Master sensor, slave sensor and radar sensor system

Abstract

The present disclosure provides a master sensor, a slave sensor, and a radar sensor system configured to control radar wave transmission. The master sensor includes a controller configured to generate a control signal for a start of radio wave transmission based on a radio wave transmission timing of a radar sensor of each sensor, and to process a reflection wave corresponding to the transmitted radio wave, and a transceiver configured to transmit the generated control signal to other sensors. The controller is configured to transmit the control signal to at least one sensor of a first group and at least one sensor of a second group at different timings. The present disclosure can prevent malfunction by avoiding interference between radar waves, i.e., reducing false alarms caused by false detection due to inter-wave interference.

Description

[0001] This application claims priority to Korean Patent Application No. 10-2025-0003919, filed on January 10, 2025, which is incorporated herein by reference as if it were fully set forth herein. Technical Field

[0002] This disclosure relates to a radar sensor device and a control method thereof, and more specifically, to a master sensor, a slave sensor, and a radar sensor system configured to control the transmission timing of a radar, and a control method for the master sensor, slave sensor, and radar sensor system. Background Technology

[0003] As advanced driving assistance systems (ADAS) become increasingly sophisticated, more and more sensors are being installed on vehicles. In the case of radar systems, vehicles can be equipped with four corner radar sensors and one front radar sensor. Furthermore, 6-radar sensor systems, 8-radar sensor systems, and others have been discussed.

[0004] As the number of sensors increases, interference between radar signals becomes more severe. Currently, the following technologies are used to address this issue.

[0005] Interference avoidance: A technique for avoiding interference based on interference conditions before it occurs between radar signal waveforms.

[0006] - Frequency hopping: A technique that divides the radio wave frequency band that a radar can use into multiple regions, measures the level of signal interference in each cycle, and relocates the frequency region of the sensor that has been identified as being interfered with.

[0007] Interference cancellation: A technique for removing signal regions estimated to be interference after interference has occurred through signal processing.

[0008] - Nulling: A technique that measures the entire signal level, sets a specific threshold, identifies signals exceeding the threshold as interference, and processes the signal to zero.

[0009] However, frequency hopping presents a drawback: because the limited frequency band is divided into multiple regions, the entire given band cannot be fully utilized. Furthermore, as radar resolution and maximum / minimum detection range increase, wider bandwidths should be used, which may reduce scalability.

[0010] Zeroing techniques can minimize interference between heterogeneous radars with partially overlapping waveforms, but they have weaknesses when dealing with interference signals between homogeneous radars with the same waveform and frequency band.

[0011] Therefore, this disclosure will describe techniques that can prevent or reduce radio wave interference between adjacent radar sensors. Summary of the Invention

[0012] Therefore, this disclosure relates to a master sensor, slave sensor and radar sensor system and a control method for the master sensor, slave sensor and radar sensor system, which substantially eliminates one or more problems caused by the limitations and disadvantages of related technologies.

[0013] This disclosure aims to provide a radar sensor, its control method, and a radar sensor system.

[0014] This disclosure aims to provide a radar sensor, its control method, and a radar sensor system capable of controlling the transmission timing of radio waves for each radar sensor.

[0015] Other advantages, objects, and features of this disclosure will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon examination of the following, or may be learned from practice of this disclosure. The objects and other advantages of this disclosure may be realized and obtained by means of structures particularly pointed out in the written description and drawings.

[0016] As embodied and broadly described herein, in order to achieve these objectives and other advantages and in accordance with the purposes of this disclosure, a main sensor is provided configured to control radar wave transmission. The main sensor includes: a controller configured to generate control signals for initiating radio wave transmission based on the radio wave transmission timing of the radar sensors for each sensor, and to process reflected radio waves corresponding to the transmitted radio waves; and a transceiver configured to transmit the control signals to other sensors. The controller is configured to transmit the control signals to at least one sensor in a first group and at least one sensor in a second group at different timings.

[0017] Alternatively, the controller may be configured to: transmit control signals to at least one sensor in the first group when the timer starts; and transmit control signals to at least one sensor in the second group based on the expiration of the timer.

[0018] Alternatively, based on the end of the main sensor's runtime period, the controller can be configured as a timer that has reached its start-up time and transmits control signals to at least one sensor in the first group.

[0019] Alternatively, even if the radar sensor based on the main sensor has transmitted radio waves and has completed the processing of the reflected radio waves corresponding to the transmitted radio waves before the end of the operating period, the controller may be configured not to start the expired timer or transmit control signals to at least one sensor in the first group.

[0020] Alternatively, the runtime segment can be configured to have a length that is obtained by adding a predefined margin time to the expected time required for the radar sensor of the main sensor to transmit radio waves and process the reflected radio waves corresponding to the transmitted radio waves.

[0021] Alternatively, the control signal may be configured to instruct at least one sensor in the first group or at least one sensor in the second group to transmit radio waves via a radar sensor and process reflected radio waves corresponding to the transmitted radio waves.

[0022] Alternatively, the fields of view (FOV) of radio waves transmitted by at least one sensor in the first group can be configured to not overlap with each other, and the FOV of radio waves transmitted by at least one sensor in the second group can be configured to not overlap with each other.

[0023] In another aspect of this disclosure, a slave sensor is provided configured to control radar wave transmission. The slave sensor includes: a controller configured to control the transmission of radio waves from the radar sensor and process reflected radio waves corresponding to the transmitted radio waves based on a radio wave transmission start control signal received from a master sensor, wherein the control signal is transmitted and received based on the radio wave transmission timing of the radar sensor; and a transceiver configured to receive the radio wave transmission start control signal. The controller is configured to keep the slave sensor in a standby mode until the control signal is received.

[0024] Alternatively, based on a control signal received from the main sensor in the event that the processing of reflected radio waves corresponding to previously transmitted radio waves has not been completed, the controller may be configured to limit the transmission of radio waves by the radar sensor.

[0025] Alternatively, based on the fact that the radar sensor does not begin transmitting radio waves within a predetermined time after receiving the control signal, the controller can be configured to skip the transmission of radio waves corresponding to the received control signal.

