WO2017018728A1 - Radar pour véhicule et véhicule le comprenant - Google Patents

Radar pour véhicule et véhicule le comprenant Download PDF

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Publication number
WO2017018728A1
WO2017018728A1 PCT/KR2016/007997 KR2016007997W WO2017018728A1 WO 2017018728 A1 WO2017018728 A1 WO 2017018728A1 KR 2016007997 W KR2016007997 W KR 2016007997W WO 2017018728 A1 WO2017018728 A1 WO 2017018728A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
antenna
information
processor
sensor unit
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Application number
PCT/KR2016/007997
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English (en)
Korean (ko)
Inventor
김의정
박세환
Original Assignee
엘지전자 주식회사
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Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Publication of WO2017018728A1 publication Critical patent/WO2017018728A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Definitions

  • the present invention relates to a vehicle radar, and a vehicle having the same, and more particularly, to a vehicle radar that can easily perform posture adjustment of the radar mounted on the vehicle, and a vehicle having the same.
  • the vehicle is a device for moving in the direction desired by the user on board.
  • An example is a car.
  • An object of the present invention is to provide a vehicle radar that can easily perform posture adjustment of a radar mounted on a vehicle, and a vehicle having the same.
  • Vehicle radar for achieving the above object, the antenna, a transmission unit for transmitting a transmission signal to the outside through the antenna, a receiving unit for signal processing the received signal received from the antenna, the antenna A sensor for sensing attitude information of the antenna, a processor for calculating an antenna attitude adjustment value for the attitude adjustment of the antenna based on the sensor value measured by the sensor part while driving the vehicle, and an antenna based on the antenna attitude adjustment value It includes an antenna posture adjusting unit for adjusting the posture.
  • a vehicle radar for achieving the above object, an antenna, a transmitter for transmitting a transmission signal to the outside through the antenna, a receiver for signal processing the received signal received from the antenna and And a processor configured to calculate an antenna attitude adjustment value based on a sensor unit sensing at least one of an antenna position, an angle, and a direction, a time change amount of a sensor value measured by the sensor unit while driving the vehicle, and a measured sensor value. And, based on the antenna attitude adjustment value, may include an antenna attitude adjustment unit for adjusting at least one of the position, the angle of the antenna.
  • a vehicle for achieving the above object includes a camera, a radar, a display, and an audio output unit, and the radar transmits a transmission signal to the outside through an antenna and an antenna.
  • the transmitter for receiving the signal received from the antenna, a sensor for sensing the attitude information of the antenna, a sensor for sensing the attitude information of the antenna, and a sensor value measured by the sensor during driving of the vehicle.
  • a processor for calculating the antenna attitude adjustment value, and an antenna attitude adjustment unit for adjusting the attitude of the antenna based on the antenna attitude adjustment value.
  • a vehicle radar and a vehicle having the same include an antenna, a transmitter for transmitting a transmission signal to the outside through an antenna, a receiver for signal processing a received signal received from the antenna, and an antenna A sensor for sensing attitude information of the antenna, a processor for calculating an antenna attitude adjustment value for the attitude adjustment of the antenna based on the sensor value measured by the sensor part while driving the vehicle, and an antenna based on the antenna attitude adjustment value
  • the antenna posture adjusting unit for adjusting the posture, it is possible to easily perform the posture adjustment of the radar mounted on the vehicle.
  • a vehicle radar and a vehicle having the same include a camera, a radar, a display, and an audio output unit, and the radar transmits an externally transmitted signal through an antenna and an antenna.
  • the posture adjustment of the antenna is performed based on a transmitter for transmitting, a receiver for signal processing a received signal received from the antenna, a sensor for sensing the attitude information of the antenna, and a sensor value measured by the sensor during driving of the vehicle.
  • a processor for calculating the antenna attitude adjustment value for the antenna and the antenna attitude adjustment value based on the antenna attitude adjustment value, it is possible to easily perform the attitude adjustment of the radar mounted on the vehicle.
  • FIG. 1 is a conceptual diagram of a vehicle communication system including an autonomous vehicle according to an embodiment of the present invention.
  • 2A is a view illustrating an exterior of a vehicle having various cameras.
  • FIG. 2B is a diagram illustrating an appearance of a stereo camera attached to the vehicle of FIG. 2A.
  • FIG. 2C is a diagram schematically illustrating positions of a plurality of cameras attached to the vehicle of FIG. 2A.
  • FIG. 2D illustrates an around view image based on images captured by the plurality of cameras of FIG. 2C.
  • 3A-3B illustrate various examples of internal block diagrams of the autonomous vehicle of FIG. 1.
  • 3C-3D illustrate various examples of internal block diagrams of the autonomous vehicle of FIG. 1.
  • 3E is an internal block diagram of the vehicle display apparatus of FIG. 1.
  • FIGS. 3A-3D illustrate various examples of internal block diagrams of the processor of FIGS. 3A-3D.
  • FIG. 5 is a diagram illustrating object detection in the processor of FIGS. 4A-4B.
  • 6A to 6B are views referred to for describing the operation of the autonomous vehicle of FIG. 1.
  • FIG. 7 is an example of a block diagram of a vehicle interior according to an embodiment of the present invention.
  • FIG. 8 is an example of an internal block diagram of a vehicle radar according to an embodiment of the present invention.
  • FIG. 9 illustrates that the vehicle radar of FIG. 8 is attached to a wind shield of a vehicle.
  • FIG. 10 is a view schematically illustrating the structure of the vehicle radar of FIG. 8.
  • FIG. 11 is a view showing a method of operating a vehicle radar according to an embodiment of the present invention.
  • module and “unit” for components used in the following description are merely given in consideration of ease of preparation of the present specification, and do not impart any particular meaning or role by themselves. Therefore, the “module” and “unit” may be used interchangeably.
  • the vehicle described herein may be a concept including an automobile and a motorcycle.
  • a vehicle is mainly described for a vehicle.
  • the vehicle described herein may be a concept including both a vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as the power source, and an electric vehicle having an electric motor as the power source.
  • FIG. 1 is a conceptual diagram of a vehicle communication system including an autonomous vehicle according to an embodiment of the present invention.
  • the vehicle communication system 10 may include a vehicle 200, terminals 600a and 600b, and a server 500.
  • the vehicle 200 may include an autonomous driving device 100, a vehicle display device 400, and the like inside the vehicle.
  • the autonomous driving device 100 may include a vehicle driving assistance device 100a, an around view providing device 100b, and the like.
  • autonomous driving of the vehicle when the vehicle is at a predetermined speed or more, the autonomous driving of the vehicle is performed through the vehicle driving assistance apparatus 100a, and when the vehicle is less than the predetermined speed, through the around view providing apparatus 100b. Autonomous driving can be performed.
  • the vehicle driving assistance apparatus 100a and the around view providing apparatus 100b operate together for autonomous driving of the vehicle
  • the vehicle driving assistance apparatus 100a when the vehicle driving assistance apparatus 100a is higher than a predetermined speed, the vehicle driving assistance apparatus 100a is further weighted to provide a vehicle.
  • Autonomous driving is performed mainly on the driving assistance apparatus 100a, and when the speed is less than a predetermined speed, the weight of the around view providing apparatus 100b is further increased, and autonomous driving of the vehicle may be performed mainly on the around view providing apparatus 100b.
  • the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 400 each use a terminal 600a using a communication unit (not shown) or a communication unit provided in the vehicle 200. 600b) or exchange data with the server 500.
  • the mobile terminal 600a when the mobile terminal 600a is located in or near a vehicle, at least one of the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 400 may be controlled by short-range communication.
