KR101788663B1 - System for processing integrated data of the ultra sonic sensors and camera on vehicle - Google Patents

System for processing integrated data of the ultra sonic sensors and camera on vehicle Download PDF

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KR101788663B1
KR101788663B1 KR1020150141005A KR20150141005A KR101788663B1 KR 101788663 B1 KR101788663 B1 KR 101788663B1 KR 1020150141005 A KR1020150141005 A KR 1020150141005A KR 20150141005 A KR20150141005 A KR 20150141005A KR 101788663 B1 KR101788663 B1 KR 101788663B1
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vehicle
data
sensor
image
integrated
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KR1020150141005A
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KR20170041502A (en
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김기혁
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주식회사 성우모바일
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/0315—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for using multiplexing techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

According to an embodiment of the present invention, a data integration processing system of an ultrasonic sensor and an image sensor includes a multi-core processor unit for generating data received from a plurality of sensors installed in a vehicle as integrated data; A vehicle integrated control unit (Automotive ECU) in which one or more application logic for controlling the control data for controlling at least one of the control means for controlling each part of the vehicle to be transmitted to the control means is installed; And a communication channel unit (Inter Communication Channel Unit) for transmitting the control data generated in the vehicle integrated control unit to the control means via the communication channel; And the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as respective chip sets on one board so as to be installed in a specific area of the vehicle , The multi-core processor unit may store the object detection data received from the ultrasonic sensor and the image data received from the image sensor in a memory, and cluster the object detection data and the image data stored in the memory.

Description

[0001] The present invention relates to a data integration processing system for an ultrasonic sensor and an image sensor,

The present invention relates to an integrated data processing system for an ultrasonic sensor and an image sensor, and more particularly, to an ultrasonic sensor and an ultrasonic sensor for integrally processing data generated from an image sensor, And a data integration processing system of an image sensor.

Along with the development of electronic information communication technology and sensor technology, various technologies for the convenience and safe operation of the driver are applied to the vehicle.

For example, when the vehicle is parked, information on the object detected through an ultrasonic sensor and an image sensor (rear camera, etc.) installed on the front and rear of the vehicle are provided to the driver, so that the driver can perform parking or the like more safely.

A function of guiding a parking lot line or a parking guide line through a monitor installed in a vehicle based on data input from an ultrasonic sensor and an image sensor is mounted on the vehicle.

A technique has been developed and applied so that parking can be performed by allowing the vehicle to be controlled by the operation of the vehicle ECU instead of the operation of the driver during the parking process of the vehicle.

On the other hand, a system that can support a driver's car parking based on data measured by an ultrasonic sensor and an image sensor mounted on the vehicle is called a parking assist system (PAS) Development is progressing vigorously.

As described above, in recent years, there has been an increase in the application of devices considering driving comfort and safety, and attempts to integrate devices performing different functions are increasing.

The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide an ultrasonic sensor for detecting an object or the like around the vehicle, an ultrasonic sensor for integrating data generated from the image sensor, And to provide a data integration processing system.

In order to achieve the above object, the present invention can be achieved by the following means.

A system for integrating data of an ultrasonic sensor and an image sensor mounted on a vehicle according to an embodiment of the present invention receives data from a plurality of sensor-ultrasonic sensors and an image sensor installed in a vehicle, A Multicore Processor Unit unit for clustering and generating integrated data for each clustering; A processor for generating control data for controlling at least one of control units for controlling each part of the vehicle on the basis of the integrated data generated by the multicore processor unit and controlling the generated control data to be transmitted to the control unit A vehicle integrated control unit (Automotive ECU) in which the above application logic is installed; A communication channel unit for transmitting data between the multicore processor unit and the vehicle integrated control unit via a communication channel and transmitting the control data generated by the integrated vehicle control unit to the control unit; The multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as separate chip sets on a single board so as to be installed in a specific area of the vehicle. Wherein the multi-core processor unit stores the object detection data received from the ultrasonic sensor and the image data received from the image sensor in a memory, and clusters the object detection data and the image data stored in the memory have.

