KR20180115034A - Radar Apparatus and Target Classification Method using the same - Google Patents

Abstract

The present invention relates to a radar apparatus and a target identification method using the same. A group RCS is defined which is determined as a function of the individual RCS value of the track for each track of a radar and the number of objects associated with the track. It is possible to accurately determine whether a sensed object is a preceding vehicle or a non-vehicle such as an upper structure or a ghost by using one or more values of the average value of the group RCS for each target (including region) and variance information. The radar apparatus includes an antenna part, a radar signal transmitting part, a receiving part, a target detecting part, and a target identification part.

Description

[0001] DESCRIPTION [0002] RADAR APPARATUS AND TARGET CLASSIFICATION METHOD USING THE SAME [0002]

An embodiment of the present invention relates to a radar apparatus and a target identification method using the same. More particularly, the present invention relates to a radar device and a control method thereof that can identify a type of a sensing object by using a value of a radar cross section (hereinafter, referred to as 'group RCS') defined for each track of the radar ≪ / RTI >

Recently, a driver assistance system (DAS) using a radar device mounted on a vehicle or the like and an autonomous driving system have been actively developed.

For this purpose, a vehicle radar must perform a function of analyzing a reception signal of a transmission signal reflected from an object and acquiring various information about a target around the vehicle.

In one example of the radar apparatus for a vehicle, a radar wave frequency-modulated to a triangular waveform along the time axis is transmitted every predetermined measurement cycle, and the radar wave receives the reflected wave reflected from the object.

Then, a frequency peak in which the intensity (i.e., power) of the frequency exceeds the determination threshold and becomes the maximum value in the power spectrum derived by frequency-analyzing the bit signal generated by mixing the transmission signal and the reception signal of the reflected wave is detected as the target candidate do.

If the target candidate is continuously detected over one to several measurement cycles and meets prescribed conditions, the target candidate is recognized as a final target (such as a preceding vehicle or a roadside facility).

Meanwhile, in order to implement various driver assistance systems, a radar apparatus for a vehicle must analyze a mixed bit signal of a transmission signal and a reflection signal to determine the type of a final target, specifically, a front vehicle, a superstructure, or a ghost.

To this end, various target identification methods have been proposed, but they have problems such as complex computation and poor discrimination ability.

In view of the foregoing, it is an object of the present invention to provide a method and apparatus for identifying a type of a target in a radar apparatus for a vehicle.

Another object of the present invention is to provide a radar apparatus and a target identifying method capable of distinguishing types of sensed objects by using at least one of the average value of the group RCSs per track and the dispersion information representing the degree of dispersion of the group RCSs.

Another object of the present invention is to define a group RCS which is determined by a function of the individual RCS value of a track and the number of objects associated with the track for each track of the radar and to calculate a mean value of the group RCS for each target And to provide an apparatus and method for determining whether a sensed object is a preceding vehicle, a superstructure, or a ghost, using one or more values.

In order to achieve the above object, in one aspect, the present invention provides an antenna apparatus including an antenna unit including at least one transmission antenna and at least one reception antenna, a radar signal transmission unit for transmitting a radar signal toward the object using the transmission antenna, A target detection unit for detecting the object based on data received by the reception unit, and a group radar reflection for each track of the detected object detected from the reflected wave signal, And a target identifying unit for calculating the area (RCS) information and determining the type of the detected object by using at least one of an average value and variance information of the group-by-track RCS information.

According to another aspect of the present invention, there is provided an information processing method including: a sensing step of transmitting a radar signal, receiving and analyzing a signal reflected and received by an object to sense an object, and calculating a group radar reflection area (RCS) And a discrimination step of discriminating the type of the sensed object by using at least one of an average value and variance information of the group-by-track RCS information.

At this time, the group-by-track group RCS information may be defined as a function of an individual radar reflection area (RCS) value of the track and a number of objects associated with the track.

In addition, it is possible to determine whether the detected object is a vehicle or non-vehicle by comparing at least one of an average value and variance information of the per-track group RCS information with at least one of an average threshold value and a dispersion threshold value.

Also, based on the average value and the variance information of the group-by-track RCS information at the time of target detection, the detected object is matched with a group RCS average value and variance information on a graph displayed on the xy axis, It is possible to determine whether the detected object is a vehicle or not in accordance with a state included in one of the first region and the second region.