  • the terminal 600a can exchange data with the terminal 600a.
  • the terminal 600b when the terminal 600b is located at a remote location outside the vehicle, at least one of the vehicle driving assistance apparatus 100a, the around view providing apparatus 100b, and the vehicle display apparatus 400 may be remote communication (mobile communication, etc.). ), Data can be exchanged with the terminal 600b or the server 500 via the network 570.
  • the terminals 600a and 600b may be mobile terminals, such as wearable devices such as mobile phones, smart phones, tablet PCs, and smart watches. Or it may be a fixed terminal such as a TV or a monitor. Hereinafter, the terminal 600 will be described based on a mobile terminal such as a smart phone.
  • the server 500 may be a server provided by a vehicle manufacturer or a server operated by a provider providing a vehicle related service. For example, it may be a server operated by a provider that provides information on road traffic conditions.
  • the vehicle driving assistance apparatus 100a may generate and provide vehicle-related information by processing a stereo image received from the stereo camera 195 based on computer vision.
  • the vehicle related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for driving guide to the vehicle driver.
  • the vehicle driving assistance apparatus 100a generates a control signal for autonomous vehicle driving based on the stereo image received from the stereo camera 195 and the distance information between the object around the vehicle from the radar 300.
  • a control signal for controlling at least one of a steering driver, a brake driver, or a power source driver during autonomous vehicle driving may be output.
  • the around view providing apparatus 100b converts each of the plurality of images captured by the plurality of cameras 295a, 295b, 295c, and 295d to a processor (270 in FIG. 3C or 3D) in the vehicle 200.
  • the processor 270 of FIG. 3C or 3D may combine the plurality of images to generate and provide an around view image.
  • the vehicle display apparatus 400 may be an audio video navigation (AVN) device.
  • APN audio video navigation
  • the vehicle display apparatus 400 may include a space recognition sensor unit and a touch sensor unit, whereby the remote access may be sensed by the space recognition sensor unit and the near touch approach may be sensed by the touch sensor unit.
  • a user interface corresponding to the sensed user gesture or touch may be provided.
  • the radar 300 transmits a radar signal or a radar beam to the outside using an antenna and receives a signal or beam reflected from an object around the vehicle. Then, based on the difference between the transmitted signal and the received signal, the distance or phase information with respect to the object around the vehicle is calculated.
  • the mounting position, attitude, etc. of the radar become important factors.
  • the posture of the radar in particular, the posture of the antenna that outputs the radar signal to the outside.
  • the present invention proposes a method of adjusting the attitude of the antenna in the radar based on various sensing information in the radar 300.
  • Vehicle radar 300 the antenna 310, the transmitting unit 320a for transmitting a transmission signal to the outside through the antenna 310, and the reception received from the antenna 310
  • the antenna 310 On the basis of the sensor value measured by the sensor unit 360 and the sensor unit 360 that senses the attitude information of the antenna 310, the sensor unit 360 while driving the vehicle, the antenna 310 is processed.
  • the processor 370 may calculate an antenna posture adjustment value for posture adjustment, and an antenna posture adjustment unit 350 for adjusting the posture of the antenna 310 based on the antenna posture adjustment value. Accordingly, the attitude adjustment of the radar mounted on the vehicle can be easily performed.
  • Vehicle radar 300 the antenna 310, the transmitting unit 320a for transmitting a transmission signal to the outside through the antenna 310, and the reception received from the antenna 310
  • a processor 370 that calculates an antenna attitude adjustment value based on the amount of change and the measured sensor value, and an antenna attitude adjustment unit that adjusts at least one of a position and an angle of the antenna 310 based on the antenna attitude adjustment value ( 350). Accordingly, the attitude adjustment of the radar mounted on the vehicle can be easily performed.
  • the vehicle radar 300 will be described in more detail with reference to FIG. 8 and below.
  • 2A is a view illustrating an exterior of a vehicle having various cameras.
  • the vehicle 200 includes wheels 203FR, 103FL, 103RL,... Rotated by a power source, a steering wheel 250 for adjusting the traveling direction of the vehicle 200, and the vehicle driving assistance of FIG. 1.
  • Stereo camera 195 provided inside vehicle 200 for device 100a, and multiple cameras 295a, 295b, 295c, 295d mounted to vehicle 200 for autonomous driving device 100b of FIG. ) May be provided. In the drawings, only the left camera 295a and the front camera 295d are shown for convenience.
  • the stereo camera 195 may include a plurality of cameras, and the stereo image obtained by the plurality of cameras may be signal processed in the vehicle driving assistance apparatus 100a of FIG. 3.
  • the drawing illustrates that the stereo camera 195 includes two cameras.
  • the plurality of cameras 295a, 295b, 295c, and 295d may be activated when the speed of the vehicle is less than or equal to a predetermined speed or when the vehicle moves backward, thereby acquiring a captured image, respectively.
  • the image, obtained by the plurality of cameras, may be signal processed in an around view providing apparatus (100b of FIG. 3C or 3D).
  • FIG. 2B is a diagram illustrating an appearance of a stereo camera attached to the vehicle of FIG. 2A.
  • the stereo camera module 195 may include a first camera 195a having a first lens 193a and a second camera 195b having a second lens 193b.
  • the stereo camera module 195 includes a first light shield 192a and a second light for shielding light incident on the first lens 193a and the second lens 193b, respectively.
  • the shield 192b may be provided.
  • the stereo camera module 195 of the drawing may be a structure that can be attached to or detached from the ceiling or the windshield of the vehicle 200.
  • the vehicle driving assistance device (100a in FIG. 3) having such a stereo camera module 195 obtains a stereo image of the front of the vehicle from the stereo camera module 195, and based on the stereo image, a disparity ) Detect, perform object detection on the at least one stereo image based on the disparity information, and continuously track the movement of the object after object detection.
  • FIG. 2C is a view schematically illustrating the positions of a plurality of cameras attached to the vehicle of FIG. 2A
  • FIG. 2D illustrates an around view image based on images captured by the plurality of cameras of FIG. 2C.
  • the plurality of cameras 295a, 295b, 295c, and 295d may be disposed at the left side, the rear side, the right side, and the front side of the vehicle, respectively.
  • the left camera 295a and the right camera 295c may be disposed in a case surrounding the left side mirror and a case surrounding the right side mirror, respectively.
  • the rear camera 295b and the front camera 295d may be disposed near the trunk switch and near the emblem or the emblem, respectively.
  • Each of the plurality of images captured by the plurality of cameras 295a, 295b, 295c, and 295d is transmitted to a processor (270 of FIG. 3C or 3D) in the vehicle 200, and the like (270 of FIG. 3C or 3D). ) Combines the plurality of images to generate an around view image.
  • the around view image 210 includes a first image area 295ai from the left camera 295a, a second image area 295bi from the rear camera 295b, and a third image area from the right camera 295c ( 295ci), and a fourth image area 295di from the front camera 295d.
  • 3A-3B illustrate various examples of internal block diagrams of the autonomous vehicle of FIG. 1.
  • 3A to 3B illustrate an internal block diagram of the vehicle driving assistance apparatus 100a of the autonomous driving apparatus 100.
  • the vehicle driving assistance apparatus 100a may signal-process the stereo image received from the stereo camera 195 based on computer vision to generate vehicle related information.
  • vehicle related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for driving guide to the vehicle driver.
  • the vehicle driving assistance apparatus 100a of FIG. 3A includes a communication unit 120, an interface unit 130, a memory 140, a processor 170, a power supply unit 190, and a stereo camera. 195.
  • the communication unit 120 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 120 may exchange data wirelessly with a mobile terminal of a vehicle driver.
