KR100507090B1 - The collision alarming system of vehicle and method thereof - Google Patents

Abstract

By extracting only the signals necessary for the alarm from the radar signals reflected from the front to the collision warning device of the vehicle to output a collision warning,

Oscillating and modulating the millimeter wave radar beam to a front at a predetermined angle; Receiving, filtering, and converting a reflected wave from a front target (obstacle) into a digital signal; FFT transforming the received reflected wave to detect peak points of the signal; Calculating and extracting a number of forward targets, a distance from an object, an angle, and a relative speed by analyzing the detected peak points; Determining whether the collision is based on the extracted distance and the relative speed;

In addition, the present invention comprises the steps of emitting a millimeter wave measuring radar beam at a predetermined angle to obtain data consisting of the distance, the relative speed, the angle and the power of the reflected wave from the reflected wave received from the front target; Extracting data for each distance by applying a threshold value set for each distance from power data that distinguishes the vehicle and other obstacles from the acquired data; Grouping the extracted distance-specific data into one representative value data; Comparing absolute values of the relative speed and the own vehicle speed with respect to the grouped data and excluding the target object and the vehicle in the opposite lane from the alarm target; Extracting only pure data for applying an alert by deleting data randomly detected in comparison with previous frame data; And determining and controlling an alarm occurrence by calculating a safety distance based on a distance and a relative speed with respect to the extracted alarm target data.

Description

Collision warning device of vehicle and its method {THE COLLISION ALARMING SYSTEM OF VEHICLE AND METHOD THEREOF}

The present invention relates to a collision warning apparatus of a vehicle, and more particularly, to a collision warning apparatus and a method of a vehicle for outputting a collision warning by extracting only a signal necessary for an alarm from a radar signal reflected from the front.

In order to satisfy consumers' desire for a more stable and intelligent car in accordance with the development of the automobile industry and the explosive spread of automobiles, driving guidance devices, lane departure and drowsiness prevention devices, and collision prevention devices are installed. And driving aids are emerging as important technologies that will lead the automotive market in the future.

It is being developed to provide convenience to the driver, but is further developed to minimize the injuries and fatalities caused by traffic accidents, and in the weather and road conditions of other bad weather such as snow, fog, heavy rain, etc. There is a demand for an intelligent system that enables stable operation during operation.

As the front obstacle detecting means applied to these intelligent systems, an image input means for detecting a front image, an ultrasonic sensor, a laser sensor, and the like are applied.

However, if the vehicle cannot be secured due to weather obstacles such as rain, snow, and fog while running on the road, existing image input means, ultrasonic waves, and laser sensors lack the limit of detection range for the front and reliability of malfunction. There are many problems in measuring and analyzing the situation.

The present invention has been invented to solve the above problems, the purpose of which is to implement a collision warning device of the vehicle to the front sensing means using a radar strong response to the influence of the weather environment in order to measure the situation in the front. As the obstacle to be measured is relatively small, such as a car, a motorcycle, or a person, the measurement beam must be very narrow, so that the obstacle can be read and separated. It is applied to provide stability and reliability in the detection of forward obstacles.

In addition, the present invention is to send an alarm when the risk of collision occurs by detecting the relative speed with the preceding vehicle running on the own lane while driving on the road, and continuously track the vehicle running in front of the safety calculated by the vehicle speed It alerts the driver when it is narrowed within range.

In addition, in order to extract only the signals needed for the alarm from the signals reflected from the obstacles in front of the signal, the reflected signals were converted into reception power for each distance. Based on this, the diffuse reflection signal and the system itself noise, other rainwater, fog, snow in the air By filtering the noise signal, and the like, the filtering is performed so that only the vehicle requiring the alarm can be traced through grouping and the second filtering process.

The present invention for realizing the above object comprises the steps of oscillating and modulating the millimeter wave radar beam for output in a predetermined angle; Receiving, filtering, and converting a reflected wave from a front target (obstacle) into a digital signal; FFT transforming the received reflected wave to detect peak points of the signal; And calculating the number of obstacles, the distance from the object, the angle, and the relative speed by analyzing the detected peak points to determine whether a collision occurs, and then controlling alarm transmission and collision prevention.

