KR20030092390A - Method of eliminating noise for vehicle using radar wave - Google Patents
Method of eliminating noise for vehicle using radar wave Download PDFInfo
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- KR20030092390A KR20030092390A KR1020020030033A KR20020030033A KR20030092390A KR 20030092390 A KR20030092390 A KR 20030092390A KR 1020020030033 A KR1020020030033 A KR 1020020030033A KR 20020030033 A KR20020030033 A KR 20020030033A KR 20030092390 A KR20030092390 A KR 20030092390A
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- vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3017—Radars
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
본 발명은 레이더파를 이용한 노이즈 제거방법에 관한 것으로서, 보다 상세하게는 자차에서 전방의 물체를 스캔(scan)시에 발생하는 불필요한 노이즈를 찾아 제거하기 위한 레이더파를 이용한 노이즈 제거방법에 관한 것이다.The present invention relates to a method for removing noise using a radar wave, and more particularly, to a method for removing noise using a radar wave for detecting and removing unnecessary noise generated when a front object is scanned in a host vehicle.
도 1에 도시된 바와 같이, 자차(1)에서 전방의 물체 예컨대 전방의 목표차량 (12)을 스캔하기 위해 자차(11)에서 스캔(scan)하게 된다. 이는 상기 자차(11)에서 전방으로 레이더파(rader wave)(21)를 주사하고, 다시 반사하여 오는 신호를 분석하여 전방의 물체를 스캔하게 된다.As shown in FIG. 1, in the host vehicle 1, a scan is performed in the host vehicle 11 to scan an object in front of the target vehicle 12, for example. This scans the radar wave 21 forward from the host vehicle 11 and analyzes the signal reflected back to scan the object in front of it.
그런데, 이와 같은 전방의 물체를 스캔하는 예컨대 추돌경보장치에서 레이더파(21)가 단방향으로만 주사되기 때문에 자기 차선의 정보만을 인식하게 된다. 따라서 자차(11)의 바로 전방에 있는 목표차량(12)도 일정 간격만큼 갭(A)을 두고 스캔하게 되고, 상기 목표차량(12)으로부터 일정 간격(B)을 두고 의 옆 차선에 있는 전방차량(13)은 전혀 스캔하지 못하는 문제점이 있다.However, since the radar wave 21 is scanned only in one direction in the collision warning device that scans the front object, only the information of the own lane is recognized. Therefore, the target vehicle 12 immediately in front of the host vehicle 11 is also scanned with a gap A by a predetermined interval, and the front vehicle in the next lane at a predetermined interval B from the target vehicle 12. There is a problem that (13) does not scan at all.
상기와 같은 문제점을 해결하기 위해 도 2와 같은 추돌 경보장치가 고안되었다.In order to solve the above problems, the collision warning device of FIG. 2 has been devised.
도 2에 도시된 바와 같이 개선된 추돌경보장치는, 예컨대 스탭 모터(step motor)에 의해 NRD(Non-Radiative Dielectric) 컴포넌트(component)(33)가 오프셋(offset) 범위 내에서 움직이게 되어있어 빔 경사각(beam tilt angle)(스캔 각도)(α)이 변한다. 따라서 빔 경사각(스캔각도)(α)이 변하므로 차선(도로)전제를 스캔하므로 차선 전체의 상황을 알 수 있다.In the improved collision warning device as shown in FIG. 2, the non-radial dielectric (NRD) component 33 is moved within an offset range by, for example, a step motor, so that the beam tilt angle is increased. (beam tilt angle) (scan angle) alpha changes. Therefore, since the beam inclination angle (scan angle) α is changed, the entire lane is scanned because the entire road is scanned.
한편, 도 2에서 설명되지 않은 참조부호 31은 상기한 스탭 모터에 의해 기구적으로 움직이는 부분이고, 32는 레이더파를 발생시키고, 입력받는 부분을 각각 나나내 보인 것이다.On the other hand, reference numeral 31, which is not described in FIG. 2, is a part that is mechanically moved by the step motor, and 32 is a radar wave generated and an input part is shown.
그러나, 전방의 불필요한 물체 또는 장애물 예컨대, 가로등, 중앙 분리대,나무 등도 검출되는 단점 즉, 랜덤 노이즈(random noise)가 발생하는 문제점이 있다. 자차에서 정말 필요한 물체만 즉, 자차 전방 도로 상의 모든 차량을 스캔하는데 지장을 주게 되어 스캔 효율을 떨어뜨리게 된다.However, there is a problem in that unnecessary objects or obstacles in front, for example, street lamps, central dividers, trees, etc. are also detected, that is, random noise occurs. Scanning only the objects that are really needed in the vehicle, that is, all the vehicles on the road ahead of the vehicle, will interfere with the scanning efficiency.
