KR20190132930A - Communication radar convergence system - Google Patents

Abstract

Provided is a communication radar fusion system, which comprises: a random number generator; a radar device transmitting a radar signal including a random number generated by the random number generator and detecting an object based on a reflected signal received by reflecting the radar signal; and a communication device performing bidirectional communication with an external device by reusing the random number as an encryption key. The communication radar fusion system can solve security problems of bidirectional communication in autonomous vehicles and solve radar interference problems, and is provided with improved detection performance for a general-purpose distance.

Description

Communication radar convergence system {COMMUNICATION RADAR CONVERGENCE SYSTEM}

Embodiments of the present invention relate to a communication radar fusion system.

The technology of detecting the environment and gathering information is one of the core technologies of future autonomous (driving) vehicles. In order to detect the surrounding environment and use the collected information efficiently, autonomous vehicles need to be equipped with two-way communication technology. However, two-way communication technology may be vulnerable to security threats and hacking, and serious problems such as information duplication and leakage may occur due to physical external attacks. It must be solved.

Among the existing security techniques for two-way communication technology, software security techniques are relatively inexpensive, while hacking is a problem. In addition, the quantum security technique is a technique to which the uncertainty theory of quantum physics is applied and is not suitable as a security technique of an autonomous vehicle because it is a powerful security technique or an expensive technique requiring a high hardware specification. In order to apply security technology to autonomous vehicles, it must be physically impossible to replicate and hack, be able to implement inexpensive and compact, and operate at low power.

Autonomous vehicles are equipped with a radar system to detect objects around the vehicle. Such a radar system has difficulty in detecting an object present in an invisible distance region due to its characteristics. However, considering defensive driving in flawless autonomous driving, detection of an object present in the invisible distance region is also essential.

Radar systems typically mounted on autonomous vehicles use a common radar signal. As a result, when a large number of autonomous vehicles exist in the vicinity, a serious sight detection error may occur by considering a radar signal sent by another vehicle as its radar signal. This detection error is called radar mutual interference, and there are no regulations or standards yet on the problem of mutual interference between vehicle radars in autonomous vehicles.

Conventional radar systems are capable of only near-field detection and mid- and long-range detection, or vice versa. For example, in the case of a medium to long distance detection radar system, a radar signal is transmitted every predetermined section, and a reflection signal is detected by operating in a reception mode between sections for transmitting the radar signal. As a result, the radar system for detecting a medium to long distance is easy to detect a reflection signal of a medium to long distance object that is received within a section operating in a reception mode, but detects a reflection signal of a near object received over a transmission mode section for transmitting a radar signal. There is an impossible problem. Radar systems mounted on autonomous vehicles must be able to detect medium to long distance objects, as well as near field objects. Therefore, the development of a radar system capable of detecting a general-purpose distance with one radar is required.

SUMMARY Embodiments of the present invention provide a communication radar convergence system that solves a security problem of bidirectional communication in an autonomous vehicle, solves an interradar interference problem, and improves detection of a general distance.

Communication radar fusion system according to an embodiment of the present invention for solving the above problems, transmits a radar signal including a random number generator, the random number generated by the random number generator, the radar signal is reflected to the reflected signal received It may include a radar device for detecting an object based on the object, and a communication device for performing two-way communication with an external device by reusing the random number as an encryption key.

According to an embodiment of the present invention, it is possible to provide a communication radar convergence system which solves a security problem of two-way communication in an autonomous vehicle, solves an interradar interference problem, and improves detection of a general distance.

1 is a schematic structural diagram of a communication radar fusion system according to an embodiment of the present invention.
2 is a schematic structural diagram of a superframe used in a communication radar fusion system according to an exemplary embodiment of the present invention.
3 illustrates an example of transmitting and receiving a radar signal in a communication radar fusion system according to an embodiment of the present invention.
4 is a flowchart schematically illustrating a detection method of a communication radar fusion system according to an exemplary embodiment of the present invention.
5 is a schematic flowchart of a detection service of an autonomous vehicle equipped with a communication radar convergence system according to an exemplary embodiment of the present invention.
6 is a flowchart schematically illustrating a wireless charging method in an autonomous vehicle equipped with a communication radar fusion system according to an exemplary embodiment of the present invention.
7 schematically illustrates a wireless charging service flowchart of an autonomous vehicle equipped with a communication radar convergence system according to an exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification and claims, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise.