[0026] In another aspect of this disclosure, a radar sensor system is provided configured to perform radar wave transmission based on time-division multiplexing. The radar sensor system includes: a main sensor; at least one sensor in a first group; and at least one sensor in a second group. The main sensor can be configured to generate a radio wave transmission start control signal based on the radio wave transmission timing of each radar sensor and transmit the control signal to at least one sensor in the first group or at least one sensor in the second group. The main sensor can be configured to transmit the control signal to at least one sensor in the first group and at least one sensor in the second group at different timings. The main sensor can be configured to begin transmitting radio waves simultaneously with transmitting the control signal. At least one sensor in the first group and at least one sensor in the second group can be configured to begin transmitting radio waves upon receiving the control signal.

[0027] The solutions described above are part of the embodiments of this disclosure. Various solutions other than those described above can be derived and understood based on the detailed description of this disclosure provided below.

[0028] This disclosure has the following effects.

[0029] This disclosure can prevent malfunctions by avoiding interference between radar waves, that is, reducing false alarms caused by false detections due to inter-wave interference.

[0030] Furthermore, this disclosure can also achieve synchronization between radar sensors without requiring a separate structure for radar sensor synchronization.

[0031] The effects of this disclosure are not limited to those specifically described above, and any other unmentioned effects will be clearly understood by those skilled in the art from the following detailed description. Attached Figure Description

[0032] The accompanying drawings are provided to further understand this disclosure and are incorporated into and constitute a part of this application. The drawings illustrate embodiments of the disclosure and, together with the specification, serve to explain the principles of the disclosure. In the drawings:

[0033] Figure 1 It is an overall block diagram of an autonomous vehicle that can utilize autonomous driving equipment;

[0034] Figure 2 This is an example diagram illustrating the application of autonomous driving equipment in a vehicle;

[0035] Figure 3 The waveform of the transmitted wave at a first time point according to this disclosure is shown;

[0036] Figure 4The waveform of the transmitted wave at a second time point according to this disclosure is shown;

[0037] Figure 5 Timing diagrams of radio wave transmission and radar signal processing for each radar sensor device according to this disclosure are shown;

[0038] Figure 6 A block diagram of timing control for radio wave transmission according to the present disclosure is shown;

[0039] Figure 7 A detailed block diagram of timing control for radio wave transmission according to this disclosure is shown;

[0040] Figure 8 An overview of a radar sensor installed in a vehicle or moving object according to another embodiment of the present disclosure and the waveform of the transmitted wave therefrom is shown.

[0041] Figure 9 A flowchart of a method for controlling the timing of radio wave transmission at a main sensor according to the present disclosure is shown;

[0042] Figure 10 A flowchart of a method for controlling the transmission timing of radio waves at a slave sensor according to this disclosure is shown; and

[0043] Figure 11 A block diagram of a radio wave transmission device according to this disclosure is shown. Detailed Implementation

[0044] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0045] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, enabling those skilled in the art to readily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, portions irrelevant to the description of the present disclosure have been omitted to clearly explain the present disclosure, and similar reference numerals are used throughout the specification to refer to similar portions.

[0046] In the specification, when a section “includes” an element, it means that unless otherwise stated, the section may also include another element, rather than excluding another element.

[0047] Furthermore, the terms "occupier," "passenger," "driver," and "user" are used in the specification to describe this disclosure, and they can be used interchangeably.

[0048] Figure 1 This is an overall block diagram of an autonomous driving control system applicable to any embodiment of the autonomous driving device according to this disclosure.

[0049] Figure 2 This is a diagram illustrating an example of an autonomous driving device according to any embodiment of the present disclosure applied to a vehicle.

[0050] First, refer to Figure 1 and Figure 2 The structure and function of an autonomous driving control system (e.g., an autonomous vehicle) applicable to an autonomous driving device according to this embodiment are described.

[0051] like Figure 1 As shown, the autonomous vehicle 1000 can be implemented based on the autonomous driving integrated controller 600, which transmits and receives data required for the autonomous driving control of the vehicle through a driving information input interface 101, a driving information input interface 201, an occupant output interface 301, and a vehicle control output interface 401. However, the autonomous driving integrated controller 600 may also be referred to herein as a controller, a processor, or simply a controller.

[0052] In the vehicle's autonomous driving mode or manual driving mode, the autonomous driving integrated controller 600 can obtain driving information based on the user's operation of the user input unit 100 through the driving information input interface 101. For example... Figure 1 As shown, the user input unit 100 may include a driving mode switch 110 and a control panel 120 (e.g., a navigation terminal installed in the vehicle or a smartphone or tablet owned by the occupant). Therefore, driving information may include the vehicle's driving mode information and navigation information.

[0053] For example, the vehicle's driving mode (i.e., automatic driving mode / manual driving mode or sport mode / economy mode / safety mode / normal mode) determined by the occupant's operation of the driving mode switch 110 can be transmitted to the automatic driving integrated controller 600 as driving information through the driving information input interface 101.

[0054] In addition, navigation information (such as the occupant's destination and the route to the destination entered via the control panel 120 (e.g., the shortest or preferred route selected by the occupant among the candidate routes to the destination)) can be transmitted to the autonomous driving integrated controller 600 as driving information via the driving information input interface 101.

[0055] The control panel 120 can be implemented as a touchscreen panel providing a user interface (UI), through which the user inputs or modifies information for the vehicle's autonomous driving control. In this case, the driving mode switch 110 can be implemented as a touch button on the control panel 120.

[0056] Furthermore, the autonomous driving integrated controller 600 can obtain driving information indicating the vehicle's driving state through the driving information input interface 201. Driving information may include: steering angle, which is formed when the occupant operates the steering wheel; accelerator pedal travel or brake pedal travel, which is formed when the occupant depresses the accelerator pedal or brake pedal; and various types of information indicating the vehicle's driving state and behavior (e.g., vehicle speed, acceleration, yaw, pitch, and roll angles formed within the vehicle). Driving information can be detected by the driving information detection unit 200, which includes a steering angle sensor 210, an accelerator position sensor (APS) / pedal travel sensor (PTS) 220, a vehicle speed sensor 230, an acceleration sensor 240, and a yaw / pitch / roll angle sensor 250, such as... Figure 1 As shown.