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In addition, the present invention comprises the steps of obtaining the data consisting of the distance, the relative speed, the angle and the power of the reflected wave from the reflected wave received from the target by radiating the measuring radar beam at a predetermined angle; Extracting data for each distance by applying a threshold value set for each distance from power data that distinguishes the vehicle and other obstacles from the acquired data; Grouping the extracted distance-specific data into one representative value data; Comparing absolute values of the relative speed and the own vehicle speed with respect to the grouped data and excluding the target object and the vehicle in the opposite lane from the alarm target; Extracting only pure data for applying an alert by deleting data randomly detected in comparison with previous frame data; And determining and controlling an alarm occurrence by calculating a safety distance based on a distance and a relative speed with respect to the extracted alarm target data.

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

As can be seen in Figure 1 the collision warning device of the vehicle according to the present invention comprises a radar 100, the collision warning system 200, the display 300, the ECU 400 and the power supply 500, radar The 100 is a millimeter wave radar using an NRD guide method, which emits a measuring beam at a predetermined angle, that is, within a range of ± 10 °, on the front side, and then reflects the angle, distance, and relative speed reflected from the front vehicle, motorcycle, or other obstacle. And a reflected wave including information such as power.

The collision warning system 200 analyzes angles, distances, relative speeds, and powers of the front vehicle, the motorcycle, the pedestrian, and other obstacles included in the reflected wave applied from the radar 100 through a set algorithm to determine whether the collision is possible. If it is determined that the driver does not have a proper response despite the possibility of colliding, the voice alarm is first transmitted.

If the driver does not respond even after the first voice alarm is sent out, the emergency light turns on, the auxiliary brake and the voice alarm are generated at the same time to prevent the possibility of collision, and the brake signal driven by the driver is input or When the lane is changed by the steering wheel adjustment and the collision situation is canceled, the voice alarm which is always sent out is canceled, the emergency light in the blinking state is turned off and the auxiliary brake in braking control is released.

The display 300 instructs the driver, via text or a predetermined method, status information on the possibility of collision with the front vehicle, the pedestrian, the motorcycle, and the front obstacle according to the control signal applied from the collision warning system 200.

In addition, various status information detected while driving is instructed to the driver through the display.

The ECU 400 provides an engine controller with information regarding the vehicle speed, whether the brake pedal is operated, and whether the turn signal lamp is operated to the collision warning system 200, and controls that is applied by the collision warning system 200. Signals control the operation and release of auxiliary brakes to prevent collisions with vehicles, pedestrians, motorcycles and other obstacles, the transmission and release of voice alarms, the flashing and release of emergency lights, and the control of engine torque reduction.

The power supply unit 500 processes 12V or 24V power applied from the vehicle battery as a power required for each load element constituting the system and supplies the power to each load side as operating power.

The radar 100 is composed of the FM transmitter 101, the antenna 102 and the receiver 103, the FM transmitter 101 is activated by the operating power applied from the power supply 500, the measurement of the set band Generate and output the beam for

The antenna 102 emits a measurement beam applied from the FM transmitter 101 to the front side and receives the reflected wave reflected from a vehicle, a motorcycle, a pedestrian, and other obstacles in front of the antenna 102.

The receiver 103 is responsible for matching the reflected wave received through the antenna 102 and applying it to the collision avoidance system 200.

In addition, the collision warning system 200 includes a first filter 201, an A / D converter 202, an FMCW linear pulse generating circuit 203, a preprocessor 204, a post processor 205, and a first memory. 206, a second memory 207, a third memory 208, a fourth memory 209, an interface circuit 210, and a second filter 211, the first filter 201 having a low pass. The filter is formed by filtering the reflected wave received and applied by the radar 100 to a predetermined band, preferably low pass filtering to remove noise included in the reflected wave.

The A / D converter 202 converts the filtered analog echo signal into a digital signal and outputs the digital signal.

The FMCW linear pulse generating circuit 203 generates the FM transmitting linear pulse so that the measuring beam can be continuously and linearly fired in a range within a predetermined angle on the front side, thereby operating the FM transmitting unit 101 in the radar 100. Drive.

The FMCW linear pulse generator 203 performs frequency modulation (generally adjusted to a triangular wave) on a continuous transmission wave, and the relative velocity with the target in the reflected wave from a target such as a vehicle or a pedestrian or other obstacle. To measure the distance at the same time.

For example, it is preferable to maintain linearity with respect to the triangular wave when frequency modulation is performed using 77 GHz as the center frequency.

