KR20230143687A - Automatic target control device and method for sensor performance test of a vehicle - Google Patents

Abstract

The present invention relates to an automatic target control device and method for testing the sensor performance of a vehicle, including a target that reflects the beam of a radar sensor, a position detection sensor installed on the target to detect the position of the radar sensor of the vehicle, and the target. Receives detection information from a spectrum sensor installed in the target to detect the position where the beam intensity of the radar sensor irradiated to the target is the strongest, the position detection sensor, the spectrum sensor, and a vehicle camera installed in the vehicle to detect height information of the target. And, it may include a drive control unit that determines the position of the target, and a drive unit that moves the target to the determined position under the control of the drive control unit.

Description

Automatic target control device and method for sensor performance test of a vehicle}

The present invention relates to an automatic target control device and method for testing sensor performance of a vehicle, and more specifically, to a device and method that can automatically detect the position of a radar sensor and perform target correction.

Recently, vehicles are equipped with sensors to detect external objects, such as radar and lidar.

Before the launch or delivery of a vehicle, a final confirmation procedure is conducted to check the performance of sensors such as front and side radars, and the vehicle is shipped after determining whether the performance of various vehicle sensors is abnormal at EOL (End Of Line).

To date, radar types, especially MicroStrip antennas, have a beam shape that looks straight ahead due to their physical characteristics. Rather, the angle is distorted due to differences between samples that occurred during the production process.

In the EOL procedure, it is checked whether performance above a certain power can be achieved by considering the deviation of the radar's physical mounting angle and the inherent deviation of the microstrip antenna mentioned above.

To carry out these inspections and corrections, a structure called a corner reflector is used, and a method is used to reflect a specific beam emitted from a radar, re-receive it, and backtrack the distorted angle.

As such, the conventional inspection method is a backtracking method, and the effective value of correction can be accurately determined only when the radar and target positions before correction exactly match.

Recently, a flat plate correction method has been introduced to free this position, but in terms of correction accuracy, it is not as good as a corner reflector, and since the flat plate method also requires adjusting the beam area, height adjustment is inevitable.

In particular, in the case of commercial vehicles (trucks, etc.), the installation height of the sensor varies greatly, ranging from 20 to 30 mm or more, depending on the tires/weight/purpose of each vehicle. Until now, corrections have been made without differences for each vehicle by fixing one position, so there was an inevitable problem that errors would occur.

Below, the conventional methods will be described using more specific examples.

First, Figure 1 shows a method in which a hydraulic cylinder capable of moving the target in the vertical direction is applied.

A flat target 100 is used, and Figure 1 (a) shows a descending structure, and Figure 1 (b) shows an embedded structure in which the target 100 moves upward from the buried state.

The radar sensor 210 of the vehicle 200 detects a target, checks the shape of the detected target, checks the installation angle of the radar sensor 210, and performs correction.

This hydraulic cylinder method has the advantage of being able to always be positioned in a fixed position, but has the disadvantage that fine adjustment is not possible and a lot of man-hours are required to adjust the fixed position.

Figure 2 is another example of the prior art, which is a configuration in which the target 100 can be moved in three axes using a robot arm.

This configuration is advantageous compared to the method introduced in Figure 1 in that it allows fine adjustment of the target position and allows the direction to be adjusted in various ways, but there is a possibility that errors may occur because the operator directly drives the robot arm when adjusting the position. There was a relatively disadvantageous problem in terms of accuracy.

Figure 3 is an example of the prior art of the flat target method.

The flat target method has the advantage that the position of the target 100 is fixed and no position adjustment is required. However, if the beam area of the radar sensor 210 mounted on the vehicle 200 exceeds the target 100, There was a problem that accurate detection was difficult because it was impossible to adjust the size and position of the target 100.

In this way, in order to correct the directivity angle to ensure radar sensor performance when mounted on a vehicle, the prior art requires that the target position be set to match the position of the radar sensor mounted on the vehicle as much as possible, and the target must be included within the beam area of the radar sensor. Accurate correction becomes possible.

However, in cases where the position of the radar sensor varies greatly from vehicle to vehicle, such as in commercial vehicles, there is a problem in that it is impossible to set the exact location. If there is a change in the height of the target, etc., the location setting must be changed when testing the radar sensor for each vehicle. Because of this, there was a problem of decreased efficiency.

Additionally, because positioning is performed manually, there is a problem that accuracy may be reduced.

[Prior art literature]

KR10-2019-0019403A

The technical problem to be solved by the present invention in consideration of the above problems is to provide a device and method that can automatically move a target according to the position and direction of a radar sensor.

In particular, the purpose of the present invention is to provide an apparatus and method that can place a target in a more accurate position by excluding operator intervention in adjusting the position of a target for performance testing of a radar sensor installed in a vehicle.

