KR102192261B1 - Temperature Compensation Apparatus and Method of UltraSonic Sensor for Vehicle - Google Patents

Abstract

The present invention relates to an apparatus and method for compensating temperature of an ultrasonic sensor for a vehicle using an attenuation coefficient and transmission/reception efficiency of an ultrasonic sensor for a vehicle according to an external temperature and an internal temperature of the ultrasonic sensor for a vehicle. The temperature compensation device of the includes: a storage unit for storing temperature compensation information according to internal and external temperatures of an ultrasonic sensor for a vehicle; A sensing unit for sensing internal and external temperatures of the vehicle ultrasonic sensor; And a compensation unit for temperature-compensating the vehicle ultrasonic sensor using temperature compensation information according to internal and external temperatures of the vehicle ultrasonic sensor.

Description

Temperature Compensation Apparatus and Method of UltraSonic Sensor for Vehicle {Temperature Compensation Apparatus and Method of UltraSonic Sensor for Vehicle}

The present invention relates to an apparatus and method for compensating temperature of an ultrasonic sensor for a vehicle, and more specifically, an apparatus and method for performing temperature compensation using an attenuation coefficient and transmission/reception efficiency of an ultrasonic sensor for a vehicle according to an external temperature and an internal temperature of the vehicle ultrasonic sensor. It is about.

A general vehicle ultrasonic sensor transmits an ultrasonic signal, and when the transmitted ultrasonic signal is reflected on an object and is received, when the magnitude of the received ultrasonic signal is greater than a threshold, the ultrasonic signal is transmitted and the transmitted ultrasonic signal is transmitted to the object. The distance to the object can be calculated using the time difference between the reflected and received viewpoints.

Therefore, the threshold value of the vehicle ultrasonic sensor should be set smaller than the size of the received signal by reflecting the ultrasonic signal transmitted to the reference object by distance according to ISO17386 (standard for the reference object).

Meanwhile, an attenuation coefficient (a measure representing a difference in transmission or reception sensitivity of radio waves) changes according to temperature in general for ultrasonic signals in the atmosphere. For example, the attenuation coefficient of the ultrasonic signal in the atmosphere is largest when the air temperature is within the range of 20 to 40 degrees, and decreases as the air temperature decreases from 20 degrees, and the air temperature increases from 40 degrees. The smaller it is.

The ultrasonic signal reflected by the reference object and input also has an attenuation coefficient that changes with temperature, similar to the ultrasonic signal in the atmosphere.

Therefore, the conventional ultrasonic system for vehicles provides temperature compensation such as adjusting a threshold value or changing a reception gain according to a distance using air temperature information, thereby preventing problems such as deterioration of object detection performance depending on the air temperature. I can.

A typical vehicle temperature compensation method is to obtain air temperature information through a temperature sensor to compensate for the attenuation phenomenon in which the attenuation coefficient decreases depending on the air temperature, and change the threshold of the ultrasonic sensor according to the obtained air temperature information. By performing compensation, it is possible to prevent in advance a phenomenon in which the sensing performance of the ultrasonic sensor is deteriorated depending on the ambient temperature.

Meanwhile, the air temperature information is obtained from an air conditioner or the like or from an air temperature sensor separately mounted outside the vehicle.

However, a change in the attenuation coefficient (transmission/reception efficiency) according to the temperature of the ultrasonic signal occurs not only by the ambient temperature but also by the internal temperature of the ultrasonic sensor.

In general, the ultrasonic sensor has a maximum transmission sound pressure and a reception sound pressure at room temperature, and decreases as the ambient temperature changes.

If the air temperature and the internal temperature of the ultrasonic sensor match, no problem occurs even if temperature compensation is performed on the ultrasonic sensor using only the air temperature information.

However, in general, since the bumper surface temperature of the vehicle and the ambient temperature are different, when performing temperature compensation for the ultrasonic sensor using only the ambient temperature, the temperature difference between the internal temperature of the ultrasonic sensor and the ambient temperature causes the change in transmission/reception efficiency of the ultrasonic sensor. There is a problem that an incorrect temperature compensation value may be applied.

That is, if an incorrect temperature compensation value is applied according to a change in transmission/reception efficiency of the ultrasonic sensor, a problem in which the ultrasonic sensor malfunctions may occur.

For example, a case where the air temperature is room temperature, and the vehicle is parked so that half of the vehicle is located in a sunny place and the other half is located in a shaded area is as follows.

First, the ultrasonic sensor mounted on the vehicle side located in the sunny area increases the internal temperature of the ultrasonic sensor from the ambient temperature due to the absorption of sunlight from the bumper, reducing the transmission/reception efficiency, and the ultrasonic signal reflected from the reference object due to the reduced transmission/reception efficiency. In the case of receiving, the magnitude of the received ultrasonic signal may be smaller than the threshold value of the ultrasonic sensor.

The ultrasonic sensor installed on the vehicle side located in the shaded area is lower than the ambient temperature because the bumper does not absorb sunlight, so the transmission/reception efficiency also decreases, and when receiving the ultrasonic signal reflected from the reference object due to the reduced transmission/reception efficiency, The magnitude of the received ultrasonic signal may be smaller than the threshold value of the ultrasonic sensor.

When the size of the ultrasonic signal reflected from the reference object and received is smaller than the threshold value of the ultrasonic sensor, in order to calculate the distance to the reference object using the received ultrasonic signal, the threshold value of the vehicle ultrasonic sensor is received. It should be set to a value smaller than the size of.

However, in the case of performing temperature compensation for the ultrasonic sensor using only the atmospheric temperature information, there is a problem that the performance of the ultrasonic parking assist system is degraded since the temperature compensation is not performed at room temperature because the atmospheric temperature is room temperature as described above. .

The present invention is to solve the above problems, and more specifically, temperature compensation of a vehicle ultrasonic sensor that compensates for temperature by using attenuation coefficient and transmission/reception efficiency of the vehicle ultrasonic sensor according to the external temperature and the internal temperature of the vehicle ultrasonic sensor. Its purpose is to provide an apparatus and method.

In order to achieve the above object, a temperature compensation apparatus for an ultrasonic sensor for a vehicle according to an aspect of the present invention includes: a storage unit for storing temperature compensation information according to internal and external temperatures of the ultrasonic sensor for a vehicle; A sensing unit for sensing internal and external temperatures of the vehicle ultrasonic sensor; And a compensation unit for temperature-compensating the vehicle ultrasonic sensor by using temperature compensation information according to internal and external temperatures of the vehicle ultrasonic sensor.

