KR20220019538A - Pollution detecting device for vehicle and pollution detecting method using the same - Google Patents

Abstract

The present invention relates to a contamination detection apparatus and a contamination detection method using the same, wherein the contamination detection apparatus comprises: a first sensor which provides first detection information by detecting an object existed in a first detection area of an outside of a vehicle; a second sensor which provides second detection information by detecting an object existed in a second detection area of the outside of the vehicle; and a contamination determination unit which determines whether the first and second sensors are contaminated based on the first detection information and the second detection information for a detection area where the first detection area and the second detection area are overlapped. The contamination detection apparatus determines whether a variety of sensors are contaminated.

Description

Pollution detection device and contamination detection method using the same

The present invention relates to a pollution detection apparatus for determining whether a sensor disposed in a vehicle is contaminated, and a pollution detection method using the same.

As technology is advanced, various sensors and electronic devices are also provided in vehicles for the convenience of users.

In particular, research and development of advanced driver assistance systems (ADAS) and autonomous vehicles are being actively conducted for user's driving convenience.

Advanced driver assistance systems and autonomous vehicles inevitably include a large number of sensors and electronic devices to detect objects outside the vehicle.

Accordingly, the detection result of the sensor for detecting an object outside the vehicle must have high reliability for safe driving of the vehicle.

However, if the cover for protecting the sensor is contaminated, the reliability of the detection result of the sensor is inevitably deteriorated.

After all, since the pollution of the sensor is directly related to the safety of the vehicle, it is necessary to develop a technology for determining whether the sensor is contaminated.

An embodiment of the present invention is to provide a pollution detection apparatus capable of determining whether various sensors are contaminated, and a pollution detection method using the same.

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

A pollution detection apparatus according to an embodiment of the present invention detects an object existing in a first detection area outside a vehicle and provides first detection information by detecting an object existing in a second detection area outside the vehicle a second sensor to provide second detection information, and the first and second It may include a contamination determination unit for determining whether the sensor is contaminated.

A pollution detection apparatus according to another embodiment of the present invention includes a plurality of sensors providing detection information by detecting an object outside a vehicle, and sensing information provided from sensors having overlapping detection areas among the plurality of sensors. It may include a contamination determining unit that determines whether or not the sensors having the overlapping sensing areas are contaminated based on the contamination.

In a pollution detection method according to another embodiment of the present invention, a sensor selection step of selecting sensors overlapping a detection area from among a plurality of sensors disposed in a vehicle, and receiving a sensing result from the sensors selected in the sensor selection step In the sensing result receiving step, the sensing result determination step of the overlap detection area for determining whether an object exists in the overlapped detection area based on the sensing result received in the sensing result reception step, the sensing result determination step of the overlap detection area overlap When it is determined that an object exists in the detected detection area, a comparison result of the sensing result comparison step of the overlap detection area comparing the sensing results received from the sensors selected in the sensor selection step with each other, and the sensing result comparison step of the overlap detection area based on the contamination determination step of determining whether the sensors selected in the sensor selection step are contaminated.

The present technology has an advantage in that it is possible to determine whether various sensors disposed in the vehicle are contaminated, thereby improving the safety of vehicle driving.

In addition, various effects directly or indirectly identified through this document may be provided.

1 is a diagram showing the configuration of a pollution detection device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating positions of sensors constituting a pollution detection device according to an exemplary embodiment of the present invention.
3 is a diagram illustrating a detection area of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.
4 is a diagram illustrating a detection result of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.
5 is a diagram illustrating a position of a sensor constituting a pollution detection device according to another embodiment of the present invention.
6 is a flowchart illustrating a contamination detection method using a contamination detection device according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 6 .

1 is a diagram showing the configuration of a pollution detection device according to an embodiment of the present invention.

Referring to FIG. 1 , the pollution determination unit 30 according to an embodiment of the present invention may be implemented inside a vehicle. In this case, the pollution determination unit 30 may be integrally formed with the vehicle's internal control units, or may be implemented as a separate device and connected to the vehicle's control units by a separate connection means.

Referring to FIG. 1 , an apparatus for detecting pollution according to an embodiment of the present invention may include a first sensor 10 , a second sensor 20 , and a pollution determination unit 30 . In this case, the contamination determination result DD output from the contamination determination unit 30 may be provided to the washing device 40 for cleaning the covers of the first and second sensors 10 and 20 .

The first and second sensors 10 and 20 may include a configuration for detecting an object existing outside the vehicle.

For example, each of the first and second sensors 10 and 20 may be one of an infrared camera, an optical camera, a lidar, and a radar.