The data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention converts the object detection data of the received ultrasonic sensor into voice data to be outputted through the audio system mounted in the vehicle, A data converter for converting the image data into image data to be outputted through a display system; May be further included.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, when it is determined that an object exists within a predetermined distance from the vehicle using the object detection data, the multi- The image sensor may be driven to acquire and store a peripheral image of the vehicle.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multi-core processor unit integrates the object-converted data of the object detection data and the peripheral image of the vehicle and displays them through a display system, An area in which the data-converted image and a surrounding image of the vehicle are displayed may be divided and displayed.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multicore processor unit combines the respective image data obtained through the plurality of image sensors to construct a peripheral image of the vehicle, A configuration may be employed in which the peripheral image of the vehicle is stored in a memory in the form of a file.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, when storing the peripheral image of the vehicle, the multi-core processor unit combines any one of the frames included in the peripheral image of the vehicle as a still- The configuration can be made.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multi-core processor unit is configured to store a frame in which a license plate of a vehicle among the frames included in a peripheral image of the vehicle is captured as a still- Can be achieved.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multicore processor unit displays the still-cut image stored in the storage in response to a user's request through the display system, And a peripheral image file of the vehicle corresponding to the cut image is reproduced through the display system.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the plurality of sensors may be a radar, a lidar, an ultrasonic sensor, a camera, a stereo camera An AVM camera, a wheel speed sensing sensor, an accelerator level sensing sensor, a steering sensor and a gyroscope sensor, wherein data received from the plurality of sensors Speed data of the vehicle using the wheel speed detection sensor, acceleration data of the vehicle using the accelerator level detection sensor, and acceleration data of the vehicle using the acceleration sensor, The rotational speed of the steering wheel using the steering sensor, the rotational direction, the rotational angle data, and the gyroscope This configuration may be made to include one or more of the three axial data of the vehicle using a sensor.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multicore processor unit is based on at least one of the traveling speed of the vehicle, the transmission mode (Parking, Rear, Drive) And the data may be clustered.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the multi-core processor unit monitors whether or not to connect with the plurality of sensors, monitors whether the vehicle is connected to the vehicle integrated control unit and the communication channel unit, Debugging and logging of algorithms for clustering, and real-time uploading, and debugging and logging of data received from the plurality of sensors.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the control data generated for each control means may be synchronized or transmitted to the corresponding control means in a predetermined control order.

In the data integration processing system of the ultrasonic sensor and the image sensor of the vehicle according to the embodiment of the present invention, the vehicle integrated control unit may be configured to monitor whether or not the vehicle is connected to the control means.

In a data integration processing system of an ultrasonic sensor and an image sensor of a vehicle according to an embodiment of the present invention, the control means includes power train domain control means including a power train of the vehicle and a power transmission device, A body domain control means including a convenience device and a safety device of the vehicle, and a multimedia domain control means including a telematics, a route guidance, music and an image.

In a data integration processing system of an ultrasonic sensor and an image sensor of a vehicle according to an embodiment of the present invention, the communication channel unit may be configured to perform at least one of real time debugging, logging and timing sink of the communication channel.

According to an embodiment of the present invention, an object sensing state of an ultrasonic sensor for sensing a peripheral object of a vehicle and an image processing of an image sensor for photographing the periphery of the vehicle are integrally processed to minimize a driver's operation, .

In addition, when the object sensed through the ultrasonic sensor is within a predetermined distance, the peripheral image of the vehicle is recorded using the image sensor, thereby minimizing the unnecessary image recording and increasing the efficiency of the storage space in which the image is stored .

In addition, it can be used as a useful information when an accident occurs by storing the license plate of the vehicle appearing in the image when storing the peripheral image of the vehicle as a still-cut image.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention;
2 is a view for explaining a configuration of a data integration processing system of an ultrasonic sensor and an image sensor of a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a process of integrally processing multi-sensors of a vehicle according to an embodiment of the present invention.
4 is a view showing a screen displayed through an in-vehicle display system when integrated processing of a multi-sensor of a vehicle according to an embodiment of the present invention.
FIG. 5A is a view schematically showing a configuration of a multicore processor unit according to another embodiment of the present invention; FIG.
FIG. 5B is a hierarchical diagram for implementing a configuration of a multicore processor unit according to another embodiment of the present invention; FIG.
6A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.
6B is a hierarchical diagram for implementing the configuration of a vehicle integrated control unit according to an embodiment of the present invention;
7A is a block diagram showing a configuration of a communication channel unit according to an embodiment of the present invention;
FIG. 7B is a hierarchical diagram for implementing the configuration of a communication channel unit according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" .

Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention.

The integrated data processing control system 10 for a vehicle according to the embodiment of the present invention includes a multicore processor unit for clustering data received from a plurality of sensors 50 to generate integrated data A vehicle integrated control unit (Automotive ECU) 30 in which application logic for controlling each control means 60 of the vehicle is installed based on the generated integrated data, And a communication channel unit (40) for allowing data to be transmitted between the units (30).

Particularly, in the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the multicore processor unit 20, the vehicle integrated control unit 30 and the communication channel unit 40 are mounted on one board And a chip set that can be divided into a plurality of chips.

The sensor 50 capable of receiving data in the multicore processor unit 20 of the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention may be a radar, a lidar, an ultrasonic an accelerometer level sensor, a steering sensor and a gyroscope sensor among a plurality of ultrasonic sensors, one or more cameras (camera, stereo camera, AVM camera), a navigator, a wheel speed sensor, And may include one or more.

For reference, the sensor 50 of the present invention is not limited to the sensors, but may include all sensors applicable to a vehicle.

Meanwhile, the multicore processor unit 20 is configured to receive data from the sensor 50 via the network. In this case, CAN, LIN, FlexRay, and the like can be applied to the types of networks that can be implemented.

Here, the data (hereinafter, referred to as 'sensor data') received from the sensor 50 may include distance data using at least one of a radar, a rod and an ultrasonic sensor, at least one camera, Image data using a camera such as a stereo camera, an Around View Monitoring camera and a navigator, speed data of a vehicle using a wheel speed detecting sensor, acceleration data of a vehicle using an accelerator level detecting sensor, The rotational speed of the handle, the rotational direction, the rotational angle data, the three-axis direction data of the vehicle using the gyroscope sensor, and the GPS position data of the navigator.

In the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the multicore processor unit 20 is configured to clustering data received from the sensors 50 to generate integrated data per clustering .

At this time, the multicore processor unit 20 is configured to cluster the sensor data based on at least one of the traveling speed of the vehicle, the transmission mode (Parking, Rear, Drive) and the driver's input.

In one embodiment, when the vehicle speed is less than a certain speed (e.g., 5 km / h) and the transmission mode repeats R (reverse) and D (travel) Mode, and sensor data for parking among the data received from the sensors 50 can be clustered.

For reference, when the automatic parking mode is supported, if the driver's automatic parking mode button is selected, the multicore processor unit 20 may be configured to cluster the sensor data for automatic parking.

Here, the sensor data clustered for parking may include distance data and image data.

In addition, it may further include a rotation speed of the handle, a rotation direction, rotation angle data, and the like.

For example, the rotation speed, the rotation direction, and the rotation angle data of the steering wheel can be utilized to display a proper traveling path of the vehicle at the time of parking on a monitor of an AVN (Audio, Video and Navigation) system.

The multi-core processor unit 20 may generate integrated data incorporating the clustered sensor data, and may synchronize sensor data received at a predetermined time difference.

In addition, the multicore processor unit 20 may monitor whether or not the plurality of sensors 50 are connected to each other, and may monitor whether the vehicle integrated control unit 30 and the communication channel unit 40 are connected to each other.

In addition, the multicore processor unit 20 can perform one or more of debugging and logging of algorithms for clustering sensor data and real-time uploading, debugging and logging of data received from the plurality of sensors 50 have.

The multicore processor unit 20 may include a program capable of performing at least one of debugging of the algorithm and real-time uploading, debugging and logging of data, and the program is stored in a memory in the multicore processor unit 20 Lt; / RTI >

On the other hand, in the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention, the vehicle integrated control unit 30 calculates the respective parts of the vehicle based on the clustering-specific integrated data generated in the multicore processor unit 20 And application logic for controlling at least one of the control means for controlling the control means.

In one embodiment, when the clustering integrated data-distance data, image data, etc., for automatic parking from the multicore processor unit 20 is received, the vehicle integrated control unit 30 generates, based on the clustering integrated data for automatic parking Application logic is provided to enable the determination of the parkable position of the vehicle.

