KR102095560B1 - Obstacle Site Indication Controlling System and the Method of - Google Patents

Abstract

The present invention relates to an obstacle position display control system and method, and more particularly, to a system and method for controlling the position display of an obstacle through coordinate tracking of a moving obstacle.
The present invention updates and manages the distance information between an obstacle and the mounted sensor when acquiring an obstacle detection signal from a plurality of ultrasonic sensors and sensors mounted on a vehicle, and stores distance information between the plurality of sensors Based on the distance information obtained from the management unit and the data management unit, the obstacle coordinate calculation unit for calculating the position coordinates of the obstacle, the obstacle recognition area and / or the location display area for each sensor mounted in the vehicle, and the obstacle obtained from the obstacle coordinate calculation unit It includes a control unit to determine whether or not to provide the location information of the obstacle by grasping the area where the position coordinates exist.

Description

Obstacle Site Indication Controlling System and the Method of}

The present invention relates to an obstacle position display control system and method, and more particularly, to a system and method for controlling the position display of an obstacle through coordinate tracking of a moving obstacle.

Recently, as the vehicle has become highly intelligent, it performs various functions using various sensors mounted on the vehicle. Among them, a parking assistance system (PAS) that supports parking by measuring the distance from an obstacle using an ultrasonic sensor, etc. ) Is commercialized.

1 is a block diagram of a parking assist system according to the prior art, the conventional parking assist system provides information about the distance and location of an obstacle and a vehicle required for a driver when parking and a collision risk alarm through LIN and / or CAN communication. It is transmitted to a cluster of a vehicle to generate an alarm sound processed by a digital sound source with a speaker inside the cluster, and outputs an image of an obstacle to the vehicle's cluster or AV device.

The operation of the parking assistance system (PAS) according to the prior art, after detecting the distance between the obstacle and the vehicle by the ultrasonic sensor mounted on the front and rear of the vehicle, communicates with the vehicle's BCM according to the distance to transmit and detect the alarm The position of the obstructed obstacle is output.

For example, the output method of the parking assist system according to the prior art transmits the primary alarm when the distance between the vehicle and the obstacle is 81Cm to 120Cm, transmits the secondary alarm from 41Cm to 80Cm, and between the sensor and the vehicle at 40Cm or less. When the distance is sensed, a third warning is sent to prevent collision with obstacles when parking to promote driver safety.

1B to 1C are views illustrating an embodiment of calculating obstacle coordinates according to the prior art.

As shown in FIG. 1B, when obstacle A moves from top to bottom with a path illustrated by a gray arrow, an obstacle moving with a path illustrated by a gray arrow exists outside the position display area of the sensor mounted on the vehicle bumper. Therefore, it does not substantially affect the reverse driving of the vehicle.

However, the conventional system for transmitting an alarm signal according to the obstacle detection area and / or the distance between the obstacle and the vehicle notifies the driver even when an obstacle is detected in the non-obstacle display area.

Specifically, as illustrated in FIG. 1B, the prior art detects that the position of the sensor is included in the RR sensor area mounted on the vehicle, even if obstacle A is moving outside the position display area of the sensor, thereby incorrect information to the driver. Will tell you.

The reason for calculating the position information of the obstacle as being in the sensor display area even if the obstacle is not present in the sensor display area according to the prior art will be described with reference to FIG. 1C.

1C is a view showing a calculation example of a coordinate tracking system according to the prior art.

For example, as shown in area a of FIG. 1C, RR-D at a distance calculated through RR-D data indicating the distance between the recognized obstacle and the RR sensor of the vehicle and the ToF measurement between the RR sensor and the RCR sensor. The coordinates of the obstacle are calculated through the RR-Q data obtained by excluding the value. In the prior art, the obstacle is moved rather than calculating the coordinates using the RCR-D value derived after obtaining the RR-Q. In the middle, since the position of the obstacle is determined by using the RR-Q data before the update, the position coordinates of the obstacle that the movement of the obstacle is not considered are incorrectly identified.

In the embodiment described in part (a) of FIG. 1C, the coordinates of the obstacle are calculated through [Equation 1] by using the RR-Q data 140 before the update without using the updated data according to the obstacle movement. Shows that I got the wrong result.

