KR20130113102A - Calibration method and device for horizontal alignment of vehicle radar - Google Patents

Abstract

PURPOSE: A method and an apparatus for horizontal alignment correction of vehicle radars are provided to correct the horizontal alignment of the radar in a variety of road conditions, thereby improving the accuracy of target detection. CONSTITUTION: An apparatus (100) for horizontal alignment correction of vehicle radars comprises a module (200) for extraction of virtual straight lines, a module (300) for extraction of straight lines in the traveling direction, a module (400) for acquisition of a difference angle, and a correction processing module (500). The module for extraction of the virtual straight line receives a plurality of frame data from the vehicle radar to generate fixed target information and produces the virtual straight line from the generated fixed target information. The module for extraction of the straight line in the traveling direction measures the turning information of a vehicle depending on sensing information received from a vehicle steering sensor and predicts a traveling path from the measured turning information of the vehicle to produce the straight line in the traveling direction. The module for acquisition of the difference angle calculates an angle difference between the produced straight lines or straight lines in the traveling direction. The correction processing module corrects the horizontal alignment of the vehicle radar depending on the calculated angle difference. [Reference numerals] (200) Virtual straight line extraction module; (230) Target information obtaining unit; (270) Straight line calculation unit; (300) Driving direction straight line extraction module; (400) Difference angle acquisition module; (50) Radar; (500) Correction processing module; (60) Sensor

Description

CALIBRATION METHOD AND DEVICE FOR HORIZONTAL ALIGNMENT OF VEHICLE RADAR}

The embodiment according to the concept of the present invention relates to the alignment technology of the vehicle radar, in particular, by extracting and comparing the virtual straight line to the fixed target and the driving direction straight line according to the driving direction of the vehicle during normal road driving, It relates to a method for correcting the horizontal alignment of the radar and a horizontal alignment correction apparatus using the same.

In general, a vehicle radar technology refers to a technology applied to help a driver drive safely by providing a driver with information on the surrounding environment of the front, rear, and side of the vehicle and controlling the vehicle if necessary. Conventional vehicle radars are fixed to a vehicle so that the target can be detected only within a predetermined beam area, and the beam area of the vehicle radar cannot be actively changed. In addition, the alignment method of the conventional vehicle radar was used to align the radar when mounting the radar in the production line or when the vehicle is stopped. However, such a conventional radar alignment method has a problem that the detection reliability is remarkably lowered because the horizontal alignment of the radar cannot be corrected by adapting to a changing road environment during normal road driving. Techniques for such a conventional vehicle radar alignment method or an alignment device using the same are disclosed in detail in Japanese Patent No. 0489226, Japanese Patent No. 0633327, Japanese Unexamined Patent Publication No. 2010-066902, and the like.

The technical problem to be solved by the present invention is to extract the virtual straight line for the fixed target and the driving direction straight line according to the driving direction of the vehicle during normal road driving, and compare with each other, precisely the horizontal alignment of the radar for the vehicle under various road environment It is to provide a correction method capable of correction and a correction device using the same.

In the horizontal alignment correction method for a vehicle radar according to an embodiment of the present invention, the target information obtaining unit generates fixed target information from the frame data received from the vehicle radar, and transmits the fixed target information to the linear calculation unit and the linear target calculating unit transmits the fixed target information. Is applied to the Linear Curve Fitting method to calculate a virtual straight line, and the driving direction straight line extraction module calculates the driving direction straight line according to the sensing information received from the vehicle steering sensor, and obtains a difference angle obtaining module. Calculating an angle difference between the calculated virtual straight line and the driving direction straight line, and an alignment correction processing module correcting the horizontal alignment of the vehicle radar according to the calculated angle difference.

According to an embodiment of the present disclosure, the generating of the fixed target information from the frame data received from the vehicle radar by the target information acquiring unit and transmitting the fixed target information to the straight line calculating unit calculates the relative velocity of the target present in the Y-axis sector of the received frame data. And generating a target present in the Y-axis sector as the fixed target information when the calculated relative speed is in an inverse element relationship with the speed of the vehicle within a predetermined error range. Can be.

