CN105044690B - 驾驶员便利系统和用于确定其内雷达的垂直角异常的方法 - Google Patents

驾驶员便利系统和用于确定其内雷达的垂直角异常的方法 Download PDF

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CN105044690B
CN105044690B CN201510218080.2A CN201510218080A CN105044690B CN 105044690 B CN105044690 B CN 105044690B CN 201510218080 A CN201510218080 A CN 201510218080A CN 105044690 B CN105044690 B CN 105044690B
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radar
vertical angle
vehicle
detecting distance
angle
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CN105044690A (zh
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权敃秀
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Halla Creedong Electronics Co ltd
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Mando Corp
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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

本发明提供一种驾驶员便利系统和用于确定驾驶员便利系统内雷达的垂直角异常的方法，该方法使用预设要求安装角范围和垂直角确定雷达内是否出现垂直角异常，该垂直角基于车辆前方信息中固定目标和车辆之间的最大检测距离而被估算，该车辆前方信息通过由雷达执行车辆的前方监控而获得。该驾驶员便利系统包括：雷达，其安装在车辆上以检测车辆前方信息；以及电子控制单元，其基于雷达检测的车辆前方信息而控制车辆的行驶。电子控制单元包括：监控单元，其配置为基于雷达检测的车辆前方信息而监控固定目标；更新单元，其配置为更新由监控单元监控的固定目标和车辆之间的最大检测距离；垂直角估算单元，其配置为通过使用由更新单元更新的最大检测距离来估算雷达的垂直角；以及确定单元，其配置为当估算的垂直角超出预设要求安装角时确定雷达内发生垂直角异常。

Description

驾驶员便利系统和用于确定其内雷达的垂直角异常的方法
相关申请的交叉参考
本申请要求于2014年4月30日提交韩国知识产权局的韩国专利申请号10-2014-0052296的优先权，其全部内容通过引用而并入本文作为参考。
技术领域
本发明涉及确定驾驶员便利系统和用于确定驾驶员便利系统内雷达的垂直角异常的方法，更具体地，涉及驾驶员便利系统和用于确定驾驶员便利系统内雷达的垂直角异常的方法，该方法使用预设要求安装角范围和垂直角确定雷达内是否发生垂直角异常，其中该垂直角基于车辆和车辆前方信息中固定目标之间的最大检测距离被估算，该车辆前方信息通过雷达执行车辆前方监控而获取。
背景技术
当前，更多车辆装配有雷达。车辆的电子控制单元能够基于安装在当前车辆上的雷达输出的信息来计算当前车辆和当前车辆周围目标之间距离、相对速度和角度。
装配有雷达的车辆可通过使用当前车辆和当前车辆周围目标之间的距离、相对速度和角度提供多种安全功能或便利功能。
例如，基于从当前车辆上安装的雷达接收的信息，通过测量当前车辆和当前车辆周围目标之间的距离、相对速度和角度，驾驶员便利系统可执行碰撞避免功能，自适应巡航功能等。
由于安装在当前车辆的雷达在实现多种功能中起到重要作用，所以从雷达接收的信息的可靠性同样重要。
由于雷达安装在车辆上，在车辆行驶期间或由于若干原因，各种振动会作用于雷达。因此，雷达可能会从原始安装位置偏移。
