KR101104442B1 - Method and apparatus for diagnosing radar trouble - Google Patents

Method and apparatus for diagnosing radar trouble Download PDF

Info

Publication number
KR101104442B1
KR101104442B1 KR1020100102580A KR20100102580A KR101104442B1 KR 101104442 B1 KR101104442 B1 KR 101104442B1 KR 1020100102580 A KR1020100102580 A KR 1020100102580A KR 20100102580 A KR20100102580 A KR 20100102580A KR 101104442 B1 KR101104442 B1 KR 101104442B1
Authority
KR
South Korea
Prior art keywords
radar device
radar
acceleration information
difference value
sensor
Prior art date
Application number
KR1020100102580A
Other languages
Korean (ko)
Inventor
김지훈
Original Assignee
주식회사 만도
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 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020100102580A priority Critical patent/KR101104442B1/en
Application granted granted Critical
Publication of KR101104442B1 publication Critical patent/KR101104442B1/en

Links

Images

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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • 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
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a technique for diagnosing a failure of a radar device. More specifically, the present invention relates to a method for diagnosing a failure of a radar device and a device capable of accurately diagnosing an alignment state of a radar device using acceleration information.

Description

Fault diagnosis method of radar device and its device {METHOD AND APPARATUS FOR DIAGNOSING RADAR TROUBLE}

The present invention relates to a technique for diagnosing a failure of a radar device. More specifically, the present invention relates to a method for diagnosing a failure of a radar device and a device capable of accurately diagnosing an alignment state of a radar device using acceleration information.

Various vehicle systems such as Adaptive Cruise Control (ACC) perform system functions using the radar function of the radar device mounted on the vehicle. In order to perform the system functions accurately in these various vehicle systems, the reliability of the radar function of the radar device must be ensured.

However, due to various reasons, the vertical and / or horizontal alignment of the radar device may not be correct, which may lead to incorrect information, which may cause fatal problems in the system function of the vehicle system using the information obtained from the radar device, resulting in a vehicle accident. It may be.

Therefore, there is a demand for the development of a radar failure diagnosis apparatus capable of accurately diagnosing whether the alignment state of the radar device is a normal alignment state or a misalignment state (abnormal state).

However, the conventional radar failure diagnosis apparatus has a problem in that it is impossible to diagnose the alignment state of the radar apparatus according to the vehicle state or the road surface state such as a slope or a slope.

In addition, the conventional radar failure diagnosis apparatus has a problem that can not diagnose both the horizontal alignment state and the vertical alignment state.

In this context, it is an object of the present invention to accurately diagnose the alignment state of a radar device regardless of a vehicle state or a road surface state such as a slope or a slope.

In addition, another object of the present invention is to enable accurate diagnosis of both the vertical alignment state and the horizontal alignment state of the radar device.

In order to achieve the above object, in one aspect, the present invention, the first acceleration information acquisition unit for obtaining the first acceleration information from the acceleration device mounted on the inside or outside of the radar device; A second acceleration information acquisition unit obtaining second acceleration information from a specific sensor mounted in the vehicle; It is determined whether the difference between the first acceleration information and the second acceleration information exceeds a predetermined threshold difference value, and if it is determined that the difference exceeds the threshold value, the excess time when the difference value exceeds the threshold difference value is thresholded. A misalignment state diagnosis unit for diagnosing that the radar device is in a misalignment state if it is longer than the time; And a radar failure processing unit for stopping the radar function of the radar device and performing a driver warning process when the radar device is diagnosed to be in a misalignment state.

In another aspect, the present invention includes the steps of obtaining first acceleration information from an acceleration element mounted inside or outside of the radar device, and obtaining second acceleration information from a specific sensor mounted in the vehicle; It is determined whether the difference between the first acceleration information and the second acceleration information exceeds a predetermined threshold difference value. If the difference is determined to exceed the threshold difference value, the difference value is the threshold value. It counts whether the time exceeding the difference value exceeds the threshold time, and when the time when the difference value exceeds the threshold difference value is less than or equal to the threshold time, the radar device is diagnosed to be in a normal alignment state, and the difference value is Diagnosing that the radar device is in a misalignment state when a time exceeding the threshold difference value exceeds the threshold time; And a radar failure processing step of stopping the radar function of the radar device and performing a driver warning process when the radar device is diagnosed as a misalignment state. .

As described above, according to the present invention, it is possible to accurately diagnose the alignment state of the radar device regardless of the state of the vehicle or the road surface such as a slope or a slope.

In addition, according to the present invention, it is possible to accurately diagnose both the vertical alignment state and the horizontal alignment state of the radar device.