[0057] In addition, vehicle driving information may include vehicle location information. This location information can be obtained through a global positioning system (GPS) receiver 260 applied to the vehicle. This driving information can be transmitted to the automated driving integrated controller 600 via the driving information input interface 201 and can be used to control the vehicle's driving in either automated driving mode or manual driving mode.

[0058] In either the autonomous driving mode or the manual driving mode of the vehicle, the autonomous driving integrated controller 600 can transmit driving status information intended for the occupant to the output unit 300 via the occupant output interface 301. In other words, the autonomous driving integrated controller 600 transmits the vehicle's driving status information to the output unit 300 so that the occupant can check the vehicle's autonomous driving or manual driving status based on the driving status information output through the output unit 300. The driving status information may include various types of information indicating the vehicle's driving status, such as the vehicle's current driving mode, transmission gear, and speed.

[0059] If it is determined that a warning needs to be issued to the driver along with the aforementioned driving status information in either the vehicle's autonomous driving mode or manual driving mode, the autonomous driving integrated controller 600 transmits the warning information to the output unit 300 via the occupant output interface 301, so that the output unit 300 can output the warning to the driver. To output this driving status information and warning information both audibly and visually, the output unit 300 may include a speaker 310 and a display 320, such as... Figure 1As shown. In this case, the display 320 can be implemented as the same device as the control panel 120, or the display 320 can be implemented as a separate device from the control panel 120.

[0060] Furthermore, in either the vehicle's autonomous driving mode or manual driving mode, the autonomous driving integrated controller 600 can transmit control information for vehicle driving control to the lower-level control system 400 applied to the vehicle via the vehicle control output interface 401. For example... Figure 1 As shown, the lower-level control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430. The automated driving integrated controller 600 can transmit engine control information, braking control information, and steering control information as control information to the corresponding lower-level control systems 410, 420, and 430 via the vehicle control output interface 401. Therefore, the engine control system 410 can control the vehicle's speed and acceleration by increasing or decreasing the fuel supplied to the engine. The braking control system 420 can control the vehicle's braking by controlling the vehicle's braking power. The steering control system 430 can control the vehicle's steering through a steering device applied to the vehicle (e.g., a motor-driven power steering (MDPS) system).

[0061] As described above, the autonomous driving integrated controller 600 according to this embodiment can obtain driving information based on the driver's operation and driving information indicating the vehicle's driving state through the driving information input interface 101 and the driving information input interface 201, respectively, and transmit the driving state information and warning information generated based on the autonomous driving algorithm to the output unit 300 through the occupant output interface 301. Furthermore, the autonomous driving integrated controller 600 can transmit control information generated based on the autonomous driving algorithm to the lower-level control system 400 through the vehicle control output interface 401, thereby executing vehicle driving control.

[0062] To ensure stable autonomous driving, it is necessary to continuously monitor the vehicle's driving state by accurately measuring the driving environment and to control driving based on the measured driving environment. Therefore, such as... Figure 1 As shown, the autonomous driving device according to this embodiment may include a sensor unit 500 for detecting objects near the vehicle (e.g., nearby vehicles, pedestrians, roads, or fixed facilities (e.g., traffic lights, road signs, traffic signs, or building fences)).

[0063] like Figure 1 As shown, the sensor unit 500 may include one or more of a LiDAR sensor 510, a radar sensor 520, or a camera sensor 530 to detect nearby objects outside the vehicle.

[0064] LiDAR sensor 510 can transmit laser signals to the vicinity of the vehicle and detect nearby objects outside the vehicle by receiving signals reflected and returned from corresponding objects. LiDAR sensor 510 can detect nearby objects within a preset distance, a preset vertical field of view, and a preset horizontal field of view, which are predefined according to the sensor's specifications. LiDAR sensor 510 may include a front LiDAR sensor 511, a top LiDAR sensor 512, and a rear LiDAR sensor 513 respectively mounted at the front, top, and rear of the vehicle; however, the mounting location of each LiDAR sensor and the number of LiDAR sensors mounted are not limited to specific embodiments. A threshold for determining the validity of laser signals reflected and returned from corresponding objects can be pre-stored in the memory (not shown) of the autonomous driving integrated controller 600. The autonomous driving integrated controller 600 can determine the position (including distance to the corresponding object), speed, and direction of movement of the corresponding object by measuring the time taken for the laser signal transmitted through LiDAR sensor 510 to reflect and return from the corresponding object.

[0065] Radar sensor 520 radiates electromagnetic waves around the vehicle and detects nearby objects outside the vehicle by receiving signals reflected and returned from a corresponding object. Radar sensor 520 can detect nearby objects within a preset distance, a preset vertical field of view, and a preset horizontal field of view, which are predefined according to sensor specifications. Radar sensor 520 may include a front radar sensor 521, a left radar sensor 522, a right radar sensor 523, and a rear radar sensor 524 respectively installed at the front, left, right, and rear of the vehicle; however, the installation location of each radar sensor and the number of radar sensors installed are not limited to specific embodiments. The autonomous driving integrated controller 600 can determine the position (including distance to the corresponding object), speed, and direction of movement of a corresponding object by analyzing the power of the electromagnetic waves transmitted and received by radar sensor 520.

[0066] The camera sensor 530 can detect nearby objects outside the vehicle by taking pictures of the area around the vehicle, and detect nearby objects within a preset distance, a preset vertical field of view, and a preset horizontal field of view, which are predefined according to the sensor specifications.

[0067] The camera sensor 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 respectively installed at the front, left, right, and rear of the vehicle. However, the installation location of each camera sensor and the number of camera sensors installed are not limited to specific embodiments. The autonomous driving integrated controller 600 can determine the position (including distance to the object), speed, and direction of movement of a corresponding object by applying predefined image processing to the images captured by the camera sensor 530.

