KR20220028856A - System for detecting crosswalk pedestrian using beam steering radar and method thereof - Google Patents

Abstract

A system for detecting a crosswalk pedestrian using a beam steering radar, comprises: the beam steering radar setting, as a crossing walk region, a crosswalk portion of one side of a central line, setting, as a crossing standby region, a sidewalk portion adjacent to the crossing walk region, dividing the crossing standby region and the crossing walk region into multiple cells, storing a clutter signal for each of the multiple cells, performing beam steering so as to be oriented to a specific cell among the multiple cells and thus to scan the multiple cells, and measuring whether there exists a pedestrian in a corresponding cell to generate pedestrian information by comparing a received signal with the clutter signal in each of the multiple cells to detect a change of the received signal; a vehicle communication device transmitting the pedestrian information to a vehicle which moves toward the crosswalk; and a signal light interlinking device controlling a vehicle signal light or a pedestrian signal light corresponding to the pedestrian information. The present invention can enhance safety of the crosswalk pedestrian.

Description

Pedestrian detection system and method therefor using beam steering radar

The present invention relates to a system for detecting a pedestrian in a crosswalk and a method therefor, and more particularly, to a system and a method for detecting a pedestrian in a crosswalk using a beam steering radar.

The crosswalk safety system detects a vehicle approaching the crosswalk and transmits the detected vehicle information to pedestrians in the crosswalk by means of lighting, voice, text, etc., so that the pedestrian recognizes the vehicle and avoids it. This method does not provide any information for safe driving to the vehicle, and is a vehicle-oriented system that allows pedestrians to recognize and avoid vehicles, and is not effective in preventing and reducing accidents. Since the speed of the vehicle is much faster than that of pedestrians, in order to improve the safety of pedestrians at crosswalks, it is effective to prevent accidents or reduce the scale of accidents only when the vehicle recognizes the pedestrian and drives safely rather than avoiding the vehicle.

Meanwhile, a piezoelectric mat, an ultrasonic wave, an infrared ray, a camera, a laser, etc. are used as sensor devices for automatically recognizing a pedestrian in a crosswalk. The piezoelectric mat has the disadvantage that it can only be used in the transverse waiting area. Ultrasound has the disadvantage that it can only be used in the cross-standby area due to its short operating distance and that it is impossible to detect a moving object. Infrared radiation can be used only in the cross-standby area due to its short operating distance, it is impossible to detect stationary objects, and it has disadvantages in that it can malfunction due to light and heat. Cameras and lasers may malfunction in environments such as nighttime, fog, and bad weather, and have disadvantages in that expensive equipment is required for complex image signal processing.

These sensors can only recognize pedestrians in the crosswalk waiting area, and there is a problem in that they do not recognize pedestrians crossing the crosswalk. In addition, there is a problem that equipment using light or heat may malfunction in environments such as night, fog, and bad weather.

The technical problem to be solved by the present invention is to provide a system and method for detecting pedestrians in a crosswalk using a beam steering radar capable of detecting a pedestrian waiting for a signal in a crossing waiting area and a pedestrian crossing a crosswalk.

A crosswalk pedestrian detection system using a beam steering radar according to an embodiment of the present invention sets the crosswalk part on one side of the center line as a crosswalk area, and sets a waiting area for crossing the sidewalk adjacent to the crosswalk area, The crossing waiting area and the crossing walking area are divided into a plurality of cells, a clutter signal for each of the plurality of cells is stored, and beam steering is performed to direct a specific cell among the plurality of cells to scan the plurality of cells. and a beam steering radar for generating pedestrian information by detecting a change in a received signal by comparing it with the clutter signal in each of the plurality of cells to measure the presence or absence of a pedestrian in the cell, and to a vehicle moving toward the crosswalk. A vehicle communication device for transmitting pedestrian information, and a traffic light linkage device for controlling a vehicle traffic light or a pedestrian traffic light in response to the pedestrian information.

The beam steering radar transmits a radar beam with a wide beam width so that the radar beam is incident on all of the plurality of cells, and a wide-angle transmission and reception beam steering method for simultaneously receiving a reception signal returning from the plurality of cells through narrow beam steering to scan the plurality of cells.

The beam steering radar sequentially injects a radar beam into the plurality of cells by narrow beam steering and receives a received signal returned from the plurality of cells by means of a narrow beam steering and a reception beam steering method for the plurality of cells. can be scanned.

The plurality of cells may be scanned by mechanical beam steering in which the beam steering radar rotates to adjust the propagation direction of the radar beam.

The beam steering radar includes a transmitting antenna, a transmitter outputting a radar beam through the transmitting antenna, a receiving antenna, a receiver receiving the received signal through the receiving antenna, and electrically or mechanically connecting the beams of the transmitting antenna and the receiving antenna The method may include a beam steering apparatus for steering a beam, and a signal processor for detecting a change in the received signal to measure the presence or absence of a pedestrian in the corresponding cell.