The preprocessor 204 fires a measuring beam on the front side and performs reception analysis of the reflected wave in real time.

The post-processing processor 205 analyzes the reflected wave which is analyzed and applied in real time by the pre-processing processor 204 through a set algorithm, and the distance, relative to the front vehicle, pedestrian, motorcycle, and other obstacles to perform the collision prevention function. The process of extracting the speed and the like to determine whether the collision is possible, and to control the output of the alarm and the prevention of collision, such as emergency lights, auxiliary brakes, and voice alarm devices, and to control the collision prevention function. When the driver's lane change or action is detected, the collision prevention function is released.

Data for performing the algorithm of the preprocessor 204 is set in the first memory 206, and data that is received and analyzed by the preprocessor 204 is stored in the second memory 207.

The third memory 208 stores data for performing the algorithm of the post-processing processor 205 and the fourth memory 209 stores data for performing the collision avoidance function analyzed by the post-processing processor 205. do.

The interface circuit 210 may include a decoder and an encoder, and may provide various types of information on the distance, relative speed, and collision avoidance function of the front vehicle, pedestrian, motorcycle, and other obstacles, which are finally calculated by the post-processing processor 205. Display.

The second filter 211 filters vehicle state information received from the ECU 400, that is, information such as an emergency light, an auxiliary brake, a vehicle speed, and the like into a predetermined band and applies it to the post-processing processor 205. In 205, the control signal for performing the collision prevention function is filtered to the set band and applied to the ECU 400.

The specifications of the radar 100 is set as shown in Table 1 below, for example.

Item Specification How it works FMCW Module Configuration NRD Frequency of use 76 GHz Print 10 mW Detection distance 150 m Scanning angle ± 10 degree Bandwidth 100 MHz Module size 150 × 100 × 150mm Communication method CAN Ver 2.0B

Typically, metals pass electricity well, but they do not pass electricity well at high frequencies, such as millimeters (mm), and microwaves produce about 60dB of loss in 1m of strip lines, but 3dB when making lines with dielectrics. The attenuation reduces losses to about one million.

However, when the dielectric line is bent, radio waves run toward the extension line of the line, which causes inherently low loss or radiation, and eventually causes a large loss, making it impossible to use.

If a dielectric is put in a space that does not pass radio waves at all, radio waves cannot escape regardless of the curve of the line.

In other words, if the upper and lower metal plate is less than half-wavelength, the waveguide is cut off and there is no radio wave. If a line is put there, the electric wave flows along the line.

Usually, the radio waves travel in the direction of the extension line of the track, but the radio waves flow in the curved line because the radio waves reach the area where no electromagnetic waves exist in the cutting area. The line where such radiation does not occur is called a non-radial dielectric waveguide.

Applying this principle, the radar 100 is constructed with the accompanying FIG. 2, the structure of which is shown in the figure, the upper side and the lower side are formed of metal plates 100A and 100B, and a nonmetallic material therebetween. For example, a dielectric 100C made of a material such as plastic is provided, and the upper side metal plate 100A and the lower side metal plate 100B are configured to allow air to act as a medium by forming predetermined voids.

The internal equivalent circuit of the radar 100 having the above structure is configured as shown in FIG. 3, and the concept thereof is summarized as shown in FIG. 4, and the operation principle thereof is as follows.

When the modulation width of the radar beam for the output from the FM modulator 111 is determined, the oscillator 112 composed of a gun diode oscillates the frequency of the determined modulation width and puts a circulator 115 and through the antenna 116. A portion of the output of the oscillator 112 is radiated, and the low frequency (Lo) signal is transmitted to the mixer 117 by the directional coupler 114 affected by the terminator 113.

In this case, when the reflected wave RF from the target input from the antenna 116 is input to the mixer 117, the mixer 117 is received at the low frequency Lo and the antenna 116 input from the directional coupler 114. It is mixed with the reflected wave RF to form an intermediate frequency IF, which is amplified by the IF amplifier 118 and received as a bit signal.

Accordingly, the distance and relative speed of the obstacle reflecting the radar beam can be extracted by analyzing the received bit signal.

In the configuration of the present invention including the above function, the operation of performing the collision warning and prevention operation is as follows.

