KR20090062528A - System for correcting directivity of radar - Google Patents

System for correcting directivity of radar Download PDF

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Publication number
KR20090062528A
KR20090062528A KR1020070129848A KR20070129848A KR20090062528A KR 20090062528 A KR20090062528 A KR 20090062528A KR 1020070129848 A KR1020070129848 A KR 1020070129848A KR 20070129848 A KR20070129848 A KR 20070129848A KR 20090062528 A KR20090062528 A KR 20090062528A
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South Korea
Prior art keywords
radar
antenna
directivity
control unit
target value
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KR1020070129848A
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Korean (ko)
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신고 키우치
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현대자동차주식회사
기아자동차주식회사
현대자동차일본기술연구소
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Priority to KR1020070129848A priority Critical patent/KR20090062528A/en
Publication of KR20090062528A publication Critical patent/KR20090062528A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A vehicle radar directivity correcting system is provided, which produces the radar directivity target value and controls the antenna direction. A vehicle radar directivity correcting system comprises the radar signal transmission-reception antenna, the drive unit, and the control unit. The radar signal transmission-reception antenna detects the forward barrier. The drive unit controls the radar signal transmission direction of antenna. The control unit produces the radar directivity target value by receiving one of the gyro sensor signal of the vehicles, the handle steering angle sensor signal, and transmission state signal. The control unit controls the drive unit so that antenna can be placed on the target value in case the antenna direction deviates from the target value.

Description

차량용 레이더 지향성 교정시스템{System for Correcting Directivity of Radar}System for Correcting Directivity of Radar

본 발명은 충격 또는 진동에 의해 장애물 검출을 위한 레이더의 지향성이 바뀌더라도, 이들 자동적으로 교정할 수 있는 차량용 레이더 지향성 교정시스템에 관한 것이다.The present invention relates to a vehicle radar directivity calibration system that can correct these automatically even if the directivity of the radar for obstacle detection is changed by shock or vibration.

어뎁티브 크루즈 컨트롤 등 레이더 안테나를 차량 전방에 설치하고 이를 이용하여 전방 장애물을 감지하는 운전자 보조 시스템의 개발이 활발하게 이루어지고 있다.Development of a driver assistance system that installs radar antennas such as adaptive cruise control in front of a vehicle and detects obstacles ahead is actively being made.

이러한 안테나를 이용하여 차량 전방의 장애물을 정확하게 감지하기 위해서는 안테나의 송수신축이 차량 진행방향 정면을 향하도록 안테나를 설치해야 하는데, 차량 제조라인 상에서 안테나를 정면을 향해 수평하게 설치하였다 하더라도, 차량 주행 중 진동이나 충격, 또는 기타의 예측 불가능한 사태 등으로 안테나의 방향이 바뀌는 일이 발생된다. 이 경우, 레이더 신호의 송수신 방향이 차량의 정면 방향을 향하지 않아, 레이더 송수신 정보의 정확성이 떨어지는 문제를 야기한다.In order to accurately detect obstacles in front of the vehicle by using such an antenna, the antenna should be installed so that the transmission and reception axis of the antenna faces the front of the vehicle traveling direction, even if the antenna is installed horizontally toward the front on the vehicle manufacturing line. Vibrations, shocks, or other unforeseen events can cause the antenna to change direction. In this case, the transmission and reception direction of the radar signal does not face the front direction of the vehicle, causing a problem that the accuracy of the radar transmission and reception information is inferior.

본 발명은 이러한 문제점을 해결하기 위하여 제안된 것으로, 레이더의 지향성이 바뀌더라도, 이들 자동적으로 교정할 수 있는 차량용 레이더 지향성 교정시스템을 제공함을 목적으로 한다.The present invention has been proposed to solve such a problem, and an object of the present invention is to provide a radar directivity calibration system for a vehicle which can correct these automatically even if the directivity of the radar is changed.

상기의 목적을 달성하기 위한 본 발명에 따른 차량용 레이더 지향성 교정시스템은, 전방 장애물의 검출을 위한 레이더 신호 송수신용 안테나; 상기 안테나의 레이더 신호 송수신 방향을 조절하기 위한 구동장치; 및 차량의 자이로 센서 신호, 핸들 조타각 센서 신호 및 변속기 상태 신호 중 하나 이상의 신호를 수신하여 레이더 지향성 목표값을 산출하고, 이를 현재 안테나 방향과 비교하여, 현재 안테나 방향이 목표값을 벗어나 있는 경우 안테나가 목표값이 놓이도록 구동장치를 제어하는 제어유닛;을 포함한다.In accordance with one aspect of the present invention, a radar directivity calibration system for a vehicle includes: an antenna for transmitting and receiving radar signals for detecting front obstacles; A driving device for adjusting a radar signal transmission / reception direction of the antenna; And calculating a radar directivity target value by receiving one or more signals among a vehicle's gyro sensor signal, a steering wheel angle sensor signal, and a transmission state signal, and comparing the current with the current antenna direction, when the current antenna direction is out of the target value. And a control unit for controlling the driving device to set the target value.

