KR20140088683A  Apparatus, method and computer readable recording medium for detecting an object using an automotive radar  Google Patents
Apparatus, method and computer readable recording medium for detecting an object using an automotive radar Download PDFInfo
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 KR20140088683A KR20140088683A KR20130000493A KR20130000493A KR20140088683A KR 20140088683 A KR20140088683 A KR 20140088683A KR 20130000493 A KR20130000493 A KR 20130000493A KR 20130000493 A KR20130000493 A KR 20130000493A KR 20140088683 A KR20140088683 A KR 20140088683A
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Abstract
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object detecting apparatus using a vehicle radar for measuring a distance, an angle, and the like between vehicles. More particularly, the present invention relates to an object detecting apparatus that generates a signal through an antenna provided on a front surface of a vehicle, Wherein the antenna comprises: a transmitting array antenna for emitting a radar signal for forward detection; A reception array antenna for receiving a radar signal reflected by the radar signal radiated from the transmission array antenna; A signal analyzer for signal processing the received signal to calculate a correlation matrix; A data storage unit for storing the correlation matrix calculated by the signal analysis unit; A result reuse unit for calculating a correlation matrix by calculating a correlation matrix of a correlation matrix of a currently received signal calculated by the signal analysis unit and at least one previous received signal stored in the data storage unit; And an angle estimator for estimating an angle with respect to the target vehicle based on the corrected correlation matrix calculated by the result reuse unit.
Description
BACKGROUND OF THE
BACKGROUND ART [0002] Recently, a vehicle control system for controlling a vehicle using a radar device for detecting an object in the vicinity has been developed. Accurate object detection by a radar device is essential for such vehicle control systems to perform accurate vehicle control.
On the other hand, in radar, angle accuracy is very important for stable sensing performance. A radar operates with a specific cycle. It detects the target (target) by extracting the distance, speed, and angle every scan. When the road environment such as a tunnel or a guard rail becomes complicated, it is detected by a multipath The angle information may be distorted or overlapped with the frequency of the signal by another object so that the angle information may be different from the angle of the actual object.
Fig. 1 is a block diagram of a
The interference signal included in the signal received by the
FIG. 2 is an exemplary view of a
FIG. 6 is a flowchart of a target object detection method provided by the
Meanwhile, when a frequency modulated continuous wave (FMCW) signal is used as a signal transmitted from the radar device, the FMCW signal is generally composed of a combination of an upchirp and a downchirp, The angle information of the upchuck or the downchip is different from the actual angle depending on the road environment or the angular information of the upchuck and the downchuck is not paired even if one side is exactly displayed.
In addition, when the angles of both the up and down chucks are distorted, the angle of the target greatly changes for each scan, and the target may drop.
For example, as shown in FIG. 3, when a FMCW modulated signal is transmitted in each specific scan, a signal reflected by the target is received, and a frequency difference between signals as shown in FIG. 4 is acquired to perform Fast Fourier Transform (FFT) , A peak occurs in the frequency domain as shown in FIGS. 5A and 5B for each of the up / down chucks.
At this time, an angle is extracted through a beamforming algorithm in a frequency region with a peak, and a correlation matrix is generated by using signals for each antenna channel at a signal peak corresponding to each scan, and an angle is extracted.
In this case, there is a problem that the angle information of the target is inaccurate due to a problem that the signal itself extracting the current angle is a multipath or an antenna beam resolution is insufficient.
SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the abovementioned problems, and it is an object of the present invention to reduce errors in angle measurement by reusing data scanned at a previous time in a radar for a vehicle, A method for detecting an object using a vehicle radar, and a computer readable recording medium.
Accordingly, the present invention provides a vehicle radar capable of reducing errors in angle measurement by determining a correlation matrix as an average value from a previous scan value when extracting an angle for a current scan from a received signal received by an antenna And a computerreadable recording medium.