Thereafter, the multi-core processor unit 20 generates control data for controlling each control means-handle, brake, accelerator level, etc. of the vehicle in order to automatically park the vehicle in the parking-enabled position, To be transmitted to the control means.

At this time, the vehicle integrated control unit 30 synchronizes the control data generated for each control means, or controls the control means so that each control command is transmitted to the control means in accordance with a preset control order, can do.

In addition, the vehicle integrated control unit 30 is configured to monitor whether or not the multicore processor unit 20, the communication channel unit 40, and the respective control means are connected to each other.

On the other hand, the communication channel unit 40 can transfer data between the multicore processor unit 20 and the vehicle integrated control unit 30 via the internal communication channel, and can transmit control data of the vehicle integrated control unit 30 To the respective control means (60).

In addition, the communication channel unit 40 can support the communication of the vehicle-to-vehicle.

The communication channel unit 40 may also include a program for performing at least one of real-time debugging, logging and timing sinking of a communication channel, and the program may be stored in a memory in the communication channel unit 40. [

On the other hand, the various control means 60 of the vehicle which can be controlled through the application logic installed in the above-described vehicle integrated control unit 30 is included in each part of the vehicle such as a power train domain, a chassis domain, a body domain and a multimedia domain, And an ECU for controlling the part.

The ECU, which is the control means of each of the above-described parts, can drive the corresponding part in accordance with the control command of the vehicle integrated control unit 30. [

For reference, a powertrain domain may include a powerplant and a powertrain of a vehicle, the chassis domain may include a brake and a steering device of the vehicle, and the body domain may include a comfort and safety device of the vehicle have.

And, the multimedia domain may include a device for providing telematics, navigation (navigation), music and video.

2 is a view illustrating a configuration of a data integration processing system of an ultrasonic sensor and an image sensor of a vehicle according to an embodiment of the present invention.

A system 100 for integrating and processing data of a plurality of ultrasonic sensors and image sensors installed in a vehicle according to an embodiment of the present invention (hereinafter referred to as a sensing data integration processing system) And may include a first receiving unit 110, a second receiving unit 120, a data converting unit 130, a memory 140, and an integrated controller 150.

The first receiving unit 110 may receive data (hereinafter, referred to as object detection data) from the plurality of ultrasonic sensors that senses an object around the vehicle.

Here, the ultrasonic sensor may include a plurality of ultrasonic sensors constituted by one set and may be installed at various positions of the vehicle (for example, front bumper, rear bumper, front bumper side, rear bumper side, etc.).

On the other hand, the second receiving unit 120 can receive the image data of the surroundings of the vehicle from the plurality of image sensors.

Here, the image sensor may include a plurality of image sensors, each of which may be installed in a plurality of positions (for example, a front bumper, a rear bumper, a left side, and a right side) of the vehicle, When combined, the top view image (top veiw) can be constructed as if the vehicle is viewed from above.

The data conversion unit 130 may convert the object detection data of the ultrasonic sensor into a video output format of an in-vehicle display system or a sound output format of an in-vehicle audio system.

Here, the fact that the object detection data is converted into the video output format of the display system means that the object detection state such as the distance to the object detected through the ultrasonic sensor is displayed as an image.

Also, the data conversion unit 130 may convert the peripheral image of the vehicle obtained from the image sensor into a video output format of the display system.

The display system in the vehicle may display at least one of an image representing the object sensing state of the ultrasonic sensor and a peripheral image of the vehicle obtained from the plurality of image sensors under the control of the integrated controller 130. [

In addition, the display system may receive a user's operation for operating the ultrasonic sensor or the image sensor, and a user interface (UI) for the operation may be displayed.

The user interface may be an integrated user interface including a user interface associated with the operation of the ultrasonic sensor and a user interface associated with the operation of the image sensor on a single screen.

For example, when the ultrasonic sensor senses an object within a predetermined distance from the vehicle while driving, the image sensor can be driven to input a predetermined distance through the integrated user interface so that the user can photograph the surroundings of the vehicle.

When an object is detected within a predetermined distance through the integrated user interface, a driving time for driving the image sensor may be set. When the ultrasonic sensor senses an object, the size (volume size ) Can also be set.