[Equation 1]

As described with reference to FIGS. 1B and 1C, the prior art uses the sensor and the distance data of the obstacle, which is data necessary for calculating the coordinates of the moving obstacle, so that the obstacle exists outside the position display area of the sensor. However, there is a problem in that it informs the driver and provides information that is not practically useful when the driver parks and reverses.

In addition, the system according to the prior art has a problem of causing the driver to incorrectly grasp the position of the obstacle, and displaying the incorrect position of the obstacle to increase the inconvenience of the driver.

In order to solve the above-described problem, the present invention updates the distance information between the moving obstacle and the sensor according to a communication schedule to grasp the exact coordinates of the obstacle, and determines whether to display the location of the obstacle according to the area where the obstacle exists It is an object to provide a system and a method thereof.

     Obstacle position display control system according to an aspect of the present invention, when obtaining an obstacle detection signal from a plurality of ultrasonic sensors and sensors mounted on the vehicle, update and manage the distance information between the obstacle and the mounted sensor, a plurality of sensors Based on the distance information obtained from the data management unit, the data management unit to store the distance information between, the obstacle coordinate calculation unit for calculating the position coordinates of the obstacle, the obstacle recognition area and / or location display area for each sensor mounted in the vehicle is classified, It includes a control unit to determine the existence area of the obstacle position coordinates obtained from the obstacle coordinate calculation unit, to determine whether to provide the position information of the obstacle.

The obstacle coordinate calculating unit of the present invention calculates the position of the obstacle by calculating the distance information between two or more sensors and obstacles and / or sensors mounted on the vehicle bumper among the RR, RCR, RCL, and RL sensors mounted on the vehicle. Obtain the coordinates indicated.

The control unit of the present invention, when detecting a moving obstacle, between the two or more sensors of the RR, RCR, RCL, RL sensor mounted on the vehicle bumper and the distance information between the obstacle and / or a plurality of sensors mounted on the vehicle bumper Based on the location coordinate information of the obstacle identified through the distance information, it is determined whether or not the location of the obstacle is displayed according to an area in which the coordinates of the obstacle exist.

According to another aspect of the present invention, a method for displaying an obstacle position of a vehicle PAS acquires a stationary or moving obstacle detection signal from a plurality of sensors mounted on a vehicle, and updates and stores the distance information between the obstacle and the plurality of mounted sensors. Step of calculating the position coordinates of the obstacle based on the updated distance information between the plurality of stored sensors and the obstacle, and acquiring the position coordinates of the obstacle based on the updated distance information, and grasping the area where the coordinates exist And determining whether to display the location of the obstacle.

In the step of calculating the coordinates of the obstacle of the present invention, when the obstacle moves, considering the communication schedule of the vehicle communication module that obtains the distance information, the period for updating the distance information is arbitrarily set and the sensor and the obstacle according to the set period. The distance information is updated to calculate the coordinates of the obstacle.

The sensor of the present invention includes an ultrasonic sensor for detecting an obstacle located near the vehicle, an obstacle presence detection sensor, a three-dimensional distance sensor, and a camera.

The present invention calculates the position coordinates of the obstacle by updating the distance information (ToF) of the ultrasonic sensor mounted on the vehicle and grasps the area where the obstacle exists, so that the position of the obstacle to the driver only when the obstacle is present in the position display area of the sensor Provide information.

Through this, it provides the driver with accurate location information of obstacles when reversing and parking, and restricts unnecessary output of information to promote the convenience of the driver.

In addition, the present invention provides an advantage that enables the driver to perform a safer reverse driving.

1A is a block diagram of a parking assist system (PAS) according to the prior art.
1B is a view showing an operation embodiment of a coordinate tracking system according to the prior art.
1C is a view showing a calculation example of a coordinate tracking system according to the prior art.
Figure 2 is a block diagram of an obstacle position display control system according to an embodiment of the present invention.
3 is an operation flow diagram of an obstacle position marker control system according to an embodiment of the present invention.
4 is a view showing an example of calculating an obstacle position according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and the ordinary knowledge in the technical field to which the present invention pertains. It is provided to fully inform the person having the scope of the invention, and the invention is defined by the claims.