As described below, according to the embodiment of the present invention, the type of the target can be identified in the radar apparatus for a vehicle.

There is an effect that the kind of the sensing object can be distinguished by using at least one of the average value of the group RCS per track detected by the radar and the dispersion information indicating the degree of dispersion of the group RCS.

More specifically, it defines a group RCS, which is determined by a function of the individual RCS values of the track and the number of objects associated with the track for each track of the radar, and defines at least one of the average value and variance information of the group RCS for each target It is possible to determine whether the sensed object is a preceding vehicle, an upper structure or a ghost.

In addition, the control target can be accurately discriminated by using a simple algorithm, and particularly, the vehicle, the superstructure, and the like can be distinguished for each track of the radar, thereby reducing the false detection or non-detection rate of the front vehicle.

Also, by using the present embodiment, pairing ghost and the like can be removed, thereby improving the target detection performance of the radar.

As described above, according to the present embodiment, adaptive cruise control, automatic emergency braking, and collision avoidance system can be performed by determining whether the target sensed by the radar is a preceding vehicle. It is possible to smoothly perform the driver assistance system DAS.

1 is a functional block diagram of a radar device according to the present invention.
Fig. 2 is for explaining an example of a calculation method of the group RCS used in the present embodiment.
3 to 5 show an example of an average value, a percentile and an InterQuartile Range (hereinafter, referred to as IQR) value as dispersion information of group RSCs for each object type according to an embodiment of the present invention, 3 is a traffic sign on the upper part of the traveling road, Fig. 4 is an upper structure such as a pier, and Fig. 5 is the case of the front vehicle.
6 is a graph showing an average value and an IQR value of a vehicle, an upper structure, a traffic sign only, and a group RSC of a vehicle, and a determination reference line capable of determining a vehicle and a non-vehicle is displayed.
7 shows the overall flow of the target identification method according to this embodiment.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a functional block diagram of a radar device according to the present invention.

The radar apparatus 100 according to the present embodiment includes an antenna unit 110 including at least one transmitting antenna and at least one receiving antenna, a radar signal transmitter 120 for transmitting a radar signal toward an object using a transmitting antenna, A reflection signal receiving unit 130 for receiving reflected waves reflected from an object through a receiving antenna, a signal preprocessing unit 140, a target sensing unit 150, a target identifying unit 160, and the like .

The antenna unit 110 may include at least one transmitting antenna and at least one receiving antenna, and each transmitting and receiving antenna may be an array antenna in which one or more radiating elements are connected in series by a feeder line, but the present invention is not limited thereto.

The antenna unit 110 includes a plurality of transmission antennas and a plurality of reception antennas. The antenna unit 110 may have various types of antenna array structures depending on the arrangement order, array interval, and the like.

The transmission unit 120 switches to one of a plurality of transmission antennas included in the antenna unit 110 and transmits a transmission signal through a switched transmission antenna or a transmission signal through a multi- .

The transmission unit 120 includes an oscillation unit that generates a transmission signal for a transmission channel allocated to a switched transmission antenna or a multi-transmission channel allocated to a plurality of transmission antennas. The oscillation unit may include, for example, a voltage-controlled oscillator (VCO) and an oscillator.

In addition, the receiving unit 130 may switch to one of a plurality of receiving antennas to receive a transmission signal, which is a reflection signal reflected by a target, or a multi-receiving channel And receives the received signal through the antenna.

The receiver 130 may include a low noise amplifier (LNA) for low noise amplification of the received signal received through one receive channel allocated to a switched receive antenna or received through a receive channel allocated to a plurality of transmit antennas, A mixer for mixing the low noise amplified received signal, an amplifier for amplifying the mixed received signal, a converter for digitally converting the amplified received signal to generate received data, ADC: Analog Digital Converter).

The preprocessing unit 140 acquires transmission data and reception data, controls generation of transmission signals in the oscillation unit based on the transmission data obtained, synchronizes transmission data and reception data, and frequency-converts transmission data and reception data Function.

More specifically, the preprocessing unit 140 may perform frequency conversion after data buffering of the obtained transmission data and the obtained reception data with a unit sample size processable per one cycle. The frequency conversion performed by the first processing unit may be Fourier transform such as Fast Fourier Transform (FFT).