当雷达从原始安装位置偏移时，检测值的精度就会降低。因此，多种方法被用来使用检测的信息识别或补偿检测值的不准确。当雷达垂直角出现问题时，难以仅通过使用在车辆行驶期间雷达检测的车辆前方信息来检测垂直角异常。
特别地，由于具有垂直角异常的雷达不是向前而是向上或向下指向，所以雷达可能识别不准确的前方距离。在此情况下，雷达检测车辆前方可能会延迟或不能够检测车辆前方，并且现存的驾驶员便利系统可能导致快速制动或相应的碰撞事故。
此外，雷达的垂直角异常可通过安装额外传感器检测，但多数车辆没有安装额外传感器，因此传感器的增加会造成成本上升。
因此，存在改进驾驶员便利系统的需要，该驾驶员便利系统能够确定雷达是否发生垂直角异常而不需要在其中安装单独的额外传感器。
引用列表
专利文献
(专利文献1)韩国专利申请公报No.10-2009-0065187(2009.06.22)，题为“雷达装置和校正其发射轴的方法”
(专利文献2)韩国专利申请公报No.10-2013-0000202(2013.01.02)，题为“用于校正雷达安装角失准的系统”。
发明内容
本发明的一个方面涉及驾驶员便利系统和确定驾驶员便利系统内雷达的垂直角异常的方法，该方法使用预设要求安装角范围和垂直角确定雷达内是否发生垂直角异常，其中该垂直角基于车辆和车辆前方信息中固定目标之间的最大检测距离被估算，该车辆前方信息通过雷达执行车辆前方监控而获取。
根据本发明的实施例，驾驶员便利系统包括：雷达，其安装在车辆上以检测车辆前方信息；电子控制单元，其基于由雷达检测的车辆前方信息控制车辆行驶，其中电子控制单元包括监控单元，其配置为基于雷达检测的车辆前方监控固定目标；更新单元，其配置为更新由监控单元监控的固定目标和车辆之间的最大检测距离；垂直角估算单元，其配置为通过使用由更新单元更新的最大检测距离估算雷达的垂直角；以及确定单元，其配置为当估算的垂直角超出预设要求安装角时确定雷达出现垂直角异常。
更新单元可基于固定目标的数量设置采样间隔，在该采样间隔中确定雷达内是否发生垂直角异常，并在到达设置的采样间隔时提供更新的最大检测距离给垂直角估算单元。
当确定雷达出现垂直角异常，确定单元可通过安装在车辆上的扬声器、安装在车辆上的终端的屏幕和发声器(cluster)至少一种来输出指示垂直角异常的通知信息。
垂直角估算单元可通过参考储存相对于每个最大检测距离限定的估算角的映射数据来估算雷达的垂直角。
根据本发明的另一个实施例，驾驶员便利系统可包括雷达，其安装在车辆上以检测车辆前方信息，以及控制单元，其基于由雷达检测的车辆前方信息来控制车辆的自动驾驶，该驾驶员便利系统包括故障保护单元，其配置为分类由雷达监测的车辆前方信息的属性，更新固定目标和车辆之间的最大检测距离，并当使用最大检测距离估算的雷达的垂直角超出预设要求安装角范围时，确定雷达出现垂直角异常。
故障保护单元可输出垂直角异常信号至控制信号，垂直角异常信号基于雷达内出现垂直角异常的确定结果而产生。
根据本发明的另一个实施例，一种确定驾驶便利系统内雷达垂直角异常的方法，其中驾驶便利系统包括雷达，其安装在车辆上以检测车辆前方信息；和电子控制单元，其基于由雷达检测的车辆前方信息控制车辆行驶，所述方法包括基于雷达检测的车辆前方信息来监控固定目标；更新监控单元监控的固定目标和车辆之间的最大检测距离；使用更新单元更新的最大检测距离来估算雷达的垂直角；以及当估算的垂直角超出预设要求安装角时确定雷达出现垂直角异常。
所述方法可进一步包括，在固定目标的监控后，基于固定目标的数量设置采样间隔，在该间隔中确定雷达内是否发生垂直角异常，并在到达设置的采样间隔时提供将被用于车辆角度估算的更新的最大检测距离。
根据本发明的另一个实施例，一种用于确定驾驶员便利系统中雷达的垂直角异常的方法，该驾驶员便利系统可包括雷达，其安装在车辆上以检测车辆前方信息，以及控制单元，其基于由雷达检测的车辆前方信息来控制车辆的行驶，该方法包括分类由雷达监测的车辆前方信息的属性和更新固定目标和车辆之间的最大检测距离；通过使用更新的最大检测距离来估算雷达的垂直角；以及当估算的垂直角超出预设要求安装角时，确定雷达内出现垂直角异常。
该方法可进一步包括，在确定垂直角异常后，将基于雷达内出现垂直角异常的确定结果产生的垂直角异常信号输出给控制单元。
附图说明