When a pulse for modulation of the triangular wave frequency in which the linearity is maintained in the FMCW linear pulse generation circuit 203 in the collision warning system 200 of FIG. 1 is generated (S701), the FM transmitter 101 in the radar 100 is millimeter wave. Oscillates to fire the radar beam at a predetermined angle set to the front side through the antenna 102 (S702).

At this time, since the vehicle, street light, pedestrians and other obstacles exist in front of the driving vehicle as shown in FIG. 6, the radar beam emitted from the radar 100 is reflected after colliding with the target in front of the antenna 102. Is received (S703).

As described above, when the millimeter wave reflected from the target in front is received, the first filter 201 in the collision warning system 200 performs low pass filtering to remove the noise component included in the received millimeter wave (reflected wave), and then A When the / D converter 202 converts an analog signal into a digital signal and applies it to the preprocessor 204 (S704), the preprocessor 204 stores the preprocessing processor 204 in a second memory 207 made of a FIFO memory (S705).

Thereafter, when the preprocessing processor 204 accesses the data stored in the second memory 207 in the first-in-first-out manner and applies the data to the post-processing processor 205, the post-processing processor 205 applies each reflected wave (millimeter wave) applied. Search for a peak point of a signal recognized as an obstacle through a fast fourier transform (FFT) (S706).

Thereafter, data such as the number of obstacles and the frequency of the detected peak point are analyzed through a set algorithm to extract a distance, a position, a relative speed, and the like from the front obstacle (S707).

As described above, when the distance, the position and the relative speed with the front obstacle are detected, after checking the driving speed of the vehicle, whether the brake pedal is driven, the information of the steering wheel, etc. received from the ECU 400 (S708), the possibility of collision is analyzed. It outputs the information on the display through the 300 to instruct the driver (S709).

If it is determined that there is a possibility of collision, a voice alarm is first issued and alarmed, and if a driver's response is not detected within a certain time after the alarm is issued, peripheral devices for preventing the driving, for example, emergency lights, auxiliary brakes, and engines. Torque control, steering direction, etc. are performed to prevent collision accidents.

The above operation will be described in more detail as follows.

The transmission wave (millimeter wave) frequency modulated by the triangular wave emitted from the radar 100 is referred to as f _b1 , f _b2 , and the repetition frequency If f _b1 , f _b2 is expressed as in Equation 1 below.

In Equation 1, f _d is the Doppler frequency and c is the luminous flux.

Therefore, when the beat frequency is obtained in the decreasing period, the reflected wave from the target (obstacle) moving at the distance R and the relative speed V changes as shown in FIG. 8.

Therefore, it can be seen that the bit frequency obtained by mixing the transmission wave and the reflected wave is operated by the Doppler effect.

Therefore, the distance R and the relative speed v to the target (obstacle) can be extracted by the following equation (2) by obtaining the sum and difference of f ₀ , f ₁ , f ₂ .

In addition, when the radar and the target (obstacle) are stopped together, that is, when the speed is detected as '0', the bit frequency becomes f _b = f _b1 = f _b2 and the distance is extracted through Equation 3 below. .

A detailed operation for preventing collision by extracting data as described above is as follows.

When driving the radar 100 emits a millimeter wave frequency modulated by a triangular wave continuously from -10 ° to 10 ° based on the set angle, for example -10 ° to 10 ° (S901).

At this time, the time required for one operation is 100ms and the reflection is reflected from the target (obstacle) continuously while the operation is repeated, and the distance, relative speed, angle, and reflection from the target (obstacle) included in one reflected wave Data on the signal power and the like is acquired (S902).

The number or amount of data included in the reflected wave varies depending on road conditions such as a case where there are many recognized objects such as a complicated road and there are few objects that can be recognized, such as a secluded road.

As described above, the data included in the reflected wave reflected from the front target (obstacle) and received by the radar 100 includes street lights, milestones, dust in the air, etc. in addition to desired vehicle data as shown in FIG. 5. have.

Therefore, in consideration of angles, distances, relative speeds, and powers that constitute one data element, elements that are presumed to be noises are first removed.

Since only four data are considered here, no consideration is given to other objects having characteristics similar to actual vehicle data.

From this data, a power value that is a condition distinguishable between a signal coming from the vehicle and other data is measured, that is, a power value of the reflected signal by the vehicle is measured, and then a threshold for filtering is determined.