An optical camera is a sensor for recognizing objects, lights, and people around the car by acquiring an external image of the car through light. , nighttime, backlight, snow, rain, fog, etc. have the disadvantage of being greatly affected by environmental factors.

Radar is a sensor for detecting an object through electromagnetic waves, detecting the position of the detected object, the distance to the detected object, and the relative speed. It is not affected by environmental factors such as nighttime, snow, rain, and fog. Although there is an advantage of being able to detect long-distance without the use of electromagnetic waves, there is a disadvantage in that it is difficult to detect an object made of a material that absorbs electromagnetic waves, for example, a steel structure such as a tunnel or a guardrail, and it is difficult to classify the object.

Lidar is a sensor for detecting an object through laser light, detecting the position of the detected object, the distance to the detected object, and the relative speed. It is effective for long-distance and short-range detection because it has a good resolution and has the advantage of being able to perform simple classification of objects, but it has the disadvantage of not being able to measure the speed of the object immediately.

An infrared camera is a sensor capable of acquiring an external image of a vehicle through infrared rays, and in particular, it can acquire an external image of a vehicle even at night. Infrared cameras have the apex of long-distance detection and distinguishing between living things and objects without being affected by environmental factors such as nighttime, snow, rain, and fog, but they have the disadvantage of being expensive.

The first and second sensors 10 and 20 configured in the pollution detection apparatus according to the embodiment of the present invention will be described by taking Lidar as an example among an optical camera, an infrared camera, a radar, and a lidar, but is not limited thereto. make it clear

The first and second sensors 10 and 20 may be disposed in the vehicle so that a portion of each sensing area of the first and second sensors 10 and 20 overlaps.

The first sensor 10 may generate the first detection information SA by emitting laser light to its detection area and receiving laser light reflected from an object.

In this case, the first sensor 10 may provide the first detection information SA to the contamination determination unit 30 .

The second sensor 20 may generate the second sensing information SB by emitting laser light to its sensing area and receiving the laser light reflected from the object.

In this case, the second sensor 20 may provide the second detection information SB to the pollution determination unit 30 .

The contamination determination unit 30 determines whether the first and second sensors 10 and 20 are contaminated based on the first and second detection information SA and SB, and uses the determination result as the contamination determination result information DD). It can be provided to the washing device 40 as a.

For example, the contamination determining unit 30 may determine whether or not contamination is present based on an object detected in a range in which the sensing regions of the first and second sensors 10 and 20 overlap.

In more detail, the contamination determination unit 30 is configured to detect the first and second sensors in the overlapping detection area of the first and second sensors 10 and 20 based on the first and second detection information SA and SB. If only one sensor among (10, 20) provides detection information that can be determined as an object, it can be determined that the sensor that provided detection information that cannot determine the object is contaminated.

The cleaning apparatus 40 may wash the contaminated sensor when information on the sensor determined to be contaminated is received as the pollution determination result information DD.

FIG. 2 is a diagram illustrating positions of sensors constituting a pollution detection device according to an exemplary embodiment of the present invention.

As shown in FIG. 2 , each of the first and second sensors 10 and 20 may be respectively disposed on the front left and right sides FL and FR of the vehicle, or disposed on the rear left and right sides RL and RR of the vehicle, respectively. .

A pollution detection apparatus and a pollution detection method using the same according to an embodiment of the present invention is a technology for determining whether or not pollution is present based on detection information provided from each sensor when a plurality of sensors have overlapping detection areas, as shown in FIG. The first and second sensors disposed on the front left and right sides or rear left and right sides of the vehicle will be described as an example, but the present invention is not limited thereto.

3 is a diagram illustrating a detection area of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.

3 is a view showing a detection area of each of the first and second sensors 10 and 20 and the first and second sensors 1, 20) is a diagram showing the overlapping sensing area.

As shown in FIG. 3 , when the first sensor 10 has a detection area such as A and the second sensor 20 has a detection area such as B, first and second sensors 10 such as C , 20) can be created with overlapping sensing regions.

In addition, FIG. 3 shows that an object is detected in the overlapping detection area of the first and second sensors 10 and 20 .

4 is a diagram illustrating a detection result of a sensor constituting a pollution detection apparatus according to an embodiment of the present invention.

FIG. 4 may show images of first and second detection information SA and SB for an object detected in the overlapping detection area of the first and second sensors 10 and 20 .

At this time, the image showing the first detection information SA of the first sensor 10 disposed on the front left side of the vehicle is the left image of FIG. 4 , and the first detection information SA disposed on the vehicle voltage Right side An image showing the second sensing information SB of the second sensor 20 may be the right image of FIG. 4 .