  • a wireless data communication method various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 120 may receive weather information, road traffic information, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 500.
  • TPEG Transport Protocol Expert Group
  • the vehicle driving assistance apparatus 100a may transmit the real-time traffic information grasped based on the stereo image to the mobile terminal 600 or the server 500.
  • the mobile terminal 600 and the vehicle driving assistance device 100a of the user may perform pairing with each other automatically or by executing the user's application.
  • the interface unit 130 may receive vehicle-related data or transmit a signal processed or generated by the processor 170 to the outside. To this end, the interface unit 130 may perform data communication with the ECU 770, the AVN (Audio Video Navigation) device 400, the sensor unit 760, etc. in the vehicle by wired communication or wireless communication. have.
  • ECU 770 the ECU 770
  • AVN Audio Video Navigation
  • the interface unit 130 may receive map information related to driving of the vehicle through data communication with the vehicle display apparatus 400.
  • the interface unit 130 may receive sensor information from the ECU 770 or the sensor unit 760.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • Such sensor information may include heading sensors, yaw sensors, gyro sensors, position modules, vehicle forward / reverse sensors, wheel sensors, vehicle speed sensors, It may be obtained from a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, and the like.
  • the position module may include a GPS module for receiving GPS information.
  • vehicle driving information the vehicle driving information related to the vehicle driving.
  • the memory 140 may store various data for operations of the overall vehicle driving assistance apparatus 100a such as a program for processing or controlling the processor 170.
  • the audio output unit (not shown) converts an electrical signal from the processor 170 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided.
  • the audio output unit (not shown) may output sound corresponding to the operation of the input unit 110, that is, the button.
  • the audio input unit may receive a user voice.
  • a microphone may be provided.
  • the received voice may be converted into an electrical signal and transmitted to the processor 170.
  • the processor 170 controls the overall operation of each unit in the vehicle driving assistance apparatus 100a.
  • the processor 170 performs computer vision-based signal processing. Accordingly, the processor 170 obtains a stereo image of the front of the vehicle from the stereo camera 195, performs a disparity operation on the front of the vehicle based on the stereo image, and based on the calculated disparity information. , Object detection may be performed on at least one of the stereo images, and after the object detection, the movement of the object may be continuously tracked.
  • the processor 170 may perform lane detection, vehicle detection, pedestrian detection, traffic sign detection, road surface detection, and the like. Can be.
  • the processor 170 may perform a distance calculation on the detected surrounding vehicle, a speed calculation of the detected surrounding vehicle, a speed difference calculation with the detected surrounding vehicle, and the like.
  • the processor 170 may receive weather information, road traffic information, for example, TPEG (Transport Protocol Expert Group) information through the communication unit 120.
  • TPEG Transport Protocol Expert Group
  • the processor 170 may identify, in real time, traffic situation information around the vehicle, which the vehicle driving assistance apparatus 100a grasps based on a stereo image.
  • the processor 170 may receive map information and the like from the vehicle display apparatus 400 through the interface unit 130.
  • the processor 170 may receive sensor information from the ECU 770 or the sensor unit 760 through the interface unit 130.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • the power supply unit 190 may supply power required for the operation of each component under the control of the processor 170.
  • the power supply unit 190 may receive power from a battery inside the vehicle.
  • the stereo camera 195 may include a plurality of cameras. Hereinafter, as described in FIG. 2B and the like, two cameras are provided.
  • the stereo camera 195 may be detachable from the ceiling or the windshield of the vehicle 200, and may include a first camera 195a having a first lens 193a and a second camera having a second lens 193b. 195b.
  • the stereo camera 195 has a first light shield 192a and a second light shield for shielding light incident on the first lens 193a and the second lens 193b, respectively.
  • the part 192b may be provided.
  • the vehicle driving assistance apparatus 100a of FIG. 3B further includes the input unit 110, the display 180, and the audio output unit 185 as compared to the vehicle driving assistance apparatus 100a of FIG. 3A. It can be provided.
  • the input unit 110, the display 180, and the audio output unit 185 will be described.
  • the input unit 110 may include a plurality of buttons or a touch screen attached to the vehicle driving assistance apparatus 100a, particularly, the stereo camera 195. It is possible to turn on and operate the power supply of the vehicle driving assistance apparatus 100a through a plurality of buttons or a touch screen. In addition, various input operations may be performed.
  • the display 180 may display an image related to the operation of the vehicle driving assistance apparatus.
  • the display 180 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • HUD head up display
  • the display 180 when it is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the audio output unit 185 outputs sound to the outside based on the audio signal processed by the processor 170.
  • the audio output unit 185 may include at least one speaker.
  • 3C-3D illustrate various examples of internal block diagrams of the autonomous vehicle of FIG. 1.
  • 3C to 3D illustrate an internal block diagram of the around view providing apparatus 100b of the autonomous driving apparatus 100.
  • the around view providing apparatus 100b of FIGS. 3C to 3D may combine the plurality of images received from the plurality of cameras 295a to 295d to generate an around view image.
  • the around view providing apparatus 100b may perform object detection, confirmation, and tracking on an object located near the vehicle based on the plurality of images received from the plurality of cameras 295a, ..., 295d. Can be.
  • the around view providing apparatus 100b of FIG. 3C includes a communication unit 220, an interface unit 230, a memory 240, a processor 270, a display 280, and a power supply unit 290. ) And a plurality of cameras 295a, ..., 295d.
  • the communication unit 220 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 220 may exchange data wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 220 may, from the mobile terminal 600 or the server 500, schedule information of a vehicle driver or schedule information related to a moving position, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received. Meanwhile, the around view providing apparatus 100b may transmit the real time traffic information grasped based on the image to the mobile terminal 600 or the server 500.
  • schedule information of a vehicle driver or schedule information related to a moving position for example, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received.
  • TPEG Transport Protocol Expert
  • Group Transmission Protocol Expert
  • the mobile terminal 600 and the around view providing apparatus 100b of the user may perform pairing with each other automatically or by executing an application of the user.
  • the interface unit 230 may receive vehicle-related data or transmit a signal processed or generated by the processor 270 to the outside. To this end, the interface unit 230 may perform data communication with the ECU 770, the sensor unit 760, and the like in the vehicle by wired or wireless communication.
  • the interface unit 230 may receive sensor information from the ECU 770 or the sensor unit 760.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • vehicle driving information the vehicle driving information related to the vehicle driving.
  • the memory 240 may store various data for the overall operation of the around view providing apparatus 100b such as a program for processing or controlling the processor 270.
  • the memory 240 may store map information related to vehicle driving.
  • the processor 270 controls the overall operation of each unit in the around view providing apparatus 100b.
  • the processor 270 may obtain a plurality of images from the plurality of cameras 295a,..., 295d and combine the plurality of images to generate an around view image.
  • the processor 270 may also perform computer vision-based signal processing. For example, based on the plurality of images or the generated around view image, the disparity operation is performed on the surroundings of the vehicle, and based on the calculated disparity information, the object detection is performed within the image, and after the object detection. , Continuously, you can track the movement of the object.
  • the processor 270 may perform lane detection, vehicle detection, pedestrian detection, obstacle detection, parking area detection, road surface detection, and the like. .
  • the processor 270 may perform distance calculation with respect to the detected surrounding vehicle or pedestrian.
  • the processor 270 may receive sensor information from the ECU 770 or the sensor unit 760 through the interface unit 230.
  • the sensor information includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle It may include at least one of lamp information, vehicle interior temperature information, vehicle interior humidity information.
  • the display 280 may display an around view image generated by the processor 270.