This power value is different from the same object depending on the distance, and is distributed between 140 and 160, and after determining the threshold value for each distance after data of the power of the reflected signal according to the distance of the vehicle is determined as shown in Table 2 below.

Street 30 40 50 60 70 80 90 100 110 120 130 140 150 Power 157 142 141 134 153 163 162 160 163 141 153 142 158

The data extracted from the reflected wave is applied to a threshold set under the above conditions (S903) to extract only data on an object that can be considered as a vehicle (S904).

The amount of data reflected from one object varies depending on the distance.

That is, although a single object is recognized as a plurality of data at a close distance, an object at a long distance is represented as one data, and each of these data is grouped into one representative value to designate data in the form of a group (S905).

At this time, one object is designated as one group.

Therefore, objects of close distance are represented by a representative value in which several pieces of data are grouped into one group, and one piece of data is designated by one group of long distance data.

The data grouping applies a horizontal threshold and a vertical threshold.

That is, if a continuous object falls within the range of the horizontal and vertical thresholds, this data is recognized as a group of previous data.

When the grouping of data is applied as described above, several data are designated as one or several groups according to the recognized distance and angle between the data.

As described above, data designated as a group basically represents an object in front of the vehicle, but there are various objects that can be detected as data other than the vehicle in front of the road, and all objects except the vehicle driving in front are stopped. As a result, alarm conditions may be satisfied.

As can be seen in Figure 6, if there is a preceding vehicle running continuously and the street lamp is stopped in front of the street lamp will satisfy the alarm condition.

In addition, the vehicle running in the opposite lane may satisfy the alarm condition.

In this case, if the relative speed is compared with the vehicle speed and satisfies the condition of Equation 4 below, the vehicle is considered as a stopped street light, a roadside tree, and a reverse lane vehicle, and is excluded from the alarm. Relative speed ｜ Own vehicle speed That is, since obstacles such as street lights and roadside trees are stopped, the relative speeds reflected and received from the corresponding obstacles are maintained at the same speed as the own vehicle speed, and the relative speeds reflected and received from the vehicle running in the opposite lane are analyzed. Since it is faster than the speed, objects detected at a relative speed equal to or faster than the host speed are excluded from the alarm.

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In addition, the data received from the radar is continuously entered at a predetermined cycle, and when the vehicle is running, the object in front of the vehicle is recognized as approaching the vehicle at a very high speed. Have

However, in the case of a vehicle driving ahead, data exists in a previous frame, so randomly occurring data is not a vehicle ahead and these data should be removed before the alarm is applied.

Therefore, when the detected data is determined in consideration of the data of the previous frame and the data is determined to be random data that is unexpectedly generated (S907), the random data is removed (S907), and only the data group to be applied to the alarm is extracted (S908). ).

Thereafter, the collision warning condition is determined using only the above data group (S909). When it is determined that the alarm condition is satisfied, the collision alarm logic is activated to send out the alarm message primarily, and the driver's action is taken within the set time. If not, operate the peripheral device for preventing the collision (S910).

The determination of the collision warning condition is performed by the following procedure.

The issue of when to place an alarm when a vehicle in front of an alarm is running ahead is a sensitive issue in terms of reliability.It is most important to maintain a safe distance to avoid collisions. If this occurs, collisions can be prevented.

The safe distance may be a distance at which the vehicle can stop without crashing with the preceding vehicle when the preceding vehicle makes a sudden stop at any time.

Therefore, an operation of calculating the safety distance will be described with reference to FIG. 10.

D: Distance between cars (safety distance) when t = 0, D _f : Distance between cars after stopping, D ₁ : Traveling distance until the vehicle stops by braking, D ₂ : Traveling distance until the vehicle stops by stopping, T ₁ : Time taken for the vehicle to stop and stop, T ₂ : Time taken for the vehicle to stop and stop, A ₁ : Acceleration of the vehicle (Acceleration +, deceleration-), A ₂ : Acceleration of the vehicle (Acceleration +, deceleration-), T _B : princess time, V ₁ : vehicle speed when t = 0, V ₂ : preceding vehicle speed when t = 0,

D ₁ = V ₁ T _B + V ₁ T ₁ + 0.5 A ₁ T ₁ ² , and D ₂ = V ₂ T ₂ + 0.5 A ₂ T ₂ ² .

