KR101917667B1 - Driving assistance device and method for detecting a target - Google Patents

Abstract

The present invention is characterized in that the distance value of the ultrasonic sensor is used to set a minimum distance value for detecting the target, which can detect the target, thereby to prevent the possibility of collision with the target, And a method of detecting the target.
According to an embodiment of the present invention, there is provided a driving support apparatus including an ultrasonic sensor installed in a vehicle and measuring a distance to a target, the driving assistance apparatus comprising: a transmission signal generation unit that generates a predetermined transmission signal transmitted through the ultrasonic sensor, A maximum allowable error value calculated using a distance value measured with respect to the target based on a received signal reflected from a target positioned in the vicinity of the vehicle and a minimum sensing distance set by the echo time of the ultrasonic sensor And setting a minimum distance value for target detection using a predetermined minimum sensing distance value and setting an arbitrary target positioned within the set minimum distance value for target detection among the reception signals received through the ultrasonic sensor And an electronic control unit for detecting the electronic control unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driving assistance device,

[0001] The present invention relates to a driving support apparatus and a method for sensing a target thereof, and more particularly, to a driving assistance apparatus and a method for sensing a target positioned near a target by setting a minimum distance value for sensing a target using a distance value of the ultrasonic sensor The present invention relates to a driving support apparatus and a method for detecting a target thereof.

In general, a normal driving is relatively easy for a driver, whereas a parking operation in a narrow space is not easily obtained, and a contact accident or the like frequently occurs.

Therefore, a driving support device for automatically assisting the parking of a vehicle has been proposed for a long time, and even now, advanced driving support devices using electronic devices are being developed.

Such a driving support device has been filed by many of Korean Patent Application Publication No. 2009-0080769.

The conventional driving support device including the patent uses an ultrasonic sensor as a distance sensor for detecting a distance to an obstacle in a short distance.

However, according to the conventional driving support device, due to the ringing time, which is a physical phenomenon occurring during the operation of the ultrasonic sensor, the detection start time is set to a certain time, .

In this case, the resonance time is not an object to be sensed by the sensor since it is not a received wave by detecting an object due to the excitation of vibration generated when a piezoelectric element generates a piezoelectric effect to generate ultrasonic waves.

Further, when the detection start time is set to be earlier than the ringing time, when the detection start time is set to be earlier than the ringing time because the ringing time is increased and the detection start time is earlier than the ringing time, But the minimum detectable distance is farther away and the local sensing performance is degraded.

In order to solve such a deterioration in the near detection performance, the near-field detection and false alarm prevention apparatus filed by the present applicant may variably set the detection start time according to the ringing time of the ultrasonic sensor, Time to achieve near-field sensing performance.

However, the near-field detection and false alarm prevention apparatus disclosed by the present applicant has a problem in that, in the case of the variable sensing start time (Opening Time), the minimum near distance measurement is reduced as compared with the fixed sensing start time (Opening Time) It is difficult to set the minimum distance value for detecting the target in the driving support device for controlling and alarming the vehicle by using the distance value of the ultrasonic sensor because of the distance measurement error.

That is, as shown in FIG. 1, there is a problem that there is an error in the distance value detected by the ultrasonic sensor because the variation of the detection start time (To: Opening Time) of the reference value is significant for each ringing time Tr.

Especially, when the minimum sensing distance is set to the maximum TO value in a device that controls the vehicle using the distance value of the ultrasonic sensor such as a parking assist device (SPAS), the near distance sensing and the false alarm prevention device can measure an error , There is a possibility of collision with the target as shown in Fig. 2, which is dangerous.

For example, assuming that the distance from the actual target measured from the ultrasonic sensor is 10 cm, and the minimum sensing start distance of the reference value is 20 cm, the recognizing distance is from 20 cm. So that collision can occur when controlling the vehicle.

Therefore, there is a need for an improved driving support device capable of solving the problem of unrecognized target located near by setting a minimum distance value for sensing a target using a distance value of an ultrasonic sensor.

Korean Patent Publication No. 2009-0080769 (2009.07.27) "Method and Apparatus for Securing Parking Space Using Parking Assist Function"

It is an object of the present invention to provide a method and apparatus for preventing the possibility of collision with a target caused by missed detection of a target positioned at a close range by setting a minimum distance value for target detection that can detect the target using the distance value of the ultrasonic sensor And a method of detecting the target.