1 is a block diagram of a failure diagnosis apparatus of a radar apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a fault diagnosis method of the radar apparatus according to an exemplary embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible even if displayed on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a block diagram of a failure diagnosis apparatus 100 of a radar apparatus according to an embodiment of the present invention.

The failure diagnosis apparatus 100 of the radar device according to the embodiment of the present invention shown in FIG. 1 diagnoses whether the alignment state of the radar device is a normal alignment state or a misalignment state. It is a device that takes action accordingly. Here, the misalignment state includes a vertical misalignment state and a horizontal misalignment state.

As shown in FIG. 1, the apparatus 100 for diagnosing a failure of a radar apparatus according to an embodiment of the present invention may include obtaining acceleration information to diagnose whether the radar apparatus is in a normal alignment state or a misalignment state. The first acceleration information acquisition unit 110 and the second acceleration information acquisition unit 120, the misalignment state diagnosis unit 130 for diagnosing whether the radar device is in the misalignment state by using the acquired acceleration information, and the radar device Includes a radar failure processor 140 to take a corresponding action when it is diagnosed that the device is in a misalignment state.

The first acceleration information acquisition unit 110 as described above obtains the first acceleration information from the acceleration element 11 mounted inside or outside the radar device.

The second acceleration information acquisition unit 120 obtains the second acceleration information from the specific sensor 12 mounted in the vehicle.

The above-described misalignment state diagnosis unit 130 determines whether the difference between the first acceleration information and the second acceleration information exceeds a preset threshold difference value, and if it is determined that the difference value exceeds the threshold difference value, If the excess time is longer than the threshold time, the radar device is diagnosed as a misalignment state.

When the radar failure processor 140 is diagnosed as having a misalignment state, the radar failure processing unit 140 stops the radar function of the radar device and performs a driver warning process.

In relation to the driver warning processing, the above-described radar failure processing unit 140 performs the driver warning processing including one or more of a process of pulling the seat belt, a process of turning on or blinking a warning light, a process of generating a warning sound, and the like. can do.

In addition, the above-described radar failure processing unit 140 may control the information use order using the information of the sensors in various vehicle systems such as Adaptive Cruise Control (ACC), if the radar device is misaligned If diagnosed as a condition, the vision sensor, laser sensor, ultrasonic sensor, and GPS may be used so that information from sensors including at least one of a vision sensor, a laser sensor, an ultrasonic sensor, and a GPS sensor is available ahead of the radar device. The information usage rank of sensors including at least one of the sensors may be controlled to be higher than the information usage rank of the radar device.

The specific sensors mentioned above may include one or more of a yaw sensor, a G sensor, and the like mounted on the vehicle, in order to measure one or more of the vehicle's longitudinal acceleration and lateral acceleration. It may include a sensor.

The aforementioned mis-alignment state diagnosis unit 130 compares each of the angular acceleration information of the yaw sensor and the acceleration information of the G-sensor included in the second acceleration information with the first acceleration information to determine the horizontal misalignment state of the radar device and Both vertical misalignment conditions can be diagnosed.

As described above, the radar failure diagnosis apparatus 100 according to an embodiment of the present invention diagnoses the alignment state of the radar apparatus by using two types of acceleration sensors (that is, an acceleration element and a specific sensor). By using the acceleration sensor, it is possible to overcome the conventional limitation point that the alignment state of the radar device cannot be diagnosed on the slope or the inclined plane, so that the alignment state of the radar device can be accurately diagnosed regardless of the vehicle state or the road surface state.

In addition, since the radar failure diagnosis apparatus 100 according to an embodiment of the present invention diagnoses the alignment state of the radar device using an acceleration element and a specific sensor (yaw sensor, G sensor), the horizontal alignment state or the vertical alignment state. It is possible to overcome the conventional limitations in which only the diagnosis was possible, so that both the horizontal alignment state and the vertical alignment state of the radar apparatus can be diagnosed.

2 is a flowchart illustrating a failure diagnosis method of a radar device for diagnosing a failure state (ie, misalignment state) of the radar device by the failure diagnosis apparatus 100 of the radar device according to an exemplary embodiment of the present invention.

2, a method of diagnosing a failure of a radar device according to an embodiment of the present invention may include obtaining acceleration information to diagnose whether the radar device is in a normal alignment state or a misalignment state (S200); Diagnosing whether the radar device is in a normal alignment state or a misalignment state by using the acquired acceleration information (S202), and taking a corresponding action when the radar device is diagnosed to be in a misalignment state (S204). And the like.

In the above-described step S200, the first acceleration information is obtained from an acceleration device mounted inside or outside the radar device, and the second acceleration information is obtained from a specific sensor mounted in the vehicle.

The above-described step S202 will be described in more detail below.

