KR950031681A - Vehicle collision prevention device and method using ultrasonic wave - Google Patents

Vehicle collision prevention device and method using ultrasonic wave Download PDF

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Publication number
KR950031681A
KR950031681A KR1019940010159A KR19940010159A KR950031681A KR 950031681 A KR950031681 A KR 950031681A KR 1019940010159 A KR1019940010159 A KR 1019940010159A KR 19940010159 A KR19940010159 A KR 19940010159A KR 950031681 A KR950031681 A KR 950031681A
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South Korea
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ultrasonic
unit
distance
signal
ultrasonic waves
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KR1019940010159A
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Korean (ko)
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KR960007327B1 (en
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조덕상
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김주용
현대전자산업 주식회사
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Publication of KR960007327B1 publication Critical patent/KR960007327B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0047—Digital-analogue (D/A) or analogue-digital (A/D) conversion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

본 발명은 자동차의 후면에 초음파 센서를 부착하여, 이 초음파 센서에서 탐지된 거리를 운전자에게 알려줌으로써 자동차 후방 사각 지대에 대한 보조 역할을 할수 있도록 하며, 특히 초음파 발신 신호의 길이를 가변함으로써 본 발명의 최소 탐지 거리 및 최대 탐지 거리를 변화 시킬수 있도록 하는 초음파를 이용한 차량충돌 방지 장치 및 방법에 관한 것으로, 클럭을 발생시켜 초음파를 구동하고 물체를 향해 초음파를 발신하는 초음파 발신회로부(10)와, 물체에 맞고 반사된 초음파를 수신하고, 그 수신한 초음파를 신호 처리하여 중앙 처리 장치(30)로 출력하는 초음파 수신 회로부(20)와, 상기 초음파 발신 회로부(10)와 초음파 수신 회로부(20) 및 경보 장치(40)의 전체 동작을 제어 처리하는 중앙 처리 장치, 및 상기 중앙 처리 장치(30)에서 계산된 거리가 위험 거리일 경우, 경보를 출력하는 경보장치(40)로 구성함을 특징으로 하여, 차량 주행시 또는 주차시 사이드 백 미러의 사각지대에 물체가 있는지의 여부를 감시 함으로써, 위험 상황을 예방하고, 또한 초음파 발신 신호의 길이를 가변할 수 있게 함으로써 최소 탐지 거리와 최대 탐지 거리를 향상시켜 탐지의 신뢰성을 높이는 효과가 있다.The present invention attaches an ultrasonic sensor to the rear of the vehicle, and informs the driver of the distance detected by the ultrasonic sensor so that it can serve as an assistant to the rear blind spot of the vehicle, and in particular, by varying the length of the ultrasonic transmission signal. The present invention relates to an apparatus and method for preventing a vehicle collision using ultrasonic waves to change a minimum detection distance and a maximum detection distance, wherein the ultrasonic transmission circuit unit 10 generates a clock to drive ultrasonic waves and transmits ultrasonic waves toward an object. Ultrasonic receiving circuit unit 20 which receives the reflected and reflected ultrasonic waves, and processes and outputs the received ultrasonic waves to central processing unit 30, the ultrasonic transmitting circuit unit 10, ultrasonic receiving circuit unit 20 and alarm device A central processing unit that controls the entire operation of the 40, and the distance calculated by the central processing unit 30 It is characterized by comprising an alarm device 40 for outputting an alarm at a rough distance, by monitoring whether there is an object in the blind spot of the side back mirror during vehicle driving or parking, thereby preventing a dangerous situation, and By varying the length of the ultrasonic transmission signal, it is possible to improve the reliability of detection by improving the minimum detection distance and the maximum detection distance.

Description

초음파를 이용한 차량충돌 방지장치 및 방법Vehicle collision prevention device and method using ultrasonic wave

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제2도는 본 발명의 전체 구성도, 제3도는 본 발명의 초음파 발신 회로부에 상세 구성도, 제4도는 본 발명의 초음파 수신 회로부에 상세 구성도, 제5도의 (a)~(f)는 본 발명의 발신 신호 타이밍도, 제6도는 본 발명의 동작 순서도.FIG. 2 is an overall configuration diagram of the present invention, FIG. 3 is a detailed configuration diagram of the ultrasonic transmission circuit portion of the present invention, and FIG. 4 is a detailed configuration diagram of the ultrasonic reception circuit portion of the present invention, and (a) to (f) of FIG. 6 is a flowchart illustrating an operation of the present invention.