The temperature compensation information includes external temperature information of the vehicle ultrasonic sensor, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information corresponding to the internal temperature information. , Reception efficiency information and transmission/reception efficiency compensation information.

The compensation unit compares the first amplification factor for amplifying the input signal and the input signal strength by using attenuation coefficient information corresponding to the detected external temperature and attenuation coefficient compensation information among stored attenuation coefficient information and attenuation coefficient compensation information. A first calculator configured to calculate a first reference value for; A second amplification factor for amplifying the input signal and the input signal using transmission efficiency information corresponding to the sensed internal temperature, reception efficiency information, and transmission/reception efficiency compensation information among stored transmission efficiency information, reception efficiency information, and transmission/reception efficiency compensation information A second calculator configured to calculate a second reference value for comparison with intensity; A first for calculating a final amplification factor to be used for amplification of the input signal input to the vehicle ultrasonic sensor using the first amplification factor calculated by the first calculation unit and the second amplification factor calculated by the second calculation unit Operation unit; And a second calculating a final reference value to be used for comparison with the intensity of the input signal using the first reference value calculated by the first calculation unit and the second reference value calculated by the second calculation unit. It characterized in that it includes an operation unit.

When the first calculation unit is retrieved from the external temperature information stored in the external temperature section higher than the current external temperature of the vehicle ultrasonic sensor, the compensation range of the attenuation coefficient compensation section corresponding to the retrieved external temperature section and the previous external temperature section The first amplification factor is calculated by acquiring a compensation range of an attenuation coefficient compensation period corresponding to a temperature section from the stored attenuation coefficient compensation information.

When an external temperature matching the current external temperature of the ultrasonic sensor for a vehicle is searched for from the stored external temperature information, the first calculation unit acquires an attenuation coefficient corresponding to the searched external temperature from the stored attenuation coefficient information, and the first reference value It characterized in that it calculates.

When the second calculation unit is retrieved from the internal temperature information stored in the internal temperature section higher than the current internal temperature of the vehicle ultrasonic sensor, the compensation range of the transmission/reception efficiency compensation section corresponding to the searched internal temperature section and the previous interior of the retrieved internal temperature section The second amplification factor is calculated by obtaining a compensation range of the transmission/reception efficiency compensation period corresponding to the temperature period from the stored transmission/reception efficiency compensation information.

When an internal temperature matching the current internal temperature of the vehicle ultrasonic sensor is searched for from the stored internal temperature information, the second calculation unit stores transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information. And calculating the second reference value.

The first calculation unit may include a first multiplier that multiplies a counted time and a first amplification factor transmitted from the first calculation unit as a signal reflected from an object is input to the vehicle ultrasonic sensor; And a first adder that adds the result value transmitted from the first multiplier and the second amplification factor transmitted from the second calculation unit, and outputs the added result value as the final amplification factor.

The second calculation unit may include a second multiplier that multiplies a counted time and a first reference value transmitted from the first calculation unit as a signal reflected from an object is input to the vehicle ultrasonic sensor; And a result value transmitted from the second multiplier and a second reference value transmitted from the second calculation unit are added, and the result value of the addition operation and a preset reference value of the input signal are added to the final reference value. It characterized in that it comprises a second adder to output as.

According to another aspect of the present invention, a method of compensating for a temperature of an ultrasonic sensor for a vehicle includes: sensing internal and external temperatures of the ultrasonic sensor for a vehicle; And temperature-compensating the vehicle ultrasonic sensor using pre-stored temperature compensation information according to the detected internal and external temperatures of the vehicle ultrasonic sensor.

The temperature compensation information includes external temperature information of the vehicle ultrasonic sensor, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information corresponding to the internal temperature information. , Reception efficiency information and transmission/reception efficiency compensation information.

Compensating the temperature of the vehicle ultrasonic sensor may include amplification of the input signal input to the vehicle ultrasonic sensor using attenuation coefficient information corresponding to the detected external temperature and attenuation coefficient compensation information among stored attenuation coefficient information and attenuation coefficient compensation information. Calculating a first amplification factor for and a first reference value for comparison with the intensity of the input signal; A second amplification factor for amplifying the input signal and the input signal using transmission efficiency information corresponding to the sensed internal temperature, reception efficiency information, and transmission/reception efficiency compensation information among stored transmission efficiency information, reception efficiency information, and transmission/reception efficiency compensation information Calculating a second reference value for comparison with intensity; Calculating a final amplification factor to be used for amplification of the input signal using the calculated first amplification factor and the calculated second amplification factor; And calculating a final reference value to be used for comparison with the input signal strength by using the calculated first reference value and the calculated second reference value.

The calculating of the first reference value may include retrieving an external temperature section higher than the current external temperature of the vehicle ultrasonic sensor detected from the stored external temperature information; And a compensation range of the attenuation coefficient compensation section corresponding to the searched external temperature section and a compensation range of the attenuation coefficient compensation section corresponding to the previous external temperature section of the searched external temperature section from the stored attenuation coefficient compensation information to obtain the first amplification factor. It characterized in that it includes the step of calculating.

The calculating of the first reference value may include searching for an external temperature that matches a current external temperature of the ultrasonic sensor for a vehicle from the stored external temperature information; And calculating the first reference value by obtaining an attenuation coefficient corresponding to the searched external temperature from the stored attenuation coefficient information.

The calculating of the second reference value may include retrieving an internal temperature section higher than the current internal temperature of the vehicle ultrasonic sensor detected from the stored internal temperature information; And a compensation range of a transmission/reception efficiency compensation period corresponding to the searched internal temperature period and a compensation range of a transmission/reception efficiency compensation period corresponding to a previous internal temperature period of the searched internal temperature period from the stored transmission/reception efficiency compensation information to obtain the second amplification factor. It characterized in that it includes the step of calculating.

The calculating of the second reference value may include searching for an internal temperature that matches the current internal temperature of the ultrasonic sensor for the vehicle from the stored internal temperature information; And calculating the second reference value by obtaining transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information.

The calculating of the final amplification factor may include multiplying a time counted as a signal reflected from an object is input to the vehicle ultrasonic sensor and a first amplification factor transmitted from the first calculator; And adding a result value of the step of multiplying the first amplification factor and the calculated second amplification factor, and outputting the resultant value of the addition operation as the final amplification factor.

The calculating of the final reference value may include multiplying a counted time and the calculated first reference value as a signal reflected from an object is input to the vehicle ultrasonic sensor; Performing an addition operation on a result of multiplying the first reference value and the calculated second reference value; And outputting the final reference value by adding a result value of the step of adding the second reference value and a preset reference value of the input signal.