According to an aspect of the present invention, there is provided a driving support apparatus including an ultrasonic sensor installed in a vehicle and measuring a distance to a target, the apparatus comprising: A maximum allowable error value calculated using a distance value between the transmission signal and the target measured based on a reception signal reflected from a target positioned in the periphery of the vehicle, A minimum distance value for target detection is set using a set value of a predetermined minimum sensing distance and a predetermined value of a preset minimum sensing distance and the minimum distance value is set within the set minimum distance value for target sensing among the reception signals received through the ultrasonic sensor And an electronic control unit for detecting any target located in the vehicle .

The electronic control unit may set the minimum distance value for target detection to be equal to or greater than a sum value obtained by summing up the set value of the minimum sensing distance and the maximum tolerance value.

The electronic control unit may set the minimum distance value for target detection to be less than or equal to the predetermined value.

The maximum tolerance value may be calculated by applying a predetermined tolerance value to the distance value of the target.

The electronic control unit may provide the control unit using the distance value of the target measured from the ultrasonic sensor.

The electronic control unit may output a notification signal for notifying the braking of the vehicle or a notification signal for alerting the proximity of the target if the distance from the target located within the minimum distance value for target detection is within a preset reference distance .

According to another aspect of the present invention, there is provided a target sensing method for a driving support apparatus including an ultrasonic sensor installed in a vehicle and measuring a distance from the target, the method comprising: sensing a predetermined transmission signal transmitted through the ultrasonic sensor, Measuring a distance value between the transmission signal and the target based on a reception signal reflected from a target located in the vicinity of the vehicle; A target value of the target distance is determined using a preset maximum allowable error value calculated by using the distance value with the measured target, a set value of the minimum detection distance determined by the ringing time of the ultrasonic sensor, The method comprising: setting a minimum distance value; And sensing an arbitrary target positioned within the set minimum distance value for target detection among the received signals received through the ultrasonic sensor.

The setting of the minimum distance value for target detection may be set to a value equal to or greater than a sum value obtained by adding the set value of the minimum sensing distance and the maximum tolerance value.

The setting step may set the minimum distance value for target detection to be less than the predetermined value.

Wherein the setting of the minimum sensing distance includes setting the minimum sensing distance and the target sensing minimum distance so as to be equal to or greater than the sum of the calculated maximum tolerance values by applying a preset tolerance value to the distance value between the target and the target. You can set the value.

According to another aspect of the present invention, there is provided a method of detecting a target using a driving support device, the method comprising: after the setting, setting a minimum distance value of the set target detection to a control using distance values measured from the ultrasonic sensor To the device.

According to the embodiment of the present invention, by setting the minimum distance value for target detection that can detect the target by using the distance value of the ultrasonic sensor, it is possible to prevent the possibility of collision with the target, There is an effect that can be done.

FIG. 1 is a diagram for explaining that the detection start time To of a reference value is varied by a ringing time,
FIG. 2 is a diagram for explaining an environment in which there is a possibility of collision with a target by setting a detection start time To of a reference value as a maximum To value;
3 is a block diagram for explaining a driving support device according to an embodiment of the present invention;
Fig. 4 is a block diagram for explaining the electronic control unit shown in Fig. 1,
5 is a flowchart illustrating a method of detecting a target of a driving support apparatus according to another embodiment of the present invention, and FIG.
FIG. 6 is a view for explaining an environment in which a possibility of collision with a target can be prevented in a traveling environment as shown in FIG. 2; FIG.

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

FIG. 3 is a block diagram illustrating a driving assistance apparatus according to an embodiment of the present invention, and FIG. 4 is a block diagram illustrating the electronic control unit shown in FIG. 1. Referring to FIG.

3, the driving support device 1 according to an embodiment of the present invention includes a ultrasonic sensor 10 and a distance measurement unit 30 that reflects a distance value between the ultrasonic sensor 10 and the target, And an electronic control unit 20 for setting a value.

The electronic control unit 20 is connected to the steering control device 30 and the braking control device 40 in order to perform parking control.

Further, when steering or braking is required, the electronic control unit 20 generates a steering control signal or a braking control signal corresponding to the steering or braking control signal, and outputs the generated steering control signal or braking control signal to the steering control device 30 or the braking control device 40 And carries out parking control so as to be parked at a target point of the parking space.

The steering control device 30 may include Motor Driven Power Staging (MDPS), Active Front Steering (AFS), and the like.

The braking control device 40 may include an anti-lock brake system (ABS), a traction control system (TCS), and an electronic stability control (ESC).

The ultrasonic sensor 10 is a sensor that detects a distance to a target in the vicinity, for example, an obstacle. The ultrasonic sensor 10 is used for a proximity alarm of a vehicle to prevent collision with a nearby target, An empty parking space between the vehicle and the vehicle can be searched for and detected.