  • the around view image it is possible to provide a variety of user user interface, it is also possible to include a touch sensor capable of touch input to the provided user interface.
  • the display 280 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • HUD head up display
  • the display 280 when it is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the power supply unit 290 may supply power required for the operation of each component under the control of the processor 270.
  • the power supply unit 290 may receive power from a battery or the like in the vehicle.
  • the plurality of cameras 295a, ..., 295d are cameras for providing an around view image, and are preferably wide-angle cameras.
  • the around view providing apparatus 100b of FIG. 3D is similar to the around view providing apparatus 100b of FIG. 3C, but includes an input unit 210, an audio output unit 285, and an audio input unit ( There is a difference in further comprising 286).
  • the input unit 210, the audio output unit 285, and the audio input unit 286 will be described.
  • the input unit 210 may include a plurality of buttons attached to the periphery of the display 280 or a touch screen disposed on the display 280. It is possible to turn on and operate the around view providing apparatus 100b through a plurality of buttons or a touch screen. In addition, various input operations may be performed.
  • the audio output unit 285 converts an electrical signal from the processor 270 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 285 may also output sound corresponding to the operation of the input unit 210, that is, the button.
  • the audio input unit 286 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the processor 270.
  • the around view providing apparatus 100b of FIG. 3C or 3D may be an audio video navigation (AVN) device.
  • APN audio video navigation
  • 3E is an internal block diagram of the vehicle display apparatus of FIG. 1.
  • the vehicle display apparatus 400 according to an embodiment of the present invention, the input unit 310, the communication unit 320, the space recognition sensor unit 321, the touch sensor unit 326, the interface unit 330 , A memory 340, a processor 370, a display 480, an audio input unit 383, an audio output unit 385, and a power supply unit 390.
  • the input unit 310 includes a button attached to the display apparatus 400.
  • it may be provided with a power button.
  • the display device may further include at least one of a menu button, an up and down control button, and a left and right control button.
  • the input signal through the input unit 310 may be transmitted to the processor 370.
  • the communication unit 320 may exchange data with an adjacent electronic device.
  • data may be exchanged with an in-vehicle electronic device or a server (not shown) in a wireless manner.
  • data can be exchanged wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi, and APiX are possible.
  • the mobile terminal of the user and the display apparatus 400 may perform pairing with each other automatically or by executing an application of the user.
  • the communication unit 320 may include a GPS receiver, and through this, may receive GPS information, that is, location information of the vehicle.
  • the space recognition sensor unit 321 may detect the approach or movement of the user's hand. To this end, it may be disposed around the display 480.
  • the spatial recognition sensor unit 321 may perform spatial recognition based on light, or perform spatial recognition based on ultrasound. Hereinafter, the description will be focused on performing spatial recognition on a light basis.
  • the space recognition sensor unit 321 may detect the approach or movement of the user's hand based on the output of the output light and the reception of the received light corresponding thereto.
  • the processor 370 may perform signal processing on electrical signals of output light and received light.
  • the space recognition sensor unit 321 may include a light output unit 322 and a light receiving unit 324.
  • the light output unit 322 may output, for example, infrared (IR) light for detecting a user's hand located in front of the display apparatus 400.
  • IR infrared
  • the light receiver 324 receives the light that is scattered or reflected when the light output from the light output unit 322 is scattered or reflected by a user's hand positioned in front of the display apparatus 400.
  • the light receiver 324 may include a photo diode, and may convert the received light into an electrical signal through the photo diode. The converted electrical signal may be input to the processor 370.
  • the touch sensor unit 326 detects a floating touch and a direct touch.
  • the touch sensor unit 326 may include an electrode array and an MCU. When the touch sensor unit is operated, an electric signal is supplied to the electrode array, so that an electric field is formed on the electrode array.
  • the touch sensor unit 326 may operate when the intensity of light received from the space recognition sensor unit 321 is equal to or greater than the first level.
  • an electric signal may be supplied to the electrode array or the like in the touch sensor unit 326.
  • An electric field is formed on the electrode array by the electrical signal supplied to the electrode array, and the change is used to sense the capacitance. Then, based on the capacitance change detection, the floating touch and the direct touch are sensed.
  • the z axis information may be sensed according to the user's hand approaching.
  • the interface unit 330 may exchange data with another electronic device in the vehicle.
  • the interface unit 330 may perform data communication with an ECU inside the vehicle by a wired communication method.
  • the interface unit 330 may receive vehicle state information through data communication with an ECU inside the vehicle.
  • the vehicle state information includes at least one of battery information, fuel information, vehicle speed information, tire information, steering information by steering wheel steering, vehicle lamp information, vehicle interior temperature information, vehicle exterior temperature information, and vehicle interior humidity information. can do.
  • the interface unit 330 may further receive GPS information from an ECU inside the vehicle. Alternatively, the GPS information received by the display apparatus 400 may be transmitted to the ECU or the like.
  • the memory 340 may store various data for operations of the entire display apparatus 400, such as a program for processing or controlling the processor 370.
  • the memory 340 may store a map map for guiding a driving route of the vehicle.
  • the memory 340 may store the user information and the user's mobile terminal information for pairing with the user's mobile terminal.
  • the audio output unit 385 converts the electrical signal from the processor 370 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 385 may also output sound corresponding to the operation of the input unit 310, that is, the button.
  • the audio input unit 383 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the processor 370.
  • the processor 370 controls the overall operation of each unit in the vehicle display apparatus 400.
  • the processor 370 When the user's hand continuously approaches the display device 400, the processor 370 successively, based on the light received by the light receiving unit 324, the x, y, z axis for the user's hand. Information can be calculated. At this time, the z-axis information may be sequentially reduced.
  • the processor 370 may control the touch sensor unit 326 to operate. That is, the processor 370 may control the touch sensor unit 326 to operate when the intensity of the electrical signal from the space recognition sensor unit 321 is equal to or greater than the reference level. As a result, an electric signal is supplied to each electrode array in the touch sensor unit 326.
  • the processor 370 may detect the floating touch based on the sensing signal sensed by the touch sensor unit 326.
  • the sensing signal may be a signal indicating a change in capacitance.
  • the processor 370 calculates x, y axis information of the floating touch input, and based on the intensity of the capacitance change, z, which is the distance between the display device 400 and the user's hand. Axis information can be calculated.
  • the processor 370 may vary the grouping of the electrode array in the touch sensor unit 326 according to the distance of the user's hand.
  • the processor 370 may perform grouping on the electrode array in the touch sensor unit 326 based on the approximate z-axis information calculated based on the received light received by the spatial recognition sensor unit 321. It is possible to vary. The farther the distance is, the larger the size of the electrode array group can be set.
  • the processor 370 may vary the size of the touch sensing cell with respect to the electrode array in the touch sensor unit 326 based on distance information of the user's hand, that is, z-axis information.
  • the display 480 may separately display an image corresponding to the function set for the button.
  • the display 480 may be implemented as various display modules, such as LCD, OLED.
  • the display 480 may be implemented as a cluster on the front of the vehicle interior.
  • the power supply unit 390 may supply power required for the operation of each component under the control of the processor 370.
  • FIGS. 4A-4B illustrate various examples of internal block diagrams of the processor of FIGS. 3A-3D
  • FIG. 5 is a diagram illustrating object detection in the processor of FIGS. 4A-4B.
  • FIG. 4A illustrates the processor 170 of the vehicle driving assistance apparatus 100a of FIGS. 3A to 3B or the processor 270 of the around view providing apparatus 100b of FIGS. 3C to 3D.
  • An example of an internal block diagram is shown.
