KR20230082321A - Filtering method and apparatus for obstacles around the parking path using ultrasonic waves - Google Patents

Abstract

The present invention includes the steps of receiving input of a parking route for a vehicle to travel and object coordinates around the parking route; determining whether an object exists outside both sides of the parking path, based on the received object coordinates; determining whether object coordinates inside the parking path exist among the input object coordinates, if objects exist outside both sides of the parking path; calculating a virtual indirect wave TOF by two sensors in the center of the vehicle, among a plurality of sensors disposed in the vehicle width direction, if the object coordinates inside the parking path exist; comparing the virtual indirect wave TOF with the actual indirect wave TOF to determine whether the object coordinates inside the parking path are ghost coordinates; and removing the object coordinates inside the parking path when the object coordinates inside the parking path are ghost coordinates.

Description

Method and device for filtering parking path and nearby obstacles using ultrasonic waves

The present invention relates to a technique for determining whether a parking path of a vehicle and obstacles therearound are located within the parking path of a vehicle by using ultrasonic waves.

In order to detect objects close to the vehicle in situations such as parking, the vehicle is equipped with a plurality of ultrasonic sensors.

For example, a plurality of ultrasonic sensors are installed horizontally apart from each other in a front bumper, a rear bumper, etc. of a vehicle.

The ultrasonic sensor as described above detects an object by receiving ultrasonic waves reflected from an object after transmitting ultrasonic waves.

The matters described as the background technology of the present invention are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as an admission that they correspond to the prior art already known to those skilled in the art. It will be.

In the present invention, when receiving coordinates for a parking path and objects located therearound from a conventional parking assist device such as a PCA (Parking Collision Avoidance Assist) device, it is determined whether or not the object coordinates are appropriately recognized actual obstacles. By filtering, it is possible to prevent malfunction of the vehicle's braking system or Parking Distance Warning (PWD) device due to erroneously recognized obstacles, thereby improving the reliability of the vehicle. Parking path and its surroundings using ultrasonic waves Its purpose is to provide an obstacle filtering method and apparatus.

In order to achieve the above object, the parking path and the obstacle filtering method using the ultrasonic wave of the present invention,

receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;

determining whether an object exists outside both sides of the parking path, based on the received object coordinates;

determining whether object coordinates inside the parking path exist among the input object coordinates, if objects exist outside both sides of the parking path;

calculating a virtual indirect wave TOF by two sensors in the center of the vehicle, among a plurality of sensors disposed in the vehicle width direction, if the object coordinates inside the parking path exist;

comparing the virtual indirect wave TOF with the actual indirect wave TOF to determine whether the object coordinates inside the parking path are ghost coordinates;

if the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path;

It is characterized in that it is configured to include.

The received object coordinates exist on both sides of the vehicle, the distance between the two object coordinates existing on both sides of the vehicle exceeds the vehicle width, and the two object coordinates existing on both sides of the vehicle exist outside the parking path. If determined, it may be determined that an object exists outside both sides of the parking path.

Among the plurality of sensors arranged in the vehicle width direction, the virtual indirect wave TOF and the actual indirect wave TOF by two sensors on the side of the vehicle are compared, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object coordinates It may be determined that the parking path exists outside the parking path.

The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. It can be calculated by adding the direct wave hTOF and a straight line connecting the positions of the sensors receiving the indirect wave.

The virtual indirect wave TOF and the actual indirect wave TOF by the two sensors at the center of the vehicle are compared, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object coordinates inside the parking path are determined as ghost coordinates. can

In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. It can be calculated by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point.

In addition, the parking path and the obstacle filtering method using the ultrasonic wave of the present invention for achieving the above object,

receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;

determining whether an object exists outside both sides of the parking path, based on the received object coordinates;

determining whether object coordinates inside the parking path exist among the input object coordinates, if objects exist outside both sides of the parking path;

If the object coordinates inside the parking path exist, the distance between the coordinates of the sensor that transmits and receives the direct wave and the coordinates of the received object among the two sensors in the center of the vehicle among the plurality of sensors arranged in the vehicle width direction determining whether the object coordinates inside the parking path are ghost coordinates by comparing the direct wave hTOF in coordinates with the direct wave hTOF in coordinates and comparing the direct wave hTOF in coordinates with the actual direct wave hTOF;

if the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path;

It is characterized in that it is configured to include.

When the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference, it may be determined that the object coordinates inside the parking path are ghost coordinates.

The present invention compares the direct wave hTOF on the coordinates with the actual direct wave hTOF, and when it is determined that the coordinates of the object inside the parking path are not ghost coordinates, the sensor receiving the indirect wave among the two sensors at the center of the vehicle calculating a coordinate indirect wave TOF by adding the coordinate-based direct wave hTOF to the distance between the coordinates of and the coordinates of the received object;

comparing the indirect wave TOF on the coordinates with the actual indirect wave TOF, and further determining whether the object coordinates inside the parking path are ghost coordinates;

It may be configured to further include.

When the difference between the indirect wave TOF on the coordinates and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference, it may be determined that the object coordinates inside the parking path are ghost coordinates.

In addition, the parking path and the obstacle filtering method using the ultrasonic wave of the present invention for achieving the above object,

receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;

determining whether the received object coordinates are coordinates within the parking path;

calculating a virtual indirect wave TOF by two sensors on the side of the vehicle when the input object coordinates are coordinates within the parking path;

The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object inside the parking path, the input object coordinates are output as valid coordinates, and the source object is removing the received object coordinates if it is determined that the object is outside the parking path;

It is characterized in that it is configured to include.

In the present invention, when the input object coordinates are not coordinates within the parking path, calculating a virtual indirect wave TOF by two sensors on the side of the vehicle;

The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object outside the parking path, the input object coordinates are output as valid coordinates, and the source object removing the received object coordinates and determining the causative object as an object within the parking path when it is determined that the object is inside the parking path;

It may be configured to further include.

Even when the input object coordinates are coordinates within the parking path, as a result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object outside the parking path, the The received object coordinates may be excluded from the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

Even when the input object coordinates are not coordinates within the parking path, as a result of comparing the virtual indirect wave TOF with the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object inside the parking path, The received object coordinates may be included in coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

In addition, the parking path using the ultrasonic wave of the present invention and the obstacle filtering device around it for achieving the above object,

a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;

a both object determination unit determining whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit;

an inner object coordinate determining unit determining whether an object coordinate inside the parking path exists among the input object coordinates when the both object determining unit determines that an object exists on both sides of the parking path;

When the inner object coordinate determination unit determines that the object coordinates inside the parking path exist, virtual indirect wave TOF is calculated by two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction. part;

a ghost coordinate determining unit comparing the virtual indirect wave TOF generated by the virtual indirect wave generation unit with the actual indirect wave TOF, and determining whether the object coordinates inside the parking path are ghost coordinates;

a coordinate filtering unit to remove the object coordinates inside the parking path when the ghost coordinate determination unit determines that the object coordinates inside the parking path are ghost coordinates;

It is characterized in that it is configured to include.

The both object determination unit,

The object coordinates input through the data input unit exist on both sides of the vehicle, the distance between the two object coordinates existing on both sides of the vehicle exceeds the vehicle width, and the two object coordinates existing on both sides of the vehicle are outside the parking path. may be configured to determine that an object exists outside both sides of the parking path, if it is determined that it exists in the parking path.

The both object determination unit,

Among the plurality of sensors arranged in the vehicle width direction, the virtual indirect wave TOF and the actual indirect wave TOF by two sensors on the side of the vehicle are compared, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object coordinates It may be configured to determine that it exists outside the parking path.

The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. It can be calculated by adding the direct wave hTOF and a straight line connecting the positions of the sensors receiving the indirect wave.

The ghost coordinate determination unit,

Compare the virtual indirect wave TOF and the actual indirect wave TOF by the two sensors at the center of the vehicle, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, determine the object coordinates inside the parking path as ghost coordinates can be configured.

In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. It can be calculated by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point.

In addition, the parking path using the ultrasonic wave of the present invention and the obstacle filtering device around it for achieving the above object,

a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;

a both object determination unit determining whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit;

an inner object coordinate determining unit determining whether an object coordinate inside the parking path exists among the input object coordinates when the both object determining unit determines that an object exists on both sides of the parking path;

When the inside object coordinate determination unit determines that the object coordinates inside the parking path exist, the coordinates of the sensor that transmits and receives the direct wave among the two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction, A ghost coordinate determination unit that determines whether the coordinates of the object inside the parking path are ghost coordinates by setting the distance between the coordinates of the received object as the direct wave hTOF on the coordinates and comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF. ;

a coordinate filtering unit to remove the object coordinates inside the parking path when the ghost coordinate determination unit determines that the object coordinates inside the parking path are ghost coordinates;

It is characterized in that it is configured to include.

The ghost coordinate determination unit,

When the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference, it may be configured to determine that the object coordinates inside the parking path are ghost coordinates.

The ghost coordinate determination unit,

When it is determined that the object coordinates inside the parking path are not ghost coordinates by comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF, the coordinates of the sensor receiving the indirect wave among the two sensors in the center of the vehicle and , calculating coordinate indirect wave TOF by adding the coordinate direct wave hTOF to the distance between the input coordinates of the object;

It may be configured to further determine whether the object coordinates inside the parking path are ghost coordinates by comparing the indirect wave TOF on the coordinates with the actual indirect wave TOF.

The ghost coordinate determination unit,

When a difference between the indirect wave TOF on the coordinates and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference, it may be configured to determine that the object coordinates inside the parking path are ghost coordinates.

In addition, the parking path using the ultrasonic wave of the present invention and the obstacle filtering device around it for achieving the above object,

a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;

an in-path coordinate determination unit determining whether the object coordinates input through the data input unit are coordinates in the parking path;

a virtual indirect wave generation unit that calculates a virtual indirect wave TOF by two sensors on the side of the vehicle when the in-path coordinate determination unit determines that the object coordinates input through the data input unit are coordinates in the parking path;

When the virtual indirect wave TOF generated by the virtual indirect wave generation unit is compared with the actual indirect wave TOF, and the source object of the input object coordinates is determined to be an object inside the parking path, the input object coordinates are regarded as valid coordinates. a coordinate filtering unit for outputting and removing the received object coordinates when the cause object is determined to be an object outside the parking path;

It is characterized in that it is configured to include.

When the in-path coordinate determination unit determines that the object coordinates input through the data input unit are not coordinates in the parking path, the virtual indirect derivative generation unit is configured to calculate a virtual indirect wave TOF by two sensors on the vehicle side, ;

The coordinate filtering unit compares the virtual indirect wave TOF and the actual indirect wave TOF, and outputs the input object coordinates as valid coordinates when the source object of the input object coordinates is determined to be an object outside the parking path, When the causative object is determined to be an object inside the parking path, the received object coordinates may be removed and the causative object may be determined as an object within the parking path.

The coordinate filtering unit,

Even when the input object coordinates are coordinates within the parking path, as a result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object outside the parking path, the The received object coordinates may be configured to be excluded from the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

The coordinate filtering unit,

Even when the input object coordinates are not coordinates within the parking path, as a result of comparing the virtual indirect wave TOF with the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object inside the parking path, The received object coordinates may be configured to be included in coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

The present invention, when inputting coordinates of a parking path and objects located therearound from a conventional parking assist device such as a PCA device, determines whether or not the coordinates of the object are appropriately recognized actual obstacles and filters them, thereby erroneously recognized. It is possible to improve the reliability of the vehicle by preventing malfunction of the braking system of the vehicle or the parking distance warning (PWD) device due to obstacles.