The electronic control unit 20 can be connected to the ultrasonic sensor 10 via the LIN communication and transmit the transmission signal to the ultrasonic sensor 10. [

The ultrasonic sensor 10 generates and transmits a wave in response to the transmission signal under the control of the electronic control unit 20 and receives the reception signal of which the transmission signal is reflected on the target.

The electronic control unit 20 measures the distance value to the target using the transmission signal and the reception signal, and determines the maximum tolerance value calculated using the distance value with the measured target and the ringing time of the ultrasonic sensor 10 The set value of the predetermined minimum sensing distance is added to determine the sum value.

The electronic control unit 20 sets the minimum distance value for target detection capable of sensing the target to be equal to or smaller than the predetermined value of the preset minimum detectable distance and equal to or greater than the above summation value. In this case, the specified value is within the specification provided by the international standard and the car maker, and may vary depending on the finished vehicle. The specified value may be, for example, several tens of centimeters, which is not more than 50 cm.

4, the electronic control unit 20 includes a transmitting unit 21, a receiving unit 22, a distance value measuring unit 23, a calculating unit 24, a setting unit 25 and a notification unit 26 .

The distance value measuring section 23 measures the distance value between the transmission signal transmitted by the transmission section 21 and the distance from the target by using the reception signal received by the reception section 22 after the transmission signal is reflected by the target positioned in front of the vehicle. Measure the value.

5cm로, 151cm-450cm까지 초음파 센서(10)가 감지하는 허용오차값은 타겟과의 거리값의

10%로 설정될 수 있다. 이러한 허용오차값은 국제규격 및 완성차 업체에서 제공하는 스펙(Spec)내에 있는 값이다.The distance calculation unit 24 calculates a maximum tolerance value by applying a preset tolerance value to the distance value to the target measured by the distance value measuring unit 23. [ At this time, the tolerance value detected by the ultrasonic sensor up to a distance of, for example, 150 cm or less between the ultrasonic sensor 10 and the target

The allowable error value detected by the ultrasonic sensor 10 from 5 cm to 151 cm-

10%. ≪ / RTI > These tolerance values are those within specifications provided by international standards and vehicle manufacturers.

The setting unit 25 sets a minimum distance value for target detection that can detect the target. More specifically, the setting unit 25 sets the sum of the sum of the set values of the minimum sensing distance determined by the ring time of the ultrasonic sensor 10 to the maximum tolerance value calculated by the calculating unit 24 And sets a minimum value for target detection to be less than or equal to a predetermined value of the preset minimum detectable distance. The minimum detectable range is the value specified in the specifications provided by the international standard and the manufacturer.

That is, the setting unit 25 sets the minimum distance value Tmin for target detection as shown in Equation (1) below.

Here, Dmin is a specified value of the minimum detectable distance, Tomin is a set value of the minimum detection distance, and Gmax is a maximum tolerable error value.

By setting the minimum distance value for target detection to a value equal to or larger than the sum of the maximum tolerance value reflecting the distance value of the target measured through the ultrasonic sensor 10 and the set value of the predetermined minimum sensing distance, It is possible to solve the unrecognition of the target that has occurred due to the setting of the detection distance to the maximum To value, thereby preventing the possibility of collision with the target during vehicle control.

The minimum distance value Tmin for target detection set by the setting unit 25 described above is provided to the control device for measuring and using the distance value through the ultrasonic sensor 10. [

After the minimum distance value for target detection is set as described above, the distance value measuring unit 23 detects an arbitrary target positioned within the minimum distance value for target detection among the reception signals received through the ultrasonic sensor 10, .

The notification unit 26 determines whether or not the distance to the target located within the minimum distance value for target detection is within a predetermined reference distance. If the distance to the target is within the reference distance, A notification signal indicating a proximity alarm, and a combination thereof.

Referring to FIG. 5, a method of detecting a target using a driving support apparatus having the above-described configuration will be described below.

5 is a flowchart illustrating a method of detecting a target using a driving support apparatus according to another embodiment of the present invention.

5, the electronic control unit 20 calculates the distance value of the target by using the transmission signal transmitted toward the front of the vehicle through the ultrasonic sensor 10 and the reception signal received by reflection of the transmission signal on the target (S11).

The electronic control unit 20 calculates a maximum tolerance value by applying a predetermined tolerance value to the distance value of the measured target (S13). Here, the tolerance value is as described above.

The electronic control unit 20 sets a minimum distance value for target detection (S15). The minimum distance value for target detection is set to be equal to or larger than the sum of the calculated maximum allowable error value and the set value of the minimum detection distance described above and to be equal to or smaller than a predetermined value of the preset minimum detectable distance.