Meanwhile, the terms used in the present specification are for explaining the embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and / or "comprising" refers to the components, steps, operations and / or elements present in one or more other components, steps, operations and / or elements. Or do not exclude adding. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of an obstacle position display control system according to an embodiment of the present invention.

The present invention is to update the distance information (ToF) of the ultrasonic sensor mounted on the vehicle in consideration of the communication schedule of the vehicle, and determine the area where the obstacle exists through the coordinates of the moving obstacle obtained based on the updated distance information. , It is a system that provides the driver with the location information of the obstacle only when the obstacle is within the position display area of the sensor, so that the driver obtains the accurate location information of the obstacle when performing reverse and parking.

The present invention updates and manages distance information between an obstacle and an attached sensor 210 when a plurality of ultrasonic sensors 210 for detecting an obstacle close to a vehicle and an obstacle detection signal from the sensor 210 are acquired, and a plurality of Data management unit 220 for storing the distance information between the sensors 210, based on the distance information obtained from the data management unit 220, the obstacle coordinate calculation unit 230 for calculating the position coordinates of the obstacle, mounted on the vehicle It includes a control unit 240 for separating the obstacle recognition area for each sensor and / or the location display area, determining the existence area of the obstacle position coordinate obtained from the obstacle coordinate calculator, and determining whether to provide the position information of the obstacle.

 The obstacle coordinate calculating unit 230 may be provided between two or more sensors 210 of the RR, RCR, RCL, and RL sensors 210 mounted on the vehicle and distance information between obstacles and / or sensors 210 mounted on the vehicle bumper. Based on the distance information, coordinates indicating the location of the obstacle are obtained.

 When the controller 240 detects a moving obstacle in the vicinity of the vehicle, the distance information between two or more sensors 220 and obstacles among the RR, RCR, RCL, and RL sensors 220 mounted on the vehicle bumper and / or the vehicle Based on the position coordinate information of the obstacle identified through the distance information between the plurality of sensors 220 mounted on the bumper, it is determined whether the position of the obstacle is displayed according to the area where the coordinates of the obstacle exist.

For example, if the coordinates of the obstacle obtained through the updated distance information exist outside the position display area of the sensor mounted on the vehicle, the recognized obstacle does not substantially affect the driver's driving, so the obstacle location information is provided to the driver. Do not inform.

Through the accompanying drawings will be described in more detail the embodiments of the calculations and features of the present invention.

The present invention is an apparatus for controlling an obstacle position display by calculating a position of a recognized obstacle through an updated distance coordinate and determining whether an area in which the obtained coordinates exist is included in the display area, according to an embodiment of the present invention. In Figure 1b, as shown in Figure 1b, the area indicating the location of the obstacle was divided into four sections for each sensor.

Specifically, it is assumed that a reference axis of X = 0 exists in the RL display area of FIG. 1B, and the area is divided according to the X coordinate for each sensor.

In more detail, in one embodiment according to the present invention, the RR sensor display area is a section in which the size of the X coordinate value calculated from A to B section is 113 or more and 169 or less, and the RCR sensor display area is calculated as B to C section. The size of the X coordinate value is greater than 67 and less than 113.

Likewise, the RCR sensor display area means a section in which the size of the X coordinate value calculated from C to D section is 21 or more and 67 or less, and the RL sensor display area is a D to E section, and the X coordinate value is greater than -35 and less than 21. It means the section.

In one embodiment according to the present invention, when the distance between the obstacle and the sensor is updated according to the vehicle communication schedule, based on the updated information, when there is an obstacle in the display area of the above-described sensor, the location information of the obstacle is provided to the driver.

3 is an operation flowchart of an obstacle position marker control system according to an embodiment of the present invention.

In one embodiment according to the present invention, as shown in Figure 3 to control the position display of the obstacle Ⅰ. Sensor area judgment step, Ⅱ. Determining whether to control the coordinate tracking of the obstacle and Ⅲ. A step of determining the number of following control passes.

