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KR20170049718A - Apparatus and method for sensing obstacles - Google Patents

Apparatus and method for sensing obstacles Download PDF

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Publication number
KR20170049718A
KR20170049718A KR1020150149752A KR20150149752A KR20170049718A KR 20170049718 A KR20170049718 A KR 20170049718A KR 1020150149752 A KR1020150149752 A KR 1020150149752A KR 20150149752 A KR20150149752 A KR 20150149752A KR 20170049718 A KR20170049718 A KR 20170049718A
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KR
South Korea
Prior art keywords
edge waveform
obstacle
time difference
signal
reflected signal
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KR1020150149752A
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Korean (ko)
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KR101767747B1 (en
Inventor
손언호
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현대오트론 주식회사
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Priority to KR1020150149752A priority Critical patent/KR101767747B1/en
Publication of KR20170049718A publication Critical patent/KR20170049718A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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

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

Abstract

The present invention relates to an obstacle detection apparatus and an obstacle detection method, and more specifically, relates to an obstacle detection apparatus using two ultrasonic sensors disposed of a perpendicular direction and an obstacle detection method. According to one embodiment of the present invention, the apparatus comprises: a first ultrasonic sensor to transmit a first ultrasonic signal; a second ultrasonic sensor to transmit a second ultrasonic signal to an object and disposed on the first ultrasonic sensor in a direction perpendicular to the ground; a reception unit to receive a first reflective signal generated when the first ultrasonic signal is reflected from the object and a second reflective signal generated when the second ultrasonic signal is reflected from the object; and a determination unit comparing an edge waveform of the first and second reflective signals to calculate an edge waveform time difference, and determining whether the object is an obstacle based on the edge waveform time difference.

Description

[0001] Apparatus and method for sensing obstacles [

The present invention relates to an obstacle sensing apparatus and method, and more particularly, to an obstacle sensing apparatus and method using two ultrasonic sensors positioned in directions perpendicular to each other.

Generally, the vehicle front-and-rear detection system prevents collision between an automobile bumper and an obstacle by notifying whether an obstacle is present in the front or rear of the vehicle when the vehicle is advanced or retracted. These front-and-rear detection systems are also referred to as front-to-back alarm systems, and parking assist systems (PAS) and parking assistance systems are also included in front and rear detection systems. That is, the front-and-rear detection system is a system that automatically detects an obstacle in front of or behind a vehicle when the vehicle is advanced or reversed for parking or other reasons.

Conventional front and rear sensing systems usually use ultrasonic sensors to detect obstacles. The ultrasonic sensor is a sensor that provides the driver with distance information between the vehicle and the object. Ultrasonic sensors are mounted on the front and rear of the vehicle to generate ultrasonic waves and measure the distance between the vehicle and the object using the waveform and time of the signal reflected back from the object. In a conventional front-and-rear sensing system, ultrasonic sensors are mounted in a row in a horizontal direction mainly on a bumper of a vehicle.

According to such a conventional front and rear sensing system, since the ultrasonic sensor is mounted horizontally, the height of the object can not be grasped. Further, according to the conventional front and rear detection system, since the height of the object can not be grasped, there is a problem that the noise generated from the road surface can not be distinguished from the normal signal. In addition, there is a problem that when a vehicle is operated, a warning message is transmitted to a driver by sensing an object having a low height such as a ground surface or gravel on a ground surface.

The object of the present invention is to grasp the height of an object by arranging the first ultrasonic sensor and the second ultrasonic sensor in the vertical direction.

The object of the present invention is to determine the height of an object by judging the height of the object and judging the object with a high height as an obstacle.

It is another object of the present invention to transmit accurate information to a driver by outputting a warning message only to an object determined as an obstacle.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided an obstacle detection apparatus including a first ultrasonic sensor for transmitting a first ultrasonic signal to an object, a second ultrasonic sensor for transmitting a second ultrasonic signal to the object, A second ultrasonic sensor positioned on the first ultrasonic sensor, a first reflection signal generated by reflecting the first ultrasonic signal on the object, and a second reflection signal generated by reflecting the second ultrasonic signal on the object, And a determination unit for determining an edge waveform time difference by comparing the edge waveform of the first reflected signal and the edge waveform of the second reflected signal and determining whether the object is an obstacle based on the edge waveform time difference .

According to another aspect of the present invention, there is provided an obstacle detection method comprising: transmitting a first ultrasonic signal to an object; transmitting a second ultrasonic signal to the object; Receiving a first reflected signal and a second reflected signal generated by reflecting the second ultrasonic signal on the object, and comparing an edge waveform of the first reflected signal and an edge waveform of the second reflected signal, Calculating an edge waveform time difference, and determining whether the object is an obstacle based on the edge waveform time difference.