图1是说明根据本发明的实施例的驾驶员便利系统的框图。
图2是说明根据本发明另一实施例的驾驶员便利系统的框图。
图3是说明根据本发明另一实施例的确定车辆便利系统中雷达垂直角异常的方法的流程图。
图4A和4B是显示雷达垂直角正常和雷达垂直角异常的屏幕的示例。
参考标号的说明
10:雷达 20:电子控制单元
21:监控单元 22:更新单元
23:垂直角估算单元 24:确定单元
30:驾驶员便利系统 31:目标检测单元
32:循迹单元 33:路径估算单元
34:目标选择单元 35:控制单元
36:故障保护单元 37:通信单元
具体实施方式
本发明的实施例将在下文参考附图详细描述。在本公开内，本发明的附图和实施例中相似附图标记指代相似元件。
在此，参考附图，将详细地说明本发明的示例实施例。
图1是说明根据本发明的实施例的驾驶员便利系统的框图。
参考图1，依照本发明的实施例的驾驶员便利系统包括雷达10和电子控制单元20。
雷达10测量对应于相对距离、相对速度、前方目标与车辆，即当前车辆之间角度的车辆前方信息(轨迹信息)。雷达10可相对于一个或多个前方目标测量车辆前方信息。即使当前车辆的位置或速度基于当前车辆的行驶而变化时，雷达10可通过连续循迹前方目标而测量前方目标的车辆前方信息(轨迹信息)。
在此情况，标识符(ID)可分配给每个前方目标以输出一个或多个前方目标的车辆前方信息。
雷达10检测的车辆前方信息被传送到电子控制单元20。
电子控制单元20基于雷达10检测的车辆前方信息来监控固定目标，并根据通过使用监控的固定目标和当前车辆之间的最大检测距离估算的估算角是否在预设要求安装角范围，而确定雷达10内是否出现垂直角异常。
电子控制单元20包括监控单元21、更新单元22，垂直角估算单元23和确定单元24。
监控单元21通过分类由雷达10检测的车辆前方信息的属性来监控固定目标。
更新单元22更新由监控单元21监控的固定目标和当前车辆之间的最大检测距离。最大检测距离包括在由雷达10检测的车辆前方信息内。当车辆前方信息内存在多个固定目标时，更新单元22确定多个固定目标中检测距离最长的一个为最大检测距离并通过使用确定的最大检测距离执行更新。
此外，更新单元22设置采样间隔，在该采样间隔内确定雷达10内是否发生垂直角异常，并在到达设置的采样间隔时提供更新的最大检测距离给垂直角估算单元23。如上文描述，优选的是采样间隔基于固定目标的数量确定。例如，在没有固定目标的情况下采样间隔被设置为不同于存在多个固定目标的情况下的采样间隔，因此增加了最大检测距离的可靠性。当不存在固定目标时，优选设置长的采样间隔，更优选是根据经验设置采样间隔。
垂直角估算单元23通过使用由更新单元22更新的最大检测距离估算雷达10的垂直角。在此情况，垂直角估算单元23可参考根据经验预存储最大检测距离的映射数据，或垂直角可被线性改变。例如，估算角度可基于经验确定，如当雷达10的垂直角是0度时雷达10可执行上至200m的检测，而当雷达10的垂直角改变1度时雷达10可执行上至150m的检测。
确定单元24确定由垂直角估算单元23估算的垂直角是否在预设要求安装角范围内。当垂直角在预设要求安装角范围内时，确定单元24确定雷达10的垂直角在正常状态，并且当垂直角超出预设安装要求范围时，确定单元24确定雷达10发生垂直角异常。
因此，能够在行驶期间确定雷达10是否出现垂直角异常，由此从雷达10获得精确的车辆前方信息并基于精确的车辆前方信息可靠地控制车辆的行驶。
驾驶员便利系统，即本发明所应用的自适应巡航控制系统将在下文描述，其执行自动驾驶同时可以保持与车辆前方的预设距离。
图2是说明根据本发明另一实施例的驾驶员便利系统的框图。
参考图2，依照本发明另一实施例的驾驶员便利系统30包括目标检测单元31、循迹单元32、路径估算单元33、目标选择单元34、控制单元35、故障保护单元36和通信单元37。
目标检测单元31为前述雷达并在之后称为雷达。雷达10检测与位于车辆前方的预定目标相关的车辆前方信息，即当前车辆和前方目标的相对距离、相对速度等。
循迹单元32连续循迹由雷达10检测的前方目标。路径估算单元33估算当前车辆沿其行驶的路径。目标选择单元34选择位于估算路径上的目标。