Hereinafter, a communication radar fusion system according to an embodiment of the present invention will be described in detail with reference to necessary drawings.

1 is a schematic structural diagram of a communication radar fusion system according to an embodiment of the present invention. 2 is a structural diagram schematically illustrating a superframe used in a communication radar fusion system according to an embodiment of the present invention. 3 illustrates an example of transmitting and receiving a radar signal in a communication radar fusion system according to an embodiment of the present invention.

Referring to FIG. 1, the communication radar fusion system 10 according to the embodiment may include a random number generator 11, a radar device 12, and a communication device 13.

The random number generator 11 may generate a random number consisting of binary code that is not hacked and replicated. For example, the random number generator 11 may generate random numbers that cannot be physically replicated by using unpredictable process variables in the semiconductor manufacturing process. The random number thus generated may be used as a vehicle ID in the detection operation in the radar device 12 or as an encryption key for bidirectional communication in the communication device 13.

As described above, when random numbers are generated using the process variables in the semiconductor manufacturing process, even though the circuit design diagram of the communication radar fusion system 10 is known, process variables in the manufacturing process are randomly generated to generate the same random number. It is impossible, and random numbers generated by the same random number generator at different times may not match each other. Therefore, when the random number generated by using the process variable in the semiconductor manufacturing process is used as the encryption key in the bidirectional communication, it is possible to realize augmented security at low cost, small size, and low power since it does not require complicated hardware for communication security. have.

Referring to FIG. 2, the super frame 1 used for detection and communication in the communication radar fusion system 10 includes one frame section T1 configured as a radar section T11 and a communication section T12. Can be. The radar section T11 is a detection section using the radar device 12, and the communication section T12 is a bidirectional communication section using the communication device 13.

The radar device 12 may transmit at least once a radar signal (hereinafter, referred to as a 'detection signal') for detecting a surrounding object during the radar section T11. The detection signal transmitted by the radar device 12 may include a vehicle ID. The vehicle ID is a random number generated by the random number generator 11 described above. The vehicle ID is newly generated by the random number generator 11 each time a detection signal is transmitted or every frame 1, or the same random number may always be used.

The radar device 12 may generate a detection signal that is an RF analog signal using a common frequency resource (common frequency band) when the vehicle ID is transmitted. For example, if the element value of the vehicle ID is 1, the detection signal may be generated by generating a frequency signal having the same phase as the common frequency signal, and generating the frequency signal having a phase difference of 180 degrees with the common frequency signal if −1. . Also, for example, the radar device 12 may generate a phase modulated detection signal through mathematical multiplication between the common frequency signal and the vehicle ID.

The radar device 12 may receive radar signals during the radar section T11. Also, among the received radar signals, a reflection signal (hereinafter referred to as a 'self-reflection signal') of the radar signal (vehicle ID) transmitted by the user for detection is extracted, and the surrounding object is detected and detected using the same. Information can be obtained. The detection signal transmitted by the radar device 12 in the radar section T11 includes a unique vehicle ID. The radar device 12 identifies the radar signal including its own vehicle ID among the radar signals received during the radar section T11 as a self-reflection signal and detects the radar signal. It can be classified as a noise signal and ignored. Therefore, the problem of mutual interference between radars can be solved.

The radar device 12 may operate in the In-Channel Full Duplex (IBFD) mode so that the signal can be received even while transmitting the radar signal in the common frequency band. Referring to FIG. 3, in operation of the IBFD mode, the radar device 12 may receive the reflected signal RS1 reflected and received by the near object even within a transmission period for transmitting the detection signals TS1 and TS2. It is possible. In addition, it is also possible to receive the reflected signal RS2 reflected and received by the medium-to-long distance object after the transmission section ends. Accordingly, the detection performance of the general distance of the radar device 12 can be improved.

The communication device 13 may transmit detection information collected by itself to the autonomous vehicles around the vehicle during the communication section T12 following the radar section T11. In addition, the communication device 13 may receive detection information from surrounding autonomous vehicles during the communication section T12. As such, by exchanging detection information between autonomous vehicles, each autonomous vehicle can obtain detection information for the invisible region, thereby enabling the execution of flawless autonomous driving.