An automatic target control device for testing the sensor performance of a vehicle according to one aspect of the present invention to solve the above problems includes a target that reflects the beam of the radar sensor and is installed on the target to detect the position of the radar sensor of the vehicle. a position detection sensor, a spectrum sensor installed on the target and detecting the position where the beam intensity of the radar sensor irradiated to the target is the strongest, and a position detection sensor and a spectrum sensor installed on the vehicle to detect height information of the target. It may include a drive control unit that receives detection information from a vehicle camera and determines the position of the target, and a drive unit that moves the target to the determined position under the control of the drive control unit.

In an embodiment of the present invention, the position detection sensor may detect the height of the dome structure of the radar sensor installed in the vehicle.

In an embodiment of the present invention, the drive control unit may control the vertical movement of the target by controlling the drive unit according to the detection result of the position detection sensor.

In an embodiment of the present invention, the vehicle camera may detect height information of the target.

In an embodiment of the present invention, the drive control unit may adjust the distance between the target and the radar sensor by controlling the drive unit according to height information of the target detected through the vehicle camera.

In an embodiment of the present invention, the drive control unit may determine the left and right positions of the target according to the detection result of the spectrum sensor and control the drive unit to move the target in the left and right directions.

In addition, an automatic target control method for testing the sensor performance of a vehicle according to another aspect of the present invention includes the steps of a) receiving the vehicle's laser sensor location information detected from a position detection sensor installed on the target, and b) receiving the vehicle's laser sensor location information from the spectrum sensor. Receiving location information where the intensity of the beam irradiated to the detected target is the strongest, c) Receiving height information of the target detected from the vehicle camera, and d) Location information of the laser sensor and beam intensity information And it may include determining the position of the target in the drive control unit using the height information of the target, and adjusting the position of the target using the drive unit.

In an embodiment of the present invention, step d) may determine the vertical movement of the target using the information received in step a).

In an embodiment of the present invention, step d) may determine the left and right movement of the target using the information received in step b).

In an embodiment of the present invention, step d) may determine the distance between the target and the radar sensor using the information received in step c).

The present invention attaches a means for detecting the position of a radar sensor mounted on a vehicle and a means for detecting the intensity of the beam to the target, and checks the height of the target using a camera installed on the vehicle, so that the height of each detection means can be checked. By automatically moving the target's position using the detection result, there is an effect of automatically adjusting the target's position without operator intervention.

1 to 3 are illustrations of conventional target position control, respectively.
Figure 4 is a block diagram of an automatic target control device for testing sensor performance of a vehicle according to a preferred embodiment of the present invention.
Figure 5 is a block diagram of one implementation of the drive control unit.
Figure 6 is a flowchart of an automatic target control method for testing sensor performance of a vehicle according to a preferred embodiment of the present invention.

Hereinafter, the automatic target control device and method for testing the sensor performance of the vehicle of the present invention will be described in detail with reference to the attached drawings.

The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art, and the embodiments described below may be modified into various other forms, and the embodiments of the present invention may be modified. The scope is not limited to the examples below. Rather, these examples are provided to make the present invention more faithful and complete and to fully convey the spirit of the present invention to those skilled in the art.

The terms used herein are used to describe specific embodiments and are not intended to limit the invention. As used herein, the singular forms include the plural forms unless the context clearly indicates otherwise. Additionally, when used herein, “comprise” and/or “comprising” means specifying the presence of stated features, numbers, steps, operations, members, elements and/or groups thereof. and does not exclude the presence or addition of one or more other shapes, numbers, operations, members, elements and/or groups. As used herein, the term “and/or” includes any one and all combinations of one or more of the listed items.

Although terms such as first, second, etc. are used herein to describe various members, regions, and/or portions, it is obvious that these members, parts, regions, layers, and/or portions are not limited by these terms. . These terms do not imply any particular order, superiority or inferiority, or superiority or inferiority, and are used only to distinguish one member, region or portion from another member, region or portion. Accordingly, a first member, region or portion described below may refer to a second member, region or portion without departing from the teachings of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to drawings schematically showing embodiments of the present invention. In the drawings, variations of the depicted shape may be expected, for example, depending on manufacturing techniques and/or tolerances. Accordingly, embodiments of the present invention should not be construed as being limited to the specific shape of the area shown in this specification, but should include, for example, changes in shape resulting from manufacturing.

Figure 4 is a block diagram of an automatic target control device for testing sensor performance of a vehicle according to a preferred embodiment of the present invention.