According to an embodiment, the calculating of the virtual straight line by applying the transmitted fixed target information to the linear curve fitting method may include counting the number of fixed targets included in the Y-axis sector of each of the frame data. And calculating an average value of the counted number of fixed targets, and calculating the virtual straight line by applying the fixed target information to the linear curve fitting method when the average value exceeds a predetermined threshold value. can do.

According to an embodiment of the present disclosure, the calculating of the driving direction straight line according to the sensing information received from the vehicle steering sensor by the driving direction straight line extraction module may predict the turning path of the vehicle through numerical analysis of the received sensing information. Calculating a turning curve and extracting the driving direction straight line from the calculated turning curve using a linear curve fitting method.

According to an embodiment, the alignment correction processing module may mechanically adjust the vehicle radar by an angle corresponding to the calculated angle difference to correct the steering angle of the vehicle radar, or for each channel of the array antenna included in the vehicle radar. The steering angle of the vehicle radar may be corrected by adjusting the phase.

According to another embodiment, the step of correcting the horizontal alignment of the vehicle radar according to the calculated angle difference by the alignment correction processing module offsets an angle corresponding to the calculated angle difference to the azimuth of the fixed target information. Summing and transmitting the summed result to the target information acquisition unit.

Further, according to the embodiment, the alignment correction processing module may correct the horizontal alignment of the vehicle radar according to the calculated angle difference, if the calculated angle difference exceeds a predetermined angle, . ≪ / RTI >

An apparatus for correcting horizontal alignment of a vehicle radar according to an exemplary embodiment of the present invention receives a plurality of frame data from a vehicle radar, generates fixed target information, and calculates a virtual straight line module and a vehicle for calculating a virtual straight line from the generated fixed target information. A driving direction straight line extraction module for measuring a turning information of the vehicle according to the sensing information received from the steering sensor, and calculating a driving direction straight line by predicting a driving path from the measured turning information of the vehicle; and the calculated virtual straight line and driving direction And an alignment correction processing module for correcting a horizontal alignment of the vehicle radar according to the calculated angle difference.

According to an embodiment, the virtual straight line extraction module calculates a relative speed of a target present in a Y-axis sector of frame data received from the vehicle radar, and compares the calculated relative speed with the speed of the vehicle to fix the fixed target. The apparatus may include a target information obtaining unit generating information and a straight line calculating unit calculating the virtual straight line from the generated fixed target information by using a linear curve fitting method.

The vehicle radar horizontal alignment correction method and the correction device using the same according to an embodiment of the present invention can correct the horizontal alignment of the radar according to the driving direction of the vehicle during road driving, so that the vehicle moves in a straight or curved lane or is immature in driving. As a result, the horizontal alignment of the radar can be precisely corrected in various road situations, such as when the vehicle is out of the lane, thereby greatly improving the accuracy of target detection.

The detailed description of each drawing is provided in order to provide a thorough understanding of the drawings referred to in the detailed description of the invention.
1 is a view showing a vehicle equipped with a horizontal alignment correction device for a vehicle radar according to an embodiment of the present invention.
2 is an internal block diagram of a horizontal alignment correction device for a vehicle radar according to an exemplary embodiment of the present invention.
FIG. 3 is a diagram for describing a virtual straight line and a traveling direction straight line extracted from the horizontal alignment correction device illustrated in FIG. 2.
4 is a flowchart illustrating a horizontal alignment correction method for a vehicle radar according to an exemplary embodiment of the present invention.

It is to be understood that the specific structural or functional descriptions of embodiments of the present invention disclosed herein are only for the purpose of illustrating embodiments of the inventive concept, But may be embodied in many different forms and is not limited to the embodiments set forth herein.

Embodiments in accordance with the concepts of the present invention are capable of various modifications and may take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. It should be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms disclosed, but includes all modifications, equivalents, or alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are intended to distinguish one element from another, for example, without departing from the scope of the invention in accordance with the concepts of the present invention, the first element may be termed the second element, The second component may also be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "having", etc. are intended to specify the presence of stated features, integers, steps, operations, elements, parts or combinations thereof, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

1 is a diagram illustrating a vehicle in which a horizontal alignment correction device for a vehicle radar according to an exemplary embodiment of the present invention is implemented.