  • the processor 170 or 270 may include an image preprocessor 410, a disparity calculator 420, an object detector 434, an object tracking unit 440, and an application unit 450.
  • the image preprocessor 410 may perform preprocessing by receiving a plurality of images from the plurality of cameras 295a,..., 295d or generated around view images.
  • the image preprocessor 410 may include noise reduction, rectification, calibration, color enhancement, and color enhancement for a plurality of images or generated around view images.
  • Color space conversion (CSC), interpolation, camera gain control, and the like may be performed. Accordingly, a sharper image may be obtained than the plurality of images captured by the plurality of cameras 295a,..., 295d or the generated around view image.
  • the disparity calculator 420 receives the plurality of images or the generated around view images signaled by the image preprocessor 410, and sequentially receives the plurality of images or the generated around for a predetermined time. Stereo matching is performed on the view image, and a disparity map according to stereo matching is obtained. That is, disparity information about the surroundings of the vehicle can be obtained.
  • the stereo matching may be performed in units of pixels or in units of predetermined blocks of the images.
  • the disparity map may refer to a map that numerically represents the disparity information (binocular parallax information) of the image, that is, left and right images.
  • the segmentation unit 432 may perform segmentation and clustering in the image based on the disparity information from the disparity calculator 420.
  • the segmentation unit 432 may separate a background and a foreground from at least one of the images based on the disparity information.
  • an area in which the disparity information is less than or equal to a predetermined value in the disparity map may be calculated in the background, and the portion may be excluded. Thereby, the foreground can be relatively separated.
  • an area in which the disparity information is greater than or equal to a predetermined value in the disparity map may be calculated in the foreground and a corresponding portion may be extracted. Thereby, the foreground can be separated.
  • the object detector 434 may detect the object based on the image segment from the segmentation unit 432.
  • the object detector 434 may detect an object with respect to at least one of the images based on the disparity information information.
  • the object detector 434 may detect an object with respect to at least one of the images.
  • an object can be detected from the foreground separated by image segments.
  • an object verification unit 436 classifies and verifies the separated object.
  • the object verification unit 436 may include an identification method using a neural network, a support vector machine (SVM) method, a method of identifying by AdaBoost using a haar-like feature, or a histograms of oriented gradients (HOG). Techniques can be used.
  • SVM support vector machine
  • AdaBoost a method of identifying by AdaBoost using a haar-like feature
  • HOG histograms of oriented gradients
  • the object checking unit 436 may check the objects by comparing the objects stored in the memory 240 with the detected objects.
  • the object checking unit 436 may check surrounding vehicles, lanes, road surfaces, signs, dangerous areas, tunnels, and the like, which are positioned around the vehicle.
  • the object tracking unit 440 performs tracking on the identified object. For example, in order to sequentially identify the object in the acquired images, calculate the motion or motion vector of the identified object, and track the movement of the object, etc. based on the calculated motion or motion vector. have. Accordingly, it is possible to track surrounding vehicles, lanes, road surfaces, signs, dangerous areas, and the like, which are located around the vehicle.
  • 4B is another example of an internal block diagram of a processor.
  • the processor 170 or 270 of FIG. 4B has the same internal configuration unit as the processor 170 or 270 of FIG. 4A, but the signal processing order is different. Only the differences are described below.
  • the object detector 434 may receive a plurality of images or the generated around view images, and detect an object in the plurality of images or the generated around view images. Unlike FIG. 4A, based on the disparity information, for the segmented image, the object may be detected directly from the plurality of images or the generated around view image, instead of detecting the object.
  • the object verification unit 436 classifies the detected and separated objects based on the image segments from the segmentation unit 432 and the objects detected by the object detection unit 434. , Verify.
  • the object verification unit 436 may include an identification method using a neural network, a support vector machine (SVM) method, a method of identifying by AdaBoost using a haar-like feature, or a histograms of oriented gradients (HOG). Techniques can be used.
  • SVM support vector machine
  • AdaBoost a method of identifying by AdaBoost using a haar-like feature
  • HOG histograms of oriented gradients
  • FIG. 5 is a diagram referred to for describing a method of operating the processor 170 or 270 of FIGS. 4A to 4B based on an image acquired in each of the first and second frame sections.
  • the plurality of cameras 295a,..., 295d respectively acquire images FR1a and FR1b sequentially.
  • the disparity calculator 420 in the processor 170 or 270 receives the images FR1a and FR1b signal-processed by the image preprocessor 410 and performs stereo matching on the received images FR1a and FR1b. To obtain a disparity map 520.
  • the disparity map 520 is a leveling disparity between the images FR1a and FR1b. The greater the disparity level is, the closer the distance is to the vehicle, and the smaller the disparity level is, the lower the disparity map 520 is. We can calculate that distance is far.
  • the disparity map when displaying such a disparity map, the disparity map may be displayed such that the larger the disparity level, the higher the luminance, and the smaller the disparity level, the lower the luminance.
  • the first to fourth lanes 528a, 528b, 528c, 528d and the like have corresponding disparity levels, respectively, the construction area 522, the first front vehicle 524.
  • each of the second front vehicles 526 has a corresponding disparity level.
  • the segmentation unit 432, the object detection unit 434, and the object confirmation unit 436 based on the disparity map 520, segment, object detection, and object for at least one of the images FR1a and FR1b. Perform the check.
  • the first to fourth lanes 538a, 538b, 538c, 538d, the construction area 532, the first front vehicle 534, and the second front vehicle 536 detect an object. And confirmation can be performed.
  • the object tracking unit 440 may perform tracking on the identified object.
  • 6A to 6B are views referred to for describing the operation of the autonomous vehicle of FIG. 1.
  • FIG. 6A is a diagram illustrating a situation in front of a vehicle captured by the stereo camera 195 provided in a vehicle.
  • the vehicle front situation is displayed in a bird eye view.
  • the first lane 642a, the second lane 644a, the third lane 646a, the fourth lane 648a is located, the first lane 642a and the second A construction area 610a is located between the lanes 644a, a first front vehicle 620a is located between the second lane 644a and the third lane 646a, and the third lane 646a and the fourth lane. It can be seen that the second front vehicle 630a is disposed between the lanes 648a.
  • FIG. 6B illustrates displaying the vehicle front situation detected by the vehicle driving assistance apparatus together with various types of information.
  • the image as shown in FIG. 6B may be displayed on the display 180 or the vehicle display apparatus 400 provided in the vehicle driving assistance apparatus.
  • FIG. 6B illustrates that information display is performed based on an image captured by the stereo camera 195, unlike FIG. 6A.
  • a construction area 610b is located between the lanes 644b
  • a first front vehicle 620b is located between the second lane 644b and the third lane 646b
  • the third lane 646b and the fourth lane It can be seen that the second front vehicle 630b is disposed between the lanes 648b.
  • the vehicle driving assistance apparatus 100a performs signal processing based on the stereo image captured by the stereo camera 195 to provide the construction area 610b, the first front vehicle 620b, and the second front vehicle 630b. You can check the object.
  • the first lane 642b, the second lane 644b, the third lane 646b, and the fourth lane 648b may be identified.
  • the vehicle driving assistance apparatus 100a is based on the stereo image captured by the stereo camera 195, and the distance to the construction area 610b, the first front vehicle 620b, and the second front vehicle 630b. Information can be calculated.
  • the vehicle driving assistance apparatus 100a may receive sensor information about the vehicle from the ECU 770 or the sensor unit 760.
