WO2019066210A1 - 거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈 - Google Patents

거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈 Download PDF

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Publication number
WO2019066210A1
WO2019066210A1 PCT/KR2018/007383 KR2018007383W WO2019066210A1 WO 2019066210 A1 WO2019066210 A1 WO 2019066210A1 KR 2018007383 W KR2018007383 W KR 2018007383W WO 2019066210 A1 WO2019066210 A1 WO 2019066210A1
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WO
WIPO (PCT)
Prior art keywords
ultrasonic
distance
ultrasonic sensor
vehicle
present
Prior art date
Application number
PCT/KR2018/007383
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
김홍국
정준용
이형철
이정욱
Original Assignee
센서텍(주)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 센서텍(주) filed Critical 센서텍(주)
Priority to CN201880062132.3A priority Critical patent/CN111149014A/zh
Priority to JP2020539661A priority patent/JP6980925B2/ja
Publication of WO2019066210A1 publication Critical patent/WO2019066210A1/ko

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Classifications

    • 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
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • G01S15/87—Combinations of sonar 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
    • 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
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

Definitions

  • the present invention relates to an ultrasonic sensor, and more particularly, to an ultrasonic sensor module that detects an object around a vehicle when the vehicle is traveling and when the vehicle is parked and informs the driver of the object, and more particularly, .
  • an ultrasonic sensor is used for sensing a distance
  • various systems using a distance sensed by an ultrasonic sensor for example, a parking guidance system, have been proposed.
  • the parking guidance system using the ultrasonic sensor receives the reflected wave from the ultrasonic sensor provided at the upper part of the vehicle, measures the delay time according to the reception of the reflected wave, converts the distance, Is applied.
  • a plurality of ultrasonic sensors are located in a bumper portion of a vehicle, and an ultrasonic signal emitted from each ultrasonic sensor is reflected by a reflected object to measure a distance.
  • an ultrasonic signal emitted from each ultrasonic sensor is reflected by a reflected object to measure a distance.
  • the accuracy of the distance measurement is remarkably reduced in the case of an object close to the vehicle within a certain distance.
  • Another object of the present invention is to provide an ultrasonic sensor module capable of performing a complicated mathematical operation with a microcomputer having a relatively low performance computing capability and a low capacity storage device by performing a square root calculation using a lookup table method have.
  • the present invention provides an ultrasonic sensor module for detecting and informing surrounding objects when traveling and parking a vehicle.
  • the ultrasonic sensor module is mounted on a vehicle, transmits an ultrasonic signal,
  • a controller for controlling the overall operation of the ultrasonic sensor module and a driving unit for driving the ultrasonic sensor, and using the ultrasonic signals received from the two ultrasonic sensors, the vertical distance between the object and the vehicle
  • a control unit for calculating the control signal.
  • a first ultrasonic sensor that transmits an ultrasonic signal and receives an ultrasonic signal that is reflected by an object and returns; and a second ultrasonic sensor that is positioned adjacent to the first ultrasonic sensor and is reflected by the object without transmitting an ultrasonic signal,
  • the control unit calculates the direct distance measured using the ultrasonic signal received from the first ultrasonic sensor, the ultrasonic signal received by the second ultrasonic sensor,
  • the vertical distance between the object and the vehicle can be calculated by a triangulation method using an indirect distance measured using a signal.
  • the controller may perform a square root calculation using a predetermined look-up table.
  • the control unit first calculates a direct distance to the object using the ultrasonic signal received from the first ultrasonic sensor, and when the direct distance exceeds the preset reference distance, , And if the direct distance is within the reference distance, the vertical distance between the object and the vehicle can be calculated by the triangulation method using the direct distance and the indirect distance.
  • the distance to an object can be more accurately calculated by using the triangulation method, and the accuracy of the distance measurement can be improved.
  • the present invention can perform complicated mathematical operations with a microcomputer having a relatively low performance computing capability and a storage device with a low capacity by performing a square root calculation using a lookup table method, There is an effect that can be implemented.
  • a technique of implementing a high-performance microcomputer in a separate device occupying a large external space such as a conventional ECU can be applied to a low-performance microcomputer used in an ultrasonic parking assist device in the present invention It is possible to realize a low cost, and it is also possible to reduce the cost by eliminating the need of using a special expensive integrated IC which is integrated with related performance.
  • FIG. 1 is a block diagram showing a configuration of an ultrasonic sensor module according to an embodiment of the present invention.
  • FIG. 2 is a view schematically showing a state where an ultrasonic sensor according to an embodiment of the present invention is provided on a bumper to sense an object.
  • FIG. 3 is a diagram illustrating a case where an object is located between two ultrasonic sensors according to an embodiment of the present invention.
  • FIG. 4 is a view illustrating an example in which an object is positioned on the side of two ultrasonic sensors according to an embodiment of the present invention.
  • FIG. 5 is a table illustrating an index determination table for calculating a square root according to an embodiment of the present invention.
  • FIG. 6 is a diagram illustrating a square value determination table for calculating a square root according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of calculating a square root using a lookup table according to an embodiment of the present invention.
