KR100961932B1 - Safety driving radar mapping system for a vehicle - Google Patents

Abstract

PURPOSE: A vehicle safety driving radar mapping system sensing an object is provided to perform warning of approach and collision by providing an air in view of the situation to a driver through 3D mapping. CONSTITUTION: A car radar sensor module(100) is installed at the center of vehicle roof. A car radar sensor module comprises a car radar housing(110) and a high accuracy narrowband FM continuous wave radar(120). The high accuracy narrowband FM continuous wave radar scans an obstacle through the rotation of the radar beam. The radar beam uses the array antenna. A signal process module(200) reads out the kind of car D / B information. The signal process module processes the signal processing for 3D visibility. The motor drive control unit(300) runs the various motor of the vehicles. The radar mapping monitor(400) offers the three-dimensional information concerning obstacle to a driver. A brake braking network control module(500) automatically brakes the vehicle brake in an emergency.

Description

Safety Driving Radar Mapping System for a Vehicle

The present invention relates to a vehicle safety driving radar mapping system, and more particularly, the present invention is to receive a signal with a millimeter wave radar when driving the vehicle to take measures to prevent the collision through a bird's eye view through the three-dimensional mapping A vehicle safety driving radar mapping system.

Recently, as automobiles have emerged as a necessity of life as well as in the industry, traffic accidents have occurred very frequently due to the rapid increase of vehicles around the world, and therefore, the safety of vehicles has been highlighted as an important issue.

Until now, we have developed into active vehicle safety systems, such as ABS, inter-vehicle warning systems, and side / rear surveillance radars, which focus on passive vehicle safety systems such as airbags and seat belts that can minimize damage after an accident. Going out.

In particular, the anti-collision radar for automobiles can serve as a basic sensor that provides information to the Intelligent Transportation System (ITS), which is being actively researched as a future traffic system, which not only helps driving but also reduces vehicle congestion. By contributing, the energy efficiency increase and the smooth movement of logistics can greatly contribute to economic productivity.

Although the development of automotive radar using electromagnetic waves began in the early 1970s, the commercialization of radar using lasers was first made in Japan in the early 1980s, but the laser has a weak characteristic that performance is greatly degraded in the environment such as rain, snow and fog. In order to compensate for this, the development of radar using millimeter-wave, which has high permeability even in bad weather, has been actively conducted in the United States, Europe and Japan since late 1980s. Is going on.

Automotive radars initially started with simple forward-facing sensors for car crash alerts, but are increasingly being applied to applications such as night obstacle monitoring systems, side / rear surveillance systems, and intelligent cruise control. In the future, it is expected to evolve into a more sophisticated vehicle safety system with a radar map and a man-machine interface.

Modulation methods used in automotive radar include pulse, frequency shift keying (FSK), and frequency modulated continuous wave (FMCW). However, performance, system complexity, technical implementation, and economic feasibility. Considering these, FMCW is the most widely used.

In addition, considering the miniaturization, high resolution, and radio wave interference with existing wireless systems, various band frequencies such as 47 GHz, 60 GHz, 77 GHz, 94 GHz, and 139 GHz are used, and the 77 GHz band is being standardized worldwide. Is also seeking to standardize the use of frequencies in this band.

On the other hand, LG Innotek is a G7 next-generation automotive technology development project. It is a radar that uses the FMCW method using three beam switching, and it is a millimeter wave radar for the inter-vehicle distance control system in which the sensor unit and the signal processor are separated. I am researching.

In addition, research is underway for the development of millimeter wave components using NRD (Non Radiative Dielectric) guides. NRD guides have low loss characteristics in millimeter waves and can be miniaturized and designed to manufacture millimeter wave circuit elements and front-ends. Is in progress. In order to cope with millimeter wave microwave monolithic integrated circuits (MMICs), the development of automotive radars using NRD guide components is currently underway in Korea.

However, in Korea, research on automotive radar in the millimeter wave band is relatively less active than in developed countries. Especially, research on the development of parts in the millimeter wave band such as MMIC, which is a source of competitiveness, is inferior to the developed countries. Because of this, there is an urgent need for expanded research in this area.

In addition, the future development direction of the radar technology for automobiles should not only prevent collision between cars even in a complicated road traffic situation, but also provide drivers with information about the situation ahead so that accidents can be avoided even under extreme conditions. To this end, it should be developed with the aim of realizing functions such as obstacle identification, preceding vehicle distance and relative speed detection, multi-target detection and identification, target vehicle tracking, rain detection and collision risk measures (Radio Wave 104, 2002). January-February issue “CAR RADAR Technology Development and Industry Trends”).