The pollution detection apparatus and the pollution detection method using the same according to an embodiment of the present invention describe a case where the first and second sensors 10 and 20 are lidar.

Accordingly, FIG. 4 is an image generated based on the first and second detection information SA and SB received by reflecting the laser light emitted from the first and second sensors 10 and 20 by the object. Therefore, the laser light received by being reflected by the object may be displayed as bright dots, and the object may be displayed in the form of clusters of bright dots.

As a result, the first and second detection information SA and SB may be generated based on a point cloud data format, and the contamination determining unit 30 may generate the first and second detection information according to the point cloud data format. It may be determined whether the first and second sensors 10 and 20 are contaminated based on the detection information SA and SB.

In the left image of FIG. 4 showing the detection information SA of the first sensor 10 , relatively clear points are clustered compared to the right image of FIG. 4 .

In particular, the bright dot appearing in the first area ACU of the left image of FIG. 4 did not appear in the first area BCU of the right image of FIG. 4 .

Also, a bright dot appearing in the second area ACD of the left image of FIG. 4 is faintly appearing in the second area BCD of the right image of FIG. 4 .

At this time, the contamination determination unit 30 determines that the first sensor 10 among the first and second sensors 10 and 20 is not contaminated (Clean), and determines that the second sensor 20 is contaminated (Dirt). can do.

As a result, the contamination determination unit 30 compares the first and second detection information SA and SB with respect to the object detected in the overlapping regions of the first and second sensors 10 and 20, and the object ( It may be determined that the sensor providing detection information capable of recognizing the object is not contaminated, and the sensor providing detection information that cannot recognize the object may be determined that it is contaminated.

The pollution detection apparatus according to an embodiment of the present invention may determine that a sensor that provides detection information that cannot be recognized as an object with respect to an object detected in an overlapping detection area among detection areas of a plurality of sensors is contaminated.

5 is a diagram illustrating positions of sensors constituting a pollution detection device according to another embodiment of the present invention.

In FIG. 2 , a pair of sensors disposed on each of the front left and right sides or rear left and right sides of the vehicle are exemplified. It shows that contamination can be determined even for a pair of sensors.

6 is a flowchart illustrating a contamination detection method using a contamination detection device according to an embodiment of the present invention.

Referring to FIG. 6 , the method for detecting contamination according to an embodiment of the present invention includes a sensor selection step (S1), a sensing result receiving step (S2), a sensing result determination step of an overlap detection area (S3), and a sensing result of the overlap detection area It may include a comparison step (S4) and a contamination determination step (S5).

The sensor selection step S1 may include selecting sensors with overlapping sensing areas from among a plurality of sensors disposed in the vehicle.

In this case, the sensor selection step S1 may be a step of selecting sensors having an overlapping detection area among all sensors used for ADAS and autonomous driving, and the first and The second sensors 10 and 20 are sensors having overlapping sensing regions, and may be selected sensors.

The sensing result receiving step S2 may include receiving the sensing results of the sensors selected in the sensor selection step S1 .

In this case, the sensing result receiving step (S2) may be a step in which the contamination determination unit 30 of FIG. 1 receives the first and second detection information SA and SB from the first and second sensors 10 and 20. there is.

The step of determining the sensing result of the overlapping detection area ( S3 ) may include determining whether an object exists in the overlapping detection area of the sensors.

For example, in the step of determining the sensing result of the overlapping detection area ( S3 ), if at least one piece of detection information among the detection information provided from the sensors provides information for determining that an object exists in the overlapping area (Yes), the overlapping Comparing the sensing result of the sensing area ( S4 ) may be performed.

At this time, in the step S3 of determining the sensing result of the overlap detection area, the contamination determination unit 30 includes any one of the first and second detection information SA and SB provided from the first and second sensors 10 and 20 . The method may include determining that information capable of detecting an object is provided.

On the other hand, in the sensing result determination step (S3) of the overlap detection area, if it is determined that an object does not exist in the overlap area in all of the detection information provided from the sensors (No), the contamination detection method according to the embodiment of the present invention is terminated. can

The step of comparing the sensing result of the overlapping detection area ( S4 ) may include comparing the detection information provided with information indicating that an object exists in the overlapping area with other detection information.

For example, in the sensing result comparison step S4 of the overlapping detection area, other detection information is compared based on the detection information for determining that an object exists in the overlapping area, and detection in which the existence of an object in the overlapping area cannot be determined. information can be selected.

In the contamination determination step S5 , it may be determined whether the sensors having the overlapping detection areas are contaminated based on the comparison result of the comparing the sensing results of the overlapping detection areas S4 .