The target detection unit 150 is a processing unit for calculating the orientation and distance of the target or the object based on the data processed by the preprocessing unit 140. The preprocessor 140 generates a constant false false alarm rate (CFAR) ) Tracking operation, a target selection operation, and the like, and extract angular information, velocity information, and distance information with respect to the target.

The target detection unit 150 may perform a second Fourier transform on the first Fourier transformed signal generated by the pre-processing unit, and the second Fourier transform may be performed using a Discrete Fourier Transform (DFT) , Hereinafter referred to as "DFT"). Also, among the DFTs, it may be a chi-discrete Fourier transform (Chirp-DFT).

The target sensing unit 150 acquires the frequency values corresponding to the second Fourier transform length K through the second Fourier transform such as Chirp-DFT or the like, It is possible to detect an object by calculating a bit frequency having the greatest power during each chirp cycle and obtaining speed information and distance information of the object based on the calculated bit frequency.

The target identifying unit 160 calculates the group RCS for each track detected from the radar reflected wave signal and determines the type of the target based on at least one of the average value of the group RCS calculated for each track and the variance information .

RCS (Radar Cross-Section) means the plane area specified to reflect the reflectance of a reflector when electromagnetic waves transmitted from the radar are reflected back to the object.

The track-by-track group RCS information can be defined as a function of the individual radar reflection area (RCS) value of the track and the number of objects associated with the track.

More specifically, the group RCS, as defined herein, may be a value obtained by multiplying the individual RCS for each track of the radar by the number of objects (reflections) associated with that track.

This group RCS yn (t) can be defined as Equation 1 below.

[Equation 1]

는 해당 트랙 n의 그룹 RCS이며,

는 해당 트랙 n에 연관된 오브젝트 또는 반사점의 개수(# of associated object)이고,

는 해당 트랙 n의 개별 RCS이며, a는 상수값이고, t는 스캔 인덱스를 의미한다.In Equation (1), n is a track number,

Is the group RCS of the track n,

Is the number of objects or reflection points associated with the track n (# of associated objects)

Is the individual RCS of the track n, a is a constant value, and t is the scan index.

A track represents a unit or a unit area of a target or a target object through signal processing in a radar tracking algorithm, and is a concept conventionally used in the radar field.

는 특정한 트랙 n의 주위의 일정 영역내에 포함되는 오브젝트 또는 반사점의 개수를 의미하며, 이 때의 일정영역은 미리 설정되어 있을 수 있다.The number of objects associated with that track n

Means the number of objects or reflection points included in a certain area around a specific track n, and a certain area at this time may be set in advance.

Since the individual RCS values of the track are larger and the number of objects associated with the track is larger for a preceding vehicle as compared to superstructures such as piers or traffic signs, the group RCS value of the vehicle is greater than the group RCS value of the superstructure or ghost Lt; / RTI >

Fig. 2 is for explaining an example of a calculation method of the group RCS used in the present embodiment.

2A shows a case where the sensed object is a vehicle. In the upper diagram of FIG. 2A, the individual RCS value of the track n1 is 10, and the object associated with the track n1 is 4 (O1, 02, 03, 04).

는 40이 된다. In this case, according to Equation (1), the group RCS

Lt; / RTI >

In the case of FIG. 2, the constant a in Equation (1) is assumed to be 1.

In order to define the number of objects associated with each track, a certain area R is defined virtually from the center of the track, and objects or reflection points contained in such a certain area R can be regarded as related objects of the track.

In the lower diagram of FIG. 2A, the case where the individual RCS value of track n2 is 10 and the object associated with track n2 is one (O5).

는 10이 된다. In this case, according to Equation (1), the group RCS

Lt; / RTI >

는 0이 된다.2B is for describing a group RCS for a superstructure such as a pier, etc. In the upper drawing of FIG. 2B, the individual RCS of track n3 is 6 and there is no associated object, so the group RCS for track n3

Becomes zero.

는 6이 된다.2B, the individual RCS of the track n4 is 6 and the associated object is one (O6), so that the group RCS for the track n4

Becomes 6.

As described above, the target identifying section 160 calculates the track group RCS per track detected from the radar reflected wave signal.

Next, the target identifying unit 160 calculates the average value (Valid Mean Value) of the group RCS calculated for each track and the IQR value as the variance information, and uses the average value and the variance information (IQR) (Vehicle or non-vehicle).