According to the present invention, it is possible to compensate the temperature of the vehicle ultrasonic sensor by using the attenuation coefficient and transmission/reception efficiency of the vehicle ultrasonic sensor according to the external temperature and the internal temperature of the vehicle ultrasonic sensor.

In particular, not only can the input signal be compensated using the attenuation coefficient of the vehicle ultrasonic sensor according to the external temperature of the vehicle ultrasonic sensor, but also temperature compensation can be performed by using the transmission/reception efficiency of the vehicle ultrasonic sensor according to the internal temperature of the vehicle ultrasonic sensor. Thus, it is possible to implement an ultrasonic sensor that is more robust to external and internal temperature changes.

1 is a view showing a temperature compensation device of an ultrasonic sensor for a vehicle according to an embodiment of the present invention.
Figure 2 is a view showing in more detail Figure 1;
3 is a view showing attenuation coefficient of an ultrasonic signal according to a change in external temperature of the ultrasonic sensor of FIG. 1.
4 and 5 are diagrams showing transmission and reception efficiency according to a change in internal temperature of the ultrasonic sensor of FIG. 1.
6 is a diagram showing a compensation value for attenuation coefficient according to a change in external temperature of the ultrasonic sensor of FIG. 1.
7 is a diagram illustrating a transmission/reception efficiency compensation value according to an internal temperature change of the ultrasonic sensor of FIG. 1.
8 is a flowchart illustrating a temperature compensation method of an ultrasonic sensor for a vehicle according to an embodiment of the present invention.

The above-described objects and other objects, advantages, and features of the present invention, and methods of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only the following embodiments are the objectives and configurations of the invention to those of ordinary skill in the art. And only to be provided to inform the effect easily, the scope of the present invention is defined by the description of the claims.

On the other hand, terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, actions and/or elements in which the recited component, step, operation and/or element is Or does not preclude addition.

Hereinafter, a temperature compensation apparatus of an ultrasonic sensor for a vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. 1 is a diagram illustrating a temperature compensation apparatus of an ultrasonic sensor for a vehicle according to an exemplary embodiment of the present invention, and FIG. 2 is a diagram illustrating FIG. 1 in more detail.

As shown in FIG. 1, a temperature compensation apparatus of an ultrasonic sensor for a vehicle according to an embodiment of the present invention includes a first compensation unit 100, a second floating unit 200, a storage unit 300, and an ultrasonic sensing unit ( 400) and a first temperature sensor 500.

As shown in FIG. 2, the first compensation unit 100 includes a first calculation unit 110 and a second calculation unit 120, and a storage unit according to internal and external temperatures of the ultrasonic sensing unit 400 A dynamic amplification factor, a static amplification factor, a dynamic threshold value, and a static threshold value for temperature compensation of the ultrasonic sensing unit 400 are calculated using the temperature compensation information stored in 300. The first compensation unit 100 transmits the calculated dynamic amplification factor, static amplification factor, dynamic threshold value, and static threshold value to the second compensation unit 200.

For the purposes of the foregoing, the first calculation unit 110 may determine the current external temperature of the ultrasonic sensing unit 400 transmitted from the first temperature sensor 500, external temperature section information stored in the storage unit 300, and external temperature section information. The dynamic amplification factor is calculated using the corresponding attenuation coefficient compensation information.

In addition, the first calculation unit 110 uses the current external temperature of the ultrasonic sensing unit 400 transmitted from the first temperature sensor 500 and the attenuation coefficient information corresponding to the external temperature information stored in the storage unit 300. Calculate the dynamic threshold.

The first calculation unit 110 transmits the calculated dynamic amplification factor and a dynamic threshold value to the second compensation unit 200.

The second calculation unit 120 transmits/receives efficiency corresponding to the current internal temperature of the ultrasonic sensing unit 400 transmitted from the second temperature sensor 410, internal temperature section information stored in the storage unit 300, and internal temperature section information. The static amplification factor is calculated using the compensation information.

In addition, the second calculation unit 120 receives and receives transmission efficiency information corresponding to the current internal temperature of the ultrasonic sensing unit 400 transmitted from the second temperature sensor 410 and the internal temperature information stored in the storage unit 300. A static threshold is calculated using the efficiency information.

The second calculation unit 120 transmits the calculated static amplification factor and a static threshold value of the ultrasonic sensing unit 400 to the second compensation unit 200.

The second compensation unit 200 includes a first operation unit 210 and a second operation unit 220, and uses a dynamic amplification factor, a dynamic threshold value, a static amplification factor, and a static threshold value transmitted from the first compensation unit 100. Thus, the ultrasonic sensing unit 400 is temperature-compensated.

For the purposes of the foregoing, the first calculation unit 210 includes a first multiplier M1 and a first adder S1, and the first amplification factor and the second calculation unit 120 calculated by the first calculation unit 110 A final amplification factor to be used for amplifying the input signal input to the ultrasonic sensing unit 400 is calculated using the second amplification factor calculated by.

The first multiplier M1 multiplies the counted time and the first amplification factor transmitted from the first calculator 110 as the signal reflected from the object is input to the vehicle ultrasonic sensor 400.

The first adder S1 adds the result value multiplied by the first multiplier M1 and the second amplification factor transmitted from the second calculator 120, and outputs the resultant result value as a final amplification factor. .

The second calculation unit 220 includes a second multiplier M2 and a second adder S2, and the dynamic threshold value calculated by the first calculation unit 110 and the second calculation unit 120 calculate A final reference value to be used for comparison with the intensity of the input signal input to the ultrasonic sensing unit 400 is calculated by using the static threshold value.

The second multiplier M2 multiplies the counted time and the dynamic threshold transmitted from the first calculator 110 as the signal reflected from the object is input to the ultrasonic sensing unit 400.

The second adder S2 adds the result value multiplied by the second multiplier M2 and the static threshold value transmitted from the second calculation unit 120, and calculates the added result value and the ultrasonic sensing unit 400 For comparison with the input signal strength of ), a preset reference value is added and output as a final reference value.

The storage unit 300 includes external temperature section information of the ultrasonic sensing unit 400 and attenuation coefficient compensation information corresponding to the external temperature section information, attenuation coefficient information corresponding to the external temperature information of the ultrasonic sensing unit 400, and an ultrasonic sensing unit. The internal temperature section information of 400, transmission/reception efficiency compensation information corresponding to the internal temperature section information, transmission efficiency information and reception efficiency information corresponding to the internal temperature information of the ultrasonic sensing unit 400 are stored.