Information transmitted and received by the communication device 13 with other autonomous vehicles during the communication period T12 may be encrypted with a public key generated by a communication security algorithm. That is, the communication device 13 may encrypt and transmit the detection information with the public key when transmitting the detection information to another autonomous vehicle. On the other hand, detection information received from another autonomous vehicle may also be received encrypted with a public key.

The frequency resource used by the communication device 13 to transmit and receive detection information with other autonomous vehicles may be the same as or different from the common frequency resource used by the radar device 12 to transmit and receive the laser signal. .

When the target detected in the radar section T11 is a wireless charger (not shown), the communication device 13 may transmit and receive charging information and payment information with the wireless charger during the communication section T12. At this time, the communication device 13 encrypts the charging information (charging result, etc.) and payment information (payment request, payment related information, etc.) by using the random number (vehicle ID) used in the radar section T11 as an encryption key. You can send to the charger. The wireless charger receiving the received charging information (charging approval, charging result, etc.) and payment information (payment response, payment approval, payment related information, etc.) using the encryption key received from the communication device 13 or its own encryption key. ) Can be encrypted and transmitted to the communication device 13.

To this end, the communication device 13 uses a frequency resource of a frequency band different from that used for signal transmission in a previous communication section T12 or radar section T11 before transmitting and receiving information with the wireless charger. Can be sent to the wireless charger. In addition, when the wireless charger transmits the charging information and the payment information using its own encryption key, the wireless device may receive the encryption key of the wireless charger through the frequency resource used by the communication device 13 to transmit its encryption key. It may be. The encryption key transmission and reception between the communication device 13 and the wireless charger may be performed in the radar section following the radar section in which the wireless charger is detected by the radar device 12. On the other hand, the method of transmitting and receiving an encryption key between the communication device 13 and the wireless charger may be performed by a mechanism for transmitting and receiving keys in the conventional communication security technology.

As described above, when the random number (vehicle ID) used for generating the detection signal in the radar section T11 is reused as an encryption key for communication security in the communication section T12, it is necessary to separately generate the encryption key. This saves energy, memory, etc. used to generate encryption keys, and improves security by using random numbers that are difficult to hack.

Hereinafter, a detection method in the communication radar fusion system 10 will be described with reference to FIGS. 4 and 5.

4 is a flowchart schematically illustrating a detection method of the communication radar fusion system 10 according to an embodiment of the present invention, and FIG. 5 is an autonomous vehicle equipped with the communication radar fusion system 10 according to an embodiment of the present invention. Is a schematic illustration of a detection service flow diagram.

Referring to FIG. 4, when the communication radar fusion system 10 according to the embodiment enters the radar section T11 of the super frame 1 (S10), the detection including the vehicle ID through the radar device 12 is performed. The signal is transmitted to the outside (S11). In addition, the radar signal is received through the radar device 12 (S12).

In the step S11, the vehicle ID is a random number consisting of a hack generated by the random number generator 11 and a non-replicable binary code, and cannot be physically replicated using an unpredictable process variable in the semiconductor manufacturing process.

In step S11, the radar device 12 may generate a detection signal, which is an RF analog signal, by using a common frequency resource (common frequency band), convert it into a radar signal, and transmit the radar signal. For example, if the element value of the vehicle ID is 1, the radar device 12 generates a frequency signal having the same phase as the common frequency signal, and if -1, the radar device 12 generates a frequency signal having a phase difference of 180 degrees with the common frequency signal. You can generate a signal. Also, for example, the radar device 12 may generate a phase modulated detection signal through mathematical multiplication between the common frequency signal and the vehicle ID.

Meanwhile, in FIG. 4, the detection signal including the vehicle ID is transmitted only once in the radar section T11, but the technical concept of the present invention is not limited thereto. The radar device 12 may repeatedly transmit a detection signal several times in one radar section T11. In this case, the radar device 12 may receive a newly generated random number from the random number generator 11 every time the detection signal is transmitted and use it as the vehicle ID, or may continuously use the vehicle ID transmitted initially.

