CN106405539B - Vehicle radar system and method for removing a non-interesting object - Google Patents

Referring to fig. 1, a vehicle radar system according to an exemplary embodiment of the present invention includes: a

100 for photographing the front of a vehicle to detect a road; a

200 for detecting the position, speed, and distance of a target in front of the vehicle based on a reflected radar signal transmitted to the front of the vehicle and then reflected from the target; a

300 for identifying a road by using the

100 and identifying whether the detected object is a vehicle or a non-vehicle, performing a control to remove the object when it is determined that the detected object is a non-vehicle, and displaying the identified road and vehicle; a

400 for displaying the position, speed and distance of the identified road or the detected object; and a

500 for detecting weather conditions around the vehicle.

Here, the

500 detects rain when the surroundings of the vehicle rain, or the

500 detects snow or the temperature of the melted snow when snowing, and thus it can be recognized that the weather condition is rain or snowing.

Further, the

500 may access a weather center or weather-related devices through a wireless network to acquire weather information around the vehicle and transmit the weather information to the

300.

Referring to fig. 2, a

300 in the radar system for a vehicle according to an exemplary embodiment of the present invention includes: an weather

310, a

320, a

330, a

340, a

350, and an

360.

The weather

310 recognizes weather conditions, such as whether it is raining or snowing, by using the

500.

The

320 recognizes a traveling road or an adjacent road based on image data captured by the

100.

The

330 processes a reflected radar signal received by the

200 through a pre-processing process and a post-processing process to generate a target, and calculates a position, a speed, a distance, etc. of the target based on the reflected radar signal. To this end, the

330 generates a target by performing a pre-processing process and a post-processing process on the received reflected radar signal. The pre-processing is to convert the time domain of the reflected radar signal into the frequency domain, and the post-processing is to select a target candidate set in the frequency domain. Here, the preprocessing process and the post-processing process of the radar signal are well-known techniques in the same technical field, and thus, a detailed description thereof is omitted hereinafter.

The

340 generates a trajectory based on the generated target and executes a trajectory management process to select a control target.

Based on the selected control target, the

350 controls the vehicle state in addition to the vehicle speed.

The

360 warns the driver that a dangerous state will be present when an own vehicle approaches a control target within a predetermined distance.

Referring to fig. 3, the vehicle radar system according to the exemplary embodiment of the present invention first captures a front of the vehicle through the

100 to acquire a front image (step S310).

Then, the

320 analyzes the front image to recognize a traveling road or an adjacent road (step S320).

Next, the

200 transmits a radar signal to the front of the vehicle, and receives a reflected radar signal reflected from a target in front of the vehicle (step S330).

Next, the

330 generates a target in front of the vehicle based on the received reflected radar signal, as shown in fig. 4 (step S340).

Next, the

340 generates a trajectory based on the generated target, and executes a trajectory management process to select a control target (step S350).

In this embodiment, the

340 keeps track information obtained in the track management process in a storage unit (not shown) for a predetermined time.

Next, the

350 displays the situation around the vehicle through the

400 shown in fig. 3 (step S360). Fig. 4 is an exemplary graph showing a result of a conventional control of the vehicular radar system according to the exemplary embodiment of the invention.

That is, as shown in fig. 4, the

350 displays a

460 on which an

410 travels, a

420 located in front of the

410, and objects (objects) 430 to 450 located on adjacent roads on a screen through the

400 so that a driver can recognize the surroundings of the vehicle. Here, the

420 refers to a preceding vehicle on a road on which the

410 travels, and the

430 to 450 located on adjacent roads refer to other vehicles traveling on the adjacent roads.

Referring to fig. 5, if it is determined by the weather

310 that the weather condition detected by the

500 is a weather condition such as a snowfall condition and a rainy condition, which is a weather condition to which a specific function is applied according to the present invention (step S510 — yes), the vehicle radar system according to the present invention determines whether a preceding vehicle is present on its own road through the radar unit 330 (step S520).

Here, the vehicle radar system according to the exemplary embodiment of the present invention may detect that the preceding vehicle is present on the own road and the surrounding vehicles are present on the adjacent roads through the

330, and display the target detected through the trajectory management process of the

340, as shown in fig. 6.

The

340 performs a process of repeatedly selecting the

420 by a predetermined frequency (e.g., three times) to generate a trajectory. For example, the

340 generates a trajectory three times every 5 milliseconds (ms) based on the reflected radar signal received by the

200, and acquires a trajectory detected only by the control target at the first time, a

430 appearing on the right road at the second time, and trajectories detected by the

440 and 450 appearing on the left road at the third time.