In order to achieve the abovedescribed object of the present invention and to achieve the specific effects of the present invention described below, the characteristic structure of the present invention is as follows.
According to an aspect of the present invention, there is provided an object detecting apparatus using a vehicle radar, the object detecting apparatus comprising: an antenna provided on a front surface of a vehicle, for generating a signal, receiving a reflected waveform of the generated signal, An apparatus comprising: a transmitting array antenna for emitting a radar signal for forward detection; A reception array antenna for receiving a radar signal reflected by the radar signal radiated from the transmission array antenna; A signal analyzer for signal processing the received signal to calculate a correlation matrix; A data storage unit for storing the correlation matrix calculated by the signal analysis unit; A result reuse unit for calculating a correlation matrix by calculating a correlation matrix of a correlation matrix of a currently received signal calculated by the signal analysis unit and at least one previous received signal stored in the data storage unit; And an angle estimator for estimating an angle with respect to the target vehicle based on the corrected correlation matrix calculated by the result reuse unit.
Advantageously, the result reuse unit calculates a corrected correlation matrix by averaging the correlation matrix of the currently received signal calculated by the signal analyzing unit and the correlation matrix of at least one previously received signal stored in the data storage unit do.
Advantageously, said result reuse section calculates a corrected correlation matrix by averaging a correlation matrix of a currently received signal calculated by said signal analysis section and a correlation matrix of a previously received signal stored in said data storage section.
Advantageously, the result reuse unit comprises a correlation matrix that is obtained by weighted averaging the correlation matrix of the currently received signal calculated by the signal analysis unit and the correlation matrix of at least one previously received signal stored in the data storage unit .
Preferably, the signal analyzing unit detects a peak signal by performing an FFT (Fast Fourier Transform) for converting a received signal from a time domain to a frequency domain, and calculates a correlation matrix from the detected peak signal.
Preferably, the apparatus further includes a distance calculating unit for calculating a distance by signal processing the signal received from the reception array antenna.
Preferably, the apparatus further includes a velocity calculation unit for calculating a velocity by subjecting the signal received from the reception array antenna to signal processing.
Advantageously, the apparatus further comprises a distance and velocity calculator for calculating a distance and a velocity by signal processing the signal received from the reception array antenna.
Preferably, the apparatus further includes a pairing unit for mapping the distance and velocity information calculated from the distance and velocity calculating unit and the angle information estimated by the angle estimating unit to an object to be sensed.
According to another aspect of the present invention, there is provided a method for detecting an object using a vehicle radar, including the steps of generating a signal through an antenna provided on a front surface of a vehicle, receiving an reflected waveform of the generated signal, A method, comprising: radiating a radar signal for forward detection through a transmitting array antenna; Receiving a radar signal reflected by a radar signal radiated from the transmitting array antenna through a receiving array antenna; Calculating a correlation matrix by signal processing the received signal; Storing the computed correlation matrix in a memory; Calculating a correlation matrix of the correlation of the calculated currently received signal and a correlation matrix of at least one previously received signal stored in the memory to yield a corrected correlation matrix; And estimating an angle with the target vehicle by the calculated corrected correlation matrix.
Advantageously, the step of calculating the corrected correlation matrix computes a corrected correlation matrix by averaging a correlation matrix of the calculated correlation matrix of the currently received signal and at least one previously received signal stored in the memory .
Advantageously, calculating said corrected correlation matrix yields a corrected correlation matrix by averaging a correlation matrix of said calculated current received signal correlation matrix and a previously received signal stored in said memory.
Advantageously, the step of calculating the corrected correlation matrix further comprises the step of calculating a corrected correlation matrix by weighted averaging the correlation matrix of the calculated currently received signal and the correlation matrix of at least one previously received signal stored in the memory do.
Preferably, the step of calculating the correlation matrix by signal processing the received signal comprises the steps of: detecting a peak signal by performing Fast Fourier Transform (FFT) to convert the received signal from time domain to frequency domain; And calculating a correlation matrix from the detected peak signal.