Referring to FIG. 1, a horizontal alignment correction apparatus (hereinafter, referred to as a horizontal alignment correction apparatus) 100 of a vehicle radar according to an exemplary embodiment of the present invention is mounted on the vehicle radar 50 and is mounted on the vehicle radar 50. ) To correct the horizontal alignment.

In FIG. 1, the horizontal alignment correction apparatus 100 is illustrated as being mounted inside the vehicle radar 50, but the present disclosure is not limited thereto. For example, the horizontal alignment correction apparatus 100 may be applied to a vehicle. It may also be implemented as a separate device external to radar 50.

2 is an internal block diagram of a horizontal alignment correction apparatus for a vehicle radar according to an exemplary embodiment of the present invention, and FIG. 3 is a diagram for describing a virtual straight line and a driving direction straight line extracted from the horizontal alignment correction apparatus illustrated in FIG. 2. .

In addition, (a) of Figure 3 is a view showing a vehicle 10 is driving a straight road where a fixed target such as a guardrail, street lights, signs, etc., Figure 3 (b) of the vehicle radar 50 Fig. 3C shows a virtual straight line L1 and a driving direction straight line L2 in a state where no horizontal alignment is made, and Fig. 3C shows a virtual straight line L1 in a horizontal alignment state of the vehicle radar 50 and It is a figure which shows the travel direction straight line L2.

1 to 3, the horizontal alignment correction device 100 includes a virtual straight line extraction module 200, a driving direction straight line extraction module 300, a difference angle acquisition module 400, and a correction processing module 500. do.

A module in the present specification may mean hardware capable of performing functions and operations according to each name described in the present specification, and also refers to computer program code capable of performing specific functions and operations. It may also mean an electronic recording medium, such as a processor, on which computer program code is capable of performing specific functions and operations.

In other words, a module may mean a functional and structural combination of hardware for performing the technical idea of the present invention and software for driving the hardware.

The virtual straight line extraction module 200 of the horizontal alignment correction apparatus 100 performs a role of extracting the virtual straight line L1 according to the target information STI obtained by the vehicle 10 driving the road for a predetermined time.

The virtual straight line extraction module 200 is a target information acquisition unit for obtaining information (STI, DTI) for the target on the road (for example, fixed targets such as guardrails, street lights / signs, or moving targets of other vehicles) And a straight line calculator 270 that calculates a virtual straight line L1 from the obtained information STI and DTI.

When the vehicle 10 determines that the vehicle 10 is traveling on a straight road when driving the curved roads and straight roads of various types, the target information acquisition unit 230 and the moving target (eg And a plurality of frame data collected from the vehicle radar 50 for information (STI and DTI such as points and asterisks indicated in (a) or (b) of FIG. 3) about a target including the other vehicle 5). Obtained from (FD).

The plurality of frame data FD means target data measured for each frame collected from the vehicle radar 50, and the target data may include information on azimuth, speed, and distance of the target.

In this case, the target information acquisition unit 230 may be connected to vehicle sensors such as a steering wheel sensor or a yaw rate sensor of the vehicle, and the sensing information sd transmitted from the vehicle sensors 60 may be used. It is possible to determine whether to turn, that is, whether the vehicle is driving on a straight road or a curved road.

The target information acquisition unit 230 calculates the change amount of the target or the target relative to the target based on the vehicle speed information of the vehicle 10 and the plurality of frame data FD when the straight road is driven, and target information on the fixed target. (STI) and target information (DTI) for moving targets are obtained respectively.

More specifically, the target information acquisition unit 230 calculates a relative speed with respect to the vehicle 10 of the target existing in the Y-axis sector (beam direction of the vehicle radar) of each of the plurality of frame data FD, It may be determined whether the target is a fixed target or a moving target.

Therefore, according to the determination, the target information acquisition unit 230 acquires the fixed target information STI and the moving target information DTI, respectively.