1 is a diagram illustrating a sensor installation state of a vehicle to which the present invention can be applied;
2 is a diagram illustrating a noise filtering method of a vehicle ultrasonic sensor signal according to the present invention;
3 is a diagram explaining the relationship between vehicle speed and direct wave TOF;
4 is a diagram showing a comparison of changes in indirect wave TOF according to the position of an arbitrary object P in three cases;
5 is a graph of indirect wave hTOF according to changes in θ;
6 is a flowchart showing a first embodiment of a method for determining a parking path and nearby obstacles using ultrasonic waves;
7 is a diagram explaining a virtual indirect wave TOF;
8 is a flowchart showing a second embodiment of a method for determining a parking path and nearby obstacles using ultrasonic waves;
9 is a diagram explaining the reflection of direct waves and indirect waves from an object having a volume;
10 is a diagram illustrating modeling of an object having a volume as an imaginary circle having a radius F;
11 is a view explaining that N points may be variously located on the same circle as in FIG. 10;
12 is a diagram for explaining an ultrasonic probability density function;
13 is a diagram showing the value of the ultrasonic probability density function according to the change of α in the same situation as in FIG. 12;
14 is a graph illustrating a change in P_m according to a change in α;
15 is a graph illustrating a change in P_n according to a change in α;
FIG. 16 shows a portion where the actual indirect wave hTOF is greater than the ideal indirect wave hTOF, the portion where the actual indirect wave hTOF is smaller than the ideal indirect wave hTOF, and the portion where the ultrasonic probability density function value is greater than 0 on a circle drawn under the same conditions as FIG. a drawing showing
17 and 18 each show changes in the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF as α increases;
19 is a chart showing the minimum value, maximum value, and P_max of the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF as α increases;
20 is a diagram explaining the experimental conditions used when deriving the results of FIG. 19;
21 is a flowchart showing a third embodiment of a method for determining a parking path and nearby obstacles using ultrasonic waves;
22 is a flowchart illustrating a first embodiment of a method of filtering a parking path and surrounding obstacles using ultrasonic waves;
23 is a view explaining that ghost coordinates are generated inside the parking path when real objects exist outside both sides of the parking path;
24 is a flowchart illustrating a second embodiment of a method of filtering a parking path and surrounding obstacles using ultrasonic waves;
25 is a flowchart illustrating a third embodiment of a method of filtering a parking path and surrounding obstacles using ultrasonic waves;
26 is a diagram illustrating a case where a real object exists outside the parking path and ghost coordinates exist inside the parking path;
27 is a diagram illustrating a case where a real object exists inside the parking path and ghost coordinates exist outside the parking path;
28 is a diagram showing an embodiment of a noise filtering device for a vehicle ultrasonic sensor signal capable of implementing the noise filtering method for a vehicle ultrasonic sensor signal as shown in FIG. 2;
29 is a view showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement the first embodiment of the method for determining a parking path and nearby obstacles using ultrasonic waves as shown in FIG. 6;
30 is a view showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement a second embodiment of a method for determining a parking path and obstacles therearound using ultrasonic waves as shown in FIG. 8;
31 is a diagram showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement a third embodiment of a method for determining a parking path and obstacles therearound using ultrasonic waves as shown in FIG. 21;
32 is a view showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement a first embodiment of a method of filtering a parking path using ultrasonic waves and obstacles therearound as shown in FIG. 22;
33 is a view showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement a second embodiment of a method of filtering a parking path using ultrasonic waves and obstacles therearound as shown in FIG. 24;
FIG. 34 is a view showing an embodiment of a parking path using ultrasonic waves and an apparatus for determining obstacles therearound that can implement a third embodiment of a method of filtering a parking path using ultrasonic waves and obstacles therearound as shown in FIG. 25 . .

Specific structural or functional descriptions of the embodiments of the present invention disclosed in this specification or application are merely exemplified for the purpose of explaining the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in this specification or application.

Embodiments according to the present invention can apply various changes and can have various forms, so specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosed form, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Terms such as first and/or second may be used to describe various components, but the components should not be limited by the terms. The above terms are only for the purpose of distinguishing one component from another component, e.g., without departing from the scope of rights according to the concept of the present invention, a first component may be termed a second component, and similarly The second component may also be referred to as the first component.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle. Other expressions describing the relationship between elements, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", etc., should be interpreted similarly.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "having" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, but one or more other features or numbers However, it should be understood that it does not preclude the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, 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 commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined herein, they are not interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

Information about the object can be obtained by Time of Flight (TOF) of the ultrasonic signal transmitted from the ultrasonic sensor (hereinafter, simply referred to as 'sensor'), reflected by the object, and then received by the sensor again. .

That is, the distance from the sensor to the object can be calculated by TOF, which is the time from when the ultrasonic waves are transmitted from the sensor to when the ultrasonic waves are reflected on the object and received by the sensor, and the distance from the sensor to the object can be calculated. Using the sensor of , it is possible to calculate the relative position of an object with respect to the vehicle.

As described above, the ultrasonic wave reflected from the object is received by the sensor itself that emits the ultrasonic wave, but also received by other nearby sensors.

Here, as described above, when the sensor that emits the ultrasonic wave and the sensor that receives the ultrasonic wave are the same, the ultrasonic TOF received by the sensor is referred to as 'direct wave TOF', and when the sensor that emits the ultrasonic wave and the sensor that receives the ultrasonic wave are different, the sensor The received ultrasound TOF will be referred to as 'indirect wave TOF'.

The ultrasonic TOF as described above allows to obtain information on objects around the vehicle while being repeatedly measured by the sensors of the vehicle. When the ultrasonic TOF does not show a tendency to be continuously reflected from the same object and updated, the There is a possibility that the accuracy of information about the position of an object may decrease, and such a case may be regarded as a situation in which noise of an ultrasonic sensor signal (ultrasonic TOF) occurs.

For reference, the distance from the sensor to the object is

Ultrasonic TOF/2C,

Where, C = ultrasonic velocity

is calculated as

Hereinafter, for simple expression, 'ultrasonic TOF' is simply 'ultrasonic TOF/C', which means the reciprocating length from the sensor to the object, and 'ultrasonic TOF/2' is marked as 'hTOF'. do it with In other words, hTOF means the one-way distance between the sensor and the object.

1 illustrates a sensor installation state of a vehicle to which the present invention can be applied, four sensors A, B, C, and D are disposed at the rear of a vehicle V, and the parking path for the vehicle to travel is the parking It is represented by two outlines (LN) representing the outline of the path, and an object X located outside the parking path and an object Y located inside the parking path are exemplified.

For reference, the parking path is changed according to the speed of the vehicle, the steering angle, etc., and can be set by a device mounted on the vehicle and using a conventionally known technology, the sensors transmit ultrasonic waves sequentially at regular time intervals, , By receiving ultrasonic waves reflected from an object, it may be configured to distinguish a sensor that transmits ultrasonic waves.

Assuming a situation in which one of two sensors adjacent to each other receives a direct wave and the other receives an indirect wave, a noise filtering method of a vehicle ultrasonic sensor signal, as illustrated in FIG. determining the number of direct wave TOFs and indirect wave TOFs among ultrasonic TOFs received from two adjacent sensors (S10); If the received ultrasonic TOF includes one direct wave TOF and a previous effective direct wave TOF exists, determining whether dynamic noise is detected (S20); If the dynamic noise is detected, generating a virtual direct wave TOF and setting it as a regular ultrasound TOF to be used for determining the position of an object instead of the received actual direct wave TOF (S30); If a direct wave TOF exists among the received ultrasound TOFs, a previous effective direct wave TOF exists, and an indirect wave TOF exists among the received ultrasound TOFs, determining whether static noise is detected (S40); If the static noise is detected, the regular ultrasonic TOF to be used for determining the position of the object is determined to be 1 direct wave TOF and 0 indirect wave TOF, and if the static noise is not detected, the regular ultrasonic TOF to be used for determining the position of the object is determined. is configured to include a step (S50) of determining one direct wave TOF and one indirect wave TOF.

That is, the method of filtering the noise of the sensor signal is configured differently according to the number of direct wave TOF and indirect wave TOF. It is to differently determine the regular ultrasonic TOF to be used for location determination.

For reference, when the virtual direct wave TOF is generated as described above, the generated virtual direct wave TOF is set as a regular ultrasonic TOF to be used for determining the position of an object later as described above, and the virtual direct wave TOF If not generated, the received real direct wave TOF becomes the normal ultrasound TOF.

The dynamic noise,

d(direct wave hTOF) > Vdt

It is judged to have occurred in the case of, where,

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; It is the ultrasonic update cycle [ms].

FIG. 3 shows the relationship between vehicle speed and direct wave TOF from the perspective of an arbitrary sensor such as sensor A among the sensors shown in FIG. Since it is reasonable that the maximum value is a value less than Vdt, as described above, if d (direct wave hTOF) is determined to be greater than Vdt, this cannot be regarded as direct wave TOF continuously updated by reflection from the same object, and this is called dynamic noise. is to judge that has occurred.

The static noise is

|direct wave hTOF-indirect wave hTOF| > Distance between sensors/2

It is judged to have occurred in the case of, where,

hTOF = TOF/2

distance between sensors; It is the distance between the direct wave transmission/reception sensor and the indirect wave reception sensor.

4 illustrates the change of the indirect wave TOF according to the position of an arbitrary object P, a state in which the indirect wave TOF is the maximum value, a state in which the indirect wave TOF = direct wave TOF, and a state in which the indirect wave TOF is the minimum value are compared together and shown.

In FIG. 4, sensor A is a sensor that transmits and receives direct waves, sensor B is a sensor that receives indirect waves, DIR is the distance between sensor A and object P, IND is the distance between object P and sensor B, and E denotes the distance between the sensors A and B, and θ denotes an angle formed by the straight line indicated by the DIR from the straight line connecting the sensors A and B.

Here, the direct wave hTOF is DIR, and the indirect wave hTOF can be calculated as (DIR+IND)/2. Referring to the maximum value state and minimum value state of FIG. 4, the maximum value of the indirect wave hTOF is (DIR+DIR+ E)/2 = DIR+E/2, and the minimum value of the indirect wave hTOF is calculated as (DIR+DIR-E)/2 = DIR-E/2, so the indirect wave hTOF is as shown in FIG. It can be seen that as θ increases, it gradually decreases from the maximum value to the minimum value.

That is, when direct wave hTOF is DIR, indirect wave hTOF varies from DIR+E/2 to DIR-E/2 according to θ, so the difference between direct wave hTOF and indirect wave hTOF in all θ situations is It should be within E/2, but if the difference between the direct wave hTOF and the indirect wave hTOF exceeds E/2, it cannot be considered that the indirect wave TOF is continuously reflected from the same object and updated, so it is considered as static noise. is to judge

In addition, in the situation where it is determined that the previous effective direct wave TOF exists,

Direct wave TOF is received 4 times in succession,

, where,

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; This is the ultrasonic update cycle [ms].

For reference, t can be the cycle time of the controller implementing the present invention, so t=n can be interpreted as the current cycle time point, t=n-1 as the previous cycle time point, etc.

That is, if it is confirmed that the direct wave TOF has been received four times in succession and no dynamic noise has occurred from the previous three direct wave hTOFs, it is determined that the previous effective direct wave TOF exists.

Therefore, even if it is determined that dynamic noise occurs at time t = n, if dynamic noise does not occur at both time points t = n-1 and t = n-2, as described above, the previous effective direct wave TOF exists Based on the situation, the virtual direct wave TOF is generated, and the virtual direct wave TOF is set as a regular ultrasound TOF to be used for determining the position of an object.