[0068] Furthermore, an interior camera sensor 535 for capturing images of the vehicle's interior can be installed at a predetermined location within the vehicle (e.g., a rearview mirror). The autonomous driving integrated controller 600 can monitor the occupant's behavior and status based on images captured by the interior camera sensor 535 and output guidance or warnings to the occupant via the output unit 300.

[0069] like Figure 1 As shown, in addition to the LiDAR sensor 510, radar sensor 520 and camera sensor 530, the sensor unit 500 may also include an ultrasonic sensor 540, and may also employ various types of sensors to detect objects near the vehicle together with these sensors.

[0070] Figure 2 An example is shown in which, to aid understanding of this embodiment, a front LiDAR sensor 511 or a front radar sensor 521 is mounted at the front of the vehicle, a rear LiDAR sensor 513 or a rear radar sensor 524 is mounted at the rear of the vehicle, and a front camera sensor 531, a left-side camera sensor 532, a right-side camera sensor 533, and a rear camera sensor 534 are mounted at the front, left, right, and rear of the vehicle, respectively. However, as described above, the mounting location of each sensor and the number of sensors mounted are not limited to this specific embodiment.

[0071] In addition, to determine the status of the occupant inside the vehicle, the sensor unit 500 may also include biosensors for detecting the occupant's biological signals (e.g., heart rate, electrocardiogram, respiration, blood pressure, body temperature, electroencephalogram, photoplethysmography (PEP) wave (or pulse wave), and blood glucose). Biosensors may include heart rate sensors, electrocardiogram sensors, respiration sensors, blood pressure sensors, body temperature sensors, electroencephalogram sensors, PEP wave sensors, and blood glucose sensors.

[0072] Finally, the sensor unit 500 also includes a microphone 550 having an internal microphone 551 and an external microphone 552 for different purposes.

[0073] The internal microphone 551 can be used, for example, to analyze the voice of the occupant in the autonomous vehicle 1000 based on AI, or to respond immediately to the occupant's direct voice commands.

[0074] In contrast, the external microphone 552 can be used, for example, to analyze various sounds generated outside the autonomous vehicle 1000 by using various analysis tools such as deep learning to respond appropriately for safe driving.

[0075] For reference only. Figure 2 The symbols shown can perform operations with Figure 1 The same or similar functions are shown. With Figure 1 compared to, Figure 2 The relative positions of each component are shown in more detail (based on the interior of the autonomous vehicle 1000).

[0076] The following describes the timing control of radar wave transmission according to this disclosure, the control signals for supporting the timing control, signal transmission, and transmission structure. This disclosure can be applied not only to vehicles but also to various moving objects (such as robots and unmanned aerial vehicles).

[0077] In the following text, the term sensor device refers to a device that transmits radio waves, detects radio waves reflected from an object (or obstacle) within a radio wave field of view (FOV), and senses the detection, identification, or distance to that object (or obstacle).

[0078] In some cases, sensor devices may also be referred to as radar sensor devices or radar sensors.

[0079] Figure 3 The waveform of the radio waves transmitted at a first point in time according to this disclosure is shown. For example... Figure 3 As shown, the radar sensor system according to this disclosure includes multiple sensor devices.

[0080] A master sensor device controls each sensor device. In some embodiments, the master sensor device may be referred to as a master sensor. In some embodiments, a sensor device may be referred to as a sensor. The master sensor device may also be configured to transmit radio waves and process corresponding reflected radio waves. The master sensor device may be configured to transmit control signals to slave sensor devices via a network to instruct the slave sensor devices to transmit radio waves and process corresponding reflected radio waves. Preferably, a single master sensor device may be configured in the radar sensor system, and the master sensor device is selected as the sensor device with the longest processing time that performs not only object detection but also object tracking.

[0081] The slave sensor device remains in standby mode until it receives a control signal from the master sensor device. In some embodiments, the slave sensor device may be referred to as a slave sensor. Upon receiving the control signal, the slave sensor device is configured to transmit radio waves and process the corresponding reflected radio waves. The slave sensor device is configured to transmit radio waves simultaneously with the master sensor, and the field of view (FOV) of the radio waves selected for transmission does not overlap with the FOV of the radio waves transmitted from the master sensor device.

[0082] The delayed slave sensor device remains in standby mode until it receives a control signal from the master sensor device. Upon receiving the control signal, the delayed slave sensor device is configured to perform radio wave transmission and corresponding radio wave reflection processing. The delayed slave sensor device is configured to begin transmitting radio waves after the master sensor device has completed its radio wave transmission. The delayed slave sensor device is selected such that the field of view (FOV) of its transmitted radio waves overlaps with the FOV of the radio waves transmitted from the master sensor device.

[0083] In this specification, sensor devices whose FOVs of transmitted waves do not overlap are grouped together. Figures 3 to 4 In this system, the master sensor device and the slave sensor device RL can form one group, and the delayed slave sensor devices FL and RR can form another group.

[0084] In this specification, "FR" refers to the right front, which means the right front side of the vehicle or moving object, and therefore, the main sensor device is mounted on the right front side. "RL" refers to the left rear, which means the left rear side of the vehicle or moving object, and therefore, the slave sensor device is mounted on the left rear side. "FL" refers to the left front, which means the left front side of the vehicle or moving object, and therefore, the delay slave sensor device FL is mounted on the left front side. "RR" refers to the right rear, which means the right rear side of the vehicle or moving object, and therefore, the slave sensor device RR is mounted on the right rear side.

[0085] As described above, this disclosure aims to control the transmission timing of radar sensors and to configure the start time of radio wave transmission for each group.