The beam steering radar may detect the movement of the pedestrian by tracking a received signal continuously received in an adjacent cell by a pedestrian using the crosswalk.

The beam steering radar may recognize the biorhythm of a pedestrian in the crossing waiting area by processing the received signal.

The vehicle may further include a driver notification device that visually transmits the pedestrian information to the vehicle.

The beam steering radar may divide the crossing waiting area and the crossing walking area into a plurality of cells arranged in an extension direction of the crosswalk.

The beam steering radar divides the crossing waiting area and the crossing walking area into a plurality of zones in the extension direction of the center line, and may be divided into a plurality of cells arranged in the extension direction of the crosswalk for each zone.

A crosswalk pedestrian detection method using a beam steering radar according to another embodiment of the present invention sets the crosswalk part on one side of the center line as a crosswalk area, and sets the sidewalk part adjacent to the crosswalk area as a crosswalk waiting area, dividing the crossing waiting area and the crossing walking area into a plurality of cells, performing beam steering to direct a specific cell among the plurality of cells to scan the plurality of cells; clutter stored for each of the plurality of cells Comparing with the signal, detecting a change in the received signal to measure the presence or absence of a pedestrian in the corresponding cell, generating pedestrian information including information on pedestrians waiting to cross or information on pedestrians crossing, and giving a vehicle moving toward the crosswalk the pedestrian sending the information.

A wide-angle transmission and reception beam steering method in which a radar beam is transmitted with a wide beam width so that the radar beam is incident on all of the plurality of cells, and a reception signal returned from the plurality of cells is simultaneously received by narrow beam steering, the plurality of cells can be scanned.

It is possible to scan the plurality of cells by a transmit beam steering and a receive beam steering method in which a radar beam is sequentially incident on the plurality of cells by narrow beam steering and a reception signal returned from the plurality of cells is received by narrow beam steering. .

The plurality of cells may be scanned by mechanical beam steering in which the beam steering radar rotates to adjust the propagation direction of the radar beam.

The method for detecting pedestrians in a crosswalk may further include notifying the driver of the pedestrian information visually or audibly through a notification system of the vehicle.

The method for detecting pedestrians in a crosswalk may further include automatically decelerating or stopping the vehicle according to the pedestrian information while autonomously driving.

The method for detecting pedestrians in a crosswalk may further include displaying the pedestrian information visually or aurally to the vehicle by a driver notification device.

The crosswalk pedestrian detection method may further include controlling a vehicle traffic light or a pedestrian traffic light according to the pedestrian information.

When a ball rolls into the crosswalk and a child jumps out into the crosswalk to catch the ball or the child falls into the crosswalk, the received signal strength is relatively smaller than the strength of the received signal by an adult. Identifies the child, identifies the ball with a received signal strength that is relatively smaller than the strength of a received signal by the child, and tracks the received signal successively received in an adjacent cell to move the ball and the child can be measured.

Crosswalk pedestrian detection system and method using beam steering radar according to an embodiment of the present invention can detect a pedestrian waiting for a signal in a crossing waiting area and a pedestrian crossing the crosswalk using radar, and focus on pedestrian safety It can improve the safety of pedestrians in crosswalks.

1 is a block diagram illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to an embodiment of the present invention.
2 is an exemplary diagram illustrating an example in which a crosswalk pedestrian detection system using a beam steering radar according to an embodiment of the present invention is installed.
3 is a block diagram illustrating a beam steering radar according to an embodiment of the present invention.
4 is a block diagram illustrating mechanical one-dimensional beam steering of a beam steering radar according to an embodiment of the present invention.
5 is a block diagram illustrating electronic one-dimensional beam steering of a beam steering radar according to an embodiment of the present invention.
6 is an exemplary diagram illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to an embodiment of the present invention.
7 is a block diagram illustrating two-dimensional beam steering of a beam steering radar according to an embodiment of the present invention.
8 is an exemplary view illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to another embodiment of the present invention.
9 is a flowchart illustrating a method for detecting a pedestrian in a crosswalk using a beam steering radar according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in several different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar elements throughout the specification.

In addition, throughout the specification, when a part "includes" a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

Hereinafter, a system for detecting pedestrians in a crosswalk using a beam steering radar according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6 .

1 is a block diagram illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to an embodiment of the present invention. 2 is an exemplary diagram illustrating an example in which a crosswalk pedestrian detection system using a beam steering radar according to an embodiment of the present invention is installed.

1 and 2, the crosswalk pedestrian detection system includes a beam steering radar 100, a traffic light interlocking device 200, a vehicle traffic light 210, a pedestrian traffic light 220, a driver notification device 260, and a vehicle communication device. 270 and a traffic control system 300 . The traffic light interworking device 200 and the traffic control system 300 may be connected to each other through the wired/wireless communication network 250 .