Therefore, the present invention proposes a vehicle radar mapping technology that can meet the development goal of the vehicle radar technology as well as the development of parts for the above problems.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention is to receive a signal with a millimeter wave radar while driving the vehicle to provide a bird's eye view through the three-dimensional mapping, the approach warning when the object is close In addition, it provides a vehicle safe driving radar mapping system that can take measures to prevent collisions when the critical situation is exceeded.

The present invention is to solve the above problems, in a vehicle safety driving radar mapping (Radar Mapping) system, the system is installed in the front end of the roof of the vehicle, the cylindrical type of 65mm diameter × 40mm height is manufactured A car radar sensor module mounted within the car radar housing and the car radar housing and having a high precision narrowband frequency modulated continuous wave (FMCW) radar for scanning an obstacle through rotation of a radar beam using an array antenna; Receives one or more signals scanned from the car radar sensor module, converts them into digital signals, and uses radar signal analysis tool to read radar mapping modeling and vehicle type D / B information stored in memory for 3D visualization. A signal processing module incorporating a CPU for signal processing and overall system control; A motor driving controller which receives a control signal from the signal processing module and drives various motors of the vehicle; A radar mapping monitor that receives radar scanning analysis data and control signals from the signal processing module and provides three-dimensional information to the driver about obstacles captured within a range of 200 m in bad weather such as at night, snow, rain, and fog; And a brake braking network control module configured to receive a control signal from the signal processing module and automatically brake the brake of the vehicle in the event of an accident.

Preferably, the rotation of the radar beam using the array antenna is given by the vector sum of the radiation beams by the radar radiation pattern microstrip array, and the phase of the radar beam is varied by using the array antenna to rotate the direction of the radar beam by 360 °. This is possible, characterized in that the forward 180 ° is scanned precisely, i.e. at intervals of 5 ° to 10 ° and the rest is taken at 45 ° intervals.

Preferably, the array antenna is characterized in that it comprises a reflector (reflector) antenna structure.

Preferably, the high-precision narrow-band FMCW radar of the car radar sensor module, a linearizer for receiving a DC 4-7V sawtooth signal from the outside and correcting the signal to be linearized and outputting it to a voltage controlled oscillator, and the linear A voltage controlled oscillator (VCO) for receiving a rise signal and outputting a variable frequency to a circulator around a center frequency of 77 GHz and outputting a reference signal value to a mixer, wherein the voltage controlled oscillator and the array antenna signal When the voltage controlled oscillator signal is input, it is transmitted to the antenna, and the signal received from the antenna is transmitted to the mixer as if it rotates in one direction, and the radar signal received from the circulator is output and reflected signal GHz Millimeter Wave Radar Front End for Reception (F ront-End module integrated array antenna, a mixer for obtaining a difference value of a signal value received from the array antenna from a reference signal value of GHz transmitted from the voltage controlled generator, a mixer obtained from the mixer A low pass filter (LPF) is included to straighten the signal to generate and output a beat frequency.

Preferably, the radar mapping monitor, after processing the gain, the distance, the output of the received signal for one or more beat frequencies detected by the car radar sensor module in the signal processing module, the grid in the grid space The occupancy is characterized in that the mapping modeling is performed such that the main protrusion (Main-lobe) and the side protrusion (Side-lobe) are recorded to complete the map with the radiation group.

Preferably, a three-dimensional visualization that analyzes the size, shape and joint points of the vehicle by image processing to distinguish the vehicle (determining the presence of buses, trucks, small cars) from the completed map It is characterized by including the execution.

Preferably, a three-dimensional visualization of the size, shape, and joint point of the obstacle is performed by image processing to distinguish the obstacle from the completed map, but the grid without changing the position of the obstacle is performed. If the occupancy appears continuously, it is characterized by including being recognized as a driving obstacle.

Preferably, the radar mapping monitor is characterized in that it comprises a graphical user interface (Graphic User Interface) system.

Preferably, the radar mapping monitor, the display unit that displays the position of the person and surrounding vehicles in the three-dimensional image and letters and numbers to the driver, current speed, GPS, radar mapping system operation indication, priority for risk factors The distance / speed, warning / alarm, radar scope, and digital clock functions are included.