Claims (5)

자동차 충돌을 방지하는 장치에 있어서, 클럭을 발생시켜 초음파를 구동하고 물체를 향해 초음파를 발신하는 초음파 발신 회로부(10)와, 물체에 맞고 반사된 초음파를 수신하고 그 수신한 초음파를 신호 처리하여 중앙 처리 장치(30)로 출력하는 초음파 수신 회로부(20)와, 상기 초음파 발신 회로부(10)와 초음파 수신 회로부(20) 및 경보 장치(40)의 전체 동작을 제어 처리하는 중앙 처리 장치(30), 및 상기 중앙 처리 장치(30)에서 계산된 거리가 위험 거리일 경우 경보를 출력하는 경보장치(40)로 구성함을 특징으로 하는 초음파를 이용한 충돌 방지 장치.In the apparatus for preventing automobile collision, an ultrasonic transmitting circuit unit 10 generating a clock to drive ultrasonic waves and transmitting ultrasonic waves toward an object, and receiving ultrasonic waves reflected on the object and processing the received ultrasonic waves to generate a clock. Ultrasonic receiving circuit unit 20 to output to the processing unit 30, the central processing unit 30 for controlling the entire operation of the ultrasonic transmitting circuit unit 10, the ultrasonic receiving circuit unit 20 and the alarm device 40, And an alarm device (40) for outputting an alarm when the distance calculated by the central processing unit (30) is a dangerous distance. 제1항에 있어서, 상기 초음파 발신 회로부(10)는 초음파를 구동 시키는 클럭을 발생하는 초음파 발신 클럭부와(11), 초음파를 발신 또는 대기 상태로 제어하기 위한 제어 신호를 출력하는 초음파 제어 신호부(12)와, 상기 초음파 발신 클럭부(11)에서 발생된 클럭을 초음파 제어 신호부(12)의 제어 신호에 의해 발신 또는 대기 시키는 초음파 발신 센서부(13)로 구성함을 특징으로 하는 초음파를 이용한 차량 충돌 방지 장치.The ultrasonic transmitting circuit of claim 1, wherein the ultrasonic transmitting circuit unit 10 includes an ultrasonic transmitting clock unit 11 for generating a clock for driving the ultrasonic wave, and an ultrasonic control signal unit for outputting a control signal for controlling the ultrasonic wave in the transmitting or waiting state. And an ultrasonic transmitting sensor unit 13 for transmitting or waiting the clock generated by the ultrasonic transmitting clock unit 11 by a control signal of the ultrasonic control signal unit 12. Vehicle collision prevention device used. 제1항에 있어서, 상기 초음파 수신 회로부(20)는 초음파 발신 회로부(10)로 부터 발신되어 물체에 맞고 반사된 초음파를 수신하는 초음파 수신 센서부(21)와, 초음파 수신 센서부(21)에서 입력된 수신 신호를 증폭하는 제1증폭부(22)와, 제1증폭부(22)에서 증폭된 신호의 노이즈를 제거하기 위한 대역 통과 필터부(23)와, 이 대역 통과 필터부(23)에서 여파된 신호를 증폭 시키는 제2증폭부(24)와 제2증폭부(24)에서 증폭된 신호를 검파하여 디지탈 신호로 만드는 검파 회로부(25)와, 이 검파 회로부(25)에서 검파된 신호를 초음파 발신 회로(10)에서 발생된 초음파 제어 신호와 비교하여 출력하는 비교 회로부(26)와, 초음파 발신 회로(10)에서 발생된 초음파 제어 신호에 의해 미리 정해진 시간 동안만 동작하도록 시간을 결정하는 기준 시간 동작 회로부(27)와, 상기 비교 회로부(26)에서 비교 출력된 신호를 기준시간 동작 회로부(27)에서 정해진 시간과 비교하여 출력하는 시간 비교부(28), 및 이 시간 비교부(28)에서 비교 출력된 신호를 처리할 수 있도록 전압 및 신호를 조정하는 신호 조정/ 처리부(29)로 구성함을 특징으로 하는 초음파를 이용한 차량 충돌 방지 장치.The ultrasonic receiving circuit unit 20 of claim 1, wherein the ultrasonic receiving circuit unit 20 is transmitted from the ultrasonic transmitting circuit unit 10 to receive ultrasonic waves that are reflected on the object and reflected by the ultrasonic receiving sensor unit 21. A first amplifier 22 for amplifying the received signal, a band pass filter 23 for removing noise of the signal amplified by the first amplifier 22, and the band pass filter 23 A detection circuit section 25 for amplifying the signal filtered by the second amplification section 24 and the second amplification section 24 to make a digital signal, and a signal detected by the detection circuit section 25. Is compared with the ultrasonic control signal generated by the ultrasonic transmitting circuit 10 and outputs a comparison circuit 26 and the ultrasonic control signal generated by the ultrasonic transmitting circuit 10 to determine the time to operate only for a predetermined time. Reference time operation circuit section 27, the comparison The time comparator 28 outputs the signal output by comparing the output signal from the furnace section 26 with the time determined by the reference time operation circuit 27, and the signal output by the time comparator 28 can be processed. Vehicle collision prevention device using ultrasonic waves, characterized in that consisting of a signal adjusting / processing unit 29 for adjusting the voltage and signal. 