본 발명은 상기와 같은 문제점을 해결하기 위하여 창출된 것으로서, 자차에서 전방의 물체를 스캔할 때 노이즈를 찾아내어 스캔 효율이 향상되도록 한 레이더파를 이용한 노이즈 제거방법을 제공하는데 그 목적이 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a noise removal method using radar waves to find noise when scanning an object in front of the host vehicle so that the scanning efficiency is improved.
도 1은 종래의 기술에 따른 추돌경보장치에서 레이더파를 이용하여 전방의 물체를 탐색하는 방법을 설명하기 위해 나타내 보인 도면.1 is a view showing for explaining a method of searching for a front object using a radar wave in the collision warning device according to the prior art.
도 2는 도 1의 추돌경보장치가 개선된 추돌경보장치의 원리를 설명하기 위해 나타내 보인 도면.2 is a view showing for explaining the principle of the collision warning device improved collision collision device of FIG.
도 3 및 도 4는 본 발명에 따른 레이더파를 이용한 노이즈 제거방법을 개략적으로 나타내 보인 설명도.3 and 4 are schematic diagrams showing a noise removing method using a radar wave according to the present invention.
<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>
41. 자차41. Jacha
42. 선행차42. Leading Car
상기와 같은 목적을 달성하기 위한 본 발명의 레이더파를 이용한 노이즈 제거방법은, (a) 자차에서 전방에 소정 각도로 레이더파를 적어도 두 개 이상을 주사하는 단계와; (b) 상기 단계 (a)에서 주사된 레이더파가 상기 물체에서 반사되어 돌아오는 반사파의 개수에 따라 노이즈를 판단하는 단계;를 포함하는 것을 그 특징으로 한다.Noise reduction method using the radar wave of the present invention for achieving the above object comprises the steps of: (a) scanning at least two or more radar waves at a predetermined angle in front of the host vehicle; (b) determining noise according to the number of reflected waves returned from the object by the radar wave scanned in the step (a).
이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 3에는 본 발명에 따른 레이더파를 이용한 노이즈 제거방법을 개략적으로 나타낸 설명도가 도시되어 있다.3 is an explanatory diagram schematically showing a noise removing method using a radar wave according to the present invention.
도면을 참조하면, 본 발명에 따른 레이더파를 이용한 노이즈 제거방법은, 우선, 자차(41)에서 전방에 소정 각도로 레이더파를 적어도 두 개 이상을 주사한다.(단계 110)Referring to the drawings, in the method for removing noise using a radar wave according to the present invention, first, at least two or more radar waves are scanned at a predetermined angle in front of the host vehicle 41 (step 110).
즉, 도 3에 도시된 바와 같이 상기 자차에서 전방의 도로 상에 있는 선행차(42)에 ±θ/2로 레이더파를 Ns개를 주사한다.That is, as shown in Fig. 3, Ns of radar waves are scanned at ± θ / 2 to the preceding vehicle 42 on the road ahead of the host vehicle.
이어서, 상기 단계 110에서 주사된 레이더파가 물체 즉, 선행차(42)에서 반사(reflection)되어 돌아오는 반사파의 개수(Nr)에 따라 노이즈를 판단한다.(단계 120)Subsequently, noise is determined according to the number Nr of the radar wave scanned in step 110 by the reflection of the object, that is, the preceding vehicle 42 (step 120).
즉, 선행차(42)의 거리와 선행차(42)의 차폭에 따라 반사되어 돌아오는 반사파의 개수(Nr)가 변하는 원리를 이용한 것이다.That is, the principle that the number Nr of reflected waves reflected and returned varies depending on the distance of the preceding vehicle 42 and the vehicle width of the preceding vehicle 42.
그리고 상기 단계 120에서 반사파의 개수(Nr)는 자차(41)의 전방에 있는 선행차(42)의 폭을 후술하는 도 4에 도시된 바와 같이 레이더파 사이의 거리(Lss)로 나눈 값으로 구한다.In operation 120, the number Nr of the reflected waves is obtained by dividing the width of the preceding vehicle 42 in front of the host vehicle 41 by the distance Lss between radar waves as shown in FIG. .
