KR102444380B1 - Vehicle periphery monitoring device - Google Patents

Abstract

A vehicle perimeter monitoring apparatus is disclosed. A vehicle peripheral monitoring apparatus of the present invention includes a door rotation sensor for detecting rotation of a vehicle door; a radar that transmits a signal, receives a reflected signal reflected by a target and returns, and extracts target information on a target located around the vehicle based on the reflected signal and the rotation information sensed by the door rotation sensor; a vehicle module that prevents occupant safety accidents; and a control unit for controlling the vehicle module through the target information extracted by the radar.

Description

VEHICLE PERIPHERY MONITORING DEVICE

The present invention relates to a vehicle perimeter monitoring apparatus, and more particularly, to a vehicle perimeter monitoring apparatus for monitoring a target around a vehicle by mounting a radar on a door handle pocket or a B-pillar.

BACKGROUND ART In general, automobiles have become essential products in modern society by applying advanced technologies and improving their mobility and usefulness.

Recently, a warning system has been introduced into a vehicle to warn a driver of a risk of collision due to an obstacle present in a blind area while driving or a vehicle approaching from a blind area when changing lanes.

For example, a Blind Spot Detection (BSD) system is a system that improves the driver's convenience by warning an obstacle existing in a blind spot on the rear side or a vehicle approaching from the rear side.

Conventionally, an ultrasonic sensor is used to detect a surrounding target. The ultrasonic sensor was mounted on the inner side of the side door metal panel to detect the distance. The information sensed by the ultrasonic sensor can be secured with a detection capability of up to 1.5 m through trilateration or triangulation positioning technology.

However, in the prior art, there were restrictions on the side monitoring range, the space and the panel for attaching the ultrasonic sensor. For example, it is necessary to ensure that the strength and stiffness of the panel enable it to act as a speaker cone that transmits the energy of ultrasonic waves.

The background technology of the present invention is disclosed in 'Ultrasound sensor module for improving precision of distance measurement' of Korean Patent Application Laid-Open No. 10-2019-0037890 (2019.04.08).

The present invention has been devised to improve the above problems, and an object according to one aspect of the present invention is to provide a vehicle perimeter monitoring device for monitoring a target around a vehicle by mounting a radar on a door handle pocket or a B-pillar. have.

A vehicle peripheral monitoring device according to an aspect of the present invention includes: a door rotation sensor for detecting rotation of a door of the vehicle; a radar that transmits a signal, receives a reflected signal reflected by a target and returns, and extracts target information on a target located around the vehicle based on the reflected signal and the rotation information sensed by the door rotation sensor; a vehicle module that prevents occupant safety accidents; and a control unit for controlling the vehicle module through the target information extracted by the radar.

The radar of the present invention is characterized in that it is installed in the door handle pocket of the vehicle.

The radar of the present invention is characterized in that it is installed on the B-pillar of the vehicle.

The vehicle module of the present invention is characterized in that it includes a BSD (Blind Spot Detection) system for warning a target existing in a blind spot around the vehicle.

The vehicle module of the present invention is characterized in that it includes a door drive unit (DDU) for opening and closing the door of the vehicle.

The control unit of the present invention controls the door drive unit according to the target information extracted by the radar to control the door opening of the vehicle.

The control unit of the present invention may further include recognizing the motion of the occupant input through the radar and controlling the door drive unit according to the recognized motion information.

The controller of the present invention may open the door of the vehicle through the door driver unit when the motion information of the occupant is a preset door open motion.

When the motion information of the occupant is a preset door open motion, the control unit selectively selects the door of the vehicle according to target information on a target existing in a blind area around the vehicle through a reflected signal received by the radar. characterized by opening.

The control unit of the present invention is characterized in that if the motion information of the occupant is a door open motion, the door is closed when a target is detected around the vehicle by the radar.

The radar of the present invention is characterized in that it is a Frequency Modulated Continuous Wave (FMCW) radar.

The radar of the present invention extracts target information about the target based on the radar's intrinsic detection range and field of view (FoV) in a state in which the door is closed, and In the state, it is characterized in that the target information for the target is extracted based on the opening angle of the door and the unique detection range and detectable angle of the radar.