As the minimum distance value for target detection is set as described above, the detection performance for the proximity target located in front of the vehicle can be improved. In the case of the variable sensing start time, the ultrasonic sensor 10 detects It is possible to solve the conventional problem that it is difficult to set the minimum distance value for target detection that can be performed.

Assuming that the actual distance from the target is 10 cm and the minimum sensing start distance of the ultrasonic sensor 10 is 20 cm as shown in FIG. 6, the electronic control unit 20 determines that the actual distance from the target is 10 cm The minimum distance value for target detection is set to be less than the sum value obtained by adding a preset tolerance value, for example, +5, to the maximum allowable error value (15 cm) and the set value of the minimum detection distance determined by the ringing time It is possible to detect a target located within the minimum distance value for target detection and solve the problem caused by the unrecognition of a target which is conventionally located nearby.

Thereafter, the electronic control unit 20 determines whether or not the distance from any target located within the set minimum distance value for target detection among the received signals received through the ultrasonic sensor 10 is within a preset reference distance (S17 ).

If it is determined in step S17 that the distance to the target is within a preset reference distance, the vehicle outputs an alarm signal indicating the braking or an alarm signal indicating the proximity of the target (S19). For example, when the predetermined reference distance is 10 cm, the target within the minimum distance value for target detection (corresponding to the sensor distance of 20 cm in FIG. 6) is detected as shown in FIG. 6, and the distance from the detected target is 10 cm The driver can quickly recognize the warning signal indicating the braking of the vehicle or the warning signal indicating the proximity warning to the target at the point.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

1: driving support device 10: ultrasonic sensor
21: transmitting unit 22:
23: distance value measuring unit 24:
25: Setting section 26: Notification section
30: Steering control device 40: Braking control device

Claims (11)

1. A driving support device comprising an ultrasonic sensor installed on a vehicle and measuring a distance to a target,
A maximum allowable error calculated using a distance value between the predetermined transmission signal transmitted through the ultrasonic sensor and the target measured based on the reception signal reflected from the target positioned at the periphery of the vehicle, A set value of the minimum sensing distance determined by the ringing time of the ultrasonic sensor and a predetermined value of a preset minimum sensing distance, Detecting an arbitrary target positioned within the set minimum distance value for target detection among the received signals received through the ultrasonic sensor; And a control unit. The method according to claim 1,
Wherein the maximum allowable error value is a maximum allowable error value of a distance measurement error of the ultrasonic sensor according to a variation of the set value of the minimum sensing distance determined by the ringing time with a large variation. The method according to claim 1,
Wherein the electronic control unit sets the minimum distance value for detecting the target to be less than or equal to the predetermined value. The method according to claim 1,
Wherein the maximum allowable error value is calculated by applying a preset tolerance value to the distance value of the target. The method according to claim 1,
Wherein the electronic control unit provides the control unit using the distance value of the target measured from the ultrasonic sensor to the minimum distance value for target detection. The method according to claim 1,
The electronic control unit outputs a notification signal for notifying the braking of the vehicle or a notification signal for alerting the proximity of the target if the distance from the target located within the minimum distance value for target detection is within a predetermined reference distance . 1. A target sensing method for a driving support apparatus comprising an ultrasonic sensor installed in a vehicle and measuring a distance from the target,
Measuring a distance between the target and the target based on a predetermined transmission signal transmitted through the ultrasonic sensor and a reception signal reflected from a target positioned at a periphery of the vehicle;
A target value of the target distance is determined using a preset maximum allowable error value calculated by using the distance value with the measured target, a set value of the minimum detection distance determined by the ringing time of the ultrasonic sensor, Setting a minimum distance value for the minimum sensing distance to be equal to or less than the sum of the set value of the minimum sensing distance and the maximum tolerance value; And
And detecting any target located within the set minimum distance value for target detection from the received signals received through the ultrasonic sensor. The method of claim 7,
Wherein the maximum allowable error value is a maximum allowable error value of a distance measurement error of the ultrasonic sensor according to a variation of a set value of the minimum sensing distance determined by the ringing time, Detection method. The method of claim 7,
Wherein the setting step sets the minimum distance value for target detection to be less than or equal to the predetermined value. The method of claim 7,
Wherein the setting of the minimum sensing distance includes setting the minimum sensing distance and the target sensing minimum distance so as to be equal to or greater than the sum of the calculated maximum tolerance values by applying a preset tolerance value to the distance value between the target and the target. Wherein the target value is set to a predetermined value. The method of claim 7,
After the setting step,
Further comprising the step of providing the set minimum distance value for target detection to a controller using a distance value from the target measured from the ultrasonic sensor.

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