Meanwhile, the memory 140 may store the object detection data and the image data converted by the data conversion unit 130.

On the other hand, the integrated control unit 130 may integrate and process the object detection data and the image data.

As one embodiment of the integration process, the integration controller 130 may integrally control at least one of the image representing the object sensing state of the ultrasonic sensor and the vehicle surroundings image of the image sensor according to the operation of the user input through the display system .

For example, it is possible to control only the image representing the object detection state of the ultrasonic sensor to be displayed through the display system, or to control only the peripheral image of the vehicle of the image sensor to be displayed through the display system, The image representing the state and the peripheral image of the vehicle of the image sensor may be integrated and displayed.

At this time, the integrated controller 130 divides the area where the two images are displayed, and displays the divided area through the display system.

If it is determined that the object detection signal of the ultrasonic sensor is within a predetermined distance from the traveling vehicle, the integrated controller 130 may drive the image sensor for a predetermined time to acquire a peripheral image of the vehicle, In-vehicle storage or cloud, etc.).

At this time, the integrated control unit 130 may store the top view image as if looking down the vehicle from the top, as one image file, and may store any one of the frames included in the image file together as a still-cut image.

For reference, the integrated controller 130 may recognize a license plate of a nearby vehicle when storing a surrounding image of the vehicle while driving, and may store a frame including the recognized license plate as a still-cut image.

Detecting a vehicle within a predetermined distance means that the risk of a vehicle accident can be increased to such a high level. In addition to storing the surrounding image of the vehicle in case of an emergency, the license plate of the approaching vehicle is stored as a still- So that it can be utilized as a very useful information when a vehicle accident occurs.

In addition, the integrated controller 130 can output the distance of the object sensed by the ultrasonic sensor through the in-vehicle audio system, and can output characters through the display system.

In addition, if the distance of the object sensed by the ultrasonic sensor is within a predetermined distance, it can be outputted as warning voice or text through the in-vehicle audio system or display system.

For reference, the predetermined distance for driving the image sensor and the predetermined distance for outputting the warning voice may be the same or different from each other, and the predetermined distance and the predetermined time may be the same as the above- Lt; / RTI >

In addition, the integrated control unit 130 may provide a peripheral image of the vehicle stored in the predetermined storage in response to a user's request.

At this time, the integrated controller 130 may display a still-cut image of an image file stored in the predetermined storage, more advantageously, a still-cut image including a license plate of a nearby vehicle through a display system, and a plurality of still- The peripheral image file corresponding to the specific still-cut image selected by the user can be reproduced through the display system.

In addition, the integrated controller 130 can perform load balancing according to the importance of data, thereby minimizing power consumption in the vehicle.

For example, when recording of the surroundings of the vehicle using the image sensor is started, the integrated control unit 130 sets priority (for example, change in map accumulation according to the vehicle speed) of the route guidance apparatus such as the navigator Thereby minimizing the operation of the low-level devices.

Thereafter, when the object detection through the ultrasonic sensor is not detected for a predetermined time, the integrated controller 130 can stop the operation of the low priority devices while stopping the shooting around the vehicle using the image sensor.

For this, the integrated control unit 130 may display a user interface that receives a priority for load balancing from a user through a display system, and may receive a priority for load balancing from the user through the corresponding user interface .

3 is a flowchart illustrating a process of integrally processing a multi-sensor of a vehicle according to an embodiment of the present invention.

3 may be performed by the sensed data integration processing system 100. Hereinafter, the data of the plurality of ultrasonic sensors and the image sensor installed in the vehicle are integrated with the sensed data integration processing system 100 as a main body The flow chart of Fig. 2 for processing will be described.

First, the sensed data integration processing system 100 receives a predetermined distance and time for driving the image sensor during traveling through the display system (S301).

In other words, if the surrounding vehicle approaches within a few meters of my vehicle (of course, it may be more detailed such as 50cm unit), it means to drive the image sensor and shoot the surroundings of the vehicle.

After S301, the sensed data integration processing system 100 continuously determines whether the distance of the surrounding vehicle sensed through the ultrasonic sensor is within a predetermined distance set in S301 (S302).

As a result of the determination, if the neighboring vehicle approaches within a predetermined distance, the sensed data integration processing system 100 drives the image sensor to acquire and store the peripheral image of the vehicle.

