KR20190000565A - Frequency Modulated Continuous Wave radar interference cancellation algorithm based on beat signal characteristic for automotive vehicle - Google Patents

Frequency Modulated Continuous Wave radar interference cancellation algorithm based on beat signal characteristic for automotive vehicle Download PDF

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KR20190000565A
KR20190000565A KR1020170079715A KR20170079715A KR20190000565A KR 20190000565 A KR20190000565 A KR 20190000565A KR 1020170079715 A KR1020170079715 A KR 1020170079715A KR 20170079715 A KR20170079715 A KR 20170079715A KR 20190000565 A KR20190000565 A KR 20190000565A
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interference
signal
size
average value
bit
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KR102144504B1 (en
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이정우
문지우
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서울대학교산학협력단
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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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

In a situation where a vehicle radar is used, interference occurs due to a radar signal transmitted by another vehicle. An interference signal may cause an error in the distance and velocity estimation of a target and may threaten the safety of a vehicle. Therefore, a technique for removing the interference signal is required for the vehicle radar. According to the present invention, in the FMCW radar, when an interference signal from another vehicle causes interference to an original signal, the FMCW radar detects an interference pattern and finds a section where the interference occurs. Since the interference signal has less signal attenuation than the original signal, signal intensity is high and an interference occurrence section has a high frequency component due to the nature of the interference signal. Taking this into consideration, two characteristics of the time sample of a signal received by the radar on a time axis are used to find out and remove the section where the interference occurs. A vehicle drive control system includes a FMCW radar device and an interference cancellation device.

Description

비트 신호 특성을 이용한 차량용 FMCW 레이더 간섭 제거 알고리즘 {Frequency Modulated Continuous Wave radar interference cancellation algorithm based on beat signal characteristic for automotive vehicle}[0001] The present invention relates to an FMCW radar interference cancellation algorithm for a vehicle,

본 발명은 차량용 레이더에 관한 것으로, 보다 구체적으로는 차량용 레이더의 간섭을 효과적으로 제거하기 위한 비트 신호 특성을 이용한 차량용 FMCWFrequency Modulated Continuous Wave) 레이더 간섭 제거 알고리즘에 관한 것이다. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar for a vehicle, and more particularly, to a FMCWFrequency Modulated Continuous Wave (FWM) radar interference cancellation algorithm using a bit signal characteristic for effectively eliminating interference of a radar for a vehicle.

FMCW(Frequency Modulated Continuous Wave) 신호는 시간에 따라 주파수가 일정하게 변하는 특성을 갖는다. 레이더 송신기에서 FMCW 신호를 보내고 주변 물체에서 반사된 신호를 받아 수신된 신호와 디첩(dechirp)을 하여 주변 물체의 거리와 속도를 측정한다. 그러나. 원래 레이더 신호를 보내는 차량 외에 다른 차량이 존재하여 다른 파형의 신호를 보내는 경우, 그 신호가 원래 보냈던 신호의 반사파와 간섭을 일으켜서 목표 물체의 거리와 속도를 추정하는데 어려움이 발생한다.The frequency modulated continuous wave (FMCW) signal has a characteristic in which the frequency varies with time. The radar transmitter sends the FMCW signal, receives the reflected signal from the surrounding object, and dechirp with the received signal to measure the distance and velocity of the surrounding object. But. When a vehicle other than the vehicle that originally transmits the radar signal exists and transmits a signal of a different waveform, the signal interferes with the reflected wave of the originally transmitted signal, which makes it difficult to estimate the distance and velocity of the target object.

또한, 기존의 기법은 간섭 파형이 고 주파수 성분을 포함한다는 성질에 착안한 기법으로 인접한 시간 샘플들의 신호 크기 차를 구하여 그 값이 클 때 간섭 신호라 판단하고 있다. 그러나 이 기법은 램프-비트(ramp-beat) 신호에서 송신 신호와 간섭 신호의 주파수가 교차 할 때 생기는 저 주파수 간섭 구간 제거에 한계가 있다.In addition, the conventional technique focuses on the fact that the interference waveform includes a high frequency component, and determines a signal size difference between adjacent time samples. When the value is large, the interference signal is determined. However, this technique has a limitation in eliminating the low-frequency interference section which occurs when the frequencies of the transmission signal and the interference signal cross in the ramp-beat signal.