For example, the contamination determination step ( S5 ) is based on the comparison result of the sensing result comparison step ( S4 ) of the overlapping detection area in which other pieces of information are compared based on the detection information for determining that an object exists in the overlapping area As a result, it can be determined that the sensors that provided detection information that it is determined that the object cannot be recognized in the overlapping area are contaminated.

On the other hand, the contamination determination step (S5) is based on the comparison result of the sensing result comparison step (S4) of the overlapping detection area in which other pieces of information are compared based on the detection information for determining that an object exists in the overlapping area. It may be determined that sensors that have provided detection information determined to be capable of recognizing an object in the overlapping area are not contaminated.

As described above, the pollution detection apparatus and the pollution detection method using the same according to an embodiment of the present invention can easily determine whether or not the sensors having overlapping detection areas among all sensors used for ADAS and autonomous driving are contaminated. It has advantages in improving driving safety and reducing cost.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (12)

a first sensor that detects an object existing in a first detection area outside the vehicle and provides first detection information;
a second sensor that detects an object existing in a second detection area outside the vehicle and provides second detection information; and
a contamination determination unit configured to determine whether the first and second sensors are contaminated based on the first sensing information and the second sensing information for a sensing region in which the first sensing region and the second sensing region overlap;
Contamination detection device comprising a.
The method according to claim 1,
The contamination determination unit,
When an object is detected only in one of the first and second detection information for the detection area in which the first and second detection areas overlap, it is determined that the sensor providing the other detection information is contaminated. contamination detection device.
3. The method according to claim 2,
The contamination determination unit,
If it is determined that any one of the first and second sensors is contaminated, a cleaning device for cleaning the first and second sensors is operated.
The method according to claim 1,
The contamination determination unit,
an object can be detected in both the first and second detection information for the detection area in which the first and second detection areas overlap, or
If an object cannot be detected in both the first and second detection information for the detection area in which the first and second detection areas overlap,
The pollution detection apparatus, characterized in that it is determined that the first and second sensors are not contaminated.
a plurality of sensors for detecting an object outside the vehicle and providing detection information; and
a pollution determination unit configured to determine whether or not the sensors having the overlapping detection areas are contaminated based on detection information provided from the sensors having the overlapping detection areas among the plurality of sensors;
Contamination detection device comprising a.
6. The method of claim 5,
The contamination determination unit,
All of the detection information provided from the sensors having the overlapped detection area includes information that an object exists in the overlapped detection area, or
If all of the detection information provided by the sensors having the overlapping detection area includes information that no object exists in the overlapped detection area,
The contamination detection device, characterized in that it is determined that the sensors having the overlapping detection area are not contaminated.
6. The method of claim 5,
The contamination determination unit,
Some of the detection information provided from the sensors having the overlapped detection area includes information that an object exists in the overlapped detection area,
If the remaining detection information includes information that an object does not exist in the overlapped detection area,
It is determined that the sensors that have provided some of the detection information are not contaminated,
The pollution detection apparatus, characterized in that it is determined that the sensors that have provided the remaining detection information are contaminated.
6. The method of claim 5,
The contamination determination unit,
When it is determined that the sensors having the overlapping detection areas are contaminated, a cleaning device for cleaning the sensors is operated.
a sensor selection step of selecting sensors with overlapping sensing areas from among a plurality of sensors disposed in the vehicle;
a sensing result receiving step of receiving sensing results from the sensors selected in the sensor selection step;
a sensing result determination step of the overlap detection area for determining whether an object exists in the overlap detection area based on the sensing result received in the sensing result receiving step;
a sensing result comparison step of the overlap detection area of comparing the sensing results received from the sensors selected in the sensor selection step with each other when it is determined in the sensing result determination step of the overlap detection area that an object exists in the overlapping detection area; and
and a contamination determination step of determining whether the sensors selected in the sensor selection step are contaminated based on a comparison result of the sensing result comparison step of the overlap detection area.
10. The method of claim 9,
The step of determining the sensing result of the overlap detection area includes:
and determining that the object exists in the overlapping detection area if some of the sensing results received from the selected sensors include information that the object exists in the overlapped detection area.
11. The method of claim 10,
The step of comparing the sensing result of the overlap detection area,
and comparing the remaining sensing results excluding the partial based on the partial sensing result including information that an object exists in the overlapping sensing area.
12. The method of claim 11,
The contamination determination step is,
Comparing the remaining sensing results based on the partial sensing results, if it is not possible to determine whether an object exists in the overlap detection area from the remaining sensing results, it is determined that the sensors providing the remaining sensing results are contaminated. contamination detection method.

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