Preferably, the brake braking network control module connects ECUs, TCUs, and TCSs in two wires in parallel, and can control commands to the electronic control unit (ECU) for information exchange and priority among the devices. CAN) is characterized in that the conversion to the communication protocol.

Preferably, the vehicle safety driving radar mapping system tracks the paths of a plurality of surrounding vehicles, simulates and predicts predicted paths, and controls the brake braking network control module when the driver does not press the brakes even when a collision is predicted. Features include reducing the engine output by closing the throttle valve on command and minimizing impact by operating the steering wheel and brakes according to the surrounding conditions.

Vehicle safety driving radar mapping system of the present invention has the following effects.

According to the present invention, by receiving a signal with a millimeter wave radar while driving the vehicle to provide a bird's eye view through the three-dimensional mapping,

(1) Existing FMCW radar has a very high manufacturing cost by using a wideband VCO of 2GHz, while the present invention implements a high-precision measurement algorithm using a narrowband VCO, thereby improving economics and system stability.

(2) 3D map display is possible by detecting obstacles within 200 meters, so that distance, size, shape, and relative speed of the preceding vehicle and front obstacle can be determined, and objects on the side and rear can be detected. have.

(3) The size, shape, and joint points of the sensing object can be collected to identify the type and obstacle of the vehicle, and to specify the location and map.

(4) Measures the width and height of narrow roads to indicate whether the vehicle has passed, and predicts collisions in advance to warn (sound and graphic monitors) and control brakes in advance to prevent collisions.

1 is a block diagram showing a vehicle safety driving radar mapping system according to a preferred embodiment of the present invention
2 is a conceptual diagram illustrating a car radar sensor module for a vehicle safety driving radar mapping system according to an exemplary embodiment of the present invention.
3A is a block diagram illustrating radar sensing of a vehicle driving radar mapping system according to a preferred embodiment of the present invention.
Figure 3 (b) is a block diagram showing the mapping modeling through the radar sensing of the vehicle safety driving radar mapping system according to a preferred embodiment of the present invention
4 is an explanatory diagram showing mapping modeling of FIG. 3B in detail.
5 is a diagram illustrating a radar mapping monitor of a vehicle safety driving radar mapping system according to a preferred embodiment of the present invention.
6 is a real picture and a block diagram showing a brake braking network control module of a vehicle safety driving radar mapping system according to a preferred embodiment of the present invention

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components, even if displayed on different drawings. In describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 to 6, the key technical solution for implementing a vehicle safety driving radar mapping system according to a preferred embodiment of the present invention, the car radar sensor module 100, signal processing module 200, motor drive The controller 300, the radar mapping monitor 400, and the brake braking network control module 500 are configured to receive a signal with a millimeter wave radar when driving a vehicle, and to three-dimensionally map to show a bird's eye view to the driver, depending on the proximity of the object. Its feature is to automatically take action to minimize the impact.

First, referring to FIG. 1, the car radar sensor module 100 includes a car radar housing 110 manufactured in a cylindrical type having a diameter of 65 mm × 40 mm that is installed at the center front end of a roof of a vehicle.

In addition, an array antenna is mounted inside the car radar housing and includes a high-precision narrowband frequency modulated continuous wave (FMCW) radar 120 for scanning an obstacle through rotation of a radar beam using the array antenna.

Referring to FIG. 2, the array antenna is an antenna in which many antenna elements are arranged to adjust the phase of the excitation current of each element and to form the main beam with the antenna in a specific direction or in the same phase.

In addition, the rotation of the radar beam using the array antenna is given by the vector sum of the radiation beams by the radar radiation pattern microstrip array, and the direction of the radar beam can be rotated by 360 ° by varying the phase using the array antenna. And 180 ° forward to scan precisely, i.e. at intervals of 5 ° to 10 °, and the rest to obtain data at 45 ° angles.

In addition, the array antenna includes a fabricated reflector antenna structure.

3, the high precision narrowband FMCW radar 120 includes a linearization 121, a voltage controlled oscillator 122, a circulator 123, an array antenna 124, a mixer 125, and a lowpass filter. 126 is provided.

The linearizer 121 receives a DC 4-7V sawtooth signal from the outside, corrects the signal to be linearized, and outputs the straightened voltage to the voltage controlled oscillator 122.

