KR20190114388A - Method and apparatus for preventing collisions during parking using ultra wideband radar - Google Patents

Abstract

The present invention relates to a method for preventing a parking collision using an ultra-wideband radar, and to an apparatus thereof. According to one embodiment of the present invention, an apparatus for preventing a parking collision mounted on a vehicle comprises: first to N^th radars transmitting an ultra-wideband radar signal; a signal processing unit processing a radar signal received when the ultra-wideband radar signal is transmitted; an obstacle detection unit detecting an obstacle based on the processed radar signal; a distance calculation unit calculating a separation distance from the vehicle to the detected obstacle; a boundary shape mapping unit generating an obstacle map including a boundary shape of the detected obstacle based on the processed radar signal; and a boundary shape display unit outputting the obstacle map including the boundary shape.

Description

Parking collision prevention method and apparatus using ultra-wideband radar {METHOD AND APPARATUS FOR PREVENTING COLLISIONS DURING PARKING USING ULTRA WIDEBAND RADAR}

The present invention relates to parking collision prevention, and in detail, the driver's convenience and the driver's convenience through a high perception of the surrounding situation when the vehicle is parked by using an ultra-wideband (UWB) radar having a high distance resolution characteristic (several cm). Parking collisions using ultra-wideband radar, which enhances safety and enables visual confirmation of the location and boundary shape of dangerous obstacles behind the vehicle through parking by detecting and mapping obstacles close to the vehicle using multiple ultra-wideband radars. The present invention relates to a method and an apparatus.

Vehicles such as automobiles are required to function beyond various functions as moving means as various convenient means for allowing a user to provide a more stable and comfortable driving state.

Accordingly, various electronic products and sensors are reflected in automobiles.

In the case of the ultrasonic sensor used as a conventional parking assist device, the detection distance was short, and the performance was deteriorated due to changes in the external environment such as temperature, humidity, and rain, and the driver could be simply alerted of the degree of danger.

In addition, the parking assist system using the camera sensor has a disadvantage of distortion due to image reconstruction and significant performance degradation at night, backlight and rainy weather. Only the image taken by the camera is displayed on the display. There was a limit to becoming.

In the case of Korea Patent Registration 10-1406211 (AVM image providing apparatus and method for a vehicle, Hyundai Otron), in order to prevent an obstacle recognition failure caused by distortion of an image junction when generating images using a plurality of cameras, A method of generating a segmented image using a top view image and a panoramic image of a corner portion of a vehicle has been disclosed. However, the present invention is vulnerable to the ambient noise and the external environment such as night, backlight, rainy weather because it is based only on the video image, it is difficult to perform its function if a failure occurs in any one of the plurality of cameras.

In addition, the Korean Patent Publication No. 10-2011-0061885 (obstacle position alarm device for automatic parking assistance system, Hyundai Motor), in order to alleviate the difficulty that the driver has to determine the exact position of the obstacle by transmitting only the alarm sound according to the distance In addition, a method of dividing the vicinity of the vehicle into several areas has been disclosed so that a warning sound is output from a speaker corresponding to the direction of the obstacle. However, it is difficult to determine the exact location and distance of the obstacles only through the warning sound, and there is a possibility that the corresponding dangerous information may not be recognized if noise is present in the surroundings.

As such, there is a need for a driver comfort technology that can alleviate the anxiety of an inexperienced driver and an older driver during parking and reversing, and active research is being conducted.

In addition, there is a need for a parking assist system capable of providing intuitive information about obstacles in proximity to a vehicle at a high distance resolution without deteriorating performance due to external environmental changes.

Ultra WideBand (UWB) radars provide precise time resolution with excellent time resolution, strong immunity to narrowband noise, and obstacle detection up to 10 meters away.

Therefore, the use of ultra-wideband radar can provide a safer and more convenient parking assistance system.

The present invention has been devised to solve the above problems of the prior art, and an object of the present invention is to provide a parking collision preventing method and apparatus using an ultra-wideband radar.

Another object of the present invention is to provide an accurate obstacle detection and warning without deterioration by the external environment by using an ultra-wideband radar, thereby preventing collisions that may occur during parking. And to provide an apparatus.

It is still another object of the present invention to provide a parking collision avoidance method and apparatus using an ultra-wideband radar capable of improving driver convenience when parking by visually displaying position information and boundary shape of a vehicle proximity hazard obstacle.

Technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

The present invention provides a parking collision avoidance method and apparatus using an ultra-wideband radar.

Parking collision preventing apparatus mounted on a vehicle according to an embodiment of the present invention includes a first to N-th radar for transmitting an ultra-wideband radar signal and a reception signal processor for processing a radar signal received when the transmission of the ultra-wideband radar signal; Based on the processed radar signal, an obstacle detecting unit for detecting an obstacle, a distance calculating unit for calculating a separation distance from the vehicle to the detected obstacle, and a boundary shape of the detected obstacle based on the processed radar signal It may include a boundary shape mapping unit for generating an included obstacle map and a boundary shape display unit for outputting an obstacle map including the boundary shape.

Here, the reception signal processing unit removes a signal component other than a frequency band corresponding to the transmitted ultra wide band radar signal from the received radar signal and the ultra wide band radar signal transmitted from the received radar signal. And a clutter removal unit for removing unnecessary signal components other than the transmitted ultra-wideband radar signal using a moving average method.

In addition, the obstacle detector may determine that an obstacle exists within a predetermined radar recognition distance when the intensity of the processed radar signal exceeds a predetermined threshold value.

The parking collision preventing device may further include a warning alarm unit configured to output a warning alarm, and the distance calculator may control the warning alarm unit to output the warning alarm when the separation distance is within a predetermined alarm distance threshold value. .

Here, the warning alarm may be output through at least one of a speaker, a vibration device, and a lamp provided in the vehicle.

The boundary shape mapping unit may generate an obstacle map by applying a correlation between a map generator that generates first to Nth obstacle maps corresponding to each of the first to Nth radars, and the first to Nth obstacle maps. The cross correlation unit and the obstacle map to which the cross correlation is applied may include a filtering unit applying 2D Gaussian filtering and a correction unit applying an interpolation method to the filtered obstacle map.

In addition, the cross-correlator may cross-correlate an obstacle map corresponding to a physically adjacent radar among the first to N-th radars, and generate the cross-correlated obstacle map.

Here, the cross correlated obstacle map may include boundary information of the detected obstacle.

According to another aspect of the present invention, there is provided a method for preventing parking collision in a vehicle equipped with first to N-th radars that transmits an ultra-wideband radar signal, the method comprising: processing a radar signal received when the ultra-wideband radar signal is transmitted; Detecting an obstacle based on the processed radar signal, calculating a separation distance from the vehicle to the detected obstacle, and an obstacle map including a boundary shape of the detected obstacle based on the processed radar signal And generating an obstacle map including the boundary shape.

The processing of the radar signal may include removing signal components other than a frequency band corresponding to the transmitted ultra-wideband radar signal from the received radar signal and the transmitted ultra-wideband radar signal from the received radar signal. And removing unnecessary signal components other than the transmitted ultra-wideband radar signal using a moving average method.

In addition, when the intensity of the processed radar signal exceeds a predetermined threshold value, it may be determined that an obstacle exists within a predetermined radar recognition distance.

The method may further include outputting a warning alarm, and when the separation distance is within a predetermined alarm distance threshold, the warning alarm may be output.

Here, the warning alarm may be output through at least one of a speaker, a vibration device, and a lamp provided in the vehicle.

The generating of the obstacle map may include generating the first to Nth obstacle maps corresponding to each of the first to Nth radars and applying the cross correlation to the first to Nth obstacle maps to generate the obstacle map. The method may include generating 2D Gaussian filtering on the obstacle map to which the cross correlation is generated and applying an interpolation method to the filtered obstacle map.

Here, the cross-correlated obstacle map may be generated by cross-correlating an obstacle map corresponding to a physically adjacent radar among the first to N-th radars.

Here, the cross correlated obstacle map may include boundary information of the detected obstacle.

In another embodiment of the present invention, a program recorded on a recording medium for realizing the above-described parking collision prevention method and a recording medium on which the program is recorded may be provided.

The above aspects of the present invention are only some of the preferred embodiments of the present invention, and various embodiments in which the technical features of the present invention are reflected will be described in detail below by those skilled in the art. Can be derived and understood.

The effects on the method and apparatus according to the present invention are described as follows.

The present invention has the advantage of providing a parking collision prevention method and apparatus using an ultra-wideband radar.

