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

Claim 0:
1. A detection device comprising:
a processor that functions as:
an acquisition unit configured to acquire a detection result of a plurality of targets present in a traveling direction of a vehicle from an imaging device attached to the vehicle;
a calculation unit configured to determine whether the plurality of targets detected with movement of the vehicle are an identical target based on the detection result acquired by the acquisition unit and calculate a coordinate of each of the plurality of targets in chronological order; and
a detection unit configured to detect 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 by the calculation unit,
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,
the calculation unit calculates 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
the detection unit detects the pitch angle and the roll angle based on 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 that are calculated by the calculation unit; 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 processor causes the vehicle to move in the traveling direction.