KR20150002227A - Device for detecting the obstacles around the vehicle and method thereof - Google Patents

Device for detecting the obstacles around the vehicle and method thereof Download PDF

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Publication number
KR20150002227A
KR20150002227A KR1020130075794A KR20130075794A KR20150002227A KR 20150002227 A KR20150002227 A KR 20150002227A KR 1020130075794 A KR1020130075794 A KR 1020130075794A KR 20130075794 A KR20130075794 A KR 20130075794A KR 20150002227 A KR20150002227 A KR 20150002227A
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KR
South Korea
Prior art keywords
sensing information
sensing
obstacle
information
vehicle
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KR1020130075794A
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Korean (ko)
Inventor
조영섭
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현대모비스 주식회사
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Priority to KR1020130075794A priority Critical patent/KR20150002227A/en
Publication of KR20150002227A publication Critical patent/KR20150002227A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

Abstract

The present invention relates to a sensing unit for sensing and sensing ultrasound signals from a sensor for sensing an obstacle around a vehicle to acquire sensed information, a first sensing information obtained through the sensing unit, A storage unit for storing at least one of the first sensing information and the second sensing information if the sensing information is confirmed to be valid by the checking unit, And a determination unit for determining whether or not the obstacle exists in the vicinity of the vehicle based on the two latest sensed information stored correspondingly.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a device for detecting an obstacle near a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a technology for detecting an obstacle in a vehicle using an ultrasonic sensor, and more particularly to a technique for detecting an obstacle close to a vehicle.

In recent years, a vehicle bumper is equipped with a vehicle obstacle detection device, that is, a parking assist system (PAS), to prevent a safety accident caused by collision with an obstacle or a person when the vehicle is backed up or parked. The parking assist system senses the presence of an obstacle in the vicinity of the vehicle and informs the driver of the presence of an obstacle by an alarm sound or an indicator. Ultrasonic sensors are mainly used for parking assist systems. The parking assist system transmits the ultrasonic waves through the ultrasonic sensor and receives the ultrasonic signals reflected from the obstacle to determine the approach direction and the approach distance of the obstacles existing in the rear of the vehicle. When the obstacle approaches within a certain distance, the parking assist system provides the driver with information about the presence of the obstacle, thereby preventing safety accidents such as various contact accidents.

However, the ultrasonic sensor used in such a parking assist system has a high probability of erroneously recognizing an obstacle in the noise inflow in the same frequency band. When the noise signal is superimposed on the reflection signal as illustrated in Fig. 1 (a), the parking assist system can not measure the reflection signal for the obstacle, and can measure the erroneous distance. 1B, when the noise is detected in the noise measurement period, even if a reflection signal to the obstacle is received, the parking assist system distinguishes the noise from the noise, and an obstacle exists around the vehicle. However, There is a risk that a vehicle accident will occur.

An object of the present invention is to provide a technical solution for preventing an erroneous recognition of an obstacle due to noise.

According to an aspect of the present invention, there is provided an apparatus for detecting an obstacle surrounding a vehicle, including a sensing unit for sensing and receiving ultrasound signals from a sensor for sensing an obstacle around the vehicle, A verification unit for verifying whether the first sensing information and the second sensing information to be obtained are valid; and a control unit for storing at least one of the first sensing information and the second sensing information, And a determination unit for determining whether or not the obstacle exists around the vehicle based on the latest two pieces of sensing information stored corresponding to the ultrasonic sensor among the sensing information stored in the storage unit.

Here, the checking unit determines whether the first sensing information and the second sensing information are valid by taking into consideration at least one of a time value and a pulse width included in each of the first sensing information and the second sensing information. Specifically, if at least one of the errors between the error values and the pulse widths between the time values included in the first detection information and the second detection information is out of the predetermined allowable time range and the allowable pulse width range, 1 < / RTI > detection information and the second detection information is determined as an invalid noise.