In addition, the present invention by using an ultra-wideband radar to provide accurate obstacle detection and warning without deterioration due to the external environment, parking collision prevention method using an ultra-wideband radar capable of preventing the collision that may occur during parking and There is an advantage to providing a device.

In addition, the present invention has an advantage of providing a parking collision prevention method and apparatus using an ultra-wideband radar that can improve the driver convenience when parking by visually displaying the position information and the boundary shape of the vehicle proximity hazard obstacle.

Advantages and effects obtainable in the present invention are not limited to the above-mentioned advantages and effects, and other effects not mentioned above will be apparent to those skilled in the art from the following description. It can be understood.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are provided to facilitate understanding of the present invention, and provide embodiments of the present invention with detailed description. However, the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute new embodiments.
1 is a block diagram illustrating a structure of a parking collision avoidance apparatus according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a configuration of the reception signal processor of FIG. 1 according to an exemplary embodiment.
3 is a view for explaining the operation of the obstacle detection unit according to an embodiment of the present invention.
4 is a diagram for describing an operation of a distance calculator according to an exemplary embodiment.
5 is a view for explaining a method of generating an obstacle map according to an embodiment of the present invention.
6 is a diagram for describing a procedure of generating an obstacle map using cross correlation according to an embodiment of the present invention.
7 is a view for explaining the advantages of the obstacle map generation using cross correlation according to an embodiment of the present invention.
8 is a diagram for describing a method of filtering an obstacle map generated according to one embodiment of the present invention.
9 is a diagram for describing an obstacle boundary shaping method using interpolation according to an exemplary embodiment.
FIG. 10 is a block diagram illustrating a configuration of the boundary shape mapping unit of FIG. 1.

Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in more detail with reference to the accompanying drawings. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It should be understood that the elements may be "connected", "coupled" or "connected".

1 is a block diagram illustrating a structure of a parking collision avoidance apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the parking collision avoidance apparatus 100 may include first to N-th radars 110, a reception signal processor 120, an obstacle detector 130, a distance calculator 140, and a boundary shape mapping unit ( 150, the boundary shape display unit 160, and the warning alarm unit 170 may be configured. Here, N may be a natural number of two or more.

The first to N-th radar 110 may be mounted on one side of the rear of the vehicle, but this is only one embodiment, and may be mounted not only to the rear but also to the side and the front, depending on the configuration of the vehicle. Should be.

Each radar is an ultra wideband (UWB) radar, and may include a transmitter 111 and a receiver 112.

UWB radars use a very wide frequency band from baseband to several gigahertz (GHz) bands and use very short pulses of several nano or several pico seconds.

Therefore, UWB radar can provide a high resolution signal capable of accurate distance and position measurement, and has very low spectral power, such as noise of a conventional wireless communication system, so that it can be used for communication systems such as mobile networks, broadcasting networks, and satellite networks. Mutual interference with each other can be minimized.

The transmitter 111 may transmit a radar signal of a predetermined UWB frequency band at a predetermined intensity. Here, the intensity of the radar signal may be determined based on the maximum obstacle detection distance required by the vehicle.

The receiver 112 may receive the radar signal and transmit the radar signal to the signal processor 120.

The reception signal processor 120 may remove unnecessary signal components and noise components included in the radar signals received from the first to Nth radars 110. The signal processed by the reception signal processor 120 may be provided to the obstacle detector 130.

The reception signal processor 120 according to an embodiment may include a bandpass filtering function for removing signal components other than a frequency band corresponding to the transmitted radar signal, and a signal from which the transmitted radar signal is reflected on the ground and reflected. It may include at least one of a clutter removal function for removing unnecessary signal components other than the target using a ground noise removal function and a moving average method to remove.

The obstacle detector 130 may determine whether an obstacle exists within a predetermined radar recognition distance based on the signal received from the received signal processor 120.

As an example, the obstacle detector 130 may compare a predetermined threshold value considering the engine vibration of the vehicle and the vibration characteristic of the road surface with the strength of the signal received from the reception signal processor 120. As a result of the comparison, when the strength of the received signal exceeds the corresponding threshold value, the obstacle detector 130 may determine that an obstacle exists within the radar recognition distance.

The obstacle detector 130 may provide an obstacle detection result to the distance calculator 140 through a predetermined control signal.

