detection area detected by the two radar apparatuses 101 and 102 are the same. In this case, it is necessary to convert the position data of each detected target to a common coordinate system. In FIG. 3, the position data of the target detected by each of the radar apparatuses 101 and 102 is represented by a polar coordinate system composed of a distance and an azimuth, and an intermediate between the first radar apparatus 101 and the second radar apparatus 102 as a common coordinate system. The point C is represented by an orthogonal coordinate system (xy coordinate system) with the origin as the origin. The coordinate system used by each radar apparatus and the common coordinate system are not limited to this, and can be arbitrarily selected.

  An example of the detection area when the periphery monitoring system 100 further includes the third radar device 103 is shown in FIG. In the figure, a third radar device 103 is further arranged between the first radar device 101 and the second radar device 102. At this time, an overlap detection area 21 in which the detection area 11 of the first radar device 101 and the detection area 13 of the third radar device 103 overlap is formed, and further, the detection area 12 and the third of the second radar device 102 are detected. An overlapping detection area 22 is formed, which overlaps with the detection area 13 of the radar apparatus 103. Thus, when three or more radar devices are provided, it is preferable to arrange each radar device so that detection areas overlap between adjacent radar devices.

  In the following, when the periphery monitoring system 100 according to the present embodiment includes two radar devices 101 and 102, the first radar device 101 and the first radar device 101 are detected based on the position data of the target detected in the overlap detection area 20. A method for detecting an axis deviation with respect to the second radar apparatus 102 will be described. When the periphery monitoring system 100 further includes the third radar device 103, the second radar device 102 and the third radar device 102 are connected to each other based on the position data of the target detected in the overlap detection area 21. It is possible to detect an axial deviation with respect to the radar apparatus 103 in the same manner. Further, when the periphery monitoring system 100 includes four or more radar devices, the axis deviation can be detected in the same manner.

  Next, as an example of the axis deviation of the radar apparatus, each detection area when the axis deviation occurs in the first radar apparatus 101 and no axis deviation occurs in the second radar apparatus 102 is shown in FIG. In the figure, an example in which the reference axis 11a of the first radar apparatus 101 is rotated by an angle Δθ and shifted is shown. At this time, the detection area 11 is rotated by an angle Δθ as a whole and moved to the detection area 11 ′. Here, it is assumed that the target 1 is detected in the overlap detection area 20. FIG. 6 shows a comparison of position data of the target 1 detected when the radar apparatus 101 has no axis deviation and when an axis deviation has occurred. FIG. 6 shows the position data of the target 1 when the position of the radar apparatus 101 is the origin.

  In FIG. 6, the radar apparatus 101 when no axis misalignment detects the distance L1 and the azimuth angle θ1 expressed in the polar coordinate system as the position data of the target 1. On the other hand, in the radar apparatus 101 when the axis deviation occurs, the distance L1 and the azimuth angle θ1 ′ are detected as the position data of the target 1. That is, since the reference axis 11a rotates by Δθ and is displaced, the azimuth angle θ1 of the target 1 when no axial displacement occurs is erroneously detected as θ1 ′ (= θ1 + Δθ). Here, a case where the reference axis 11a is rotated by Δθ and is displaced will be described as an example. However, the present invention is not limited to this. For example, both the distance and the azimuth may be shifted due to a positional deviation of the radar apparatus 101. Including.

  On the other hand, the second radar apparatus 102 detects the distance L2 and the azimuth angle θ2 as the correct position of the target 1 because no axis deviation has occurred. When the first radar apparatus 101 is not displaced, the position obtained by converting the polar coordinate system position data (L1, θ1) detected by the first radar apparatus 101 into the common orthogonal coordinate system shown in FIG. The data (x1, y1) is substantially equal to the position data (x2, y2) obtained by converting the position data (L2, θ2) detected by the second radar device 102 into a common orthogonal coordinate system. That is, x1 and x2 are substantially equal, and y1 and y2 are substantially equal. Since the radar apparatus generates an error due to its performance, it is necessary to determine whether the position data are equal within a range exceeding the error based on the radar performance.

  On the other hand, when the first radar apparatus 101 is misaligned, the polar coordinate system position data (L1, θ1 ′) detected by the first radar apparatus 101 is converted into a common orthogonal coordinate system. The coordinates (x1 ′, y1 ′) are different from the coordinates (x1, y1). When it is unclear that the first radar apparatus 101 is misaligned, the target located at the coordinates (x1 ′, y1 ′) detected by the first radar apparatus 101 and the second radar apparatus 102 There is a possibility that the target located at the coordinates (x2, y2) detected in is erroneously determined to be a different target.

