KR20200137859A - obstacle detecting device and its method for vehicle - Google Patents

Abstract

The present invention relates to an obstacle detection device of a moving vehicle and a method thereof, which can increase obstacle detection accuracy when the moving vehicle is directed downward, and improve obstacle recognition accuracy and minimize errors based on power control transmitted and received using electromagnetic waves, analysis by time, and analysis by distance. The obstacle detection device of a moving vehicle of the present invention includes: an obstacle detection unit that is mounted on the moving vehicle that needs to detect a surrounding obstacle, transmits a transmission signal for detecting the obstacle from an obstacle sensor, and receives a received signal reflected from the obstacle; a signal processing unit that recognizes the obstacle by performing signal processing on the received signal; and an alarm generating unit that generates an alarm when the obstacle is recognized.

Description

TECHNICAL FIELD The obstacle detecting device and its method for vehicle

The present invention relates to an apparatus and method for detecting obstacles of a moving vehicle, and more particularly, to detecting an obstacle located around a moving vehicle. That is, the present invention relates to an apparatus and method for detecting obstacles of a moving vehicle, which can increase the accuracy of obstacle detection and minimize errors according to the slope of the moving vehicle.

Recently, as a mobile vehicle, driver assistance systems for improving the convenience of a driver who board the vehicle have been applied to the vehicle, and the types of the vehicle are becoming wider.

In these driver assistance systems, cameras, ultrasonic waves, radar, lidar, etc. are used to detect obstacles, and complex technologies for this are being developed.

As an example, in Korean Patent Laid-Open Publication No. 10-2019-0040550, an obstacle is detected from a camera's photographed image, and radar electromagnetic waves are transmitted to detect obstacles, and one of the camera and radar is finally recognized based on the learning model. Select as the result.

However, even in this case, since the vehicle is facing the ground when the vehicle is directed downward, there is a disadvantage in that the detection accuracy of the obstacle decreases and an error occurs.

Korean Patent Publication No. 10-2019-0040550 (2019.04.19.)

It is an object of the present invention to provide an apparatus and method for detecting obstacles of a moving vehicle that increase the accuracy of detecting an obstacle when a moving vehicle is directed downward.

Another object of the present invention is to provide an apparatus and method for detecting obstacles in a moving vehicle that improves obstacle recognition accuracy and minimizes errors based on power control, time-based analysis, and distance-based analysis using electromagnetic waves or the like.

An obstacle detecting apparatus for a moving vehicle according to the present invention is mounted on a moving vehicle that needs to detect surrounding obstacles, an obstacle detecting unit that transmits a transmission signal for detecting an obstacle from an obstacle detection sensor and receives a received signal reflected from the obstacle, It may include a signal processing unit that performs signal processing on the received signal to recognize an obstacle, and an alarm generator that generates an alarm when the obstacle is recognized.

Here, the obstacle detection sensor may use any one of an electromagnetic wave, an ultrasonic wave, and a light wave for detecting the obstacle by analyzing the received signal reflected from the obstacle with respect to the transmission signal.

In addition, the signal processing unit may reduce the detection effective distance of the obstacle as the maximum downward effective radiation angle, which is an angle with the horizontal horizontal line at which the minimum vertical radiation located at the bottom of the transmission direction of the transmission signal, is increased.

Here, the signal processing unit is the maximum downward effective radiation angle, which is the angle with the horizontal line at which the vertical radiation minimum active power located at the bottom of the transmission direction of the transmission signal is tilted with respect to the direction in which the radiation pattern of the transmission signal is inclined downward compared to the horizontal line. The larger it is, the more effective the detection distance of the obstacle can be reduced.

In addition, the signal processing unit increases the maximum downward effective emission angle, which is the angle with the horizontal line at which the vertical emission minimum active power located at the bottom of the transmission direction of the transmission signal with respect to the rotation direction of the obstacle detection unit is increased. The effective detection distance of obstacles can be reduced.

