Radar device

1. A radar device including an axis deviation estimation device for estimating an axis deviation of the radar device when the radar device is mounted on a moving object, the radar device comprising:

an object information acquisition unit configured to repeatedly acquire object information including an object distance and an object azimuth angle, the object distance being a distance between the radar device and a reflection object corresponding to a reflection point of a radar wave that is detected by the radar device, the object azimuth angle being an azimuth angle at which the reflection object is located;

a roadside object extraction unit configured to extract roadside object information from the object information based on a predetermined extraction condition, the roadside object information being information on the reflection point on a roadside object provided in accordance with a predetermined condition on a side of a travel path at a higher position than the travel path in a direction in which the travel path extends, the travel path being a path in which the moving object travels;

a road surface extraction unit configured to extract road surface information from the object information based on a predetermined extraction condition, the road surface information being information on the reflection point on a road surface of the travel path in which the moving object travels; and

an axis deviation angle estimation unit configured to estimate a vertical axis deviation angle based on the roadside object information including information on a plurality of the reflection points on the roadside object and the road surface information including information on a plurality of the reflection points on the road surface, the vertical axis deviation angle being an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction, the actual mounting direction being an actual direction of the radar device, the reference mounting direction being a direction of the radar device when the radar device is mounted in a reference state.

2. The radar device according to claim 1 , wherein

the axis deviation angle estimation unit is configured to change a reliability of estimation of the vertical axis deviation angle using the road surface information, according to a position of an inflection point of a roadside object point group including the plurality of reflection points on the roadside object in a vertical plane, the inflection point indicating a position at which the plurality of reflection points of the roadside object point group distributed in the vertical plane are arranged discontinuously.

3. The radar device according to claim 1 , wherein

the axis deviation angle estimation unit is configured to approximate, by a roadside object straight line, the plurality of reflection points on the roadside object that are arranged in a vertical plane and to estimate the vertical axis deviation angle using the roadside object straight line.

4. The radar device according to claim 1 , wherein

the axis deviation angle estimation unit is configured to approximate, by a road surface straight line, the plurality of reflection points on the road surface that are arranged in a vertical plane and to estimate the vertical axis deviation angle using the road surface straight line.

5. The radar device according to claim 1 , wherein

the axis deviation angle estimation unit is configured such that when the axis deviation angle estimation unit estimates the vertical axis deviation angle using the roadside object information and estimates the vertical axis deviation angle using the road surface information, and one of a reliability of estimation of the vertical axis deviation angle using the roadside object information and a reliability of estimation of the vertical axis deviation angle using the road surface information is a predetermined value or less, the axis deviation angle estimation unit reduces the other one of the reliability of estimation of the vertical axis deviation angle using the roadside object information and the reliability of estimation of the vertical axis deviation angle using the road surface information.

6. The radar device according to claim 1 , wherein

the axis deviation angle estimation unit is configured such that when the axis deviation angle estimation unit estimates the vertical axis deviation angle using the roadside object information and estimates the vertical axis deviation angle using the road surface information, and a degree of variation in position of the plurality of reflection points on the roadside object in a vertical plane is a predetermined value or more, the axis deviation angle estimation unit reduces both a reliability of estimation of the vertical axis deviation angle using the roadside object information and a reliability of estimation of the vertical axis deviation angle using the road surface information.

7. The radar device according to claim 1 , wherein

the vertical axis deviation angle is estimated when the moving object is traveling in a straight line.

8. The radar device according to claim 1 , wherein

when map information indicating the travel path and an area around the travel path includes information on a position of the roadside object, the map information is used to extract the roadside object information.

9. The radar device according to claim 1 , wherein

the vertical axis deviation angle is estimated when the radar device includes a front radar device for detecting a reflection object in a forward direction which is a direction of travel of the moving object, and a side radar device for detecting a reflection object beside the moving object, and the front radar device and the side radar device are capable of detecting the roadside object.