KR102106976B1 - Apparatus for detecting rear or dead-zone of vehicle using doppler information and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for detecting the rear or blind spots of a vehicle using Doppler information, and a method thereof. According to the present invention, the method comprises the steps of: receiving a Doppler radar signal about a detection area of radar from a Doppler radar installed in a vehicle to generate a frequency spectrum every frame; estimating a speed value of a target entering the detection area when the target is detected from the frequency spectrum; calculating, for each frame, a virtual distance, at which the target is located from a position of the vehicle, based on the estimated speed value of the target and an interval between frames; predicting, if the target is out of the detection area and thus not detected, a virtual movement trajectory of the target in a future period of time based on the value of the target previously estimated speed in the past and the virtual distance; and outputting a danger signal to an opponent vehicle through an alarming means installed on an outer side of the vehicle if the virtual movement trajectory of the target is predicted to be present in a predetermined danger zone outside the detection area. According to the present invention, only analyzing the speed of the target with the Doppler radar installed in the vehicle can detect and warn of a blind spot or the rear in the sides of the vehicle very effectively. Moreover, the apparatus for detecting the rear or blind spots of a vehicle using Doppler information uses the Doppler radar to facilitate low power, compact design and low-cost implementation, and can be applied to small vehicles.

Description

Apparatus for detecting rear or dead-zone of vehicle using doppler information and method thereof

The present invention relates to a vehicle rear or blind spot detection apparatus and method using Doppler information, and more specifically, to a rear or blind spot of a vehicle that can effectively detect a dangerous situation in the rear or blind spot of a vehicle using a Doppler radar. Zone detection apparatus and method.

One of the most important elements in the current intelligent vehicle is a sensor that recognizes the external environment. Among them, a function that detects a blind spot of a vehicle and alerts a driver is a system that has been recently installed in vehicles.

Sensors for detecting blind spots include mounting a camera on both side mirrors and mounting a radar sensor on both rear bumper corners. Among them, the radar sensor is mainly used for blind spot detection because it has the advantage of being robust against the external environment and the ability to accurately detect the distance and speed of the target.

1 is a view showing a general radar sensor-based blind spot detection concept.

The current radar sensor-based blind spot detection system includes FMCW (Frequency Modulated Continuos Wave) radar, and the radar sensor is mounted horizontally on the road at the corner of the rear bumper.

The existing radar sensor-based blind spot detection system is operated by detecting the distance, speed, and angle of the target from the radar signals reflected from the vehicles in the left and right lanes of the own vehicle, and analyzing the information to alert the driver. At this time, the radar sensor is equipped with a wide-angle antenna to detect all the blind spots in the rear side, such as hatched areas.

However, FMCW radar is still difficult to design the antenna and transmit / receive module hardware, miniaturization and low-power design are very difficult, and algorithms for distance and speed extraction are required, so there are significant difficulties in manufacturing products for aftermarket.

The background technology of the present invention is disclosed in Korean Patent Registration No. 0696392 (Announcement on March 19, 2017).

An object of the present invention is to provide an apparatus for detecting a vehicle's rear or blind spot and a method for detecting a vehicle's rear or blind spot effectively by analyzing the speed of a target from a Doppler radar installed in the vehicle and enabling low power and compact design. There is this.

The present invention, in a detection method using a device for detecting the rear or blind spot of a vehicle, receiving a Doppler radar signal for the detection area of the radar from the Doppler radar installed in the vehicle and generating a frequency spectrum every frame, Estimating a speed value of the target when a target entered into the detection area is detected from the frequency spectrum; and based on the estimated target speed value and the inter-frame spacing, the target is located Calculating a virtual distance every frame, and if the target is not detected outside the detection area, virtually moves the target in a future time interval based on the estimated speed value of the target and the virtual distance previously Predicting a trajectory, and outputting a danger signal to an opposite vehicle through an alarm means installed outside the vehicle when the virtual movement trajectory of the target is predicted to exist in a predetermined danger zone outside the detection area It provides a method for detecting a rear or blind spot of a vehicle.

In addition, the Doppler radar may be installed on at least one of the left side rear side, the right side rear side, and the rear front side of the vehicle.