If the error between the time values included in each of the two latest sensory information stored in the storage unit corresponding to the ultrasonic sensor is within a predetermined threshold range, Is present. In addition, if there are other sensors adjacent to both sides of the sensor, the determination unit determines whether or not the obstacle exists by considering the sensing information recently stored in the storage unit corresponding to each of the other ultrasonic sensors.

According to another aspect of the present invention, there is provided a method for detecting a peripheral obstacle of a vehicle by an apparatus for detecting an obstacle surrounding a vehicle, the method comprising: Storing at least one of the first sensing information and the second sensing information in a memory when the sensed information is determined to be valid; And determining whether the obstacle exists in the vicinity of the vehicle based on the latest two pieces of sensing information stored corresponding to the sensor.

If at least one of the errors between the time values included in each of the first sensing information and the second sensing information and the error between the pulse widths is out of the allowable time range and the allowable pulse width range, Determining at least one of the first sensing information and the second sensing information to be ineffective noise.

If the error between the time information and the pulse width included in each of the two latest sensing information stored in association with the ultrasonic sensor among the sensing information stored in the memory is within a predetermined threshold range, And determining that an obstacle exists.

According to the embodiment of the present invention, the ultrasonic signal transmission and reflection signal through the ultrasonic sensor are operated twice to obtain sensed information, and the sensed information is firstly confirmed as valid information, By detecting the existence of an obstacle by using the sensing information, it is possible to detect an obstacle existing around the vehicle even in an environment where noise occurs.

1 is a diagram illustrating transmission and reception waveforms of an ultrasonic signal of an ultrasonic sensor in an environment including noise;
FIG. 2 is a block diagram of an apparatus for detecting a surrounding obstacle of a vehicle according to an embodiment of the present invention; FIG.
3 is an exemplary view showing an ultrasonic sensor mounting position of a vehicle according to the present invention.
4 is a view illustrating an ultrasonic signal transmission / reception waveform of the ultrasonic sensor according to the present invention.
5 is a flowchart illustrating a method of detecting a peripheral obstacle by an apparatus for detecting an external obstacle of a vehicle according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The foregoing and further aspects of the present invention will become more apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of an apparatus for detecting a surrounding obstacle of a vehicle. As shown in the figure, the peripheral obstacle sensing apparatus 10 includes a sensing unit 100, an identifying unit 200, a storage unit 300, and a determination unit 400.

The sensing unit 100 includes a sensor for detecting an obstacle around the vehicle and can be mounted at a predetermined position outside the vehicle (for example, front and rear bumpers of the vehicle). For example, the sensing unit 100 may include a plurality of ultrasonic sensors that transmit ultrasonic signals to the surroundings of the vehicle and receive reflection signals therefrom to acquire sensing information. Other components of the sensing unit 100 and the peripheral obstacle sensing device 10 may be implemented as a single module. Alternatively, the sensing unit 100 may be physically separated from other components of the peripheral obstacle sensing apparatus 10 and may be implemented to be connected through a vehicle network.

Specifically, the sensing unit 100 may perform an ultrasonic signal transmission operation and a reflection signal reception operation therefor in two ultrasonic sensors in a plurality of ultrasonic sensors. That is, the sensing unit 100 transmits the ultrasonic signal through the first ultrasonic sensor 110 illustrated in FIG. 3 and receives the reflected signal to acquire the first sensing information for the first ultrasonic sensor 110 . In addition, the sensing unit 100 may transmit the second ultrasonic signal through the first ultrasonic sensor 110 and may receive the second sensed information about the first ultrasonic sensor 110 by receiving the reflected signal. In addition, the sensing unit 100 may also perform the above-described operation in the second ultrasonic sensor 120 to acquire the first and second sensing information for the second ultrasonic sensor 120.

3, when four ultrasonic sensors 110 to 140 are mounted on the vehicle front bumper, the sensing unit 100 acquires first and second sensing information of the first ultrasonic sensor 110 The first and second sensing information of the second ultrasonic sensor 120 and the first and second sensing information of the third ultrasonic sensor 130 and the first and second sensing information of the fourth ultrasonic sensor 120, Acquire the second sensing information, and then obtain the third and fourth sensing information of the first ultrasonic sensor 110. That is, the sensing unit 100 may acquire two pieces of sensing information corresponding to the respective ultrasonic sensors in a predetermined cycle unit.