Referring to FIG. 4, the present invention includes a target 10 detectable by a radar sensor installed in a vehicle, a position detection sensor 20 disposed on the target 10 to detect the position of the radar sensor, and the target ( 10) and a spectrum sensor 30 that detects the beam intensity distribution of the radar sensor, the detection results of the position detection sensor 20 and the spectrum sensor 30, and the height of the target 10 installed on the vehicle. A drive control unit 40 that receives detection information from the detecting vehicle camera 3 and determines the position of the target 10 corresponding to the installation direction of the radar sensor, and a target ( It is configured to include a driving unit 50 that moves 10).

Hereinafter, the configuration and operation of the automatic target control device for testing the sensor performance of the vehicle of the present invention configured as described above will be described in more detail.

First, the target 10 of the present invention has a flat structure and can be moved in three axes (x, y, z) directions by the driving unit 50.

The structure of the driving unit 50 may be a combination of a known guide device for three-axis movement and at least one driving device such as a motor.

The target 10 can be applied regardless of the material as long as it reflects the beam of the radar sensor installed in the vehicle.

In the example shown in FIG. 3, a single position detection sensor 20 is shown as being used, but a plurality of position detection sensors 20 may be applied.

The position detection sensor 20 may be a vision sensor such as a camera, and may photograph the vehicle 1 and detect the position of the radar sensor 2 installed on the vehicle 1. The location of the radar sensor 2 can be detected by checking the dome-shaped fascia (FASCIA).

At this time, the detected information is assumed to be the height and left and right positions of the radar sensor 2.

In addition, the target 10 is provided with a spectrum sensor 30, and the intensity of the beam of the radar sensor 2 irradiated to the target 10 can be detected to detect the point with the highest signal intensity.

That is, the spectrum sensor 30 can detect the intensity of the beam in the left and right directions and detect the direction in which the radar sensor 2 is pointing in the left and right directions with higher precision than the position detection sensor 20.

The point with the highest signal strength provides information that can confirm the direction of the radar sensor 2 toward the target 10.

Additionally, a camera 3 is installed in the vehicle 1, and the position of the target 10 can be detected through the camera 3, contrary to the action of the position detection sensor 20.

In particular, the camera 3 can check the height information of the target 10, and the detected height information of the target 10 can be provided to the drive control unit 40 through CAN communication or the like.

The drive control unit 40 determines the position of the target 10 with respect to the radar sensor 2 using the detection information of the position detection sensor 20, the position information of the spectrum sensor 30, and the detection information of the camera 3. You can decide.

Figure 5 is a block diagram of one implementation of the drive control unit 40.

Referring to FIG. 5, the drive control unit 40 includes an input unit 43 that receives detection signals from the position detection sensor 20 and the spectrum sensor 30, and a device that converts the detection signal input to the input unit 43 into a digital signal. An analog-to-digital conversion unit (ADC, 44), a communication unit 42 that communicates with the vehicle 1 and receives a detection signal from the camera 3, and reception through the communication unit 42 and the analog-to-digital conversion unit 44. It may include a processor 41 that receives the detection signal and determines the position of the target 10.

In this configuration, the processor 41 determines movement in the vertical and left directions according to the position information of the fascia detected through the position detection sensor 20, and determines the height of the target 10 detected through the camera 3. The movement of the target 10 in the forward and backward directions is determined using the information.

In other words, the central part of the target 10 is calculated to be moved to a position matching the height of the radar sensor 2 through movement in the vertical direction, and the central part of the target 10 is calculated to move in the direction of the radar sensor 2. Calculate the left and right positions so that they are located at . In addition, the distance between the target 10 and the radar sensor 2 can be adjusted according to the height information of the target 10 detected by the camera 3 to prevent the beam of the radar sensor 2 from leaving the target 10. there is.

In addition, the fine movement of the target 10 in the left and right directions is determined according to the detection result of the spectrum sensor 30. In other words, the location where the intensity of the detected beam is the strongest is found and the target 10 is calculated so that it can be moved.

The driving unit 50 automatically adjusts the position of the target 10 based on the calculation result of the processor 41.

Figure 6 is a flowchart of an automatic target control method for testing sensor performance of a vehicle according to the present invention.

Referring to FIG. 6, a step (S61) of receiving detection information from the position detection sensor 20, the spectrum sensor 30, and the vehicle camera 3, and the target 10 according to the detection result of the detection sensor 20. A step (S62) of adjusting the height of the radar sensor 2 to match the height of the radar sensor 2 and moving it in the left and right directions, and detecting the target 10 according to the height information of the target 10, which is detection information of the vehicle camera 3. ) and adjusting the distance between the radar sensor 2 (S63), and moving the target 10 to the position where the strongest beam is irradiated to the center of the target 10 according to the detection result of the spectrum sensor 30. It includes a step of precisely moving left and right (S64).

To explain this in more detail, first, in step S61, the drive control unit 40 confirms the position of the radar sensor 2 detected by the non-linear position detection sensor 20.

At this time, the location confirmation is related to the height of the radar sensor 2 and the position in the left and right directions.