On the other hand, the radar device 12 continuously receives the radar signal during the radar period (T11) and checks whether the self-reflection signal, which is a reflection signal of the detection signal transmitted by itself is received (S12). When the magnetic reflection signal is received, detection information about a corresponding object is obtained using the magnetic reflection signal (S13).

The detection signal sent by the radar device 12 includes a unique vehicle ID. Accordingly, the radar device 12 identifies the radar signal including its vehicle ID among the radar signals received during the radar section T11 as a self-reflection signal, and the radar signal not including its vehicle ID is a noise signal. Can be classified as and ignored.

For example, the autonomous vehicle A 2A transmits a detection signal including its own vehicle ID ID A generated by the random number generator 11 during the radar period to the outside. The detection signal thus transmitted is reflected by the autonomous vehicle C 2C and received by the autonomous vehicle A 2A within the radar section of the autonomous vehicle A 2A. Upon receiving this, the autonomous vehicle A 2A identifies its own vehicle ID ID A in the received signal and identifies it as a magnetic reflection signal. On the other hand, when the detection signal ID B transmitted by the autonomous vehicle B 2B is reflected by the autonomous vehicle C 2C and received by the autonomous vehicle A 2A, the ID included in the received signal is owned by the vehicle. Since it is different from the ID, it can be filtered with a noise signal.

Referring back to FIG. 4, the communication radar fusion system 10 subsequently enters the communication section T12 after the radar section T11 is terminated (S14) and communicates with the autonomous vehicles around via the communication device 13. Transmit and receive detection information (S15).

In step S15, the information transmitted and received by the communication device 13 with other autonomous vehicles during the communication section T12 may be encrypted with a public key generated by a communication security algorithm.

In step S15, the frequency resource used by the communication device 13 to transmit and receive detection information with another autonomous vehicle is the same as or different from the common frequency resource used by the radar device 12 to transmit and receive the laser signal. It may include.

As described above, the communication radar fusion system 10 exchanges detection information between autonomous vehicles through the communication device 13 in the communication section T12, so that each autonomous vehicle can obtain detection information for the invisible region. It is possible to execute flawless autonomous driving.

Hereinafter, a wireless charging method in an autonomous vehicle equipped with the communication radar fusion system 10 will be described with reference to FIGS. 6 and 7.

6 is a flowchart schematically illustrating a wireless charging method in an autonomous vehicle equipped with the communication radar fusion system 10 according to an embodiment of the present invention, and FIG. 7 is a communication radar fusion system according to an embodiment of the present invention. 10 is a flowchart illustrating a wireless charging service of an autonomous vehicle equipped with 10).

Referring to FIG. 6, the communication radar fusion system 10 according to the embodiment may externally detect a detection signal including the vehicle ID in the radar section T11 through the radar device 12 to detect the wireless charger 3. (S21).

In the step S21, the vehicle ID is a random number consisting of a hack generated by the random number generator 11 and a non-replicable binary code, and cannot be physically replicated using an unpredictable process variable in the semiconductor manufacturing process.

In step S21, the radar device 12 may generate a detection signal, which is an RF analog signal, using a common frequency resource (common frequency band), and convert the radar signal into a radar signal for transmission. For example, if the element value of the vehicle ID is 1, the radar device 12 generates a frequency signal having the same phase as the common frequency signal, and if -1, the radar device 12 generates a frequency signal having a phase difference of 180 degrees with the common frequency signal. You can generate a signal. Also, for example, the radar device 12 may generate a phase modulated detection signal through mathematical multiplication between the common frequency signal and the vehicle ID.

Meanwhile, although FIG. 6 illustrates a case in which a detection signal including a vehicle ID is transmitted only once in a radar section, the technical spirit of the present invention is not limited thereto. The radar device 12 may repeatedly transmit a detection signal several times within one radar section. In this case, the radar device 12 may receive a newly generated random number from the random number generator 11 every time the detection signal is transmitted and use it as the vehicle ID, or may continuously use the vehicle ID transmitted initially.

On the other hand, the radar device 12 receives the radar signal continuously during the radar section (T11) and confirms the detection of the wireless charger (S21).