[0086] Figure 3This illustrates the simultaneous transmission of radio waves by a master sensor device and a slave sensor device. The field of view (FOV) of the radio waves transmitted by the master sensor device and the field of view (FOV) of the radio waves transmitted by the slave sensor device do not overlap. The master sensor device can transmit control signals (“slave start”) to the slave sensor device to control the slave sensor device to initiate radar signal transmission and signal processing (hereinafter referred to as “radar signal processing”), such as transmitting radio waves and processing the corresponding reflected radio waves. That is, the master sensor device and the slave sensor device form a first group, and the sensor devices in the first group can start transmitting radio waves simultaneously. However, “simultaneously” does not necessarily mean a perfectly synchronized point in time. The transmission of radio waves by the master sensor device and the slave sensor device can begin within a certain timing error range.

[0087] Figure 4 The waveform of the radio waves transmitted at a second time point according to this disclosure is shown.

[0088] Reference Figure 4 The diagram shows a delayed slave sensor device FL and a delayed slave sensor device RR that simultaneously transmits radio waves.

[0089] The field of view (FOV) of the radio waves transmitted by the delayed slave sensor device FL and the field of view (FOV) of the radio waves transmitted by the delayed slave sensor device RR do not overlap. The master sensor device can transmit a control signal ("delayed slave start") to the delayed slave sensor device FL to initiate "radar signal processing". Furthermore, the master sensor device can also simultaneously transmit a control signal ("delayed slave start") to the delayed slave sensor device RR to initiate "radar signal processing".

[0090] In other words, the delayed slave sensor devices FL and RR form a second group, and the radar sensor devices in this second group can begin transmitting radio waves simultaneously. However, "simultaneously" does not necessarily mean perfectly synchronized timing. The transmission of radio waves by the delayed slave sensor devices FL and RR can begin within a certain time error range.

[0091] Figure 3 and Figure 4 An embodiment including four radar sensor devices is shown, but this disclosure does not limit the number and arrangement of radar sensor devices.

[0092] Figure 5 Timing diagrams of radio wave transmission and radar signal processing for each radar sensor device according to this disclosure are shown.

[0093] The preceding description indicates that the master sensor device transmits control signals to each sensor device to control each sensor device to initiate "radar signal processing".

[0094] The timing control of radio wave transmission in this disclosure is preferably performed such that the fields of view (FOVs) do not overlap.

[0095] Figure 5 (a), (b), (c) and (d) show the timing diagrams of the radar signal processing for the master sensor device, slave sensor device RL, delayed slave sensor device FL and delayed slave sensor device RR, respectively.

[0096] The timing control of "radar signal processing" is executed by the main sensor device, and will be described from the perspective of the main sensor device. Figure 5 The timing diagram shown.

[0097] The master sensor device can be configured to receive or directly configure runtime segment T for the master sensor device. The master sensor device can know the start time of runtime segment T or can configure that time.

[0098] The master sensor device can transmit control signals to the slave sensor device RL and simultaneously begin radio wave transmission based on the start of runtime segment T. For example, the transmission of control information to the slave sensor device RL can be performed via CAN communication. The slave sensor device RL can receive the control signals and accordingly initiate "radar signal processing." In other words, the slave sensor device RL can begin transmitting radio waves. (See reference...) Figure 5 (a) and (b) show that the "signal transmission" of the master sensor device and the slave sensor device RL begins simultaneously. However, as mentioned above, "simultaneously" does not necessarily mean a point in time when they are completely synchronized.

[0099] The master sensor device and slave sensor devices RL complete the transmission of radio waves, and then perform signal processing on the corresponding reflected radio waves. The master sensor device can be configured to transmit control signals to the delayed slave sensor devices FL and RR at the midpoint of the operating segment T. For example, the transmission of control information to the delayed slave sensor devices FL and RR can be performed via CAN communication. The delayed slave sensor devices FL and RR can receive the control signals and initiate "radar signal processing" accordingly. In other words, the delayed slave sensor devices FL and RR can begin transmitting radio waves. (See reference...) Figure 5 (c) and (d) show that the “signal transmission” of the delayed subordinate sensor devices FL and RR begins simultaneously. However, as mentioned above, “simultaneously” does not necessarily mean a point in time that is completely synchronized.

[0100] The master sensor device can be configured to remain in standby mode until the end of runtime segment T, without performing additional radio wave transmissions or transmitting control signals to slave sensor devices RL. In contrast, all slave sensor devices RL, FL, and RR are unaware of runtime segment T. The slave sensor devices only initiate "radar signal processing" in response to receiving control signals from the master sensor device. Therefore, according to this disclosure, only the master sensor device knows the timing used to control "radar signal processing." That is, the master sensor device can not only control its own operation but also control the operation of other sensor devices based on timing.

[0101] Furthermore, the "radar signal processing" of the subordinate sensor device can be delayed depending on the number of surrounding objects. This disclosure does not provide means for processing or responding to such delays. This is because this disclosure aims to reduce wasted resources and minimize delays in "radar signal processing."

[0102] However, the master sensor device may not be able to complete a "radar signal processing" cycle within runtime segment T. In this case, no additional control signals are transmitted, and therefore, no new "radar signal processing" is initiated for any sensor. Once "radar signal processing" is complete, the master sensor device will remain in standby mode. When the start / end time of runtime segment T is reached, the master sensor device can execute control to restart "radar signal processing".

[0103] Slave sensor devices RL, FL, and RR may also fail to complete a cycle of "radar signal processing." However, the slave sensor devices may be unaware of this "cycle" or operating cycle. In this state, a new control signal can be transmitted to the slave sensor device, but because the slave sensor device's "radar signal processing" has not yet been completed, the slave sensor device will not respond to the control signal to initiate radio wave transmission.

[0104] In other words, such delays may occur in the "radar signal processing" of each sensor device, and therefore, errors such as unexpected misalignment or overlap of radio wave transmissions of each sensor device may occur.

[0105] To address this issue, slave sensor devices can be configured to report their status to the master sensor device. However, such reporting incurs additional resource consumption. Furthermore, since the master sensor device needs to pause this process until it receives the status report from the slave sensor device, this can potentially cause further delays in the overall radar signal processing.