The voltage controlled oscillator (VCO) 122 is a device for outputting a desired oscillation frequency with an externally applied voltage. The voltage controlled oscillator (VCO) 122 receives a signal of the linearization 121 at a center frequency around 77 GHz. The variable frequency is output to the circulator and the reference signal value is output to the mixer 125.

The circulator 123 is a device that transmits power only to one of the left and right ports when power is input from a certain port. The voltage controlled oscillator 122 and the array antenna 124 signal are provided. In this case, when the voltage controlled oscillator signal is input, the signal is transmitted to the array antenna, and the signal received from the array antenna is transmitted to the mixer 125 as if it rotates in one direction.

Here, the reason why the linearization 121 is attached to the voltage controlled oscillator 122 is related to the principle of the frequency modulated continuous wave radar (FMCW radar), and consequently, to accurately capture the radar distance to a farther distance. to be. In other words, the frequency of the VCO is several tens of GHz, but even if the VCO alone increases linearity, it is difficult to meet the spec. Therefore, it is necessary to linearize the beat frequency band of the radar with a linearization circuit.

The array antenna 124 is integrated with a GHz millimeter wave radar front-end module for outputting a radar signal received from the circulator 123 and receiving a reflected signal. Is produced by.

Here, the millimeter wave is an electromagnetic wave having a wavelength of 1 to 10 mm and a frequency of 300,000 to 3 million GHz, which is used for ultra-multiple communication or radar.

The mixer 125 is a device for obtaining a difference value of a signal value received by the array antenna 124 from a reference signal value of GHz transmitted from the voltage controlled generator 122.

 The low pass filter (LPF) 126 is a circuit that passes a frequency component lower than a specific frequency and attenuates a high frequency component so as not to output. The signal obtained by the mixer 125 is linearized to form a beat. Generate and output the frequency.

Referring back to FIG. 1, the signal processing module 200 receives one or more signals scanned from the car radar sensor module 100, converts the signals into digital signals, and uses radar mapping using a radar signal analysis tool. A central processing unit (CPU) for reading the vehicle type D / B information stored in the modeling 410 and the memory 210 to perform signal processing for the 3D visualization 420 and to control the entire system is embedded.

Herein, the radar signal analysis tool is an interpreter, and the interpreter is an interpreter that interprets a laser signal, the distance from the signal observed by the radar sensor, the number of lobes, and the band width. Data, such as gain and gain, is analyzed to find the occupancy probability of each grid in the gridized display space. In this case, tapered window, zero padding, and fast fourier transform (FFT) are used to increase the resolution of the signal and obtain highly reliable data. The method using the inclined window attenuates the loss generated during time-limited signal processing, weakens the data outside the window to near zero, and enhances data extraction by reinforcing a meaningful signal in the section within the inclined window. do. In addition, the zero interpolation is a technique of increasing the visualization of the frequency spectrum is a method of adding a zero to the frequency spectrum to help interpolation with more samples to increase the distinction of the proximity peak.

1 and 6, the motor driving control unit 300 is a means for driving various motors of a vehicle by receiving a control signal from the signal processing module 200, and of the car radar sensor module 100. The array antenna is rotated by 360 °, and is connected to the CAN communication protocol to be described below to transmit commands to the ECU of the vehicle to drive and control various motors.

1 to 5, the radar mapping monitor 400 receives radar scanning analysis data and control signals from the signal processing module 200 and captures them within a range of 200 m in bad weather such as at night, snow, rain, and fog. It is a monitor that provides three-dimensional information to the driver about the vehicle and obstacles.

In addition, the radar mapping monitor 400 according to an embodiment of the present invention, the signal processing the output of the gain, distance, the received signal for the one or more beat frequencies detected by the car radar sensor module (100) After processing in the module 200, the grid occupancy is recorded in the grid space by recording the main protrusions (Main-Lobe) 411 and the side protrusions (Side-Lobe) 412, respectively. Mapping modeling 410 to be executed.

Here, the array antenna according to the embodiment of the present invention has a directivity, and the portion of the antenna directivity included between two adjacent minimum values is called a lobe. The energy distribution of radio waves radiated from the array antennas is divided into several directions to form respective radiation groups. In this case, the lobe in the direction in which the radiant energy shows the maximum value is called the main lobe, and the lobe in the direction in which the radiant energy represents the minimum value is called the side lobe.

Meanwhile, the radar mapping modeling according to an embodiment of the present invention will be described in detail with reference to FIGS. 3 and 4 as follows.