At this time, the sensed data integration processing system 100 stores the image of the surroundings of the vehicle, such as looking down the vehicle from above, as one image file, and the still-cut image of the image file (the still- ) Can be stored together.

Then, an image representing the distance between the peripheral image of the vehicle obtained from the image sensor and the distance of the surrounding vehicle detected through the ultrasonic sensor is integrated and displayed through the display system (S303).

At this time, the sensed data integration processing system 100 can display an image representing the distance of the nearby vehicle sensed through the ultrasonic sensor and a peripheral image of the vehicle obtained through the image sensor, and display the divided image on the screen. It is possible to output the distance of the surrounding vehicle by voice or text.

After S303, the sensed data integration processing system 100 determines whether the predetermined time set in S301, that is, the time to drive the image sensor, has been reached (S304).

As a result of the determination, if the predetermined time is reached, that is, if there is no nearby vehicle detected within a predetermined distance by the ultrasonic sensor for a predetermined time, the sensed data integration processing system 100 stops driving the image sensor S305).

At this time, the sensed data integration processing system 100 can output a voice or a letter indicating that the driving of the image sensor is stopped, and display images of other in-vehicle devices such as a navigator through the display system.

FIG. 4 is a view illustrating a screen displayed through an in-vehicle display system when integrated processing of a multi-sensor of a vehicle according to an embodiment of the present invention.

FIG. 4 (a) is a view illustrating a state in which when an approaching vehicle is sensed through an ultrasonic sensor, the image sensor is driven so that the distance around the vehicle and the drive time of the image sensor, that is, It is a screen to set the time when the surrounding vehicle is not detected.

In the embodiment of FIG. 4A, the predetermined distance may be increased or decreased by 0.5 m, and the predetermined time may be increased or decreased by 30 seconds.

At this time, you can set the distance and time by clicking the arrow to the left of the part where the distance and time are displayed.

FIG. 4 (b) shows a case where a nearby vehicle is detected within a distance set in FIG. 4 (a) through the ultrasonic sensor, and the image sensor is driven to photograph the surroundings of the vehicle.

In addition, it can be seen that the access position 410, the approach distance, and the number of the approaching vehicle detected by the ultrasonic sensor are counted and displayed together.

For reference, the access position 410 of the nearby vehicle may be represented by a simple graphic form as shown in FIG. 4 (b), or may be displayed as an image of a predetermined vehicle.

FIG. 5A is a view schematically showing a configuration of a multicore processor unit according to another embodiment of the present invention. FIG.

The multicore processor unit 20 according to an embodiment of the present invention may include a sensor interface 21, a control unit 22, a memory 23 and a communication unit 24.

The sensor interface 21 may provide a wired or wireless interface as an interface connected to the plurality of sensors 50.

Meanwhile, the control unit 22 can synchronize the sensor data received at a predetermined time difference, cluster the sensor data, and generate integrated data for each clustering.

Here, the clustering of the sensor data may be performed based on at least one of the running speed of the vehicle, the transmission mode, and the driver's input.

For reference, the control unit 22 can process voice and image data, such as voice data and encoding of image data, among sensor data.

The control unit 22 can monitor whether the multicore processor unit 20 is connected to the plurality of sensors 50 or whether the vehicle integrated control unit 30 is connected to the communication channel unit 40 .

In addition, the control unit 22 can perform debugging and real-time uploading of algorithms for clustering sensor data, and debugging and logging of data received from the plurality of sensors 50.

Meanwhile, the memory 23 may store a program capable of performing at least one of debugging of an algorithm, real-time uploading, data debugging and logging, and the control unit 22 controls the debugging Uploading, logging and so on.

The communication unit 24 may be connected to the communication channel unit 40 and may transmit data to the vehicle integration control unit 30 through the communication channel unit 400. [

5B is a layer diagram for implementing a configuration of a multicore processor unit according to another embodiment of the present invention.

The multi-core processor unit 20 of the integrated data processing control system 10 for a vehicle according to the embodiment of the present invention includes a MPU hardware (Multicore Process Unit Hardware) for performing the overall functions as shown in FIG. 5B, Based IDE debugger, IDE logger, IDE loader / flashing, Automotive algorithm, video algorithm, file system, network connectivity, vision capture, real-time (RTE), a TCP / IP stack, a hypervisor, InterProcessor Communication (IPC), and a Communication Sync Library.