Here, the signal processing unit may reduce the output of the transmission signal as the maximum downward effective emission angle, which is the angle with the horizontal horizontal line at which the vertical emission minimum effective power located at the bottom of the transmission signal is transmitted, increases.

Further, the obstacle detection unit may transmit a high-speed transmission signal when the obstacle detection unit rotates, and may transmit a low-speed transmission signal when the obstacle detection unit stops.

Here, the signal processor may analyze the received signal by time and recognize it as an obstacle when the sudden change in received power over time is greater than a predetermined value.

In addition, the signal processor may analyze the received signal for each distance and recognize it as an obstacle when the sudden change in received power for each distance is greater than a predetermined value.

An obstacle detection method of a moving vehicle according to another embodiment of the present invention transmits a transmission signal for detecting an obstacle from an obstacle detection sensor inside an obstacle detection unit installed in a moving equipment that requires detection of surrounding obstacles, and receives reflected from the obstacle. It may include an obstacle detection step of receiving a signal, a signal processing step of recognizing an obstacle by performing signal processing on the received signal by the signal processing unit, and an alarm generation step of generating an alarm when the obstacle is recognized by the alarm generator.

The apparatus and method for detecting obstacles of a moving vehicle according to the present invention have an advantage of increasing the accuracy of detecting obstacles when the moving vehicle is directed downward.

In addition, the apparatus and method for detecting obstacles of a moving vehicle according to the present invention have an advantage of increasing the accuracy of obstacle recognition and minimizing errors based on power control, time-based analysis, and distance-based analysis using electromagnetic waves.

1 is a block diagram showing an apparatus for detecting an obstacle of a moving vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating in detail a horizontal radiation pattern of a transmission signal radiated from an obstacle detection unit of FIG. 1.
3 is a diagram illustrating in detail a vertical radiation pattern of a transmission signal radiated from an obstacle detection unit of FIG. 1.
FIG. 4 is a diagram illustrating in detail a vertical radiation pattern when a transmission signal radiated from the obstacle detection unit of FIG. 1 is directed downward.
5 is a diagram showing in detail a radiation pattern in a state in which the right side of a transmission signal radiated from the obstacle detection unit of FIG. 1 is inclined downward.
6 is a diagram illustrating in detail a horizontal radiation pattern in a rotation direction of a transmission signal emitted from the obstacle detection unit when the obstacle detection unit of FIG. 1 rotates to the right.
FIG. 7 is a diagram illustrating in detail a vertical radiation pattern for controlling power of the radiation pattern when a transmission signal radiated from the obstacle detection unit of FIG. 1 is directed downward.
8 is a signal waveform detailing a transmission period of a transmission signal radiated from the obstacle detection unit when the obstacle detection unit of FIG. 1 rotates.
9 is a signal waveform detailing characteristics of a received signal by time by analyzing a signal received by the signal processing unit of FIG. 1.
10 is a signal waveform detailing characteristics of a received signal for each distance by analyzing a signal received by the signal processing unit of FIG. 1.
11 is a flowchart illustrating a method of detecting an obstacle of a moving vehicle according to an embodiment of the present invention.

A specific embodiment for carrying out the present invention will be described with reference to the accompanying drawings.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to a specific embodiment, it can be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Hereinafter, an apparatus and method for detecting an obstacle in a moving vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing an apparatus for detecting an obstacle of a moving vehicle according to an embodiment of the present invention, and FIGS. 2 to 10 are detailed views and waveform diagrams for explaining FIG. 1 in detail.

Hereinafter, an apparatus for detecting an obstacle of a moving vehicle according to an embodiment of the present invention may be described with reference to FIGS. 1 to 10.