The beam steering radar 100 may measure the presence and movement of a pedestrian using the radar. The beam steering radar 100 may include at least one of a frequency modulation continuous wave (FMCW) radar, a continuous wave Doppler radar, and an FMCW Doppler radar.

The beam steering radar 100 may be installed on a pole 401 of an 'L' shape installed on a sidewalk adjacent to a road. The beam steering radar 100 may set a crosswalk on one side of the center line 411 as a crosswalk area, and set a sidewalk adjacent to the crosswalk area as a crosswalk waiting area. Another beam steering radar 100 is installed on the pole 401 installed on the sidewalk on the opposite side of the center line 411 to set the crossing walking area and the crossing waiting area on the opposite side.

The beam steering radar 100 may divide the crossing standby area and the crossing walking area into a plurality of cells, and measure the presence or absence of a pedestrian and movement of the pedestrian in each of the plurality of cells by using the beam steering of the radar. That is, the beam steering radar 100 may use a beam steering radar capable of transmitting and receiving signals by steering a beam of the radar to a specific point. The beam steering radar may selectively incident a radar beam on a specific area and receive a reflected wave to scan a specific area, and may variously change the measurement area as needed.

For example, the beam steering radar 100 may use an Active Electronically Scanned Array (AESA) radar capable of scanning a plurality of cells. An embodiment in which the crossing waiting area and the crossing walking area are divided into a plurality of cells will be described later with reference to FIGS. 6 and 8 .

The beam steering radar 100 may measure the presence or absence of a pedestrian by scanning a plurality of cells using the radar. Since the scanning speed of the radar is fast, the beam steering radar 100 can detect the movement of the pedestrian by tracking the received signal continuously received from the adjacent cell by the pedestrian moving in the crosswalk. In the case of a general radar, selective scanning in units of cells is impossible. However, as the beam steering radar 100 uses the beam steering radar, it is possible to selectively scan a specific cell according to a pedestrian movement direction among a plurality of cells, and more efficiently detect a pedestrian movement.

In addition, the beam steering radar 100 may detect a small object moving in a crosswalk. For example, when a ball rolls in a crosswalk and a child jumps out of the crosswalk to catch the ball, even when a child falls on a crosswalk, the beam steering radar 100 is reflected from the ball and child and returns. It is possible to identify a corresponding situation by identifying the strength of the received signal. The beam steering radar 100 may measure the movement of the ball and the child by tracking a received signal successively received in a cell adjacent to the moving ball and the child. Since the strength of the received signal reflected by the object generally corresponds to the size of the object, the strength of the received signal by a child who is smaller than an adult is relatively smaller than the strength of the received signal by an adult, and the strength of the received signal by the ball is It is relatively smaller than the strength of the signal received by a small child. Accordingly, the beam steering radar 100 may identify the ball and the child according to the strength of the received signal. And, as the beam steering radar 100 uses the beam steering radar, it is possible to selectively scan in units of cells where a ball or a child that appears suddenly in a crosswalk is located, and an object such as a ball or a child that appears suddenly in a crosswalk can be scanned. more intensive tracking.

In addition, the beam steering radar 100 may measure the heart rate (biological rhythm) of the pedestrian using the radar, and may measure the heart rate of the pedestrian in the crossing waiting area to check whether there is a pedestrian waiting to cross.

The beam steering radar 100 transmits pedestrian information including information on the presence of pedestrians in the crossing waiting area, the presence of pedestrians in the crossing walking area, movement, and location to the traffic light interlocking device 200, the driver notification device 260, and the vehicle. It is transmitted to the communication device 270 , the traffic control system 300 , and the like.

The traffic light interworking device 200 may control the vehicle traffic light 210 and the pedestrian traffic light 220 in response to pedestrian information. The traffic light interlocking device 200 may independently control the vehicle traffic light 210 and the pedestrian traffic light 220 so that the safety of the pedestrian can be secured from the vehicle 500 according to the pedestrian information. Alternatively, the traffic light interworking device 200 transmits pedestrian information to the traffic control system 300 through the communication network 250 , and controls the vehicle traffic light 210 and the pedestrian traffic light 220 according to the control of the traffic control system 300 . can be controlled

For example, when a pedestrian is detected in the crossing waiting area, the traffic light interlocking device 200 or the traffic control system 300 turns on the green signal (vehicle passing signal), the vehicle traffic light 210, which has been lit, the blinking signal (Pedestrian attention) signal) can be controlled to turn on. When a pedestrian is detected in the crosswalk area, the traffic light interlocking device 200 or the traffic control system 300 turns on the green signal (vehicle passing signal) and the vehicle traffic light 210 turns on the red signal (vehicle stop signal) and the pedestrian traffic light 220 , which had turned on a red signal (a signal for prohibiting pedestrian crossing), may be controlled to turn on a red flashing signal (a signal for recognizing a pedestrian).