The manner in which the target identifying unit 160 determines the average value of the group RCS and the type of the target from the dispersion information IQR may include two embodiments. In the first embodiment, the average value of the group- (IQR) value is compared with a specific threshold value. In the second embodiment, the average value of the group RCS and the dispersion information (IQR) .

More specifically, in the first embodiment, when the average value of the group RCS for each track is equal to or less than the average threshold value alpha, the target identifying unit 160 determines whether or not the corresponding target It is judged that this is an upper structure (bridge, traffic sign, etc.) or ghost.

In the first embodiment, when the average value of the group RCS is equal to or greater than the average threshold value alpha, the target identifying section 160 sets the IQR (dispersion information) value of the group RCS of the track to the dispersion threshold value beta If the IQR (dispersion information) value of the group RCS of the track is equal to or less than the dispersion threshold value beta, the vehicle is determined. If the IQR (dispersion information) value of the group RCS of the track is equal to or greater than the dispersion threshold value beta, It is determined that the target is a non-vehicle such as an upper structure (bridge, traffic sign, etc.) or ghost.

In the second embodiment, the target identifying section 160 does not specifically compare the group RCS value for each track with the average threshold value? Or the dispersion threshold value?, But instead outputs the group RCS average value and variance information on the xy axis The vehicle and the non-vehicle may be determined from a state included in one of the first area and the second area that is divided by the judgment line previously set on the displayed graph.

In the present embodiment, although the number of quadrants (IQR) is illustrated as the distribution information of the group RCS, other distributed information such as covariance and standard deviation indicating the degree of concentration of the distribution of group RCS values per track .

The target identifying unit 160 sets the control target flag to 1 when the target is a vehicle after determining the type of the target in the same manner as described above. When the target is a non-vehicle such as an upper structure or ghost, The flag can be set to zero.

The vehicle control system using the radar device according to the present embodiment can determine whether or not the detected target becomes the control target by referring to the value of the control object flag.

The first and second embodiments for determining the target of the target identifying unit 160 will be described in detail with reference to FIG. 6 below.

As described above, in the radar apparatus according to the present embodiment, after defining the group RCS for each track, the type of the target (vehicle and non-vehicle) is accurately determined based on the average value of the group RCS values and the dispersion information (IQR) It is possible to utilize it in various DAS systems.

FIG. 3 to FIG. 5 show examples of the average value, the percentile, and the quadrant range (IQR) value of the group RSC for each track according to the embodiment of the present invention, , Fig. 4 is an upper structure such as a bridge pier, and Fig. 5 is a case of a front vehicle.

Figure 3A shows the distribution of group RCS values per track for seven different types of roadside or road side traffic signs.

In FIG. 3A, 1 to 7 on the horizontal axis represent the identification numbers of the traffic signs, and the vertical axis represents the distribution of the group RCS values for each type of traffic sign of each type.

Among the distribution of group RCS values for each track, a red line means a valid mean value.

FIG. 3B is a table showing an average value of the group RCS values in FIG. 3A, a percentile value of 75% and 25%, and a quadrant range value (IQR) as a difference value.

For reference, the values of Figs. 3 to 5 are assuming that the constant a is 10 in Equation (1).

3A and 3B, in the case of a traffic sign disposed on the upper side or the road side of the running road, the average value of the group RCS per track is within a range of about 2.0 to 166, and a quadrant of the group RCS The range value (IQR) has a value falling within a range of about 18 to 140.

As a result, it can be seen that the average value of the group RCS of the seven types of traffic signs is about 75.93 and the average value of IQR is about 55.14.

FIG. 4A shows the distribution of group-by-track RCS values for superstructures such as seven different types of overhead piers or tunnels.

In FIG. 4A, 1 to 7 on the horizontal axis represent the identification numbers of the upper structures, and the vertical axis represents the distribution of the group RCS values for each type of upper structure.

Among the distribution of group RCS values for each track, a red line means a valid mean value.

FIG. 4B is a table showing average values of the group RCS values in FIG. 4A, percent values of 75% and 25%, and quadrant range values (IQR) as the difference values.

As shown in FIGS. 4A and 4B, in the case of an upper structure such as an upper pier or a tunnel of a road, the average value of the group RCS per track has a value within a range of about -5.0 to 324, The range value (IQR) has a value falling within a range of about 57 to 104.