控制单元35产生加速/减速控制信号以用于控制当前车辆的加速/减速，从而保持距离目标选择单元34选择的目标的预设距离或车辆间距离，并提供加速/减速信号给发动机单元(未示出)或制动单元(未示出)。
当控制单元35接收来自将在下文描述的故障保护单元36指示的雷达10的垂直角异常的垂直角异常信号时，作为确定结果，控制单元35可以将垂直角异常信号输出至车辆上安装的终端的屏幕或发声器的至少一种，并进一步地，执行控制以停止自动驾驶。因此，驾驶员可以在行驶期间容易地获知雷达10的垂直角异常并快速地做出相应行动。
故障保护单元3包括监控单元21、更新单元22、垂直角估算单元23和上文描述的电子控制单元20的确定单元24。
即，故障保护单元36基于由雷达检测的车辆前方信息来监控固定目标，并通过使用接收的车辆前方信息中的车辆和固定目标之间的最大检测距离来估计雷达10的垂直角。当雷达10的估计的垂直角超出预设要求安装角时，故障保护单元36确定雷达10是否存在垂直角异常并基于确定结果提供指示雷达10垂直角异常的垂直角异常信号给控制单元35。控制单元35执行控制以停止车辆的自动驾驶，或可基于从故障保护单元36接收的垂直角异常信号执行控制以通过扬声器或发声器显示异常通知。
通信单元37可以从传感器、制动单元、暂停单元、转向单元等接收控制信号，或从控制单元35传递控制信号到安装在车辆上的制动单元、暂停单元、转向单元等。
如上文描述配置的确定驾驶员便利系统中雷达垂直角异常的方法将在下文描述。
图3是说明根据本发明另一实施例的用于确定车辆便利系统中雷达垂直角异常的方法的流程图。
虽然用于确定图1中驾驶员便利系统内雷达垂直角异常的方法将参考图3描述，但是可以看出该方法的处理可用于图2所示的驾驶员便利系统。图2所示的驾驶员便利系统不同于图1所示的驾驶员便利系统在于故障保护单元36执行电子控制单元20的功能并且基于故障保护单元36中的确定结果产生的控制信号，例如，垂直角异常信号或垂直角正常信号被传递至控制单元35。
参考图3，电子控制单元20在行驶期间接收雷达10检测的车辆前方信息并通过分类接收的车辆前方信息的属性而监控固定目标(S11)。
电子控制单元20更新包括在接收的车辆前方信息中的车辆和固定目标之间的检测距离的最大检测距离(S13)。在此情况下，电子控制单元20根据固定目标的数量设置采样间隔并保持稳定状态直到到达设置的采样间隔。
在步骤S13后，电子控制单元20可进一步执行设置采样间隔的步骤和确定是否到达设定的采样间隔的步骤。即，在将在下文描述的步骤S13后或步骤S15前电子控制单元执行设置采样间隔的步骤和确定是否到达设定的采样间隔的步骤，由此通过使用根据固定目标数量敏感设置的采样间隔而增加车辆和固定目标之间最大检测距离的可靠性。
电子控制单元20通过使用步骤S13(S15)中更新的最大检测距离估计雷达10的垂直角。根据最大检测距离估算的角度可以基于预储存对应于每个最大检测距离的估算角的映射数据而根据经验地被确定，或估算角可被线性确定。
电子控制单元20通过比较预设要求安装角与在步骤S17中估算的雷达10的垂直角来确定估算的垂直角是否在要求的安装角范围内。
如果在步骤17确定估算的垂直角超出要求的安装角范围，则电子控制单元20确定雷达10发生垂直角异常(S19)。在图4B说明的雷达10中，确定发生垂直角异常。
如果确定雷达10内发生垂直角异常，则电子控制单元20通过扬声器、安装在车辆上的终端的屏幕和发声器中的至少一种而输出异常通知信息。虽然描述的异常通知信息通过安装在车辆上的终端的扬声器、屏幕和发声器输出，但是指示雷达10的垂直角异常的垂直角异常信号可被输出至包括在驾驶员便利系统内的控制单元(图2中35)，并且控制单元可临时停止，例如，根据另一实施例停止自动驾驶等。
当在步骤17确定估算的垂直角在要求的安装角范围内时，电子控制单元20确定雷达10的垂直角在正常状态(S20)。在图4A所示的雷达10中，雷达10的垂直角被确定在正常状态。
因此，能够在行驶期间确定垂直角异常是否发生在雷达10内而不需要单独安装额外的传感器，因此可以稳定并精确地对驾驶员便利系统进行控制。
根据本发明的实施例，能够通过使用垂直角和预设要求安装角范围确定垂直角异常是否发生在雷达内，该垂直角基于车辆前方信息中的固定目标和车辆之间的最大检测距离确定，该车辆前方信息通过由雷达传感器执行车辆前方的监控而获得。