The driver notification device 260 includes an electric signboard, a speaker, and the like, and is installed on the pole 401 to visually or aurally transmit pedestrian information to the vehicle 500 moving toward the crosswalk. For example, when a pedestrian is detected in the crosswalk waiting area, the driver notification device 260 transmits pedestrian information (or driving information) such as "waiting for pedestrians at the crosswalk ahead", "driving with attention to pedestrians", etc. according to the pedestrian information to the vehicle. The driver of 500 may be notified visually or audibly. When a pedestrian is detected in the crosswalk area, the driver notification device 260 provides pedestrian information (driving information) such as "crossing a pedestrian in a crosswalk ahead" or "stop at a stop line" according to the pedestrian information to the driver of the vehicle 500 . can be notified visually or audibly.

The vehicle communication device 270 is installed on the pole 401 and transmits pedestrian information to the vehicle 500 moving toward the crosswalk through vehicle communication. The vehicle communication device 270 directly transmits the pedestrian information to the vehicle 500 , and the vehicle 500 may visually or aurally notify the driver of the pedestrian information through a notification system such as navigation or audio. For example, when a pedestrian is detected in the crosswalk waiting area, the notification system of the vehicle 500 visually displays pedestrian information (driving information) such as "Pedestrian waiting for a crosswalk ahead", "Pedestrian attention driving", etc. according to the pedestrian information. Alternatively, the driver may be notified audibly. When a pedestrian is detected in the crosswalk area, the notification system of the vehicle 500 visually or aurally displays pedestrian information (driving information) such as "Pedestrian crossing in the crosswalk ahead" or "Stop at the stop line" according to the pedestrian information. You can notify the driver. The driver may check pedestrian information and safely drive the vehicle 500 , such as decelerating or stopping. Meanwhile, when the vehicle 500 is autonomously driving, deceleration, stopping, etc. may be automatically performed according to pedestrian information.

1 exemplifies one beam steering radar 100 and a traffic light interlocking device 200, the beam steering radar 100 and the traffic light interlocking device 200 are to be installed for each of a plurality of roads where the pedestrian traffic light 220 is installed. can

The traffic control system 300 may collect and collect a plurality of pedestrian information from a plurality of traffic light linkage devices 200 , and utilize the pedestrian information of each of the plurality of roads to facilitate the flow of vehicles in the entire road network and ensure that pedestrians It is possible to control the vehicle traffic light 210 and the pedestrian traffic light 220 so that the safety of the vehicle can be secured.

3 is a block diagram illustrating a beam steering radar according to an embodiment of the present invention. 4 is a block diagram illustrating mechanical one-dimensional beam steering of a beam steering radar according to an embodiment of the present invention. 5 is a block diagram illustrating electronic one-dimensional beam steering of a beam steering radar according to an embodiment of the present invention.

Referring to FIG. 3 , the beam steering radar 100 may include a signal processor 110 , a beam steering device 120 , a transmitter 130 , a transmission antenna 135 , a receiver 140 , and a reception antenna 145 . can

The beam steering apparatus 120 performs beam steering such that the transmit antenna 135 and the receive antenna 145 direct a specific cell among a plurality of cells in the traversing standby area and the traversing walking area. Beam steering is a technology of changing the propagation direction of radar in space so that the radar beam (refer to 101 of FIGS. 4 and 5) is focused on a specific point, and detecting a reflected signal at a specific point.

The beam steering radar 100 transmits the radar beam 101 with a wide beam width so that the radar beam is incident on all of the plurality of cells, and narrows the received signal returning from the plurality of cells by using the beam steering device 120 . It is possible to scan a plurality of cells by simultaneously receiving the beam steering. Narrow beam steering means beam steering corresponding to one cell. That is, the beam steering radar 100 may perform only reception beam steering without performing transmission beam steering. This method is called wide-angle transmit and receive beam steering.

According to an embodiment, the beam steering radar 100 sequentially injects the radar beam 101 into a plurality of cells by narrow beam steering using the beam steering device 120 and narrows the received signal returning from the plurality of cells. A plurality of cells may be scanned by receiving through beam steering. That is, the beam steering radar 100 may perform both transmission beam steering and reception beam steering. This method is referred to as transmit beam steering and receive beam steering.

Alternatively, the beam steering radar 100 may selectively inject the radar beam 101 to a specific cell among a plurality of cells using the beam steering device 120 to scan only a specific cell. Also, if necessary, the beam steering radar 100 may use the beam steering apparatus 120 to change the scan area to scan a plurality of some cells from among a plurality of cells at once.

The beam steering radar 100 may perform mechanical beam steering or electronic beam steering.

As illustrated in FIG. 4 , the beam steering radar 100 may be configured to rotate about one axis Y. In this case, the beam steering radar 100 may include a driving device for rotation. Although the beam steering radar 100 is illustrated as rotating in FIG. 4 , the transmitting antenna 135 and the receiving antenna 145 may be configured to rotate based on one axis Y.