A vehicle perimeter monitoring apparatus according to an aspect of the present invention may monitor a target around the vehicle by mounting a radar on a door handle pocket or a B-pillar.

A vehicle surrounding monitoring apparatus according to another aspect of the present invention can secure a relatively wide monitoring range using radar, and can secure the safety of the own vehicle and the target by detecting the position and approach speed or pattern of the target.

Since the vehicle surroundings monitoring apparatus according to another aspect of the present invention can directly calculate the distance and speed of the target using radar, the number of ultrasonic sensors can be reduced, thereby improving the convenience of work and reducing the manufacturing cost. can

1 is a block diagram of a vehicle peripheral monitoring apparatus according to an embodiment of the present invention.
2 is a diagram illustrating an example in which a radar according to an embodiment of the present invention is installed on a B-pillar.
3 is a diagram illustrating an example in which a radar according to an embodiment of the present invention is installed in a door handle pocket.
4 is a view showing an installation position of a door drive unit and a monitoring target (vehicle) according to an embodiment of the present invention.
5 is a diagram illustrating a target monitoring method according to an embodiment of the present invention.

Hereinafter, a vehicle peripheral monitoring apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram of a vehicle surroundings monitoring apparatus according to an embodiment of the present invention, FIG. 2 is a diagram showing an example in which a radar according to an embodiment of the present invention is installed on a B-pillar, and FIG. 3 is a diagram of the present invention is a view showing an example in which a radar according to an embodiment is installed in a door handle pocket, FIG. 4 is a view showing an installation position of a door drive unit and a monitoring target (vehicle) according to an embodiment of the present invention, FIG. 5 is It is a view showing a target monitoring method according to an embodiment of the present invention.

Referring to FIG. 1 , an apparatus for monitoring vehicle surroundings according to an embodiment of the present invention includes a door rotation sensor 10 , a radar 20 , a vehicle module 30 , and a control unit 40 .

The door rotation sensor 10 is installed in the vehicle V to detect rotation information of the door D. The rotation information of the door D may include a rotation angle or a rotation angular velocity of the door D.

The rotation information of the door D is not limited to the above-described rotation angle or rotation angular velocity of the door D, and any information that can be used to detect target information on a target may be included.

The door rotation sensor 10 may be installed in the door drive unit 32 . That is, the door rotation sensor 10 used in the door drive unit 32 may be employed, and may be provided separately from the door rotation sensor 10 used in the door drive unit 32 .

The door rotation sensor 10 is connected to the radar 20 through CAN communication.

The door D may be a vehicle side door D, such as a driver's door D or a passenger's door D of the vehicle V.

The target is an obstacle around the vehicle that may cause an accident or collide with the door D when the door is opened. The target may include any moving object or object that is driven or located in front or on the side of the vehicle V.

The target may include not only a vehicle V, a two-wheeled vehicle, or a bicycle traveling forward or sideways, but also a pedestrian, a street tree, a median, and the like. The target is not limited to the above-described embodiment.

The target information may include the location and speed of the target. A method of detecting the target information will be described later.

The radar 20 detects target information of the target using electromagnetic waves. The radar 20 transmits a signal, receives a reflected signal reflected by the target and returns, based on the reflected signal of the radar 20 and rotation information detected by the door rotation sensor 10 of the target located around the vehicle. Extract target information.

The radar 20 may be installed in various positions of the vehicle V. For example, the radar 20 may be installed in a door handle pocket (DHC) or a B-pillar of the vehicle V as shown in FIGS. 2 and 3 .

A plurality of radars 20 may be installed for each door handle pocket (DHC) or B-pillar, and each of the radars 20 may be installed in a different direction, for example, in the direction of a occupant in the vicinity of the vehicle or inside the vehicle.

The radar 20 cannot be mounted on a metal panel due to its characteristics. Accordingly, the radar 20 may be installed in the door handle pocket or the B-pillar.

FIG. 2 shows an example in which the radar 20 is installed in the B-pillar, and FIG. 3 shows an example in which the radar 20 is installed in the door handle pocket.