At the current time point, t = n, the virtual direct wave TOF is

으로 산출되고,

is calculated as

here,

k; As a gain, it may be set to, for example, 1, and the value may be changed depending on how much the amount of change in the direct wave TOF is reflected in the virtual direct wave TOF.

On the other hand, in the situation where it is determined that the previous effective direct wave TOF does not exist, a virtual direct wave TOF is received at at least one of t = n-1, t = n-2, or t = n-3 It can be set as regular ultrasonic TOF to be used for determining the position of an object instead of direct wave TOF.

The noise filtering method of the ultrasonic sensor signal is a regular ultrasonic TOF to be used for determining the position of the object when a direct wave TOF exists among the received ultrasonic TOFs, a previous effective direct wave TOF exists, and an indirect wave TOF does not exist. may perform step S60 of determining one direct wave TOF and zero indirect wave TOF.

In addition, if there is a direct wave TOF among the received ultrasonic TOFs, there is no previous effective direct wave TOF, an indirect wave TOF exists, and no static noise is detected, the normal ultrasonic TOF to be used for determining the position of the object may perform a step (S70) of determining one direct wave TOF and one indirect wave TOF.

A direct wave TOF exists among the received ultrasonic TOFs, no previous effective direct wave TOF exists, an indirect wave TOF exists, static noise is detected, or a direct wave TOF exists among the received ultrasonic TOFs, and a previous effective direct wave TOF exists. If there is no effective direct wave TOF and no indirect wave TOF exists, a step (S80) of determining the regular ultrasonic TOF to be used for determining the position of the object as one direct wave TOF and zero indirect wave TOFs can be performed. .

That is, if it is determined that one direct wave is received in the step of determining the number of direct wave TOFs and indirect wave TOFs (S10), by performing the above steps S20 to S80, the received direct wave TOF is determined whether or not there is dynamic noise. Therefore, replace it with virtual direct wave TOF or set it as regular ultrasonic TOF to be used for determining the position of an object, and use the received indirect wave TOF as regular ultrasonic TOF to be used for determining the position of an object according to the presence or absence of static noise. Filtering to not use it.

Meanwhile, in the noise filtering method of the ultrasonic sensor signal, if the direct wave TOF does not exist, the indirect wave TOF exists, and the previous effective direct wave TOF exists among the received ultrasonic TOFs, a virtual direct wave TOF is generated, Further comprising a step (S90) of setting the regular ultrasonic TOF to be used for determining the position of the object,

Among the received ultrasonic TOFs, direct wave TOF does not exist, indirect wave TOF exists, and a previous effective direct wave TOF exists, so that the virtual direct wave TOF is set as a regular ultrasonic TOF to be used for determining the position of an object Then, it is determined whether static noise is detected, and if static noise is not detected, the regular ultrasonic TOF to be used for determining the position of the object is set to one direct wave TOF and one indirect wave TOF, and if static noise is detected, the object The regular ultrasonic TOF to be used to determine the position of can be configured to further include a step (S100) of setting one direct wave TOF and zero indirect wave TOF.

Here, if there is no direct wave TOF among the received ultrasonic TOFs, an indirect wave TOF exists, and no previous effective direct wave TOF exists, since a virtual direct wave TOF cannot be generated as described above, The regular ultrasound TOF to be used for location determination is set to 0 direct waves and 1 indirect wave (S110).

In addition, in the noise filtering method of the ultrasonic sensor signal, if neither the direct wave TOF nor the indirect wave TOF among the received ultrasonic TOFs exist, and no previous effective direct wave TOF exists, the regular wave TOF to be used for determining the position of the object The ultrasonic TOF is set to 0 direct wave TOF and 0 indirect wave TOF (S120),

If neither the direct wave TOF nor the indirect wave TOF exists among the received ultrasonic TOFs and there is a previous effective direct wave TOF, a virtual direct wave TOF is generated and set as a regular ultrasonic TOF to be used to determine the position of an object, , The regular ultrasound TOF to be used for determining the position of the object may be configured to further include a step of setting one direct wave TOF and zero indirect wave TOF (S130).

The noise filtering method of the vehicle ultrasonic sensor signal as described above sets only reliable ultrasonic TOF according to the existence of dynamic noise and static noise among the received ultrasonic TOF as the regular ultrasonic TOF to be used for determining the position of an object, and sets the ultrasonic TOF having low reliability. The TOF is removed so that when an object is sensed by receiving ultrasonic waves reflected from an object through the sensor, the location of the object can be more accurately determined.

Referring to FIG. 28, an apparatus for filtering noise of an ultrasonic sensor signal of a vehicle, capable of implementing the method of filtering noise of an ultrasonic sensor signal of a vehicle as described above, among ultrasonic TOFs received from two sensors SR adjacent to each other of a vehicle, a TOF counter 100 that determines the number of direct wave TOFs and indirect wave TOFs; a dynamic noise determination unit 101 for determining whether dynamic noise is detected when the TOF counter 100 determines that one direct wave TOF is included in the received ultrasonic TOF and a previous effective direct wave TOF exists; When the dynamic noise determination unit 101 detects dynamic noise, a TOF setting unit 102 that creates a virtual direct wave TOF and sets it to regular ultrasonic TOF to be used for determining the position of an object instead of the received direct wave TOF. ); If a direct wave TOF exists among the received ultrasonic TOFs, a previous effective direct wave TOF exists, and an indirect wave TOF exists in the received ultrasonic TOF, a static noise determination unit 103 for determining whether static noise is detected can be configured to include

In addition, when the static noise determination unit 103 detects static noise, the TOF setting unit 102 determines the normal ultrasonic TOF to be used for determining the position of an object as one direct wave TOF and zero indirect wave TOF, If static noise is not detected, it may be configured to determine one direct wave TOF and one indirect wave TOF as regular ultrasonic TOFs to be used for determining the position of the object.

The TOF setting unit 102 determines that, if a direct wave TOF exists among the received ultrasonic TOFs, a previous effective direct wave TOF exists, and an indirect wave TOF does not exist, the regular ultrasonic TOF to be used for determining the location of the object is It may be configured to determine one direct wave TOF and zero indirect wave TOF.

The TOF setting unit 102 determines the location of the object if there is a direct wave TOF among the received ultrasonic TOFs, no previous effective direct wave TOF exists, indirect wave TOF exists, and static noise is not detected. The normal ultrasound TOF to be used for may be configured to determine one direct wave TOF and one indirect wave TOF.

The TOF setting unit 102,

Among the received ultrasonic TOFs, a direct wave TOF exists, a previous effective direct wave TOF does not exist, an indirect wave TOF exists, and static noise is detected;

If there is a direct wave TOF among the received ultrasound TOFs, no previous effective direct wave TOF exists, and no indirect wave TOF exists,

The regular ultrasound TOF to be used for determining the position of the object may be configured to determine one direct wave TOF and zero indirect wave TOF.

In addition, the TOF setting unit 102,

Among the received ultrasonic TOFs, if there is no direct wave TOF, an indirect wave TOF exists, and a previous effective direct wave TOF exists, a virtual direct wave TOF is created and set as a regular ultrasonic TOF to be used to determine the position of an object. can be configured to

Among the received ultrasonic TOFs, direct wave TOF does not exist, indirect wave TOF exists, and a previous effective direct wave TOF exists, so that the TOF setting unit 102 uses the virtual direct wave TOF to determine the location of an object. After setting the regular ultrasonic TOF to be used,

The static noise determination unit 103 determines whether static noise is detected, and if static noise is not detected, the TOF setting unit 102 converts the regular ultrasonic TOF to be used for determining the position of the object into one direct wave TOF and indirect wave TOF. When the wave TOF is set to 1 and static noise is detected, the TOF setting unit 102 may be configured to set the normal ultrasonic TOF to be used for determining the position of the object to 1 direct wave TOF and 0 indirect wave TOF.

The TOF setting unit 103 selects a regular ultrasound TOF to be used for determining the location of the object when neither direct wave TOF nor indirect wave TOF exists among the received ultrasound TOFs and no previous effective direct wave TOF exists. Set to 0 direct wave TOF and 0 indirect wave TOF,

If neither the direct wave TOF nor the indirect wave TOF exists among the received ultrasonic TOFs and there is a previous effective direct wave TOF, a virtual direct wave TOF is generated and set as a regular ultrasonic TOF to be used to determine the position of an object, , the regular ultrasonic TOF to be used for determining the position of the object may be configured to set one direct wave TOF and zero indirect wave TOF.

The dynamic noise determination unit 101

d(direct wave hTOF) > Vdt

In the case of, it may be configured to determine that the dynamic noise has occurred, where

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; It is the ultrasonic update cycle [ms].

The static noise determination unit 103

|direct wave hTOF-indirect wave hTOF| > Distance between sensors/2

In the case of, it may be configured to determine that the static noise has occurred, where

hTOF = TOF/2

distance between sensors; It is the distance between the direct wave transmission/reception sensor and the indirect wave reception sensor.

The dynamic noise determination unit 101 and the static noise determination unit 103 are configured to determine the presence or absence of the previous effective direct wave TOF, respectively;

In the situation where it is determined that the previous effective direct wave TOF exists,

Direct wave TOF is received 4 times in succession,

is the case, where

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; It is the ultrasonic update cycle [ms].

In the case where it is determined that the previous effective direct wave TOF does not exist,

At least one of the time points t=n-1, t=n-2, or t=n-3, when the virtual direct wave TOF is set to the regular ultrasound TOF to be used for determining the position of an object instead of the received direct wave TOF. am.

At the current time point, t = n, the virtual direct wave TOF is

으로 산출되고,

is calculated as

here,

k; is gain

Referring to FIG. 6 , a first embodiment of a method for determining a parking path and nearby obstacles using ultrasonic waves includes determining whether ultrasonic noise is present in ultrasonic TOFs that are reflected from an object and received (S210); If there is no ultrasonic noise, generating a virtual object based on the ultrasonic TOF received on the outer line of the parking path along which the vehicle will move (S220); generating a virtual indirect wave TOF using the virtual object (S230); Determining whether the object is located inside or outside the outline of the parking path by comparing the actual indirect wave TOF, which is the indirect wave TOF among the received ultrasonic TOFs, and the virtual indirect wave TOF (S240) consists of including

In the step of determining whether the ultrasonic noise exists (S210), if both the direct wave TOF and the indirect wave TOF exist in the received ultrasonic TOFs and neither dynamic noise nor static noise exists, the ultrasonic noise exists. decide not to

That is, if it is confirmed that both the direct wave TOF and the indirect wave TOF exist, and neither the dynamic noise nor the static noise exist, so that the direct wave TOF and the indirect wave TOF are continuously being reflected from the same object and being updated, the received It is determined that the direct wave TOF and the indirect wave TOF are regular ultrasonic TOFs to be used to determine the position of an object, and determines that the ultrasonic noise does not exist.

As illustrated in FIG. 7 , the virtual object is created at an intersection point P_virtual where a circle having a center of a sensor that transmits and receives a direct wave and a radius of the direct wave hTOF meets the outline of the parking path.

The virtual indirect wave TOF is the sum of a straight line connecting the virtual object from the position of the sensor transmitting and receiving the direct wave and a straight line connecting the position of the sensor receiving the indirect wave from the virtual object. is calculated

That is, in the case of FIG. 7 , the virtual indirect wave TOF is calculated as the sum of the distance between P_virtual and sensor A and the distance between P_virtual and sensor B.

For reference, the actual direct wave TOF in FIG. 7 means the direct wave TOF received by the sensor.

In the step of determining whether the object is located inside or outside the outer line of the parking path (S240), when the sensor that transmits and receives the direct wave is located outside the parking path compared to the sensor that receives the indirect wave. , if the real indirect wave TOF is greater than the virtual indirect wave TOF, it is determined that the object is located outside the outline of the parking path; If the real indirect wave TOF is less than or equal to the virtual indirect wave TOF, it is determined that the object is located inside the outer line of the parking path.

