Patent ID: 11892536
Assignee: DENSO CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An object-detecting device comprising:
a first detector configured to detect, based on detection information acquired from each of a plurality of detection sensors installed in a moving body and having different detection regions for detection targets in a vicinity of the moving body, a distance between the moving body and an object present in the detection region and an orientation of the object relative to the moving body, the detection sensors including at least one search wave sensor that searches the detection region around a detection axis with a search wave;
an object tracker configured to track, based on the detection information, the same object passing through the different detection regions as the moving body travels;
a second detector configured to detect, based on the detection information, at least either one of a height of the object tracked by the object tracker or a lateral distance between the moving body and the object in a lateral direction as object information; and
an axial misalignment determiner configured to determine whether the detection axis of the search wave sensor is misaligned based on, regarding the same object tracked by the object tracker, the distance and the orientation of the object detected by the first detector based on the detection information from the search wave sensor and the object information detected in the detection region different from the detection region of the search wave sensor by the second detector.