The radar 20 includes a transmitting antenna 21 , a receiving antenna 22 , and a target information detecting unit 23 .

The transmitting antenna 21 transmits a signal by performing Frequency Modulated Continuous Wave (FMCW) modulation to detect a target around the vehicle. The signal transmitted from the transmitting antenna 21 is reflected by the surrounding target and received by the receiving antenna 22 . Accordingly, the radar 20 in this embodiment may be an FMCW radar.

The receiving antenna 22 receives a reflected signal transmitted from the transmitting antenna 21 and then reflected back by the target.

The target information detection unit 23 generates an FMCW-modulated signal for detecting a surrounding target and transmits the FMCW-modulated signal to the vicinity of the vehicle through the transmission antenna 21 .

The target information detection unit 23 may transmit a modulated signal and detect the distance and speed of the target through a difference in frequency with the received signal.

As the modulation method, a modulation method such as frequency shift keying (FSK) or the above-described FMCW may be used. However, the FMCW method is most widely used due to the performance of the radar 20 , system complexity, technical realization and economic feasibility.

When the target information detection unit 23 receives the reflected signal through the reception antenna 22, the target information is detected through the reflected signal.

That is, the target information detection unit 23 may simultaneously detect the distance and speed of the target by mathematically calculating the received beat frequency by mathematically calculating the combination of the distance beat frequency and the Doppler frequency.

In particular, the target information detection unit 23 may detect the target information based on the reflected signal of the radar 20 and the rotation information sensed by the door rotation sensor 10 .

)와 타겟의 속도(

)를 아래의 수학식 1과 2를 통해 산출할 수 있다. Referring to FIG. 4 , the target information detection unit 23 determines the location of the target (

) and the speed of the target (

) can be calculated through Equations 1 and 2 below.

Here, θ is the opening angle of the door D, φ is the angle of arrival (AoA) of the radar 20, and φ is the detectable angle (Field of View; FoV). x is the distance between the target and the radar, and t is the time.

That is, the target information detection unit 23 extracts target information based on the unique detection range and the field of view (FoV) of the radar 20 when the door D is closed, and the door D is closed. In the open state (D), target information about the target is extracted based on the opening angle of the door (D) and the intrinsic detection range and detectable angle of the radar 20 .

In addition, the target information detection unit 23 may detect the motion of the occupant using a motion detection sensor function. The motion of the occupant that can be detected through the target information detection unit 23 may include a door open motion for opening the door D or a door closing motion for closing the door D.

The vehicle module 30 is mounted on the vehicle V to prevent a safety accident of the occupant according to the control signal of the controller 40 .

The vehicle module 30 may include a blind spot detection (BSD) system 31 or a door drive unit (DDU) 32 .

The BSD system 31 improves the driver's convenience by warning an obstacle existing in a blind spot on the rear side or a vehicle V approaching from the rear side.

The door drive unit 32 automatically opens or closes the door D of the vehicle V.

Since the BSD system 31 and the door drive unit 32 are obvious to those skilled in the art, detailed descriptions thereof will be omitted in this embodiment.

The controller 40 controls the vehicle module 30 by transmitting a control signal to the vehicle module 30 through the target information extracted by the radar 20 .

That is, when it is detected by the radar 20 that a target exists in the vicinity of the vehicle, for example, the vehicle V is close to the rear of the vehicle V or the vehicle V is located in a pre-designated warning area. When located, it warns the occupant of the collision of the vehicle V.

In addition, when the radar 20 detects that the target exists around the vehicle, for example, when the target approaches the rear of the vehicle V or there is an object on the side of the vehicle V, the control unit 40 controls the door. Control the drive unit 32 to limit the door opening of the vehicle (V).

