KR20170040971A - Radar module and method for controlling thereof - Google Patents

Radar module and method for controlling thereof Download PDF

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Publication number
KR20170040971A
KR20170040971A KR1020150140327A KR20150140327A KR20170040971A KR 20170040971 A KR20170040971 A KR 20170040971A KR 1020150140327 A KR1020150140327 A KR 1020150140327A KR 20150140327 A KR20150140327 A KR 20150140327A KR 20170040971 A KR20170040971 A KR 20170040971A
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KR
South Korea
Prior art keywords
radar
vehicle
lateral
offset error
radar signal
Prior art date
Application number
KR1020150140327A
Other languages
Korean (ko)
Inventor
김현욱
Original Assignee
주식회사 만도
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Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020150140327A priority Critical patent/KR20170040971A/en
Publication of KR20170040971A publication Critical patent/KR20170040971A/en

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    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

The present invention provides a radar module and a control method thereof. The radar module according to an embodiment of the present invention includes a radar sensor unit for transmitting and receiving a radar signal, a communication unit for receiving a vehicle speed and a yaw rate value, and a control unit for reducing a lateral offset error of the radar signal when the front vehicle is located below a preset distance on the basis of the radar signal and the vehicle is driven straight ahead based on the vehicle speed and the yaw rate.

Description

[0001] DESCRIPTION [0002] RADAR MODULAR AND METHOD FOR CONTROLLING A RADAR MODULE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar module mounted on a vehicle, and more particularly, to a vehicle radar module for detecting an offset error in a lateral direction of a radar using a low pass filter (LPF) .

2. Description of the Related Art Generally, a radar system of a vehicle radiates an electromagnetic wave in a transmission unit and analyzes an electromagnetic wave reflected from an object or an object to estimate a distance and a speed with respect to the object.

The radar can be classified into a Doppler radar using a continuous wave RADAR, a frequency modulation continuous wave (FMCW) radar, a pulse doppler using a pulse wave RADAR, There are radar (pulse Doppler RADAR) and pulse compression RADAR.

Based on the radar system, the transmitted signal is reflected from the detected object and the reflected signal is converted into a frequency characteristic such as a frequency, a signal bandwidth, a signal intensity, Time and other characteristics.

In addition, the Smart Adaptive Cruise Control system today is equipped with a radar and is accelerating and decelerating so as to keep the inter-vehicle distance constant during cruise control by receiving the distance from the front car.

In addition, when the vehicle is traveling at a low speed, a control technique is developed to assist the driver in driving the road in a road area where a low-speed dedicated acceleration / deceleration auxiliary system (Traffic Jam Assist: TJA) have.

However, in the case of the TJA system, precise transverse position information of the front vehicle is required. If the center position of the front vehicle is not followed accurately, the vehicle may be continuously driven to the left or right of the front vehicle.

The embodiment of the present invention attempts to reduce the offset error that may occur when following the lateral position of the front vehicle from the radar signal of the radar module.

According to an aspect of the present invention, there is provided a radar system including a radar sensor unit for transmitting and receiving a radar signal, a communication unit for receiving a vehicle speed and a yaw rate value, And a control unit for decreasing a lateral offset error of the radar signal when it is determined that the vehicle is running straight ahead on the basis of the vehicle speed and the yaw rate value and the front vehicle is located below a predetermined distance based on the radar signal A radar module may be provided.

Further, the lateral offset error of the radar signal can be calculated based on the lateral position value of the front vehicle and the radar transverse output value transmitted from the radar sensor unit.

In addition, the control unit may calculate a difference value obtained by passing the lateral position value of the front vehicle through two low-pass filters having different gains and a radar sensor output value transmitted from the radar sensor unit to two low- It can be determined that the offset error has occurred if the difference value acquired through the pass filter is smaller than a preset threshold value.

In addition, when the controller determines that the offset error has occurred, the control unit may add a lateral vibration to the transmitted radar signal.

According to another aspect of the present invention, there is provided a method for controlling a vehicle, comprising: transmitting and receiving a radar signal; receiving a vehicle speed and a yaw rate value; Determining whether the vehicle is traveling straight ahead on the basis of the vehicle speed and the yaw rate value, and determining whether a preceding vehicle is located at a predetermined distance or less based on the radar signal; And decreasing a lateral offset error of the radar signal when the vehicle is in a straight run and the front vehicle is judged to be located at a predetermined distance or less.

The lateral offset error of the radar signal can be calculated based on the lateral position value of the front vehicle and the lateral output value of the transmitted radar signal.