  • the vehicle speed information 672, the gear information 671, and the yaw rate information 673 are displayed on the vehicle front image upper portion 670, and the angle of the vehicle is displayed on the vehicle front image lower portion 680. While the information 682 is illustrated, various examples are possible. In addition, the width information 683 of the vehicle and the curvature information 681 of the road may be displayed together with the angle information 682 of the vehicle.
  • the vehicle driving assistance apparatus 100a may receive speed limit information and the like for the road on which the vehicle is traveling, through the communication unit 120 or the interface unit 130.
  • the speed limit information 640b is displayed.
  • the vehicle driving assistance apparatus 100a may display various pieces of information illustrated in FIG. 6B through the display 180. Alternatively, the vehicle driving assistance apparatus 100a may store various pieces of information without additional display. In addition, the information may be used for various applications.
  • FIG. 7 is an example of a block diagram of a vehicle interior according to an embodiment of the present invention.
  • the vehicle 200 may include an electronic control apparatus 700 for controlling the vehicle.
  • the electronic control apparatus 700 includes an input unit 710, a communication unit 720, a memory 740, a lamp driver 751, a steering driver 752, a brake driver 753, a power source driver 754, and a sunroof driver. 755, suspension driver 756, air conditioning driver 757, window driver 758, airbag driver 759, sensor unit 760, ECU 770, display 780, audio output unit 785. , The audio input unit 786, the power supply unit 790, the stereo camera 195, the plurality of cameras 295, the radar 300, the internal camera 708, the seat driver 761, and the driver detection sensor 799. It can be provided.
  • the ECU 770 may be a concept including the processor 270 described with reference to FIG. 3C or 3D.
  • a separate processor for signal processing an image from a camera may be provided.
  • the input unit 710 may include a plurality of buttons or a touch screen disposed in the vehicle 200. Through a plurality of buttons or touch screens, it is possible to perform various input operations.
  • the communication unit 720 may exchange data with the mobile terminal 600 or the server 500 in a wireless manner.
  • the communication unit 720 may exchange data wirelessly with the mobile terminal of the vehicle driver.
  • various data communication methods such as Bluetooth, WiFi Direct, WiFi, and APiX are possible.
  • the communication unit 720 may, from the mobile terminal 600 or the server 500, schedule information of a vehicle driver, schedule information related to a moving position, weather information, traffic state information of a road, for example, TPEG (Transport Protocol Expert). Group) information can be received.
  • TPEG Transport Protocol Expert
  • the mobile terminal 600 and the electronic control apparatus 700 of the user can perform pairing with each other automatically or by executing the user's application.
  • the memory 740 may store various data for operating the entire electronic control apparatus 700, such as a program for processing or controlling the ECU 770.
  • the memory 740 may store map information related to vehicle driving.
  • the lamp driver 751 may control turn on / off of lamps disposed inside and outside the vehicle. In addition, it is possible to control the intensity, direction, etc. of the light of the lamp. For example, control of a direction indicator lamp, a brake lamp, and the like can be performed.
  • the steering driver 752 may perform electronic control of a steering apparatus (not shown) in the vehicle 200. As a result, the traveling direction of the vehicle can be changed.
  • the brake driver 753 may perform electronic control of a brake apparatus (not shown) in the vehicle 200.
  • the speed of the vehicle 200 may be reduced by controlling the operation of the brake disposed on the wheel.
  • the traveling direction of the vehicle 200 may be adjusted to the left or the right.
  • the power source driver 754 may perform electronic control of the power source in the vehicle 200.
  • the power source driver 754 may perform electronic control of the engine. Thereby, the output torque of an engine, etc. can be controlled.
  • the power source driver 754 may perform control on the motor. Thereby, the rotation speed, torque, etc. of a motor can be controlled.
  • the sunroof driver 755 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 200. For example, the opening or closing of the sunroof can be controlled.
  • the suspension driver 756 may perform electronic control of a suspension apparatus (not shown) in the vehicle 200.
  • the suspension device may be controlled to control the vibration of the vehicle 200 to be reduced.
  • the air conditioning driver 757 may perform electronic control of an air cinditioner (not shown) in the vehicle 200. For example, when the temperature inside the vehicle is high, the air conditioner may operate to control the cool air to be supplied into the vehicle.
  • the window driver 758 may perform electronic control of a suspension apparatus (not shown) in the vehicle 200. For example, the opening or closing of the left and right windows of the side of the vehicle can be controlled.
  • the airbag driver 759 may perform electronic control of an airbag apparatus in the vehicle 200.
  • the airbag can be controlled to burst.
  • the seat driver 761 may perform position control on the seat or the back of the vehicle 200. For example, when the driver is seated in the driver's seat, the driver's seat can be adjusted according to the driver, adjusting the front and rear spacing of the seat, and adjusting the front and rear spacing of the backrest.
  • the seat driving unit 761 may drive a roller disposed in the seat or the backrest to control the driver to provide pressure such as massage.
  • the sensor unit 760 senses a signal related to traveling of the vehicle 200.
  • the sensor unit 760 may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / reverse sensor, and a wheel sensor.
  • the sensor unit 760 includes vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information,
  • a sensing signal may be acquired for tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, and the like.
  • the sensor unit 760 may include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake temperature sensor (ATS), a water temperature sensor (WTS), and a throttle. Position sensor (TPS), TDC sensor, crank angle sensor (CAS), etc. may be further provided.
  • the ECU 770 may control the overall operation of each unit in the electronic control apparatus 700.
  • a specific operation may be performed or a signal sensed by the sensor unit 760 may be received and transmitted to the around view providing apparatus 100b, and the map information may be received from the memory 740.
  • the driving units 751, 752, 753, 754, 756 can control the operation.
  • the ECU 770 may receive weather information, road traffic condition information, for example, TPEG (Transport Protocol Expert Group) information from the communication unit 720.
  • TPEG Transport Protocol Expert Group
  • the ECU 770 may generate an around view image by combining the plurality of images received from the plurality of cameras 295. In particular, when the vehicle is below a predetermined speed or when the vehicle reverses, an around view image may be generated.
  • the display 780 may display an image in front of the vehicle while the vehicle is driving or an around view image while the vehicle is slowing. In particular, it is possible to provide various user interfaces in addition to the around view image.
  • the display 780 may include a cluster or a head up display (HUD) on the front surface of the vehicle.
  • the display 780 when the display 780 is a HUD, it may include a projection module for projecting an image on the windshield of the vehicle 200.
  • the display 780 may include a touch screen that can be input.
  • the audio output unit 785 converts the electrical signal from the ECU 770 into an audio signal and outputs the audio signal. To this end, a speaker or the like may be provided. The audio output unit 785 may output a sound corresponding to the operation of the input unit 710, that is, the button.
  • the audio input unit 786 may receive a user voice. To this end, a microphone may be provided. The received voice may be converted into an electrical signal and transmitted to the ECU 770.
  • the power supply unit 790 may supply power required for the operation of each component under the control of the ECU 770.
  • the power supply unit 790 may receive power from a battery (not shown) in the vehicle.
  • the stereo camera 195 is used for the operation of the vehicle driving assistance apparatus. This description is omitted with reference to the above.
  • the plurality of cameras 295 may be used to provide an around view image, and for this purpose, as illustrated in FIG. 2C, four cameras may be provided.
  • the plurality of cameras 295a, 295b, 295c, and 295d may be disposed on the left side, rear side, right side, and front side of the vehicle, respectively.
  • the plurality of images captured by the plurality of cameras 295 may be transferred to the ECU 770 or a separate processor (not shown).
  • the internal camera 708 captures images of the interior of the vehicle, including the driver.
  • an RGB camera, an IR camera after thermal sensing, etc. can be illustrated.
  • the driver detection sensor 799 detects body information of the driver.