For convenience of description of the present invention, the following ultrasonic sensors will be described based on one sensor (for example, a first ultrasonic sensor), and the same applies to other ultrasonic sensors mounted on a vehicle .

The verification unit 200 determines whether the sensing information obtained through the sensing unit 100 is valid. Specifically, the checking unit 200 may determine the first sensing information and the second sensing information based on at least one of the time value and the pulse width included in the first sensing information and the second sensing information obtained through the sensing unit 100, 2 Check that the detection information is valid.

For example, the verification unit 200 determines whether the first sensing information and the second sensing information are valid using the time values included in the first sensing information and the second sensing information. Here, the time value refers to a time (Time of Flight, ToF) at which a reflected signal is received after transmitting an ultrasonic signal as illustrated in FIG.

Specifically, the verification unit 200 determines whether an error between the time value included in the first sensing information and the time value included in the second sensing information is within a predetermined allowable time range. If the error between the time values is within the predetermined allowable time range, the verification unit 200 confirms that the first sensing information and the second sensing information are valid. Here, the allowable time range can be preset by the user in consideration of the speed of the airspeed and the speed of the ultrasonic air (about 34 cm / 1 ms). For example, if the vehicle speed is 10 km / h or less and the distance information between the first sensing information and the second sensing information is within 6 cm, then the determination unit 200 determines that the sensing information is valid, If the error between the time values of the second sensing information is within about ± 0.3 ms, it can be confirmed that the first and second sensing information are valid. When the error between the time value of the first sensing information and the time value of the second sensing information exceeds the allowable time range, the verifying unit 200 can determine that the noise is excessive.

In another example, the verification unit 200 determines whether the first sensing information and the second sensing information are valid using the pulse width included in the first sensing information and the second sensing information. Here, the pulse width refers to the waveform width (Width) of the reflected signal after transmitting the ultrasonic signal as illustrated in FIG.

Specifically, when the error between the pulse width included in the first sensing information and the pulse width included in the second sensing information is within the predetermined allowable pulse width range, the verification unit 200 determines that the first sensing information and the second sensing information are valid . This is because, if the obstacle surface is not largely irregular, the pulse width of the reflected signal is not greatly different even if the obstacle is repeatedly detected. That is, when the error between the pulse width included in the first detection information and the pulse width included in the second detection information exceeds the preset allowable pulse width range, the verification unit 200 determines that the first and second detection information are valid It can be judged as noise.

If the error between the time values included in the first detection information and the second detection information is within the allowable time range and the error between the pulse widths is within the allowable pulse width range, 2 Verify that the detection information is valid.

The storage unit 300 is a storage unit for storing data, and may be a flash memory. Sensing information obtained through the sensing unit 100 is stored in the storage unit 300. In particular, the sensing unit 300 may be configured to store sensed information that is confirmed to be valid by the checking unit 200. [ At this time, at least one of the first sensing information and the second sensing information confirmed to be valid by the confirmation unit 200 is stored in the storage unit 300.

For example, only one of the first detection information and the second detection information, which are confirmed to be valid, may be stored in the storage unit 300. For example, only one piece of sensing information acquired later among the first sensing information and the second sensing information may be stored in the storage unit 300. As another example, both the first sensing information and the second sensing information may be stored. As another example, the storage unit 300 may store average information of the first sensing information and the second sensing information. That is, the storage unit 300 may store an average value of the time values included in the first sensing information and the second sensing information, and an average value of the pulse widths included in the first sensing information and the second sensing information, respectively.