초기 단계에서 처음 시작하면, 초음파 발진 길이를 가장 최단(A1)으로 하는 제1단계(S1)와; 제1단계(S1)수행후 물체가 있는지의 가/부를 판단하는 제2단계(S2)와; 제2단계(S2) 수행후 물체가 검지 되지 않으면 발진 길이를 한칸 증가 시키는 제3단계(S3)와; 제3단계(S3) 수행후 다시 물체가 있는지의 가/부를 판단하고. 물체가 있다고 판단되면 제6단계(S6)로 들어가는 제4단계(S4)와; 제4단계(S4) 수행후 물체가 검지되지 않으면, 발진 길이가 최대(An)인가의 가/부를 판단하여, 발진 길이가 최대(An)이면 다시 제1단계(S1)로 들어가고, 최대(An)가 아니면 다시 제3단계(S3)로 들어가는 제5단계(S5)와; 상기 제2단계(S2)수행후 물체가 검지되면 물체와의 거리가 미리 설정된 위험거리 인가의 가/부를 판단하고, 위험 거리가 아니라고 판단되며 상기 제5단계(S5)로 들어가는 제6단(S6)와; 제6단계(S6)수행후 위험 거리하고 판단되면 경보 장치를 구동하고, 다시 상기 제5단계(S5)로 들어가는 제7단계(S7)의 순서로 순차 동작함을 특징으로 하는 초음파를 이용한 차량 충돌 방지 방법.First starting at an initial stage, a first stage S1 of making the ultrasonic oscillation length the shortest A1; A second step S2 of determining whether or not an object exists after performing the first step S1; A third step S3 of increasing the oscillation length by one space if the object is not detected after performing the second step S2; After performing the third step S3, it is determined whether or not there is an object again. A fourth step S4 of entering the sixth step S6 if it is determined that the object exists; If the object is not detected after performing the fourth step (S4), it is determined whether or not the oscillation length is the maximum (An), and if the oscillation length is the maximum (An), it goes back to the first step (S1), and the maximum (An If not, the fifth step (S5) to enter the third step (S3) again; When the object is detected after performing the second step (S2), the sixth stage (S6) to determine whether the distance to the object is a predetermined danger distance or not, and determines that the distance is not the dangerous distance and enters the fifth step (S5). )Wow; After performing the sixth step S6, if the dangerous distance is determined, the alarm device is driven, and the vehicle collision using the ultrasonic waves is performed sequentially in the order of the seventh step S7 to enter the fifth step S5. Prevention method. 제4항에 있어서, 상기 제3단계(S3)에서의 발진 길이의 증가는, 발진 길이가 A1이었으면 A2로, A2이었으면 A3 등으로 발진 길이 최단(A1)에서 발진 길이 최대 (An)까지 한칸씩 증가시키는 것을 특징으로 하는 초음파를 이용한 차량 충돌 방지 방법.The oscillation length of the third step S3 is increased by one space from the shortest A1 to the maximum oscillation length An by an oscillation length A1 if the oscillation length is A1, or A3 if the oscillation length is A1. Vehicle collision prevention method using ultrasonic waves, characterized in that to increase. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940010159A 1994-05-09 1994-05-09 Collision preventing device and method KR960007327B1 (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030012096A (en) * 2001-07-30 2003-02-12 주식회사 현대오토넷 Method of sensing an object in the rear of vehicles
KR100541164B1 (en) * 2000-06-01 2006-01-10 현대중공업 주식회사 System and method for recognizing obstacles around a construction equipment
KR100781135B1 (en) * 2005-04-29 2007-11-30 반병철 Vehicle communication device and control method thereof

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10852427B2 (en) * 2017-06-30 2020-12-01 Gopro, Inc. Ultrasonic ranging state management for unmanned aerial vehicles

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100541164B1 (en) * 2000-06-01 2006-01-10 현대중공업 주식회사 System and method for recognizing obstacles around a construction equipment
KR20030012096A (en) * 2001-07-30 2003-02-12 주식회사 현대오토넷 Method of sensing an object in the rear of vehicles
KR100781135B1 (en) * 2005-04-29 2007-11-30 반병철 Vehicle communication device and control method thereof

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