In addition, in the detection method, when the Doppler radar is installed at the rear side of the vehicle, the preset danger area is an area extending a set distance forward from the rear-side detection area including the rear-side detection area for the vehicle. The danger zone is an area corresponding to the front of the rear detection area among the danger areas, and when the Doppler radar is installed at the rear front of the vehicle, the preset danger area includes a rear detection area for the vehicle from the rear detection area. The set distance is extended forward, and the dangerous zone may be an area corresponding to the front of the rear detection area among the dangerous areas.

In addition, the detection method further includes the step of outputting a danger signal through the alert means when a target entered into the detection area is detected from the frequency spectrum, and the predicted after the target leaves the detection area When it is predicted that the virtual movement trajectory of the target exists in the danger zone, the output state of the danger signal may be maintained.

In addition, when the virtual movement trajectory of the target is predicted to exist in the danger zone, the output state of the danger signal may be maintained until a time point predicted to exit the danger zone arrives.

In addition, in the step of outputting the danger signal, the danger signal may be output by controlling at least one of a lighting color, a blinking function, and display information for an LED light installed on the rear side of the vehicle.

In addition, in the detection method, when the danger signal is output, the danger signal may be further output to the vehicle driver through a driver warning means mounted in the vehicle interior.

In addition, the method for detecting the rear or blind spot of the vehicle may further include removing an indicator clutter component from the frequency spectrum and then estimating the own vehicle speed, which is the speed of the vehicle, using a Doppler of the indicator clutter. have.

In addition, the detection method may not output the danger signal even if a virtual movement trajectory of the target exists on the danger zone when the host vehicle speed is less than the threshold value by comparing the vehicle speed with a preset threshold value. have.

In addition, the present invention, when receiving a Doppler radar signal for the detection area of the radar from the Doppler radar installed in the vehicle to generate a frequency spectrum every frame, and when the target detected in the detection area is detected from the frequency spectrum A first estimator for estimating the speed value of the target, and a calculation unit for calculating the virtual distance at which the target is located for each frame based on the position of the vehicle based on the estimated target speed value and the inter-frame interval, If the target is not detected outside the detection area, a prediction unit predicting a virtual movement trajectory of the target in a future time interval based on the estimated speed value of the target and the virtual distance in the past, and the target When it is predicted that the virtual movement trajectory exists in a predetermined danger zone outside the detection area, a vehicle rear or blind spot detection device including a control unit that outputs a danger signal to the other vehicle through an alarm means installed outside the vehicle Provides

In addition, when the target entering the detection area is detected from the frequency spectrum, the controller outputs a danger signal through the alarm means, and the virtual movement trajectory of the target predicted after the target leaves the detection area is the When it is predicted to exist in the danger zone, the output state of the danger signal may be maintained until a time point is predicted to exit the danger zone.

In addition, the control unit may output the danger signal by controlling at least one of a lighting color, a blinking function, and display information for an LED light installed on the rear side of the vehicle.

In addition, when the danger signal is output, the controller may further output the danger signal to the vehicle driver through a driver warning means mounted in the vehicle interior.

In addition, the detection device may further include a second estimating unit that removes an indicator clutter component from the frequency spectrum and then estimates the own vehicle speed, which is the speed of the vehicle, using a Doppler of the indicator clutter.

In addition, when the host vehicle speed is less than the threshold value by comparing the host vehicle speed with a preset threshold value, the controller may not output the danger signal even if a virtual movement trajectory of the target exists on the danger zone. .

According to the present invention, only by analyzing the speed of the target from the Doppler radar installed in the vehicle, it is possible to detect blind spots on the side of the vehicle or the rear of the vehicle very effectively, and to warn of dangerous situations. Since the Doppler radar is used, the FMCW radar and Unlike the low-power and compact design, it is possible to implement a low-cost and has the advantage of being applicable to a small vehicle.

1 is a view showing a general radar sensor-based blind spot detection concept.
2 is a diagram illustrating the concept of a detection system using Doppler information according to an embodiment of the present invention.
3 is a view showing a configuration of a vehicle rear or blind spot detection apparatus using Doppler information according to an embodiment of the present invention.
4 is a view for explaining FIG. 3 in more detail.
5 is a view illustrating a detection area and a danger area of a Doppler radar installed in a vehicle in an embodiment of the present invention.
6 to 11 are diagrams illustrating examples of various scenario detection scenarios according to embodiments of the present invention.
12 is a view for explaining a method of detecting a vehicle's rear or blind spot according to an embodiment of the present invention.

Then, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice.

2 is a diagram illustrating a concept of a blind spot detection system of a vehicle using Doppler information according to an embodiment of the present invention.