The validity of this can be understood by examining FIG. 7 .

That is, referring to FIG. 7 , the TOF of an indirect wave when the ultrasonic wave transmitted from sensor A is reflected from P_out located outside the outline of the parking path and received by sensor B must be greater than the TOF of the virtual indirect wave, and sensor A It can be seen that the TOF of an indirect wave when the ultrasonic wave transmitted from P_in is reflected from P_in located inside the outline of the parking path and received by the sensor B must be smaller than the TOF of the virtual indirect wave.

Accordingly, it is possible to determine whether an object reflecting the ultrasonic TOF is located inside the parking path according to whether the actual indirect wave TOF measured by the sensor is greater or less than the virtual TOF calculated as described above.

For reference, here 'actual indirect TOF' is an expression for clear distinction from the 'virtual indirect TOF', and actually means an indirect TOF received by a sensor and calculated.

Of course, since a plurality of sensors are installed in the vehicle as illustrated in FIG. 7 , the plurality of sensors installed in the vehicle sequentially transmit ultrasonic waves, and each time an ultrasonic wave is transmitted from each sensor, as described above for two adjacent sensors. By repeating the same steps, it is possible to more accurately determine whether the parking path and obstacles around it are located inside the parking path.

Referring to FIG. 29, an apparatus for determining a parking path and obstacles therearound using ultrasonic waves capable of implementing the first embodiment of the method for determining a parking path and obstacles therearound using ultrasonic waves is reflected from an object and received a noise determination unit 200 that determines whether ultrasonic noise exists in ultrasonic TOFs; a virtual object generating unit 201 for generating a virtual object based on the ultrasonic TOF received on the outer line of a parking path along which the vehicle will move when the noise determination unit 200 determines that there is no ultrasonic noise; a virtual indirect wave generation unit 202 for generating a virtual indirect wave TOF using the virtual object generated by the virtual object generation unit 201; By comparing the actual indirect wave TOF, which is the indirect wave TOF among the received ultrasonic TOFs, with the virtual indirect wave TOF generated by the virtual indirect wave generator 202, it is determined whether the object is located inside the outer line of the parking path. It may be configured to include an object location determining unit 203 that determines whether it is located in the .

The noise determination unit 200 includes a dynamic noise determination unit 200-1 and a static noise determination unit 200-2, and both direct wave TOF and indirect wave TOF exist in the received ultrasonic TOFs, When neither dynamic noise nor static noise exists, it may be configured to determine that the ultrasonic noise does not exist.

The dynamic noise determination unit 200-1

d(direct wave hTOF) > Vdt

In the case of, it may be configured to determine that the dynamic noise has occurred, where

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; Ultrasound update cycle [ms]

am.

The static noise determination unit 200-2

|direct wave hTOF-indirect wave hTOF| > Distance between sensors/2

In the case of, it may be configured to determine that the static noise has occurred, where

hTOF = TOF/2

distance between sensors; It is the distance between the direct wave transmission/reception sensor and the indirect wave reception sensor.

The virtual object generator 201 creates the virtual object at an intersection where a circle centered on the position of the sensor that transmits and receives the direct wave and whose radius is the direct wave hTOF meets the outline of the parking path. can be configured.

The virtual indirect wave generator 202 generates the virtual indirect wave TOF, a straight line connecting the virtual object from the position of the sensor that transmitted and received the direct wave, and the indirect wave received from the virtual object. It may be configured to be calculated as the sum of straight lines connecting the positions of the sensors.

The object location determination unit 203,

When the sensor that transmits and receives the direct wave is located outside the parking path compared to the sensor that receives the indirect wave,

if the real indirect wave TOF is greater than the virtual indirect wave TOF, it is determined that the object is located outside the outline of the parking path;

When the real indirect wave TOF is less than or equal to the virtual indirect wave TOF, it may be configured to determine that the object is located inside the outline of the parking path.

Referring to FIG. 8 , a second embodiment of a method for determining a parking path and nearby obstacles using ultrasonic waves includes determining whether ultrasonic noise is present in ultrasonic TOFs received by reflection from an object (S310); If there is no ultrasonic noise, generating a virtual object based on the ultrasonic TOF received on the outer line of the parking path along which the vehicle will move (S320); generating a virtual indirect wave TOF using the virtual object (S330); By comparing the actual indirect wave TOF, which is the indirect wave TOF among the received ultrasonic TOFs, with the virtual indirect wave TOF plus a predetermined indirect wave offset, it is determined whether the object is located inside the outer line of the parking path. It is configured to include a step of determining whether it is located (S340).

That is, the second embodiment of the method for determining a parking path and nearby obstacles using ultrasonic waves further considers the indirect wave offset when determining whether an object is located inside or outside the outline of the parking path. There is a difference from the first embodiment.

Therefore, in the step of determining whether the ultrasonic noise exists (S310), as in the first embodiment of the method of determining the parking path and its surrounding obstacles using the ultrasonic wave, the received ultrasonic TOFs are compared with the direct wave TOF and the indirect wave TOF. When both wave TOFs exist and neither dynamic noise nor static noise exists, it is determined that the ultrasonic noise does not exist.

In addition, the virtual object is created at an intersection where a circle having a center of a sensor that transmits and receives a direct wave and a radius of the direct wave hTOF meets the outline of the parking path.

In addition, the virtual indirect wave TOF is a straight line connecting the virtual object from the position of the sensor that has transmitted and received the direct wave, and a straight line connecting the position of the sensor that has received the indirect wave from the virtual object. created by the sum of

For reference, the reason why the indirect wave offset is used in the second embodiment of the method for determining a parking path and nearby obstacles using ultrasonic waves is that, as illustrated in FIG. 9 , the object detected by the sensor is substantially As an object (OBJ) having , when an ultrasonic wave transmitted from the same sensor is reflected on an object and then received as a direct wave and an indirect wave, the direct wave and the indirect wave may be reflected at different points of the object. will be.

That is, in the first embodiment of the method for determining the parking path and obstacles around it using the ultrasonic wave, the object on which the direct wave and the indirect wave are reflected is treated as one point, and as a result, the direct wave and the indirect wave are the same point of the object. If it is determined whether the object is located inside the parking path or not, assuming that it is reflected in the second embodiment, when the ultrasonic wave is reflected on an object having a substantial volume, the position and the direct wave are reflected on the same object as well. The offset of the indirect wave is used to take into account the reality that the position where the indirect wave is reflected may be different.

Assuming that the direct wave and the indirect wave are reflected from two different points M and N of the same object, the indirect wave offset is calculated by taking the distance F between the two points as a radius, as shown in FIG. Draw a circle centered on point M, which is assumed to be the point where the wave is reflected, and calculate an ultrasonic probability density function at which point N, which is assumed to be the point where the indirect wave is reflected, will be located on the circle, and from the ultrasonic probability density function Assuming that the indirect wave is reflected at the point where the probability of the point N being located is highest, it is set using the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF.

Here, the ideal indirect wave hTOF is a concept different from the virtual indirect wave hTOF.

That is, the virtual indirect wave hTOF generates a virtual object at an intersection point formed by a circle having a radius of the direct wave hTOF centered on a sensor transmitting and receiving a direct wave (a sensor that transmits an indirect wave) and an outline of a parking path, , calculated by dividing the sum of a straight line connecting the virtual object from the position of the sensor transmitting and receiving the direct wave and a straight line connecting the position of the sensor receiving the indirect wave from the virtual object by 2,

The ideal indirect wave hTOF is a straight line connecting the position of the sensor that transmits and receives the direct wave (the sensor that transmits the indirect wave) to the point where the point N is most likely to be located from the ultrasonic probability density function, and the point N It is calculated by dividing the sum of straight lines connecting the position of the sensor receiving the indirect wave from the point with the highest probability of being located by 2.

For reference, FIG. 11 illustrates that N points may be variously positioned on the circle drawn as shown in FIG. 10 as N1 to N4.

In addition, it is assumed that a plane formed by a circle formed by the two points M and N is parallel to a plane formed by the sensors.

That is, the sensors can be seen as being arranged along the circumference of the vehicle while maintaining the same height in the vehicle to form one plane, and the circle formed by the two points M and N of the object is the same as the plane formed by the sensors. It can be seen as being formed on a parallel plane, so it is assumed that a state in which ultimately the sensors and the two points M and N can be seen as being located on the same plane as illustrated in FIG.

The ultrasonic probability density function, referring to FIG. 12,

On the infinite straight line L connecting the two points M and N, the point where the direct wave TOF is minimum is set to M', and the point where the indirect wave TOF is minimized is set to N', with the point M as the center , when rotating the infinite straight line,

The probability P_m that M' is equal to M is,

When the M' is between the M and N,

P_m = (distance between M' and N) / (distance between N and M),

If the M' deviates from the section between M and N toward M,

P_m=1, and

If the M' deviates from the section between M and N toward N,

Calculated as P_m = 0,

The probability P_n that N' is equal to N is,

When N' is between M and N,

P_n = (distance between N' and M) / (distance between N and M),

If the N' is out of the section between the M and N toward N,

P_n=1, and

If the N' deviates from the interval between the M and N toward M,

Calculated as P_n = 0,

It is calculated by the above P_m * P_n.

Here, on the infinite straight line connecting the two points M and N, the point M' at which the direct wave TOF is minimized can be obtained as an intersection point obtained by drawing a perpendicular to the infinite straight line from a sensor that transmits and receives the direct wave, , The point N' at which the indirect wave TOF is minimized on the infinite straight line is a straight line connecting the sensor for transmitting and receiving the direct wave from the point where the position of the sensor receiving the indirect wave is axisymmetric about the infinite straight line. It can be obtained from the point of intersection with the infinite straight line.

The reason for determining M' and N' as described above is based on the reasonable inference that the point where the moving distance of the ultrasonic waves is the shortest among the reflection points of the object is highly likely to be the reflection point of the actual direct wave and the indirect wave.

As described above, while rotating the infinite straight line around the point M, the probability P_m that the M' at each position is equal to M is,

When the M' is between the M and N,

P_m = (distance between M' and N) / (distance between N and M),

If the M' deviates from the section between M and N toward M,

P_m=1, and

If the M' deviates from the section between M and N toward N,

It can be calculated as P_m=0.

In addition, the probability P_n that N' is equal to N is,

When N' is between M and N,

P_n = (distance between N' and M) / (distance between N and M),

If the N' is out of the section between the M and N toward N,

P_n=1, and

If the N' deviates from the interval between the M and N toward M,

It can be calculated as P_n=0.

When the ultrasonic probability density function is obtained using P_m and P_n calculated as described above, P_m * P_n is obtained.

In FIG. 12, when a straight line passing through point M from sensor A that transmits and receives the direct wave intersects a circle obtained by rotating point N around point M as point G, it is assumed that point G is between the line segments G-M and segments M-N. If the angle of is α, the ultrasonic probability density function can be regarded as a function in which α is an independent variable and the value of P_m * P_n is a dependent variable.

Since the M-N line segment is a line segment on the infinite straight line L, when the infinite straight line is rotated, the α is changed, and the change in the ultrasonic probability density function value according to the change of α as described above is shown, as shown in FIG. 13α. It shows a high positive value only when α achieves a certain angle.

Substantially, FIG. 13 is a graph showing a change in P_m, which is a probability that M' is closer to M than N when α changes, so that M' is M, the actual direct wave reflection point; FIG. 14 and α It is the result of multiplying by FIG. 15, which is a graph showing the change in P_n, which is the probability that N' is closer to N than M when N' changes, so that N' is N, the actual indirect wave reflection point.