When a radar signal for a vehicle and an obstacle is observed from the high-precision narrowband FMCW radar 120 of the car radar sensor module 100, the signal processing module 200 uses a beat frequency included in the observed radar signal. In order to analyze the signal, the signal is analyzed by the interpreter, the radar signal analysis tool, and the probability of gain, distance and received output of each signal is obtained for each object. Also, the number and bandwidth of the main protrusion gain and the sub protrusion gain are obtained. After analyzing the data such as the data, the probability of occupancy of each grid is formed into a multilobe pattern in a gridized display space, and a map is created. It is possible to three-dimensionally identify the situation around the road on 400 (see Fig. 5).

In addition, in the practice of the present invention, in order to distinguish the vehicle (determining the presence of the bus, truck, small car) from the completed map (3) to analyze the size, shape, joint points of the vehicle by image processing (Image Processing) Dimensional visualization 420 is executed.

In addition, in the embodiment of the present invention, in order to distinguish the obstacle from the completed map, a three-dimensional visualization 420 of analyzing the size, shape, and joint point of the obstacle is performed by image processing. When the grid occupancy appears continuously without a change in the position of, it may be recognized as a driving obstacle.

Referring to FIG. 5, the radar mapping monitor 400 according to an exemplary embodiment of the present invention includes a graphic user interface (GUI) method.

In addition, the radar mapping monitor 400 according to an embodiment of the present invention, the display unit 430, the current speed 431, GPS that the position of the magnetic and surrounding vehicles to the driver is displayed in three-dimensional images and letters and numbers 432, radar mapping system operation indications 433, distance / speed 434 indicating priority for hazards, warning / alarm 435, radar scope 436, digital clock 437 functions. .

Referring to FIG. 6, the brake braking network control module 500 is a control means for receiving a control signal from the signal processing module 200 to automatically brake the brake of the vehicle when an accident occurs.

The brake braking network control module 500 connects each of the electronic control unit (ECU) 510, the transmission control unit (TCU) 520, and the transaction control system (TCS) 530 in parallel to each other in two wires. In order to exchange information and priority between devices, the control command may be converted into a CAN communication protocol to the ECU 510.

The CAN communication is a multi master network and may use a carrier sense multiple access / collision detection with arbitration on message priority (CSMA / CD + AMP) scheme.

Looking at the characteristics of CAN communication, CAN communication connects the communication ports in parallel with two wires like RS485. First, it checks whether the CAN busline is in use and sends a collision detection between messages before sending a message to the CAN Node. In addition, data messages sent from any node (system) do not include the sender's or receiver's addresses, whereas each node's data message entry has a unique identifier (for each node) that identifies each node on the CAN network. ID-11bit or 29bit) to prioritize the messages to take first. Higher priority messages are guaranteed access to the CAN bus and lower messages are automatically retransmitted on the next bus cycle.

In addition, the vehicle safety driving radar mapping system according to the embodiment of the present invention tracks the paths of a plurality of surrounding vehicles, simulates and predicts an expected path, and controls the brake braking network when the driver does not brake even when a collision is predicted. Closing the throttle valve 550 according to the control command of the module 500 lowers the engine output and operates the handle controller 540 and the brake controller 560 according to the surrounding conditions to minimize the impact.

As described above, the vehicle safety driving radar mapping system according to the embodiment of the present invention shows a bird's eye view to a driver by receiving a signal with a millimeter wave radar and mapping it in three dimensions while driving a vehicle, and whether the vehicle is close to an object such as an obstacle or an obstacle. Therefore, there is a unique feature that can automatically take action to minimize the impact.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: car radar sensor module 110: Car radar housing
120: high precision narrow band FMCW radar 121: linearization
122: voltage controlled oscillator 123: circulator
124: array antenna 125: mixer
126 low pass filter 200 signal processing module
210: memory 300: motor drive control unit
400: Radar Mapping Monitor 410: Mapping Modeling
411: major protrusion 412: minor protrusion
420: 3D visualization 430: display unit
431: Current Speed 432: GPS
433 Radar Mapping System Behavior Display
434: distance / speed 435: warning / alarm
436 Radar Scope 437 Digital Clock
500: Brake Braking Network Control Module
510: ECU 520: TCU
530: TCS 540: handle controller
550: Throttle Controller 560: Brake Controller

Claims (11)