When the obstacle is detected by the obstacle detector 130, the distance calculator 140 may calculate a distance from the vehicle to the detected obstacle. Here, the separation distance may be calculated by measuring the attenuation degree of the transmitted radar signal. The measured separation distance can also be corrected and tracked using a Kalman Filter. Here, the Kalman filter is an optimal mathematical calculation process that analyzes the existing noise-measured values by least square method to predict the exact position or distance after a certain time.

The distance calculator 140 warns the warning alarm unit 170 to output a predetermined warning alarm message by transmitting a predetermined control signal to the warning alarm unit 170 when the calculated separation distance is within a predefined alarm distance threshold value. The alarm unit 170 may be controlled. The warning alarm message may be output through a speaker, a vibration device, a lamp, or the like, but is not limited thereto.

In addition, the warning alarm message may be different according to the calculated separation distance. For example, as the detected obstacle approaches the vehicle, the intensity and repetition period of the warning sound output through the speaker may be faster. As another example, as the detected obstacle approaches the vehicle, the vibration intensity of the vibration device provided at one side of the driver's seat may be controlled to be stronger.

If it is determined that the detected obstacle is located within a predetermined alarm distance threshold value, the distance calculator 140 may transmit a predetermined control signal indicating boundary shape mapping to the boundary shape mapping unit 150.

When the obstacle is detected within an alarm distance, the boundary shape mapping unit 150 may map the position and boundary shape of the obstacle to the two-dimensional obstacle map. Here, the 2D obstacle map may be generated by a radar imaging technique based on the intensity information of the radar signal received through the first to N-th radar 110 and the reception signal processor 120.

For example, the obstacle map may be a two-dimensional lattice structure including a plurality of pixels, and each pixel may have a boundary shape of the obstacle calculated based on intensity information of a signal received through each radar corresponding to a corresponding position. Information may be included.

The boundary shape mapping unit 150 may generate the 2D obstacle map and then map the boundary shape of the corresponding obstacle to the nearest distance between the vehicle and the detected obstacle.

In addition, the boundary shape mapping unit 150 may determine the degree of danger based on the minimum distance from the obstacle, and may determine the color of the mapped boundary shape according to the determined degree of danger.

For example, if the degree of danger is "low", the color of the boundary shape is green, and if the degree of danger is "high", the color of the boundary shape may be displayed in red, but this is only one embodiment. Depending on the design, the definition of the degree of risk and the method of color mapping according to the design may not only be different, but may also be implemented to enable user setting through a predetermined user interface.

That is, the boundary shape mapping unit 150 according to the present invention displays different colors of the lines indicating the boundary shape of the obstacle according to the degree of danger determined based on the distance from the vehicle to the boundary of the obstacle. It may help to understand.

The boundary shape display unit 160 may display the boundary shape of the obstacle on the display provided based on the boundary shape mapping result of the detected obstacle of the boundary shape mapping unit 150.

For example, the boundary shape display unit 160 may be implemented through a screen or a cluster screen of an audio video navigation (AVN) terminal provided in a vehicle, but is not limited thereto. For example, a transparent display mounted to the vehicle front windshield, a hologram display displayed on one side of the vehicle windshield, or the like may be used.

The boundary shape mapping unit 150 according to an embodiment includes information on the boundary of an obstacle using cross correlation between the first to Nth obstacle maps generated in response to the first to Nth radar signals. Generated obstacle maps.

Here, the first to N-th radar signals may be generated through the first to N-th radar 110 and the received signal processor 120.

In addition, the boundary shape mapping unit 150 according to an embodiment of the present invention may apply a two-dimensional Gaussian filter mainly used for photograph and video recognition to the generated obstacle map.

When a two-dimensional Gaussian filter is applied, not only can the obstacle map image be filtered smoothly, but the signal-to-noise ratio (SNR) of the obstacle map image is improved, noise can be eliminated, and spatial resolution loss can be minimized. have.

In addition, the boundary shape mapping unit 150 according to an embodiment of the present invention identifies a location where the corresponding obstacle is located nearest to the vehicle on the obstacle map on which cross correlation and Gaussian filtering is completed, and identifies the identified point as a target point. Can be determined.

The boundary shape mapping unit 150 may more accurately estimate the boundary shape of the obstacle by performing interpolation based on the determined target point.

FIG. 2 is a block diagram illustrating a configuration of the reception signal processor of FIG. 1 according to an exemplary embodiment.