  • the driver may detect blood pressure information, sleep waves, and the like.
  • the radar 300 transmits a transmission signal and receives a reception signal reflected from an object around the vehicle. And distance information can be output based on the difference between a transmission signal and a reception signal. In addition, phase information may be further output.
  • FIG. 8 is an example of an internal block diagram of a vehicle radar according to an embodiment of the present invention.
  • the radar 300 according to an embodiment of the present invention, the antenna 310, the transmitting unit 320a for transmitting a transmission signal to the outside through the antenna 310, and the antenna 310
  • a sensor 320b for signal processing a received signal received from the sensor
  • a sensor unit 360 for sensing attitude information of the antenna 310
  • a sensor value measured by the sensor unit 360 while driving the vehicle It may include a processor 370 for calculating the antenna attitude adjustment value for the attitude adjustment of the antenna 310, and an antenna attitude adjustment unit 350 for adjusting the attitude of the antenna 310 based on the antenna attitude adjustment value. . Accordingly, the attitude adjustment of the radar mounted on the vehicle can be easily performed.
  • the radar 300 the interface for data exchange with the antenna driver 315, memory 340, other devices or units in the vehicle for driving the antenna 310 by applying an electrical signal to the antenna 310 A part 330 may be further provided.
  • the antenna 310, the transmitter 320a, the receiver 320b, and the first sensor unit 360a in the sensor unit 360 are mounted on the first circuit board 301, and the processor 370 and the sensor.
  • the second sensor unit 360b and the antenna attitude adjusting unit 350 in the unit 360 may be mounted on the second circuit board 302 spaced apart from the first circuit board 301.
  • the antenna 310 may output a radar signal or a radar beam to the outside and receive a radar signal or a radar beam reflected from an object around the vehicle to detect a distance or a phase of an object around the vehicle.
  • the processor 370 may control the antenna driver 315 to control an electric signal to be applied to the antenna 310.
  • the transmitter 320a can convert the baseband signal into an RF signal which is a transmission signal.
  • the receiver 320b may convert a received signal, which is an RF signal, into a baseband signal.
  • the processor 370 performs signal processing for the baseband region, and the level difference, phase difference, or time of the transmission signal at the transmitter 320a and the received signal at the receiver 320b. In consideration of the difference, distance information or phase information of an object around the vehicle may be calculated.
  • the processor 370 may calculate a vehicle collision risk calculation or the like based on the distance information or the phase information of the object around the vehicle, and the steering driver 752 and the brake driver based on the calculated vehicle collision risk or the like. 753, a control signal for controlling at least one of the suspension driver 756 and the power source driver 754 may be generated.
  • the processor 370 may calculate an antenna attitude adjustment value for attitude adjustment of the antenna 310 based on the sensor value measured by the sensor unit 360 while driving the vehicle.
  • the processor 370 may calculate an antenna attitude adjustment value for attitude adjustment of the antenna 310 based on a sensor value measured by the sensor unit 360 while the vehicle is driving on a straight road.
  • the posture information may include at least one of position, angle, and direction information of the antenna 310.
  • the processor 370 adjusts the attitude of the antenna 310 mounted in the first circuit board 301 based on the sensing values sensed by the first sensor unit 360a and the second sensor unit 360b.
  • the antenna attitude adjustment value can be calculated.
  • the processor 370 may output posture adjustment completion information. Accordingly, the posture adjustment completion information may be output to the display 480.
  • the processor 370 may output guide information for the posture adjustment mode based on the sensor value measured by the sensor unit 360 while driving the vehicle, and thus the posture adjustment is completed on the display 480. Information can be output.
  • the radar 300 according to another embodiment of the present invention, the antenna 310, the transmitting unit 320a for transmitting a transmission signal to the outside through the antenna 310, and is received from the antenna 310
  • the receiver 320b that processes the received signal, the sensor unit 360 that senses at least one of the position, angle, and direction of the antenna 310, and the sensor value measured by the sensor unit 360 while driving the vehicle.
  • the processor 370 may calculate the antenna attitude adjustment value based on the amount of time change and the measured sensor value, and at least one of the position and the angle of the antenna 310 may be adjusted based on the antenna attitude adjustment value. Accordingly, the attitude adjustment of the radar mounted on the vehicle can be easily performed.
  • FIG. 9 illustrates that the vehicle radar of FIG. 8 is attached to a wind shield of a vehicle.
  • the vehicle radar 300 may be attached to the wind shield 901 of the vehicle. To this end, the vehicle radar 300 may be connected to the connection member 903 and attached to the wind shield 901 of the vehicle.
  • the antenna 310 in the radar 300 is directed toward the front of the vehicle.
  • the attitude adjustment when attached to the windshield 901 of the vehicle, the attitude adjustment is performed so that the antenna 310 faces the front of the vehicle.
  • the antenna attitude control is performed based on the sensor value in the vehicle radar 300, the user's convenience can be increased.
  • posture control is not only performed when the vehicle radar 300 is mounted on the vehicle, but also preferably performed during the vehicle driving.
  • the posture of the antenna 310 may be disturbed when an impact is applied due to a barrier or the like while the vehicle 200 is traveling, so that the processor 370 may perform the antenna 310 when the impact of the vehicle is greater than or equal to a predetermined value. ) May be controlled to perform posture control.
  • FIG. 10 is a view schematically illustrating the structure of the vehicle radar of FIG. 8.
  • the RF stage and the base band stage may be distinguished from each other. That is, as shown in the drawing, the first circuit board 301 corresponding to the RF terminal and the second circuit board 302 corresponding to the base band terminal may be spaced apart from each other.
  • an antenna 310, a transmitter 320a, a receiver 320b, and a first sensor unit 360a in the sensor unit 360 may be mounted, and the second circuit board 302 may be mounted.
  • the processor 370, the second sensor unit 360b in the sensor unit 360, and the antenna posture adjusting unit 350 may be mounted.
  • the first circuit board 301 and the second circuit board 302 may be electrically connected through the interface unit 393.
  • the first sensor unit 360a may include an acceleration sensor. Accordingly, the first sensor unit 360a may sense acceleration information on x, y, and z axes of the first circuit board 301.
  • the second sensor unit 360b may include a gyro sensor, and thus may sense orientation information on the x, y, and z axes of the second circuit board 302.
  • the processor 370 is based on the acceleration information of the x, y, z axis from the first sensor unit 360a and the orientation information of the x, y, z axis from the second sensor unit 360b.
  • An antenna attitude adjustment value for attitude adjustment of the antenna 310 mounted in 301 may be calculated.
  • the processor 370 may calculate a posture adjustment value for at least one of the position, angle, and direction information of the antenna 310.
  • the processor 370 is based on the difference between the acceleration information of the x, y, z axis from the first sensor unit 360a and the orientation information of the x, y, z axis from the second sensor unit 360b.
  • the antenna attitude adjustment values of the x, y, and z axes for the attitude adjustment of the antenna 310 can be calculated.
  • the processor 370 stores the acceleration information of the x, y, z axes from the first sensor unit 360a and the orientation information of the x, y, z axes from the second sensor unit 360b to the memory 340. Can be controlled to save.
  • the processor 370 may adjust the antenna attitude adjustment value based on the time change amount of the sensor value measured by the sensor unit 360 and the measured sensor value while driving the vehicle. You can also compute.
  • the antenna attitude adjustment values on the y and z axes can be calculated.
  • the antenna attitude adjustment unit 350 may be provided with a plurality of moving parts (350a, 350b, 350c, 350d) mounted near each corner of the second circuit board 302 as shown in the figure.