In a vehicle safety driving radar mapping system,
The system is installed in the front end of the roof of the vehicle, the car radar housing is made of a cylindrical type having a diameter of 65mm × 40mm in height and mounted inside the car radar housing and obstacles through the rotation of the radar beam using an array antenna A car radar sensor module having a high precision narrowband FMCW radar for scanning a beam;
Receives one or more signals scanned from the car radar sensor module, converts them into digital signals, and uses radar signal analysis tool to read radar mapping modeling and vehicle type D / B information stored in memory for 3D visualization. A signal processing module incorporating a CPU for signal processing and overall system control;
A motor driving controller which receives a control signal from the signal processing module and drives various motors of the vehicle;
A radar mapping monitor that receives radar scanning analysis data and control signals from the signal processing module and provides three-dimensional information to the driver about obstacles captured within a range of 200 m in bad weather such as at night, snow, rain, and fog;
And a brake braking network control module configured to receive a control signal from the signal processing module and automatically brake the brake of the vehicle in the event of an accident.
The method according to claim 1,
The rotation of the radar beam using the array antenna is given by the vector sum of the radiation beams by the radar radiation pattern microstrip array, and the direction of the radar beam can be rotated by 360 ° by varying the phase using the array antenna. Vehicle safety driving radar mapping system, characterized in that the forward 180 ° is scanned precisely, that is, every 5 ° ~ 10 ° intervals and the rest is obtained at 45 ° intervals.
The method of claim 2,
The array antenna is a vehicle safety driving radar mapping system, characterized in that it comprises a reflector antenna structure.
The method according to claim 1,
The high-precision narrowband FMCW radar of the car radar sensor module includes a linearization that receives a DC 4-7V sawtooth signal from the outside and corrects the signal to be straightened and outputs the voltage to a voltage controlled oscillator;
A voltage controlled oscillator for receiving the linearization signal and outputting a variable frequency to a circulator around a central frequency of 77 GHz and outputting a reference signal value to a mixer;
A circulator for transmitting the signal when the voltage controlled oscillator signal is input among the voltage controlled oscillator and the array antenna signal and transmitting the signal received from the antenna to the mixer as if rotated in one direction;
An GHz millimeter wave radar front end module integrated array antenna for outputting a radar signal received from the circulator and receiving a reflected signal;
A mixer for obtaining a difference value of a signal value received from the array antenna from a reference signal value of GHz transmitted from the voltage controlled generator;
And a low pass filter for straightening the signal obtained by the mixer to generate and output a bit frequency.
The method according to claim 1,
The radar mapping monitor is configured to process gains, distances, and outputs of received signals for one or more bit frequencies detected by the car radar sensor module in the signal processing module, and then to occupy the grid space in the grid space by the main protrusion and the side protrusion. A vehicle safety driving radar mapping system, characterized in that the mapping modeling is performed so as to complete each map by recording each of them.
The method of claim 5,
And a three-dimensional visualization of analyzing the size, shape, and joint points of the vehicle by image processing to distinguish the vehicle type from the completed map.
The method of claim 5,
In order to distinguish the obstacles from the completed map, three-dimensional visualization of the size, shape, and joint points of the obstacles is performed by image processing. However, when the grid occupancy appears continuously without changing the position of the obstacles, driving is performed. A vehicle safe driving radar mapping system characterized by being recognized as an obstacle.
The method of claim 5,
The radar mapping monitor is a vehicle safety driving radar mapping system, characterized in that the graphical user interface system.
The method of claim 8,
The radar mapping monitor may include: a display unit displaying a position of a person and surrounding vehicles in 3D images and letters and numbers to a driver, a current speed, a GPS, a radar mapping system operation indication, and a distance / priority indicating a risk factor; Vehicle safety driving radar mapping system including speed, warning / alarm, radar scope, digital clock function.
The method according to claim 1,
The brake braking network control module connects ECUs, TCUs, and TCSs in two wires in parallel, and transmits control commands to the ECU (Electronic Control Unit) for information exchange and priority between the devices. Vehicle safety driving radar mapping system comprising the conversion to.
The method of claim 10,
The vehicle safety driving radar mapping system tracks the paths of a plurality of surrounding vehicles, simulates and predicts predicted paths, and in spite of a predicted collision, when the driver does not brake, the throttle according to the control command of the brake braking network control module. Vehicle safety driving radar mapping system including closing the valve (Throttle Valve) to lower the engine output and minimize the impact by operating the steering wheel and brakes according to the surrounding conditions.

Images