Therefore, the interval of α having a peak value of the ultrasonic probability density function value greater than 0 in FIG. 13 is an interval in which the probability that N′ is N is substantially highest in a state in which the probability that M′ is M is sufficiently secured. , it can be seen that the indirect wave has the highest probability of actually being reflected in this section.

16 shows the part where the actual indirect wave hTOF is greater than the ideal indirect wave hTOF on the circle drawn under the same conditions as in FIG. Only the part where the value of the ultrasonic probability density function is greater than 0 is displayed in bold, and it is highly likely that the indirect wave is actually reflected within the bolded section. That is, the section marked in bold has a high probability that the N point is substantially located. Of course, at this time, the M point is highly likely to have reflected an actual direct wave.

FIG. 17 shows the change in the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF as α increases, and the portion indicated by the solid line is P_m > 0 and P_n > 0, so that the value of the ultrasonic probability density function is 0. a larger part.

It can be seen from FIG. 17 that the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF in the section where P_m > 0 and P_n > 0 has a range of -1 cm to 5 cm.

FIG. 18 shows the change in the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF as α increases, as in FIG. .

That is, it shows what range the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF can have in the section in which N points are estimated to exist with a higher probability than that shown in FIG. 17, and the actual indirect wave hTOF and the ideal indirect wave It can be seen that the difference in hTOF has a range of 1 cm to 3 cm.

Therefore, the range of the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF obtained in the section where N point is estimated to exist with high probability as described above and the probability of indirect wave being reflected at that location is high is the indirect wave offset It can be seen that it can be a basis that can be set appropriately.

FIG. 19 shows real indirect wave hTOF and ideal indirect wave hTOF within the interval satisfying the conditions of P_m > 0.5 and P_n > 0.5 as α increases, as described above, by performing multiple experiments under the same conditions as those in FIG. 20. P_max, which is the difference between the actual indirect wave hTOF and the ideal indirect wave hTOF at the point where the minimum value, the maximum value of the difference of , and the ultrasonic probability density function value is maximum, is plotted.

In FIG. 20, A and B are sensors mounted on a vehicle, and an object assumed to include the two points M and N is assumed to be a circle with the point M as a reference and the radius F, and the point M is the vehicle. It is assumed that the circle is spaced apart in the direction of the parking path by a predetermined reference distance that can be detected by ultrasonic waves, and that the circle is spaced apart by a predetermined reference offset from the outer line of the parking path.

Referring to FIG. 19, by experimenting while varying F, the distance between point M and point N, to 20 cm, 30 cm, and 50 cm, in order to consider the parking path of an actual vehicle and objects of various sizes that may exist around it, The experiment by changing the reference distance to 1.8m and 1.2m is to consider the sensing range of the sensor in various ways, and the experiment by changing the reference offset to 0 and 10cm is to change the actual object to the outline of the parking path. This is so that both the case of contacting and the case of being separated from the outline by the reference offset can be considered.

In other words, experiments are conducted under various conditions to fully reflect practical situations that may occur in the process of determining the parking path where a vehicle should move for parking and the position of an object that may exist around it through sensors, and based on this, To make it possible to calculate the indirect wave offset.

Here, the indirect wave offset may be determined by considering the minimum value of P_max, which is a difference between the actual indirect wave hTOF and the ideal indirect wave hTOF at a point where the value of the ultrasonic probability density function of FIG. 19 is maximized.

The P_max corresponds to a difference between an actual indirect wave hTOF and an ideal indirect wave hTOF when it is assumed that an indirect wave is reflected at a point where the probability of the point N being located is highest based on the ultrasonic probability density function.

In FIG. 19, the minimum value of P_max is 0.011 in a situation where F = 20 cm, the reference distance is 1.8 m, and the reference offset is 0 cm. Therefore, considering this value, the indirect wave offset is set to 0.01.

That is, among the data of FIG. 19, the F is small and the volume is relatively small, and the reference offset is 0, so the indirect wave offset is determined based on an object in contact with the parking path.

Of course, in the case of an object having a relatively small volume due to a smaller F, the P_max may be calculated as a smaller value, but this is P_max for an object having the most appropriate F value in consideration of various practical circumstances such as vehicles and sensors. will be calculated and used.

In the step of determining whether the object is located inside or outside the outer line of the parking path (S340), when the sensor that transmits and receives the direct wave is located outside the parking path compared to the sensor that receives the indirect wave. , if the actual indirect wave hTOF is greater than the virtual indirect wave hTOF + the indirect wave offset, it is determined that the object is located outside the outline of the parking path; If the actual indirect wave hTOF is less than or equal to the virtual indirect wave hTOF + the indirect wave offset, it is determined that the object is located inside the outline of the parking path.

That is, in comparison with the first embodiment of the method of determining a parking path using ultrasonic waves and obstacles therearound, the actual indirect wave hTOF is not merely compared with the virtual indirect wave hTOF, but the virtual indirect wave hTOF If the actual indirect wave hTOF is greater than the sum of the indirect wave offsets, it is determined that the object is located outside the outline of the parking path.

Therefore, compared to the first embodiment, it can be confirmed that the object does not exist inside the outline of the parking path more conservatively for an object having a substantial volume.

In addition, as described above, the indirect wave offset uses P_max when the reference offset is 0 cm, and referring to FIG. 19, P_max tends to be smaller when the reference offset is 0 cm than when the reference offset is 10 cm. , The indirect wave offset determined using P_max as described above is added to the virtual indirect wave hTOF and compared with the actual indirect wave hTOF, and if it is determined that the object is located outside the parking path, an object whose reference offset is 10 cm Since the indirect wave offset is set using the minimum P_max in FIG. 19 as described above, it can be confirmed with sufficient reliability that the object does not exist in the parking path.

Of course, in this second embodiment, a plurality of sensors installed in the vehicle sequentially transmit ultrasonic waves, and whenever ultrasonic waves are transmitted from each sensor, the steps described above are repeated for two adjacent sensors, thereby parking It is possible to more accurately determine whether the path and obstacles around it are located inside the parking path.

Referring to FIG. 30, an apparatus for determining a parking path and obstacles therearound using ultrasonic waves capable of implementing the second embodiment of the method for determining a parking path and obstacles therearound using ultrasonic waves is reflected from an object and received a noise determination unit 300 that determines whether ultrasonic noise exists in ultrasonic TOFs; a virtual object generator 301 for generating a virtual object based on the ultrasonic TOF received on the outer line of a parking path along which the vehicle will move when the noise determination unit 300 determines that no ultrasonic noise exists; a virtual indirect wave generation unit 302 for generating a virtual indirect wave TOF using the virtual object generated by the virtual object generation unit 301; The actual indirect wave TOF, which is the indirect wave TOF among the received ultrasound TOFs, and the virtual indirect wave TOF generated by the virtual indirect wave generation unit 302, the predetermined indirect wave generated by the indirect wave offset generation unit 303 It may be configured to include an object location determination unit 304 that determines whether the object is located inside or outside the outline of the parking path by comparing the addition of the offset.

The noise determination unit 300 includes a dynamic noise determination unit 300-1 and a static noise determination unit 300-2, and both direct wave TOF and indirect wave TOF exist in the received ultrasonic TOFs, When neither dynamic noise nor static noise exists, it may be configured to determine that the ultrasonic noise does not exist.

The dynamic noise determination unit 300-1

d(direct wave hTOF) > Vdt

In the case of, it may be configured to determine that the dynamic noise has occurred, where

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; It is the ultrasonic update cycle [ms].

The static noise determination unit 300-2

|direct wave hTOF-indirect wave hTOF| > Distance between sensors/2

In the case of, it is configured to determine that the static noise has occurred, where

hTOF = TOF/2

distance between sensors; It is the distance between the direct wave transmission/reception sensor and the indirect wave reception sensor.

The virtual object generating unit 301 is configured to generate the virtual object at an intersection where a circle centered on the position of the sensor that transmits and receives the direct wave and whose radius is the direct wave hTOF meets the outline of the parking path. It can be.

The virtual indirect wave generating unit 302 generates the virtual indirect wave TOF, a straight line connecting the virtual object from the position of the sensor that has transmitted and received the direct wave, and the sensor that has received the indirect wave from the virtual object. It can be configured to generate a sum of straight lines connecting the positions of.

The indirect wave offset generator 303,

Assuming that the direct wave and the indirect wave are reflected at two different points M and N on the same object, the distance F between the two points is taken as a radius, and point M, which is assumed to be the point where the direct wave is reflected, is the radius. Calculating an ultrasonic probability density function at which point N, which is assumed to be a point where the indirect wave is reflected, will be located on a circle centered on;

When it is assumed that the indirect wave is reflected at a point where the probability of the point N being located is highest from the ultrasonic probability density function, the indirect wave offset may be set using a difference between an actual indirect wave hTOF and an ideal indirect wave hTOF. there is.

The ideal indirect wave hTOF is a straight line connecting the position of the sensor that transmits and receives the direct wave (the sensor that transmits the indirect wave) to the point where the point N is most likely to be located from the ultrasonic probability density function, and the point N It can be calculated by dividing the sum of straight lines connecting the position of the sensor receiving the indirect wave from the point with the highest probability of being located by 2.

It is assumed that the plane formed by the circle formed by the two points M and N is parallel to the plane formed by the sensors.

The ultrasonic probability density function,

On an infinite straight line connecting the two points M and N, with M' being the point where the direct wave TOF is minimum and N' being the point where the indirect wave TOF is minimum, with the point M as the center, When rotating the infinite straight line,

The probability P_m that M' is equal to M is,

When the M' is between the M and N,

P_m = (distance between M' and N) / (distance between N and M),

If the M' deviates from the section between M and N toward M,

P_m=1, and

If the M' deviates from the section between M and N toward N,

Calculated as P_m = 0,

The probability P_n that N' is equal to N is,

When N' is between M and N,

P_n = (distance between N' and M) / (distance between N and M),

If the N' is out of the section between the M and N toward N,

P_n=1, and

If the N' deviates from the interval between the M and N toward M,

Calculated as P_n = 0,

It can be calculated as P_m * P_n.

In addition, the ultrasonic probability density function,

On the infinite straight line connecting the two points M and N, the point of intersection formed by drawing perpendiculars from the sensor transmitting and receiving the direct wave is set as M', and the position of the sensor receiving the indirect wave centered on the infinite straight line is axisymmetric. When the point of intersection where the straight line connecting the sensor for transmitting and receiving the direct wave meets the infinite straight line is N', and the infinite straight line is rotated around the point M,

The probability P_m that M' is equal to M is,

When the M' is between the M and N,

P_m = (distance between M' and N) / (distance between N and M),

If the M' deviates from the section between M and N toward M,

P_m=1, and

If the M' deviates from the section between M and N toward N,

Calculated as P_m = 0,

The probability P_n that N' is equal to N is,

When N' is between M and N,

P_n = (distance between N' and M) / (distance between N and M),

If the N' is out of the section between the M and N toward N,

P_n=1, and

If the N' deviates from the interval between the M and N toward M,

Calculated as P_n = 0,

It can be calculated as P_m * P_n.

An object assumed to include the two points M and N is assumed to be a circle with the point M as a reference and the radius F, and the point M travels in the direction of the parking path by a predetermined reference distance detectable by ultrasonic waves from the vehicle. It is assumed that the circle is spaced apart from the outer line of the parking path by a predetermined reference offset.

The object location determination unit 304,

When the sensor that transmits and receives the direct wave is located outside the parking path compared to the sensor that receives the indirect wave,

if the real indirect wave hTOF is greater than the virtual indirect wave hTOF + the indirect wave offset, it is determined that the object is located outside the outline of the parking path;

When the actual indirect wave hTOF is less than or equal to the virtual indirect wave hTOF + the indirect wave offset, it may be configured to determine that the object is located inside the outline of the parking path.