First, it is determined whether a difference value between the acquired first acceleration information and the acquired second acceleration information exceeds a preset threshold difference value (S2020).

As a result of the determination in step S2020, if the difference value is less than or equal to the preset threshold difference value, the radar device is diagnosed as being in normal alignment state (S2022).

As a result of the determination in step S2020, when it is determined that the difference value exceeds the preset threshold difference value, it is counted whether the time when the difference value exceeds the threshold difference value exceeds the threshold time (S2024).

As a result of counting in step S2024, when the time when the difference value exceeds the threshold difference becomes less than the threshold time, the radar device is diagnosed as being in normal alignment state (S2022), and the time when the difference value exceeds the threshold difference value indicates the threshold time. If exceeded, the radar device is diagnosed as being in misalignment state (S2026).

In step S204, when the radar device is diagnosed to be in misalignment state, the radar device stops the radar function of the radar device and performs a driver warning process such as pulling a seat belt, generating a warning sound, or lighting or flashing a warning light. .

In the above-described step S204, it is possible to control the information use order using the information of the sensors in various vehicle systems such as Adaptive Cruise Control (ACC), if the radar device is diagnosed as a misalignment state In one case, one or more of the vision sensor, laser sensor, ultrasonic sensor, and GPS sensor, so that the information of the sensors including one or more of the vision sensor, laser sensor, ultrasonic sensor and GPS sensor can be used ahead of the information of the radar device. The information usage ranking of the sensors including a may be controlled to be higher than the information usage ranking of the radar apparatus.

As described above, according to the present invention, it is possible to accurately diagnose the alignment state of the radar device regardless of the state of the vehicle or the road surface such as a slope or a slope.

In addition, according to the present invention, it is possible to accurately diagnose both the vertical alignment state and the horizontal alignment state of the radar device.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (6)

A first acceleration information acquisition unit obtaining first acceleration information from an acceleration device mounted inside or outside the radar device;
A second acceleration information acquisition unit obtaining second acceleration information from a specific sensor mounted in the vehicle;
It is determined whether the difference between the first acceleration information and the second acceleration information exceeds a predetermined threshold difference value, and if it is determined that the difference exceeds the threshold value, the excess time when the difference value exceeds the threshold difference value is thresholded. A misalignment state diagnosis unit for diagnosing that the radar device is in a misalignment state if it is longer than the time; And
And a radar failure processing unit for stopping the radar function of the radar device and performing a driver warning process when the radar device is diagnosed to be in a misalignment state. The method of claim 1,
The radar failure processing unit,
And a driver warning process including at least one of a process of pulling a seat belt, a process of turning on or blinking a warning light, and a process of generating a warning sound. The method of claim 1,
The radar failure processing unit,
In the vehicle system to control the information usage rank using the information of the sensors,
And a sensor use rank of sensors including at least one of a vision sensor, a laser sensor, an ultrasonic sensor, and a GPS sensor is higher than the information use rank of the radar device. The method of claim 1,
The specific sensor,
A device for diagnosing failure of a radar device, comprising at least one of a yaw sensor and a G sensor. The method of claim 4, wherein
The miss-alignment state diagnosis unit,
Diagnosing both the horizontal misalignment state and the vertical misalignment state of the radar device by comparing the angular acceleration information of the yaw sensor and the acceleration information of the G sensor included in the second acceleration information with the first acceleration information, respectively. Failure diagnosis apparatus of the radar device, characterized in that. Obtaining first acceleration information from an acceleration device mounted inside or outside the radar device, and obtaining second acceleration information from a specific sensor mounted in the vehicle;
It is determined whether the difference between the first acceleration information and the second acceleration information exceeds a predetermined threshold difference value. If the difference is determined to exceed the threshold difference value, the difference value is the threshold value. It counts whether the time exceeding the difference value exceeds the threshold time, and when the time when the difference value exceeds the threshold difference value is less than or equal to the threshold time, the radar device is diagnosed to be in a normal alignment state, and the difference value is Diagnosing that the radar device is in a misalignment state when a time exceeding the threshold difference value exceeds the threshold time; And
And radar failure processing step of stopping the radar function of the radar device and performing a driver warning process when the radar device is diagnosed to be in a misalignment state.
KR1020100102580A 2010-10-20 2010-10-20 Method and apparatus for diagnosing radar trouble KR101104442B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100102580A KR101104442B1 (en) 2010-10-20 2010-10-20 Method and apparatus for diagnosing radar trouble

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100102580A KR101104442B1 (en) 2010-10-20 2010-10-20 Method and apparatus for diagnosing radar trouble

Publications (1)

Publication Number Publication Date
KR101104442B1 true KR101104442B1 (en) 2012-01-12

