KR20160043813A - Apparatus and Method for Location Tracing of Obstacle Using Array Microphone - Google Patents

Abstract

The present invention relates to a device for tracking a location of an obstacle by using an array microphone. The device comprises: an input module including an array microphone which obtains an acoustic signal outside a vehicle; and a control module configured to analyze the acoustic signal so as to track a location of an obstacle, which is a sound source of the acoustic signal, and display the location. The device can be applied to other embodiments.

Description

[0001] The present invention relates to an apparatus and method for tracking an obstacle position using an array microphone,

The present invention relates to a method for tracking an obstacle position using an array microphone, and more particularly, to an obstacle position tracking method using an array microphone to detect an obstacle outside the vehicle based on an acoustic signal acquired by the array microphone, Tracking apparatus and method.

BACKGROUND ART [0002] Recently, a vehicle is provided with a system for detecting an obstacle outside a vehicle and providing a detection result to a driver in order to prevent a vehicle from crashing. Conventionally, a sensor such as a camera or a radar is used to detect an obstacle outside the vehicle. However, when using the above-described sensor, it is difficult to track the position of an obstacle existing in an area not included in the sensing range, because it is possible to recognize and position the obstacle only within the sensing range of the sensor.

In order to solve the above problems, various embodiments of the present invention provide an obstacle position tracking device using an array microphone for detecting an obstacle existing outside the vehicle based on an acoustic signal obtained by providing an array microphone in a vehicle, Method.

An apparatus for tracking an obstacle position using an array microphone according to an exemplary embodiment of the present invention includes an input module including an array microphone for acquiring acoustic signals outside a vehicle, and a controller for analyzing the acoustic signal to track the position of the obstacle as a sound source of the acoustic signal And a control module for displaying the position.

Further, it may further include a memory for storing a delay table.

Also, the delay table may be a table in which 1 to 360 degrees are divided at a predetermined angle, and delay values corresponding to the array microphones correspond to the divided predetermined angles.

The control module may generate the delay signal for the sound signal by applying the delay value to each of the sound signals obtained from the array microphone.

In addition, if the noise of the acoustic signal is less than a threshold value, the control module may calculate the similarity of the delay signal by the predetermined angle based on the delay signal and track the position of the obstacle.

If the noise of the acoustic signal is greater than or equal to a threshold value, the control module calculates the similarity of the delay signal to the predetermined angle based on the differentiated delay signal, and tracks the position of the obstacle .

According to another aspect of the present invention, there is provided a method for tracking an obstacle position using an array microphone, the method comprising: acquiring an acoustic signal outside the vehicle through an array microphone; analyzing the obtained acoustic signal; And tracking and displaying the position of the obstacle as the sound source of the acoustic signal.

The method may further include dividing 1 to 360 at an angle before acquiring the acoustic signal, and storing a delay table corresponding to the delay value corresponding to the array microphone at each of the divided angles.

The step of analyzing the acoustic signal may further include generating a delay signal for the acoustic signal by applying the delay value to each of the acoustic signals, and checking noise included in the acoustic signal .

The method may further include calculating a degree of similarity of the delay signal by the predetermined angle based on the delay signal when the noise included in the acoustic signal is less than a threshold value.

The method may further include differentiating the delay signal if the noise included in the sound signal is equal to or greater than the threshold, and calculating the similarity of the delay signal for each of the predetermined angles based on the differentiated delay signal.

As described above, the apparatus and method for tracking an obstacle position using an array microphone according to the present invention can detect an obstacle existing on the outside of a vehicle based on acoustic signals obtained by providing an array microphone in a vehicle, The position of an obstacle outside the vehicle can be accurately detected regardless of the sensing range of the sensor, and a collision accident of the vehicle can be prevented in advance.

1 is a block diagram showing a main configuration of an obstacle position tracking apparatus according to an embodiment of the present invention.
2 is a diagram for explaining a method for constructing a delay table according to an embodiment of the present invention.
3 is a diagram illustrating a delay signal generated by applying a delay value to an acoustic signal according to an embodiment of the present invention.
4 is a view showing an acoustic distribution when the other vehicle according to the embodiment of the present invention is moved.
FIG. 5 is a diagram illustrating acoustic distributions according to positions of a plurality of other vehicles according to an embodiment of the present invention. FIG.
6 is a flowchart illustrating an obstacle position tracking method according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention Various embodiments of the present invention will be described below with reference to the accompanying drawings. The various embodiments of the present invention are capable of various changes and may have various embodiments, and specific embodiments are illustrated in the drawings and the detailed description is described with reference to the drawings. It should be understood, however, that it is not intended to limit the various embodiments of the invention to the specific embodiments, but includes all changes and / or equivalents and alternatives falling within the spirit and scope of the various embodiments of the invention. In connection with the description of the drawings, like reference numerals have been used for like elements.