If the third and fourth sensing information obtained through the sensing unit 100 are confirmed to be valid by the checking unit 200, at least one of the third sensing information and the fourth sensing information is stored Can be stored. At this time, the detection information of at least one of the third sensing information and the fourth sensing information is judged to be valid before, and the sensing information of at least one of the first sensing information and the second sensing information stored in the storage unit 300 is sequentially Lt; / RTI >

In addition, the storage unit 300 may store sensing information corresponding to each of a plurality of ultrasonic sensors mounted on a vehicle.

The determination unit 400 determines whether or not there is an obstacle around the vehicle using the sensing information stored in the storage unit 300. [ Specifically, the determination unit 400 may determine whether an obstacle exists around the vehicle based on the latest two pieces of sensing information stored in the storage unit 300 in response to the ultrasonic sensor. The determination unit 400 determines that an obstacle exists around the vehicle if the error between the time values included in the two latest sensing information stored in the storage unit 300 is within a predetermined threshold range. Here, the predetermined threshold range may be a range value such as the allowable time range and the allowable pulse width range in the confirmation unit 200, or may be a different range value.

For example, if it is determined that the first, second, third, and fourth sensing information are validated by the verification unit 200 and that the second and fourth sensing information are stored in the storage unit 300, 400 may determine whether an obstacle exists by considering the time value and the pulse width included in each of the second and fourth sensing information. That is, the determination unit 400 determines that an obstacle exists around the vehicle if the error between the error value and the pulse width included in the second sensing information and the fourth sensing information is within a predetermined threshold range.

In addition, when there are other ultrasonic sensors adjacent to both sides of the ultrasonic sensor, the determination unit 400 reaffirms the presence of the obstacle in consideration of the sensing information corresponding to the other sensors. At this time, the determination unit 400 can recognize whether there are other ultrasonic sensors adjacent to both sides by using the unique identifier information provided to each of the plurality of ultrasonic sensors mounted at predetermined positions of the vehicle.

For example, in the case of the second ultrasonic sensor 120 of FIG. 3, the determination unit 400 may obtain detection information corresponding to other ultrasonic sensors (first and third ultrasonic sensors 110 and 130) The presence of the obstacle can be re-confirmed. The determination unit 400 determines the existence of an obstacle in consideration of the time value included in the sensing information corresponding to the first ultrasonic sensor 110 and the time value included in the sensing information corresponding to the third ultrasonic sensor 130. [ Can be determined.

  Here, the sensing information corresponding to the first and third ultrasonic sensors 130 is confirmed to be valid by the identification unit 120, and the first and third ultrasonic sensors 110 and 130, which are most recently stored in the storage unit 300, May be the corresponding detection information. Alternatively, the sensed information corresponding to the first and third ultrasound sensors 130 may be sensed information corresponding to each of the first and third ultrasound sensors 110 and 130 most recently acquired through the sensing unit 100 have.

If the time information included in the sensing information corresponding to the first ultrasonic sensor 110 and the third ultrasonic sensor 130 is 0, the determination unit 400 determines that the storage unit 300 (corresponding to the second ultrasonic sensor 120) It is determined that an obstacle does not exist even if the error between the time value included in each of the latest two pieces of detection information (for example, the second detection information and the fourth detection information) and the pulse width is within a predetermined threshold range No beeps are generated. This is because, when a reflection signal is received from an ultrasonic sensor located at a center rather than a corner of the vehicle, the reflection signal is also received by at least one of the ultrasonic sensors located on both sides.

If at least one of the time values included in the sensing information corresponding to the first ultrasonic sensor 110 and the third ultrasonic sensor 130 is not 0 and the determination unit 400 determines that the second ultrasonic sensor 120 , It is determined that an obstacle exists around the vehicle if the error between the time values included in each of the two latest sensing information in the storage unit 300 and the pulse width is within a predetermined threshold range, The presence of an obstacle.

As described above, according to the embodiment of the present invention, the ultrasonic signal transmission through the ultrasonic sensor and the reflection signal are operated twice to acquire the sensed information, the sensed information of the two senses is firstly confirmed as valid information, It is possible to detect obstacles existing around the vehicle even in an environment where noise is generated by determining whether or not an obstacle exists by using the detected sensing information.