As a result, it can be seen that the average value of the group RCS of the seven types of superstructures is about 144.29, and the average value of IQR is about 75.64.

Figure 5A shows the distribution of group RCS values per track for seven different types of forward vehicles.

Figure 5 shows the track-by-track group RCS values for vehicles having various relative distances or relative angles under various external environmental conditions (time, brightness, weather, etc.).

5A is an identification number for each vehicle type, and the vertical axis shows a distribution of group-by-track RCS values for each type of vehicle.

Among the distribution of group RCS values for each track, a red line means a valid mean value.

FIG. 5B is a table showing an average value of group RCS values per vehicle in FIG. 5A, a percentage value of 75% and 25%, and a quadrant value (IQR) as a difference value.

As shown in FIGS. 5A and 5B, in the case of the other vehicle in front of the own vehicle, the average value of the group RCS per track is included in the range of about 324 to 684, and the value of the quadrant range IQR of the group RCS, Has a value falling within a range of about 10 to 52.

As a result, it can be seen that the average of the average values of the group RCSs of the seven types of forward vehicles is about 467.6 and the average value of IQR is about 25.7.

As shown in FIGS. 3 to 5, the average value of the group RCS for each track of the vehicle is greater than the average value of the group RCS for each track of the traffic sign and superstructure. Conversely, the IQR value of the group RCS for each track corresponds to the traffic sign and upper structure It is found that the IQR value of the group RCS per track is smaller than that of the group RCS.

Therefore, in the radar device according to the present embodiment, the group RCS for each track is defined for the detected object detected by the radar, and the type of the sensed object is detected using the average value of the group RCS and the magnitude of the dispersion information (IQR value) , More specifically, whether it is a vehicle or a non-vehicle.

Non-vehicle objects in this specification may include, but are not limited to, upper structures such as traffic signs, piers or tunnels, ghosts, and the like.

As described above, in the radar apparatus according to the present embodiment, the average value and dispersion information (IQR) of the group RCS for each track are divided into a predetermined average threshold value? Or the dispersion threshold value? And a second embodiment for determining the inclusion status of the group RCS average value and the region divided by the judgment line previously set on the graph indicating the distribution information on the xy axis can be used, Will be described in more detail with reference to FIGS. 6 and 7. FIG.

6 is a graph showing an average value and an IQR value of a vehicle, an upper structure, a traffic sign only, and a group RSC of a vehicle, and a determination reference line capable of determining a vehicle and a non-vehicle is displayed.

In FIG. 6, the horizontal axis represents the group RCS average value for each sensing object and the vertical axis represents the IQR value of the group RCS for each track.

In Fig. 6,? Represents a vehicle,? Represents a traffic sign, and X represents a superstructure such as a pier.

As shown in FIG. 6, in the case of the vehicle, the average value of the group RCS per track is relatively large, the value of the dispersion information (IQR) is relatively small, and the average value of the group RCS per track is relatively small.

Also, in the case of superstructures such as bridge piers, the average value of the group RCS for each track is distributed over a wide range, but the IQR value of the group RCS is larger than the IQR value of the vehicle.

As a result, on the graph in which the group RCS average value and the variance information are displayed on the xy axis as shown in FIG. 6, the vehicle is distributed in an area separated from the non-vehicle (traffic sign and upper structure) 610).

This determination line 610 may be represented by a straight line of y = bx + c on the graph showing the group RCS average value and variance information on the x-y axis, where the coefficients b and c may be preset.

However, the equation representing this determination line 610 may be dynamically varied by machine learning or the like.

For example, it is possible to dynamically reset a determination line that divides both regions after matching a vehicle and a non-vehicle on a graph as shown in FIG. 6 for a predetermined period of time.

As a result, the graph area displaying the group RCS average value and the variance information on the xy axis is divided into a first region I in which the vehicle is distributed by the determination line 610 and a second region I in which the traffic sign and upper structure are distributed II), and these graphs can be stored in advance.

Then, when the group RCS per track of the object detected by the radar is measured and matched to the graph, it can be determined that the vehicle is placed in the first area and the vehicle is in the second area. Second Embodiment)

Of course, as described above, according to the first embodiment, the type of the target can be determined by comparing the group RCS of the sensed object with a predetermined threshold value without matching the graph as shown in FIG.