Advantageously, the method further comprises: calculating a distance by signal processing the signal received from the receiving array antenna.
Advantageously, the method further comprises signal processing the signal received from the receiving array antenna to calculate the velocity.
Advantageously, the method further comprises the step of signal processing the signal received from the receiving array antenna to calculate the distance and the velocity.
Preferably, the method further comprises mapping the calculated distance and velocity information and angle information estimated from the angle estimator to an object to be sensed.
Meanwhile, the information for receiving the object detection method using the vehicle radar may be stored in a recording medium readable by a server computer. Such a recording medium includes all kinds of recording media in which programs and data are stored so that they can be read by a computer system. Examples include ROMs (Read Only Memory), Random Access Memory, CD (Compact Disk), DVD (Digital Video Disk) ROM, magnetic tape, floppy disk, optical data storage device, (For example, transmission over the Internet). Such a recording medium may also be distributed over a networked computer system so that computer readable code in a distributed manner can be stored and executed.
As described above, according to the present invention, when an angle is extracted for a current scan from a received signal received at an antenna, a correlation matrix is averaged by determining a correlation matrix at a previous scan, When the angle information of the current scan is inaccurate due to the surrounding environment due to the surrounding environment, it is possible to prevent an abrupt change in angle, thereby improving the angle pairing and reducing the probability of dropping the target.
1 is a block diagram of a general radar apparatus.
FIG. 2 is an exemplary view for sensing a target object using a general radar device.
3 is a diagram showing transmission and reception signals of an FMCW signal applied to the present invention.
FIG. 4 is a diagram showing the sum and difference of the transmission signal and the reception signal frequency in FIG.
5A and 5B are views showing the frequency domain of FIG.
6 is a flowchart showing a general target object detection procedure.
7 is a block diagram illustrating an object sensing apparatus using a vehicle radar according to an embodiment of the present invention.
8 is a diagram illustrating a concept of calculating an angle from a signal received through an antenna according to the present invention.
9 is a flowchart showing an object detection procedure of a conventional vehicle radar.
10 is a flowchart illustrating an object detection procedure using a vehicle radar according to an embodiment of the present invention.
The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which the claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.
In the present invention, when angle information of a target (e.g., another vehicle) to be sensed is extracted, instead of extracting the angle using only the currently scanned data as in the conventional method, Of an object to be detected by using a radar for a vehicle that can reduce an error in angle measurement by reflecting it on a correlation matrix of the object.
For example, assuming that the current scan is
More specifically, let R (k) be the correlation matrix at time k, R (k) can be expressed by the following equation (1) as the row vector of the signal x _{n} Can be calculated by multiplying the thermal vector.
In Equation (1), x _{1} (k) denotes a signal received from the first antenna at k scan time, and x _{n} (k) denotes a signal received from the nth antenna at k scan time .
Meanwhile, the above Equation (1) can be calculated and expressed as Equation (2) below.
Therefore, according to the embodiment of the present invention as described above, the correlation matrix at the current scan time can be calculated as Equation (3).
Accordingly, when angle information of the current scan is inaccurate due to the surrounding environment, it is possible to prevent the angle from changing abruptly, thereby improving the angle pairing and reducing the probability of dropping the target.
That is, conventionally, the correlation matrix of the current scan is constructed using only the currently scanned data. However, in the present invention, as shown in Equation (3), the correlation matrix a correlation matrix may be used to construct a current correlation matrix.
In addition, according to another embodiment of the present invention, it is possible to utilize not only the data before one scan but also the previous scan data depending on the situation. According to another embodiment of the present invention, when calculating the current scan data and the at least one previous scan data, the correlation matrix of the current scan can be determined by weighting each scan data. For example, the closer to the current scan, the higher the weight, and the lower the weight to the previous scan. Conversely, the closer the current scan is, the lower the weight, and the higher the weight, the higher the weight of the current scan.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.