As shown in fig. 6, when the preceding vehicle as the

420 is present on the own road (step S520-yes), it is determined by the

330 whether the distance from the preceding vehicle to the own vehicle is smaller than the critical distance (step S530), and if it is determined that the distance from the preceding vehicle to the own vehicle is smaller than the critical distance (step S530-yes), it is determined that a new target is detected between the preceding vehicle and the own vehicle (step S540). Fig. 6 is a schematic diagram showing detection of a new object between a preceding vehicle and an own vehicle in an exemplary embodiment according to the present invention. In this embodiment, when the distance from the front vehicle to the own vehicle is greater than the threshold distance (step S530 — no), the flow returns to step S520, and the tracking operation is continued (step S532). In this embodiment, the critical distance from the

410 to the

420 may be set to 30 meters and the width of the road is 2 meters.

Next, as shown in fig. 6, when a new target is detected between the preceding vehicle and the own vehicle as the control target 420 (step S540 — yes), it is determined whether the new target is a tracked target (step S550). Here, the continuous travel of the previously tracked target on the adjacent road refers to the

430 to 450 continuously tracked by the

200.

However, when the

610 detected between the preceding vehicle and the own vehicle is not a previously tracked target (step S550-no), the target is recognized as a non-vehicle like transient-in object, and the target is removed from the tracked target to exclude the target (step S570).

Meanwhile, when the preceding vehicle is not present on the own road (step S520 — no), as shown in fig. 7, in the case where a

710 is suddenly detected in front of the own vehicle and the

710 is not a previously tracked target, the

710 is not a vehicle that changes roads from an adjacent lane, and thus, the

710 may be recognized as a non-vehicle like a transient target, so that the

710 is recognized as a non-vehicle and excluded from the tracked target. Fig. 7 is a schematic diagram illustrating detection of a new object when no vehicle is present in front of a self-road according to an exemplary embodiment of the present invention.

However, the

610 detected between the preceding vehicle and the own vehicle as the

420 is a previously tracked target, as shown in fig. 8 (step S550 — yes), the

350 controls the vehicle speed and warns of an unexpected collision through the warning unit 360 (step S560). Fig. 8 is a schematic view showing that a previously tracked target between a preceding vehicle and an own vehicle is detected as a new target in accordance with an exemplary embodiment of the present invention.

That is, the

430 to 450 correspond to the

430 to 450 previously tracked by the

200, and the

430 to 450 continue to travel on the adjacent lane, and therefore, a

430 detected between the preceding vehicle and the own vehicle is recognized as being cut into the own lane by the previously tracked

430 changing lanes, thereby giving a warning to the driver to reduce the vehicle speed, and warning the driver of a collision accident.

Meanwhile, the

300 may be horizontally extended within a predetermined distance based on the current position of the

410. That is, in the case of 2 meters based on the width of the own road, the

300 may be extended between-1.6 meters and +1.6 meters of the lateral distance.

Further, when the

420 does not appear in front of the

410, the

300 may identify a newly generated new target within a certain distance, which is equal to or less than 200 meters (maximum value), for example, 150 meters, as a non-target of interest according to the traveling speed of the

410, and then remove the new target.

Further, when the

420 does not appear in front of the

410, the

300 may determine whether a new target is selected as the control target according to a separate logic, wherein the new target is newly generated at a maximum distance of 200 meters (or less) according to the traveling speed of the

410.

1. A vehicle radar system, comprising:

the camera shooting unit is used for shooting the front of a vehicle so as to detect a road;

a radar unit for transmitting a radar signal to the front of the vehicle, detecting a target based on a reflected radar signal, and calculating a position, a speed, and a distance of the detected target;

a sensor unit for detecting weather conditions around the vehicle;

a control unit for identifying a road by using the camera unit and identifying whether the detected object is a vehicle or a non-vehicle in a case where the sensor unit determines that the weather condition around the vehicle is a severe weather condition, performing a control to remove the object and display the identified road and vehicle when it is determined that the detected object is a non-vehicle; and

a display unit for displaying the identified roads and objects,

wherein, when the weather condition around the vehicle is the severe weather condition and a new object is detected in a case where a preceding vehicle is not present on the own road of the vehicle, the control unit judges whether the new object is a previously tracked object, and if it is judged that the new object is not a previously tracked object, identifies the new object as a non-vehicle for removing and excluding the new object from the tracked object, or

Wherein, when the weather condition around the vehicle is the severe weather condition, a preceding vehicle appears on a road of the vehicle and a distance from the preceding vehicle to the vehicle is less than a critical distance, and a new target is detected between the preceding vehicle and the vehicle, the control unit judges whether the new target is a previously tracked target, and if it is judged that the new target is not a previously tracked target, identifies the new target as a non-vehicle for removing and excluding the new target from the tracked target.