First, referring to FIG. 1, an obstacle detecting apparatus for a moving vehicle according to an embodiment of the present invention is mounted on a moving vehicle that needs to detect surrounding obstacles, and transmits a transmission signal for detecting an obstacle from an obstacle detection sensor. It consists of an obstacle detection unit 100 that receives the received signal reflected from the obstacle, a signal processing unit 200 that recognizes an obstacle by performing signal processing on the received signal, and an alarm generator 300 that generates an alarm when the obstacle is recognized. .

Here, the obstacle detection sensor may use any one of an electromagnetic wave, an ultrasonic wave, and a light wave for detecting the obstacle by analyzing the received signal reflected from the obstacle with respect to the transmission signal.

That is, the obstacle detection unit 100 mounted on the moving vehicle may be mounted on the moving vehicle to detect an obstacle around the moving vehicle and notify the danger when the moving vehicle moves. In this case, the obstacle detection unit 100 may be mounted on the rear, front, and side surfaces of the moving vehicle.

However, when a moving vehicle exists on an inclined surface according to the mounting position of the obstacle detection unit 100, an alarm is generated by misrecognizing the ground as an obstacle, thereby increasing the accuracy of obstacle recognition according to the inclination of the moving vehicle and minimizing errors. I need it.

2 and 3 illustrate a method of increasing an obstacle recognition accuracy and minimizing an error in relation to the radiation pattern and the radiation pattern radiated from the obstacle detection unit 100. In the signal processing unit 200 of FIGS. 8 to 10 It shows how to increase the accuracy of obstacle recognition and minimize errors in the received signal.

2 is a diagram showing in detail a horizontal radiation pattern of a transmission signal radiated from the obstacle detection unit 100 of FIG. 1. As can be seen in Figure 2, the horizontal radiation pattern of the radiation pattern (S100) transmitted from the obstacle detection unit 100 includes a horizontal radiation minimum active power (S310) indicating active power capable of analyzing a received signal, and the horizontal Since the horizontal radiation active power beam width S210 that is the width of the minimum radiation active power S310 is included, the obstacle detection unit 100 may detect an obstacle located in the horizontal radiation active power beam width S210.

3 is a diagram showing in detail a vertical radiation pattern of a transmission signal radiated from the obstacle detection unit 100 of FIG. 1. As can be seen in Figure 3, the vertical radiation pattern of the radiation pattern (S100) transmitted from the obstacle detection unit 100 includes a vertical radiation minimum active power (S320) indicating the active power capable of analyzing the received signal, and the vertical Since the vertical radiation active power beam width S220 that is the width of the minimum radiation active power S320 is included, the obstacle detection unit 100 may detect an obstacle located in the vertical radiation active power beam width S220.

On the other hand, some of the radiation patterns corresponding to the vertical radiation active power beam width (S220) are facing downwards compared to the horizontal line, and there is a disadvantage that the received signal reflected from the ground can be recognized as an error even when there is no obstacle. 100) may be installed to face the top, but even in this case, an error may occur when the obstacle detection unit 100 faces downward, and thus, Figs. 4 to 4 are for ways to increase the accuracy of obstacle recognition and minimize the error. Mentioned in 10.

FIG. 4 is a diagram illustrating in detail a vertical radiation pattern when a transmission signal radiated from the obstacle detection unit 100 of FIG. 1 is directed downward.

As can be seen in FIG. 4, the signal processing unit 200 includes a maximum downward effective radiation angle (S230) that is an angle with an inclined horizontal line at which the vertical radiation minimum active power (S320) located at the bottom of the transmission direction of the transmission signal is inclined. The larger it is, the more effective the detection distance of the obstacle can be reduced.

That is, a part of the maximum downward effective radiation angle S230 may include a signal reflected from the ground. Accordingly, the obstacle may be detected only for a distance received before the extension line of the vertical radiation minimum active power S320 according to the mounting position of the obstacle detection unit 100 based on the distance contacting the ground.

Accordingly, the obstacle detection unit 100 has an advantage of increasing the obstacle recognition accuracy and minimizing errors by analyzing only the received signal before the distance that the extension line of the vertical radiation minimum active power S320 contacts the ground.