As shown in Figure 2, the vehicle rear or blind spot detection system according to an embodiment of the present invention includes a detection device 100, an external vehicle warning means 200 and a driver warning means 300 using a Doppler radar. .

The detection device 100 may check whether there is a target around a vehicle, that is, a blind spot in the rear of the vehicle or in a vehicle side, through a Doppler radar installed outside the vehicle, and may alert a dangerous situation to each other through the warning means 200 and 300. have.

The detection device 100 includes a Doppler radar sensor circuit, and signal processing and post-processing modules. The Doppler radar sensor circuit is composed of an antenna and a transmitting and receiving terminal, and receives and transmits a radar signal reflected from the target.

2 illustrates that the Doppler radar sensors are installed one on each side of the vehicle, but may be mounted and operated one on the right or left depending on the application. In addition, the Doppler radar sensor may be installed in a rear front (eg, rear center) portion of the vehicle to additionally detect the rear portion of the vehicle. In addition, the antenna may be designed to be overlapped with the left / right radar sensor by implementing a wider angle of the antenna.

As such, the embodiment of the present invention is applicable to both the blind spots of the vehicle as well as the rear of the vehicle, depending on the mounting position of the radar. That is, in constructing the product, the rear may be used alone, or both of the blind spots may be selected so as to include both the rear and blind spots.

The signal processing and post-processing module detects the presence of a target by processing each radar signal received from the Doppler radar sensor circuit. In the case of FIG. 2, one signal processing and post-processing module is provided for several radar sensors for low-cost implementation, but may be provided for each of the left and right radars according to the application field. Of course, when a radar is added to the rear of the vehicle, processing may be performed by the signal processing and post-processing module illustrated in FIG. 2, or may be performed by separate signal processing and post-processing modules.

The signal processing and post-processing module controls at least one of the external vehicle warning means 200 and the driver warning means 300 to output a danger signal when it is detected or predicted that a target exists in the danger area.

The external vehicle warning means 300 is installed outside the vehicle, and outputs a danger signal when the target is in the danger zone to alert the driver of the surrounding external vehicle. For example, when a dangerous situation is detected by the radar sensor on the left side, the LED light mounted on the left rear corner of the vehicle is turned on to warn the driver of the external vehicle. Here, the LED lighting can be controlled by adjusting at least one of a lighting color, a blinking function for blinking the LED matrix, and display information of the LED matrix, and there can be a wide variety of embodiments in lighting control. When a dangerous situation is detected by the rear radar sensor, both LED lights at both rear corners may be turned on, or separate LED lights located at the rear front may be turned on.

The driver warning means 300 outputs a danger signal informing the driver inside the vehicle when a target is present in the danger zone. At this time, the driver warning means 300 may be implemented as an application interworking with a smart phone, an LED light mounted on a side mirror, an indoor mounted display, and the like.

The embodiment of the present invention provides the advantage of inducing driving attention through emotional ventilation to the driver of the vehicle as well as the driver of the vehicle through each of the warning means 200 and 300.

3 is a view showing a configuration of a vehicle rear or blind spot detection apparatus using Doppler information according to an embodiment of the present invention, and FIG. 4 is a view for explaining FIG. 3 in more detail.

3 and 4, the rear or blind spot detection apparatus 100 of a vehicle using Doppler information according to an embodiment of the present invention includes a generator 110, a first estimator 120, and a calculator 130 ), A prediction unit 140, a control unit 150, and a second estimation unit 160.

The generator 110 receives a Doppler radar signal for a radar detection area from a Doppler radar installed in a vehicle and generates a frequency spectrum every frame. The frequency spectrum can be obtained by Fourier transforming the Doppler radar signal.

The Doppler radar may be installed on at least one of the left side rear side, the right side rear side, and the rear front side of the vehicle. Here, the side rear portion of the vehicle may mean the left and right rear edge portions. Hereinafter, a description will be given as a representative example that the Doppler radar is installed on the rear side of the vehicle.

5 is a view illustrating a detection area and a danger area of a Doppler radar installed in a vehicle in an embodiment of the present invention. 5 illustrates only the right area of the vehicle for convenience of explanation, but the same principle is applied to the left area.

The detection area of the radar is shaded, and this is an area within the detection coverage of the radar and means the area where the actual target is detected. The size and shape of the detection area depends on the position, angle, and angle of the antenna where the Doppler radar is mounted on the vehicle.