According to the present invention as described above, the first ultrasonic sensor and the second ultrasonic sensor are arranged in the vertical direction, so that the height of the object can be grasped.

Further, according to the present invention, an object having a low height is judged as noise and an object having a high height is judged as an obstacle by grasping the height of the object.

In addition, according to the present invention, an accurate message can be delivered to a driver by outputting a warning message only to an object determined as an obstacle.

Brief Description of the Drawings Fig. 1 is a diagram illustrating a process of an obstacle detecting apparatus according to an embodiment of the present invention, judging an object as noise. Fig.
FIG. 2 is a table showing an edge waveform time difference according to a distance between an ultrasonic sensor and an object according to an embodiment of the present invention. FIG.
3 is a view illustrating a process of the obstacle detecting apparatus according to an embodiment of the present invention to determine an object as an obstacle.
4 is a flowchart of an obstacle detection method according to an embodiment of the present invention.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same or similar elements.

FIG. 1 is a diagram illustrating a process in which an obstacle sensing apparatus according to an embodiment of the present invention determines an object as noise.

1, an obstacle sensing apparatus according to an embodiment of the present invention includes a first ultrasonic sensor 110, a second ultrasonic sensor 120, a receiver 130, a determination unit 140, and a warning unit ). ≪ / RTI >

The obstacle sensing apparatus shown in FIG. 1 is according to one embodiment, and the elements thereof are not limited to the embodiment shown in FIG. 1, and some elements may be added, changed or deleted as necessary.

FIG. 2 is a table showing an edge waveform time difference according to a distance between an ultrasonic sensor and an object according to an embodiment of the present invention. FIG. 3 is a view illustrating an example in which an obstacle sensing apparatus determines an object as an obstacle Fig.

Hereinafter, an obstacle sensing apparatus according to an embodiment of the present invention will be described with reference to FIG. 1 to FIG.

The first ultrasonic sensor 110 may transmit a first ultrasonic signal to an object. The second ultrasonic sensor 120 may transmit a second ultrasonic signal to an object and may be positioned on the first ultrasonic sensor 110 in a direction perpendicular to the ground surface. The first ultrasonic sensor 110 and the second ultrasonic sensor 120 may be the same sensor or different. Also, the second ultrasonic sensor 120 may be positioned below the first ultrasonic sensor 110, and the position of the second ultrasonic sensor 120 is not limited thereto.

The object can be detected by the ultrasonic sensor, and the kind, size, etc. of the object are not limited. The obstacle detection apparatus according to the present invention can determine an object as a noise 200 or an obstacle 300 based on edge wave time differences 11 and 12, which will be described later. Here, the noise 200 refers to an object such as a gravel which is low in height and does not have a risk of collision with a vehicle, and the obstacle 300 means an object which is high enough to collide with a vehicle.

The receiving unit 130 may receive the first reflected signal 111 generated by reflecting the first ultrasonic signal on the object and the second reflected signal 121 generated by reflecting the second ultrasonic signal on the object.

The determination unit 140 compares the edge waveforms 112-1 and 112-2 of the first reflection signal 111 and the edge waveforms 122-1 and 122-2 of the second reflection signal 121, It is possible to calculate the time differences 11 and 12 and determine whether or not the object is the obstacle 300 based on the edge waveform time differences 11 and 12. [ When the ultrasonic signal reaches the object, the object detection sections 112 and 122 are generated. The edge waveforms 112-1, 112-2, 122-1, and 122-2 are waveforms that rapidly increase or decrease at the start and end points of the object detection periods 112 and 122, respectively. The rising edge waveforms 112-1 and 122-1 are abruptly increasing at the start points of the object detection periods 112 and 122 among the edge waveforms 112-1, 112-2, 122-1, and 122-2 . The falling edge waveforms 112-2 and 122-2 are abruptly decreasing at the end points of the object detection periods 112 and 122 among the edge waveforms 112-1, 112-2, 122-1, and 122-2 .

The edge waveform time differences 11 and 12 may be a rising edge waveform time difference 11 or a falling edge waveform time difference 12. The rising edge waveform time difference 11 is a time interval from the rising edge waveform 112-1 of the first reflection signal 111 to the rising edge waveform 122-1 of the second reflection signal 121. [ The falling edge waveform time difference 12 is a time interval from the falling edge waveform 112-2 of the first reflection signal 111 to the falling edge waveform 122-2 of the second reflection signal 121. [

The determination unit 140 compares the rising edge waveform 112-1 of the first reflection signal 111 and the rising edge waveform 122-1 of the second reflection signal 121 and outputs the rising edge waveform time difference (11), and determine whether the object is an obstacle based on the rising edge waveform time difference (11). The determination unit 140 compares the falling edge waveform 112-2 of the first reflection signal 111 and the falling edge waveform 122-2 of the second reflection signal 121 and outputs the falling edge waveform time difference 12 ), And can determine whether the object is an obstacle based on the falling edge waveform time difference (12).