[0106] However, the master sensor device can operate based on the start / end time of the runtime segment. Once "radar signal processing" is complete, the master sensor device remains in standby mode during idle time. Therefore, the master sensor device can wait for the delay in the slave sensor device's "radar signal processing". In other words, as the operation or control based on the master sensor device's runtime segment is repeated, the slave sensor device's delayed "radar signal processing" completes, and eventually, it can resume operation with... Figure 5 The first running segment shown (T / 2) 2) The runtime sequence of the corresponding master and slave sensor devices. Simulation results confirm that when the master sensor device performs a maximum of two to three cycles (running segments) of operation or control, the runtime sequence of the master and slave sensor devices is restored, i.e., synchronization is achieved.

[0107] Figure 5 The timing diagram for "radar signal processing" is shown under ideal conditions where no delay occurs. Essentially, it can be controlled... Figure 5 The process shown is repeated.

[0108] Figure 6 A block diagram of timing control for radio wave transmission according to the present disclosure is shown.

[0109] Main sensor 52 FR It can be configured to start a periodic interval timer (PIT) (S1).

[0110] When PIT starts, main sensor 52 FR It can be configured to send to slave sensor 52 RL Transmit control signal (starting from slave) (S2). Therefore, slave sensor 52 RL It can receive control signals (S12) and initiate and execute "radar signal processing" (S13).

[0111] While controlling signal transmission, the main sensor 52 FR The main sensor 52 can be started and executed. FR "Radar signal processing" (S3).

[0112] While "radar signal processing" is in progress, the main sensor 52 FR The PIT period can be detected as expired (S4). Therefore, the main sensor 52 FR It can be configured to send to the delay slave sensor 52 FL and 52 RR Transmit control signals (delayed slave start) (S5).

[0113] Therefore, delay slave sensor 52 FL and 52 RR It can receive control signals (S22) and initiate and execute "radar signal processing" (S23).

[0114] The slave sensor or delayed slave sensor remains in standby mode (S11 and S21) and does not perform any operation until a control signal (slave start or delayed slave start) is received.

[0115] Figure 6 The example shows that PIT is set to 25ms, but this is just an example.

[0116] according to Figure 6 The content includes the main sensor 52 FR The first group includes delay slave sensors 52 FL and 52 RR The second group can perform radio wave transmission with a time difference of at least 25ms.

[0117] Figure 7 A detailed block diagram of timing control for radio wave transmission according to this disclosure is shown.

[0118] Figure 7 The main sensor 52 is shown in more detail. FR .

[0119] When the interrupt service routine (ISR) corresponding to Tx request #1 is received, the main sensor 52 FR Control signals can be transmitted via CAN communication (starting from the slave).

[0120] When the interrupt service routine (ISR) corresponding to Tx request #2 is received, the main sensor 52 FR It can be configured to transmit control signals via CAN communication (delayed slave start).

[0121] When "Radar Signal Processing" is started, it is used to trigger target tracking and initiate "tracking processing".

[0122] "Tracking processing" is a procedure performed solely by the main sensor. The main sensor can fuse not only its own sensing results but also sensing results from other sensors to perform object tracking.

[0123] Additionally, the master sensor, slave sensors, or slave sensors can be reset or delayed. However, resetting the master sensor can cause all sensors to be reset.

[0124] Figure 8An overview of the waveform of a radar sensor installed in a vehicle or moving object according to another embodiment of the present disclosure and the radio waves transmitted from the radar sensor is shown.

[0125] Figure 8 The image shows a vehicle or moving object equipped with six radar sensors and the field of view (FOV) of radio waves transmitted by each radar sensor.

[0126] When sensors FR, ML, and RR are set to one group, and the remaining sensors FL, MR, and RL are set to another group, if the control is based on the timing of radio wave transmission or the timing of the aforementioned "radar signal processing", the FOV of each group can be controlled so that the FOVs do not overlap.

[0127] Controlling the transmission timing of each group can be understood as a type of time-division system. Although not shown, the time-division system according to this disclosure can also be applied to a frequency-division system in which the frequency of the radio waves transmitted by the sensors is variable. In other words, radio wave transmission control based on both time-division and frequency-division methods can be introduced.

[0128] For example, in Figure 8 In the example shown, the first group can be configured to transmit radio waves in the first frequency band, and the second group can be configured to transmit radio waves in the second frequency band.

[0129] Figure 9 A flowchart of a method for controlling the timing of radio wave transmission at a master sensor, according to the present disclosure, is shown. Figure 9 The method shown is performed by the main sensor, which will be described below as being performed by the "main sensor device".

[0130] The main sensor device can start a timer (S1010). The length of the timer can be, for example, T / 2, where T represents the runtime segment of the main sensor device. Furthermore, as described above, the main sensor device can know the time point at which the timer should be started (i.e., the start or end time of the runtime segment). Alternatively, the main sensor device can set a time point from a separate device or server.

[0131] When the timer starts, the master sensor device can be configured to transmit a slave start signal (i.e., a control signal) to the slave sensor device (S1020). Therefore, the slave sensor device can be configured to transmit radar signals (i.e., radio waves) through its radar sensor and initiate signal processing for the corresponding reflected radio waves. Furthermore, the master sensor device can control its radar sensor to transmit radar signals and initiate signal processing for the corresponding reflected radio waves (S1020). Here, the master sensor device and the slave sensor device belong to the same group of sensor devices, and the master sensor device and the slave sensor device are configured such that the field of view (FOV) of the transmitted radar signals does not overlap.

[0132] The main sensor device checks whether the timer has expired (S1030), which can be performed simultaneously with the signal processing process.

[0133] When the timer expires, the master sensor device can be configured to transmit a delayed slave start signal (i.e., a control signal) to the delayed slave sensor device (S1040).

[0134] Therefore, a delayed slave sensor device can be configured to transmit radar signals through its radar sensor and initiate signal processing for the corresponding reflected radio waves. However, the master sensor device does not perform any investigation or diagnosis regarding whether the delayed slave sensor device is correctly performing the signal processing or whether the signal processing is delayed.

[0135] The main sensor device can be configured to check whether one of its runtime segments has completed (ended) (S1050). Even if the signal processing of the main sensor device is completed, the main sensor device will not start the timer unless the runtime segment ends (S1010). If the signal processing of the main sensor device is completed, the main sensor device can remain in standby mode until the runtime segment ends.