For example, when the target is a fixed target, the relative speed of the target is a speed having the same magnitude in the opposite direction as the speed (for example, 80 km / h) of the vehicle 10 equipped with the vehicle radar 50 ( -80km / h), the target information acquisition unit 230 compares the relative speed (-80km / h) of the target with the speed (80km / h) of the vehicle 10 on which the vehicle radar 50 is mounted. The target may be confirmed as fixed target information (STI).

That is, the average relative speed of each frame of the target included in the Y-axis sector of each of the plurality of frame data FD is the same size in the opposite direction to the average speed of the vehicle 10 equipped with the vehicle radar 50 ( According to an embodiment, the predetermined error tolerance range may be set), and the target information acquisition unit 230 immediately determines this as a fixed target and generates fixed target information (STI).

Similarly, when the target is a moving target, the relative speed of the target is the vehicle 10 equipped with the vehicle radar 50 at the actual speed of the target (eg, 100 km / h or 60 km / h). Since the same as the speed (for example, 80km / h) minus the speed (20km / h or -20km / h), the target information acquisition unit 230 is the relative speed of the target (20km / h or -20km / h) ) Is compared with the speed (80km / h) of the vehicle 10 on which the vehicle radar 50 is mounted to determine whether the target is a movement, and thus generate the movement target information DTI.

In other words, regardless of the speed change of the vehicle 10 on which the vehicle radar 50 is mounted, that is, an inverse element in which the relative speed of the measured target differs only in the speed and direction of the vehicle 10 and is the same size. Is generated, and generates the moving target information (DTI) when the measured relative speed is independent of the speed of the vehicle 10 equipped with the vehicle radar 50. .

Through the comparison operation as described above, the target information acquisition unit 230 generates the fixed target information (STI) and the moving target information (DTI), respectively, and the moving target information (DTI) among the generated target information (STI and DTI). Only fixed target information STI excluding) is transmitted to the straight line calculator 270.

Meanwhile, the straight line calculator 270 calculates a virtual straight line L1 based on the fixed target information STI transmitted from the target information acquirer 230.

For example, the fixed target information STI determined as a fixed target from the Y-axis sector data information of each of the frame data FD is applied to a linear curve fitting method to obtain an equation of a straight line. The equation of the straight line is confirmed as an imaginary straight line L1.

According to an embodiment, the straight line calculator 270 may calculate the number of fixed target information STIs included in the Y-axis sector of each of the plurality of transmitted frame data FD in order to calculate a more accurate virtual straight line L1. The average value for, and the fixed target information (STI) may be applied to the linear curve fitting method when the calculated average value exceeds a predetermined threshold value.

That is, the straight line calculator 270 calculates an average value of the fixed target information STI generated from each of the plurality of frame data FD, and when the average value is larger than a predetermined value, the plurality of frame data ( FD) The virtual straight line L1 is extracted by applying the linear curve fitting method to the fixed target information STI generated in each.

Thereafter, the straight line calculator 270 transmits the information on the extracted virtual straight line L1 to the difference angle obtaining module 400 which will be described later.

On the other hand, the driving direction linear extraction module 300 of the horizontal alignment correction device 100 serves to extract the driving direction straight line L2 according to the driving direction of the vehicle.

At this time, the driving direction straight line extraction module 300 is connected to the vehicle steering sensors, such as the steering wheel sensor or the yaw rate sensor of the vehicle, similar to the target information acquisition unit 230 and the driving direction straight line L2 of the vehicle. I can extract it

For example, the driving direction linear extraction module 300 is connected to the vehicle steering sensors 60 to perform the numerical analysis on the sensing data sd received from the vehicle steering sensors 60 of the vehicle 10. The turning information is measured, and a driving direction straight line L2 of the vehicle is extracted by predicting a driving route of the vehicle 10 according to the measured turning information of the vehicle.

At this time, the predicted driving path of the vehicle 10 may be predicted as a curve of 2 or 3 or more orders, and the driving direction linear extraction module 300 may predict the predicted 2 according to the linear curve fitting method. The travel direction straight line L2 is extracted from the curve of a car or a third order or more.

That is, the driving direction straight line extraction module 300 extracts the driving direction straight line L2 according to the predicted vehicle turning information, and obtains the information on the extracted driving direction straight line L2 to the difference angle obtaining module 400 which will be described later. send.