상기 제어유닛은, 레이더 지향성 목표값을 산출하는 레이더 지향성 설정부와, 구동장치를 제어하는 안테나 방향 제어부로 구성될 수 있다.The control unit may include a radar directivity setting unit for calculating a radar directivity target value, and an antenna direction control unit for controlling the driving device.

상기 제어유닛은, 차량의 정면 방향을 산출하는 레이더 지향성 설정부와, 구동장치를 제어하는 안테나 방향 제어부로 구성될 수 있다.The control unit may include a radar directivity setting unit for calculating the front direction of the vehicle and an antenna direction control unit for controlling the driving device.

또한, 차량에 충격감지센서를 장착하여, 충격감지센서로부터의 충격 감지신호가 있는 경우에 안테나가 놓인 방향을 교정하도록 할 수 있다.In addition, by mounting a shock sensor on the vehicle, it is possible to correct the direction in which the antenna is placed when there is a shock detection signal from the shock sensor.

상술한 바와 같은 구조로 이루어진 차량용 레이더 지향성 교정시스템에 따르 면, 차량의 자이로 센서 신호, 핸들 조타각 센서 신호 및 변속기 상태 신호를 이용하여 차량 정면 방향, 즉 레이더 지향성 목표값을 산출하여 그에 따라 안테나 방향을 조절할 수 있으므로, 레이더의 지향성이 항상 정상적인 상태로 유지될 수 있다.According to the radar directivity calibration system for a vehicle having the above-described structure, the vehicle front direction, that is, the radar directivity target value is calculated using the gyro sensor signal, the steering wheel steering angle sensor signal and the transmission status signal of the vehicle, and accordingly the antenna direction Since the radar's directivity can always be kept normal.

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 따른 차량용 레이더 지향성 교정시스템에 대하여 살펴본다.Hereinafter, a vehicle radar directivity calibration system according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

도 1에서 보듯이, 교정시스템은 크게 보아 레이더 안테나, 구동장치, 제어유닛으로 구성된다.As shown in FIG. 1, the calibration system is largely comprised of a radar antenna, a driving device, and a control unit.

안테나는 전방 장애물의 검출을 위한 레이더 신호 송수신하며, 구동장치는 안테나에 연결된 모터/거어의 조합에 의해 안테나의 상하좌우 방향 각도를 조절할 수 있도록 구성된다.The antenna transmits and receives a radar signal for detecting a front obstacle, and the driving device is configured to adjust the up, down, left, and right directions of the antenna by a combination of a motor and a gear connected to the antenna.

제어유닛은 안테나 방향 제어부와 레이더 지향성 설정부로 구성된다.The control unit includes an antenna direction control unit and a radar directivity setting unit.

레이더 지향성 제어부는 차량의 자이로 센서, 핸들 조타각 센서, 변속기로부터 각각의 정보를 수신하여 레이더 지향성 목표값을 산출하며, 이를 안테나의 현재 방향과 비교하여 안테나가 목표값을 벗어나 있는 경우, 안테나 방향 제어부에 그 결과를 송신한다. 여기서, 레이더 지향성 목표는 차량의 정면 방향으로 설정된다.The radar directional control unit receives the respective information from the gyro sensor, the steering wheel angle sensor, and the transmission of the vehicle to calculate the radar directivity target value, and compares it with the current direction of the antenna, when the antenna is out of the target value, the antenna direction control unit Send the result to. Here, the radar directivity target is set in the front direction of the vehicle.

자이로 센서는 네비게이션의 자율항법, 위치측정에 사용되는 것으로 차량의 진행방향을 검출하며, 핸들 조타각 센서는 운전자가 핸들을 어느 정도 돌렸는지를 검출한다. 한편, 통상적으로 자동 변속기의 경우 변속단이 어느 위치에 있는지 검출할 수 있으므로 이를 이용하여 변속기 상태 정보를 얻을 수 있다. 일례로서, 변 속단이 전진에 있는 경우, 레이더 지향성 제어부는 상기 정보를 이용하여 레이더 지향성 교정 여부 및 그 교정 정도를 판단하고, 그 결과를 안테나 방향 제어부에 송신한다.The gyro sensor is used for autonomous navigation and position measurement of navigation. The gyro sensor detects the driving direction of the vehicle, and the steering wheel steering angle sensor detects how much the driver has turned the steering wheel. On the other hand, in the case of an automatic transmission, since it is possible to detect which position the speed change stage is, transmission state information may be obtained using the transmission speed. As an example, when the shift stage is in the forward direction, the radar directivity control unit uses the information to determine whether the radar directivity correction and the degree of correction, and transmits the result to the antenna direction control unit.

안테나 방향 제어부는 레이더 지향성 제어부로부터 신호를 입력받아, 안테나가 목표 지향값에 놓일 수 있도록 안테나의 회동각도를 결정하며, 그 결과에 따라 구동장치를 제어한다.The antenna direction control unit receives a signal from the radar directivity control unit, determines an angle of rotation of the antenna so that the antenna is at a target orientation value, and controls the driving device according to the result.