본 발명은 간섭 현상을 효과적으로 제거할 수 있는 차량용 레이더의 간섭 제거 알고리즘을 제공하는 것이다. An object of the present invention is to provide an interference cancellation algorithm for a vehicle radar capable of effectively removing an interference phenomenon.

본 발명은 간섭 구간의 신호가 고 주파수 성분을 가지고 있을 뿐만 아니라 높은 신호 세기를 가진다는 성질에 착안하여, 기존의 기법에서 제거하지 못한 램프-비트(ramp-beat) 신호의 저 주파수 잔여 간섭 구간을 추가로 제거하는 방법을 제안한다. 이는 잔여 간섭을 제거함으로써 신호 대 간섭 비를 향상시킬 수 있으며 간섭 제거 신호 세기 문턱 값을 상황에 맞추어 설정할 수 있기 때문에 유연한 대처를 가능하게 한다.In the present invention, attention is paid to the fact that a signal of an interference interval has not only a high frequency component but also a high signal intensity, so that a low-frequency residual interference interval of a ramp- We propose a method for further removal. This can improve the signal-to-interference ratio by eliminating the residual interference and allows the adaptive countermeasures because the interference cancellation signal strength threshold can be set according to the situation.

차량용 FMCW 레이더에서 다른 차량에서 온 간섭 신호가 원래 신호에 간섭을 일으킬 때 간섭패턴을 파악하여 간섭이 생기는 구간을 찾아낸다. 간섭 신호는 원래 신호보다 신호 감쇠가 적으므로 신호 세기가 크고 간섭이 발생한 구간은 간섭 신호의 성질에 의해 고 주파수 성분을 가지고 있다. 이 점에 착안하여 시간 축에서 레이더에 수신된 신호의 타임 샘플의 두 특성을 이용하여 간섭이 생긴 구간을 찾아내고 제거한다.In an automotive FMCW radar, when an interference signal from another vehicle interferes with the original signal, it identifies the interference pattern and finds the region where the interference occurs. Since the interference signal has less signal attenuation than the original signal, the signal intensity is high and the interference section has a high frequency component due to the nature of the interference signal. Taking this into consideration, we use the two characteristics of the time samples of the signal received by the radar on the time axis to find and remove the interfering section.

도 1은 본 발명의 실시예에 따른 간섭이 없는 경우, 비트 신호의 주파수 특성을 보여주는 그래프이다.
도 2는 본 발명의 실시예에 따른 간섭이 발생된 경우, 비트 신호의 주파수 특성을 보여주는 그래프이다. 1 is a graph showing frequency characteristics of a bit signal in the absence of interference according to an embodiment of the present invention.
FIG. 2 is a graph illustrating frequency characteristics of a bit signal when interference is generated according to an embodiment of the present invention. Referring to FIG.

이하, 첨부된 도면을 이용하여 본 발명의 실시예를 설명하도록 한다. Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FMCW(Frequency Modulated Continuous Wave) 신호의 시간-주파수 도메인에서 중심 주파수가 f, 주파수 스윕 폭이 W, 한 첩(chirp)의 길이가 T라고 한다면 시간에 따른 FMCW 신호의 주파수는 (a), 위상은 (b), 전체 신호는 (c)와 같이 나타낼 수 있다.In the time-frequency domain of an FMCW signal, if the center frequency is f, the frequency sweep width is W, and the length of one chirp is T, the frequency of the FMCW signal with respect to time is (a) (b), and the entire signal can be represented as (c).

(a) :

Figure pat00001
(a):
Figure pat00001

(b) :

Figure pat00002
(b):
Figure pat00002

(c) :

Figure pat00003
(c):
Figure pat00003

반사파의 지연시간이 τ라고 하면 원신호와 디첩을 해서 구한 비트 신호 위상(beat signal phase)

Figure pat00004
는 다음과 같다.Assuming that the delay time of the reflected wave is τ, the beat signal phase obtained by the de-
Figure pat00004
Is as follows.