1 is a block diagram showing a main configuration of an obstacle position tracking apparatus according to an embodiment of the present invention. 2 is a diagram for explaining a method for constructing a delay table according to an embodiment of the present invention. 3 is a diagram illustrating a delay signal generated by applying a delay value to an acoustic signal according to an embodiment of the present invention. 4 is a view showing an acoustic distribution when the other vehicle according to the embodiment of the present invention is moved. FIG. 5 is a diagram illustrating acoustic distributions according to positions of a plurality of other vehicles according to an embodiment of the present invention. FIG.

1 to 5, the obstacle position tracking apparatus 100 according to the present invention can acquire an acoustic signal outside the vehicle and analyze the acquired acoustic signal to track the position of the obstacle, which is the sound source of the acoustic signal . The obstacle position tracking device 100 can display the position of the tracked obstacle. The obstacle location tracking apparatus 100 may include a communication module 110, an input module 120, an output module 130, a memory 140, and a control module 150. At this time, the obstacle position tracking device 100 may be an AVN (Audio, Video, Navigation) (not shown) or a separate electronic device (not shown).

The communication module 110 includes a CAN (Controller Area Network), a CAN-Flexible Data Rate (CAN-FD) (CAN-FD) communication module for communication between the input module 120, the output module 130, the memory 140, , FlexRay, MOST (Media Oriented Systems Transport), and TT Ethernet (Time Triggered Ethernet).

The input module 120 generates a control signal according to an input from the outside. For this purpose, the input module 120 may be formed of an input device such as a keypad, a touch pad, a touch screen, etc. When the input module 120 is formed as a touch screen, have. The input module 120 may include an array microphone 121 composed of a plurality of microphones 121a, 121b, ..., 121n. The array microphone 121 may be provided in the vehicle to acquire an acoustic signal outside the vehicle, and may provide the acquired acoustic signal to the control module 150. At this time, the acoustic signal may include an engine sound of another vehicle, a fricative sound generated by friction between the wheels of the other vehicle and roads, and a sound generated by another vehicle.

The output module 130 may output the position of the obstacle tracked by the control module 150. [ For this purpose, the output module 130 may be formed as an output device such as an LCD, a touch screen, or the like.

,

,

은 각각 도 2에 도시된 제1 마이크(121a), 제2 마이크(121b) 및 제3 마이크(121c)에서 획득된 음향신호에 적용하고자 하는 딜레이 값일 수 있다. 이때, 표 1은 도 2와 같이 음원이 발생할 수 있는 위치인 음원지(이하, 장애물)를 차량(V)을 기준으로 360도로 설정하고, 360도를 1도 간격으로 분할하여 1도마다 어레이 마이크(121)에 따른 딜레이 값을 대응시킨 것이다. 본 발명의 실시 예에서는 어레이 마이크(121)가 3개의 마이크로 형성된 것을 예로 설명하고 있으나, 반드시 이에 한정되는 것은 아니며, 마이크의 개수는 장애물 위치추적 장치(100)의 설계자, 제조사 등에 의해 변경될 수 있다. 메모리(140)는 타 차량의 엔진음, 타 차량의 바퀴와 도로의 마찰로 발생되는 마찰음, 타 차량에서 발생되는 경적음 등의 특정 파장에 대한 데이터베이스를 저장할 수 있다. The memory 140 may store a program for operating the obstacle position tracking device 100 and the like. In particular, the memory 140 may store a delay table as shown in Table 1 below.

,

,

May be a delay value to be applied to the acoustic signals obtained from the first microphone 121a, the second microphone 121b and the third microphone 121c shown in FIG. In this case, Table 1 shows a sound source paper (hereinafter referred to as an obstacle) as a position at which a sound source can be generated as shown in FIG. 2 is set at 360 degrees based on the vehicle V, 360 degrees is divided at 1 degree intervals, And the delay value according to the equation (121). The number of microphones may be changed by the designer, manufacturer, etc. of the obstacle location tracking device 100. [0050] In the embodiment of the present invention, . The memory 140 may store a database of specific wavelengths such as engine sounds of other vehicles, fricatives produced by friction between wheels of other vehicles and roads, and ghost sounds generated by other vehicles.