Ⅰ. Sensor area judgment step (S310 ~ S350)

In an embodiment according to the present invention, the step of determining the sensor area is to check whether the coordinates of the obstacle recognized by the sensor are included in the RR, RCR, RCL, and RL sensor display areas.

When the coordinates of the obstacle are acquired, it is determined whether the X coordinate (CUR-X) of the currently calculated obstacle is greater than A (see FIG. 1B, A = 169) (S310), and if the currently calculated coordinate is greater than A, the X coordinate It is determined that it is included in the OUT-RANGE 5 which is a display area separated by (S311).

If the X coordinate (CUR-X) of the currently calculated obstacle is smaller than A (A = 169), the area of the calculated x coordinate is determined by comparing with B (B = 113) (S320, S321).

     In an embodiment according to the present invention, the display area of the sensor mounted on the vehicle is divided by calculating as shown in Table 1.

Classification area
Boundary calculation formula separated by X coordinate

OUT-RANGE 5 <A
A = 169 = (2 * PAS_DIST_SIDE_CENTER) + PAS_DIST_CENTER_CENTER + PAS_DIST_SIDELIMIT =

A <OUT-RANGE 4 <B
B = 113 = (PAS_DIST_SIDE_CENTER + PAS_DIST_CENTER_CENTER + PAS_DIST_SIDE_CENTER / 2)

B <OUT-RANGE 3 <C

C = 67 = (PAS_DIST_SIDE_CENTER + PAS_DIST_CENTER_CENTER / 2)
C <OUT-RANGE 2 <D

D = (PAS_DIST_SIDE_CENTER / 2)
D <OUT-RANGE 1 <E

E = (-PAS_DIST_SIDELIMIT)

In Table 1, PAS_DIST_SIDE_CENTER is the distance between the side sensors mounted on the vehicle and the adjacent center sensor (RR-RCR, RCL-RL distance), PAS_DIST_CENTER_CENTER is the distance between center sensors (RCR-RCL distance), and PAS_DIST_SIDELIMIT is from the side sensor to the outside of the vehicle. It means the area to be marked.

In step I of the present invention, the RR side undisplay area is determined based on the calculated X coordinate (CUR_X) (S310), the RR display area is determined based on the X coordinate (CUR_X) (S320), and the X coordinate (CUR_X) is determined. The RCR display area is determined based on (S330), the RCL display area is determined based on the X coordinate (CUR_X) (S340), and the RL display area is determined based on the X coordinate (CUR_X) (S350).

Ⅱ. Step of determining whether the sensor moves from the undisplayed area to the display area (S360, S370)

In an embodiment according to the present invention, the steps of determining whether the sensor moves from the undisplayed area to the display area and whether to control tracking is performed as follows.

first. Before the area separated by the X coordinate is updated, it is determined whether the calculated boundary area is smaller than the backed up X coordinate (S360), and if the backed up X coordinate is smaller than the calculated boundary area, the delay is applied (L -Delay on) and the output X coordinate becomes the same as the backed up coordinate (S370).

If the calculated boundary area is larger than the backed X coordinate before the area separated by the X coordinate is updated, the delay timer (T-Delay) becomes 0, so the output X coordinate is the same as the calculated X coordinate ( S361).

 Ⅲ: Step of determining the number of tracking control (S380, S390, S400)

In an embodiment according to the present invention, the step of determining the number of tracking control of the obstacle coordinates proceeds as follows.

First, even if the distance information data is updated, if it is determined that the delay timer (T-Delay) indicating the time to maintain the backup data is greater than the constant value (C_DELAY) for the number of times the delay is applied in the system (S380), according to the present invention In one embodiment, since the delay is not applied (L-Delay = off), the state of the delay flag is switched, and since the delay timer (T-Delay) is 0, the output obstacle coordinate value is equal to the calculated obstacle coordinate value. (S390).

Thereafter, the backed-up coordinates become the same as the calculated coordinates, and the backed-up B-Out-Range is equal to the output Out-Range (S400).

If the delay timer (T-Delay) is smaller than the constant value (C_DELAY) for the number of delay applications in the system, the delay timer is increased (S381).

