Patent ID: 8115669

Claim:
A vehicular radar device, comprising: a measurement unit that measures an azimuth angle and a relative Doppler velocity of a target as target information; a travel speed detection unit that detects a travel speed of a subject vehicle; an angular velocity detection unit that detects a turning velocity of the subject vehicle; an extraction/accumulation unit that extracts target information satisfying conditions related to the relative Doppler velocity of the target, the travel speed of the subject vehicle, and the turning velocity of the subject vehicle, and accumulates the azimuth angle and a velocity ratio obtained by dividing the relative Doppler velocity by the travel speed of the subject vehicle among the extracted target information as new target information; and an axis deviation angle estimate unit that reads the target information accumulated in the extraction/accumulation unit, and estimates an axis deviation angle of a measurement coordinate system of a radar based on a second-order polynomial expression of the azimuth angle of the target.