The ultrasonic sensing unit 400 includes a second temperature sensor 410, a variable amplifier 420, a timer 430, a band pass filter 440, an envelope detector 450, a comparator 460, and an object position detector 470. , A transmission pulse generator 480 and an ultrasonic transducer 490.

The second temperature sensor 410 detects the internal temperature of the ultrasonic sensing unit 400 and transmits the detected internal temperature information to the second calculation unit 120.

The variable amplifier 420 amplifies and outputs the input signal reflected from the object according to the set variable gain, that is, the final amplification factor calculated by the first operation unit 210.

The timer 430 is initialized as a signal reflected from the object is input to the variable amplifier 420 and counts the time, and transfers the counted time Tc to the first multiplier M1 and the second multiplier M2. .

The band pass filter 440 filters and outputs a signal output from the variable amplifier 420 according to a preset bandwidth.

The envelope detector 450 detects a curve contacting an output signal according to a preset band among signals output from the band pass filter 440.

The comparator 460 compares the magnitude of the signal detected by the envelope detector 450 with the changed reference value, that is, the final reference value calculated by the second operation unit 220, and outputs a signal according to the comparison result.

The object position detector 470 acquires distance information to the object by using the signal output from the comparator 460, and detects the position of the object by using the obtained distance information.

The transmission pulse generator 480 generates a transmission pulse for detecting the position of an object.

The ultrasonic transducer 490 converts the transmission pulse generated by the transmission pulse generator 480 into an ultrasonic signal.

As described above, the static amplification factor and the dynamic amplification factor are calculated using the transmission/reception efficiency compensation information and the attenuation factor compensation information according to the internal temperature and the external temperature of the ultrasonic sensor unit 400, and the calculated static amplification factor and the dynamic amplification factor are used. The variable gain is calculated, and the calculated variable gain is transmitted to the variable amplifier 420 so that the variable amplifier 420 amplifies the input signal of the ultrasonic sensing unit 400 according to the calculated variable gain, so that the ultrasonic sensing unit 400 ) Can be compensated for temperature. In addition, a static threshold value and a dynamic threshold value are calculated using transmission efficiency information, reception efficiency information, and attenuation coefficient information according to the internal temperature and the external temperature of the ultrasonic sensor unit 400, and the calculated static threshold value and the dynamic threshold value are calculated. The reference value of the comparator 460 is calculated using the reference value and the calculated reference value is transmitted to the comparator 460 so that the comparator 460 compares the intensity of the input signal amplified by the variable amplifier 420 with the reference value. Temperature compensation of the sensing unit 400 may be performed.

That is, according to the present invention, it is possible to compensate for the temperature of the vehicle ultrasonic sensor using the attenuation coefficient and transmission/reception efficiency of the vehicle ultrasonic sensor according to the external temperature and the internal temperature of the vehicle ultrasonic sensor. In particular, not only can the vehicle ultrasonic sensor be temperature compensated by using the attenuation coefficient of the vehicle ultrasonic sensor according to the external temperature, but also the vehicle ultrasonic sensor can be temperature compensated by using the transmission and reception efficiency of the vehicle ultrasonic sensor according to the internal temperature. An ultrasonic sensor that is more robust to internal temperature changes can be implemented.

Hereinafter, operations of the first calculation unit 110 and the second calculation unit 120 and the storage unit 300 of the first compensation unit 100 of FIG. 2 will be described in more detail with reference to FIGS. 3 and 7. Explain. 3 is a diagram showing attenuation coefficient of an ultrasonic signal according to a change in external temperature of the ultrasonic sensing unit of FIG. 1, and FIGS. 4 and 5 are diagrams showing transmission and reception efficiency according to a change in internal temperature of the ultrasonic sensing unit of FIG. 1, FIG. 6 is a diagram illustrating a compensation value for attenuation coefficient according to an external temperature change of the ultrasonic sensing unit of FIG. 1, and FIG. 7 is a diagram illustrating a transmission/reception efficiency compensation value according to an internal temperature change of the ultrasonic sensing unit of FIG. 1.

First, the storage unit 300 stores external temperature information of the ultrasonic sensing unit 400 and attenuation coefficient information of the ultrasonic sensing unit 400 corresponding to the external temperature information of the ultrasonic sensing unit 400.

For example, as shown in FIG. 3, the storage unit 300 has the largest value when the external temperature of the ultrasonic sensing unit 400 is within the range of 20° to 40°, and the external temperature is 20° as the starting point. When it goes down, it decreases in proportion to this, and when the external temperature increases from 40°, the attenuation coefficient information of the ultrasonic sensing unit 400, which decreases in inverse proportion to this, is converted to the external temperature information (from -40° to 80°). It stores information corresponding to the range information up to ˚).

The storage unit 300 stores internal temperature information of the ultrasonic sensing unit 400 and transmission efficiency information of the ultrasonic sensing unit 400 corresponding to the internal temperature information of the ultrasonic sensing unit 400.

For example, as shown in FIG. 4, when the internal temperature of the ultrasonic sensing unit 400 is 30°, the storage unit 300 has the largest value, and when the internal temperature decreases from 30°, It decreases, and when the internal temperature decreases from 30˚ to 40˚, it decreases in inverse proportion, and as the internal temperature increases from 40˚ to 50˚, it gradually increases in proportion to this, and 60˚ from 50˚. As the internal temperature increases to the point, the transmission efficiency information of the ultrasonic sensing unit 400, which increases rapidly in proportion to this, corresponds to the internal temperature information (temperature range from -20˚ to 60˚, etc.) of the ultrasonic sensing unit 400. Save it.

The storage unit 300 stores internal temperature information of the ultrasonic sensing unit 400 and reception efficiency information of the ultrasonic sensing unit 400 corresponding to the internal temperature information of the ultrasonic sensing unit 400.

For example, in the storage unit 300, as shown in FIG. 5, the internal temperature of the ultrasonic sensing unit 400 decreases from -30˚ to -20˚, and increases from -20˚ to -10˚. , Receiving efficiency information of the ultrasonic sensing unit 400 that decreases from around -10˚ to around 0˚, increases again from around 0˚ to around 10˚, and decreases from around 10˚ to 60˚ 400) in response to the internal temperature information (temperature range from -30˚ to 60˚, etc.).

In addition, the storage unit 300 stores external temperature information of the ultrasonic sensing unit 400 and attenuation coefficient compensation information corresponding to the external temperature information of the ultrasonic sensing unit 400. The storage unit 300 stores internal temperature information of the ultrasonic sensing unit 400 and transmission/reception efficiency compensation information corresponding to the internal temperature information of the ultrasonic sensing unit 400.