5 illustrates a detection area R1-1 of the rear side and a dangerous area R2-1 including the detection region R1-1 corresponding to the radar sensor installed at the rear side of the vehicle. The dangerous area R2-1 is marked with a dotted line including the detection area R1-1, and is set by extending a set distance forward from the detection area R1-1. The danger zone (R2-1) corresponds to a blind spot invisible to the driver, and the target entering the vehicle may be a threat or an accident factor to the current vehicle. Therefore, when a target exists in the danger area R2-1, it is necessary to notify the driver or an external vehicle by warning the danger condition.

Similarly, FIG. 5 shows a rear detection area R1-2 corresponding to a radar sensor installed at the rear of the vehicle and a dangerous area R2-2 including the rear detection area R1-2. The dangerous area R2-2 also includes a rear detection area R1-2, and is set by extending a set distance forward from the rear detection area R1-2. After the target approaches and enters the rear detection area R1-2, it may become a threat or a collision factor to the current vehicle. Therefore, it is necessary to alert the driver or the external vehicle to a dangerous state when a target exists in the dangerous area R2-2 including the same.

Here, in each of the dangerous areas R2, the area excluding the detection area R1 (hereinafter, the dangerous area) is outside the radar coverage area, so direct target detection is impossible. However, the embodiment of the present invention can continue to output the danger alert based on this by predicting whether the target exists in the danger zone even after the target leaves the detection area.

Of course, if the target is moved to the rear of the detection area due to the target being decelerated or stopped or the current vehicle is accelerated, there is no need to output a danger signal because the target corresponds to a situation outside the danger area itself.

As described above, according to an embodiment of the present invention, when the target is outside the detection area and is difficult to track while tracking the target entering the detection area, the danger warning may be continued or stopped according to a situation through prediction of a movement trajectory for the target.

In particular, the embodiment of the present invention can obtain the effect of detecting the entire danger area of a wider area than the detection area of the actual radar only with the speed information of the target observed through the Doppler radar, so that the design and implementation of the vehicle rear without a complicated FMCW radar In addition, it has the advantage of being capable of efficient detection of blind spots, as well as low power and compact design. Hereinafter, a specific detection technique will be described.

The first estimator 120 analyzes the frequency spectrum provided by the generator 110 and estimates the speed value of the detected target when the target enters the detection area and the target is detected. In addition, when a target is detected in the detection area, the control unit 150 outputs a danger signal through the warning means 200 and 300 to notify the driver and the external vehicle of the situation where the target has entered the danger area.

The first estimator 120 may detect the target and determine the velocity value in the frequency spectrum with the indicator clutter removed. If the radar is mounted to look at the surface, the surface clutter can be detected. As long as the vehicle speed does not change rapidly, it will continue to appear at a similar value, so this pattern can be used to distinguish the surface clutter component.

Here, in the case of the embodiment of the present invention, since the Doppler radar is used, the detected speed value of the target may mean the relative speed of the target vehicle based on the current vehicle. At the time of target detection, vehicles approaching their own vehicles and vehicles that are close to their own vehicles, but whose speed difference is not large, can be regarded as a dangerous group. From the frequency spectrum, Doppler scattering points of which the magnitude of the reflected signal is greater than or equal to a certain value can be obtained, and then the largest value that is within the relative speed range considered dangerous can be selected.

It is known in the art to detect the speed of a target from the frequency spectrum and compensate for the detection error to estimate the speed. There is a detection error value in the speed value of the target detected in the frequency spectrum of the radar signal, and if the detection error is minimized by applying a tracking filter, the estimated speed value with the minimum error can be obtained. Based on this, the estimated velocity value of the target is tracked over time. At this time, when applying a tracking filter, errors are minimized by operating the tracking filter using the values detected in several frames. Here, the detection error includes a radar mounting error and a measurement error.

Detecting the speed value of the target from the received signal of the radar and applying the tracking filter to obtain the speed estimation value that compensates for the error of the detection speed is a well-known technique, so detailed description thereof will be omitted.

The calculating unit 130 calculates the virtual distance at which the target is located for each frame based on the position of the vehicle based on the estimated speed value of the target and the interval between frames.

Using the estimated target speed value and the inter-frame spacing, it is possible to virtually predict a distance from the current vehicle relative to the target. In this case, the interval between frames may mean, for example, a data update period (eg, 1 ms) in units of sec for a radar sensor.