  Therefore, in the periphery monitoring device 100 of the present embodiment, when the target 1 is in the overlap detection area 20 as illustrated in FIG. 5, the first radar device 101 and the second radar device 102 are used using the position data. It is possible to detect the occurrence of an axis deviation between This prevents erroneous determination of the same target detected by the first radar device 101 and the second radar device 102 as a different target.

  The surroundings monitoring apparatus 100 of this embodiment is demonstrated below using FIG. The periphery monitoring device 100 of the present embodiment includes two radar devices, a first radar device 101 and a second radar device 102, and further includes an overlapping area target determination unit 111, a coordinate system conversion unit 112, An object labeling unit 113 and an axis deviation determination unit 114 are provided. Both the first radar device 101 and the second radar device 102 detect the target in the detection areas 11 and 12 at a predetermined repetition period T. In addition, the processes of the overlapping area target determination unit 111, the coordinate system conversion unit 112, the object marker distinction unit 113, and the axis deviation determination unit 114 are also executed at the same repetition period T.

  The overlapping area target determination unit 111 determines whether or not the targets detected by the first radar apparatus 101 and the second radar apparatus 102 are located in the overlapping detection area 20. Then, the position data of the target determined to be located in the overlap detection area 20 is output to the coordinate system conversion unit 112.

  The coordinate system conversion unit 112 converts the position data of the target input from the overlapping area target determination unit 111 into a coordinate system common to the first radar device 101 and the second radar device 102. In the above example, the polar coordinate system position data set in each of the radar apparatuses 101 and 102 is converted into the common orthogonal coordinate system position data. As a result, when no axis deviation occurs in the radar apparatuses 101 and 102, the position data detected by the first radar apparatus 101 and the second radar apparatus 102 detected from the overlapping area target determination unit 111 are detected. The position data is converted into position data (x, y) in an orthogonal coordinate system that is both substantially equal.

  The object marker distinction unit 113 inputs the position data of the common coordinate system from the coordinate system conversion unit 112 and determines whether a plurality of targets are detected in the overlap detection area 20. When a plurality of targets are detected in the overlap detection area 20, the position data of each of the targets detected by the first radar device 101 and the targets detected by the second radar device 102 are detected. Are compared, and it is determined that targets that are close in distance are the same target, and the correspondence is performed.

  The axis deviation determination means 114 receives the position data of the common coordinate system from the object labeling means 113, and uses this to determine whether or not an axis deviation occurs between the first radar apparatus 101 and the second radar apparatus 102. Determine whether or not. When it is determined that one target has been detected in the duplication detection area 20 by the object identification unit 113, the axis deviation determination unit 114 causes an axis deviation when any of the following conditions is satisfied. It is determined that

(1) In the overlap detection area, a cycle in which the target is detected on one of the two radar devices and the target is not detected on the other continues continuously for a predetermined number of times or more.
(2) In the overlap detection area, the target is detected by both of the two radar devices, and the average value for a predetermined number of consecutive differences between the position data of the detected targets is a predetermined threshold value. Over.
Note that the predetermined number of times described in the above (1) and (2) is the number of times that the repetition period T continues, and is set in advance.

  The predetermined threshold value for the average value for a predetermined number of consecutive differences between the position data of the target (2) can be set as shown in FIG. 7, for example. In FIG. 7, when the x-axis difference Δx = x1−x2 is taken on the horizontal axis and the y-coordinate difference Δy = y1−y2 is taken on the vertical axis, the magnitude of the difference vector from the origin to the difference point (Δx, Δy). A threshold value is set for (the distance from the origin to the point (Δx, Δy)). As an example of the threshold value, a first threshold value R1 and a second threshold value R2 are provided here, and a warning message is output to the driver when the magnitude of the difference vector exceeds the first threshold value R1. When the threshold value R2 is exceeded, a warning message can be output.

  Further, when it is determined that the plurality of targets are detected in the duplication detection area 20 by the target mark identification unit 113, the axis deviation determination unit 114 is configured to associate the targets with the target mark identification unit 113. Based on the results obtained, it is determined that an axis deviation has occurred when any of the following conditions is met.

(3) In the overlap detection area, a period in which the number of targets detected by each of the two radar devices does not match continues continuously for a predetermined number of times.
(4) In the overlap detection area, the same number of targets are detected by both of the two radar devices, and the average value for a predetermined number of consecutive differences between the associated position data has a predetermined threshold value. There is more than one set.