In other words, the location information of the fascia, which is the dome structure of the radar sensor 2, is used.

In addition, the spectrum sensor 30 is used to confirm the location where the output beam of the radar sensor 2 irradiated to the target 10 is the strongest. This relates to the beam irradiation direction of the radar sensor 2 and serves as a standard for determining the left and right positions of the target 10. At this time, the target 10 can be finely adjusted in the left and right directions according to the detection result of the spectrum sensor 30.

And the vehicle camera 3 detects height information of the target 10.

The height of the target 10 refers to the distance between the flat target 10 and the radar sensor 2 with virtually no change in size.

That is, the longer the distance, the lower the height of the target 10 is detected, and the shorter the distance, the higher the height of the target 10 is detected.

In this way, the beam of the radar sensor 2 can be irradiated outside the target 10 due to the distance between the target 10 and the radar sensor 2. To prevent this, the beam between the target 10 and the radar sensor 2 is You need to adjust the distance.

Next, in step S62, the processor 41 of the drive control unit 40 adjusts the height of the target 10 to match the height of the radar sensor 2 according to the detection result of the detection sensor 20.

Such adjustment is performed by the driving unit 50, which can adjust the position of the target 10 in three axes.

Next, in step S63, the processor 41 of the drive control unit 40 determines the distance between the target 10 and the radar sensor 2 according to the height information of the target 10, which is detection information of the vehicle camera 3. By adjusting, the beam area of the radar sensor 2 is controlled to be limited to the inside of the target 10.

Next, in step S64, the processor 41 moves the target 10 left and right to the position where the strongest beam is irradiated to the center of the target 10 according to the detection result of the spectrum sensor 30, and moves the target 10 ) and the beam emission direction of the radar sensor (2) can be aligned to match.

Through this process, it is possible to align the radar sensor 2 and the target mounted at various heights in commercial vehicles such as trucks, making it possible to perform accurate performance evaluation regardless of the location of the radar sensor 2.

It is obvious to those skilled in the art that the present invention is not limited to the above-mentioned embodiments and can be implemented with various modifications and variations without departing from the technical gist of the present invention. will be.

10: Target 20: Position detection sensor
30: Spectrum sensor 40: Drive control unit
50: Driving part 3: Vehicle camera

Claims (12)

A target that reflects the radar sensor's beam;
a position detection sensor installed on the target to detect the position of the radar sensor of the vehicle;
a spectrum sensor installed on the target to detect the position where the beam intensity of the radar sensor irradiated to the target is the strongest;
A driving control unit that receives detection information from the position detection sensor, the spectrum sensor, and a vehicle camera installed in the vehicle to detect height information of the target, and determines the position of the target; and
A device including a driving unit that moves the target to a determined position under the control of the driving control unit. According to paragraph 1,
The position detection sensor is,
A device characterized in that it detects the height of the dome structure of a radar sensor installed in a vehicle. According to paragraph 2,
The driving control unit,
A device characterized in that the vertical movement of the target is controlled by controlling the driving unit according to the detection result of the position detection sensor. According to paragraph 3,
The driving control unit,
Moving the target in the left and right directions to match the position of the dome structure of the radar sensor detected by the position detection sensor,
A device characterized in that the target is finely adjusted in the left and right directions according to the detection result of the spectrum sensor. According to paragraph 1,
The vehicle camera is,
A device characterized in that detecting height information of the target. According to clause 5,
The driving control unit,
A device characterized in that, according to height information of the target detected through the vehicle camera, the driving unit is controlled to adjust the distance between the target and the radar sensor. According to paragraph 1,
The driving control unit,
A device characterized in that the left and right positions of the target are determined according to the detection results of the spectrum sensor and the target is moved in the left and right directions by controlling the driving unit. a) receiving the laser sensor location information of the vehicle detected by the location detection sensor installed on the target;
b) receiving location information where the intensity of the beam irradiated to the target detected by the spectrum sensor is the highest;
c) receiving height information of the target detected by the vehicle camera; and
d) A method comprising determining the position of the target in a drive control unit using the position information of the laser sensor, beam intensity information, and height information of the target, and adjusting the position of the target using the drive unit. According to clause 8,
In step d),
A method characterized in that the vertical movement of the target is determined using the information received in step a). According to clause 8,
In step d),
A method characterized in that the left and right movement of the target is determined using the information received in step b). According to clause 8,
In step d),
A method characterized in that the gap between the target and the radar sensor is determined using the information received in step c). According to clause 8,
In step a),
Detects the position of the radar sensor by dividing it into height and left and right direction,
In step d) above,
Move the target to match the left and right directions of the radar sensor detected by the position detection sensor,
A method characterized in that the left and right directions of the target are finely adjusted and moved according to the detection result of the spectrum sensor.

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