[0136] According to this method, the first group of master and slave sensor devices, as well as the second group of delayed slave sensor devices, can transmit radio waves at different time sequences, ideally with a time difference of T / 2. Therefore, interference between radar sensors can be avoided without the need for separate radio wave interference cancellation circuits or restrictions on radio wave frequency bands.

[0137] Figure 10 A flowchart of a method for controlling the timing of radio wave transmission at a slave sensor, according to the present disclosure, is shown. Figure 10The method shown is performed by a slave sensor, which will be described below as being performed by a "slave sensor device". A "slave sensor device" can be a slave sensor device belonging to the same group as the master sensor device. Alternatively, a "slave sensor device" can be a delayed slave sensor device belonging to a different group than the master sensor device.

[0138] The slave sensor device can check whether it has received a start signal (i.e., a control signal) from the master sensor device (S1110). The slave sensor device can remain in standby mode until it receives the control signal.

[0139] Unlike the master sensor device, the slave sensor device may be unaware of the master sensor device's runtime segment or its start and end times. Furthermore, no runtime segment is configured for the slave sensor device.

[0140] When a start signal is received, the slave sensor device can be configured to transmit a radar signal through its radar sensor and initiate a signal processing procedure for the corresponding reflected radio waves (S1120).

[0141] The slave sensor device can be configured to check whether its signal processing is complete (S1130). The slave sensor device can perform radar signal transmission and signal processing until the signal processing is complete. Once the signal processing is complete, the slave sensor device enters standby mode and checks whether a start signal has been received from the master sensor device (S1110).

[0142] From the perspective of the subordinate sensor device, control can be performed to mitigate... Figure 5 The timing misalignment of "radar signal processing" between the master sensor device and the slave sensor device is shown.

[0143] After receiving a start signal (i.e., a control signal) from the master sensor device, the slave sensor device can check whether its radar sensor has started radio wave transmission within a predefined time. If radio wave transmission has not started within the predefined time after receiving the start signal, the slave sensor device can be configured to skip the radio wave transmission corresponding to the received start signal. Therefore, if a delay occurs in the slave sensor device, its "radar signal processing" may not start at all. In other words, while sensing through the slave sensor device can be partially omitted, timing synchronization or alignment with the master sensor device can be maintained at a near-ideal level.

[0144] After skipping radio wave transmission, the slave sensor device returns to standby mode. However, the predefined time can be determined as (T / 2 - maximum radio wave transmission time).

[0145] Figure 11A block diagram of a radio wave transmission device according to this disclosure is shown.

[0146] The radio wave transmission device 10 can be any one of the above-mentioned master sensor device, slave sensor device, or delayed slave sensor device.

[0147] First, the main sensor device 10 will be described.

[0148] The main sensor device 10 may include a controller 601 configured to generate a radio wave transmission start control signal based on the radio wave transmission timing of the radar sensor of each sensor device and to process reflected radio waves corresponding to the transmitted radio waves. The radio wave transmission start control signal may be configured to instruct at least one sensor device in a first group or at least one sensor device in a second group to transmit radio waves through its radar sensor and process reflected radio waves corresponding to the transmitted radio waves.

[0149] The field of view (FOV) of radio waves transmitted by at least one sensor device in the first group is configured such that the FOVs do not overlap with each other, and the FOV of radio waves transmitted by at least one sensor device in the second group is also configured such that the FOVs do not overlap with each other. In other words, sensor devices with non-overlapping FOVs can be grouped together into the same group.

[0150] In addition, the main sensor device 10 may include a transceiver 701 configured to transmit generated control signals to other sensor devices.

[0151] The controller 601 can be configured to transmit a radio wave transmission start control signal to at least one sensor device in the first group and at least one sensor device in the second group at different times.

[0152] When the timer is started, controller 601 can be configured to transmit a radio wave transmission start control signal to at least one sensor device in the first group. Furthermore, when the timer expires, controller 601 can be configured to transmit a radio wave transmission start control signal to at least one sensor device in the second group.

[0153] The controller 601 can be configured to start an expired timer at the end of the operating period of the main sensor device and transmit a radio wave transmission start control signal to at least one sensor device in the first group.

[0154] The controller 601 can be configured to not start an expired timer or transmit a radio wave transmission start control signal to at least one sensor device in the first group, even if the main sensor device has completed the transmission of radio waves and the corresponding reflection of radio waves by the radar sensor of the main sensor device before the end of the operating period of the main sensor device.

[0155] The runtime of the master sensor device can be configured to have a length obtained by adding a predefined buffer time to the expected time required for the master sensor's radar sensor to transmit radio waves and process the corresponding reflected radio waves. Therefore, during the idle time following the completion of radio wave transmission and processing of the corresponding reflected radio waves, the master sensor device can remain in standby mode. This resolves the "timing misalignment" problem with other sensor devices, such as slave sensor devices or delayed slave sensor devices.

[0156] In addition, the main sensor device 10 may also include a radar sensor 520 configured to transmit radio waves or detect reflected radio waves corresponding to the transmitted radio waves.

[0157] A slave sensor device (or delayed slave sensor device) 10 will be described. Slave sensor devices and delayed slave sensor devices have the same basic configuration. The only difference is whether the slave sensor device and the delayed slave sensor device belong to the same group as the master device, i.e., whether the radio wave transmission timing is the same or different, or whether the FOV of the radio waves overlaps. Therefore, "slave sensor device 10" will be described, which conceptually may include a delayed slave sensor device.

[0158] The slave sensor device 10 may include a controller 601 configured to control the transmission of radio waves by the radar sensor based on a radio wave transmission start control signal received from the master sensor device, and to process reflected radio waves corresponding to the transmitted radio waves based on the radio wave transmission start control signal received from the master sensor device. The radio wave transmission start control signal can be transmitted and received according to the radio wave transmission timing of the radar sensor.