That is, when the target approaches the rear of the vehicle V, the control unit 40 may collide with the door D when the door is opened. Therefore, even if the passenger operates to open the door D, the door D continues to operate. make it closed

In addition, the control unit 40 controls the door D and the object to collide when the target located on the side of the vehicle V is very close, so that the door D continues to close even if the occupant manipulates the door D to open it. make it possible

Furthermore, if the motion information of the occupant is a preset door open motion, the control unit 40 controls the vehicle V according to the target information on the target existing in the blind area around the vehicle through the reflected signal received by the radar 20. Selectively open the door (D) of

That is, the controller 40 opens the door D when the motion information of the occupant is a door open motion, and closes the door D when the door D motion information is a door close motion.

In particular, the control unit 40 closes the door D when a target exists in the vicinity of the vehicle by the radar 20 even if the motion information of the occupant is a door open motion to prevent collision between the door D and the target.

In this way, the vehicle perimeter monitoring apparatus according to an embodiment of the present invention can monitor a target around the vehicle by mounting the radar 20 on the door handle pocket or the B-pillar.

In addition, the vehicle surroundings monitoring apparatus according to an embodiment of the present invention can secure a relatively wide monitoring range using radar, and can secure the safety of the own vehicle and the target by detecting the position and approach speed or pattern of the target. let it be

In addition, since the vehicle peripheral monitoring apparatus according to an embodiment of the present invention can directly calculate the distance and speed of the target using radar, the number of ultrasonic sensors can be reduced, thereby improving the convenience of work and reducing the manufacturing cost. can be reduced

The functions of the above-described components have been described separately so that the operation of the present embodiment can be more clearly understood, but depending on the embodiment, the control unit 40 implements all functions of the components by integrating them, or Note that the control unit may replace at least one or more of the functions of the components.

Implementations described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Although discussed only in the context of a single form of implementation (eg, discussed only as a method), implementations of the discussed features may also be implemented in other forms (eg, as an apparatus or program). The apparatus may be implemented in suitable hardware, software and firmware, and the like. A method may be implemented in an apparatus such as, for example, a processor, which generally refers to a computer, a microprocessor, a processing device, including an integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10: door rotation sensor 20: radar
21: transmit antenna 22: receive antenna
23: target information detection unit 30: vehicle module
31: BSD system 32: door drive unit
40: control unit

Claims (12)

a door rotation sensor that detects rotation of a vehicle door;
a radar that transmits a signal, receives a reflected signal reflected by a target and returns, and extracts target information on a target located around the vehicle based on the reflected signal and the rotation information sensed by the door rotation sensor;
a vehicle module that prevents occupant safety accidents; and
A control unit for controlling the vehicle module through the target information extracted by the radar,
The radar is installed in the door handle pocket of the vehicle,
The radar extracts target information about the target based on a unique detecting range and a field of view (FoV) of the radar when the door is closed, and when the door is open, the The vehicle peripheral monitoring apparatus, characterized in that extracting target information on the target based on an opening angle of a door, a unique detection range and a detectable angle of the radar. delete delete According to claim 1, wherein the vehicle module is
A vehicle peripheral monitoring device comprising a BSD (Blind Spot Detection) system that warns of a target existing in a blind spot around the vehicle. According to claim 1, wherein the vehicle module is
A vehicle peripheral monitoring device comprising a door drive unit (DDU) for opening and closing a door of the vehicle. The method of claim 5, wherein the control unit
and controlling the door drive unit to control the door opening of the vehicle according to the target information extracted by the radar. The method of claim 5, wherein the control unit
and recognizing a motion of an occupant input through the radar and controlling the door drive unit according to the recognized motion information. The method of claim 7, wherein the control unit
When the motion information of the occupant is a preset door open motion, the vehicle surrounding monitoring apparatus according to claim 1, wherein the door of the vehicle is opened through the door drive unit. The method of claim 7, wherein the control unit
If the motion information of the occupant is a preset door open motion, the door of the vehicle is selectively opened according to target information on a target existing in a blind area around the vehicle through a reflected signal received by the radar. Vehicle perimeter monitoring device. 10. The method of claim 9, wherein the control unit
If the motion information of the occupant is a door open motion, the vehicle surrounding monitoring apparatus according to claim 1, wherein the door is closed when a target is detected around the vehicle by the radar. The apparatus of claim 1, wherein the radar is a Frequency Modulated Continuous Wave (FMCW) radar. delete

Images