5 is a flowchart illustrating a method for detecting an obstacle surrounding a vehicle by an obstacle detection apparatus according to an embodiment of the present invention.

The surrounding obstacle sensing apparatus 10 acquires the first sensing information and the second sensing information of the ultrasonic sensor (S100).

Specifically, the peripheral obstacle sensing device 10 performs an ultrasonic signal transmission operation and a reflection signal reception operation for the ultrasonic signal transmission operation twice to acquire two pieces of sensing information. That is, the peripheral obstacle sensing device 10 can receive the first sensing information by first transmitting the ultrasonic signal through the ultrasonic sensor and receiving the reflection signal. In addition, the peripheral obstacle sensing apparatus 10 can transmit the second ultrasound signal through the ultrasonic sensor and receive the reflection signal to acquire the second sensing information.

For example, as illustrated in FIG. 3, when four ultrasonic sensors (110 to 140) are mounted on the front bumper of the vehicle, the peripheral obstacle sensing device 10 detects the first and second senses of the first ultrasonic sensor 110 Acquires first and second sensed information of the second ultrasonic sensor 120, acquires first and second sensed information of the third ultrasonic sensor 130, acquires first and second sensed information of the third ultrasonic sensor 130, The first and second sensing information of the first ultrasonic sensor 110 may be obtained. That is, the peripheral obstacle sensing apparatus 10 can acquire two pieces of sensing information corresponding to the respective ultrasonic sensors in a predetermined cycle unit.

The surrounding obstacle sensing apparatus 10 determines whether the first sensing information and the second sensing information obtained in step S100 are valid (S200).

Specifically, the peripheral obstacle sensing apparatus 10 determines whether or not the first and second sensing information are in consideration of at least one of the time value and the pulse width included in the first sensing information and the second sensing information obtained in step S100 Check if it is valid.

For example, the surrounding obstacle sensing apparatus 10 determines whether an error between a time value included in the first sensing information and a time value included in the second sensing information is within a predetermined allowable time range. If the error between the time values is within the predetermined allowable time range, the surrounding obstacle sensing apparatus 10 confirms that the first sensing information and the second sensing information are valid. When the error between the time value of the first sensing information and the time value of the second sensing information exceeds the allowable time range, the surrounding obstacle sensing apparatus 10 can confirm the first and second sensing information as noise that is not valid.

As another example, the peripheral obstacle sensing apparatus 10 checks whether the error between the pulse width included in the first sensing information and the pulse width included in the second sensing information is within a predetermined allowable pulse width range. If the error between the pulse widths is within the predetermined allowable time range, the peripheral obstacle sensing device 10 confirms that the first sensing information and the second sensing information are valid. When the error between the pulse width of the first sensing information and the pulse width of the second sensing information exceeds the allowable pulse width range, the peripheral obstacle sensing apparatus 10 can recognize the first and second sensing information as noise that is not valid .

Preferably, when the error between the time values included in the first detection information and the second detection information is within the allowable time range and the error between the pulse widths is within the allowable pulse width range, And that the second sensing information is valid.

The peripheral obstacle sensing apparatus 10 stores at least one of the first and second sensing information that is determined to be valid in step S200 in the memory (S300).

For example, the peripheral obstacle sensing apparatus 10 may store only sensing information of one of the first sensing information and the second sensing information in the memory. For example, the surrounding obstacle sensing device 10 may store only one piece of sensing information acquired later among the first sensing information and the second sensing information in the memory. As another example, the peripheral obstacle sensing device 10 may store both the first sensing information and the second sensing information in a memory. As another example, the peripheral obstacle sensing apparatus 10 may store average information of the first sensing information and the second sensing information in a memory. That is, the peripheral obstacle sensing apparatus 10 may store an average value of the time values included in the first sensing information and the second sensing information and an average value of the pulse widths in the memory.