The first calculation unit 110 divides the external temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300 and the attenuation coefficient compensation information of the ultrasonic sensing unit 400 corresponding to the external temperature information into N sections, respectively. And, the external temperature section information and the attenuation coefficient compensation section information divided into N sections are stored in the storage unit 300.

For the foregoing, first, the first calculation unit 110 divides the external temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300 into N sections.

For example, the first calculation unit 110 sets a temperature range corresponding to each external temperature section divided into N sections at intervals of 10°.

That is, as shown in FIG. 6, the first calculation unit 110 converts the temperature range information from -40° to 80°, which is the external temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300, to [ 1], ..., To[n-1], To[n=N], divided into N sections. The first calculation unit 110 divides each temperature range corresponding to each external temperature section divided into N sections, divided into 10˚ intervals {-40˚~ -30˚}, {-30˚~ -20˚} , ..., {60˚~ 70˚}, {70˚~ 80˚} respectively.

The first calculation unit 110 stores temperature range information corresponding to each set external temperature section in the storage unit 300.

For example, the first calculation unit 110 is the temperature range information {-40˚~ -30˚}, {-30˚~ -20˚}, ..., {60˚~ 70˚}, {70˚~ 80˚} corresponds to the external temperature section information To[1], To[2], ..., To[n-1], To[n], and each temperature range information corresponding to each external temperature section In To[1] = {-40˚~ -30˚}, To[2] = {-30˚~ -20˚}, ..., To[n-1] = 60˚~70˚}, To [n] = {70˚~ 80˚} is stored in the storage unit 300.

In addition, the first calculation unit 110 converts the attenuation coefficient compensation information of the ultrasonic sensing unit 400 stored in the storage unit 300 into Ma[1], ..., Ma[n-1], Ma[n=N. ], it is divided into N sections.

Then, the first calculation unit 110 stores the compensation range corresponding to each attenuation coefficient compensation section divided into N sections, the attenuation coefficient compensation information of the ultrasonic sensing unit 400 stored in the storage unit 300 and the corresponding external Set using temperature information.

For example, the first calculation unit 110 includes compensation information for attenuation coefficient (from 0.5m/dB to 3m/dB) of the ultrasonic sensing unit 400 stored in the storage unit 300 and external temperature information (-40°) corresponding thereto. The external temperature section To[5] corresponding to the attenuation coefficient compensation section Ma[5] is obtained using the temperature range information from 80˚ to 80˚. The first calculation unit 110 uses a temperature range of 0˚ to 10˚ corresponding to the obtained external temperature section To[5], and a compensation range of 1.75m/dB to 1m/dB corresponding to a temperature range of 0˚ to 10˚ Is obtained from the storage unit 300. For example, the first calculation unit 110 uses a temperature range of 0° to 10° to determine the compensation range of 1.75m/dB to 1m/dB obtained from the storage unit 300 corresponding to the attenuation factor compensation section Ma[5]. Set to the compensation range.

The first calculation unit 110 is a linear interpolation method in which values within the compensation range of each set attenuation coefficient compensation section are set as two points as the start value and the end value of each compensation range, and the points between the two points are interpolated as real values. It is calculated using

For example, the first calculation unit 110 interpolates the points between the two values (points) into real values, such as a start value of 1.75 and an end value of the compensation range of 1.75 corresponding to the attenuation factor compensation section Ma[5]. Thus, values within the compensation range of 1.75m/dB ~ 1m/dB are calculated.

The first calculation unit 110 stores information on each attenuation coefficient compensation section divided into N sections and information on a compensation range corresponding to each set and calculated attenuation coefficient compensation section in the storage unit 300.

Meanwhile, when the current external temperature T of the ultrasonic sensing unit 400 is transmitted from the first temperature sensor 500 located outside the ultrasonic sensing unit 400, the first calculating unit 110 is The dynamic amplification factor of the ultrasonic sensing unit 400 is calculated by using the current external temperature T of 400, information of each stored external temperature section, and compensation information of respective attenuation coefficients corresponding thereto.

For example, the first calculation unit 110 calculates the current external temperature T transmitted from the first temperature sensor 500 and the start value or the end value of the temperature range corresponding to each external temperature section stored in the storage unit 300. Compare.

That is, the first calculation unit 110 searches for an external temperature section corresponding to a temperature range higher than the current external temperature T from information of each external temperature section divided into N sections stored in the storage unit 300.

As a result of the search, when an external temperature section corresponding to a temperature range higher than the current external temperature (T) is searched in the storage unit 300, compensation of the attenuation coefficient compensation section Ma[n] corresponding to the searched external temperature section To[n] The range is obtained from the storage unit 300, and the compensation range of the attenuation coefficient compensation section Ma[n-1] corresponding to the previous external temperature section To[n-1] of the searched external temperature section To[n] is stored ( 300).

The first calculation unit 110 is the attenuation coefficient compensation period Ma[n-1] obtained from the start value (or end value) of the compensation range corresponding to the attenuation coefficient compensation period Ma[n] obtained from the storage unit 300. A first result is calculated by subtracting the start value (or end value) of the compensation range corresponding to ].

The first calculation unit 110 is the previous external temperature section To[n-1] of the searched external temperature section To[n] from the start value (or end value) of the temperature range corresponding to the searched external temperature section To[n]. A second result is calculated by subtracting the start value (or end value) of the temperature range corresponding to.

The first calculation unit 110 calculates a third result by dividing the first result by the second result, and the calculated third result is the previous external temperature section To[n] retrieved from the current external temperature (T). A fourth result is calculated by multiplying the result of subtracting the start value (or end value) of the temperature range corresponding to the temperature section To[n-1].

The first calculation unit 110 calculates the dynamic amplification factor of the ultrasonic sensing unit 400 by adding the start value (or end value) of the compensation range corresponding to the attenuation coefficient compensation section Ma[n-1] to the fourth result. do.

However, as a result of the search, if an external temperature section corresponding to a temperature range higher than the current external temperature T is not searched, the first calculation unit 110 uses a preset first reference amplification factor as a dynamic amplification factor of the ultrasonic sensing unit 400. Set to

In addition, the first calculation unit 110 uses the current external temperature T of the ultrasonic sensing unit 400 transmitted from the first temperature sensor 500 and the attenuation coefficient information stored in the storage unit 300 to use the ultrasonic sensing unit. The dynamic threshold of 400 is calculated.