Angle

One 0.00042 -0.00045 0.0000512 2 0.00043 -0.00044 0.0000523 3 0.00043 -0.00044 0.0000535 ... ... ... ... 360 0.00041 -0.00046 0.000051

The control module 150 may enter the position tracking mode to activate the array microphone 121 when an input signal to the position tracking mode is received through the input module 120. [ The control module 150 can analyze the sound signal obtained from the activated array microphone 121. [ The control module 150 may generate a delay signal as shown in FIG. 3 by applying the delay values shown in Table 1 to the obtained acoustic signals. In this case, ch1 is a delay signal calculated by applying a delay value to the acoustic signal obtained by the first microphone 121a, ch2 is a delay signal calculated by applying a delay value to the acoustic signal obtained by the second microphone 121b, and ch3 may be a delay signal calculated by applying a delay value to the acoustic signal obtained by the third microphone 121c. The control module 150 can generate 360 delay signals for each microphone by applying a delay value corresponding to 1 to 360 degrees to the acoustic signal obtained from the array microphone 121. [

The control module 150 may extract a signal that is not included in the database for a specific wavelength stored in the memory 140 as a noise signal. At this time, the noise signal may mean an acoustic signal according to environmental information such as a noise signal due to wind and a noise signal due to raindrops when analyzing an acoustic signal. According to an exemplary embodiment, if the noise signal is included in the acoustic signal below the threshold, the control module 150 can check the similarity based on the delay signal corresponding to the same angle. For example, the control module 150 may recognize the delay signals for the acoustic signals obtained from the first microphone 121a, the second microphone 121b, and the third microphone 121c as a group. The control module 150 can check the delay signal included in one group and calculate the similarity () using the following equation (1).

은 제1 마이크에서 획득된 음향신호,

는 제2 마이크(121b)에서 획득된 음향신호,

는 제3 마이크(121c)에서 획득된 음향신호를 나타낸다.)
(At this time,

Is an acoustic signal obtained from the first microphone,

The acoustic signal obtained from the second microphone 121b,

Represents an acoustic signal obtained by the third microphone 121c.)

)를 산출할 수 있다. 본 발명의 실시 예에서는 획득된 음향신호에 포함된 노이즈 신호에 의거하여 딜레이 신호의 미분여부를 설정하는 것으로 설명하고 있으나, 반드시 이에 한정되는 것은 아니며, 노이즈 신호에 관계 없이 딜레이 신호를 미분하여 유사도를 산출할 수도 있다. According to one embodiment, if the noise signal is included in the sound signal in excess of the threshold value, the control module 150 can differentiate the delay signal corresponding to the same angle. The control module 150 can check the similarity based on the differentiated delay signal using Equation (1). For example, the control module 150 can recognize the delay signals for the acoustic signals obtained from the first microphone 121a, the second microphone 121b, and the third microphone 121c corresponding to one degree as a group have. The control module 150 differentiates the delay signals included in one group and calculates the degree of similarity (

) Can be calculated. In the embodiment of the present invention, it is described that the delay signal is differentiated based on the noise signal included in the acquired sound signal. However, the present invention is not limited to this, and the delay signal may be differentiated by differentiating the delay signal, .

The control module 150 may track the position of the obstacle based on the calculated similarity and output it to the output module 130. According to one embodiment, when the obstacle 420 is advanced in the direction of 420a, 420b, 420c, for example, from 90 degrees to 270 degrees with respect to the vehicle 410, as shown in Fig. 4, 3, the position of the vehicle can be represented by 430a, 430b, and 430c. The control module 150 can track the movement path of the obstacle 420 from the acoustic signal obtained from the array microphone 121 and output it to the output module 130 as shown in FIG. ) Can be confirmed.

According to one embodiment, the control module 150 determines whether the first obstacle 521 and the second obstacle 522 are at 180 degrees to 0 degrees (360 degrees) at different distances with respect to the vehicle 510 The position of the vehicle can be represented by 531 and 532, respectively, by the similarity calculated in FIG. 5, the control module 150 can trace the movement path of the plurality of obstacles 521 and 522 from the acoustic signal acquired by the array microphone 121, and output the track to the output module 130, The position of the obstacles 521 and 522 can be confirmed. As shown in FIG. 5, the degree of similarity between the two obstacles 521 and 522, which are located closer to the vehicle 510, is shown in FIG. 5, .

Although not shown, the control module 150 may calculate the collision probability based on the position of the obstacle displayed on the output module 130 and the position of the vehicle. For example, the control module 150 can confirm traveling information such as a traveling direction and a speed. The control module 150 can estimate the collision probability by predicting the distance between the vehicle and the obstacle based on the size of the acoustic signal and the travel information obtained from the array microphone 121 and output an alarm thereon.

6 is a flowchart illustrating an obstacle position tracking method according to an embodiment of the present invention.

Referring to FIGS. 1 and 6, in step 11, the control module 150 can confirm whether or not the vehicle enters a position tracking mode for tracking the position of an obstacle (hereinafter referred to as another vehicle). At this time, the obstacle position tracking device 100 may be an AVN (Audio, Video, Navigation) provided in the vehicle. In step 11, when the entry signal to the position tracking mode is received through the input module 120, the control module 150 enters the position tracking mode and can perform step 13. In step 11, the control module 150 may perform step 19 if an entry signal to the position tracking mode is not received through the input module 120. [ In step 19, the control module 150 can continuously perform corresponding functions such as checking the current position of the vehicle, searching for a destination, and the like.