As the beam steering radar 100 (or the transmitting antenna 135 and the receiving antenna 145) rotates about one axis Y, the propagation direction of the radar beam 101 is on one plane (XZ plane). can be adjusted. The X-Z plane is a plane perpendicular to one axis (Y).

As described above, a method in which the beam steering radar 100 or the transmitting antenna 135 and the receiving antenna 145 rotate to adjust the propagation direction of the radar beam 101 is referred to as mechanical beam steering. And a method in which the propagation direction of the radar beam 101 is adjusted on one plane (X-Z) is called one-dimensional beam steering. That is, a method in which the propagation direction of the radar beam 101 is adjusted based on one axis Y is referred to as one-dimensional beam steering.

As illustrated in FIG. 5 , the beam steering radar 100 (or the transmitting antenna 135 and the receiving antenna 145 ) does not rotate directly and the propagation direction of the radar beam 101 is on one plane (XZ plane). It can be adjusted to change. In this case, the transmit antenna 135 and the receive antenna 145 may be an array antenna including a plurality of antenna elements. The propagation direction of the radar beam 101 may be adjusted by adjusting the signals input to the plurality of antenna elements.

As such, a method of adjusting the propagation direction of the radar beam 101 using a plurality of antenna elements without rotation of the beam steering radar 100 or the transmission antenna 135 and the reception antenna 145 may be performed by electric beam steering or beam This is called beamforming.

4 and 5, when beam steering is performed based on one axis (Y), the distance to the target, the speed of the target, and direction information to the target on one plane (XZ plane) can be obtained. , such a radar is called a three-dimensional radar. Here, one axis (Y) may be a horizontal axis, and the radar beam 101 may be beam-steered at a high angle.

Referring back to FIG. 3 , the transmitter 130 outputs the radar beam 101 through the transmit antenna 135 under the control of the signal processor 110 . The transmitter 130 may output the radar beam 101 in at least one of a combination of the FMCW method and the continuous wave Doppler method, or the FMCW Doppler method.

A radio wave reflected back from the radar beam 101 is received through the receiving antenna 145 , and the receiver 140 transmits the received signal received through the receiving antenna 145 to the signal processor 110 .

The signal processor 110 controls the output of the transmitter 130 and processes a received signal received through the receiver 140 . The signal processor 110 divides the crossing waiting area and the crossing walking area into a plurality of cells, storing a clutter signal for each of the plurality of cells, and changing the received signal compared with the clutter signal in each of the plurality of cells can be detected to measure the presence or absence of pedestrians in the corresponding cell. When a specific cell is selectively scanned among a plurality of cells, the signal processor 110 may process a received signal for the selected cell to measure/determine a pedestrian in the specific cell. In addition, the signal processor 110 may generate information about pedestrians in the crossing waiting area and the crossing walking area according to the measurement result.

On the other hand, the signal processor 110 can detect the movement of a pedestrian by processing the received signal and track the received signal continuously received from an adjacent cell, and can distinguish a soccer ball or a small child moving in a crosswalk, The health status of pedestrians can be checked by measuring the heart rate of pedestrians in the crossing waiting area.

6 is an exemplary diagram illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to an embodiment of the present invention.

Referring to FIG. 6 , the beam steering radar 100 divides the traversing waiting area and the traversing walking area into N cells (Cell#1 to Cell#N) to scan the N cells (Cell#1 to Cell#N). (N is an integer greater than or equal to 2). The N cells (Cell#1 to Cell#N) may be arranged in the extension direction (X) of the crosswalk. For example, it may be arranged from the first cell (Cell#1) to the N-th cell (Cell#N) in the order away from the traversing waiting area.

The width of each of the N cells (Cell#1 to Cell#N) in the extension direction (X) of the crosswalk may be set to a size sufficient to detect a pedestrian or an object such as a soccer ball. For example, the width of each of the N cells (Cell#1 to Cell#N) may be set to approximately 0.3m to 1m. However, the width of each of the N cells (Cell#1 to Cell#N) may be variously set in consideration of the beam steering performance of the radar used by the beam steering radar 100 .

The beam steering radar 100 may scan the N cells Cell#1 to Cell#N by performing beam steering based on the axis Y in a direction parallel to the center line 411 . The beam steering radar 100 stores the clutter signal for each of the N cells (Cell#1 to Cell#N), and compares it with the clutter signal in each of the N cells (Cell#1 to Cell#N). By detecting a change in the received signal, the presence or absence of a pedestrian in the corresponding cell can be measured. The clutter signal is a reflected signal generated by the surrounding environment when there is no pedestrian. In addition, the beam steering radar 100 may measure the movement of the pedestrian in the cell by detecting a change in the Doppler frequency caused by the movement of the pedestrian.