4 is a view showing an embodiment of calculating an obstacle position according to an embodiment of the present invention.

In an embodiment according to the present invention, the distance between the center sensor adjacent to the side sensor (PAS_DIST_SIDE_CENTER) is 42, and the distance between the center and center sensor (PAS_DIST_CENTER_CENTER) with reference to FIGS. 1B to 1. 50, the distance (PAS_DIST_SIDELIMIT) of the area to be displayed outside the vehicle from the side sensor is set to 35, and the area divided by the X coordinate is A = 169, B = 113, C = 67, D = 21, E = -35 Set to (see Figure 1b).

In addition, in one embodiment according to the present invention, the period of calculating the position of the obstacle is 100 ms, and the time required to update the ToF data according to the communication schedule of the vehicle, for example, while acquiring the RCR-D from the RR-Q. An embodiment of the present invention will be described on the assumption that the maximum value of the time is 235 ms.

Therefore, in one embodiment according to the present invention, after 235 ms has passed, the RCR-D is acquired to update the distance data and through this, the coordinates of the obstacle are output.

In addition, since the previously calculated coordinates must be backed up before 235 ms has elapsed, the constant value (C_DELAY) for the number of delay applications in the embodiment of the present invention is 3 (C_DELAY = 3). Specifically, in the embodiment according to the present invention, data previously backed up for 300 ms is used, and newly calculated data is applied after 300 ms. The reason why the constant value for the number of delays is 3 is, of course, RR- This is the result of considering 235 ms, which is the time required to convert from D data to RCR-Q data.

Accordingly, it is needless to say that the constant value for the number of delays applied may vary depending on the communication schedule and / or calculation period.

Referring to Fig. 4, an example of calculating coordinates of the present invention will be described.

The RR-D shown in FIG. 4 assumes that an obstacle exists in the RR sensor display area, and when it is said to follow the coordinates of the obstacle through an RCR sensor adjacent to the RR sensor, a time of flight (ToF) of a signal transmitted by the RR sensor ) Means the distance between the RR sensor and the obstacle measured by.

The RR-Q shown in FIG. 4 is a distance value obtained by measuring a ToF when a signal is received by an RCR sensor through an obstacle after the RR sensor transmits a signal. When RR-Q is obtained, at this distance By excluding the RR-D, which is the distance between the RR sensor and the obstacle, RCR-D data, which is the distance between the obstacle and the RCR sensor, is obtained.

In an embodiment according to the present invention, the coordinates of the obstacle are tracked using the distance data of the RR-D and the updated RCR-D.

Since the X coordinate (CUR_X) currently calculated in (A) shown in FIG. 4 is 186, the display area separated by the X coordinate becomes (OUT_RANGE = 5) 5. Accordingly, the coordinate value (OUT_X) output by the algorithm shown in FIG. 3 is 186, which is the calculated coordinate value (CUR_X), and the previously backed up coordinate (B_CUR_X) is equal to the currently calculated coordinate (CUR_X), The previously backed-up display area (B_OUT_RANGE) is 5, which is the same as the display area (OUT_RANGE) separated by the X coordinate, and the value of the delay timer (T_DELAY) is 0.

The RR-Q data is updated before part (B) shown in FIG. 4, and in (B), coordinate calculation is performed with the updated RR Q. At this time, the X coordinate becomes 166, and OUT_RANGE = 4. 3, L_DELAY = ON, T_DELAY = 1, and OUT_X = 186 (B_CUR_X) are output by satisfying the OUT_RANGE <B_OUT_RANGE condition by the algorithm shown in FIG. 3.

That is, it is recognized that the X coordinate is still present in the non-display area, so that the presence of the obstacle is not indicated.

Since L_DELAY = ON is satisfied in (C) shown in FIG. 4, OUT_X = 186 (B_CUR_X) is output, and T_DELAY = 2. After that, since L_DELAY = ON is satisfied in (D), OUT_X = 186 (B_CUR_X) is output, and T_DELAY = 3.