Also, a difference value obtained by passing the lateral position value of the front vehicle through two low-pass filters having different gains and a radar sensor output value transmitted from the radar sensor unit may be divided into two low-pass filters having different gains It is possible to determine that the offset error has occurred if the difference value acquired by passing through the threshold value is smaller than a preset threshold value.

In addition, if it is determined that the offset error has occurred, lateral vibration can be added to the transmitted radar signal.

The embodiment of the present invention can reduce the offset error that may occur when following the lateral position of the front vehicle from the radar signal of the radar system.

1 is a block diagram of a driving assistance system including a radar system according to an embodiment of the present invention.
2 is a schematic view showing the lateral position and the actual lateral position of the front vehicle estimated from the radar signal according to the distance from the front vehicle.
3 is a schematic view showing the positions of the vehicle and the front vehicle when a lateral position offset error of the radar signal occurs.
4 is a block diagram illustrating a radar module according to an embodiment of the present invention.
5 is a flowchart showing a control method of a radar module according to an embodiment of the present invention.
6 is a schematic diagram showing a method of calculating an output 1.
7 is a schematic diagram showing a method of calculating the output 2.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

1 is a block diagram of a driving assistance system including a radar module according to an embodiment of the present invention.

The vehicle 1 according to the present invention includes a driving assist system 170 for assisting the driver's driving comfort. The driving assist system 170 assists the running of the vehicle 1, and includes a forward collision avoiding function, Lane departure warning function, dead zone monitoring function, rear monitoring function, and the like.

Such a driving assistance system 170 may include a plurality of devices connected through communication. For example, the driving assistance system 170 may include a Forward Collision Warning System (FCW) for detecting a running vehicle in the same direction ahead of the driving lane and avoiding a collision with a preceding vehicle, (Advanced Emergency Braking System, AEBS) that mitigates the impact when a collision is inevitable, adaptive cruising that detects the vehicle in the same direction in front of the driving lane and automatically accelerates / decelerates according to the speed of the preceding vehicle (ACC), a lane departure warning system (LDWS) that prevents the vehicle from leaving the driving lane, and a lane keeping assist device (LDWS) that controls the lane departure warning system Lane Keeping Assist System (LKAS), a visual zone monitoring system (Blind Rear-end Collision Warning System (RCW), which detects a vehicle traveling in the same direction behind the driving lane and avoids impulsions with the rear vehicle, a low-speed dedicated acceleration / deceleration auxiliary system (Traffic Jam assist, TJA), and the like.

In addition, the driving assistance system 170 may include a plurality of devices to obtain sensor values from other vehicle sensors 180 to operate the system in the driving assistance system 170.

Specifically, the other vehicle sensor 180 includes an acceleration sensor 196, a yaw rate sensor 197, a steering angle sensor 198, a speed sensor 199, and the like, which are included in the vehicle 1 and sense driving information of the vehicle . ≪ / RTI >

The acceleration sensor 196 measures the acceleration of the vehicle and may include a lateral acceleration sensor (not shown) and an acceleration sensor (not shown).

Assuming that the lateral acceleration sensor is the X-axis of the moving direction of the vehicle, the vertical acceleration (Y-axis) direction is referred to as the lateral direction, and the lateral acceleration is measured.

The longitudinal acceleration sensor can measure the acceleration in the direction of movement of the vehicle in the X-axis direction.

The acceleration sensor 196 detects a change in velocity per unit time and senses a dynamic force such as acceleration, vibration, shock, etc., and measures the inertia force, the electric strain, and the principle of the gyro. Thereafter, the measured acceleration value can be transmitted to the driving assist system 170.

The yaw rate sensor 197 can be installed on each wheel of the vehicle and can detect the yaw rate value in real time.

The yaw rate sensor (197) has a cesium crystal element inside the sensor. When the vehicle rotates while moving, the cesium crystal element itself generates a voltage while rotating. The yaw rate of the vehicle can be sensed based on the voltage thus generated.

Then, the measured yaw rate value can be transmitted to the driving assist system 170.

The steering angle sensor 198 measures the steering angle. Mounted on the lower end of the steering wheel (not shown), and can detect the steering speed, the steering direction, and the steering angle of the steering wheel. Then, the measured steering angle value can be transmitted to the radar module 171 via the network NT.

The speed sensor 199 is installed inside the wheel of the vehicle to detect the rotational speed of the vehicle wheel and can transmit the measured vehicle speed value to the driving assist system 170.

The driving assist system 170 may include a radar module 171 for detecting the positions of the front and rear vehicles, and a camera module 172 for acquiring images of the front and rear vehicles.