As described above, the virtual distance from the current vehicle to the target vehicle can be acquired every frame from the time the target enters the radar detection area until it is detected and leaves the target area.

The prediction unit 140 predicts in advance a virtual movement trajectory of the target in a future time interval based on the speed value and the virtual distance of the past target when the target in the detection area is not detected outside the detection area. For example, it is possible to predict a virtual movement trajectory of a target from a current time point by analyzing a transition or a trajectory of a speed and a distance of a corresponding target acquired in a set number of past frames.

As a result, when it is predicted that the virtual movement trajectory of the target exists in the danger zone outside the detection area, the controller 150 outputs a danger signal to the vehicle on the other side through the external vehicle warning means 200. At this time, the control unit 150 maintains the output state of the danger signal until a time point predicted to escape the danger zone arrives, and thereafter stops the output of the danger signal. That is, when the time point when the virtual movement trajectory of the target is predicted to deviate from the danger zone has arrived, the output of the danger signal is stopped assuming that it is out of the danger situation.

Here, the control unit 150 may output a danger signal to the driver through the driver warning means 300. According to this, even if the target is out of the detection area, the situation in which the target stays in the danger zone for a predetermined time can be predicted in advance, and the danger situation can be immediately alerted.

The second estimator 160 removes the indicator clutter component from the frequency spectrum output from the generator 110 and then estimates the own vehicle speed, which is the speed of the own vehicle, using the Doppler of the indicator clutter. In general, since the Doppler of the indicator clutter is measured by the negative value of the vehicle speed, the vehicle speed can be estimated using this. However, speed compensation may be necessary depending on the mounting angle of the radar. As described above, when it is possible to estimate the own vehicle speed using only the Doppler radar sensor, a separate vehicle speed sensor is unnecessary.

In addition, when the host vehicle speed is less than the threshold value by comparing the host vehicle speed with a preset threshold value, the controller 150 may not output a danger signal even if the virtual movement trajectory of the target exists on the danger zone. This function may be added or omitted in some cases, and may be used, for example, when the warning system is to be operated only when the speed of the own vehicle is equal to or higher than a certain level.

Hereinafter, examples of various context-specific detections that may occur in the embodiments of the present invention will be described in detail based on the foregoing. In addition, for convenience of description, it will be described on the assumption that the target vehicle passing through the right lane enters the detection area for the lane in which the current vehicle is driving, as shown in FIG. 5.

6 to 11 are diagrams illustrating examples of various scenario detection scenarios according to embodiments of the present invention.

First, the upper figure of FIG. 6 shows the speed values of the detected and estimated targets by time, with the horizontal axis indicating time and the vertical axis indicating speed. Among the displayed points, an asterisk (*) is a speed detection value of a target by a Doppler radar, and a circle (●) represents a speed estimation value that is compensated for radar mounting errors and measurement errors after applying a tracking filter. It can be seen that the data fluctuation is reduced when the estimated value after error compensation is compared with the detected value. In addition, it can be seen that the speed value of the target is tracked from the time the target enters the detection area to the time it leaves the detection area again, and the detection and tracking values are cut off after leaving the detection area.

The lower figure of FIG. 6 shows the virtual distance of the target calculated by time, the horizontal axis represents time, and the vertical axis represents virtual distance. At this time, since the vertical axis meets the horizontal axis, that is, the uppermost point of the vertical axis corresponds to the current vehicle position (reference point), the circle (●) on the graph represents the virtual distance of the target relative to the current vehicle position. For example, FIG. 6 corresponds to a situation where the target is gradually getting closer with time.

The square (■) exists after the target leaves the detection area, which are virtual distance values over time obtained by prediction, and when combined, become a virtual movement trajectory. As described above, even after the target leaves the detection area, although there is no actual speed detection value, the distance or the movement trajectory can be predicted virtually using the trajectory (trend) of the target's past velocity values and the sensor update cycle.

In addition, looking at the alarm region section shown in FIG. 6, it can be seen that the target outputs an alarm from the time the radar is detected, and if it is predicted that the target is in the danger zone even after the detection region is out, the alarm output state is maintained. Is done.

7 shows a situation in which a target approaches a detection area quickly from behind and enters the detection area in the next lane of the current vehicle, and then leaves the detection area again. At this time, looking at the upper figure of FIG. 7, the target continued to maintain a relative speed of 10 m / s from the first time to the fifth time, and when the lower figure was seen, the virtual distance gradually became narrower and closer to the current vehicle. It can be seen that the situation has been approached.