The beam steering radar 100 scans N cells (Cell#1 to Cell#N) to generate cross-waiting information indicating the presence or absence of pedestrians in the pedestrian waiting area, and traversing indicating the presence and movement of pedestrians in the pedestrian crossing area Pedestrian information can be generated.

The beam steering radar 100 may transmit pedestrian information including cross-waiting information and crossing pedestrian information to the traffic light interlocking device 200 , the driver notification device 260 , the vehicle communication device 270 , the traffic control system 300 , and the like. there is.

In this way, a pedestrian can be detected in the crossing waiting area and the crossing walking area using the beam steering radar 100 , and the pedestrian information is transmitted to the traffic light interlocking device 200 , the driver notification device 260 , and the vehicle communication device 270 . , it is possible to improve the safety of pedestrians in crosswalks with a focus on pedestrian safety by transmitting them to the traffic control system 300 .

Hereinafter, a crosswalk pedestrian detection system according to another embodiment of the present invention will be described with reference to FIGS. 7 and 8 . Compared with the embodiments described above with reference to FIGS. 1 to 6 , differences will be mainly described.

7 is a block diagram illustrating two-dimensional beam steering of a beam steering radar according to an embodiment of the present invention.

Referring to FIG. 7 , the beam steering radar 100 may adjust the propagation direction of the radar beam 101 to change in a space formed by two planes (X-Z plane and X-Y plane). That is, the beam steering apparatus 120 of the beam steering radar 100 may perform beam steering based on two axes Y and Z. The two axes Y and Z may be a horizontal axis and a vertical axis, and the radar beam 101 may be beam-steered in azimuth and elevation. A method in which the propagation direction of the radar beam 101 is adjusted in a space formed by two planes (X-Z plane and X-Y plane) is called two-dimensional beam steering. That is, a method in which the propagation direction of the radar beam 101 is adjusted based on the two axes Y and Z is called two-dimensional beam steering.

The two-dimensional beam steering may be performed by mechanical beam steering, which is a method in which the beam steering radar 100 or the transmission antenna 135 and the reception antenna 145 rotate to adjust the propagation direction of the radar beam 101 . Alternatively, the two-dimensional beam steering is performed by electric beam steering, which is a method in which the beam steering radar 100 (or the transmitting antenna 135 and the receiving antenna 145) adjusts the propagation direction of the radar beam 101 without direct rotation. can be Electrical beam steering may be performed using a wide-angle transmission and reception beam steering method or may be performed using a transmission beam steering method and a reception beam steering method.

By two-dimensional beam steering, the distance to the target, the speed of the target, direction information to the target on one plane (XZ plane) and direction information to the target on the other plane (XY plane) can be obtained, so such radar is called a 4D radar.

8 is an exemplary view illustrating a system for detecting pedestrians in a crosswalk using a beam steering radar according to another embodiment of the present invention.

Referring to FIG. 8 , the beam steering radar 100 divides the crossing waiting area and the crossing walking area into a plurality of zones in the extension direction Y of the center line 411, and N cells (Cell(1,1) for each zone. )~Cell(N,1), Cell(1,2)~Cell(N,2), Cell(1,3)~(Cell(N,3), Cell(1,4)~Cell(N,4) )), Fig. 8 exemplifies that the crossing waiting area and the crossing walking area are divided into four zones in the extension direction Y of the center line 411, and the beam steering radar 100 has 4N cells. By scanning, it is possible to detect the presence and movement of pedestrians in the crossing waiting area and crossing walking area.

Hereinafter, a method for detecting a pedestrian in a crosswalk according to an embodiment of the present invention will be described with reference to FIG. 9 .

9 is a flowchart illustrating a method for detecting a pedestrian in a crosswalk using a beam steering radar according to an embodiment of the present invention.

Referring to FIG. 9 , the beam steering radar 100 sets the cell count K for counting the order of cells to be scanned to 1 ( S110 ).

The beam steering radar 100 performs beam steering toward the K-th cell according to the cell count K ( S120 ). Since the cell count K is set to 1, the first cell Cell#1 may be scanned by performing beam steering toward the first cell Cell#1.

The beam steering radar 100 determines whether a pedestrian is detected in the corresponding cell (S130). The beam steering radar 100 may measure the presence or absence of a pedestrian in the corresponding cell by detecting a change in the received signal by comparing it with the clutter signal when there is no pedestrian.

The beam steering radar 100 adds 1 to the cell count K when it is detected that there is no pedestrian in the corresponding cell (S170). And the beam steering radar 100 repeatedly performs beam steering (S120) and pedestrian detection (S130) for the K-th cell.

When it is detected that there is a pedestrian in the corresponding cell, the beam steering radar 100 determines whether the corresponding cell belongs to a crossing waiting area (S140).