Figure pat00005
Figure pat00005

구한 비트 신호를 시간 t에 대해 FFT(Fast Fourier Transform)하여 지연시간 τ를 구할 수 있고, τ를 통하여 반사된 물체와 레이더 간 거리를 구할 수 있다.The delay time τ can be obtained by FFT (Fast Fourier Transform) the obtained bit signal with respect to time t, and the distance between the object reflected by τ and the radar can be obtained.

위의 비트 신호 위상식을 보면 t에 관한 일차식이므로 그것을 미분한 주파수는 상수로 구해질 수 있다. 따라서, 간섭이 발생되지 않은 경우, 비트 신호는 도 1에 도시된 바와 같이 일정한 주파수 특성을 가질 수 있다. Since the above equation of the bit signal is a linear equation related to t, the frequency of differentiating it can be obtained as a constant. Accordingly, when interference is not generated, the bit signal may have a constant frequency characteristic as shown in FIG.

하지만, 도 2에 도시된 바와 같이, 간섭이 발생된 경우, 간섭이 발생된 구간에 일정하지 않은 주파수 특성이 보여지며, 도 1과 대비하여 볼 때, 상대적으로 높은 신호 세기를 보이게 된다. However, as shown in FIG. 2, when interference occurs, a frequency characteristic that is not constant is shown in an interval where the interference occurs, and a relatively high signal intensity is seen in comparison with FIG.

기존 기법은 인접한 시간 샘플의 신호 세기 차이를 비교하여 간섭을 찾아내기 때문에 도 2의 굵게 표시된 선으로 표시된 부분을 쉽게 간섭으로 인식하지 못한다.The conventional technique does not easily recognize the portion denoted by the bold line in FIG. 2 as interference because it detects the interference by comparing the difference in signal intensity between adjacent time samples.

한편, 본 발명은 기존 기법에 간섭이 존재할 때 비트 신호의 세기가 원 비트 신호 세기보다 큰 것에 착안하여, 각 시간 샘플 t에서 신호 세기를 신호 세기의 평균을 변수로 가지는 문턱 값과 비교하여, 도 2의 굵게 표시된 선으로 구분된 잔여 간섭을 추가로 추출한 후 제거할 수 있다. The present invention is based on the fact that when the interference exists in the existing technique, the strength of the bit signal is greater than the original bit signal strength, and the signal strength at each time sample t is compared with a threshold value having the average of the signal strength as a variable, Residual interference separated by bold lines in 2 can be further extracted and removed.

간섭을 제거하는 과정은 다음과 같다.The process of eliminating interference is as follows.

1) 비트 신호를 샘플링 후, 모든 시간 샘플 t에 대해서 비트 신호

Figure pat00006
와 인접 신호
Figure pat00007
의 크기 차
Figure pat00008
을 계산한다.1) samples a bit signal, and then outputs a bit signal
Figure pat00006
And adjacent signals
Figure pat00007
The difference in size
Figure pat00008
.

2) 이동 평균(moving average)과 평균,

Figure pat00009
을 계산한다2) moving average and average,
Figure pat00009
≪ / RTI &

3) 모든 시간 샘플

Figure pat00010
에 대해서 비트 신호의 크기
Figure pat00011
와 그 평균,
Figure pat00012
을 계산한다.3) All time samples
Figure pat00010
The size of the bit signal
Figure pat00011
And the average,
Figure pat00012
.

4) 1)에서 얻은 크기 차,

Figure pat00013
가
Figure pat00014
보다 크거나 3)에서 얻은
Figure pat00015
가
Figure pat00016
보다 크면 간섭으로 분류하고 제로 패딩(zero-padding)을 하여 간섭을 제거한다.
Figure pat00017
는 문턱 값을 결정하는 계수이다.4) The size difference obtained in 1)
Figure pat00013
end
Figure pat00014
Greater than or equal to 3)
Figure pat00015
end
Figure pat00016
If it is larger, it is classified as interference and zero-padding is performed to remove the interference.
Figure pat00017
Is a coefficient for determining a threshold value.

5) 1)~4)과정을 각 첩(chirp)마다 반복한다.5) Repeat steps 1) through 4) for each chirp.