Specifically, the camera module 172 can be used for front and rear vehicles such as a lane departure warning device and a lane keeping assistant device, and an apparatus that operates according to an image of a road.

Also, the radar module 171 can be used in a device that operates according to the position of the front and rear vehicle, such as the front impulse warning device, the automatic emergency braking device, the adaptive cruise control device, the visual zone monitoring device, and the rear impulse warning device.

However, as shown in FIG. 2, when detecting the position of the front vehicle through the radar module 171, an error may occur in the lateral position of the front object depending on the distance from the front vehicle. Specifically, when the front vehicle is located close to the vehicle, (a) an offset error may occur to a large extent, and when the low-speed dedicated acceleration / deceleration auxiliary system (hereinafter referred to as TJA system) operates, However, it can be seen that the lateral position error converges to the actual lateral position as the distance from the front vehicle increases.

Further, when the distance from the front vehicle is increased, the section (b) where the radar measurement transverse position exhibits the tilting phenomenon may occur.

Therefore, as shown in FIG. 3, when the front vehicle is located near (a), a large offset error occurs so that the vehicle can continuously travel without being followed accurately by the center of the front vehicle.

The configuration of the driving assist system 170 and the other vehicle sensors 180 included in the vehicle 1 has been described above.

The configuration and operation of the radar module 171 included in the driving assist system 170 will be described below.

5 is a flow chart showing a control method of the radar module 171, and FIGS. 6 and 7 are flowcharts of a method of controlling the radar module 171 according to the embodiment of the present invention, Fig.

Referring to FIG. 4, the radar module 171 may include a radar sensor 10, a communication unit 20, and a control unit 30.

 First, the radar module 171 includes a radar sensor 10 (not shown) for detecting an obstacle present in front of the vehicle 1. This radar sensor 10 can be used with a 77 GHz radar, and can transmit the radar and measure the received time to calculate the distance to the preceding vehicle.

The communication unit 20 is connected to the vehicle communication network NT to receive communication signals transmitted from various electronic apparatuses in the vehicle 1 and transmits the communication signals to various electronic apparatuses inside the vehicle 1 via the vehicle communication network NT And transmits a communication signal. Here, the communication signal means a signal transmitted / received through the vehicle communication network NT.

The control unit 30 controls the radar module 171 as a whole. More specifically, the control unit 30 analyzes the signals transmitted and received by the signal processing unit 31 and the radar module 171, which process various communication signals received from the communication unit 20, A main processor 32 for measuring an offset, a distance, and the like, and a memory 33 for storing various data.

Specifically, the signal processing unit 154 receives the electromagnetic wave transmitted from the radar sensor 10 and the received electromagnetic wave. And can transmit the input signal to the main processor 32.

The signal processing unit 31 may receive sensor output values from various sensors included in the other vehicle sensors 180 from the communication unit 20 and transmit the received sensor values to the main processor 32.

For example, the yaw rate value acquired from the yaw rate sensor 197 and the vehicle speed acquired from the speed sensor 199 are transmitted to the main processor 32, and the main processor 32 calculates the progressive radius of curvature of the vehicle, It is possible to judge whether or not the vehicle is running.

The signal processing unit 31 transmits the time information of the electromagnetic wave transmitted from the radar sensor 10 and the received electromagnetic wave to the main processor 32 so that the main processor 32 determines whether the vehicle 1 is in the near- . ≪ / RTI >

The main processor 32 determines whether the vehicle is traveling straight ahead or not based on the communication signals of various electronic devices through the radar sensor 10 and the communication unit 20 via the signal processing unit 31 And a control signal for reducing the offset error of the lateral position sensing of the radar sensor can be calculated.

Specifically, FIG. 5 is a flowchart showing a control method of the radar module 171. FIG.

First, the main processor 32 calculates the current running radius of curvature based on the vehicle speed acquired from the speed sensor 199 and the yaw rate value acquired through the yaw rate sensor 197. [

That is, when the radius of curvature exceeds a predetermined value on the basis of the calculated radius of curvature, it is determined that the vehicle is running straight. The radar module 171 according to the present invention is controlled when the vehicle 1 is running straight ahead (S100).

Further, based on the signal obtained from the radar sensor 10, the main processor 32 judges that the vehicle is in a close running state when the distance to the preceding vehicle is less than a predetermined value. The radar module 171 according to the present invention is controlled when the vehicle 1 travels in a concentrated manner (S200).