  • the plurality of moving parts 350a, 350b, 350c, and 350d are connected between the first circuit board 301 and the second circuit board 302, and their lengths may be changed by the operation of each motor. .
  • each of the moving parts 350a, 350b, 350c, and 350d may be varied based on the antenna attitude adjustment value calculated by the processor 370. Accordingly, the positional change of at least one of the x, y, and z axes of the first circuit board 301 on which the antenna 310 is mounted is possible.
  • FIG. 11 is a diagram illustrating a method of operating a vehicle radar according to an exemplary embodiment of the present invention
  • FIGS. 12A to 15 are views referred to in describing the operating method of FIG. 11.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle acquires a sensor value measured by the sensor unit 360 while driving the vehicle (S1110). Posture information and the like of the antenna 310 may be obtained.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle includes sensing information from the first sensor unit 360a of the first circuit board 301 and a second circuit board ( The sensing information from the second sensor unit 360b of 302 may be obtained.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle determines whether the antenna attitude adjustment is necessary based on the obtained sensor value (S1115).
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle has a difference between a sensing value of the first circuit board 301 on which the antenna 310 is mounted and a reference value is greater than or equal to a predetermined value. If it is determined whether the difference is more than a predetermined value, it may be determined that the antenna attitude adjustment is necessary.
  • the reference value may be a value stored by default in the memory 340.
  • the radar 300 manufacturer may be a value previously stored in the memory 340.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle may adjust the attitude of the antenna 310 based on the sensor value measured by the sensor unit 360. Compute the antenna attitude adjustment value for (S1120). In addition, the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle controls the attitude adjustment of the antenna 310 to be performed based on the antenna attitude adjustment value (S1125).
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle calculates an antenna attitude adjustment value for attitude adjustment of the antenna 310 based on the sensor value measured by the sensor unit 360. Based on the antenna attitude adjustment value, the lower end of the radar 300 is controlled to move in the Dr1 direction.
  • the attitude adjustment of the radar 300 is performed at the reference position Vref.
  • 12A to 12B illustrate the attitude adjustment of the radar 300 itself for convenience of description, but as described above, the attitude adjustment of the antenna 310 may be performed. That is, the attitude adjustment may be performed such that the lower end of the first circuit board 301 on which the antenna 310 is mounted moves in the Dr1 direction, rather than the attitude adjustment with respect to the second circuit board 302.
  • 12C illustrates that the upper end of the radar 300 is inclined by an angle of ⁇ 2 relative to the reference position Vref.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle calculates an antenna attitude adjustment value for attitude adjustment of the antenna 310 based on the sensor value measured by the sensor unit 360. Based on the antenna attitude adjustment value, the upper end of the radar 300 is controlled to move in the Dr2 direction.
  • the attitude adjustment of the radar 300 is performed at the reference position Vref.
  • the attitude adjustment of the antenna 310 may be performed as described above. That is, the attitude adjustment may be performed such that the upper end portion of the first circuit board 301 on which the antenna 310 is mounted moves in the Dr2 direction, rather than the attitude adjustment with respect to the second circuit board 302.
  • FIG. 13A As described above, the guide information 1310 for the posture adjustment mode may be controlled to be output to the display 480.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle may provide a posture adjustment mode entry item 1316, and when the posture adjustment mode entry item 1316 is selected, posture adjustment.
  • the mode can be controlled to be performed.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle when the vehicle 200 is driving on a curved road in the attitude adjustment mode, as shown in Fig. 13b, the high road driving information 1320 and In this case, the guide information 1322 indicating that the posture adjustment mode is to be performed when entering the straight road may be controlled to be output to the display 480.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle when the vehicle 200 is driving on a curved road in the attitude adjustment mode, the sensor value measured by the sensor unit 360 is curved As the road travels, the vehicle keeps changing. Therefore, in order to perform a more accurate posture adjustment mode, it is preferable that the posture adjustment mode is performed when driving on a straight road.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle may distinguish whether the road ahead is a straight road or a curved road based on the image from the camera 195 or 295.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle may operate the straight road driving information 1332, the posture adjustment performing information 1334, and the posture adjustment completion information when driving the straight road for the posture adjustment mode. 1336 may be controlled to be output to the display 480 as shown in FIG. 13C. With this information, the driver or the like can easily recognize posture adjustment completion or the like.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle calculates distance information 1342 of the object in front of the vehicle and attention information 1344 for the object in front of the vehicle.
  • the display 480 may be controlled to be output to the display 480. By this information, accurate information can be provided to the driver.
  • FIG 14 illustrates another example of the sensor unit 360X mounted on the vehicle radar 300.
  • the sensor unit 360X for detecting the four-direction inclination may be disposed on the upper surface portion 304 instead of the front portion 303 and the side portion 306 of the radar 300.
  • the display unit 308a may be disposed around the sensor unit 360X to check the tilt information.
  • the processor 370 of the vehicle radar 300 or the processor of the vehicle can recognize the attitude of the antenna 310.
  • the antenna attitude adjustment value for attitude adjustment may be calculated.
  • the antenna attitude adjustment unit 350 may adjust the attitude of the antenna 310 based on the antenna attitude adjustment value.
  • FIG. 14 illustrates another example of the antenna posture adjusting unit 370 mounted on the vehicle radar 300.
  • the posture adjusting unit 370 may be disposed.
  • the processor 370 of the vehicle radar 300 or the processor 770 of the vehicle may recognize the attitude of the antenna 310.
  • the antenna attitude adjustment value for attitude adjustment may be calculated.
  • the antenna attitude adjustment unit 370 generates a plurality of electrical signals for adjusting the attitude of the antenna 310 based on the antenna attitude adjustment values, and the plurality of electrical signals are respectively the second patches 376.
  • the plurality of magnetic bodies 372a, 372b, 372c, and 372d in the first patch 371 are positioned corresponding to the positions of the plurality of magnetic bodies 373a, 373b, 373c, and 373d, the plurality of magnetic bodies 373a, 373b.
  • the position of the plurality of magnetic bodies 372a, 372b, 372c, and 372d in the first patch 371 may be varied by changing the positions of the 337c and 373d, so that the attitude adjustment of the vehicle radar 300 may be performed. do.
  • the operating method of the vehicle radar of the present invention can be implemented as a code that can be read by the processor on a vehicle radar or a processor-readable recording medium provided in the vehicle.
  • the processor-readable recording medium includes all kinds of recording devices that store data that can be read by the processor. Examples of the processor-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet. .
  • the processor-readable recording medium can also be distributed over network coupled computer systems so that the processor-readable code is stored and executed in a distributed fashion.

Abstract

La présente invention concerne un radar pour un véhicule et un véhicule le comprenant. Le radar pour un véhicule, selon la présente invention, comprend : une antenne ; une unité d'émission pour émettre un signal d'émission vers l'extérieur par l'intermédiaire de l'antenne ; une unité de réception pour effectuer un traitement de signal d'un signal de réception reçu en provenance de l'antenne ; une unité de détection pour détecter des informations sur l'attitude de l'antenne ; un processeur pour calculer, pendant la conduite d'un véhicule, et sur la base d'une valeur de capteur mesurée par l'unité de capteur, une valeur de réglage d'attitude d'antenne pour régler l'attitude de l'antenne ; et une unité de réglage d'attitude d'antenne pour régler l'attitude de l'antenne sur la base de la valeur de réglage d'attitude d'antenne. En conséquence, l'attitude du radar monté sur le véhicule peut être réglée de manière simple.
PCT/KR2016/007997 2015-07-24 2016-07-22 Radar pour véhicule et véhicule le comprenant WO2017018728A1 (fr)

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