Claims (12)

처프 신호를 생성하여 송신하고, 상기 처프 신호가 목표물로부터 반사된 신호를 수신하여 상기 처프 신호와 상기 반사된 신호의 차이에 따라 비트(beat) 신호를 생성하는 FMCW(Frequency Modulated Continuous Wave) 레이더 장치; 및
시간 축으로 인접하는 비트 신호 간의 크기 차이 및 개별 비트 신호의 크기에 기초하여 간섭 신호가 존재하는 구간을 탐색하고 상기 간섭 신호를 제거하도록 구성되는 간섭 제거 장치;
를 포함하도록 구성되는 차량 주행 제어 시스템.A frequency modulated continuous wave (FMCW) radar device for generating and transmitting a chirp signal and generating a beat signal according to a difference between the chirp signal and the reflected signal by receiving the chirp signal reflected from the target; And
An interference canceller configured to search for an interval in which an interference signal exists based on a size difference between adjacent bit signals on a time axis and a size of an individual bit signal, and to remove the interference signal;
And the vehicle running control system further comprises: 제 1 항에 있어서,
상기 간섭 제거 장치는, 매 처프 신호마다 상기 비트 신호를 샘플링하여 모든 시간 샘플에 대해 인접 비트 신호 간의 크기 차이를 추출하고 상기 크기 차이의 평균값을 산출하는 차이값 추출부;
상기 모든 시간 샘플에 대해 상기 비트 신호의 크기 및 상기 비트 신호 크기의 평균값을 추출하는 크기 추출부; 및
상기 크기 차이의 평균값 및 상기 비트 신호 크기의 평균값을 기 설정된 기준값과 비교하는 간섭 구간 탐색부; 및
상기 간섭 구간 탐색부에서 상기 간섭 신호가 존재하는 구간이 탐색됨에 따라 상기 간섭 신호를 제거하도록 구성되는 간섭 제거부;
를 포함하도록 구성되는 차량 주행 제어 시스템.The method according to claim 1,
Wherein the interference canceller comprises: a difference value extractor for sampling the bit signal for every chirp signal, extracting a size difference between adjacent bit signals for all time samples, and calculating an average value of the size difference;
A size extracting unit for extracting a size of the bit signal and an average value of the bit signal size for all the time samples; And
An interference interval search unit for comparing an average value of the size difference and an average value of the bit signal size with a preset reference value; And
An interference canceller configured to cancel the interference signal as the interval in which the interference signal exists is found in the interference section search unit;
And the vehicle running control system further comprises: 제 2 항에 있어서,
상기 간섭 구간 탐색부는, 상기 크기 차이가 기 설정된 제 1 문턱값보다 크거나, 상기 비트 신호의 크기가 기 설정된 제 2 문턱값보다 큰 경우 간섭으로 분류하도록 구성되는 차량 주행 제어 시스템.3. The method of claim 2,
Wherein the interference section searching section is configured to classify the interference section as interference if the magnitude difference is greater than a predetermined first threshold value or when the magnitude of the bit signal is greater than a predetermined second threshold value. 제 3 항에 있어서,
상기 제 1 문턱값은 제 1 결정계수와 상기 크기 차이의 평균값의 곱으로 결정되는 차량 주행 제어 시스템.The method of claim 3,
Wherein the first threshold value is determined as a product of a first determination coefficient and an average value of the magnitude differences. 제 3 항에 있어서,
상기 제 2 문턱값은 제 2 결정계수와 상기 비트 신호 크기의 평균값의 곱으로 결정되는 차량 주행 제어 시스템.The method of claim 3,
Wherein the second threshold value is determined as a product of a second determination coefficient and an average value of the bit signal magnitudes. 제 2 항에 있어서,
상기 간섭 제거부는 제로 패딩(zero padding)에 기초하여 간섭을 제거하도록 구성되는 차량 주행 제어 시스템.3. The method of claim 2,
And the interference canceller is configured to cancel the interference based on zero padding. FMCW(Frequency Modulated Continuous Wave) 레이더 장치 및 상기 FMCW 장치와 접속되는 간섭 제거 장치를 포함하는 차량 주행 제어 시스템의 간섭 제거 방법으로서,