Thereafter, the main processor 32 calculates outputs 1 and 2 (S300 and S400) to determine whether an error in the lateral offset of the radar module 171 has occurred.

Specifically, Output 1 and Output 2 can be calculated with reference to FIGS. 6 and 7. FIG.

As shown in Fig. 6, the output 1 is input to the radar lateral position value X1 of the front vehicle sensed by the radar sensor 10. At this time, the radar transverse position value of the front vehicle is passed through a low-pass filter (LPF) having a different gain.

That is, the difference between the two values obtained by passing through the LPF 1 having a large gain and the LPF 2 having a small gain can be regarded as an output 1.

7, the output 2 receives the radar transverse output value X2 transmitted by the radar sensor 10 as an input. At this time, the transverse output value of the radar transmitted by the radar sensor 10 is passed through a low-pass filter (LPF) having a different gain.

That is, the difference between the two values obtained by passing through the LPF 1 having a large gain and the LPF 2 having a small gain can be regarded as an output 2.

At this time, if the obtained output 1 and output 2 are maintained for a predetermined time in a state where the obtained output 1 and output 2 are smaller than a preset threshold value (YES in S500), the lateral position value of the front vehicle sensed by the radar It can be judged that the offset error is likely to occur because the variation is small.

Accordingly, the radar module 171 according to the present invention adds the vibration to the lateral output value of the transmission radar of the radar sensor 10 to reduce the offset error (S600). Specifically, the main processor 32 in the control unit 30 calculates a control signal to add vibration to the lateral output value to the radar sensor 10. [

The additional vibration value is to compensate for the lateral offset error, and the lateral vibration width must not exceed half of the vehicle width to minimize the driver's discomfort. In addition, the vibration period should also be set appropriately to minimize discomfort to the driver (for example, 5 seconds or more).

Next, the memory 33 stores the program and data of the radar module 171. [

Specifically, the memory (not shown) may be a volatile memory such as an S-RAM or a D-RAM, as well as a flash memory, a read only memory, an erasable programmable read only memory ), And electrically erasable programmable read only memory (EEPROM).

The nonvolatile memory may semi-permanently store a control program and control data for controlling the operation of the radar module 171. The volatile memory temporarily loads and stores control programs and control data from the nonvolatile memory, The controller 152 may temporarily store the signal obtained by the controller 151 and various sensor information acquired from the communication unit 152 and various control signals output from the main processor.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein; It will be understood that various modifications may be made without departing from the spirit and scope of the invention.

1: vehicle 100: electronic device

Claims (8)

A radar sensor unit for transmitting and receiving a radar signal;
A communication unit receiving the vehicle speed and the yaw rate value; And
And a controller for decreasing a lateral offset error of the radar signal when it is determined that the vehicle is running straight ahead on the basis of the vehicle speed and the yaw rate value and the front vehicle is located below a predetermined distance based on the radar signal The radar module. The method according to claim 1,
Wherein the lateral offset error of the radar signal is calculated based on the lateral position value of the front vehicle and the radar transverse output value transmitted from the radar sensor unit. 3. The method of claim 2,
Wherein the control unit calculates a difference value obtained by passing the lateral position value of the front vehicle through two low pass filters having different gains and a radar lateral output value transmitted from the radar sensor unit using two low pass filters And determines that the offset error has occurred if the difference value obtained by passing the offset error is smaller than a preset threshold value. The method of claim 3,
Wherein the controller adds lateral vibration to the transmitted radar signal when it is determined that the offset error has occurred. Transmitting and receiving a radar signal;
Receiving a vehicle speed and yaw rate value;
Determining whether the vehicle is traveling straight ahead based on the vehicle speed and the yaw rate;
Determining whether a preceding vehicle is located at a predetermined distance or less based on the radar signal; And
And decreasing a lateral offset error of the radar signal when the vehicle is in a straight traveling state and the front vehicle is judged to be located at a predetermined distance or less. 6. The method of claim 5,
Wherein the lateral offset error of the radar signal is calculated on the basis of the lateral position value of the front vehicle and the lateral output value of the transmitted radar signal. The method according to claim 6,
A difference value obtained by passing the transverse position value of the front vehicle through two low-pass filters having different gains and a radar transverse output value transmitted from the radar sensor unit are passed through two low-pass filters having different gains And determines that the offset error has occurred if the obtained difference value is smaller than a preset threshold value. 8. The method of claim 7,
And adding a lateral vibration to the transmitted radar signal when it is determined that the offset error has occurred.


KR1020150140327A 2015-10-06 2015-10-06 Radar module and method for controlling thereof KR20170040971A (en)

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