KR20130082291A

KR20130082291A - Method sensing near object using sensor supporting parking

Info

Publication number: KR20130082291A
Application number: KR1020120003423A
Authority: KR
Inventors: 박준성
Original assignee: 현대모비스 주식회사
Priority date: 2012-01-11
Filing date: 2012-01-11
Publication date: 2013-07-19

Abstract

The present invention relates to a method for detecting a proximity object using a parking assist sensor, and the method for detecting a proximity object using a parking assist sensor according to the present invention is indirectly detected when an object is detected before a specific time elapses and a voltage level is lower than a specific level. In addition, the waveform of the detected object may be excluded to prevent false alarms and to detect an object near the vehicle. According to the present invention, it is possible to improve the detection performance of an object close to the vehicle, and in particular, to detect an object very close to the vehicle, thereby inducing safe parking.

Description

{Method Sensing Near Object Using Sensor Supporting Parking}

The present invention relates to a method for detecting a proximity object using a parking assist sensor, and more particularly, to a method for detecting a proximity object of a vehicle without a false alarm caused by ultrasonic interference.

The conventional ultrasonic parking assistance system measures the front and rear obstacles of the vehicle when the gear state is R / D, and when the received voltage is greater than the preset reference value (voltage value) after the object measurement, the driver is alerted in three steps by distance. (Refence values are usually set above 1V to prevent false alarms after receiving ground waves, since normal ground echoes are also received).

However, since the conventional ultrasonic parking assistance system considers the sensing waveform of an object located within 30 cm from the vehicle as the time for transmitting the sensor, due to the characteristics of the combined ultrasound of the transmission and reception, there is a problem that the detection of the object located within 30 cm cannot be guaranteed.

In order to solve the above-mentioned problem, the prior patent (the determination of the position of the proximity object of the ultrasonic sensor using the double reference) has been proposed, but there is also a problem that a false alarm occurs due to the ultrasonic interference within 2 ms when the ultrasonic wave is received by the interference.

On the other hand, the conventional ultrasonic sensor alarm principle is that when the ultrasonic sensor vibrates the initial piezoelectric plate, the ring time is generated by the vibration, that is, the burst time occurs (transmission + reverberation time), and the ultrasonic signal distance reflected by the time axis is reflected. The judgment is to alert in three steps.

For example, the third alarm is a continuous sound and the first and second alarms are intermittent sounds, and reference values for preventing false alarms by noise signals are set according to the height and shape of each bumper. That is, if the reference value (threshold voltage) is greater than the set alarm.

Undesired signals (noise) due to various environmental effects around the vehicle are also filtered by the sensing reference voltage, and when the voltage value according to the size of the obstacle (the reflected wave voltage is larger) is greater than the reference voltage, a step-by-step alarm is issued.

In addition, since the conventional rear sensing sensor detects an object after the transmission time (1.2 ms), the object within the transmission time cannot guarantee the detection.

Therefore, in the case of an ultrasonic sensor for a vehicle that uses both transmission and reception, when an object is located within 30 cm (within 2 ms) from the vehicle, there is a problem in that the sensing operation of the object cannot be guaranteed (1.2 ms => ultrasonic waves move about 20 cm. time)

On the other hand, direct sensing is a method in which one sensor transmits and receives simultaneously, and a plurality of sensors start detecting an object in a specific sequence.

Indirect sensing is a method by which one sensor transmits, while another sensor receives it. Within 2ms, all sensors open at the same time when a sensor transmits and two sensors next to a sensor receive. Instead of a direct interference waveform.

Conventional vehicle ultrasonic sensors have a different sequence for each company and perform direct and indirect sensing.

However, when the ultrasonic sensor for a vehicle detects directly, a ring time (transmission and reverberation) time is required because the sensor must be open until one sensor transmits and receives the signal (usually 1.2ms = about 20cm).

In case of indirect detection, since one sensor transmits and another sensor opens the port for reception, direct ultrasonic interference occurs. This is not a waveform of the object reflection, but a wave generated by the sensor next to it so that the sound waves directly enter the sensor next to it.

Therefore, the conventional patent for determining the proximity of the proximity object of the ultrasonic sensor using the double reference generally determines the proximity object by adjusting the reference downward. Therefore, the energy is transferred to the receiving sensor as soon as the transmitting sensor transmits the side in the indirect measurement. There is a problem that an alarm (direct interference waveform) occurs.

The present invention has been made in view of the above problems, and when an object is detected by an indirect sensing before a specific time elapses, when a voltage level is detected below a certain level, the waveform of the detected object is excluded to prevent false alarm and An object of the present invention is to provide a method of detecting a proximity object using a parking assist sensor that can detect a proximity object.

In order to achieve the above object, the proximity object detection method using the parking assist sensor according to an aspect of the present invention detects the rear of the vehicle through the parking assist sensor mounted on the vehicle, and the predetermined detection interval from the rear of the vehicle based on the detection result Determining whether an object is present in the object; Detecting the rear of the vehicle only through an indirect detection method through the parking assistance sensor when the object does not exist within a preset detection section; And detecting that an object exists in the rear of the vehicle, in order to induce safe parking.