If it is confirmed that the third sensing information and the fourth sensing information of the ultrasonic sensor are valid, the peripheral obstacle sensing device 10 may store at least one sensing information of the third sensing information and the fourth sensing information in the memory have. At this time, the peripheral obstacle sensing apparatus 10 determines at least one of the third sensing information and the fourth sensing information as at least one of the first sensing information and the second sensing information stored in the memory, Can be stored sequentially.

Also, the peripheral obstacle sensing device 10 may store sensing information corresponding to each of the plurality of ultrasonic sensors mounted on the vehicle, in a memory.

In step S300, the surrounding obstacle sensing apparatus 10 determines whether an obstacle exists around the vehicle using the sensing information stored in the memory (S400).

Specifically, the surrounding obstacle sensing apparatus 10 can determine whether an obstacle exists around the vehicle based on the two latest sensing information stored in the memory, corresponding to the ultrasonic sensor, among the sensing information stored in the memory. For example, if the error between the time and the pulse width included in each of the two latest detection information stored in the memory is within a predetermined threshold range, the peripheral obstacle sensing apparatus 10 determines that an obstacle exists around the vehicle can do. Here, the predetermined threshold range may be a range value such as an allowable time range and an allowable pulse width range used when checking the validity of the sensing information in step S200, and may be a different range value.

The operations of steps S100 and S200 are repeated to confirm that the first and second sensing information are valid, the third and fourth sensing information are valid, and the second and fourth sensing information are stored in the memory , The surrounding obstacle sensing apparatus 10 can determine whether an obstacle exists by considering the time value and the pulse width included in each of the second and fourth sensing information. That is, if the error between the error value and the pulse width between the time information included in the second and fourth detection information is within a predetermined threshold range, the surrounding obstacle sensing apparatus 10 determines that an obstacle exists around the vehicle. If the error between the error value and the pulse width between the time information included in the second and fourth detection information is out of a predetermined threshold range, the surrounding obstacle detection device 10 determines that no obstacle exists around the vehicle do.

If it is determined in step S400 that an obstacle exists (S500), the surrounding obstacle sensing apparatus 10 determines whether there are other ultrasonic sensors adjacent to both sides of the ultrasonic sensor (S600). At this time, the surrounding obstacle sensing apparatus 10 can recognize whether there are other ultrasonic sensors adjacent to both sides by using the unique identifier information given to each of the plurality of ultrasonic sensors mounted on the vehicle.

For example, as illustrated in FIG. 3, when the first and third ultrasonic sensors 110 and 130 adjacent to both sides are present as the second ultrasonic sensor 120 or when the third ultrasonic sensor 130 When the second and fourth ultrasonic sensors 120 and 140 adjacent to both sides are present, the surrounding obstacle sensing device 10 can confirm that there are other ultrasonic sensors adjacent to both sides.

If it is determined in step S600 that there are no other ultrasonic sensors adjacent to both sides, the surrounding obstacle sensing apparatus 10 determines that an obstacle exists around the vehicle and generates an alarm sound to warn the driver (S700).

If it is determined in step S600 that there are other ultrasonic sensors adjacent to both sides, the peripheral obstacle sensing device 10 re-affirms the existence of the obstacle in consideration of the sensing information corresponding to the ultrasonic sensors adjacent to both sides (S800) .

For example, in the case of the second ultrasonic sensor 120 of FIG. 3, the peripheral obstacle sensing apparatus 10 may include a plurality of ultrasonic sensors 120 (corresponding to the first and third ultrasonic sensors 110 and 130) The presence of the obstacle is confirmed by considering the sensing information. Here, the sensing information corresponding to the first and third ultrasonic sensors 130 used in step S800 may include sensing information corresponding to the first ultrasonic sensor 110 most recently stored in the memory, and sensing information corresponding to the third ultrasonic sensor 130 May be corresponding detection information. Alternatively, the sensing information corresponding to the first and third ultrasonic sensors 130 used in step S800 may be sensed information obtained through the respective first ultrasonic sensor 110 and the third ultrasonic sensor 130 most recently have.