상기 FMCW 장치가 처프 신호를 생성하여 송신하고, 상기 처프 신호가 목표물로부터 반사된 신호를 수신하여 상기 처프 신호와 상기 반사된 신호의 차이에 따라 비트(beat) 신호를 생성하는 단계;
상기 간섭 제거 장치가 시간 축으로 인접하는 비트 신호 간의 크기 차이 및 개별 비트 신호의 크기에 기초하여 간섭 신호가 존재하는 구간을 탐색하는 단계; 및
상기 간섭 신호를 제거하는 단계;
를 포함하도록 구성되는 차량 주행 제어 시스템의 간섭 제거 방법.A method of interference cancellation in a vehicle running control system including an FMCW (Frequency Modulated Continuous Wave) radar device and an interference cancellation device connected to the FMCW device,
Generating and transmitting a chirp signal by the FMCW unit, receiving the chirp signal reflected from the target, and generating a beat signal according to the difference between the chirp signal and the reflected signal;
Searching for an interval in which an interference signal is present based on a size difference between bit signals adjacent in time axis and a size of an individual bit signal; And
Removing the interference signal;
Wherein the control unit is configured to determine whether or not to cancel the interference of the vehicle. 제 7 항에 있어서,
상기 탐색하는 단계는, 매 처프 신호마다 상기 비트 신호를 샘플링하여 모든 시간 샘플에 대해 인접 비트 신호 간의 크기 차이를 추출하고 상기 크기 차이의 평균값을 산출하는 단계;
상기 모든 시간 샘플에 대해 상기 비트 신호의 크기 및 상기 비트 신호 크기의 평균값을 추출하는 단계; 및
상기 크기 차이의 평균값 및 상기 비트 신호 크기의 평균값을 기 설정된 기준값과 비교하여 상기 간섭 신호가 존재하는 구간을 검출하는 단계;
를 포함하도록 구성되는 차량 주행 제어 시스템의 간섭 제거 방법.8. The method of claim 7,
Wherein the searching comprises sampling the bit signal for every chirp signal to extract a size difference between adjacent bit signals for all time samples and calculating an average value of the size differences;
Extracting a magnitude of the bit signal and an average value of the bit signal magnitude for all the time samples; And
Comparing an average value of the size differences and an average value of the bit signal sizes with a predetermined reference value to detect a period in which the interference signal exists;
Wherein the control unit is configured to determine whether or not to cancel the interference of the vehicle. 제 8 항에 있어서,
상기 검출하는 단계는, 상기 크기 차이가 기 설정된 제 1 문턱값보다 크거나, 상기 비트 신호의 크기가 기 설정된 제 2 문턱값보다 큰 경우 간섭으로 분류하는 단계를 포함하도록 구성되는 차량 주행 제어 시스템의 간섭 제거 방법.9. The method of claim 8,
Wherein the detecting step includes classifying the interference signal as interference if the magnitude difference is greater than a predetermined first threshold value or the magnitude of the bit signal is greater than a predetermined second threshold value Interference cancellation method. 제 9 항에 있어서,
상기 제 1 문턱값은 제 1 결정계수와 상기 크기 차이의 평균값의 곱으로 결정되는 차량 주행 제어 시스템의 간섭 제거 방법.10. The method of claim 9,
Wherein the first threshold value is determined as a product of a first determination coefficient and an average value of the magnitude differences. 제 9 항에 있어서,
상기 제 2 문턱값은 제 2 결정계수와 상기 비트 신호 크기의 평균값의 곱으로 결정되는 차량 주행 제어 시스템의 간섭 제거 방법.10. The method of claim 9,
And the second threshold value is determined as a product of a second decision coefficient and an average value of the bit signal magnitudes. 제 7 항에 있어서,
상기 간섭 신호를 제거하는 단계는 제로 패딩(zero padding)에 기초하여 제거하는 단계를 포함하도록 구성되는 차량 주행 제어 시스템의 간섭 제거 방법.8. The method of claim 7,
Wherein removing the interference signal comprises removing the interference based on zero padding. ≪ Desc / Clms Page number 19 >
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