此外，根据本发明的实施例，能够通过根据固定目标数量设置采样间隔而增加固定目标和车辆之间的最大检测距离的可靠性，在该采样间隔内确定雷达内是否发生垂直角异常。
虽然本发明的实施例参考具体的实施例被描述，本领域技术人员可想到对其进行多种改变和修改而不背离由权利要求书所限定的本发明的精神和范围。

Claims (9)

1.一种驾驶员便利系统，其包括：
雷达，其安装在车辆上以检测车辆前方信息；以及
电子控制单元，其基于由所述雷达检测的所述车辆前方信息来控制所述车辆的行驶，
其中所述电子控制单元包括：
监控单元，其配置为基于由所述雷达检测的所述车辆前方信息来监控固定目标；
更新单元，其配置为更新由所述监控单元监控的所述固定目标和所述车辆之间的最大检测距离；
垂直角估算单元，其配置为通过使用由所述更新单元更新的所述最大检测距离来估算所述雷达的垂直角；以及
确定单元，其配置为当所述估算的垂直角超出预设要求安装角时确定所述雷达内发生垂直角异常，
其中所述垂直角估算单元通过参考储存对应每个最大检测距离限定的估算角的映射数据来估算所述雷达的垂直角。
2.根据权利要求1所述的驾驶员便利系统，其中所述更新单元基于所述固定目标数量设置采样间隔，在所述采样间隔内，确定所述雷达内是否发生所述垂直角异常，并在到达设置的采样间隔时提供所述更新的最大检测距离给所述垂直角估算单元。
3.根据权利要求1所述的驾驶员便利系统，其中当确定所述雷达内发生所述垂直角异常时，所述确定单元通过设置在所述车辆上的扬声器、设置在所述车辆上的终端的屏幕和发声器中的至少一种来输出指示所述垂直角异常的通知信息。
4.一种驾驶员便利系统，其包括雷达，所述雷达安装在车辆上以检测车辆前方信息，以及控制单元，其基于所述雷达检测的所述车辆前方信息来控制所述车辆的自动驾驶，所述驾驶员便利系统包括：
故障保护单元，其配置为分类由所述雷达检测的所述车辆前方信息的属性，更新固定目标和所述车辆之间的最大检测距离，并且当使用所述更新的最大检测距离估算的所述雷达的垂直角超出预设要求安装角范围时，确定所述雷达内发生垂直角异常，
其中通过参考储存对应每个最大检测距离限定的估算角的映射数据来估算所述雷达的垂直角。
5.根据权利要求4所述的驾驶员便利系统，其中所述故障保护单元输出垂直角异常信号给所述控制单元，所述垂直角异常信号基于所述雷达出现所述垂直角异常的确定结果而产生。
6.一种确定驾驶员便利系统内雷达的垂直角异常的方法，所述驾驶员便利系统包括雷达，其安装在车辆上以检测车辆前方信息，以及控制单元，其基于所述雷达检测的所述车辆前方信息来控制所述车辆的行驶，所述方法包括：
基于通过所述雷达监测的所述车辆前方信息来监控固定目标；
更新所述监控的固定目标和所述车辆之间的最大检测距离；
通过使用所述更新的最大检测距离来估算所述雷达的垂直角，
其中通过参考储存对应每个最大检测距离限定的估算角的映射数据来估算所述雷达的垂直角；以及
当所述估算的垂直角超出预设要求安装角时确定所述雷达内出现所述垂直角异常。
7.根据权利要求6所述的方法，进一步包括在所述固定目标监控后：
基于所述固定目标的数量设置采样间隔，在所述采样间隔内，确定所述雷达是否发生所述雷达的所述垂直角异常，
其中通过参考储存对应每个最大检测距离限定的估算角的映射数据来估算所述雷达的垂直角；以及
在到达设置的采样间隔时提供将被用于所述垂直角估算的所述更新的最大检测距离。
8.一种用于确定驾驶员便利系统内雷达的垂直角异常的方法，所述驾驶员便利系统包括雷达，其安装在车辆上以检测车辆前方信息，以及控制单元，其基于所述雷达检测的所述车辆前方信息来控制所述车辆的行驶，所述方法包括：
分类由所述雷达检测的所述车辆前方信息的属性并更新固定目标和所述车辆之间的最大检测距离；
通过使用所述更新的最大检测距离来估算所述雷达的垂直角，
其中通过参考储存对应每个最大检测距离限定的估算角的映射数据来估算所述雷达的垂直角；以及
当估算的垂直角超出预设要求安装角时确定所述雷达内出现所述垂直角异常。
9.根据权利要求8所述的方法，进一步包括，在确定所述垂直角异常后，
将基于所述雷达内出现所述垂直角异常的确定结果产生的垂直角异常信号输出给所述控制单元。
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