Based on the past speed and distance trend up to the 5th time, it can be predicted that from the 5th time onwards, the target will deviate forward of the detection area. In the case of FIG. 7, it can be seen that the danger warning was output by the 7th time, which represents a situation where the danger zone was completely out of the 7th time after briefly staying for 2 hours in the danger zone in front of the detection area.

FIG. 8 is almost similar to FIG. 7, but it can be seen that the relative speed of the target is gradually decreased with time. In this case, it can be seen that the distance is narrowed more slowly than in the case of FIG. 7, and accordingly, the time for the target to stay in the detection area and the time for staying in the danger zone is increased by one hour, and the danger warning time is increased by two hours. .

9 is a situation in which the relative speed decreases more rapidly than in FIG. 8, and it can be seen that the relative speed approaches 0 in the 6th and 7th time just before the target leaves the detection area. Relative speed close to zero means that the target vehicle in the next lane is driving substantially parallel to the current vehicle. That is, since the relative speed is almost close to zero just before leaving the detection area, there is a high possibility that the target continues to stay in the danger zone while traveling in parallel on the danger zone. This also increases the risk warning time.

FIG. 10 corresponds to a case in which the target vehicle decreases speed and enters the detection area and then further decreases and speeds up compared to the current vehicle. That is, it can be seen that the target enters the detection area at the first time, and the distance is gradually increased from the 4th time, and then the detection area is out of the detection area after the 7th time. It can be seen that the vehicle is moving away from the negative value. Therefore, there is no need to warn of the danger from the 7th time onwards.

11 shows a situation in which the target vehicle enters the detection area at a slower speed than the current vehicle and then suddenly increases the speed and passes by the current vehicle. After the 7th time outside the detection area, the target speed value is no longer detected. Until the 9th time, it is possible to confirm the presence of a vehicle in the danger area through trajectory analysis, and warn of the danger until the corresponding time.

12 is a view for explaining a method of detecting a vehicle's rear or blind spot according to an embodiment of the present invention.

First, the generator 110 receives a Doppler radar signal for a radar detection area from the Doppler radar (S1201), and generates a frequency spectrum every frame by Fourier transforming the received Doppler radar signal (S1202).

When the target in the detection area is detected from the frequency spectrum, the first estimator 120 estimates the speed value of the target, and the controller 150 notifies the danger by outputting a danger signal through the warning means 200 and 300 installed in the vehicle. (S1230).

After the target is detected, the calculating unit 130 calculates the virtual distance at which the target is located on a frame-by-frame basis based on the estimated target speed value and the inter-frame spacing (S1240).

Subsequently, when a time comes when the target leaves the detection area and is not detected, the prediction unit 140 receives the speed value and the virtual distance of the previously estimated target through the estimation unit 120 and the calculation unit 130, and The virtual movement trajectory of the target in the future time interval is predicted on the basis (S1250).

Here, if it is predicted that the virtual movement trajectory of the predicted target exists within the preset danger zone outside the detection area, the controller 150 may display the current danger signal until the time at which the target is predicted to leave the danger zone arrives. The output state is maintained, and the output of the dangerous signal is stopped after the corresponding time (S1260).

According to the present invention as described above, only by analyzing the speed of the target from the Doppler radar installed in the vehicle can detect and alarm the blind spots on the side or rear of the vehicle very effectively, and using the Doppler radar, unlike the FMCW radar, low power And it is possible to implement a compact design as well as low cost, and has the advantage of being applicable to small vehicles, electric vehicles, robots, and the like.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: vehicle rear or blind spot detection device
110: generating unit 120: first estimation unit
130: operation unit 140: prediction unit
150: control unit 160: second estimation unit

Claims (18)