The difference angle obtaining module 400 calculates an angle difference θ between the virtual straight line L1 transmitted from the virtual straight line extraction module 200 and the driving direction straight line L2 transmitted from the driving direction straight line extraction module 300. It plays a role.

In this case, the angle difference θ may be calculated by calculating a direction cosine between the virtual straight line L1 and the driving direction straight line L2, and the difference angle obtaining module 400 may calculate the calculated virtual straight line L1. And information on the angle difference θ of the driving direction straight line L2 is transmitted to the alignment correction processing module 500.

According to an embodiment, when the angle difference θ of the virtual straight line L1 and the driving direction straight line L2 is less than or equal to a predetermined angle, information about the angle difference θ is transmitted to the alignment correction processing module 500. It can also prevent excessive frequency radar alignment correction beyond utility.

The alignment correction processing module 500 corrects the horizontal alignment of the vehicle radar 50 according to the angle difference θ between the virtual straight line L1 and the driving direction straight line L2 transmitted from the difference angle obtaining module 400. .

Various methods of correcting the horizontal alignment of the vehicle radar 50 according to the angle difference θ may be implemented.

According to an embodiment, the alignment correction processing module 500 may be implemented by a mechanical method using an actuator and a motor, and mechanically correct the alignment of the vehicle radar 50 by the angle difference θ. have.

According to another embodiment, when the transmission / reception antenna of the vehicle radar 50 is implemented as an array antenna, the alignment correction processor 500 copies the transmission beam steering angle of the vehicle radar 50 by the angle difference θ and radiates it. In order to achieve this, the phase for each array antenna channel may be electronically corrected.

In this case, the alignment correction processor 500 may transmit the correction signal ccs to the phase for each array antenna channel to the vehicle radar 50 so that the transmission beam steering angle may be adjusted by the angle difference θ.

According to another embodiment, the alignment correction processing module 500 updates the obtained angle difference θ by adding the offset to the azimuth of the obtained fixed target information STI by offsetting the vehicle radar 50. The alignment of can also be corrected by software.

Meanwhile, the horizontal alignment correction timing of the alignment correction processing module 500 may also be implemented in various ways.

According to an embodiment, the alignment correction processing module 500 may correct the horizontal alignment of the vehicle radar 50 by the angle difference θ aperiodically in response to a driver's request while driving.

For example, when the beam steering direction of the vehicle radar 50 is distorted with the vehicle 10 so that the angle difference θ between the virtual straight line L1 and the driving direction straight line L2 is greater than or equal to the threshold, an alarm is generated to the driver and the driver is alerted. May instruct the alignment correction processing module 500 to align the vehicle radar 50.

According to another exemplary embodiment, the alignment correction processing module 500 may automatically correct the horizontal alignment of the vehicle radar 50 according to the angle difference θ according to a predetermined period while driving.

As a result, the horizontal alignment correction device 100 according to the embodiment of the present invention may correct the horizontal alignment of the radar 50 according to the driving direction of the vehicle 10 while driving on the road, and thus the radar 50 may be changed in a changing road situation. There is an effect that can accurately correct the horizontal alignment.

4 is a flowchart illustrating a horizontal alignment correction method for a vehicle radar according to an exemplary embodiment of the present invention.

2 to 4, the target information acquisition unit 230 of the virtual straight line extraction module 200 is connected to other vehicle sensors such as a steering wheel sensor or a yaw rate sensor of the vehicle and the radar 50 for the vehicle. It is detected whether the mounted vehicle 10 is traveling on a straight road (S10).

In addition, when the target information acquisition unit 230 determines that the vehicle 10 is driving on a straight road, target information for each of the fixed target and the moving target from the plurality of frame data FD collected from the vehicle radar 50. (STI and DTI) are generated (S30).

At this time, the target information acquisition unit 230 calculates the relative speed of the target present in the Y-axis sector (S27), the average relative speed of each frame of the target is the same in the opposite direction to the average speed of the vehicle 10 If it has a size, the target information acquisition unit 230 immediately determines this as a fixed target and generates fixed target information (STI) (S30).