도 2를 참조하여, 상술된 교정시스템의 제어로직에 대하여 살펴본다.2, the control logic of the above-described calibration system will be described.

미리 설정된 안테나 교정 시점이 되면, 레이더 지향성 제어부는 자오로 정보, 조타각 센서 정보, 변속기 상태 정보를 수신하여 레이더 지향성 목표값을 산출한다. 그리고, 안테나 방향 제어부로부터 현재 안테나 방향을 수신하여 이를 상기 목표값과 비교한다. 만일, 서로 일치하면 또 다른 안테나 교정 시점에 제어로직을 시작하며, 서로 일치하지 않으면 구동장치를 제어하여 안테나 방향을 조절한다. 제어로직은, 차량의 시동 온(On) 등의 이벤트가 있는 경우에 실행되거나, 혹은 5분에 1회 등 주기적으로 실행될 수도 있다.When the preset antenna calibration time is reached, the radar directivity controller receives the gyro information, the steering angle sensor information, and the transmission state information to calculate the radar directivity target value. Then, the current antenna direction is received from the antenna direction control unit and compared with the target value. If they coincide with each other, the control logic starts at another antenna calibration point, and if it does not coincide with each other, the driving device is controlled to adjust the antenna direction. The control logic may be executed when there is an event such as starting of the vehicle, or may be executed periodically, such as once every 5 minutes.

도 1은 본 발명의 실시예에 따른 차량용 레이더 지향성 교정시스템의 구성도,1 is a block diagram of a vehicle radar directivity calibration system according to an embodiment of the present invention,

도 2는 도 1에 도시된 교정시스템의 제어로직을 나타낸 흐름도이다.FIG. 2 is a flow chart showing the control logic of the calibration system shown in FIG.

Claims (3)

전방 장애물의 검출을 위한 레이더 신호 송수신용 안테나;An antenna for transmitting and receiving radar signals for detecting forward obstacles; 상기 안테나의 레이더 신호 송수신 방향을 조절하기 위한 구동장치; 및A driving device for adjusting a radar signal transmission / reception direction of the antenna; And 차량의 자이로 센서 신호, 핸들 조타각 센서 신호 및 변속기 상태 신호 중 하나 이상의 신호를 수신하여 레이더 지향성 목표값을 산출하고, 이를 현재 안테나 방향과 비교하여, 현재 안테나 방향이 목표값을 벗어나 있는 경우 안테나가 목표값이 놓이도록 구동장치를 제어하는 제어유닛;을 포함하는 것을 특징으로 하는 차량용 레이더 지향성 교정시스템.Receives one or more signals from the vehicle's gyro sensor signal, steering wheel angle sensor signal and transmission status signal to calculate the radar directivity target value, and compares it with the current antenna direction, when the current antenna direction is out of the target value. And a control unit for controlling the driving device to set a target value. 청구항 1에 있어서, 상기 제어유닛은, 레이더 지향성 목표값을 산출하는 레이더 지향성 설정부와, 구동장치를 제어하는 안테나 방향 제어부로 구성되는 것을 특징으로 하는 차량용 레이더 지향성 교정시스템.The radar directivity calibration system according to claim 1, wherein the control unit comprises a radar directivity setting unit for calculating a radar directivity target value, and an antenna direction control unit for controlling the driving device. 청구항 1에 있어서, 차량에는 충격감지센서가 장착되며, 상기 제어유닛은 충격감지센서로부터의 충격 감지신호가 있는 경우에 안테나가 놓인 방향을 교정하는 것을 특징으로 하는 차량용 레이더 지향성 교정시스템.The vehicle radar directional calibration system according to claim 1, wherein the vehicle is equipped with a shock sensor, and the control unit corrects the direction in which the antenna is placed when there is a shock detection signal from the shock sensor.
KR1020070129848A 2007-12-13 2007-12-13 System for correcting directivity of radar KR20090062528A (en)

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KR20140115815A (en) * 2013-03-22 2014-10-01 삼성테크윈 주식회사 Radar System
CN112882024A (en) * 2021-03-25 2021-06-01 浙江大华技术股份有限公司 Radar detection method and apparatus, storage medium, and electronic apparatus
WO2023163354A1 (en) * 2022-02-25 2023-08-31 삼성전자 주식회사 Vehicle electronic device and operation method thereof

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* Cited by examiner, † Cited by third party
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US20130110355A1 (en) * 2011-10-26 2013-05-02 Snu R&Db Foundation Control system and method of radar and vision systems for vehicle applications
KR20140115815A (en) * 2013-03-22 2014-10-01 삼성테크윈 주식회사 Radar System
CN112882024A (en) * 2021-03-25 2021-06-01 浙江大华技术股份有限公司 Radar detection method and apparatus, storage medium, and electronic apparatus
WO2023163354A1 (en) * 2022-02-25 2023-08-31 삼성전자 주식회사 Vehicle electronic device and operation method thereof

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