7 is a block diagram illustrating an object sensing apparatus using a vehicle radar according to an embodiment of the present invention.
Referring to FIG. 7, an
First, the
The
The transmitting
2, the receiving
The
The
At this time, according to the embodiment of the present invention, the
The
An example of a method of estimating an angle according to the digital beamforming will be described in detail with reference to FIG.
8 is a diagram illustrating a concept of calculating an angle from a signal received through an antenna according to the present invention. Referring to FIG. 8, the angle between the vehicle and the target can be calculated using the signals received from the two reception antennas. Various methods other than the method described later may be used to calculate the angle, and the angle is calculated using the correlation matrix.
Digital beamforming is a technique for estimating the angle of a target through electronic signal processing using signals of various channels without using an analog phase shifter or the like. As shown in FIG. 8, when there are a plurality of reception channels, when a signal is input from the target, a distance difference exists between paths depending on the angle of incidence, and the phase of the signal due to the distance difference is different for each channel. Digital beamforming is the process of extracting the angle by compensating for the phase difference by signal processing.
The method of implementing the digital beamforming can be largely divided into three methods. First, a beam is directed at each angle with respect to a predetermined angle, and signal processing is performed. Second, there is a method of obtaining a spatial correlation of a signal received for a plurality of channels to obtain a spatial spectrum for an angle. Finally, a method of finding the angle of incidence of a received signal by extracting only the subspace of the signal by separating the subspace of the signal and noise using the spatial correlation obtained above
For example, Bartlett beamforming utilizes a spatial correlation matrix of the signals coming in each channel when the signals come in on several channels. A steering vector is generated in a field of view to know the direction of arrival (DOA) and computed with a correlation matrix to calculate a power for each predetermined angle resolution. And then finding the angle of the peak of the power relative to the angle. At this time, the power spectrum is calculated by dividing the angle by angle resolution within the FOV and repeating the calculation by this value. In Fig. 8, [theta] is the angle of the target, [lambda] is the wavelength of the received signal, and d is the distance between the receiving
The
3, it is assumed that the current scan is the
In addition, according to another embodiment of the present invention, it is possible to utilize not only the data before one scan but also the previous scan data depending on the situation. That is, when the correlation matrices measured from the received data for a certain number of scans are accumulated and stored, and when the correlation matrix for the received data of the current scan is determined, a correlation matrix of the predetermined number of previous scans is calculated, The correlation matrix can be determined.
According to another embodiment of the present invention, when calculating the current scan data and the at least one previous scan data, the correlation matrix of the current scan can be determined by weighting each scan data. For example, the closer to the current scan, the higher the weight, and the lower the weight to the previous scan. It is also possible to set them in the opposite manner.
In the meantime, the respective components of the apparatus are separately shown in the drawings to show that they can be functionally and logically separated, and do not necessarily mean physically separate components or separate codes.
In this specification, each functional unit (or module) may mean a functional and structural combination of hardware for carrying out the technical idea of the present invention and software for driving the hardware. For example, each functional unit may refer to a logical unit of a predetermined code and a hardware resource for executing the predetermined code, and may be a code physically connected to the functional unit, But can be easily deduced to the average expert in the field of the invention.
9 is a flowchart showing an object detection procedure of a radar for a vehicle in the current scan. Referring to FIG. 9, first, raw data received as a preprocessing step (Fast Fourier Transform) (S901) is processed to generate a frequency domain signal.
Then, as a peak detection step S902, an algorithm such as CFAR (constant false alarm rate) is performed to detect a peak in the frequency signal.
Next, in an angle estimation step S903, an angle is extracted through a digital beamforming (DBF) algorithm using channel reception data.
Next, in the pairing step S904, distance information, velocity information, angle information, and the like of the target are generated using the peak information extracted from the up / down chirp (Up / down chirp) and the angle information extracted from the angle estimating step .
Finally, in the tracking step S905, tracking for stable detection is performed.