More specifically, when the edge waveform time differences 11 and 12 are within the predetermined first reference range, the determination unit 140 determines that the object is the obstacle 300, and when the edge waveform time differences 11 and 12 are within the predetermined range 2 reference range, it is possible to determine the object as noise 200. The first reference range may be 0 (μS) to 0.2 (μS), and the second reference range may be 0.2 (μS) to 0.4 (μS).

Referring to FIGS. 1 and 2, when the object is at position 2, since the time difference between the rising edge of the first reflected signal and the rising edge of the second reflected signal is 0.4 (μS), the judging unit 140 judges that the object is noise (200). When the object is at position 3, the determination unit 140 can determine the object as the noise 200 because the time difference between the rising edge of the first reflected signal and the rising edge of the second reflected signal is 0.3 (μS). Even when the object is in the 4th position, since the rising edge waveform time difference is included within the preset second reference range, the object can be judged as the noise 200. [

Referring to FIG. 3, the first ultrasonic signal transmitted from the first ultrasonic sensor 110 is reflected from an object and returned. The second ultrasonic signal transmitted from the second ultrasonic sensor 120 is also reflected back from the object. At this time, the rising edge waveform time difference becomes zero, since the time reflected back from the time of transmitting the first ultrasonic signal and the time reflected back from the time of transmitting the second ultrasonic signal are the same. If the rising edge waveform time difference is zero, the determination unit 140 determines that the object is the obstacle 300 because the time difference is included in the predetermined first reference range.

If the object length is shorter than the height of the second ultrasonic sensor 120, the edge waveform time difference may not be zero. The predetermined first reference range is a time difference interval for distinguishing the obstacle 300 from the noise 200 when the length of the object is shorter than the height of the second ultrasonic sensor 120. That is, if the rising edge waveform time difference is not 0, the determination unit 140 can determine the object as the obstacle 300, thereby improving the accuracy of detecting the obstacle.

The determination unit 140 may determine that the object is the obstacle 300 if the falling edge waveform time difference 12 is within the predetermined first reference range as well as the rising edge waveform time difference 11. In addition, when the falling edge waveform time difference 12 is within the predetermined second reference range, the determination unit 140 may determine the object as the noise 200. For example, in FIG. 1 and FIG. 2, when the object is located at positions 2, 3, and 4, the falling edge waveform time difference 12 is included in the predetermined second reference range, ). In addition, since the falling edge waveform time difference is 0 in FIG. 3 and is included in the predetermined first reference range, the determination unit 140 can determine the object as the obstacle 300.

In one embodiment, when the falling edge waveform 122-2 of the first reflection signal 111 is generated before the rising edge waveform 122-1 of the second reflection signal 121, the determination unit 140 determines that the object can not be detected State. Generally, the detection range of the ultrasonic sensor is 30 cm ~ 120 cm. Therefore, if the object is too far from or close to the ultrasonic sensor, the ultrasonic sensor can not detect the object. Referring to FIGS. 1 and 2, when the object is in position 1, the object can not be detected because the object is 10 cm away from the first ultrasonic sensor 110 and 25 cm away from the second ultrasonic sensor 120.

When the distance between the ultrasonic sensor and the object is close to that of the object in the position ①, the edge waveform time difference becomes large. The falling edge waveform 112-2 of the first reflection signal 111 is generated earlier than the rising edge waveform 122-1 of the second reflection signal 121. Accordingly, Accordingly, when the falling edge waveform 112-2 of the first reflection signal 111 is generated before the rising edge waveform 122-1 of the second reflection signal 121, the determination unit 140 determines It can be judged.

The warning unit (not shown) may output a warning message when the determination unit 140 determines that the object is the obstacle 300. The warning message may be an alarm, a push message, etc., and the type of the warning message is not limited.

4 is a flowchart of an obstacle detection method according to an embodiment of the present invention. Referring to FIG. 4, a first ultrasonic signal is transmitted to an object (S410) and a second ultrasonic signal is transmitted to an object (S420). Then, a first reflected signal generated by reflecting the first ultrasonic signal to the object and a second reflected signal generated by reflecting the second ultrasonic signal to the object are received (S430).