On the contrary, if the average relative speed of each frame of the target is not related to the average speed of the vehicle 10, the target information acquisition unit 230 determines this as a moving target and generates moving target information (DTI) (S30). ).

The target information acquisition unit 230 transmits the fixed target information STI excluding the moving target information DTI among the generated target information STI and DTI to the straight line calculator 270 (S33).

The straight line calculator 270 calculates a virtual straight line L1 based on the fixed target information STI transmitted from the target information acquirer 230 (S40).

For example, the fixed target information STI determined as a fixed target from the Y-axis sector data information of each of the frame data FD is applied to a linear curve fitting method to obtain an equation of a straight line. The equation of the straight line is calculated as an imaginary straight line L1 (S40).

In this case, the straight line calculator 270 counts the number of fixed targets included in the Y-axis sector of each of the plurality of frame data FD (S35), and fixes each sector of the plurality of frame data FD. The average number of targets is calculated (S37), and when the number of average targets exceeds a predetermined threshold value, the fixed target information is applied to the linear curve fitting method to calculate a virtual straight line L1 (S40).

Thereafter, the straight line calculator 270 transmits the calculated information about the virtual straight line L1 to the difference angle obtaining module 400 (S43).

The driving direction linear extraction module 300 extracts the driving direction straight line L2 of the vehicle in association with the vehicle steering sensors such as a steering wheel sensor or a yaw rate sensor of the vehicle, similar to the target information acquisition unit 230. (S60).

For example, the driving direction linear extraction module 300 measures the turning information of the vehicle through numerical analysis associated with the vehicle steering sensors (S53), and determines the driving route of the vehicle based on the measured vehicle turning information. It predicts with a curve of three or more orders (S55), and extracts the driving direction straight line L2 of the vehicle 50 by applying a linear curve fitting method from the predicted second or third or more curves (S60). ).

Thereafter, the driving direction straight line extraction module 300 transmits the information about the extracted driving direction line L2 to the difference angle obtaining module 400 (S63).

The difference angle obtaining module 400 calculates an angle difference θ between the transmitted virtual straight line L1 and the driving direction straight line L2 (S70).

In this case, the angle difference θ may be calculated by calculating a direction cosine between the virtual straight line L1 and the driving direction straight line L2, and the difference angle obtaining module 400 may calculate the calculated virtual straight line L1. And information about the angle difference θ of the driving direction straight line L2 is transmitted to the alignment correction processing module 500 (S73).

The alignment correction processing module 500 corrects the horizontal alignment of the vehicle radar 50 according to the angle difference θ from the difference angle obtaining module 400 (S80).

The method of correcting the horizontal alignment of the vehicle radar 50 according to the angle difference θ may be variously implemented, such as a mechanical method, an electronic method, and a software method.

For example, the alignment of the vehicle radar 50 may be mechanically corrected by the angle difference θ using an actuator and a motor (S80-1).

Alternatively, the phases of the array antenna channels may be electronically corrected to copy the transmission beam steering angle of the vehicle radar 50 by the angle difference θ (S80-2), or the obtained angle difference θ As described above, correction may be performed by a software method of updating by adding an offset to the azimuth of the obtained fixed target information STI.

That is, the alignment correction processing module 500 adds the offset summation value to the target information so that the angle corresponding to the obtained angle difference θ may be added as an offset to the azimuth of the fixed target information STI. The horizontal alignment of the vehicle radar may be corrected by transmitting to the acquirer 230 and updating the fixed target information STI according to the transmitted offset summation result.

According to an embodiment, the alignment correction processing module 500 may correct the horizontal alignment of the vehicle radar 50 by the angle difference θ aperiodically in response to a driver's request while driving (S80).

According to another embodiment, the alignment correction processing module 500 may automatically correct the horizontal alignment of the on-vehicle radar 50 according to the angular difference [theta] according to a predetermined period during driving (S80).