5 is a diagram illustrating in detail a radiation pattern in a state in which the right side of a transmission signal radiated from the obstacle detection unit 100 of FIG. 1 is inclined downward.

As can be seen in FIG. 5, the signal processing unit 200 includes a vertical emission minimum active power located at the bottom of the transmission direction of the transmission signal in a direction in which the emission pattern S100 of the transmission signal is inclined downward relative to the horizontal line. As the maximum downward effective radiation angle S230, which is the angle with the inclined horizontal line S320, increases, the effective detection distance of the obstacle may be reduced.

That is, when a part of the obstacle detection unit 100 is inclined downward, a part of the maximum downward effective radiation angle S230 may include a signal reflected from the ground. Accordingly, the obstacle can be detected only for a distance received before the extension line of the vertical radiation minimum active power S320 of the radiation pattern inclined downward according to the mounting position of the obstacle detection unit 100. .

Therefore, the obstacle detection unit 100 has the advantage of increasing the obstacle recognition accuracy and minimizing errors by analyzing only the received signal before the distance where the vertical radiation minimum active power (S320) extension line of the downwardly inclined radiation pattern contacts the ground. have.

6 is a diagram illustrating in detail a horizontal radiation pattern in a rotation direction of a transmission signal emitted from the obstacle detection unit 100 when the obstacle detection unit 100 of FIG. 1 rotates to the right.

As can be seen in FIG. 6, the signal processing unit 200 has a minimum effective vertical radiation in which the radiation pattern S100 of the transmission signal is located at the bottom of the transmission direction of the transmission signal with respect to the rotation direction of the obstacle detection unit 100. As the maximum downward effective radiation angle S230, which is the angle with the inclined horizontal line at which the power S320 is inclined, increases, the effective detection distance of the obstacle may be reduced.

That is, when the obstacle detection unit 100 rotates, the moving vehicle has a high risk of colliding with an obstacle in the direction of rotation. Accordingly, a part of the maximum downward effective radiation angle S230 with respect to the radiation pattern in the rotation direction may include a signal reflected from the ground. Therefore, according to the mounting position of the obstacle detection unit 100, an obstacle can be detected only for a distance received before the extension line of the vertical radiation minimum active power S320 with respect to the radiation pattern in the rotational direction. have.

Therefore, the obstacle detection unit 100 analyzes only the received signal before the distance at which the extension line of the vertical radiation minimum active power S320 contacts the ground with respect to the radiation pattern in the rotation direction, thereby improving obstacle recognition accuracy and minimizing errors. There is this.

FIG. 7 is a diagram showing in detail a vertical radiation pattern for controlling power of the radiation pattern S100 when the transmission signal radiated from the obstacle detection unit 100 of FIG. 1 is directed downward.

As can be seen in FIG. 7, the signal processing unit 200 includes a maximum downward effective emission angle (S230) that is an angle with an inclined horizontal line at which the vertical emission minimum active power (S320) located at the bottom of the transmission direction of the transmission signal is inclined. The larger it is, the less the output of the transmission signal can be.

That is, when the radiation pattern S100 is facing downward, signal processing may be performed only at a distance less than a certain distance where reflection from the ground does not occur. In this case, even if the transmission signal of the radiation pattern S100 is large, since signal processing is not performed on the received signal over a predetermined distance, power waste may occur. Accordingly, there is an advantage in that the power of the transmission signal can be efficiently used by reducing the transmission signal output of the power-controlled radiation pattern S110 as much as the signal processing up to a certain distance is possible.

FIG. 8 is a signal waveform detailing a transmission period of a transmission signal emitted from the obstacle detection unit 100 when the obstacle detection unit 100 of FIG. 1 rotates.

As can be seen in FIG. 8, the obstacle detection unit 100 transmits a high-speed transmission signal S510 when the obstacle detection unit 100 rotates, and a low-speed transmission signal S520 when the obstacle detection unit 100 stops. Can send.