When the cell detected as having a pedestrian belongs to the crossing waiting area, the beam steering radar 100 transmits the crossing waiting information to the traffic light linkage device 200 , the driver notification device 260 , the vehicle communication device 270 , and the traffic control system (300) and the like (S150).

According to the cross-waiting information, the vehicle traffic light 210, the driver notification device 260, etc. may display a cross-waiting caution indication (S160). The traffic light interlocking device 200 or the traffic control system 300 may control the vehicle traffic light 210 that has been lit up with a green signal (vehicle passing signal) to turn on a blinking signal (a pedestrian attention signal). The driver notification device 260 may visually or aurally display pedestrian information (driving information), such as "on waiting for pedestrians at the crosswalk ahead", "driving with attention to pedestrians", etc. to the driver of the vehicle 500 according to the pedestrian information. . In addition, through the vehicle communication device 270, the information on the waiting person for crossing is transmitted to the vehicle 500 progressing toward the crosswalk, and through the navigation or audio of the vehicle 500, "waiting for pedestrians at the crosswalk ahead", "pedestrians" Pedestrian information (driving information) such as "attention driving" may be displayed. When the vehicle 500 is autonomously driving, it is possible to control the driving of the vehicle 500 to automatically decelerate before entering the crosswalk according to the cross waiting information.

The beam steering radar 100 adds 1 to the cell count (K) to detect a pedestrian in the crossing walking area (S170), performs beam steering toward the K-th cell (S120), and detects a pedestrian ( S130), the process of determining whether the corresponding cell belongs to the crossing waiting area (S140) may be repeatedly performed.

When the cell detected as having a pedestrian belongs to the crossing walking area, the beam steering radar 100 transmits the crossing pedestrian information to the traffic light linkage device 200 , the driver notification device 260 , the vehicle communication device 270 , and the traffic control system (300) and the like (S180). Crossing pedestrian information may include information on the presence, movement, and location of pedestrians in the crosswalk area.

A crossing pedestrian caution mark may be displayed on the vehicle traffic light 210 , the pedestrian traffic light 220 , and the driver notification device 260 according to the pedestrian crossing information ( S190 ). The traffic light interlocking device 200 or the traffic control system 300 controls the vehicle traffic light 210, which was lit up with a green signal (vehicle passing signal), to turn on a red signal (vehicle stop signal), and a red signal (pedestrian crossing prohibited) It is possible to control the pedestrian traffic light 220 that has turned on the signal) to turn on the red flashing signal (a signal for pedestrian recognition). The driver notification device 260 may visually or aurally notify the driver of the vehicle 500 of pedestrian information (driving information) such as “crossing the pedestrian in the crosswalk ahead” or “stop at the stop line” according to the pedestrian crossing information. . In addition, through the vehicle communication device 270 , information on pedestrian crossings is transmitted to the vehicle 500 moving toward the crosswalk, and through the navigation or audio of the vehicle 500 , “crossing the pedestrian in the crosswalk ahead”, “stop line” Pedestrian information (driving information), such as "stop at", may be displayed. When the vehicle 500 is autonomously driving, the driving of the vehicle 500 may be controlled to automatically stop in front of the crosswalk according to information on pedestrians crossing.

As described above, it is possible to sequentially measure the presence or absence of a waiting person crossing and a pedestrian crossing with respect to a plurality of cells. However, according to an embodiment, a radar beam is simultaneously incident on a plurality of cells according to a wide-angle transmission and reception beam steering method, and a reception signal returned from a plurality of cells is simultaneously received and processed by a narrow beam steering method for a plurality of cells. It is possible to measure the presence or absence of pedestrians waiting to cross and pedestrians crossing.

The drawings and the detailed description of the described invention referenced so far are merely exemplary of the present invention, which are only used for the purpose of explaining the present invention, and are used to limit the meaning or the scope of the present invention described in the claims. it is not Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

100: beam steering radar 110: signal processor
120: beam steering device 130: transmitter
135: transmit antenna 140: receiver
145: receiving antenna 200: traffic light interlocking device
210: vehicle traffic light 220: pedestrian traffic light
250: communication network 260: driver notification device
270: vehicle communication device 300: traffic control system

Claims (19)