Referring to FIG. 2, the received signal processor 120 may include a signal receiver 210, a band pass filter 220, a ground noise remover 230, a clutter remover 240, and a signal transmitter 250. It can be configured to include.

The signal receiver 210 may receive a raw signal corresponding to the radar signal transmitted through the transmitter 111 from the receiver 112 of the first to Nth radars 110.

The bandpass filtering unit 220 may remove signal components other than the frequency band corresponding to the transmitted radar signal from the low signal.

The ground noise removing unit 230 may remove a signal component from the low signal when the transmitted radar signal hits the ground and is reflected.

The clutter removal unit 240 may remove unnecessary signal components other than a target, that is, a target signal, by using a moving average method.

The signal transmitter 250 may detect the first to Nth radar signals processed by the clutter controller 240, the obstacle detector 130, the distance calculator 140, and the boundary shape mapping unit 150 of FIG. 1. ) At least one of them.

3 is a view for explaining the operation of the obstacle detection unit according to an embodiment of the present invention.

Referring to FIG. 3, reference numeral 310 shows a change in intensity of the received radar signal measured by the obstacle detector 130 when no obstacle exists within the radar recognition distance of the vehicle.

As shown in FIG. 310, when there is no obstacle within the radar recognition distance, the intensity of the received radar signal is smaller than the threshold for the mode sample index.

Reference numeral 320 illustrates a change in intensity of the received radar signal measured by the obstacle detector 130 when an obstacle exists within a radar recognition distance of the vehicle.

As shown at 310, if there is an obstacle within the radar recognition distance, the intensity of the received radar signal for some sample indexes is greater than the threshold, as shown at 321.

4 is a diagram for describing an operation of a distance calculator according to an exemplary embodiment.

Referring to FIG. 4, when the distance calculator 140 receives a predetermined control signal indicating that an obstacle is detected from the obstacle detector 130, the first to N-th radar signals processed by the reception signal processor 120 are received. The separation distance from the vehicle to the detected obstacle may be calculated based on the strength of.

As shown in reference numeral 410, when it is confirmed that the separation distance corresponding to the received radar signal is within a predetermined alarm distance, the distance calculator 140 may operate the warning alarm unit 170 to output a predetermined warning alarm. Can be controlled.

5 is a view for explaining a method of generating an obstacle map according to an embodiment of the present invention.

The two-dimensional obstacle map for mapping the obstacle position according to an embodiment of the present invention may be generated based on the radar signal strength information received from the plurality of radars.

Referring to FIG. 5, the obstacle map I 510 according to an embodiment may be configured as a two-dimensional lattice structure having N * M pixels. Here, N and M may be a natural number greater than two.

The parking collision avoidance apparatus 100 according to the present invention may generate an obstacle map for each radar provided in the vehicle. That is, when the vehicle is equipped with K UWB radars to prevent parking collisions, K obstacle maps corresponding to the radars may be generated. Thereafter, the obstacle map I 510 including information on the boundary of the obstacle may be generated by performing cross correlation on the obstacle maps of physically adjacent radars.

As an example, assume that the vehicle is provided with the first to K-th radar 520. In this case, the distance DN (xm, yn) from the Nth radar 521 to the first pixel 511 corresponding to the first pixel 511 (that is, the pixel (xm, yn)) is expressed by Equation 1 below. As such, it may be calculated based on the strength of the signal received through the N-th radar.

<Equation 1>:

X coordinate of

Radar /

Y coordinate of

Radarhere,

X coordinate of

Radar /

Y coordinate of

Radar

The obstacle map Sn (xm, yn) corresponding to one Nth radar for the first pixel 511 is represented by Equation 2 below, and the intensity RN of the signal received through the Nth radar and Equation 1 above. It can be generated based on the product of the distance DN (xm, yn) calculated by.

<Equation 2>:

과 N-1번째 레이더에 의해 생성된 장애물 앱

을 상호 상관하여 생성될 수 있다.Obstacle app I (xm, yn) is the obstacle app of the N-th radar generated by Equation 2, as shown in Equation 3 below

Obstacle app generated by the N-1th radar

Can be generated by cross correlation.

Equation 3:

The obstacle location estimation method using the conventional radar imaging technique simply adds N obstacle maps generated from each radar pixel by pixel. The approximate location of the obstacle is known but the information about the boundary of the obstacle cannot be known. In particular, there is a problem in that the resolution of the cross-range is reduced.