Family

ID=45614073

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100102580A KR101104442B1 (en) 2010-10-20 2010-10-20 Method and apparatus for diagnosing radar trouble

Country Status (1)

Country Link
KR (1) KR101104442B1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103913728A (en) * 2014-04-01 2014-07-09 中国人民解放军总装备部军械技术研究所 Portable radar general-purpose tester and testing method
CN103941240A (en) * 2014-04-01 2014-07-23 中国人民解放军总装备部军械技术研究所 Radar system communication extension detection device and detection methods
GB2573016A (en) * 2018-04-20 2019-10-23 Trw Ltd A radar apparatus for a vehicle and method of detecting misalignment
CN112540358A (en) * 2020-12-02 2021-03-23 中国电子科技集团公司第三十八研究所 Function self-repairing radar system based on state prediction
CN113567961A (en) * 2020-04-09 2021-10-29 上海禾赛科技有限公司 Laser radar state detection device, laser radar, and state detection method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6556166B1 (en) * 2002-02-19 2003-04-29 Delphi Technologies, Inc. Method of measuring elevational mis-alignment of an automotive radar sensor
JP2003535346A (en) * 2000-05-31 2003-11-25 ローク マナー リサーチ リミテッド Automotive radar system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003535346A (en) * 2000-05-31 2003-11-25 ローク マナー リサーチ リミテッド Automotive radar system
US6556166B1 (en) * 2002-02-19 2003-04-29 Delphi Technologies, Inc. Method of measuring elevational mis-alignment of an automotive radar sensor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103913728A (en) * 2014-04-01 2014-07-09 中国人民解放军总装备部军械技术研究所 Portable radar general-purpose tester and testing method
CN103941240A (en) * 2014-04-01 2014-07-23 中国人民解放军总装备部军械技术研究所 Radar system communication extension detection device and detection methods
GB2573016A (en) * 2018-04-20 2019-10-23 Trw Ltd A radar apparatus for a vehicle and method of detecting misalignment
CN113567961A (en) * 2020-04-09 2021-10-29 上海禾赛科技有限公司 Laser radar state detection device, laser radar, and state detection method
CN112540358A (en) * 2020-12-02 2021-03-23 中国电子科技集团公司第三十八研究所 Function self-repairing radar system based on state prediction

Similar Documents

Publication Publication Date Title
US20150210258A1 (en) Method for carrying out a safety function of a vehicle and system for carrying out the method
US10176594B2 (en) Progressive in-vehicle camera calibrator, image generator, in-vehicle camera calibration method, and image generation method
KR101104442B1 (en) Method and apparatus for diagnosing radar trouble
EP3223195A1 (en) Device, method, and program for detecting object
CN111077880B (en) Vehicle fault diagnosis system and method
US20140318209A1 (en) Circuit Assembly and Method for Plausibility Checking of Sensor Signals
US11348495B2 (en) Image display system for vehicle
US20180203226A1 (en) In-vehicle display system, control apparatus, and display apparatus
US10152890B2 (en) On-vehicle camera device
US9372774B2 (en) Redundant computing architecture
CN108369781B (en) Method for evaluating a hazard situation detected by at least one sensor of a vehicle
US20200086884A1 (en) Remote safe driving methods and systems
US10106169B2 (en) Method for monitoring a motor vehicle
JP6865572B2 (en) Automotive risk-based control
JP2010126130A (en) Abnormality diagnosis device
CN107764559A (en) The test of the motor vehicle of energy autonomous control
CN112298070A (en) Pedal fault diagnosis method and device
CN114466779B (en) Method and device for locating a vehicle in a surrounding area
KR101469708B1 (en) Vehicle Black Box System for Monitoring Integrated Driving State and sudden unintended acceleration
CN115111359B (en) Control method and device for new energy vehicle gearbox, vehicle and storage medium
JP4286721B2 (en) Vehicle diagnosis information acquisition device and vehicle diagnosis information acquisition method
KR20170100246A (en) Pedal Movement Measurement Module for Detecting Sudden Unintended Acceleration
US11144327B2 (en) Method for operating a control unit, and device having an associated control unit
JP2021124500A (en) Telematics control entity providing positioning data with consistency level
CN106033220A (en) Method of detecting ECU Flash erasing and writing state and system thereof

Legal Events

Date Code Title Description
A201 Request for examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20141222

Year of fee payment: 4

FPAY Annual fee payment

Payment date: 20151222

Year of fee payment: 5

FPAY Annual fee payment

Payment date: 20161222

Year of fee payment: 6

FPAY Annual fee payment

Payment date: 20171222

Year of fee payment: 7

FPAY Annual fee payment

Payment date: 20181226

Year of fee payment: 8

FPAY Annual fee payment

Payment date: 20191219

Year of fee payment: 9