2. The vehicle radar system according to claim 1, wherein the control unit includes:

a weather condition recognition unit to recognize whether a weather condition around the vehicle is rainfall or snowfall by using the sensor unit;

a road identifying unit for identifying a driving road or an adjacent road based on the image data photographed by the photographing unit;

a radar processing unit for performing a pre-processing procedure and a post-processing procedure on the reflected radar signal to generate a target;

a track processing unit for generating a track based on the generated target and executing a track management process to select a control target;

a vehicle control unit for controlling a vehicle speed and a vehicle state according to the selected control target; and

and the warning unit is used for giving a warning when the vehicle approaches a control target within a preset distance.

3. The vehicle radar system according to claim 1,

when the weather condition around the vehicle is the severe weather condition, a preceding vehicle is present on the own road of the vehicle and the distance from the preceding vehicle to the vehicle is less than the critical distance, and a new target is detected between the preceding vehicle and the own vehicle, the control unit judges whether the new target is a previously tracked target, and if it is judged that the new target is a previously tracked target, identifies the new target as a vehicle for controlling and warning the vehicle speed.

4. The vehicle radar system according to claim 1,

when the weather condition around the vehicle is the severe weather condition and a new object is detected without a preceding vehicle appearing on the own road of the vehicle, the control unit judges whether the new object is a previously tracked object, and if it is judged that the new object is a previously tracked object, identifies the new object as a vehicle for controlling and warning the vehicle speed.

5. A method for removing non-objects of interest, the method comprising:

detecting a weather condition around a vehicle, the method further comprising, in case it is detected that the weather condition around the vehicle is a severe weather condition:

photographing a front of the vehicle to detect a road;

detecting a target according to a reflected signal generated from a radar signal emitted to the front of the vehicle; and

determining whether the detected target is a vehicle or a non-vehicle, identifying the target as a non-vehicle as a non-object of interest when it is determined that the detected target is a non-vehicle, and removing the target,

wherein, in the removing step, when the weather condition around the vehicle is the severe weather condition and a new target is detected in a case where a preceding vehicle is not present on the own road of the vehicle, it is determined whether the new target is a previously tracked target, and if it is determined that the new target is not a previously tracked target, the new target is recognized as a non-vehicle for removing and excluding the new target from the tracked target, or

Wherein in the removing step, when the weather condition around the vehicle is the severe weather condition, a preceding vehicle is present on a road of the vehicle and a distance from the preceding vehicle to the vehicle is less than a critical distance, and a new target is detected between the preceding vehicle and the own vehicle, it is determined whether the new target is a previously tracked target, and if it is determined that the new target is not a previously tracked target, the new target is identified as a non-vehicle for removing and excluding the new target from the tracked target.

6. The method of claim 5, further comprising:

and displaying an object and the identified road, wherein the object is an object reserved by the vehicle after the object which is not the vehicle is removed.

7. The method of claim 5, wherein, in the step of detecting the target,

the reflected radar signal is processed through a pre-processing process and a post-processing process to generate a target, and a trajectory is generated based on the generated target, and a control target is selected through a trajectory management process.

8. The method of claim 5, wherein, in the removing step,

when the weather condition around the vehicle is the severe weather condition, a preceding vehicle appears on the own road of the vehicle and the distance from the preceding vehicle to the vehicle is less than the critical distance, and a new target is detected between the preceding vehicle and the own vehicle, it is determined whether the new target is a previously tracked target, and if it is determined that the new target is a previously tracked target, the new target is recognized as a vehicle for controlling and warning the vehicle speed.

9. The method of claim 5, wherein, in the removing step,

when the weather condition around a vehicle is the severe weather condition and a new target is detected without a preceding vehicle appearing on the own road of the vehicle, it is determined whether the new target is a previously tracked target, and if it is determined that the new target is a previously tracked target, the new target is recognized as a vehicle for controlling and warning the vehicle speed.