  It should be noted that even if it is determined that one target has been detected in the overlap detection area 20 in the object-mark-separating means 113, one target detected by the first radar device 101 and the second radar device 102 are detected. Since one target detected in step (1) can be associated with the same target, the following is also handled by the target identification means 113 when one target is detected in the overlap detection area 20. The description will be given assuming that

  The axis deviation detection method by the periphery monitoring device 100 of this embodiment will be described in more detail with reference to FIG. In FIG. 1, when measurement by the periphery monitoring device 100 is started (step S1), a target is detected by each of the first radar device 101 and the second radar device 102 (step S2). Then, in each of the first radar apparatus 101 and the second radar apparatus 102, when a target is detected, the position data of the target is calculated and output to the overlapping area target determination unit 111 (step S3). ).

  The overlapping area target determination unit 111 determines whether or not the detected target is located in the overlapping detection area 20 based on the position data input from the first radar device 101 and the second radar device 102. Determine. Then, the position data of the target determined to be located in the overlap detection area 20 is output to the coordinate system conversion means 112 (step S4).

  The coordinate system conversion means 112 converts the target position data input from the overlapping area target determination means 111 into a common coordinate system (step S5). The position data converted into the common coordinate system is output to the object labeling means 113. The target mark distinction means 113 inputs the position data of the common coordinate system from the coordinate system conversion means 112, and the target detected by the first radar apparatus 101 and the target detected by the second radar apparatus 102 are detected. The respective position data are compared, and the targets that are close in distance are determined to be the same target, and are associated (step S6).

  The axis misalignment determining means 114 receives the position data of the common coordinate system associated as the same target from the object marker distinguishing means 113, and uses this to input the first radar device 101, the second radar device 102, and the like. It is determined whether or not an axis deviation occurs between the two. First, in step S7, it is determined whether or not a target is detected in the overlap detection area 20, and if a target is detected in any of the radar apparatuses 101 and 102, the process proceeds to step S8, and the radar apparatus 101 is detected. , 102, when the target is not detected, the processing of the cycle ends.

  In step S8, it is determined whether or not the same number of targets have been detected by both the radar apparatuses 101 and 102. When the same number of targets is detected, the process proceeds to step S9, and when the number of targets is different, the process proceeds to step S11. In step S9, the difference between the associated position data is calculated and stored, and then the process proceeds to step S10.

  In step S10, the difference between the position data calculated and stored in step S9 is read, and the average value of the difference for the latest predetermined number of times is calculated. Then, it is determined whether or not the average difference value is equal to or less than a predetermined threshold value. As a result, if it is determined that the average value of the differences exceeds a predetermined threshold value, the process proceeds to step S13. To do.

  On the other hand, when it is determined in step S8 that the number of targets detected in the overlap detection area 20 is different, the number of times that the number of targets continuously determined in step S11 is counted. Then, it is determined whether or not the number of times that the number of targets is successively different in step S12 is equal to or greater than a predetermined axis deviation determination number. When it is less than the number of deviation determinations, the process of the cycle is terminated.

  In step S13, it is determined that an axis deviation has occurred between the radar apparatuses 101 and 102, and this is notified to the driver or the like. Accordingly, the driver or the like can know the shaft misalignment, and can adjust the shaft misalignment and use the periphery monitoring system 100 again in a normal state. According to the periphery monitoring system 100 and the axis deviation detection method of the present embodiment, the axis deviation between the radar devices can be easily detected using the target detection result during the operation of the area monitoring system 100. This makes it possible to prevent false detection of the target due to.

(Second Embodiment)
A periphery monitoring system and a method for detecting an axis deviation of the periphery monitoring system according to the second embodiment of the present invention will be described below. In the present embodiment, the radar devices 101 and 102 can detect target speed data in addition to target position data, and can detect an axis deviation with higher accuracy using the speed data. . The speed of the target is obtained from tracking data calculated from the history of the position data of the target.

  In the present embodiment, the speed data of the target determined to be located in the overlap detection area by the overlap area target determination unit 111 is output to the target label distinction unit 113. The object-mark distinction unit 113 associates the target detected by the first radar apparatus 101 with the target detected by the second radar apparatus 102 using the position data and velocity data of the common coordinate system. Furthermore, it is performed with high accuracy. In other words, in the present embodiment, targets that are close in distance and closest in speed are determined to be the same target and are associated with each other.

  In the first embodiment, it is determined whether or not the target is the same only by the distance using the position data. However, if there are two or more targets that are close in distance, they are associated as the same target. Is expected to be difficult. Therefore, in this embodiment, in addition to being close in distance, velocity data (Vx1, Vy1) observed by the first radar device 101 and velocity data observed by the second radar device 102 obtained by tracking. Based on (Vx2, Vy2), by confirming that Vx1 and Vx2 are approximately equal and Vy1 and Vy2 are approximately equal, it is possible to perform matching as the same target with higher accuracy. Become.