 In the (E) section, T_DELAY (3)> = C_DELAY (3) is satisfied, so OUT_X = 191 (CUR_X) is output instead of backup data, L_DELAY = OFF, T_DELAY = 0, B_CUR_X = 191 (CUR_X), B_OUT_RANGE = 5 ( OUT_RANGE)

In one embodiment according to the present invention, the obstacle position calculation period is 100 ms, and the time it takes for the distance data acquired by the ToF to be updated according to the vehicle's communication schedule is Max235 ms (eg, the time it takes for the RR-Q to become the RCR-D). ) Is applied 3 times and outputs 186, the previous output coordinates, until 300 ms has elapsed, but outputs the new coordinates, 191 ms, using the updated distance information after 300 ms when the distance data is updated.

As described above, the present invention updates the distance information (ToF) of the ultrasonic sensor mounted on the vehicle in consideration of the communication cycle of the vehicle, and calculates the coordinates of the obstacle based on the updated distance information to grasp the position of the obstacle. . Through this, the present invention provides the driver with location information only when a moving obstacle is present in the position display area of the sensor, thereby allowing the driver to grasp the exact location of the obstacle when reversing and parking and limiting the output of unnecessary obstacle location information. There is an advantage to promote the convenience of.

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, various modifications and variations are possible without departing from the essential characteristics of the present invention. Therefore, the embodiments expressed in the present invention are not intended to limit the technical spirit of the present invention, but to illustrate, and the scope 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 spirits that are equivalent to or within the equivalent ranges should be interpreted as being included in the scope of the present invention.

Claims (6)

A plurality of ultrasonic sensors mounted on the vehicle; And
When the obstacle detection signal is obtained from the plurality of ultrasonic sensors, the data management unit updates and manages distance information between the obstacle and the attached plurality of ultrasonic sensors, and stores distance information between the plurality of ultrasonic sensors. ;
An obstacle coordinate calculating unit calculating a position coordinate of the obstacle on the basis of distance information between the obstacles obtained from the data management unit and the mounted plurality of sensors and distance information between the mounted plurality of sensors;
The position display area for each sensor mounted on the vehicle is divided, and the existence area of the obstacle position coordinate obtained from the obstacle coordinate calculator is determined to determine which of the non-display area and the display area corresponds to the obstacle. A controller for determining whether to provide location information of the;
Obstacle position display control system comprising a. The method of claim 1, wherein the obstacle coordinate calculating unit
Obtaining coordinates indicating the position of the obstacle based on the distance information between two or more sensors and obstacles among the RR, RCR, RCL, and RL sensors mounted on the vehicle and the distance information between sensors mounted on the vehicle bumper.
Obstacle position indication control system.
The method of claim 1, wherein the control unit
When a moving obstacle is detected,
The position coordinate information of the obstacle identified through the distance information between two or more sensors and obstacles among the RR, RCR, RCL, and RL sensors mounted on the vehicle bumper and the distance information between a plurality of sensors mounted on the vehicle bumper Based on, determining whether the position of the obstacle is displayed according to an area in which the coordinates of the obstacle exist
Obstacle position indication control system.
In the vehicle PAS obstacle position display method,
If a stationary or moving obstacle detection signal is acquired from a plurality of sensors mounted on the vehicle, updating and storing distance information between the obstacle and the mounted plurality of sensors;
Calculating position coordinates of the obstacle based on updated distance information between the plurality of stored sensors and the obstacle;
If the position coordinates of the obstacle are obtained based on the updated distance information, determining whether the position of the obstacle is displayed by determining an area where the coordinates exist; Obstacle position display control method comprising a.
The method of claim 4, wherein calculating the coordinates of the obstacle
When the obstacle moves, the period for updating the distance information is arbitrarily set in consideration of the communication schedule of the vehicle communication module for obtaining the distance information, and the distance information between the sensor and the obstacle is updated according to the set period and coordinates of the obstacle. Arithmetic
Obstacle position indication control method.
The method of claim 4, wherein the sensor
Includes an ultrasonic sensor for detecting an obstacle located near the vehicle, an obstacle presence sensor, a three-dimensional distance sensor, and a camera
Obstacle position indication control method.

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