6A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 30 according to an embodiment of the present invention may include an internal interface 31, a control unit 32, a memory 33, and a communication unit 34. [

First, the internal interface 31 may include an interface connected to the multicore processor unit 20 and the communication channel unit 40, respectively.

The vehicle integrated control unit 30, the multicore processor unit 20, and the communication channel unit 40 may be formed in the form of respective chipsets on one board, and the vehicle integrated control unit 30 and the multi- The unit 20 and the communication channel unit 40 may be connected to each other by wire bonding on one board.

On the other hand, the control unit 32 can generate control data for actively controlling each part of the vehicle based on the integrated control data received from the multicore processor unit 20. [

Here, 'actively controlling' means that not only the received data is converted into a control command and transmitted, but the current driving state is grasped on the basis of the received data, and the control means of each part is efficiently controlled Lt; RTI ID = 0.0 > control data. ≪ / RTI >

Also, the control unit 32 can monitor whether or not the multicore processor unit 20, the communication channel unit 40, and the respective control means 60 are connected to each other.

In addition, the control unit 32 can transmit the control data to each control means 60 of the vehicle through the communication unit 34. At this time, a separate security policy can be applied to prevent data from being tampered with or tampered with .

Meanwhile, the memory 33 may store a program for performing the operation and debugging of the control unit 32 described above.

The communication unit 34 may transmit the control data generated by the control unit 32 to the corresponding control unit 600 and may transmit and receive information about the other vehicle and the vehicle in the vehicle- can do.

6B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.

The vehicle integrated control unit 300 of the integrated data processing control system 100 for an automobile according to the embodiment of the present invention includes an IDE logger (not shown) on the basis of Automotive ECU hardware for performing the overall functions as shown in FIG. Intergrate Development Environment Logger, IDE Loader / Flashing, Multiple Application Logic, Real Time Executive (RTE), Memory Management, and Communication Service Stack. And the like.

7A is a block diagram illustrating a configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 40 according to an embodiment of the present invention may include an internal interface 41, a control unit 42, a memory 43, and a communication unit 44.

First, the internal interface 41 may include an interface connected to the multicore processor unit 20 and the vehicle integrated control unit 30, respectively.

The control unit 42 may perform at least one of real-time debugging, logging, and timing synchronization of the communication channel, and transmits the integrated data of the multicore processor unit 20 to the vehicle integrated control unit 30, So that data can be transferred between the processor unit 20 and the vehicle integrated control unit 30.

Further, the control unit 42 can control the control data of the vehicle integrated control unit 30 to be transmitted to each control means 60, and can support the vehicle-to-vehicle communication.

Meanwhile, the memory 43 may store a program for performing at least one of real-time debugging, logging, and timing synchronization of the communication channel under the control of the controller 42.

On the other hand, the communication unit 44 can transmit the control data of the vehicle integrated control unit 30 to each control means 60 under the control of the control unit 42, And data can be transmitted and received.

7B is a layer diagram for implementing the configuration of a communication channel unit according to an embodiment of the present invention.

The communication channel unit 40 of the integrated data processing control system 10 for an automobile according to the embodiment of the present invention may include a real time logger channel (not shown) on an ICC hardware basis for performing the overall functions as shown in FIG. A Real Time Logger Channel, a Real Time Debugger Channel, an Automotive Network Analyzer, an Automotive Network Timing Sync, a Task Scheduler, an RTOS (Real Time Operating System), and the like.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be.