[0159] Slave sensor device 10 may include transceiver 701 configured to receive radio wave transmission start control signal.

[0160] The controller 601 can control the slave sensor device to remain in standby mode until it receives a radio wave transmission start control signal.

[0161] If a radio wave transmission start control signal is received from the main sensor device before the processing of the reflected radio wave corresponding to the previously transmitted radio wave is completed, the controller 601 can be configured to limit the radar sensor's transmission of radio waves.

[0162] Furthermore, if the radar sensor does not start radio wave transmission within a predetermined time after receiving the radio wave transmission start control signal, the controller 601 can control the skipping of radio wave transmission corresponding to the received radio wave transmission start control signal.

[0163] In addition, the slave sensor device 10 may also include a radar sensor 520 configured to transmit radio waves or detect reflected radio waves corresponding to the transmitted radio waves.

[0164] Furthermore, this disclosure can be implemented as a radar sensor system including a master sensor device and slave or delayed slave sensor devices. A radar sensor system according to this disclosure may include the master sensor device, slave sensor device, or delayed slave sensor device previously described. Details thereof are incorporated herein by reference to the foregoing description.

[0165] Figures 1 to 10 The contents of this disclosure as described in the document (without reference) Figure 11 (Description) can be applied to a master sensor device 10, a slave sensor device 10 or a delayed slave sensor device 10, its controller 601, and a radar sensor system including it.

[0166] As another embodiment of this disclosure, a moving object or vehicle 1000 including the above-described sensor device 10 or radar sensor system is provided.

[0167] In the above description, the "device" used to control the timing of radar signal transmission and each of its components are described as performing control. However, the term "device" and its components are merely labels, and the scope of this disclosure is not limited thereto.

[0168] In other words, the proposed technology can be implemented under names other than device, processor, or controller. Furthermore, the methods described above for controlling the transmission timing of radar signals or processing reflected signals corresponding to the transmitted radar signals can be executed by software, a computer, or other machines or devices through readable code.

[0169] Furthermore, as another aspect of this disclosure, the operation of the aforementioned technology can be provided as code, which can be implemented, executed, or carried out by a "computer" (a general concept including a system-on-chip (SoC) or (micro)processor) or a computer-readable storage medium, a computer program product storing or containing the code, etc. The scope of this disclosure extends to code or computer-readable storage media, or computer program products storing or containing the code.

[0170] A detailed description of preferred embodiments of the present disclosure as described above has been provided so that those skilled in the art can implement and carry out the present disclosure.

[0171] Although this disclosure has been described above with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to this disclosure.

[0172] Therefore, this disclosure is not intended to be limited to the embodiments shown herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A main sensor configured to control radar wave transmission, the main sensor comprising: A controller configured to generate a control signal for the initiation of radio wave transmission based on the radio wave transmission timing of the radar sensors for each sensor, and to process reflected radio waves corresponding to the transmitted radio waves; and A transceiver configured to transmit the control signals to other sensors. The controller is configured to transmit the control signal to at least one sensor in the first group and at least one sensor in the second group at different times.

2. The main sensor according to claim 1, wherein the controller is configured as follows: When the timer starts, the control signal is transmitted to at least one sensor in the first group; and The control signal is transmitted to at least one sensor in the second group upon the expiration of the timer.

3. The main sensor according to claim 2, wherein, Based on the end of the runtime of the main sensor, the controller is configured to start a timer that has expired and transmits the control signal to at least one sensor in the first group.

4. The main sensor according to claim 3, wherein, Even if the radar sensor based on the main sensor has transmitted radio waves and has completed the processing of the reflected radio waves corresponding to the transmitted radio waves before the end of the operating period, the controller is also configured not to start the expired timer or transmit the control signal to at least one sensor in the first group.

5. The main sensor according to claim 3, wherein, The runtime segment is configured to have a length obtained by adding a predefined buffer time to the expected time required for the radar sensor of the main sensor to transmit radio waves and process the reflected radio waves corresponding to the transmitted radio waves.

6. The main sensor according to claim 1, wherein, The control signal is configured to instruct at least one sensor in the first group or at least one sensor in the second group to transmit radio waves via a radar sensor and process reflected radio waves corresponding to the transmitted radio waves.

7. The main sensor according to claim 1, wherein, The field of view (FOV) of the radio waves transmitted by at least one sensor in the first group is configured to not overlap with each other, and The FOV of radio waves transmitted by at least one sensor in the second group is configured to not overlap with each other.

8. A slave sensor configured to control radar wave transmission, the slave sensor comprising: A controller configured to control the transmission of radio waves by a radar sensor based on a radio wave transmission start control signal received from a main sensor, and to process reflected radio waves corresponding to the transmitted radio waves, wherein the control signal is transmitted and received based on the radio wave transmission timing of the radar sensor; and A transceiver configured to receive the radio wave transmission start control signal. The controller is configured to keep the slave sensor in standby mode until it receives the control signal.

9. The slave sensor according to claim 8, wherein, Based on the control signal received from the main sensor while the processing of reflected radio waves corresponding to previously transmitted radio waves is incomplete, the controller is configured to limit the radar sensor from transmitting radio waves.

10. The slave sensor according to claim 8, wherein, If the radar sensor does not start transmitting radio waves within a predetermined time after receiving the control signal, the controller is configured to skip the transmission of radio waves corresponding to the received control signal.

11. A radar sensor system configured to perform radar wave transmission based on time-division multiplexing, the radar sensor system comprising: Main sensor; At least one sensor in the first group; as well as At least one sensor in the second group, The main sensor is configured to generate a radio wave transmission start control signal based on the radio wave transmission timing of the radar sensors of each sensor, and transmit the control signal to at least one sensor in the first group or at least one sensor in the second group. The main sensor is configured to transmit the control signal to at least one sensor in the first group and at least one sensor in the second group at different time sequences. The main sensor is configured to begin transmitting radio waves simultaneously with the transmission of the control signal, and In this configuration, at least one sensor in the first group and at least one sensor in the second group are configured to begin transmitting radio waves upon receiving the control signal.

Images