Referring to FIG. 21 , a third embodiment of a method for determining a parking path and surrounding obstacles using ultrasonic waves includes obtaining a final path offset for a parking path along which a vehicle will move (S410); Determining whether ultrasonic noise is present in ultrasonic TOFs reflected from an object and received (S420); If there is no ultrasonic noise, correcting by adding the final path offset to the contour of the parking path along which the vehicle will move, and generating a virtual object based on the ultrasonic TOF received on the modified contour (S430); generating a virtual indirect wave TOF using the virtual object (S440); Determining whether the object is located inside or outside the outline of the parking path by comparing the actual indirect wave TOF, which is the indirect wave TOF among the received ultrasonic TOFs, and the virtual indirect wave TOF (S450) consists of including

That is, in the third embodiment, when it is determined whether the object is located inside or outside the outer line of the parking path, the position of the object is determined based on the outer line of the parking path to which the final path offset is added. It is different from the first embodiment.

Therefore, in the step of determining whether the ultrasonic noise exists (S420), when both the direct wave TOF and the indirect wave TOF exist in the received ultrasonic TOFs and neither dynamic noise nor static noise exists, the ultrasonic noise noise is judged not to exist.

In addition, the virtual object is generated at an intersection where a circle having a center of a sensor that transmits and receives a direct wave and a radius of the direct wave hTOF meets an outline of a parking path corrected by adding the final path offset.

In addition, the virtual indirect wave TOF is a straight line connecting the virtual object from the position of the sensor transmitting and receiving the direct wave, and a straight line connecting the position of the sensor receiving the indirect wave from the virtual object. created by the sum of

Of course, in the step of determining whether the object is located inside or outside the outline of the parking path (S450), the sensor that transmits and receives the direct wave is outside the parking path compared to the sensor that receives the indirect wave. If the real indirect wave hTOF is greater than the virtual indirect wave hTOF, it is determined that the object is located outside the outline of the parking path; If the actual indirect wave hTOF is less than or equal to the virtual indirect wave hTOF, it is determined that the object is located inside the outer line of the parking path.

In addition, a plurality of sensors installed in the vehicle sequentially transmits ultrasonic waves, and whenever ultrasonic waves are transmitted from each sensor, the steps described above are repeatedly performed for two adjacent sensors to detect parking paths and obstacles around them. It is possible to more accurately determine whether or not the vehicle is located inside the parking path.

The final path offset is the probability of determining the obstacle as an object inside the outer line when the vehicle is moved multiple times along the parking path with the obstacle installed inside the outer line of the parking path to be moved. Let's call it P_in; Probability P_out of determining that the obstacle is an object outside the outer line when the vehicle is moved multiple times along the parking path in a state in which an obstacle is installed outside the outer line of the parking path to be moved; Assuming that the path probability density function = P_in * P_out, the path probability density function forms a maximum value as the path offset, which is added to the outline of the parking path and causes the outline to move outwardly of the vehicle, is changed. determined by the path offset at

That is, when the number of times of moving the vehicle along the parking path of the vehicle is (i = 1, 2, 3??n) times,

If P_in _i =[(number of times that the obstacle is determined to be located inside the outline during the i-th movement) / (number of times that the obstacle is determined to be located inside or outside the outline during the i-th movement)] * 100,

으로 산출하고,P_in =

calculated as,

When the number of times of moving the vehicle along the parking path of the vehicle is (i = 1, 2, 3??n) times,

If P_out _i =[(number of times that the obstacle is determined to be located outside the outline during the i-th movement) / (number of times that the obstacle is determined to be located inside or outside the outline during the i-th movement)] * 100,

으로 산출한다.P_out =

calculated as

Substantially, the probability P_in is determined by using ultrasound TOF data obtained while moving the vehicle multiple times along the parking path in a state in which obstacles are installed inside the outline of the parking path along which the vehicle will move, and the path offset It can be calculated by simulating while changing .

Similarly, the probability P_out is determined by using ultrasonic TOF data obtained while moving the vehicle multiple times along the parking path in a state in which an obstacle is installed outside the outline of the parking path along which the vehicle will move, and the path offset It can be calculated by simulating while changing .

Of course, the obstacles of the parking path are changed and installed in a plurality of types; It is preferable to obtain the ultrasound TOF data while moving the vehicle multiple times along the parking path for each obstacle.

If the outline of the parking path is corrected by adding the final path offset obtained in the above method, the object is parked in a state in which the error of the parking path itself caused by vehicle speed or wheel slip and an object having an actual volume are sufficiently taken into account. Whether it is inside or outside the path can be determined more accurately than in the first embodiment.

Referring to FIG. 31, an apparatus for determining a parking path using ultrasonic waves and obstacles therearound, which can implement the third embodiment of the method for determining a parking path and obstacles therearound using ultrasonic waves, is a parking space where a vehicle will move a final path offset generating unit 400 that generates a final path offset for the path; a noise determination unit 401 that determines whether ultrasonic noise is present in ultrasonic TOFs that are reflected from an object and received; When the noise determination unit 401 determines that there is no ultrasonic noise, it is modified by adding the final path offset generated by the final path offset generator 400 to the outline of the parking path along which the vehicle will move, and the modified a virtual object generator 402 that creates a virtual object based on the ultrasonic TOF received on the outline; a virtual indirect wave generation unit 403 for generating a virtual indirect wave TOF using the virtual object generated by the virtual object generation unit 402; By comparing the actual indirect wave TOF, which is the indirect wave TOF among the received ultrasonic TOFs, with the virtual indirect wave TOF generated by the virtual indirect wave generation unit, it is determined whether the object is located inside or outside the outline of the parking path. It may be configured to include an object position determination unit 404 that determines.

The noise determination unit 401 includes a dynamic noise determination unit 401-1 and a static noise determination unit 401-2, and both direct wave TOF and indirect wave TOF exist in the received ultrasonic TOFs, When neither dynamic noise nor static noise exists, it may be configured to determine that the ultrasonic noise does not exist.

The dynamic noise determination unit 401-1,

d(direct wave hTOF) > Vdt

In the case of, it may be configured to determine that the dynamic noise has occurred, where

Direct Wave hTOF = Direct Wave TOF/2

V; vehicle speed

dt; It is the ultrasonic update cycle [ms].

The static noise determination unit 401-2,

|direct wave hTOF-indirect wave hTOF| > Distance between sensors/2

In the case of, it may be configured to determine that the static noise has occurred, where

hTOF = TOF/2

distance between sensors; It is the distance between the direct wave transmission/reception sensor and the indirect wave reception sensor.

The virtual object generator 402 sets the virtual object to the outline of the parking path modified by adding a final path offset to a circle whose center is the position of the sensor that transmits and receives the direct wave and whose radius is the direct wave hTOF. It can be configured to be created at the intersection where it meets.

The virtual indirect wave generating unit 403 generates the virtual indirect wave TOF, a straight line connecting the virtual object from the position of the sensor that transmitted and received the direct wave, and the sensor that received the indirect wave from the virtual object. It can be configured to generate a sum of straight lines connecting the positions of.

The object location determination unit 404,

When the sensor that transmits and receives the direct wave is located outside the parking path compared to the sensor that receives the indirect wave,

if the real indirect wave hTOF is greater than the virtual indirect wave hTOF, it is determined that the object is located outside the outline of the parking path;

When the actual indirect wave hTOF is less than or equal to the virtual indirect wave hTOF, it may be configured to determine that the object is located inside the outline of the parking path.

The final path offset generator 400,

When the vehicle is moved multiple times along the parking path in a state where an obstacle is installed inside the outer line of the parking path to be moved, the probability of determining the obstacle as an object inside the outer line is P_in;

Probability P_out of determining that the obstacle is an object outside the outer line when the vehicle is moved multiple times along the parking path in a state in which an obstacle is installed outside the outer line of the parking path to be moved;

When the path probability density function = P_in * P_out,

The path offset when the path probability density function forms the maximum value is determined as the final path offset as the path offset, which is added to the outline of the parking path and causes the edge to move outwardly of the vehicle, is changed. can be configured to

When the number of times of moving the vehicle along the parking path of the vehicle is (i = 1, 2, 3??n) times,

If P_in _i =[(number of times that the obstacle is determined to be located inside the outline during the i-th movement) / (number of times that the obstacle is determined to be located inside or outside the outline during the i-th movement)] * 100,

P_in =

is calculated as

When the number of times of moving the vehicle along the parking path of the vehicle is (i = 1, 2, 3??n) times,

If P_out _i =[(number of times that the obstacle is determined to be located outside the outline during the i-th movement) / (number of times that the obstacle is determined to be located inside or outside the outline during the i-th movement)] * 100,

P_out =

is calculated as

The probability P_in is,

While moving the vehicle multiple times along the parking path in a state where obstacles are installed inside the outline of the parking path on which the vehicle will move, using the obtained ultrasonic TOF data, the path offset is varied and simulated, and calculated ;

The probability P_out is,

The vehicle is moved along the parking path multiple times in a state where an obstacle is installed outside the outer line of the parking path to be moved, and the obtained ultrasonic TOF data is used to simulate the path while changing the offset. .

Referring to FIG. 22 , a first embodiment of a method for filtering a parking path and obstacles therearound using ultrasonic waves includes receiving inputs of a parking path for a vehicle to drive and object coordinates around the parking path (S510); determining whether an object exists outside both sides of the parking path from the received object coordinates (S520); If there are objects outside both sides of the parking path, determining whether object coordinates inside the parking path exist among the received object coordinates (S530); If object coordinates inside the parking path exist, calculating a virtual indirect wave TOF by two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction (S540); comparing the virtual indirect wave TOF with the actual indirect wave TOF to determine whether the object coordinates inside the parking path are ghost coordinates (S550); When the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path (S560).

In step S510 of receiving inputs of the coordinates of the parking path to be driven by the vehicle and objects around the parking path, coordinates of the parking path and objects around the parking path are received from a conventional parking assistance device such as a PCA (Parking Collision Avoidance Assist) device. can be input.

The ghost coordinates may be included among the input object coordinates as described above, and in this embodiment, if the ghost coordinates shown in FIG. 23 are included among the input object coordinates, filtering and removing them it is for

In a conventional parking assist device such as PCA, when sensors A, B, C, and D in FIG. In determining, as shown in FIG. 23, since there are real objects (RM) on both sides of the parking path, sensor B, which is the left inner sensor of the vehicle, detects the left object, and sensor C, which is the right inner sensor of the vehicle, detects the right object. In the case of detection, object coordinates can be generated as shown even if there is no actual object in the parking path by the ultrasonic TOF combination of the sensors B-C, and the present embodiment can generate object coordinates where no object actually exists in this way. This is to prevent unnecessary warnings or braking when parking by removing ghost coordinates when they are generated in the parking path.

In the step of determining whether an object exists outside both sides of the parking path from the input object coordinates (S520), the input object coordinates exist on both sides of the vehicle and between the two object coordinates existing on both sides of the vehicle If the distance of exceeds the vehicle width and it is determined that two object coordinates existing on both sides of the vehicle exist outside the parking path, it is determined that objects exist outside both sides of the parking path.

Here, a virtual indirect wave TOF by two sensors (e.g., sensors A-B and C-D) of a vehicle side among a plurality of sensors disposed in the vehicle width direction is compared with an actual indirect wave TOF, and the actual indirect wave TOF is determined as a virtual indirect wave TOF. If it is greater than the indirect wave TOF, it is determined that the object coordinates exist outside the parking path.