It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: Integrated data processing control system for automobile
20: Multicore processor unit 21: Sensor interface
22: control unit 23: memory
24: communication unit 30: vehicle integrated control unit
31: internal interface 32:
33: memory 34:
40: communication channel unit 41: internal interface
42: control unit 43: memory
44: communication unit 50:
60: control means
100: Sensing data integration processing system
110: first receiving section
120: second receiving section
130: Data conversion unit
140: Memory
150:

Claims (15)

A system for integrating data of an ultrasonic sensor and an image sensor mounted on a vehicle,
A method for controlling a vehicle, the method comprising: determining an operation mode of the vehicle using data received from a plurality of sensors including a plurality of ultrasonic sensors and an image sensor installed in a vehicle; and receiving data received from a sensor corresponding to the determined operation mode among the plurality of sensors The method comprising the steps of: clustering the image sensor to generate integrated data, and when it is determined that an object exists within a predetermined distance from the vehicle using the object detection data received from the ultrasonic sensor in the determined operation mode, Wherein the control unit generates the integrated image obtained by clustering the peripheral image of the vehicle and the object sensing data received from the image sensor as the integrated data and outputs the object as the integrated data within the predetermined distance for a predetermined time from the vehicle using the object sensing data Nonexistent A Multicore Processor Unit for stopping the operation of the image sensor;
And control means for controlling at least one of the control means for controlling each part of the vehicle based on the integrated data, and if there is a preset control order for the control data, A vehicle integrated control unit (Automotive ECU) for controlling the vehicle to be transmitted to the control means; And
And a communication channel unit (Inter Communication Channel Unit) for transmitting data between the multicore processor unit and the vehicle integrated control unit via a communication channel and transmitting the control data generated by the vehicle integrated control unit to the control means Respectively,
Wherein the multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as chip sets, each of which is separated on a single board.
The method according to claim 1,
A data converting unit for converting the object detection data of the received ultrasonic sensor into voice data to be output through an audio system mounted in the vehicle or converting the voice data into image data to be outputted through a display system mounted in the vehicle; Further comprising: an ultrasound sensor and an image sensor.
delete 3. The method of claim 2,
Wherein the multi-core processor unit displays the integrated image through the display system, and displays an image in which the object-sensed data is transformed and an area in which the peripheral image of the vehicle is displayed, Data integration processing system of sensors.
delete 3. The method of claim 2,
Wherein the multicore processor unit stores any one of the frames included in the integrated image together as a still-cut image when the integrated image is stored.
The method according to claim 6,
Wherein the multicore processor unit stores a frame in which a license plate of the vehicle is photographed as the still cut image among the frames included in the integrated image.
8. The method of claim 7,
Wherein the multicore processor unit displays the stored still-cut image through the display system in response to a user's request, and reproduces the integrated image corresponding to the still-cut image selected by the user through the display system Data integration processing system of sensor and image sensor.
The method according to claim 1,
Wherein the plurality of sensors comprise:
A radar, a lidar, an ultrasonic sensor, a camera, a stereo camera, an AVM camera, a wheel speed sensor, an accelerator level sensor, a steering sensor a steering sensor, and a gyroscope sensor,
Wherein the data received from the plurality of sensors comprises:
Distance data using at least one of the radar, the radar, and the ultrasonic sensor,
Image data using the at least one camera,
Speed data of the vehicle using the wheel speed detecting sensor,
Acceleration data of the vehicle using the accelerator level detection sensor,
The rotational speed, the rotational direction, the rotational angle data of the steering wheel using the steering sensor,
Axis direction data of the vehicle using the gyroscope sensor, and the three-axis direction data of the vehicle using the gyroscope sensor.
The method according to claim 1,
The multi-core processor unit includes:
Wherein the data is clustered based on at least one of a running speed of the vehicle, a mode of a vehicle (Parking, Rear, Drive), and an input of a driver.
The method according to claim 1,
The multi-core processor unit includes:
Monitoring of connection with the plurality of sensors, monitoring of connection with the vehicle integrated control unit and communication channel unit, debugging and real-time uploading of the algorithm for clustering, debugging and logging of data received from the plurality of sensors logging, and the like. The integrated data processing system of the ultrasonic sensor and the image sensor.
The method according to claim 1,
The vehicle integrated control unit
Wherein the control data generated by the control means is synchronized with the control data generated by the control means.
The method according to claim 1,
The vehicle integrated control unit
Wherein the monitoring unit monitors whether or not the image sensor is connected to the control unit.
14. The method of claim 13,
Wherein,
A power domain control means including a power train of the vehicle and a power transmission device, chassis domain control means including a braking and steering device of the vehicle, body domain control means including a comfort device and a safety device of the vehicle, And a multimedia domain control means including path guidance, music and video. The integrated data processing system of an ultrasonic sensor and an image sensor according to claim 1,
delete
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