For the foregoing, first, the first calculation unit 110 uses the current external temperature T of the ultrasonic sensing unit 400 transmitted from the first temperature sensor 500 and the attenuation coefficient information stored in the storage unit 300. The attenuation coefficient of the ultrasonic sensing unit 400 is acquired.

For example, the first calculation unit 110 searches for an external temperature that matches the current external temperature T transmitted from the first temperature sensor 500 from the external temperature information stored in the storage unit 300, and the current external temperature ( When the external temperature matching T) is searched, an attenuation coefficient corresponding to the searched external temperature is obtained from the attenuation coefficient information stored in the storage unit 300.

The first calculating unit 110 calculates a dynamic threshold value of the ultrasonic sensing unit 400 by using the attenuation coefficient of the ultrasonic sensing unit 400 obtained from the storage unit 300.

For example, the first calculation unit 110 multiplies the calculated or set dynamic amplification factor of the ultrasonic sensing unit 400 by the attenuation coefficient of the ultrasonic sensing unit 400 obtained from the storage unit 300 to calculate the ultrasonic sensing unit 400 Calculate the dynamic threshold of

The first calculating unit 110 transmits the calculated or set dynamic amplification factor of the ultrasonic sensing unit 400 and the calculated dynamic threshold value of the ultrasonic sensing unit 400 to the second compensating unit 200.

The second calculation unit 120 divides the internal temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300 and the transmission/reception efficiency compensation information of the ultrasonic sensing unit 400 corresponding to the internal temperature information into K sections, respectively. And, the internal temperature section information and transmission/reception efficiency compensation section information divided into K sections are stored in the storage unit 300.

For the foregoing, first, the second calculation unit 120 divides the internal temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300 into K sections.

For example, the second calculation unit 120 sets a temperature range corresponding to each internal temperature section divided into K sections at intervals of 10 degrees.

That is, as shown in FIG. 7, the second calculation unit 120 calculates temperature range information from -20° to 60°, which is the internal temperature information of the ultrasonic sensing unit 400 stored in the storage unit 300. 1],...,Ti[n-1], Ti[n=K], divided into K sections. The second calculation unit 120 divides each temperature range corresponding to each internal temperature section divided into K sections at intervals of 10˚, {-20˚~ -10˚}, {-10˚~ 0˚}, ..., {40˚~ 50˚}, {50˚~ 60˚} respectively.

The second calculation unit 120 stores temperature range information corresponding to each set internal temperature section in the storage unit 300.

For example, the second calculation unit 120 is the temperature range information {-20˚~ -10˚}, {-10˚~ 0˚}, ..., {40˚~ 50˚}, {50˚~ 60 ˚} corresponds to the internal temperature section information Ti[1], Ti[2], ..., Ti[n-1], Ti[n=K], and each temperature range corresponding to each internal temperature section Information Ti[1] = {-20˚~ -10˚}, Ti[2] = {-10˚~ 0˚}, ..., Ti[n-1] = 40˚~ 50˚}, Ti [n=K] = {50˚~ 60˚} is stored in the storage unit 300.

In addition, the second calculation unit 120 transmits the transmission and reception efficiency compensation information of the ultrasonic sensing unit 400 stored in the storage unit 300 from Mr[1] ..., Mr[n-1], Mr[n=K It is divided into K sections up to ].

Then, the second calculation unit 120 stores the transmission/reception efficiency compensation information of the ultrasonic sensing unit 400 stored in the storage unit 300 and the corresponding internal compensation range corresponding to each transmission/reception efficiency compensation section divided into K sections. Set using temperature information.

For example, the second calculation unit 120 includes information on the transmission/reception efficiency of the ultrasonic sensing unit 400 stored in the storage unit 300 (from 0.3% to 0.65%) and external temperature information (-20° to 60°) corresponding thereto. The internal temperature section Ti[5] corresponding to the transmission/reception efficiency compensation section Mr[5] is obtained using the temperature range information up to and so on). The second calculation unit 120 stores a compensation range of 0.375% to 0.3% corresponding to a temperature range of 20˚ to 30˚ by using a temperature range of 20˚ to 30˚ corresponding to the obtained internal temperature section Ti[5]. Obtained from 300. The second calculation unit 120 sets a compensation range of 0.375% to 0.3% obtained from the storage unit 300 as a compensation range corresponding to the transmission/reception efficiency compensation period Mr[5] using a temperature range of 20° to 30°. .

The second calculation unit 120 sets the values within the compensation range corresponding to each set transmission/reception efficiency compensation section as two points, and the points between the two points as real values. It is calculated using an interpolation method.

For example, the second calculation unit 120 interpolates the points between the two values (points) into real values, such as 0.375 the start value of the compensation range corresponding to the transmission/reception efficiency compensation section Mr[5] and the end value of the compensation range 0.3. Thus, values within the compensation range of 0.375% to 0.3% are calculated.

The second calculation unit 120 stores information on each transmission/reception efficiency compensation section divided into K sections and information on a compensation range corresponding to each set and calculated transmission/reception efficiency compensation section in the storage unit 300.

Meanwhile, when the current internal temperature t of the ultrasonic sensing unit 400 is transmitted from the second temperature sensor 410 located inside the ultrasonic sensing unit 400, the second calculating unit 120 Using the current internal temperature (t) of 400 and each internal temperature section information divided into K sections stored in the storage unit 300, and information on each transmission/reception efficiency compensation section corresponding thereto, Calculate the amplification factor.

For example, the second calculation unit 120 calculates the current internal temperature t transmitted from the second temperature sensor 410 and the start value or the end value of the temperature range corresponding to each internal temperature section stored in the storage unit 300. Compare.

That is, the second calculation unit 120 searches for an internal temperature section corresponding to a temperature range higher than the current external temperature T from information of each internal temperature section divided into K sections stored in the storage unit 300.

As a result of the search, when an internal temperature section corresponding to a temperature range higher than the current internal temperature t is searched, the compensation range of the transmission/reception efficiency compensation section Mr[n] corresponding to the searched internal temperature section Ti[n] is stored in the storage unit 300 ), and the compensation range of the transmission/reception efficiency compensation section Mr[n-1] corresponding to the previous internal temperature section Tr[n-1] of the searched internal temperature section Tr[n] is obtained from the storage unit 300.

The second calculation unit 100 includes the obtained transmission/reception efficiency compensation interval Mr[n-1] from the start value (or end value) of the compensation range corresponding to the transmission/reception efficiency compensation interval Mr[n] obtained from the storage unit 300. A fifth result is calculated by subtracting the start value (or end value) of the compensation range corresponding to ].