Here, if the period of the transmission signal is performed quickly, the detection speed of the obstacle can be quickly performed, but the power consumption of the obstacle detection unit 100 is large, and if the period of the transmission signal is performed slowly, power consumption can be reduced. There is a drawback of slow detection speed.

On the other hand, in the case of a moving vehicle, if the vehicle does not rotate, the risk of collision with the obstacle is small, but if it rotates, the risk of collision with the obstacle increases.

Therefore, when the moving vehicle rotates, the high-speed transmission signal S510 is used, and when the moving vehicle does not rotate, the low-speed transmission signal S520 is used to efficiently use the power of the obstacle detection unit 100.

9 is a signal waveform detailing characteristics of a received signal by time by analyzing a signal received by the signal processing unit 200 of FIG. 1.

As can be seen in FIG. 9, the signal processing unit 200 analyzes the received signal S600 by time and recognizes it as an obstacle when the sudden change in received power over time is greater than a predetermined value.

The received signal of the obstacle detection unit 100 may be detected by the surrounding environment even when there is no obstacle. In this case, when an obstacle is detected by the obstacle detection unit 100, a rapid signal change may occur over time. In this case, by detecting an obstacle by detecting a sudden change in a received signal, there is an advantage of improving the accuracy of recognizing obstacles and minimizing errors in the surrounding environment.

FIG. 10 is a signal waveform detailing characteristics of a received signal for each distance by analyzing a signal received by the signal processing unit 200 of FIG. 1.

As can be seen in FIG. 10, the signal processing unit 200 analyzes the received signal S700 for each distance and recognizes it as an obstacle when the sudden change in received power for each distance is greater than a predetermined value.

That is, when the transmission direction of the obstacle detection unit 100 faces downward, an obstacle detection error may occur due to a signal reflected from the ground. In this case, by analyzing the waveform reflected from the ground by distance and detecting a sudden change in the received signal, there is an advantage in that it is possible to increase the accuracy of obstacle recognition and minimize errors.

11 is a flowchart illustrating a method of detecting an obstacle of a moving vehicle according to an embodiment of the present invention.

As can be seen in FIG. 11, the method of detecting an obstacle of a moving vehicle transmits a transmission signal for detecting an obstacle from an obstacle detection sensor inside the obstacle detection unit 100 installed in a moving equipment that needs to detect an obstacle Receiving the received signal reflected from the signal (S810), the step of recognizing an obstacle by performing signal processing on the received signal in the signal processing unit 200 (S820), and the alarm when the obstacle is recognized by the alarm generator 300 It consists of the occurring step (S830).

That is, the obstacle detection unit 100 mounted on the moving vehicle may be mounted on the moving vehicle to detect an obstacle around the moving vehicle and notify the danger when the moving vehicle moves. In this case, the obstacle detection unit 100 may be mounted on the rear, front, and side surfaces of the moving vehicle.

However, when a moving vehicle exists on an inclined surface according to the mounting position of the obstacle detection unit 100, an alarm is generated by misrecognizing the ground as an obstacle, thereby increasing the accuracy of obstacle recognition according to the inclination of the moving vehicle and minimizing errors. I need it.

To this end, in the signal processing step (S820), as the maximum downward effective radiation angle (S230), which is the angle of the vertical radiation minimum active power (S320) located at the bottom of the inclined horizontal line with respect to the transmission direction of the transmission signal, increases. By reducing the effective distance and analyzing only the received signal before the distance that the extension line of the vertical radiation minimum active power (S320) contacts the ground, there is an advantage of improving the accuracy of obstacle recognition and minimizing errors.

Meanwhile, when the moving vehicle rotates, the high-speed transmission signal S510 is used, and when the moving vehicle does not rotate, the low-speed transmission signal S520 may be used to efficiently use the power of the obstacle detection unit 100.