In addition, D _f = D-D ₁ + D ₂ ,

= D-V ₁ T _B + V ₁ T ₁ + 0.5 A ₁ T ₁ ² + V ₂ T ₂ + 0.5 A ₂ T ₂ ² .

At this time, the condition that collision does not occur is D _f ?

Also, since T ₁ =-V ₁ / A ₁ , T ₂ =-V ₂ / A ₂ , the safe distance D can be obtained using this expression: D = V ₁ T _B + (V ₁ -V ₂ ) ² / V ₁ + V ₂ ² / 2A ₂ -V ₁ ² / 2A ₁ (Km) (Human Factor considered).

Here, T _B = 1Sec, A ₁ = 90000 Km / H ² , and A ₂ = 85000 Km / H ² .

Therefore, the relative rate R = V ₁ - V ₂ Assuming that the safety distance _{D = (10/36) V 1 +} 10R 2 / 36V 1 + V 1 2/180 - is taken as ^{_{V 2 2/170 (m)}} .

Safety distance according to the vehicle speed extracted as described above is summarized as shown in Table 3 below.

Vehicle speed (KPH) Relative speed Preceding vehicle speed Safety distance (M) 50 5 45 16.0049 55 8 47 19.4124 60 11 49 23.1033 65 14 51 27.0653 70 17 53 31.2899 75 20 55 35.7706 80 23 57 40.5028 85 26 59 45.4826 90 29 61 50.7074 95 32 63 56.1748 100 35 65 61.8831 105 38 67 67.8308 110 41 69 74.0168 115 44 71 80.4400 120 47 73 87.0997

As described above, the present invention provides stability, convenience, and reliability in the operation of an alarm route when a collision risk occurs with respect to the preceding vehicle running on the own lane while driving on the road through the implementation of a vehicle collision warning system using millimeter wave radar. Is provided.

In addition, the detection of relative speed, which could not be realized by the existing ultrasonic sensor or laser sensing technology, the provision of a strong system for weather or road environment, and the continuous tracking of vehicles in front of the vehicle, the vehicle will be narrowed within the safety distance calculated according to the vehicle speed. An alarm is output to provide the reliability of the collision avoidance system.

In addition, the function is further improved when applied to an ICC (Intelligent Cruise Control) vehicle that can operate in conjunction with the lane departure warning device using an image sensor through accurate measurement of the object's distance, relative speed, and the like.

1 is a block diagram illustrating a collision warning device of a vehicle according to the present invention.

Figure 2 is a partially cutaway cross-sectional perspective view of the radar applied to the present invention.

Figure 3 is an equivalent configuration of transmission and reception for the NRD radar of Figure 2 applied to the present invention.

4 is a conceptual diagram of an FMCW radar applied as another example to the present invention.

Figure 5 is a temporary view of the object input during the radar operation in the collision warning device of the vehicle according to the present invention.

Figure 6 is an exemplary view of the object recognition during the stop and driving of the object input during the radar operation in the collision warning device of the vehicle according to the present invention.

7 is a flowchart illustrating a process of processing a signal input to a radar in a collision warning device of a vehicle according to the present invention;

Figure 8a is a waveform diagram showing the input and output relationship of the radar beam in the collision warning device of the vehicle according to the present invention.

Figure 8b is a waveform diagram for the detection of the bit signal in the collision warning device of the vehicle according to the present invention.

9 is a flowchart illustrating a collision warning process in a collision warning apparatus of a vehicle according to the present invention;

10 is a schematic diagram for calculating the safety distance for the collision warning in the collision warning device of the vehicle according to the present invention.

Claims (19)