As a result, the vehicle radar horizontal alignment correction method according to an embodiment of the present invention can correct the horizontal alignment of the radar 50 according to the driving direction of the vehicle 10 while driving on a road, or when the vehicle moves in a straight or curved lane. There is an effect that can accurately correct the horizontal alignment of the radar 50 in various road situations, such as when leaving the lane due to immaturity.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: Vehicle
50: Car Radar
100: horizontal alignment correction device
200: virtual straight line extraction module
230: target information acquisition unit
270: straight line calculation unit
300: driving direction linear extraction module
400: difference angle acquisition module
500: calibration processing module

Claims (10)

Generating, by the target information acquisition unit, the fixed target information from the frame data received from the vehicle radar and transmitting the generated linear target unit;
Calculating, by the straight line calculator, a virtual straight line by applying the transmitted fixed target information to a linear curve fitting method;
Calculating, by the driving direction straight line extraction module, the driving direction straight line according to the sensing information received from the vehicle steering sensor;
Calculating, by the difference angle obtaining module, an angle difference between the calculated virtual straight line and the driving direction straight line; And
And correcting, by the alignment correction processing module, the horizontal alignment of the vehicle radar according to the calculated angle difference. The method of claim 1, wherein the generating of the fixed target information from the frame data received from the vehicle radar by the target information obtaining unit and transmitting the fixed target information to the straight line calculating unit includes:
Calculating a relative velocity of a target present in the Y-axis sector of the received frame data; And
And generating, as the fixed target information, a target present in the Y-axis sector when the calculated relative speed has an inverse element relationship with the speed of the vehicle within a predetermined error range. How to calibrate the radar's horizontal alignment. The method of claim 1, wherein the straight line calculator calculates a virtual straight line by applying the transmitted fixed target information to a linear curve fitting method.
Counting the number of fixed target information included in a Y-axis sector of each of the frame data;
Calculating an average of the counted number of fixed target information; And
And calculating the virtual straight line by applying the fixed target information to the linear curve fitting method when the average value exceeds a predetermined threshold value. The method of claim 1, wherein the driving direction linear extraction module calculates the driving direction straight line according to the sensing information received from the vehicle steering sensor.
Calculating a turning curve for predicting a turning path of the vehicle through numerical analysis of the received sensing information; And
And extracting the driving direction straight line from the calculated turning curve using a linear curve fitting method. The method of claim 1, wherein the alignment correction processing module corrects the horizontal alignment of the vehicle radar according to the calculated angle difference.
And adjusting the steering angle of the vehicle radar by mechanically adjusting the vehicle radar by an angle corresponding to the calculated angle difference. The method of claim 1, wherein the alignment correction processing module corrects the horizontal alignment of the vehicle radar according to the calculated angle difference.
The horizontal alignment correction method of the vehicle radar for correcting the steering angle of the vehicle radar by adjusting the phase for each channel of the array antenna included in the vehicle radar in accordance with the calculated angle difference. The method of claim 1, wherein the alignment correction processing module corrects the horizontal alignment of the vehicle radar according to the calculated angle difference.
Summing an angle corresponding to the calculated angle difference to an azimuth of the fixed target information as an offset; And
And transmitting the summed result to the target information acquisition unit. The method of claim 1, wherein the alignment correction processing module corrects the horizontal alignment of the vehicle radar according to the calculated angle difference.
And correcting the horizontal alignment of the vehicle radar when the calculated angle difference exceeds a predetermined angle. A virtual straight line extraction module that receives a plurality of frame data from a vehicle radar, generates fixed target information, and calculates a virtual straight line from the generated fixed target information;
A driving direction linear extraction module for measuring turning information of the vehicle according to the sensing information received from the vehicle steering sensor, and calculating a driving direction straight line by predicting a driving route from the measured turning information of the vehicle;
A difference angle obtaining module for calculating an angle difference between the calculated virtual straight line and the driving direction straight line; And
Alignment correction processing module for correcting the horizontal alignment of the vehicle radar according to the calculated angle difference; horizontal alignment correction apparatus for a vehicle radar comprising a. The method of claim 9, wherein the virtual straight line extraction module,
A target information acquisition unit for calculating a relative speed of a target present in a Y-axis sector of the plurality of frame data received from the vehicle radar, and comparing the calculated relative speed with the speed of the vehicle to generate the fixed target information; And
And a straight line calculator configured to calculate the virtual straight line from the generated fixed target information by using a linear curve fitting method.

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