According to the present invention, there is an effect that can improve the detection performance of the object in close proximity to the vehicle.

In particular, it is possible to detect an object that is very close to the vehicle, there is an advantage to induce safe parking.

1 to 3 are views for explaining a method of detecting a proximity object using a parking assist sensor according to an embodiment of the present invention.
4 is a flowchart illustrating a method of detecting a proximity object using a parking assist sensor according to the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is intended to enable a person skilled in the art to readily understand the scope of the invention, and the invention is defined by the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that " comprises, " or "comprising," as used herein, means the presence or absence of one or more other components, steps, operations, and / Do not exclude the addition.

Hereinafter, a method of detecting a proximity object using a parking assist sensor according to an exemplary embodiment of the present invention will be described with reference to FIGS. 1 to 4. 1 to 3 are views for explaining a method for detecting a proximity object using a parking assist sensor according to an embodiment of the present invention, Figure 4 is a flow chart for explaining a method for detecting a proximity object using a parking assist sensor of the present invention. to be.

As shown in FIG. 1, when a parking assist sensor, for example, four rear sensors mounted on a vehicle, detects an object near the rear of the vehicle by the direct sensing logic, a ring time, That is, since there is an object non-detection section, even when it is determined that an object does not exist within the detectable distance (7 ms) of the rear sensor, the object may exist within an ultra-close distance (within 30 cm) from the rear of the vehicle. Therefore, detecting the object with the indirect sensing logic using 4 rear sensors in the region within 2ms is more accurate than detecting the object with the direct sensing logic until the signal reflected from the object is received in the region within 2 ~ 7ms. Can detect objects

For example, as shown in Figure 2, when detecting the object by indirect sensing logic using four rear sensors, if the target is more than 75pi PVC rod (based on HKMC TDP), and the object is detected within 2ms, the detected object Since the voltage (the voltage of the signal received from the object reflected) is measured at 3V or more, the object is detected by setting the indirect reference to 2V level within the range of 2ms, and the direct interference by the ultrasonic wave transmitted by the ultrasonic transmitting sensor. In case of indirect by SW Logic, the waveform (signal) detected below 2V level in 2ms or less is ignored.

That is, as shown in Fig. 3, in the indirect detection logic of the actual vehicle (HMC light vehicle reference rear four sensors) condition that the condition to receive the greatest interference by the ultrasonic waves of the transmitting sensor (the spacing between the four rear sensors the narrowest interval) When measuring at the maximum value (by transmitting ultrasonic waves at the maximum voltage), if the object exists within 2 ms from the rear of the vehicle, the object is an object close to the rear of the vehicle and the voltage level of the reflected waveform received from the reflected object is 3 V or more. Therefore, if the reference is set to 2V, an object existing in a section within 2ms from the rear of the vehicle can be detected, and a waveform received below 2V in a section within 2ms is ignored.

As shown in FIG. 4, it is determined whether the vehicle gear is located in the rear gear R (S1100), and when the determination result is that the vehicle gear is located in the rear gear R, the four rear sensors mounted on the vehicle may be used. Detect the rear (S1101).

On the basis of the results detected by the four rear sensors, it is determined whether an object exists in the preset detection section (S1102).

As a result of the determination, if an object exists within a preset detection section, the rear of the vehicle is detected through each rear sensor according to a preset direct and indirect detection sequence (S1103), and a buzzer alarm is started (S1104) to allow the driver to park safely. Induce to help.

However, as a result of the determination, when no object exists in the preset detection section, the rear of the vehicle is detected only by indirect sensing through each rear sensor (S1105), and the rear of the vehicle is based on the result detected by each rear sensor only by indirect sensing. It is determined whether an object exists (S1106).

As a result, if there is no object in the rear of the vehicle, the rear of the vehicle is sensed through each rear sensor according to the preset direct and indirect sensing sequence until the parking is completed for safe parking (S1107), the object behind the vehicle If there exists, step S1104 is performed to induce a driver's safe parking.

As described above, according to the present invention, it is possible to improve the detection performance of an object close to the vehicle, and in particular, to detect an object very close to the vehicle, thereby inducing safe parking.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Therefore, the scope of the present invention should not be limited by the illustrated embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

Claims

Detecting a rear of the vehicle through a parking assist sensor mounted on the vehicle, and determining whether an object exists within a predetermined sensing section from the rear of the vehicle based on the detection result;
Detecting the rear of the vehicle only through an indirect detection method through the parking assistance sensor when the object does not exist within a preset detection section; And
If an object is present at the rear of the vehicle as a result of the detection, alerting to induce safe parking
A proximity object detection method using a parking assist sensor comprising a.

The method of claim 1,
And, if the object is present within a preset detection section, detecting the rear of the vehicle through the parking assistance sensor according to a preset direct and indirect detection sequence, and warning the vehicle until parking is completed. Proximity object detection method using

The method of claim 1,
And detecting the rear of the vehicle through the parking assist sensor according to a preset direct and indirect sensing sequence until the parking is completed when the object is not present in the rear of the vehicle. Proximity object detection method.

The method of claim 1,
The parking assist sensor detects the rear of the vehicle when the vehicle gear is located in the rear gear R.
A proximity object detection method using an in-parking assist sensor.