  • An ultrasonic sensor module for detecting and informing surrounding objects when traveling and parking a vehicle of the present invention comprises at least two ultrasonic sensors for receiving ultrasound signals transmitted from an object, A driving unit for driving the ultrasonic sensor, and a controller for controlling the overall operation of the ultrasonic sensor module and calculating a vertical distance between the object and the vehicle using triangular measurement using the ultrasonic signals received from the two ultrasonic sensors.
  • the present invention relates to an ultrasonic sensor module that detects and informs surrounding objects when traveling and parking a vehicle.
  • FIG. 1 is a block diagram showing a configuration of an ultrasonic sensor module according to an embodiment of the present invention.
  • an ultrasonic sensor module includes at least two ultrasonic sensors 110, a driver 120, and a controller 130.
  • the ultrasonic sensor 110 is mounted on a vehicle, transmits an ultrasonic signal, and receives an ultrasonic signal reflected from the object.
  • the number of the ultrasonic sensors 110 is two or more, and is mounted on a bumper or the like of the vehicle, and serves to sense an object around the vehicle.
  • the driving unit 120 drives the ultrasonic sensor 110.
  • the control unit 130 controls the overall operation of the ultrasonic sensor module and controls the driving unit 120 so that the ultrasonic sensor 110 is driven.
  • control unit 130 calculates the vertical distance between the object and the vehicle using the triangular measurement method using the ultrasonic signals received from the two ultrasonic sensors.
  • FIG. 2 is a view schematically showing a state where an ultrasonic sensor according to an embodiment of the present invention is provided on a bumper to sense an object.
  • FIG. 2 is an embodiment in which four ultrasonic sensors 210, 220, 230, and 240 are provided on a bumper of a vehicle.
  • the first ultrasonic sensor 210 transmits an ultrasonic signal and receives an ultrasonic signal reflected by an object 10
  • the second ultrasonic sensor 220 receives the reflected ultrasonic signal from the first ultrasonic sensor 210 And receives an ultrasonic signal reflected from the object 10 and returning without being transmitted an ultrasonic signal.
  • control unit 130 uses the direct distance L 1 measured using the ultrasonic signal received by the first ultrasonic sensor 210 and the ultrasonic signal received by the second ultrasonic sensor 220
  • the vertical distance d between the object and the vehicle can be calculated by the triangulation method using the indirect distance (L 2 ) measured by the above method.
  • the ultrasonic signal emitted from the sensor such as L 1 and L 2
  • a direct distance is used to measure the distance using a signal coming into the sensor. do.
  • the accuracy of the distance measurement is reduced.
  • the vehicle requires a vertical distance from the bumper to the object. As the position of the object moves away from the vertical, the accuracy of the distance decreases.
  • the controller 130 first calculates a direct distance to the object 10 using the ultrasonic signal received by the first ultrasonic sensor 210, , The direct distance is determined as the distance from the object 10.
  • the controller 130 calculates the vertical distance between the object 10 and the vehicle by using the direct distance and the indirect distance. For example, when an object is located in the area of W2 or W3, the vertical distance between the object 10 and the vehicle is calculated by a triangulation method using the direct distance and the indirect distance.
  • FIG. 3 is a diagram illustrating a case where an object is located between two ultrasonic sensors according to an embodiment of the present invention.
  • the perpendicular distance d can be calculated when a foot of a waterline is lowered on a line passing through the first ultrasonic sensor 210 and the second ultrasonic sensor 220.
  • FIG. 4 is a view illustrating an example in which an object is positioned on the side of two ultrasonic sensors according to an embodiment of the present invention.
  • the distance calculation through the triangulation method of the present invention requires complicated calculation such as a square root.
  • such calculations can not be performed in an 8-bit microcomputer and require higher computational power and storage space for such calculations.
  • the controller 130 may perform a square root calculation using a predetermined look-up table. Accordingly, the present invention does not require a large memory capacity and high computation power, and shortens the calculation time and can be easily implemented in an actual product.
  • FIG. 5 is a table illustrating an index determination table for a square root calculation according to an embodiment of the present invention
  • FIG. 6 is a table illustrating a square value determination table for a square root calculation according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of calculating a square root using a lookup table according to an embodiment of the present invention.
  • FIG. 5 The square root calculation method will be described with reference to FIGS. 5 to 7.
  • FIG. 5 The square root calculation method will be described with reference to FIGS. 5 to 7.
  • the index is incremented by 1 (S713), and a square value corresponding to the index is extracted from the square value determination table (S709).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
PCT/KR2018/007383 2017-09-29 2018-06-29 거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈 WO2019066210A1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880062132.3A CN111149014A (zh) 2017-09-29 2018-06-29 用于提高测距精度的超声波传感器模块
JP2020539661A JP6980925B2 (ja) 2017-09-29 2018-06-29 距離測定の精度を向上するための超音波センサーモジュール

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2017-0127686 2017-09-29
KR1020170127686A KR102015074B1 (ko) 2017-09-29 2017-09-29 거리 측정의 정밀도를 향상시키기 위한 초음파 센서 모듈

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WO2019066210A1 true WO2019066210A1 (ko) 2019-04-04

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JP (1) JP6980925B2 (zh)
KR (1) KR102015074B1 (zh)
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KR102143538B1 (ko) 2019-05-31 2020-08-11 주식회사 웰텍 초음파 센서의 측정 거리 보정 방법

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Also Published As

Publication number Publication date
JP6980925B2 (ja) 2021-12-15
KR102015074B1 (ko) 2019-08-27
KR20190037890A (ko) 2019-04-08
CN111149014A (zh) 2020-05-12
JP2020535450A (ja) 2020-12-03

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