10 is a flowchart illustrating an object detection procedure using a vehicle radar according to an embodiment of the present invention.
Referring to FIG. 10, first, as shown in FIG. 9, raw data received as a preprocessing step (Fast Fourier Transform) (S1001) is processed to generate a frequency domain signal.
At this time, the FFT result is stored in the memory according to the embodiment of the present invention (S1002). That is, the data before the previous one scan (or M scan) is stored, and the digital beamforming algorithm including data at the time of extracting the angle of the current scan is performed.
Then, as a peak detection step 10902, an algorithm such as CFAR (constant false alarm rate) is performed to detect a peak in the frequency signal.
Next, in the angle estimation step S1003, angles are extracted through a digital beamforming (DBF) algorithm using channel reception data. At this time, according to an embodiment of the present invention, previous scan data stored in the memory are calculated together to form a correlation matrix, and the angle is estimated by digital beamforming as described above.
Next, in the pairing step S1004, distance information, velocity information, angle information, and the like of the target are generated using the peak information extracted from the up / down chirp (Up / down chirp) and the angle information extracted from the angle estimating step .
Finally, in the tracking step S1005, tracking for stable detection is performed.
The invention has been described above with the aim of method steps illustrating the performance of certain functions and their relationships. The boundaries and order of these functional components and method steps have been arbitrarily defined herein for convenience of description. Alternative boundaries and sequences may be defined as long as the specific functions and relationships are properly performed. Any such alternative boundaries and sequences are therefore within the scope and spirit of the claimed invention. In addition, the boundaries of these functional components have been arbitrarily defined for ease of illustration. Alternative boundaries can be defined as long as certain important functions are properly performed. Likewise, the flow diagram blocks may also be arbitrarily defined herein to represent any significant functionality. For extended use, the flowchart block boundaries and order may have been defined and still perform some important function. Alternative definitions of both functional components and flowchart blocks and sequences are therefore within the scope and spirit of the claimed invention. Those skilled in the art will also appreciate that the functional components and other illustrated blocks, modules, and components herein may be implemented as illustrated or as separate components, such as semiconductor integrated circuits (ASICs) And the like, or any combination thereof.
The invention may also be described, at least in part, in the language of one or more embodiments. Embodiments of the invention are used herein to describe the invention, aspects thereof, features thereof, concepts thereof, and / or examples thereof. The physical embodiment of an apparatus, article of manufacture, machine, and / or process for implementing the invention may include one or more aspects, features, concepts, examples, etc., described with reference to one or more embodiments described herein . Moreover, in the entire drawings, embodiments may incorporate the same or similarly named functions, steps, modules, etc. that may use the same or different reference numerals, and so forth, Steps, modules, etc., may be the same or similar functions, steps, modules, etc., or the like.
While various combinations of features and specific combinations of features of the present invention are explicitly described herein, other combinations of these features and functions are likewise possible. The present invention is not limited to the specific examples disclosed herein, and explicitly incorporates these different combinations.
As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.
Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .
100: radar device 110: signal transmitter
120: signal receiving unit 130: interference signal removing unit
140: target object detection unit 200: target object
710: RF transmitting unit 720: antenna unit
721: An array antenna for transmission 722: An array antenna for reception
730: RF receiving section 740: Ringing and speed calculating section
750: Signal analysis section 760: Result reuse section
770: Data storage unit 780: Angle estimating unit
790:
Claims (19)
A transmitting array antenna for emitting a radar signal for forward detection;
A reception array antenna for receiving a radar signal reflected by the radar signal radiated from the transmission array antenna;
A signal analyzer for signal processing the received signal to calculate a correlation matrix;
A data storage unit for storing the correlation matrix calculated by the signal analysis unit;
A result reuse unit for calculating a correlation matrix by calculating a correlation matrix of a correlation matrix of a currently received signal calculated by the signal analysis unit and at least one previous received signal stored in the data storage unit; And
And an angle estimator for estimating an angle with respect to the target vehicle based on the corrected correlation matrix calculated by the result reuse unit.
