Patent ID: 7650239

Claim:
An object recognition apparatus in a subject vehicle comprising: a radar unit configured to transmit a plurality of laser beams in a scan range of a horizontal direction and vertical direction of the subject vehicle and receive a reflection of the plurality of laser beams by an object, the radar unit being included in the subject vehicle with a center axis of one of the plurality of the laser beams aligned with a target angle; a recognition unit configured to recognize the object in front of the subject vehicle based on the reflection; a determination sub-unit configured to determine positions of the plurality of the laser beams based on the reflection of the plurality of laser beams reflected by a reflector on the object in a condition for selecting the object by using first coverage in the vertical direction of the plurality of laser beams, the first coverage being sufficient for including variation of heights of the reflector on the object at a first distance detected by the radar unit as the condition for selecting the object, the determination sub-unit being included in the radar unit; a calculation sub-unit configured to calculate a deviation angle of the center axis of the plurality of the laser beams from the target angle based on the positions of the plurality of laser beams determined by the determination sub-unit by using an average of a number of positions of the plurality of laser beams, wherein data of the number of positions being discarded when the deviation angle is calculated, the calculation sub-unit being included in the radar unit; and an adjustment sub-unit configured to control at least one of an adjustment of the center axis of the vertical scan range and an adjustment of the recognition of the object by the recognition unit, the adjustment sub-unit being included in the radar unit.