The detection signal sent by the radar device 12 includes a unique vehicle ID. Therefore, the radar device 12 identifies the radar signal including its own vehicle ID among the radar signals received during the radar section T11 as a magnetic reflection signal by the detection target. Therefore, when the autonomous vehicle equipped with the communication radar fusion system 10 waits for charging at the wireless charging station, the detection signal transmitted by the radar device 12 is reflected by the wireless charger and received by the radar device 12 again. The radar device 12 may detect the wireless charger by identifying it as a magnetic reflection signal.

For example, the autonomous vehicle A 2A transmits a detection signal including its own vehicle ID ID A to the outside through the radar device 12 while waiting for charging at the wireless charging station. The detection signal thus transmitted is reflected by the wireless charger 3 and received by the autonomous vehicle A 2A, which receives the autonomous vehicle A 2A detects the wireless charger 3.

Referring back to FIG. 6, when the wireless charger is identified as described above, the communication radar fusion system 10 exchanges an encryption key to be used for communication with the wireless charger through the communication device 13 in the next radar section (S22). . Then, in the communication section using the encryption key exchanged through the step S22 to transmit and receive the charging information and payment information and the wireless charger through the communication device 13 (S23).

In step S22, the encryption key transmitted by the communication device 13 to the wireless charger may use the same random number as the vehicle ID used for detection of the wireless charger in the previous radar section. As such, when a random number (vehicle ID) used for generating a detection signal in a radar section is reused as an encryption key for communication security, energy, memory, etc. used for generating an encryption key are not needed because a separate encryption key is not generated. Savings can be achieved and security can be improved by using random numbers that are difficult to hack.

In the step S22, the communication device 13 may transmit its encryption key to the wireless charger using a frequency resource of a frequency band different from the frequency resource used for signal transmission in the previous communication section or radar section. In addition, when the wireless charger transmits the charging information and the payment information using its own encryption key, the wireless device may receive the encryption key of the wireless charger through the frequency resource used by the communication device 13 to transmit its encryption key. It may be.

In step S23, the communication device 13 encrypts the charging information (charging result, etc.) and the payment information (payment request, payment related information, etc.) using its encryption key and transmits it to the wireless charger. Then, the wireless charger receives the corresponding charging information (charge approval, charging result, etc.) and payment information (payment response, payment approval, payment related) using the encryption key or its own encryption key received from the communication device 13. Information and the like) are encrypted and transmitted to the communication device 13.

For example, as the autonomous vehicle A 2A detects the wireless charger 3, the autonomous vehicle A 2A transmits its encryption key ID A to the wireless charger 3 through the communication device 13 in the next radar section. Then, the encryption key ID D of the wireless charger is received from the wireless charger 3. Accordingly, in the following communication section, the charging information (charging result, etc.) and the payment information (payment request, payment related information, etc.) are encrypted and transmitted to the wireless charger 3 using its encryption key ID A. The encrypted payment information (payment response, payment approval, payment related information, etc.) is received from the charger 3 using the encryption key ID D of the wireless charger 3.

Referring back to FIG. 6, when the charging approval procedure and the payment procedure are completed by transmitting and receiving the charging information and the payment information through the step S23, the charging of the battery of the corresponding autonomous vehicle is performed by the wireless charger (S24). Thereafter, when charging is completed (S25), the charging service is terminated by exchanging information with the wireless charger through the communication device 13 (S26).

As described above, the communication radar fusion system 10 according to the embodiment uses a random number generated by the random number generator 11 as an encryption key when performing bidirectional communication for a service requiring security such as a wireless charging service. It can improve security. In addition, by reusing the random number (vehicle ID) used in the detection signal in the radar apparatus 10 as an encryption key for bidirectional communication, it is possible to cut the energy, memory, etc. for generating the encryption key.

An embodiment of the present invention is not implemented only through the above-described apparatus and / or method, but may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. Such an implementation can be easily implemented by those skilled in the art to which the present invention pertains based on the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

Claims (1)

Random number generator,
A radar device which transmits a radar signal including a random number generated by the random number generator and detects an object based on a reflected signal received by reflecting the radar signal;
And a communication device for performing bidirectional communication with an external device by reusing the random number as an encryption key.

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