That is, as shown in FIG. 6, when the average value of the group RCS of the sensed object is equal to or less than the average threshold value?, It is determined that the vehicle is a non-vehicle such as a traffic sign or an upper structure regardless of the size of the dispersion information IQR .

If the IQR value of the group RCS is equal to or greater than the dispersion threshold?, The IQR value of the group RCS is compared with the dispersion threshold? Or a non-vehicle such as an upper structure, and can be judged as a vehicle when the IQR value of the group RCS becomes equal to or smaller than the dispersion threshold value?.

In addition, among the non-vehicles, it is found that the average value of the group RCS is small and the distribution information is small in case of the traffic signs, whereas the upper structure (bridge, tunnel, etc.) has larger dispersion information than the traffic sign.

Accordingly, the target identifying unit 160 determines that the target is a traffic sign when both the average value and the variance information IQR of the group RCS are less than the average threshold value alpha and the dispersion threshold value beta, When the variance information IQR of the group RCS is equal to or greater than the dispersion threshold value beta while being equal to or less than the average threshold value alpha, it may be judged to be the upper structure among the non-vehicle targets.

As described above, by using the present embodiment, it is possible to know whether the detected object is the vehicle / non-vehicle, by using the average value and the dispersion information (IQR) of the group RCS values for each track of the radar, Whether it is a cognitive superstructure or the like.

Further, although the specific numerical values are not illustrated, according to the present embodiment, it is possible to determine whether or not the signal is a ghost-caused signal recognized as a false target.

That is, even in the case of ghost, the average value of the group RCS is smaller than that of the vehicle, and the IQR value of the group RCS of the ghost is larger than that of the vehicle, so that it is possible to determine whether or not the sensed object is a ghost or a vehicle.

7 shows the overall flow of the target identification method according to this embodiment.

The target identification method according to the present embodiment may include an object detection step (S710), a group-by-track RCS information calculation step (S720), and a target type determination step (S730).

In the object detection step S710, a radar signal is transmitted toward the transmission direction of the radar, and a function of sensing an object by receiving and analyzing the signal reflected by the object is performed.

More specifically, a CFAR (Correction False Alarm Rate) operation, a tracking operation, a target selection operation, and the like are performed on the basis of reception data subjected to frequency conversion after receiving and pre-processing a reflection signal, Information, speed information, and distance information.

In the track-by-track group RCS calculation step (S720), the group radar reflection area (RCS) information for each track of the sensed object is calculated. At this time, the group RCS information for each track corresponds to the individual radar reflection area (RCS) It can be defined as a function of the number of objects associated with a track.

More specifically, the group RCS information defined in this specification can be defined as a value obtained by multiplying the individual RCS value for each track of the radar by the number of objects (reflection points) associated with the track, as shown in Equation (1).

In the target type discriminating step S730, at least one of the average value and the variance information of the group RCS information for each rack may be calculated, and the type of the sensing object may be determined using one or more of the average value and the variance information.

For determining the object type, a first embodiment in which at least one of the average value and the variance information of the group RCS information per track is compared with at least one of an average threshold value and a dispersion threshold value to determine whether the object is a vehicle or not is applied .

More specifically, when the average value of the group RCS information per track is equal to or less than the average threshold value alpha and when the average value of the group RCS information per track is equal to or greater than the average threshold value alpha When the variance information (IQR) of the per-track group RCS information is equal to or greater than the dispersion threshold value?, It can be determined that the sensed object is a traffic sign or a non-vehicle that is an upper structure.

On the other hand, when the average value of the group RCS information per track is equal to or greater than the average threshold value alpha and the variance information IQR of the track group RCS information is equal to or less than the dispersion threshold beta, it can be determined that the vehicle is a sensory object vehicle.

On the other hand, in the second embodiment for determining the object type, the average value and the variance information of the group RCS information of each object of the detected object are matched with the group RCS average value and the variance information on the graph displayed on the xy-axis, A second embodiment for determining whether the sensed object is vehicle / non-vehicle depending on the state included in one of the first region and the second region may be used.

According to the present embodiment as described above, it is possible to distinguish types of sensed objects by using at least one of the average value of the group RCSs per track sensed by the vehicle radar device and the dispersion information indicating the degree of dispersion of the group RCS .

