Patent ID: 11945466
Assignee: HONDA MOTOR CO., LTD.
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B

Claim 6:
7. A detection method comprising:
by a computer,
acquiring a detection result of a plurality of targets present in a traveling direction of a vehicle from an imaging device attached to the vehicle;
determining whether the plurality of targets detected with movement of the vehicle are an identical target based on the detection result, and calculating a coordinate of each of the plurality of targets in chronological order; and
detecting a pitch angle and a roll angle of the imaging device with respect to a horizontal direction based on the coordinate calculated in chronological order,
wherein the plurality of targets include a first target present on a right side in the traveling direction of the vehicle and a second target present on a left side in the traveling direction of the vehicle, and
the detection method further comprises:
calculating a first coordinate indicating a coordinate of the first target at a first time, a second coordinate indicating a coordinate of the second target at the first time, a third coordinate indicating a coordinate of the first target at a second time later than the first time, and a fourth coordinate indicating a coordinate of the second target at the second time; and
detecting the pitch angle and the roll angle based on the calculated first coordinate at the first time, the calculated second coordinate at the first time, the calculated third coordinate at the second time, and the calculated fourth coordinate at the second time; and
wherein based on the pitch angle, the roll angle, the first coordinate at the first time, the second coordinate at the first time, the third coordinate at the second time, and the fourth coordinate at the second time, the computer causes the vehicle to move in the traveling direction.