The second calculation unit 120 is the previous internal temperature section Ti[n-1] of the searched internal temperature section Ti[n] from the start value (or end value) of the temperature range corresponding to the searched internal temperature section Ti[n]. The sixth result is calculated by subtracting the start value (or end value) of the temperature range corresponding to.

The second calculation unit 120 calculates the seventh result by dividing the fifth result by the sixth result, and the calculated seventh result is the previous internal temperature section Ti[n] retrieved from the current internal temperature t. The eighth result is calculated by multiplying the result of subtracting the start value (or the end value) of the temperature range corresponding to the temperature section Ti[n-1].

The second calculation unit 120 calculates the static amplification factor of the ultrasonic sensing unit 400 by adding the start value (or end value) of the compensation range corresponding to the transmission/reception efficiency compensation section Mr[n-1] to the eighth result. .

However, as a result of the search, if the internal temperature section corresponding to the temperature range higher than the current internal temperature t is not searched, the second calculation unit 120 uses a preset second reference amplification factor as the static amplification factor of the ultrasonic sensing unit 400 Set to

In addition, the second calculation unit 120 uses the current internal temperature t of the ultrasonic sensing unit 400 transmitted from the second temperature sensor 410 and the transmission efficiency information and reception efficiency information stored in the storage unit 300. Thus, a static threshold value of the ultrasonic sensing unit 400 is calculated.

For the foregoing, first, the second calculation unit 120 receives and receives the current internal temperature t of the ultrasonic sensing unit 400 transmitted from the second temperature sensor 410 and the transmission efficiency information stored in the storage unit 300. The degree of reduction in transmission/reception efficiency of the ultrasonic sensing unit 400 is obtained by using the efficiency information.

For example, the second calculation unit 120 searches for an internal temperature that matches the current internal temperature t transmitted from the second temperature sensor 410 from internal temperature information stored in the storage unit 300, and the current internal temperature ( When an internal temperature matching t) is searched, transmission efficiency and reception efficiency corresponding to the searched internal temperature from the transmission efficiency information and reception efficiency information stored in the storage unit 300 are obtained.

The second calculation unit 120 calculates a static threshold value of the ultrasonic sensing unit 400 by using the transmission efficiency and the reception efficiency of the ultrasonic sensing unit 400 obtained from the storage unit 300.

For example, the second calculation unit 100 multiplies the calculated or set static amplification factor of the ultrasound detection unit 400 by the average value of the transmission efficiency and reception efficiency of the ultrasound detection unit 400 obtained from the storage unit 300. A static threshold value of the ultrasonic sensing unit 400 is calculated.

The second calculation unit 120 transmits the calculated or set static amplification factor of the ultrasonic sensing unit 400 and the calculated static threshold value to the second compensation unit 200.

Hereinafter, a temperature compensation method of an ultrasonic sensor for a vehicle according to an exemplary embodiment will be described with reference to FIG. 8. 8 is a flowchart illustrating a temperature compensation method of an ultrasonic sensor for a vehicle according to an embodiment of the present invention.

As shown in FIG. 8, in the method of compensating for a temperature of an ultrasonic sensor for a vehicle according to an embodiment of the present invention, first, temperature compensation information of the ultrasonic sensor for a vehicle is stored (S700).

For example, external temperature section information of the vehicle ultrasonic sensor and attenuation coefficient compensation information corresponding to the external temperature section information, attenuation coefficient information corresponding to the external temperature information of the vehicle ultrasonic sensor, the internal temperature section information and the internal temperature section information of the vehicle ultrasonic sensor Transmitting/receiving efficiency compensation information corresponding to, transmission efficiency information and reception efficiency information corresponding to internal temperature information of an ultrasonic sensor for a vehicle are stored.

Then, the internal and external temperatures of the vehicle ultrasonic sensor are detected (S701).

Temperature compensation information according to internal and external temperatures of the detected ultrasonic sensor for a vehicle is searched from the stored temperature compensation information (S702).

The input signal of the vehicle ultrasonic sensor is temperature-compensated using the retrieved temperature compensation information (S703).

For example, a dynamic amplification factor for amplifying the input signal of the vehicle ultrasonic sensor is calculated by using the current external temperature of the detected vehicle ultrasonic sensor, stored external temperature section information, and attenuation coefficient compensation information corresponding to the external temperature section information. A dynamic threshold value for comparison with the input signal strength of the vehicle ultrasonic sensor is calculated using the current external temperature of the vehicle ultrasonic sensor detected and the attenuation coefficient information corresponding to the stored external temperature information. The static amplification factor for amplifying the input signal of the vehicle ultrasonic sensor is calculated by using the detected current internal temperature of the vehicle ultrasonic sensor, the stored internal temperature section information, and the transmission/reception efficiency compensation information corresponding to the internal temperature section information. A static threshold value for comparison with the magnitude of the input signal of the vehicle ultrasonic sensor is calculated by using the detected current internal temperature of the vehicle ultrasonic sensor and the transmission efficiency information and reception efficiency information corresponding to the stored internal temperature information. The input signal of the vehicle ultrasonic sensor is temperature compensated using the calculated dynamic amplification factor and dynamic threshold value, and the calculated static amplification factor and static threshold value.

That is, the variable gain is calculated using the calculated static amplification factor and dynamic amplification factor, and the calculated variable gain is transmitted to the variable amplifier of the vehicle ultrasonic sensor so that the variable amplifier amplifies the input signal of the vehicle ultrasonic sensor according to the calculated variable gain. , The first temperature compensation of the input signal of the vehicle ultrasonic sensor. In addition, a reference value of the comparator is calculated using the calculated static and dynamic threshold values, and the calculated reference value is transferred to the comparator so that the comparator compares the input signal strength amplified by the variable amplifier with the reference value. The sensor input signal is compensated for the second temperature.

Although the configuration of the present invention has been described in detail with reference to a preferred embodiment and the accompanying drawings, this is only an example, and various modifications are possible within the scope not departing from the technical idea of the present invention. Therefore, the scope of the present invention is limited to the described embodiments and should not be defined, and should be defined by the scope of the claims and equivalents as well as the scope of the claims to be described later.