In step 13, the control module 150 enters the position tracking mode, activates the array microphone 121, and analyzes the acoustic signal obtained from the array microphone. At this time, the control module 150 can extract the noise signal included in the acoustic signal.

According to one embodiment, the control module 150 may apply a pre-stored delay table to each of the acoustic signals obtained at the array microphone 121. [ The delay table may divide 1 to 360 degrees by a predetermined angle, and a delay value corresponding to the array microphone 121 may correspond to each divided angle. For example, the delay values of the first microphone 121a, the second microphone 121b, and the third microphone 121c may correspond to each other by dividing 1 to 360 degrees by 1 degree.

The control module 150 may generate the delay signal for the sound signal by applying the delay value to each of the sound signals obtained from the array microphone 121. [ For example, the control module 150 may control the sound signals obtained from the first microphone 121a, the second microphone 121b, and the third microphone 121c by 1 to 360 degrees, A new delay signal can be generated by applying the corresponding delay value.

If the noise signal included in the acoustic signal is less than the threshold value, the control module 150 can check the similarity based on the delay signal corresponding to the same angle. For example, the control module 150 may recognize the delay signals for the acoustic signals obtained from the first microphone 121a, the second microphone 121b, and the third microphone 121c as a group. The control module 150 may calculate the degree of similarity using a delay signal included in one group.

If the noise signal included in the acoustic signal is equal to or higher than the threshold value, the control module 150 can differentiate the delay signal corresponding to the same angle and check the similarity based on the differentiated delay signal. For example, the control module 150 may recognize the delay signals for the acoustic signals obtained from the first microphone 121a, the second microphone 121b, and the third microphone 121c as a group. The control module 150 may calculate the similarity by differentiating the delay signals included in one group.

In step 15, the control module 150 can track the position of the obstacle based on the similarity calculated in step 13. [ The control module 150 can check the position of the vehicle and track the position of the proximity obstacle close to the vehicle based on the position of the vehicle.

In step 17, the control module 150 may output the position of the tracked obstacle to the output module 130. This can be shown in FIGS. 4 and 5.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Therefore, the scope of the present invention should be construed as being included in the scope of the present invention without departing from the scope of the present invention.

100: Obstacle position tracking device
110: communication module 120: input module
121: Array microphone 130: Output module
140: memory 150: control module

Claims (11)

An input module including an array microphone for acquiring an acoustic signal outside the vehicle;
A control module for analyzing the acoustic signal to track a position of an obstacle as a sound source of the acoustic signal and to display the position;
And an obstacle position tracking device. The method according to claim 1,
A memory for storing a delay table;
Further comprising an obstacle location tracking device. 3. The method of claim 2,
The delay table
1 to 360 degrees are divided at a predetermined angle, and the delay values corresponding to the array microphones correspond to the divided predetermined angles. The method of claim 3,
The control module
And generates a delay signal for the acoustic signal by applying the delay value to each acoustic signal obtained from the array microphone. 5. The method of claim 4,
The control module
And if the noise of the acoustic signal is less than a threshold value, calculating the similarity of the delay signal by the predetermined angle based on the delay signal to track and display the position of the obstacle. 5. The method of claim 4,
The control module
Wherein the position of the obstacle is tracked and displayed by calculating the degree of similarity of the delay signal by the predetermined angle based on the differentiated delay signal and differentiating the delay signal when the noise of the acoustic signal is equal to or more than a threshold value. Acquiring an acoustic signal outside the vehicle through the array microphone;
Analyzing the obtained acoustic signal;
Tracking and displaying the position of an obstacle as a sound source of the acoustic signal based on the acoustic signal;
And an obstacle position tracking method. 8. The method of claim 7,
Before the step of acquiring the acoustic signal
Dividing 1 to 360 by a predetermined angle, and storing a delay table corresponding to a delay value corresponding to the array microphone for each of the divided angles;
Further comprising the steps of: 9. The method of claim 8,
The step of analyzing the acoustic signal
Generating a delay signal for the acoustic signal by applying the delay value to each of the acoustic signals;
Confirming a noise included in the acoustic signal;
Further comprising the steps of: 10. The method of claim 9,
Calculating a degree of similarity of the delay signal by the predetermined angle based on the delay signal if the noise included in the acoustic signal is less than a threshold value;
Further comprising the steps of: 10. The method of claim 9,
Differentiating the delay signal if the noise included in the sound signal is equal to or greater than a threshold value;
Calculating a similarity degree of the delay signal for each of the predetermined angles based on the differentiated delay signal;
Further comprising the steps of:

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