More specifically, it defines a group RCS, which is determined by a function of the individual RCS values of the track and the number of objects associated with the track for each track of the radar, and defines at least one of the average value and variance information of the group RCS for each target It is possible to determine whether the sensed object is a preceding vehicle, an upper structure or a ghost.

In addition, the control target can be accurately discriminated by using a simple algorithm, and particularly, the vehicle, the superstructure, and the like can be distinguished for each track of the radar, thereby reducing the false detection or non-detection rate of the front vehicle.

Also, by using the present embodiment, pairing ghost and the like can be removed, thereby improving the target detection performance of the radar.

As described above, according to the present embodiment, adaptive cruise control, automatic emergency braking, and collision avoidance system can be performed by determining whether the target sensed by the radar is a preceding vehicle. It is possible to smoothly perform the driver assistance system DAS.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: radar device 110: antenna part
120: transmitting unit 130: receiving unit
140: preprocessing unit 150: target detection unit
160: target identifying section 610: judgment line

Claims (12)

An antenna unit including at least one transmission antenna and at least one reception antenna;
A radar signal transmitter for transmitting a radar signal toward an object using the transmission antenna;
A receiver for receiving a reflected wave reflected from an object through a reception antenna;
A target sensing unit for sensing the object on the basis of data received by the receiver;
A target identification unit for calculating the group radar reflection area (RCS) information for each track of the sensed object sensed from the reflected wave signal and discriminating the type of the sensed object by using at least one of an average value and variance information of the group- ;
The radar device comprising: The method according to claim 1,
Wherein the group-by-track group RCS information is defined as a function of an individual radar reflection area (RCS) value of the track and a number of objects associated with the track. 3. The method of claim 2,
The group RCS information for each track is defined as a value obtained by multiplying an individual radar reflection area (RCS) value of the track by the number of objects associated with the track, and the number of objects associated with the track is included in a certain area around the track The number of objects or the number of reflection points. The method of claim 3,
Wherein the target identifying section compares at least one of an average value and variance information of the track group RCS information with at least one of an average threshold value and a dispersion threshold value to determine whether the detected object is a vehicle or not. Device. 5. The method of claim 4,
Wherein the target identifying unit determines that the average value of the group RCS information for each track is equal to or less than the average threshold value and the average value of the group RCS information for each track is equal to or greater than the average threshold value, When the average value of the group RCS information per track is equal to or greater than the average threshold value and the variance information of the per-track group RCS information is equal to or less than the dispersion threshold value Wherein the determination unit determines that the detected object is a vehicle. 3. The method of claim 2,
Wherein the target identifying unit matches the detected object with a group RCS average value and variance information on a graph displayed on an xy axis based on an average value and variance information of the group RCS information per track, And whether or not the detected object is in a vehicle / non-vehicle state according to a state included in one of the first region and the second region. The method according to claim 6,
Wherein the dispersion information is a quadrant value (IQR) that is a difference value between 75% and 25% of the per-track group RCS information. A sensing step of transmitting a radar signal, receiving and analyzing a signal reflected from an object, and sensing an object;
A group RCS calculation step of calculating group-by-track group radar reflection area (RCS) information of the sensed object;
A discrimination step of discriminating the type of the sensed object using at least one of an average value and variance information of the per-track group RCS information;
Gt; a < / RTI > target identification method. 9. The method of claim 8,
Wherein the track-by-track group RCS information is defined as a function of an individual radar reflection area (RCS) value of the track and a number of objects associated with the track. 10. The method of claim 9,
In the determining step,
And comparing at least one of an average value and variance information of the track group group RCS information with at least one of an average threshold value and a dispersion threshold value to determine whether the detected object is a vehicle or not. 11. The method of claim 10,
When the average value of the group RCS information for each track is equal to or less than the average threshold and when the average value of the group RCS information for each track is equal to or greater than the average threshold value and the variance information for each track RCS information for each track is equal to or greater than the dispersion threshold, When the average value of the group RCS information per track is equal to or greater than the average threshold value and the variance information of the per-track group RCS information is equal to or less than the dispersion threshold value, it is determined that the object is a traffic sign or non- The vehicle is determined to be a vehicle. 10. The method of claim 9,
Wherein the determining step matches the group RCS average value and the variance information on a graph displayed on the xy axis based on the average value and the variance information of the group RCS information per track, 1 < / RTI > area and the second area of the vehicle.

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