However, the parking collision avoidance method according to the present invention can generate an obstacle map including boundary shape information on the detected obstacle by correlating N obstacle maps, so that the resolution for the cross-range is high. There is a high advantage.

6 is a diagram for describing a procedure of generating an obstacle map using cross correlation according to an embodiment of the present invention.

Referring to FIG. 6, the parking collision avoidance apparatus 100 according to the present invention measures the strength of a signal received through each of the first to N th radars 610 mounted on a vehicle, and based on the measured strength of the signal. The first to N th obstacle maps 620 corresponding to the radars may be generated.

Subsequently, the parking collision avoidance apparatus 100 cross-correlates the obstacle maps corresponding to two physically adjacent radars, as shown in reference numeral 630, and adds the cross-correlated values to obtain boundary information corresponding to the detected obstacle. The included obstacle map 640 may be generated.

7 is a view for explaining the advantages of the obstacle map generation using cross correlation according to an embodiment of the present invention.

In detail, FIG. 7 shows experimental results performed in an experimental environment in which four UWB radars are mounted on a vehicle and walls exist within a radar recognition distance behind the vehicle, as shown at 710.

Reference numeral 720 shows an obstacle map generated by simply adding the first to fourth obstacle maps generated for each radar without cross correlation in the experimental environment of reference numeral 710. On the other hand, reference numeral 730 shows an obstacle map generated by cross-correlating the first to fourth obstacle maps generated corresponding to each radar in the experimental environment of the reference number 710.

Comparing reference numerals 720 and 730, the obstacle map of reference numeral 730 has a higher resolution with respect to the cross range than the obstacle map of reference numeral 720. In addition, the obstacle map of 730 has the advantage that the position and boundary shape of the obstacle is displayed more clearly than the obstacle map of 720.

8 is a diagram for describing a method of filtering an obstacle map generated according to one embodiment of the present invention.

Referring to FIG. 8, reference numeral 810 shows an obstacle map generated through cross correlation of the first to Nth obstacle maps.

The parking collision avoidance apparatus 100 according to an embodiment of the present invention may generate an obstacle map 830 having a softer filtered image by performing a convolution operation on the obstacle map 810 with the two-dimensional Gaussian filter 820. Can be. The filtered obstacle map 830 may improve signal to noise ratio (SNR) to remove noise and minimize spatial resolution loss.

9 is a diagram for describing an obstacle boundary shaping method using interpolation according to an exemplary embodiment.

Referring to FIG. 9, the parking collision avoidance apparatus 100 according to an embodiment of the present invention may apply an interpolation method to clarify an obstacle boundary shape included in an obstacle map generated by applying cross correlation and Gaussian filtering. have.

Reference numeral 911 shows an obstacle map generated in a state where a wall surface is arranged behind the vehicle as shown in reference numeral 910. Reference numeral 912 shows an obstacle map after interpolation is applied to the obstacle map of reference number 911.

Comparing reference numeral 911 to 912, reference numeral 911 has a part where the boundary shape of the obstacle is partially broken, but reference number 912 to which interpolation is applied not only has no breakage on the boundary shape of the obstacle, but also the boundary of the obstacle. Compared to the reference number 911, there is an advantage that is more clearly distinguished.

FIG. 10 is a block diagram illustrating a configuration of the boundary shape mapping unit of FIG. 1.

Referring to FIG. 10, the boundary shape mapping unit 150 may include a map generator 1010, a cross correlation unit 1020, a filtering unit 1030, and a correction unit 1040.

The map generator 1010 may generate first to Nth obstacle maps corresponding to the first to Nth radars based on the first to Nth radar received signals processed by the reception signal processor 120. .

The cross correlation unit 1020 may cross-correlate obstacle maps corresponding to two physically adjacent radars, and generate the obstacle map including boundary information of the detected obstacle by adding the cross-correlated values.

The filtering unit 1030 may apply the two-dimensional Gaussian filter to the obstacle map generated by the cross-correlator 1020 to generate an obstacle map having a softer filtered image. In this case, the filtered obstacle map may improve signal to noise ratio (SNR) to remove noise and minimize spatial resolution loss.

The correction unit 1040 may generate an obstacle map including a seamless and clear obstacle boundary shape by applying interpolation to the filtered obstacle map.

It is apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit and essential features of the present invention.

Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

Claims (18)

In the device mounted on the vehicle to prevent a collision when parking,
First to N-th radars for transmitting an ultra-wideband radar signal;
A reception signal processor configured to process a radar signal received when the ultra wideband radar signal is transmitted;
An obstacle detecting unit detecting an obstacle based on the processed radar signal;
A distance calculator configured to calculate a distance from the vehicle to the detected obstacle;
A boundary shape mapping unit configured to generate an obstacle map including a boundary shape of the detected obstacle based on the processed radar signal; And
Boundary shape display unit for outputting the obstacle map including the boundary shape
Comprising, a parking collision avoidance device. The method of claim 1,
The received signal processing unit
A bandpass filtering unit for removing signal components other than a frequency band corresponding to the transmitted ultra-wideband radar signal from the received radar signal;
A ground noise removing unit for removing a signal component from the received radar signal to which the transmitted ultra-wideband radar signal hits the ground and is reflected; And
Clutter removal unit for removing unnecessary signal components other than the ultra-wideband radar signal transmitted by the moving average method
Comprising, a parking collision avoidance device. The method of claim 1,
And the obstacle detecting unit determines that an obstacle exists within a predetermined radar recognition distance when the intensity of the processed radar signal exceeds a predetermined threshold value. The method of claim 3,
Further comprising a warning alarm unit for outputting a warning alarm,
The distance calculating unit controls the warning alarm unit to output the warning alarm when the separation distance is within a predetermined alarm distance threshold value.
Parking Collision Avoidance Device. The method of claim 4, wherein
The warning alarm is output through at least one of a speaker, a vibrating element, a lamp provided in the vehicle, parking collision prevention device. The method of claim 1,
The boundary shape mapping unit
A map generator for generating first to Nth obstacle maps corresponding to each of the first to Nth radars;
A cross correlation unit configured to generate an obstacle map by applying cross correlation to the first to Nth obstacle maps;
A filtering unit applying 2D Gaussian filtering to the obstacle map to which the cross correlation is applied; And
Correction unit for applying interpolation method to the filtered obstacle map
Comprising, a parking collision avoidance device. The method of claim 6,
And the cross-correlation unit cross-correlates an obstacle map corresponding to a physically adjacent radar among the first to N-th radars, and generates the cross-correlated obstacle map. The method of claim 7, wherein
And the cross correlated obstacle map includes boundary information of the detected obstacle. In the method for preventing a collision when parking in a vehicle equipped with the first to N-th radar for transmitting an ultra-wideband radar signal,
Processing a radar signal received upon transmission of the ultra-wideband radar signal;
Detecting an obstacle based on the processed radar signal;
Calculating a separation distance from the vehicle to the sensed obstacle;
Generating an obstacle map including a boundary shape of the detected obstacle based on the processed radar signal; And
Outputting an obstacle map including the boundary shape
Including, parking collision prevention method. The method of claim 9,
Processing the radar signal
Removing signal components other than a frequency band corresponding to the transmitted ultra-wideband radar signal from the received radar signal;
Removing a signal component from the received radar signal to which the transmitted ultra-wideband radar signal hits the ground and is reflected; And
Removing unnecessary signal components other than the transmitted ultra-wideband radar signal using a moving average method
Including, parking collision prevention method. The method of claim 9,
If the intensity of the processed radar signal exceeds a predetermined threshold value, it is determined that an obstacle exists within a predetermined radar recognition distance. The method of claim 11,
Outputting a warning alarm,
If the separation distance is within a predetermined alarm distance threshold, the warning alarm is output. The method of claim 12,
The warning alarm is output through at least one of a speaker, a vibration device, a lamp provided in the vehicle, parking collision prevention method. The method of claim 9,
Generating the obstacle map
Generating first to Nth obstacle maps corresponding to each of the first to Nth radars;
Generating an obstacle map by applying cross correlation to the first to Nth obstacle maps;
Applying two-dimensional Gaussian filtering to the obstacle map to which the cross correlation is applied; And
Applying interpolation to the filtered obstacle map
Including, parking collision prevention method. The method of claim 14,
And cross-correlating an obstacle map corresponding to a physically adjacent radar of the first to N-th radars to generate the cross-correlated obstacle map. The method of claim 15,
And the cross-correlated obstacle map includes boundary information of the detected obstacle. A program recorded on a recording medium for realizing the method according to any one of claims 9 to 16. A recording medium on which the program according to claim 17 is recorded.

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