In the detection method using a device for detecting the rear or blind spot of the vehicle,
Generating a frequency spectrum every frame by receiving a Doppler radar signal for a detection area of a radar from a Doppler radar installed in at least one of a left rear side, a right rear side, and a rear front side of a vehicle;
Outputting a danger signal to an opposite vehicle through an alarm means installed outside the vehicle and estimating a speed value of the target when a target entering the detection area is detected from the frequency spectrum;
Calculating a virtual distance of each target relative to the front-rear direction based on the position of the vehicle, based on the estimated speed value of the target and the inter-frame spacing, for each frame;
Predicting a virtual movement trajectory of the target in a future time interval based on the estimated speed value of the target and the virtual distance if the target is not detected outside the detection area; And
When it is predicted that the virtual movement trajectory of the target is within the preset danger zone in front of the detection zone outside the detection zone, the output state of the danger signal is maintained, but a time point predicted to exit the danger zone arrives. And maintaining the output state of the danger signal until the vehicle is detected. delete The method according to claim 1,
When the Doppler radar is installed on the rear side of the vehicle, the preset dangerous area is an area extending a set distance forward from the rear-side detection area including the rear-side detection area for the vehicle, and the dangerous area is a side of the dangerous area. The area corresponding to the front of the rear detection area,
When the Doppler radar is installed in the rear front of the vehicle, the preset danger zone is an area extending a predetermined distance forward from the rear detection zone including the rear detection zone for the vehicle, and the danger zone is the rear detection zone among the danger zones. A method for detecting a vehicle's rear or blind spot, which is the area corresponding to the front of the delete delete The method according to claim 1 or claim 3,
Outputting the danger signal,
A method of detecting a rear or blind spot of a vehicle that outputs the danger signal by controlling at least one of a lighting color, a blinking function, and display information for an LED light installed on the rear side of the vehicle. The method according to claim 1,
When outputting the danger signal, the vehicle rear or blind spot detection method for further outputting the danger signal to the vehicle driver through the driver warning means mounted in the interior of the vehicle. The method according to claim 1,
And removing the ground clutter component from the frequency spectrum, and then estimating the own vehicle speed, which is the speed of the vehicle, using the Doppler of the ground clutter. The method according to claim 8,
When the own vehicle speed is compared to a preset threshold value, when the own vehicle speed is less than the threshold value, a method of detecting a rear or blind spot of a vehicle that does not output the danger signal even if a virtual movement trajectory of the target exists on the danger zone . A generator configured to receive a Doppler radar signal for a detection area of a radar from a Doppler radar installed in at least one of the left side rear side, the right side rear side, and the rear front side of the vehicle to generate a frequency spectrum every frame;
A first estimator configured to output a danger signal to an opposite vehicle through an alarm means installed outside the vehicle and estimate the speed value of the target when a target entering the detection area is detected from the frequency spectrum;
A calculation unit for calculating the virtual distance of the target relative to the front-rear direction based on the position of the vehicle based on the estimated speed value of the target and the inter-frame spacing for each frame;
A prediction unit predicting a virtual movement trajectory of the target in a future time interval based on the estimated speed value of the target and the virtual distance if the target is not detected outside the detection area; And
When it is predicted that the virtual movement trajectory of the target is within the preset danger zone in front of the detection zone outside the detection zone, the output state of the danger signal is maintained, but a time point predicted to exit the danger zone arrives. A vehicle rear or blind spot detection device including a control unit that maintains the output state of the danger signal until. delete The method according to claim 10,
When the Doppler radar is installed on the rear side of the vehicle, the preset dangerous area is an area extending a set distance forward from the rear-side detection area including the rear-side detection area for the vehicle, and the dangerous area is a side of the dangerous area. The area corresponding to the front of the rear detection area,
When the Doppler radar is installed in the rear front of the vehicle, the preset danger zone is an area extending a predetermined distance forward from the rear detection zone including the rear detection zone for the vehicle, and the danger zone is the rear detection zone among the danger zones. The vehicle's rear or blind spot detection device, which is the area corresponding to the front of the vehicle. delete delete The method according to claim 10 or claim 12,
The control unit,
A rear or blind spot detection device for a vehicle that outputs the danger signal by controlling at least one of a lighting color, a blinking function, and display information for an LED light installed on the rear side of the vehicle. The method according to claim 10,
When outputting the danger signal, the vehicle rear or blind spot detection device for outputting the danger signal to the vehicle driver through the driver warning means mounted in the interior of the vehicle. The method according to claim 10,
After removing the indicator clutter component from the frequency spectrum, the vehicle further includes a second estimator for estimating the vehicle's own vehicle speed using the Doppler of the indicator clutter. The method according to claim 17,
The control unit,
When the own vehicle speed is compared to a preset threshold value, when the own vehicle speed is less than the threshold value, a rear or blind spot detection device for a vehicle that does not output the danger signal even if a virtual movement trajectory of the target exists on the dangerous zone .

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