Radiates a measuring radar beam at an angle range of ± 10 ° to the front side and then receives a reflected wave containing data on the distance, number, relative speed and power of the target reflected from the front target; A millimeter-wave radar of the NRD method formed of the metal plate, wherein a dielectric of a nonmetallic material having a predetermined width is provided therebetween, and an air gap is formed between the upper metal plate and the lower metal plate so that air is acted as a medium; A first filter filtering the reflected wave received by the radar to a predetermined band to remove noise included in the reflected wave; An A / D converter for converting the filtered analog reflected wave signal into a digital signal; An FMCW linear pulse generator for generating an FM transmit linear pulse so that the millimeter wave radar beam can be output continuously and linearly; A preprocessor for processing the millimeter wave radar beam and receiving analysis of reflected waves in real time; A post-processing processor which analyzes the reflected wave received in real time through a set algorithm, extracts a distance and a relative speed from a front target (obstacle), determines whether a collision is possible, and outputs an alarm and a collision prevention function; A first memory in which data for performing an algorithm of the preprocessor is set; A second memory for storing data received and analyzed by the preprocessor; A third memory in which data for performing an algorithm of the post-processor is set; A fourth memory for storing data for performing a collision avoidance function analyzed by a post-processing processor; A display including a decoder and an encoder for displaying distance and relative speed information with respect to a front target (obstacle) finally calculated by the post-processing processor; And a second filter for filtering vehicle state information received from the ECU and filtering a collision prevention function control signal output from the post-processing processor. delete delete delete delete delete The method of claim 1, The radar includes an FM modulator for determining the modulation width of the output millimeter wave radar beam; An oscillator for oscillating the frequency of the determined modulation width; A circulator for adjusting the output of the millimeter wave radar beam and the reception of reflected waves; A terminator for suppressing a part of the output of the oscillator; A directional coupler for processing the suppressed oscillator RF signal into a low frequency signal; A mixer for mixing the low frequency signal applied by the directional coupler and the received high frequency reflected wave to form an intermediate frequency; And an amplifier for amplifying the intermediate frequency output from the mixer to a set value for bit signal extraction. delete The method of claim 1, The FMCW linear pulse generator is a collision warning device of a vehicle, characterized in that for performing the millimeter wave radar beam frequency modulation of 77 GHz as a triangular wave. The method of claim 1, When the post-processing processor determines the possibility of collision by analyzing the distance and the relative speed with the front target, the post-processing processor controls the peripheral device mounted on the vehicle to alert the possibility of collision, and if the driver's action is not detected within a predetermined time, the auxiliary brake is operated. And a collision warning device for a vehicle, characterized in that to control engine torque reduction. Oscillating and modulating the millimeter wave radar beam to a front at a predetermined angle; Receiving, filtering, and converting a reflected wave from a front target (obstacle) into a digital signal; FFT transforming the received reflected wave to detect peak points of the signal; Calculating and extracting the number of front targets (obstacles), distance to the front targets, angles, and relative speeds by analyzing the detected peak points; Determining whether or not a collision is generated according to the extracted distance and relative speed, and sending a collision warning and controlling collision prevention. The method of claim 11, Crash warning method of a vehicle, characterized in that the transmission and reception frequency of the millimeter wave measuring radar beam is determined through the following equation. In the above, f _b1 is the transmission frequency, f _b2 is the reception frequency, Is the repeating n wave number, f _d is the Doppler frequency, and c is the luminous flux. The method of claim 11, The distance (R) and the relative speed (V) to the front target is calculated by the following equation through the sum of the center frequency and the transmission frequency and the reception frequency of the millimeter wave radar beam through the following equation Collision alarm method. The method of claim 11, The collision warning method of the vehicle, characterized in that the distance is extracted through the following equation when the host vehicle and the front target (obstacle) is stopped together. Radiating a millimeter wave radar beam at a predetermined angle to obtain data consisting of a distance, a relative speed, an angle, and a power of the reflected wave from the reflected wave received from the front target; The low frequency filtering is performed on the data obtained from the front target to remove noise included in the reflected wave, and then the distance-specific data is extracted by applying a threshold value set for each distance from the acquired data to distinguish the vehicle and other obstacles. Process of doing; Grouping the extracted distance-specific data into one representative value data; Comparing absolute values of the relative speed and the own vehicle speed with respect to the grouped data and excluding the target object and the vehicle in the opposite lane from the alarm target; Extracting only pure data for applying an alert by deleting data randomly detected in comparison with previous frame data; And determining whether or not an alarm occurs by calculating a safety distance based on a distance and a relative speed with respect to the extracted alarm target data. delete The method of claim 15, The grouping of the data by distance applies a condition of a horizontal threshold value and a vertical threshold value. The data of a close distance object is represented as a representative value by combining a plurality of data into one group, and the data of a long distance object. The collision warning method of the vehicle, characterized in that one data is displayed in one group. delete The method of claim 15, And in the grouping of the distance-specific data, if the data on the continuous object is included in a range of a horizontal threshold value and a vertical threshold value, the corresponding data is recognized as a group of previous data.