Next, the edge waveform of the first reflected signal and the edge waveform of the second reflected signal are compared to calculate an edge waveform time difference, and it is determined whether the object is an obstacle based on the edge waveform time difference (S440). Determining whether the object is an obstacle includes determining an object as noise, determining whether the object is an obstacle based on a rising edge waveform time difference, determining whether the object is an obstacle based on a falling edge waveform time difference And determining that the object is in a non-detectable state.

Finally, if it is determined that the object is an obstacle, a warning message is output (S450).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, But the present invention is not limited thereto.

Claims (12)

A first ultrasonic sensor for transmitting a first ultrasonic signal to an object;
A second ultrasonic sensor that transmits a second ultrasonic signal to the object and is positioned on the first ultrasonic sensor in a direction perpendicular to the ground surface;
A receiving unit receiving a first reflected signal generated by reflecting the first ultrasonic signal on the object and a second reflected signal generated by reflecting the second ultrasonic signal on the object; And
A determination unit for determining an edge waveform time difference by comparing an edge waveform of the first reflected signal and an edge waveform of the second reflected signal and determining whether the object is an obstacle based on the edge waveform time difference;
Comprising an obstacle sensing device.
The method according to claim 1,
The determination unit
If the edge waveform time difference is within the predetermined first reference range, it is determined that the object is an obstacle. If the edge waveform time difference is within the predetermined second reference range, the object is judged as noise
Obstacle detection device.
The method according to claim 1,
The determination unit
And a rising edge waveform of the first reflected signal and a rising edge waveform of the second reflected signal to calculate an rising edge waveform time difference and determining whether the object is an obstacle based on the rising edge waveform time difference, .
The method according to claim 1,
The determination unit
An obstacle detecting device for calculating a falling edge waveform time difference by comparing a falling edge waveform of the first reflected signal and a falling edge waveform of the second reflected signal and determining whether the object is an obstacle based on the falling edge waveform time difference, .
The method according to claim 1,
The determination unit
And determines that an object can not be detected if a falling edge waveform of the first reflected signal is generated earlier than a rising edge waveform of the second reflected signal.
The method according to claim 1,
A warning unit for outputting a warning message when it is determined that the object is an obstacle,
Further comprising an obstacle sensing device.
Transmitting a first ultrasonic signal to an object;
Transmitting a second ultrasonic signal to the object;
Receiving a first reflected signal generated by reflecting the first ultrasonic signal on the object and a second reflected signal generated by reflecting the second ultrasonic signal on the object; And
Calculating an edge waveform time difference by comparing an edge waveform of the first reflected signal and an edge waveform of the second reflected signal and determining whether the object is an obstacle based on the edge waveform time difference
Detecting an obstacle.
8. The method of claim 7,
Wherein the step of determining whether the object is an obstacle
Determining that the object is an obstacle when the edge waveform time difference is within a predetermined first reference range and determining that the object is noise when the edge waveform time difference is within a predetermined second reference range,
Detecting an obstacle.
8. The method of claim 7,
Wherein the step of determining whether the object is an obstacle
Calculating a rising edge waveform time difference by comparing a rising edge waveform of the first reflected signal and a rising edge waveform of the second reflected signal and determining whether the object is an obstacle based on the rising edge waveform time difference
Detecting an obstacle.
8. The method of claim 7,
Wherein the step of determining whether the object is an obstacle
Calculating a falling edge waveform time difference by comparing a falling edge waveform of the first reflected signal and a falling edge waveform of the second reflected signal and determining whether the object is an obstacle based on the falling edge waveform time difference,
Detecting an obstacle.
8. The method of claim 7,
Wherein the step of determining whether the object is an obstacle
If the falling edge waveform of the first reflection signal is generated earlier than the rising edge waveform of the second reflection signal,
Detecting an obstacle.
8. The method of claim 7,
And outputting a warning message when it is determined that the object is an obstacle
Further comprising detecting an obstacle.
KR1020150149752A 2015-10-27 2015-10-27 Apparatus and method for sensing obstacles KR101767747B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782750A (en) * 2017-11-14 2019-05-21 宝时得科技（中国）有限公司 Automatic running device and its barrier-avoiding method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3841047B2 (en) * 2002-12-05 2006-11-01 株式会社デンソー Vehicle distance control device
JP6026948B2 (en) * 2013-04-30 2016-11-16 株式会社デンソー Obstacle detection device
JP6021755B2 (en) * 2013-07-16 2016-11-09 三菱電機株式会社 Obstacle detection device
JP6249746B2 (en) * 2013-12-02 2017-12-20 三菱電機株式会社 Obstacle detection device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782750A (en) * 2017-11-14 2019-05-21 宝时得科技（中国）有限公司 Automatic running device and its barrier-avoiding method

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