  Further, as axis deviation detection using speed, speed data (Vx1, Vy1) observed by the first radar apparatus 101 with respect to a target that is the same target using the position and speed data described above, And Vx component difference ΔVx = Vx1−Vx2 and Vy component difference ΔVy = Vy1−Vy2 based on velocity data (Vx2, Vy2) observed by the second radar apparatus 102. When the difference ΔVx is taken on the horizontal axis and the difference ΔVy is taken on the vertical axis, the magnitude of the difference vector from the origin to the difference point (ΔVx, ΔVy) (distance from the origin to the point (ΔVx, ΔVy)) Thus, the threshold value can be set, and the axis deviation can be determined using the threshold value. As an example of the threshold value, a first threshold value Vr1 and a second threshold value Vr2 are provided here, and a warning message is output to the driver when the magnitude of the difference vector exceeds the first threshold value Vr1. In addition, a warning message can be output when the threshold value Vr2 is exceeded.

  In addition, the description in this Embodiment shows an example of the periphery monitoring system which concerns on this invention, and the axis deviation detection method of a periphery monitoring system, It is not limited to this. The detailed configuration and detailed operation of the periphery monitoring system and the axis deviation detection method of the periphery monitoring system in the present embodiment can be changed as appropriate without departing from the spirit of the present invention.

11, 12, 11 ′ Detection area 11a, 12a Reference axis 20 Overlap detection area 100 Perimeter monitoring system 101 First radar device 102 Second radar device 111 Overlap area target determination means 112 Coordinate system conversion means 113 Means 114 Axis deviation judgment means

Claims (4)

A perimeter monitoring system including two or more radar devices that detect a target in a detection area at a predetermined repetition period,
Each of the detection areas of the two or more radar devices includes an overlap detection area that partially overlaps a part of the detection area of another radar device,
Position data when the target is detected is input from each of the radar devices, the target located in each of the overlap detection areas is determined based on the position data, and the position data of the target is obtained. An overlapping area target judging means for outputting;
The position data of the target for each overlap detection area is input from the overlap area target determination means, and the position is in a common coordinate system common to the two radar devices sharing each overlap detection area. Coordinate system conversion means for converting and outputting data;
The position data of the common coordinate system for each overlap detection area is input from the coordinate system conversion means, and the position data detected by one of the two radar devices and the other detected by the other for each overlap detection area. An object labeling means for performing association with the position data;
When the position data associated with each overlap detection area is input from the object distinguishing means, and the number of targets detected by the two radar devices sharing any of the overlap detection areas is different , or when the difference between the correspondence position data exceeds the predetermined threshold, have a, and determining axis misalignment determination means for axial displacement between the two said radar device,
The axis misalignment determining means determines an axis misalignment between the two radar devices when a period in which the number of targets detected by the two radar devices is different continues for a predetermined number of times of axis misalignment determination. A peripheral monitoring system characterized by: The difference between the associated position data is an average value obtained by calculating the distance between the associated position data for each repetition period and averaging the distance over a predetermined number of consecutive times. The perimeter monitoring system according to claim 1, wherein A method for detecting an axis deviation of a peripheral monitoring system including two or more radar devices that detect a target in a detection area at a predetermined repetition cycle,
Each of the detection areas of the two or more radar devices includes an overlap detection area that partially overlaps a part of the detection area of another radar device,
An overlapping area target that inputs position data when the target is detected from each of the radar devices, determines the target located in each of the overlapping detection areas, and outputs the position data of the target. A determination step;
Coordinate system conversion that inputs the position data of the target for each overlap detection area, converts the position data to a common coordinate system common to the two radar devices sharing the overlap detection area, and outputs the same Steps,
An object-label-specific step for associating the position data of the common coordinate system detected by one of the two radar devices with the position data of the common coordinate system detected by the other for each overlap detection area;
When the number of targets detected by the two radar devices sharing any of the overlapping detection areas is different, or when the difference between the associated position data exceeds a predetermined threshold, and determining axis misalignment determination step the axial displacement between the two said radar device, was closed,
In the axis misalignment determining step, an axis misalignment between the two radar devices is determined when a period in which the number of targets detected by the two radar devices is different continues for a predetermined number of times of axis misalignment determination. A method for detecting a misalignment of a peripheral monitoring system, characterized in that: The difference between the associated position data is an average value obtained by calculating the distance between the associated position data for each repetition period and averaging the distance over a predetermined number of consecutive times. The method for detecting an axis deviation of the periphery monitoring system according to claim 3 , wherein

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