이를 보다 구체적으로 설명하면, 도 3에 도시된 바와 같이, 레이더파를 주사해서 감지할 수 있는 선행차(42)의 차선 폭(Wr)은 2×L×tan(θ/2)으로 구한다.More specifically, as shown in FIG. 3, the lane width Wr of the preceding vehicle 42 which can be detected by scanning the radar wave is obtained as 2 × L × tan (θ / 2).
이렇게 구한 감지할 수 있는 차선 폭(Wr)을 도 4에 도시된 바와 같이, 스캔 개수(Ns)로 나누면 스캔할(또는 주사된) 레이더파와 레이더파 사이의 거리(또는 스캔 사이의 거리)(Lss)를 알 수 있다.As shown in FIG. 4, the detectable lane width Wr is divided by the number of scans Ns, and the distance between the radar waves to be scanned (or scanned) and the radar waves (or the distance between the scans) Lss Can be seen.
이어서, 상기 선행차(42)의 차폭(Wv)을 상기한 스캔 사이의 거리(Lss)로 나누면 선행차(42)에서 반사되는 반사파의 개수(Nr)가 구할 수 있다.Subsequently, dividing the vehicle width Wv of the preceding vehicle 42 by the distance Lss between the scans may determine the number Nr of reflected waves reflected by the preceding vehicle 42.
즉, 임의의 거리(L)에서 스캔한 후, 반사되어 나오는 반사파의 개수(Nr)는 반드시 차폭(Wv)/스캔 사이의 거리(Lss)이므로, 이보다 작은 반사파의 개수(Nr)가 입력되는 것은 노이즈로 판단한다.That is, since the number Nr of reflected waves reflected after scanning at an arbitrary distance L is necessarily the distance Lss between the vehicle width Wv / scan, the number of reflected waves Nr smaller than this is input. Judging by noise.
즉, 이 노이즈로 판단되면, 전방에 스캔된 물체는 선행차(42)가 아니고, 가로등, 중앙 분리대, 나무 등과 같은 장애물이 검출된 것이므로 이를 제거하면 된다.That is, if it is determined that this noise, the object scanned in front is not the preceding vehicle 42, but obstacles such as a street lamp, a central separator, a tree, and the like are detected, and thus may be removed.
상술한 바와 같이 본 발명에 따른 레이더파를 이용한 노이즈 제거방법은 다음과 같은 효과가 있다.As described above, the noise removing method using the radar wave according to the present invention has the following effects.
자차의 전방의 물체를 스캔할 때, 불필요한 장애물을 제거하며 스캔할 수 있으므로 효과적인 전방의 모든 차량을 스캔이 가능하다.When you scan an object in front of your vehicle, you can scan without removing any unnecessary obstacles, so you can effectively scan all vehicles ahead.
본 발명은 도면에 도시된 일 실시예를 참고로 설명되었으나 이는 예시적인 것에 불과하며, 당해 기술 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 실시예가 가능하다는 점을 이해할 것이다. 따라서 본 발명의 진정한 보호 범위는 첨부된 특허청구범위에 의해서만 정해져야 할 것이다.Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments are possible. Therefore, the true scope of protection of the present invention should be defined only by the appended claims.
Claims (2)
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| KR1020020030033A KR20030092390A (en) | 2002-05-29 | 2002-05-29 | Method of eliminating noise for vehicle using radar wave |
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| KR1020020030033A KR20030092390A (en) | 2002-05-29 | 2002-05-29 | Method of eliminating noise for vehicle using radar wave |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09132095A (en) * | 1995-11-10 | 1997-05-20 | Toyota Motor Corp | Scanning type radar equipment |
| KR19990050649A (en) * | 1997-12-17 | 1999-07-05 | 정몽규 | Automotive Radar System |
| KR100353420B1 (en) * | 1996-03-19 | 2002-11-07 | 삼성탈레스 주식회사 | Device and method for braking of vehicle with using radar |
-
2002
- 2002-05-29 KR KR1020020030033A patent/KR20030092390A/en not_active Application Discontinuation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09132095A (en) * | 1995-11-10 | 1997-05-20 | Toyota Motor Corp | Scanning type radar equipment |
| KR100353420B1 (en) * | 1996-03-19 | 2002-11-07 | 삼성탈레스 주식회사 | Device and method for braking of vehicle with using radar |
| KR19990050649A (en) * | 1997-12-17 | 1999-07-05 | 정몽규 | Automotive Radar System |
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