In addition, there is an advantage of increasing the obstacle recognition accuracy and minimizing errors by analyzing a sudden change of a received signal by time or by analyzing a waveform reflected from the ground by distance and detecting an obstacle.

As described above, the apparatus and method for detecting obstacles in a moving vehicle according to the present invention have the advantage of increasing the accuracy of detecting obstacles when the moving vehicle is facing downward, and control power transmission and reception using electromagnetic waves, analysis by time, and analysis by distance. Based on this, it has the advantage of increasing the accuracy of obstacle recognition and minimizing errors.

What has been described above includes examples of one or more embodiments. Of course, not all possible combinations of components or methods can be described for the purpose of describing the above-described embodiments, but those skilled in the art will recognize that many additional combinations and substitutions of various embodiments are possible. Accordingly, the described embodiments are intended to cover all alternatives, modifications and variations that fall within the spirit and scope of the appended claims.

Claims (10)

An obstacle detection unit mounted on a moving vehicle requiring detection of surrounding obstacles, transmitting a transmission signal for detecting an obstacle from an obstacle detection sensor, and receiving a received signal reflected from the obstacle;
A signal processor for recognizing an obstacle by performing signal processing on the received signal; And
An obstacle detection device for a mobile vehicle comprising; an alarm generator for generating an alarm when the obstacle is recognized. The method of claim 1,
The obstacle detection sensor, the obstacle detection apparatus of a mobile vehicle, characterized in that using any one of electromagnetic waves, ultrasonic waves, and light waves to detect the obstacle by analyzing the received signal reflected from the obstacle with respect to the transmission signal. The method of claim 1,
The signal processing unit, characterized in that the movement characterized in that to reduce the detection effective distance of the obstacle as the maximum downward effective radiation angle, which is an angle with a horizontal line at which the vertical radiation minimum effective power located at the bottom of the transmission direction of the transmission signal increases Vehicle obstacle detection device. The method of claim 1,
The signal processing unit, with respect to a direction in which the radiation pattern of the transmission signal is inclined downward with respect to the horizontal line, is a maximum downward effective power, which is an angle with a horizontal line in which the vertical radiation minimum active power located at the bottom of the transmission direction of the transmission signal is inclined. An obstacle detection apparatus for a moving vehicle, characterized in that as the radiation angle increases, the effective detection distance of the obstacle decreases. The method of claim 1,
The signal processing unit includes a maximum downward effective emission, which is an angle of a horizontal line in which the radiation pattern of the transmission signal is at the bottom of the transmission direction of the transmission signal with respect to the rotation direction of the obstacle detection unit. An obstacle detecting apparatus for a moving vehicle, characterized in that as the angle increases, the effective distance for detecting the obstacle is reduced. The method of claim 1,
The signal processing unit, a mobile vehicle, characterized in that the output of the transmission signal is reduced as the maximum downward effective emission angle, which is an angle with an inclined horizontal line at which the vertical emission minimum active power located at the bottom of the transmission direction of the transmission signal increases Obstacle detection device. The method of claim 1,
The obstacle detection unit transmits a high-speed transmission signal when the obstacle detection unit rotates, and transmits a low-speed transmission signal when the obstacle detection unit stops. The method of claim 1,
The signal processing unit analyzes the received signal by time and recognizes the obstacle as the obstacle when the sudden change in received power by time is greater than or equal to a predetermined value. The method of claim 1,
The signal processing unit analyzes the received signal for each distance and recognizes the obstacle as the obstacle when the sudden change in the received power for each distance exceeds a predetermined value. An obstacle detection step of transmitting a transmission signal for detecting an obstacle from an obstacle detection sensor in an obstacle detection unit installed in a moving device requiring detection of surrounding obstacles, and receiving a received signal reflected from the obstacle;
A signal processing step of recognizing an obstacle by performing signal processing on the received signal in a signal processing unit; And
An alarm generating step of generating an alarm when the obstacle is recognized by an alarm generator.

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