100: first compensation unit 110: first calculation unit
120: second calculation unit 200: second compensation unit
210: first operation unit 220: second operation unit
S1, S2: adder M1, M2: multiplier
300: storage unit 400: ultrasonic sensing unit
410: second temperature sensor 420: variable amplifier
430: timer 440: band pass filter
450: envelope detector 460: comparator
470: object position detector 480: transmit pulse generator
490: ultrasonic transducer 500: first temperature sensor

Claims (10)

A storage unit for storing temperature compensation information according to internal and external temperatures of the vehicle ultrasonic sensor;
A sensing unit for sensing internal and external temperatures of the vehicle ultrasonic sensor; And
Compensation unit for temperature compensation of the vehicle ultrasonic sensor using temperature compensation information according to the detected internal and external temperatures of the vehicle ultrasonic sensor
Temperature compensation device for a vehicle ultrasonic sensor comprising a. The method of claim 1,
The temperature compensation information includes external temperature information of the vehicle ultrasonic sensor, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information corresponding to the internal temperature information. , Including reception efficiency information and transmission/reception efficiency compensation information
In-vehicle ultrasonic sensor temperature compensation device. The method of claim 2, wherein the compensation unit,
A first amplification factor for amplifying the input signal and a first for comparing the intensity of the input signal using attenuation coefficient information corresponding to the detected external temperature and attenuation coefficient compensation information among stored attenuation coefficient information and attenuation coefficient compensation information A first calculator for calculating a reference value;
A second amplification factor for amplifying the input signal and the input signal using transmission efficiency information corresponding to the sensed internal temperature, reception efficiency information, and transmission/reception efficiency compensation information among stored transmission efficiency information, reception efficiency information, and transmission/reception efficiency compensation information A second calculator configured to calculate a second reference value for comparison with intensity;
A first for calculating a final amplification factor to be used for amplification of the input signal input to the vehicle ultrasonic sensor using the first amplification factor calculated by the first calculation unit and the second amplification factor calculated by the second calculation unit Operation unit; And
A second calculation unit that calculates a final reference value to be used for comparison with the input signal strength by using the first reference value calculated by the first calculation unit and the second reference value calculated by the second calculation unit Including
In-vehicle ultrasonic sensor temperature compensation device. The method of claim 3,
When the first calculation unit is retrieved from the external temperature information stored in the external temperature section higher than the current external temperature of the vehicle ultrasonic sensor, the compensation range of the attenuation coefficient compensation section corresponding to the retrieved external temperature section and the previous external temperature section The first amplification factor is calculated by acquiring the compensation range of the attenuation coefficient compensation section corresponding to the temperature section from the stored attenuation coefficient compensation information, and the external temperature coinciding with the current external temperature of the ultrasonic sensor for the vehicle from the stored external temperature information is Upon searching, calculating the first reference value by obtaining an attenuation coefficient corresponding to the searched external temperature from the stored attenuation coefficient information
In-vehicle ultrasonic sensor temperature compensation device. The method of claim 3,
When the second calculation unit is retrieved from the internal temperature information stored in the internal temperature section higher than the current internal temperature of the vehicle ultrasonic sensor, the compensation range of the transmission/reception efficiency compensation section corresponding to the searched internal temperature section and the previous interior of the retrieved internal temperature section The second amplification factor is calculated by acquiring the compensation range of the transmission/reception efficiency compensation period corresponding to the temperature period from the stored transmission/reception efficiency compensation information, and the internal temperature corresponding to the current internal temperature of the ultrasonic sensor for the vehicle from the stored internal temperature information is When searched, the transmission efficiency and reception efficiency corresponding to the searched internal temperature are obtained from the stored transmission efficiency information and reception efficiency information to calculate the second reference value.
In-vehicle ultrasonic sensor temperature compensation device. Sensing internal and external temperatures of the vehicle ultrasonic sensor; And
Compensating the temperature of the vehicle ultrasonic sensor using pre-stored temperature compensation information according to the detected internal and external temperatures of the vehicle ultrasonic sensor
Temperature compensation method of a vehicle ultrasonic sensor comprising a. The method of claim 6,
The temperature compensation information includes external temperature information of the vehicle ultrasonic sensor, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information corresponding to the internal temperature information. , Including reception efficiency information and transmission/reception efficiency compensation information
In-vehicle ultrasonic sensor temperature compensation method. The method of claim 7, wherein the step of temperature-compensating the ultrasonic sensor for a vehicle comprises:
A first amplification factor for amplifying the input signal input to the vehicle ultrasonic sensor using attenuation coefficient information corresponding to the detected external temperature and attenuation coefficient compensation information among stored attenuation coefficient information and attenuation coefficient compensation information, and the input signal strength Calculating a first reference value for comparison of s;
A second amplification factor for amplifying the input signal and the input signal using transmission efficiency information corresponding to the sensed internal temperature, reception efficiency information, and transmission/reception efficiency compensation information among stored transmission efficiency information, reception efficiency information, and transmission/reception efficiency compensation information Calculating a second reference value for comparison with intensity;
Calculating a final amplification factor to be used for amplification of the input signal using the calculated first amplification factor and the calculated second amplification factor; And
Comprising the step of calculating a final reference value to be used for comparison with the input signal strength by using the calculated first reference value and the calculated second reference value
In-vehicle ultrasonic sensor temperature compensation method. The method of claim 8, wherein calculating the first reference value comprises:
Searching an external temperature section higher than the current external temperature of the detected ultrasonic sensor for a vehicle from the stored external temperature information;
The first amplification factor is calculated by acquiring the compensation range of the attenuation coefficient compensation section corresponding to the searched external temperature section and the compensation range of the attenuation coefficient compensation section corresponding to the previous external temperature section of the searched external temperature section from the stored attenuation coefficient compensation information. Step to do;
Searching for an external temperature that matches the current external temperature of the ultrasonic sensor for the vehicle from the stored external temperature information; And
Comprising the step of calculating the first reference value by obtaining an attenuation coefficient corresponding to the searched external temperature from the stored attenuation coefficient information
In-vehicle ultrasonic sensor temperature compensation method. The method of claim 8, wherein calculating the second reference value comprises:
Retrieving an internal temperature section higher than the current internal temperature of the detected ultrasonic sensor for the vehicle from the stored internal temperature information;
The second amplification factor is calculated by acquiring the compensation range of the transmission/reception efficiency compensation section corresponding to the searched internal temperature section and the compensation range of the transmission/reception efficiency compensation section corresponding to the previous internal temperature section of the searched internal temperature section from the stored transmission/reception efficiency compensation information. Step to do;
Searching for an internal temperature that matches the current internal temperature of the ultrasonic sensor for the vehicle from the stored internal temperature information; And
Comprising the step of calculating the second reference value by obtaining transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information
In-vehicle ultrasonic sensor temperature compensation method.

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