An object of the present invention is to provide a method capable of calibrating a sensor function required in a safety design of a radar safety sensor in real time. A calibration station (11) is provided on a traveling route of an unmanned vehicle (1) on which a safety sensor (3) for detecting an obstacle (2) ahead is mounted, and a standard reflection is provided at a position of a maximum measurement distance (L) of the safety sensor (3) at the calibration station (11). Prior to normal traveling of the unmanned trolley 1, the unmanned trolley 1 is moved to the calibration station 11 in advance, and the reference value obtained by measuring the standard reflector 12 with the safety sensor 3 is taught, During normal operation of the unmanned trolley 1, every time the unmanned trolley 1 reaches the calibration station 11, the measured value obtained by measuring the standard reflector 12 by the safety sensor 3 is compared with a reference value. Calibrate the sensor function of FIG. 1.

A sensor holder for a sensor for object detection includes: an installation unit for the sensor; a holding frame on which the installation unit is pivotably held; and an adjustment shaft mounted on the holding frame, the adjustment shaft having a guidance contour which proceeds helically around the adjustment shaft and is in engagement with a guidance element of the installation unit.

There is provided a radar device which is mounted on a moving object and configured to detect a target on the basis of reception signals acquired by receiving reflected waves from the target by receiving antennae. A transmitting unit has a transmission axis substantially parallel to a traveling direction of the moving object. The transmitting unit is configured to transmit transmission waves around the transmission axis as a center thereof. A determining unit is configured to determine upward axis misalignment or downward axis misalignment of the transmission axis, on the basis of the reception signals acquired by receiving the reflected waves of the transmission waves.

A device for measuring 3D coordinates associated with an object in an environment, comprising: a 3D reflected wave measuring device having a 3D coordinate system for measuring 3D coordinates of an object in the environment, the 3D reflected wave measuring device having a first frame of reference; and an orientation sensing device to indicate an orientation of the 3D reflected wave measuring device in an environment for aligning the first frame of reference with a second frame of reference that is associated with the environment. The device may be a fall detector device, although other applications are possible.

An axial misalignment estimation apparatus calculates a first estimated speed ratio that is an estimated speed ratio calculated using an orientation angle that is corrected based on an axial misalignment angle estimated in measurement cycles up to a previous measurement cycle, and calculates at least one second estimated speed ratio that is the first estimated speed ratio presuming aliasing is present at the orientation angle. The axial misalignment estimation apparatus determines, for each stationary reflection point, whether aliasing is present at the orientation angle of the stationary reflection point based on the first estimated speed ratio and the at least one second estimated speed ratio, and corrects the orientation angle of the stationary reflection point in which aliasing is determined to be present, and estimates the axial misalignment angle based on the corrected orientation angle for the stationary reflection point of which the orientation angle is corrected.

A marker used to detect an axial deviation of a radio wave axis Ar of a radar unit is provided in front of the radar unit and outside a radar field of view range set based on a filed of view angle θ of the radar unit on a vehicle. A relative position between the radar unit and the marker is different between before and after an axial deviation of the radio wave axis Ar of the radar unit occurs. Thus, an axial deviation (an amount Δ0 of axial deviation in an azimuth direction and an amount Δα of axial deviation in an elevation angle direction) of the radio wave axis Ar of the radar unit can be detected by obtaining a difference in marker detection position before and after the axial deviation by the radar unit.

Provided are a vertical alignment apparatus and method for a vehicle radar. The vertical alignment apparatus includes a case at which a shaft is formed, an antenna that is coupled with the shaft and is disposed to be rotatable about the shaft in a vertical direction, an antenna rotary member that rotates the antenna, and a stopper that limits an angle of rotation of the antenna.

The present invention relates to an apparatus and a method for controlling an alignment of a vehicle radar capable of automatically detecting a vertical angle of a target to perform an alignment in a vertical direction. The apparatus includes: a substrate; a transmitting antenna unit configured to be disposed at one side of the substrate; a receiving antenna unit configured to be disposed at the other side of the substrate; and a vertical angle detection unit configured to detect a vertical angle of a target based on a signal received from the receiving antenna unit, wherein the receiving antenna unit includes: a plurality of first antennas configured to be arranged in a row direction to a surface of the substrate; and a plurality of second antennas configured to be arranged in a column direction to the surface of the substrate.

Provided is an object detection device (13) using a detection means (11) to transmit probe waves, receive reflected waves from an object (50) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (12). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

A method may include receiving at least one camera frame of a first radar target and a second radar target, determining an estimated radar pose based at least in part on the at least one received camera frame, receiving a first radar cross-section (RCS) response from the first radar target and second radar target, determining an estimated elevation angle based at least in part on the first RCS response, and determining an estimated radar angle by refining the estimated radar pose and the estimated elevation angle based on at least in part on the first RCS response.