The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. It is calculated by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave.

Meanwhile, by comparing the virtual indirect wave TOF and the actual indirect wave TOF by the two sensors (e.g., sensors B-C) at the center of the vehicle, if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object inside the parking path Determine the coordinates as ghost coordinates.

In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. It is calculated by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point.

Referring to FIG. 32, an apparatus for determining a parking path using ultrasonic waves and obstacles therearound, which can implement the first embodiment of the method of filtering the parking path using ultrasonic waves and obstacles therearound, is a parking path on which a vehicle will travel. and a data input unit 501 receiving object coordinates around the parking path. a both object determination unit 502 that determines whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit 501; When the both object determination unit 502 determines that an object exists on both sides of the parking path, the inside object coordinate determination unit 503 determines whether there is an object coordinate inside the parking path among the input object coordinates. ; When the inside object coordinate determining unit 503 determines that there is an object coordinate inside the parking path, virtual indirect wave TOF is calculated by two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction. a virtual indirect derivative generating unit 504; a ghost coordinate determining unit 505 that compares the virtual indirect wave TOF generated by the virtual indirect wave generation unit 504 with the actual indirect wave TOF and determines whether the object coordinates inside the parking path are ghost coordinates; When the ghost coordinate determining unit 505 determines that the object coordinates inside the parking path are ghost coordinates, the coordinate filtering unit 506 may be configured to remove the object coordinates inside the parking path.

The both object determination unit 502 determines that the object coordinates input through the data input unit 501 exist on both sides of the vehicle, and the distance between the two object coordinates existing on both sides of the vehicle exceeds the vehicle width, and When it is determined that two object coordinates existing on both sides of the vehicle exist outside the parking path, it may be configured to determine that objects exist outside both sides of the parking path.

The both object determination unit 502 compares the virtual indirect wave TOF and the actual indirect wave TOF of the two sensors on the side of the vehicle among a plurality of sensors arranged in the vehicle width direction, and determines that the actual indirect wave TOF is the virtual If greater than the indirect wave TOF, it may be configured to determine that the object coordinates exist outside the parking path.

The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. It can be calculated by adding the direct wave hTOF and a straight line connecting the positions of the sensors receiving the indirect wave.

The ghost coordinate determination unit 505 compares the virtual indirect wave TOF and the actual indirect wave TOF by the two sensors at the center of the vehicle, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the parking route It may be configured to determine inner object coordinates as ghost coordinates.

In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. It can be calculated by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point.

Referring to FIG. 24 , a second embodiment of a method for filtering a parking path and obstacles therearound using ultrasonic waves includes receiving coordinates of a parking path for a vehicle to drive and objects around the parking path (S610); determining whether an object exists outside both sides of the parking path from the input object coordinates (S620); If an object exists outside both sides of the parking path, determining whether an object coordinate inside the parking path exists among the received object coordinates (S630); If the object coordinates inside the parking path exist, the distance between the coordinates of the sensor that transmits and receives the direct wave and the coordinates of the received object among the two sensors in the center of the vehicle among the plurality of sensors arranged in the vehicle width direction determining whether the object coordinates inside the parking path are ghost coordinates by comparing the direct wave hTOF in coordinates with the actual direct wave hTOF in coordinates (S640); When the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path (S650).

That is, this embodiment is another technology that can remove ghost coordinates generated in the situation as shown in FIG. Used separately from or overlapped with the first embodiment, ghost coordinates formed in the parking path can be more reliably removed.

If the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference, it is determined that the object coordinates inside the parking path are ghost coordinates.

This is because, in the situation shown in FIG. 23, there is a difference between the direct wave hTOF actually reflected from an object located outside the parking path and the coordinated direct wave hTOF calculated for the object coordinates (ghost coordinates) inside the parking path. , The allowable direct wave difference is set so that such a difference can be confirmed, so that it can be checked whether the object coordinates inside the parking path are ghost coordinates.

Accordingly, the allowable direct wave difference may be determined by design through a number of experiments and analyzes according to the above-mentioned purpose.

In addition, the present embodiment compares the direct wave hTOF on the coordinates with the actual direct wave hTOF, and when it is determined that the object coordinates inside the parking path are not ghost coordinates, the indirect wave among the two sensors at the center of the vehicle is determined. calculating coordinate indirect wave TOF by adding the coordinate-based direct wave hTOF to the distance between the coordinates of the received sensor and the coordinates of the received object (S660); The method may further include a step of additionally determining whether the object coordinates inside the parking path are ghost coordinates by comparing the coordinate indirect wave TOF with the actual indirect wave TOF (S670).

That is, even when it is determined that the object coordinates inside the parking path are not ghost coordinates by comparing the direct wave hTOF on coordinates with the actual direct wave hTOF, the indirect wave TOF on coordinates is obtained as described above, By comparing, it is further determined whether the object coordinates inside the parking path are ghost coordinates.

Of course, if the difference between the indirect wave TOF on the coordinates and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference, it is determined that the object coordinates inside the parking path are ghost coordinates.

The allowable indirect wave difference may be determined by design through a number of experiments and analyzes to the extent that the actual indirect wave TOF and the coordinate indirect wave TOF for ghost coordinates can be distinguished according to the above purpose.

In the above embodiment, when it is determined that the object coordinates inside the parking path are ghost coordinates, the step of removing the object coordinates inside the parking path (S650) is performed, and the object coordinates inside the parking path are ghost coordinates. If it is determined that it is not, the existing coordinates input from the parking assist device such as the PCA are output as they are, so that a warning device or a braking device can be driven.

Referring to FIG. 33, an apparatus for determining a parking path using ultrasonic waves and obstacles therearound, which can implement the second embodiment of the method of filtering the parking path using ultrasonic waves and obstacles therearound, is a parking path to be driven by a vehicle. and a data input unit 601 receiving object coordinates around the parking path. a both object determination unit 602 for determining whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit 601; When the both object determination unit 602 determines that an object exists on both sides of the parking path, an inside object coordinate determination unit 603 for determining whether an object coordinate inside the parking path exists among the input object coordinates ; When the inside object coordinate determination unit 603 determines that the object coordinates inside the parking path exist, among the plurality of sensors disposed in the vehicle width direction, among the two sensors toward the center of the vehicle, the sensor that transmits and receives the direct wave Determines whether the coordinates of the object inside the parking path are ghost coordinates by setting the distance between the coordinates and the coordinates of the input object as the direct wave hTOF on the coordinates, and comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF Ghost coordinate determination unit 604; When the ghost coordinate determination unit 604 determines that the object coordinates inside the parking path are ghost coordinates, the coordinate filtering unit 605 may be configured to remove the object coordinates inside the parking path.

The ghost coordinate determination unit 604 is configured to determine that the object coordinates inside the parking path are ghost coordinates when the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference. can

In addition, the ghost coordinate determining unit 604 compares the direct wave hTOF on the coordinates with the actual direct wave hTOF, and when it is determined that the coordinates of the object inside the parking path are not ghost coordinates, the ghost coordinates are located in the center of the vehicle. calculating coordinate indirect wave TOF by adding the coordinate-based direct wave hTOF to the distance between the coordinates of the sensor receiving the indirect wave and the coordinates of the received object;

It may be configured to further determine whether the object coordinates inside the parking path are ghost coordinates by comparing the indirect wave TOF on the coordinates with the actual indirect wave TOF.

In addition, the ghost coordinate determination unit 604 determines that the object coordinates inside the parking path are ghost coordinates when the difference between the coordinate indirect wave TOF and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference. can be configured.

Referring to FIG. 25 , a third embodiment of a method for filtering a parking path and obstacles therearound using ultrasonic waves includes receiving inputs of a parking path for a vehicle to drive and object coordinates around the parking path (S710); Determining whether the received object coordinates are coordinates within the parking path (S720); calculating a virtual indirect wave TOF by the two sensors on the side of the vehicle when the input object coordinates are coordinates within the parking path (S730); The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object inside the parking path, the input object coordinates are output as valid coordinates, and the source object is If it is determined that the object is outside the parking path, it is configured to include a step (S740) of removing the input object coordinates.

That is, in this embodiment, as shown in FIG. 26, the cause object RM of the actually input object coordinates is located outside the parking path, but the input object coordinates are located within the parking path due to errors or noise of the parking assist device. If it is determined that the virtual indirect wave TOF is calculated as described above, and compared with the actual indirect wave TOF, it is determined whether the cause object is located in the actual parking path, and finally, the virtual indirect wave TOF is determined. The position of the causative object is determined according to a comparison result between the indirect wave TOF and the actual indirect wave TOF.

In addition, the present embodiment, when the input object coordinates are not coordinates within the parking path, calculating a virtual indirect wave TOF by the two sensors on the vehicle side (S750); The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object outside the parking path, the input object coordinates are output as valid coordinates, and the source object If it is determined that the object is inside the parking path, removing the input object coordinates and determining the causative object as an object within the parking path (S760);

That is, contrary to the situation of FIG. 26, as shown in FIG. 27, the source object RM of the input object coordinates is actually located inside the parking path, but due to various reasons such as noise, the input object coordinates are located outside the parking path. In this case, as described above, the virtual indirect wave TOF is calculated and compared with the actual indirect wave TOF to finally determine whether the causative object is substantially located inside the parking path.

Therefore, even if erroneous object coordinates are input for various reasons in a conventional parking assist device such as a PCA, it can be correctly corrected by the above-described obstacle filtering method.

That is, even when the input object coordinates are coordinates within the parking path, if the result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, it is determined that the object causing the input object coordinates is an object outside the parking path. , The received object coordinates are excluded from the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

Of course, even when the input object coordinates are not coordinates within the parking path, as a result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, it is determined that the object causing the input object coordinates is an object inside the parking path. , the received object coordinates are included in the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

Accordingly, proper operation reliability of the parking distance warning device or braking device of the vehicle can be ensured and unnecessary malfunction can be effectively prevented.

Referring to FIG. 34, an apparatus for determining a parking path using ultrasonic waves and obstacles therearound, which can implement the third embodiment of the method of filtering the parking path using ultrasonic waves and obstacles therearound, is a parking path on which a vehicle will travel. and a data input unit 701 receiving object coordinates around the parking path. an in-path coordinate determining unit 702 that determines whether the object coordinates input through the data input unit 701 are coordinates within the parking path; When the in-path coordinate determination unit 702 determines that the object coordinates input through the data input unit 701 are coordinates in the parking path, the virtual indirect wave TOF calculated by the two sensors on the side of the vehicle is calculated. derivation section 703; The virtual indirect wave TOF generated by the virtual indirect wave generator 703 is compared with the actual indirect wave TOF, and when the object causing the input object coordinates is determined to be an object inside the parking path, the input object coordinates are calculated. It may be configured to include a coordinate filtering unit 704 that outputs valid coordinates and removes the received object coordinates when the causative object is determined to be an object outside the parking path.

When the in-path coordinate determining unit 702 determines that the coordinates of the object input through the data input unit 701 are not coordinates in the parking path, the virtual indirect derivative generating unit 703 calculates the configured to calculate a virtual indirect wave TOF;

The coordinate filtering unit 704 compares the virtual indirect wave TOF and the actual indirect wave TOF, and when the object that is the cause of the input object coordinates is determined to be an object outside the parking path, the input object coordinates are converted to effective coordinates. , and if the causative object is determined to be an object inside the parking path, the received object coordinates may be removed and the causal object may be determined as an object within the parking path.