Specifically, the peripheral obstacle sensing apparatus 10 determines whether the time values included in the sensing information corresponding to the first ultrasonic sensor 110 and the third ultrasonic sensor 130 are 0 (S900).

If the time values included in the sensing information corresponding to the first ultrasonic sensor 110 and the third ultrasonic sensor 130 are all 0 as a result of the check in step S900, the peripheral obstacle sensing device 10 determines that the obstacle exists in step S500 It is determined that the obstacle does not exist and the alarm sound is not generated.

If it is determined in step S900 that at least one of the time values included in the sensing information corresponding to the first ultrasonic sensor 110 and the third ultrasonic sensor 130 is not 0, Lt; / RTI > determines that an obstacle is present.

As described above, according to the embodiment of the present invention, the ultrasonic signal transmission through the ultrasonic sensor and the reflection signal are operated twice to acquire the sensed information, the sensed information of the two senses is firstly confirmed as valid information, It is possible to detect obstacles existing around the vehicle even in an environment where noise is generated by determining whether or not an obstacle exists by using the detected sensing information.

The present invention has been described with reference to the preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: peripheral obstacle sensing device 100: sensing part
200: verification unit 300: storage unit
400:

Claims (8)

A sensing unit for sensing and receiving ultrasound signals of a sensor for sensing an obstacle around the vehicle to acquire sensing information;
A checking unit for checking whether the first sensing information and the second sensing information obtained through the sensing unit are valid;
A storage unit for storing at least one of the first sensing information and the second sensing information if the sensing information is confirmed to be valid by the checking unit; And
A determination unit for determining whether or not the obstacle is present in the vicinity of the vehicle based on the latest two sensed information stored in the storage unit corresponding to the ultrasonic sensor;
And an obstacle detecting device for detecting a surrounding obstacle of the vehicle. The method according to claim 1,
Wherein the checking unit checks whether the first sensing information and the second sensing information are valid in consideration of at least one of a time value and a pulse width included in the first sensing information and the second sensing information, A peripheral obstacle sensing device. The method according to claim 1,
If at least one of the errors between the time values included in the first sensing information and the second sensing information and the error between the pulse widths is out of the allowable time range and the allowable pulse width range, And at least one of the first sensing information and the second sensing information is an invalid noise. The method according to claim 1,
If the error between the time values and the pulse widths included in each of the two latest sensory information stored in the storage unit corresponding to the ultrasonic sensor is within a predetermined threshold range, The obstacle detection device of the present invention. The method according to claim 1,
Wherein the determination unit determines whether or not the obstacle is present in consideration of the sensing information recently stored in the storage unit corresponding to each of the other ultrasonic sensors in the presence of other sensors on both sides of the sensor, Sensing device. A method for detecting a peripheral obstacle of a vehicle by a peripheral obstacle detecting device of a vehicle,
Checking whether the first sensing information and the second sensing information of the ultrasonic sensor for detecting an obstacle are valid at a predetermined time period;
Storing at least one of the first sensing information and the second sensing information in a memory if the sensing information is valid; And
Determining whether the obstacle exists in the vicinity of the vehicle based on the latest two pieces of sensing information stored in the memory in correspondence with the ultrasonic sensor among the sensing information stored in the memory;
Wherein the obstacle detection means detects the obstacle in the vicinity of the vehicle. 7. The method of claim 6, wherein the verifying step comprises:
If at least one of an error between an error value and a pulse width included in each of the first detection information and the second detection information is out of a predetermined allowable time range and an allowable pulse width range, 2 < / RTI > detection information is determined to be ineffective noise. 7. The method of claim 6, wherein the determining comprises:
If the error between the time values included in each of the two latest sensing information stored in the memory corresponding to the ultrasonic sensor is within a predetermined threshold range, it is determined that the obstacle exists The method comprising the steps of:
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210077978A (en) * 2019-12-18 2021-06-28 현대모비스 주식회사 Apparatus and method for identifying object

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210077978A (en) * 2019-12-18 2021-06-28 현대모비스 주식회사 Apparatus and method for identifying object

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