In the crosswalk pedestrian detection system using the beam steering radar,
A crosswalk on one side of the center line is set as a crosswalk area, a sidewalk adjacent to the crosswalk area is set as a crosswalk waiting area, and the crosswalk waiting area and the crosswalk area are divided into a plurality of cells, each of the plurality of cells stores the clutter signal for , scans the plurality of cells by performing beam steering to direct a specific cell among the plurality of cells, and compares the clutter signal with the clutter signal in each of the plurality of cells to determine the change in the received signal a beam steering radar that detects and measures the presence or absence of pedestrians in the corresponding cell to generate pedestrian information;
a vehicle communication device for transmitting the pedestrian information to a vehicle moving toward the crosswalk; and
Crosswalk pedestrian detection system including a traffic light interlocking device for controlling a vehicle traffic light or a pedestrian traffic light in response to the pedestrian information. According to claim 1,
The beam steering radar transmits a radar beam with a wide beam width so that the radar beam is incident on all of the plurality of cells, and a wide-angle transmission and reception beam steering method for simultaneously receiving a reception signal returning from the plurality of cells through narrow beam steering A crosswalk pedestrian detection system that scans the plurality of cells. According to claim 1,
The beam steering radar sequentially injects a radar beam into the plurality of cells by narrow beam steering and receives a received signal returned from the plurality of cells by means of narrow beam steering. Pedestrian detection system for crosswalks that scans. According to claim 1,
Pedestrian detection system for a crosswalk that scans the plurality of cells by mechanical beam steering in which the beam steering radar rotates to adjust the propagation direction of the radar beam. According to claim 1,
The beam steering radar,
radiator;
a transmitter for outputting a radar beam through the transmitting antenna;
receiving antenna;
a receiver for receiving the received signal through the receiving antenna;
a beam steering apparatus for beam-steering the beams of the transmitting antenna and the receiving antenna by an electrical or mechanical method; and
Crosswalk pedestrian detection system including a signal processor for detecting a change in the received signal to measure the presence or absence of a pedestrian in the cell. According to claim 1,
The beam steering radar is a crosswalk pedestrian detection system for detecting the movement of the pedestrian by tracking the received signal continuously received from the adjacent cell by the pedestrian using the crosswalk. According to claim 1,
The beam steering radar is a crosswalk pedestrian detection system for recognizing the biorhythm of a pedestrian in the waiting area for crossing by processing the received signal. According to claim 1,
Crosswalk pedestrian detection system further comprising a driver notification device for visually delivering the pedestrian information to the vehicle. According to claim 1,
The beam steering radar divides the crosswalk waiting area and the crosswalking area into a plurality of cells arranged in an extension direction of the crosswalk pedestrian detection system. According to claim 1,
The beam steering radar divides the crossing waiting area and the crossing walking area into a plurality of zones in the extension direction of the center line, and dividing the crosswalk pedestrian detection system into a plurality of cells arranged in the extension direction of the crosswalk for each zone. In the method for detecting pedestrians in a crosswalk using a beam steering radar,
A crosswalk on one side of the center line is set as a crosswalk area, a sidewalk adjacent to the crosswalk area is set as a crosswalk waiting area, the crosswalk waiting area and the crosswalk area are divided into a plurality of cells, and a specific scanning the plurality of cells by performing beam steering to direct the cells;
Comparing with the clutter signal stored for each of the plurality of cells, detecting a change in the received signal, measuring the presence or absence of a pedestrian in the corresponding cell, and generating pedestrian information including information on pedestrians waiting to cross or information on pedestrians crossing; and
Crosswalk pedestrian detection method comprising the step of transmitting the pedestrian information to the vehicle proceeding toward the crosswalk. 12. The method of claim 11,
A wide-angle transmission and reception beam steering method in which a radar beam is transmitted with a wide beam width so that the radar beam is incident on all of the plurality of cells, and a reception signal returned from the plurality of cells is simultaneously received by narrow beam steering, the plurality of cells A method of detecting pedestrians in a crosswalk that scans. 12. The method of claim 11,
Crosswalk scanning the plurality of cells by transmitting beam steering and receiving beam steering in which a radar beam is sequentially incident on the plurality of cells by narrow beam steering and reception signals returned from the plurality of cells are received by narrow beam steering Pedestrian detection method. 12. The method of claim 11,
Crosswalk pedestrian detection method for scanning the plurality of cells by mechanical beam steering in which the beam steering radar rotates to adjust the propagation direction of the radar beam. 12. The method of claim 11,
Pedestrian detection method in a crosswalk further comprising the step of visually or audibly notifying the driver of the pedestrian information through the vehicle's notification system. 12. The method of claim 11,
Pedestrian detection method in a crosswalk further comprising the step of automatically decelerating or stopping the vehicle according to the pedestrian information during autonomous driving. 12. The method of claim 11,
Crosswalk pedestrian detection method further comprising the step of visually or aurally displaying the pedestrian information to the vehicle by a driver notification device. 12. The method of claim 11,
Crosswalk pedestrian detection method further comprising the step of controlling a vehicle traffic light or a pedestrian traffic light according to the pedestrian information. 12. The method of claim 11,
When a ball rolls into the crosswalk and a child jumps out into the crosswalk to catch the ball or the child falls into the crosswalk, the received signal strength is relatively smaller than the strength of the received signal by an adult. Identifies the child, identifies the ball with a received signal strength that is relatively smaller than the strength of a received signal by the child, and tracks the received signal successively received in an adjacent cell to move the ball and the child A method of detecting pedestrians in a crosswalk to measure.

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