In addition, even when the input object coordinates are coordinates within the parking path, the coordinate filtering unit 704 compares the virtual indirect wave TOF with the actual indirect wave TOF, and the causative object of the input object coordinates When is determined to be an object outside the parking path, the received object coordinates may be configured to be excluded from the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

In addition, the coordinate filtering unit 704 compares the virtual indirect wave TOF with the actual indirect wave TOF even when the input object coordinates are not coordinates in the parking path, and the cause of the input object coordinates If the object is determined to be an object inside the parking path, the received object coordinates may be configured to be included in the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.

Although the present invention has been shown and described in relation to specific embodiments, it is known in the art that the present invention can be variously improved and changed without departing from the technical spirit of the present invention provided by the claims below. It will be self-evident to those skilled in the art.

A, B, C, D; sensor
V; vehicle
LN; outline of the parking path

Claims (28)

receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;
determining whether an object exists outside both sides of the parking path, based on the received object coordinates;
determining whether object coordinates inside the parking path exist among the input object coordinates, if objects exist outside both sides of the parking path;
calculating a virtual indirect wave TOF by two sensors in the center of the vehicle, among a plurality of sensors disposed in the vehicle width direction, if the object coordinates inside the parking path exist;
comparing the virtual indirect wave TOF with the actual indirect wave TOF to determine whether the object coordinates inside the parking path are ghost coordinates;
if the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path;
A method of filtering a parking path and surrounding obstacles using ultrasound, characterized in that configured to include. The method of claim 1,
The received object coordinates exist on both sides of the vehicle, the distance between the two object coordinates existing on both sides of the vehicle exceeds the vehicle width, and the two object coordinates existing on both sides of the vehicle exist outside the parking path. If determined, determining that objects exist outside both sides of the parking path
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 2,
Among the plurality of sensors arranged in the vehicle width direction, the virtual indirect wave TOF and the actual indirect wave TOF by two sensors on the side of the vehicle are compared, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object coordinates Determining that it exists outside the parking path
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 3,
The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. Calculating by adding a straight line connecting the position of a sensor receiving the indirect wave and the direct wave hTOF
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 1,
Comparing the virtual indirect wave TOF and the actual indirect wave TOF by the two sensors at the center of the vehicle, and determining the object coordinates inside the parking path as ghost coordinates when the actual indirect wave TOF is greater than the virtual indirect wave TOF thing
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 5,
In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. Calculating by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;
determining whether an object exists outside both sides of the parking path, based on the received object coordinates;
determining whether object coordinates inside the parking path exist among the input object coordinates, if objects exist outside both sides of the parking path;
If the object coordinates inside the parking path exist, the distance between the coordinates of the sensor that transmits and receives the direct wave and the coordinates of the received object among the two sensors in the center of the vehicle among the plurality of sensors arranged in the vehicle width direction determining whether the object coordinates inside the parking path are ghost coordinates by comparing the direct wave hTOF in coordinates with the direct wave hTOF in coordinates and comparing the direct wave hTOF in coordinates with the actual direct wave hTOF;
if the object coordinates inside the parking path are ghost coordinates, removing the object coordinates inside the parking path;
A method of filtering a parking path and its surrounding obstacles using ultrasonic waves, characterized in that configured to include. The method of claim 7,
If the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference, determining that the object coordinates inside the parking path are ghost coordinates.
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 7,
When it is determined that the object coordinates inside the parking path are not ghost coordinates by comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF, the coordinates of the sensor receiving the indirect wave among the two sensors in the center of the vehicle and , calculating a coordinate indirect wave TOF by adding the coordinate direct wave hTOF to the distance between the input coordinates of the object;
comparing the indirect wave TOF on the coordinates with the actual indirect wave TOF, and further determining whether the object coordinates inside the parking path are ghost coordinates;
A method of filtering a parking path and its surrounding obstacles using ultrasonic waves, characterized in that configured to further include. The method of claim 9,
Determining that the object coordinates inside the parking path are ghost coordinates when a difference between the indirect wave TOF on the coordinates and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that receiving inputs of a parking path for the vehicle to drive and object coordinates around the parking path;
determining whether the received object coordinates are coordinates within the parking path;
calculating a virtual indirect wave TOF by two sensors on the side of the vehicle when the input object coordinates are coordinates within the parking path;
The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object inside the parking path, the input object coordinates are output as valid coordinates, and the source object is removing the received object coordinates if it is determined that the object is outside the parking path;
A method of filtering a parking path and its surrounding obstacles using ultrasonic waves, characterized in that configured to include. The method of claim 11,
calculating a virtual indirect wave TOF by two sensors on the side of the vehicle when the received object coordinates are not coordinates within the parking path;
The virtual indirect wave TOF is compared with the actual indirect wave TOF, and if the source object of the input object coordinates is determined to be an object outside the parking path, the input object coordinates are output as valid coordinates, and the source object removing the received object coordinates and determining the causative object as an object within the parking path when it is determined that the object is inside the parking path;
A method of filtering a parking path and its surrounding obstacles using ultrasonic waves, characterized in that configured to include. The method of claim 12,
Even when the input object coordinates are coordinates within the parking path, as a result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object outside the parking path, the The received object coordinates are excluded from the coordinates that drive the Parking Distance Warning (PWD) device or the braking device.
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that The method of claim 12,
Even when the input object coordinates are not coordinates within the parking path, as a result of comparing the virtual indirect wave TOF with the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object inside the parking path, The received object coordinates are included in the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.
A method for filtering a parking path and surrounding obstacles using ultrasound, characterized in that a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;
a both object determination unit determining whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit;
an inner object coordinate determining unit determining whether an object coordinate inside the parking path exists among the input object coordinates when the both object determining unit determines that an object exists on both sides of the parking path;
When the inner object coordinate determination unit determines that the object coordinates inside the parking path exist, virtual indirect wave TOF is calculated by two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction. part;
a ghost coordinate determining unit comparing the virtual indirect wave TOF generated by the virtual indirect wave generation unit with the actual indirect wave TOF, and determining whether the object coordinates inside the parking path are ghost coordinates;
a coordinate filtering unit to remove the object coordinates inside the parking path when the ghost coordinate determination unit determines that the object coordinates inside the parking path are ghost coordinates;
A parking path and obstacle filtering device around it using ultrasonic waves, characterized in that configured to include a. The method of claim 15
The both object determination unit,
The object coordinates input through the data input unit exist on both sides of the vehicle, the distance between the two object coordinates existing on both sides of the vehicle exceeds the vehicle width, and the two object coordinates existing on both sides of the vehicle are outside the parking path. configured to determine that an object exists outside both sides of the parking path if it is determined that it exists in
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 16
The both object determination unit,
Among the plurality of sensors arranged in the vehicle width direction, the virtual indirect wave TOF and the actual indirect wave TOF by two sensors on the side of the vehicle are compared, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, the object coordinates configured to determine that it exists outside the parking path
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 17
The virtual indirect wave TOF by the two sensors on the side of the vehicle has the position of the sensor that transmits and receives the direct wave among the two sensors as its center, and the circle whose radius is the direct wave hTOF is from the intersection where the outer line of the parking path meets. Calculating by adding a straight line connecting the position of a sensor receiving the indirect wave and the direct wave hTOF
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 15
The ghost coordinate determination unit,
Compare the virtual indirect wave TOF and the actual indirect wave TOF by the two sensors at the center of the vehicle, and if the actual indirect wave TOF is greater than the virtual indirect wave TOF, determine the object coordinates inside the parking path as ghost coordinates made up of
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 19
In the virtual indirect wave TOF by the two sensors in the center of the vehicle, a circle centered on the position of the sensor that transmits and receives the direct wave among the two sensors and having a radius of the direct wave hTOF meets the outline of the parking path. Calculating by adding the direct wave hTOF and a straight line connecting the position of the sensor receiving the indirect wave from the intersection point
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;
a both object determination unit determining whether an object exists outside both sides of the parking path, based on the object coordinates input through the data input unit;
an inner object coordinate determining unit determining whether an object coordinate inside the parking path exists among the input object coordinates when the both object determining unit determines that an object exists on both sides of the parking path;
When the inside object coordinate determination unit determines that the object coordinates inside the parking path exist, the coordinates of the sensor that transmits and receives the direct wave among the two sensors in the center of the vehicle among a plurality of sensors disposed in the vehicle width direction, A ghost coordinate determination unit that determines whether the coordinates of the object inside the parking path are ghost coordinates by setting the distance between the coordinates of the received object as the direct wave hTOF on the coordinates and comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF. ;
a coordinate filtering unit to remove the object coordinates inside the parking path when the ghost coordinate determination unit determines that the object coordinates inside the parking path are ghost coordinates;
A parking path and obstacle filtering device around it using ultrasonic waves, characterized in that configured to include a. The method of claim 21,
The ghost coordinate determination unit,
When the difference between the direct wave hTOF on the coordinates and the actual direct wave hTOF exceeds a predetermined allowable direct wave difference, determining that the object coordinates inside the parking path are ghost coordinates.
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 21,
The ghost coordinate determination unit,
When it is determined that the object coordinates inside the parking path are not ghost coordinates by comparing the direct wave hTOF on the coordinates with the actual direct wave hTOF, the coordinates of the sensor receiving the indirect wave among the two sensors in the center of the vehicle and , calculating coordinate indirect wave TOF by adding the coordinate direct wave hTOF to the distance between the input coordinates of the object;
Comparing the indirect wave TOF on the coordinates with the actual indirect wave TOF to further determine whether the object coordinates inside the parking path are ghost coordinates.
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 23
The ghost coordinate determination unit,
configured to determine that the object coordinates inside the parking path are ghost coordinates when a difference between the indirect wave TOF on the coordinates and the actual indirect wave TOF exceeds a predetermined allowable indirect wave difference
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. a data input unit that receives a parking path for the vehicle to drive and object coordinates around the parking path;
an in-path coordinate determination unit determining whether the object coordinates input through the data input unit are coordinates in the parking path;
a virtual indirect wave generation unit that calculates a virtual indirect wave TOF by two sensors on the side of the vehicle when the in-path coordinate determination unit determines that the object coordinates input through the data input unit are coordinates in the parking path;
When the virtual indirect wave TOF generated by the virtual indirect wave generation unit is compared with the actual indirect wave TOF, and the source object of the input object coordinates is determined to be an object inside the parking path, the input object coordinates are regarded as valid coordinates. a coordinate filtering unit for outputting and removing the received object coordinates when the cause object is determined to be an object outside the parking path;
A parking path and obstacle filtering device around it using ultrasonic waves, characterized in that configured to include a. The method of claim 25
When the in-path coordinate determination unit determines that the object coordinates input through the data input unit are not coordinates in the parking path, the virtual indirect derivative generation unit is configured to calculate a virtual indirect wave TOF by two sensors on the vehicle side, ;
The coordinate filtering unit compares the virtual indirect wave TOF and the actual indirect wave TOF, and outputs the input object coordinates as valid coordinates when the source object of the input object coordinates is determined to be an object outside the parking path, If the causative object is determined to be an object inside the parking path, remove the input object coordinates and determine the causative object as an object within the parking path.
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 26 ,
The coordinate filtering unit,
Even when the input object coordinates are coordinates within the parking path, as a result of comparing the virtual indirect wave TOF and the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object outside the parking path, the The input object coordinates are configured to be excluded from the coordinates that drive the Parking Distance Warning (PWD) device or the braking device.
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves. The method of claim 26 ,
The coordinate filtering unit,
Even when the input object coordinates are not coordinates within the parking path, as a result of comparing the virtual indirect wave TOF with the actual indirect wave TOF, if the object causing the input object coordinates is determined to be an object inside the parking path, The input object coordinates are configured to be included in the coordinates for driving a Parking Distance Warning (PWD) device or a braking device.
An apparatus for filtering parking paths and obstacles around them using ultrasonic waves.

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