Wherein the correlation matrix is calculated by averaging the correlation matrix of the currently received signal calculated by the signal analysis unit and the correlation matrix of at least one previously received signal stored in the data storage unit, .
And calculates a corrected correlation matrix by averaging the correlation matrix of the currently received signal calculated by the signal analysis unit and the correlation matrix of the immediately received signal stored in the data storage unit.
Wherein the correlation matrix is calculated by weighted averaging the correlation matrix of the currently received signal calculated by the signal analysis unit and the correlation matrix of at least one previously received signal stored in the data storage unit, Device.
Wherein a peak signal is detected by performing an FFT (fast Fourier transform) for converting a received signal from a time domain to a frequency domain, and a correlation matrix is calculated from the detected peak signal.
And a distance calculating unit for calculating a distance by signal processing the signal received from the reception array antenna.
And a velocity calculating unit for calculating a velocity by signal processing the signal received from the reception array antenna.
And a distance and velocity calculator for calculating a distance and a velocity by signal processing the signal received from the reception array antenna.
And a pairing unit for mapping the distance and velocity information calculated from the distance and velocity calculating unit and the angle information estimated by the angle estimating unit to an object to be sensed.
Radiating a radar signal for forward detection through a transmitting array antenna;
Receiving a radar signal reflected by a radar signal radiated from the transmitting array antenna through a receiving array antenna;
Calculating a correlation matrix by signal processing the received signal;
Storing the computed correlation matrix in a memory;
Calculating a correlation matrix of the correlation of the calculated currently received signal and a correlation matrix of at least one previously received signal stored in the memory to yield a corrected correlation matrix; And
And estimating an angle with the target vehicle by using the calculated corrected correlation matrix.
And calculating a corrected correlation matrix by averaging the correlation matrix of the calculated current received signal and the correlation matrix of at least one previously received signal stored in the memory.
And calculating a corrected correlation matrix by averaging the correlation matrix of the calculated current received signal and the correlation matrix of the immediately previously received signal stored in the memory.
Wherein the correlation matrix is calculated by weighted averaging the correlation matrix of the calculated currently received signal and the correlation matrix of at least one previously received signal stored in the memory.
Detecting a peak signal by performing Fast Fourier Transform (FFT) for converting a received signal from a time domain to a frequency domain; And
And calculating a correlation matrix from the detected peak signal.
And calculating a distance by signal processing the signal received from the reception array antenna.
And calculating a velocity by signal processing the signal received from the reception array antenna.
And calculating a distance and a velocity by signal processing the signal received from the reception array antenna.
And mapping the calculated distance and velocity information and angle information estimated by the angle estimator to an object to be sensed.
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Cited By (3)
Publication number  Priority date  Publication date  Assignee  Title 

KR20180069220A (en) *  20161215  20180625  현대자동차주식회사  Algorithm for discrimination of target by using informations from radar 
KR20190025997A (en) *  20160709  20190312  텍사스 인스트루먼츠 인코포레이티드  Velocity detection method and apparatus in MIMO radar including velocity ambiguity solution 
CN110927696A (en) *  20180829  20200327  罗伯特·博世有限公司  Device for receiving light for detecting an object 

2013
 20130103 KR KR20130000493A patent/KR20140088683A/en not_active Application Discontinuation
Cited By (3)
Publication number  Priority date  Publication date  Assignee  Title 

KR20190025997A (en) *  20160709  20190312  텍사스 인스트루먼츠 인코포레이티드  Velocity detection method and apparatus in MIMO radar including velocity ambiguity solution 
KR20180069220A (en) *  20161215  20180625  현대자동차주식회사  Algorithm for discrimination of target by using informations from radar 
CN110927696A (en) *  20180829  20200327  罗伯特·博世有限公司  Device for receiving light for detecting an object 
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