Device and method for controlling radar sensor

Abstract

The present disclosure relates to an apparatus and method for controlling a radar sensor. According to an embodiment, an apparatus for controlling a radar sensor includes: a receiver that receives first detection target information from a first radar sensor and receives second detection target information from a second radar sensor that is spaced a predetermined distance from the first radar sensor; a determiner that determines whether the second detection target information exists in a similarity target monitoring area that is set to include the first detection target information if the first detection target information is received; and a controller that uses the first detection target information and the second detection target information to detect whether the first radar sensor and the second radar sensor are misaligned if the similarity target monitoring area includes the first detection target information and the second detection target information.

Description

Technical Field

[0001] The present disclosure relates to an apparatus and method for controlling a radar sensor, and more particularly, to a radar sensor control apparatus and method capable of determining whether a radar sensor is misaligned. Background Art

[0002] For user convenience, vehicles are equipped with various sensors and electronic devices. In particular, for driver convenience, a lot of research work is being done on advanced driver assistance systems (ADAS).

[0003] Example ADAS using sensors include adaptive cruise control systems and inter-vehicle distance warning systems. The adaptive cruise control system automatically controls the throttle, brakes, and transmission of the vehicle based on the position and distance of the preceding vehicle detected by a radar sensor mounted on the front of the vehicle to perform appropriate acceleration and deceleration, thereby maintaining an appropriate distance from the preceding vehicle. The inter-vehicle distance warning system transmits radar pulses forward and receives pulses reflected by a reflector of the preceding vehicle (e.g., a reflector in a vehicle taillight), and measures the inter-vehicle distance based on the time difference between light emission and reception, thereby maintaining an appropriate distance from the preceding vehicle.

[0004] When using the above system, misalignment of the radar sensor results in erroneous detection of a target on the side lane instead of a target in front or behind. In order to operate the inter-vehicle distance warning system, the radar sensor needs to be installed to accurately capture the vehicle in front. An error of about 0.8 degrees in adjusting the angle of the transmission / reception direction of the radar sensor will result in an error of 1.4m at a distance of about 100m in front. Especially for vehicles adopting an automatic emergency braking system, sudden braking may be caused by a vehicle traveling on the side lane or a vehicle approaching from the side lane being erroneously detected, putting the vehicle at risk of a serious accident.

[0005] As demands on vehicle radar systems increase, misalignment of radar sensors is a critical issue to be addressed to ensure sensor reliability. Summary of the invention

[0006] According to the present disclosure, an apparatus and method for controlling a radar sensor by setting a similarity monitoring area to determine whether the radar sensor is misaligned are provided.

[0007] According to an embodiment, a device for controlling a radar sensor is provided, comprising: a receiver that receives first detection target information from a first radar sensor and receives second detection target information from a second radar sensor that is spaced a predetermined distance from the first radar sensor; a determiner that determines whether the second detection target information exists in a similarity target monitoring area that is set to include the first detection target information if the first detection target information is received; and a controller that uses the first detection target information and the second detection target information to detect whether the first radar sensor and the second radar sensor are misaligned if the similarity target monitoring area includes the first detection target information and the second detection target information.

[0008] According to an embodiment, a method for controlling a radar sensor is provided, the method comprising: receiving first detection target information from a first radar sensor, and receiving second detection target information from a second radar sensor spaced a predetermined distance from the first radar sensor; if the first detection target information is received, determining whether the second detection target information exists in a similarity target monitoring area set to include the first detection target information; and if the similarity target monitoring area includes the first detection target information and the second detection target information, using the first detection target information and the second detection target information to detect whether the first radar sensor and the second radar sensor are misaligned.

[0009] According to the present disclosure, the radar sensor control device can determine whether moving detection targets detected by two radar sensors (e.g., a first radar sensor and a second radar sensor) are similar, and detect whether the first radar sensor and the second radar sensor are misaligned via each detected parameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other objects, features and advantages of the present disclosure will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0011] Figure 1 is a block diagram illustrating a radar sensor control device according to an embodiment of the present disclosure;

[0012] Figure 2 , Figure 3 , Figure 4 and Figure 5 is a diagram illustrating a similarity target monitoring area according to an embodiment;

[0013] Figure 6 is a diagram illustrating determination of whether information on the same object detected by a radar sensor and information on the same object detected by target image information are identical according to an embodiment;

[0014] Figure 7 is a diagram illustrating determination of misalignment according to an embodiment;

[0015] Figure 8 is a flowchart illustrating a method for controlling a radar sensor according to an embodiment; and

[0016] Fig. 9 is a flowchart illustrating step S830 according to an embodiment in more detail. DETAILED DESCRIPTION

[0017] In the following description of examples or embodiments of the present disclosure, reference will be made to the accompanying drawings that illustrate specific examples or embodiments that can be implemented, and the same reference numerals or symbols may be used in the accompanying drawings to refer to the same or similar components, even if the components are shown in different drawings from each other. In addition, in the following description of examples or embodiments of the present disclosure, when it is determined that the detailed description of well-known functions and components incorporated herein may make the subject matter of some embodiments of the present disclosure rather unclear, the detailed description thereof will be omitted.

[0018] Terms such as "including," "having," "comprising," "consisting of," "composed of," and "formed" as used herein are generally intended to allow the addition of other components unless the term is used with the term "only." As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0019] Terms such as "first", "second", "A", "B", "(A)" or "(B)" may be used herein to describe elements of the present disclosure. Each of these terms is not used to limit the nature, order, sequence or quantity of the elements, but is only used to distinguish the corresponding element from other elements.

[0020] When it is mentioned that a first element is “connected or coupled to” a second element, “contacts or overlaps” the second element, etc., it should be interpreted that not only the first element can be “directly connected or coupled to” the second element or “directly contact or overlaps” the second element, but also a third element can be “interposed” between the first element and the second element, or the first element and the second element can be “connected or coupled to”, “contacts or overlaps”, etc., with each other via a fourth element. Here, the second element can be included in at least one of the two or more elements that are “connected or coupled to”, “contacts or overlaps”, etc., with each other.

[0021] When time-related terms such as “after,” “subsequently,” “next,” “before,” etc. are used to describe a process or operation of an element or construction, or a flow or step in an operating method, a processing method, or a manufacturing method, unless used together with the terms “directly” or “immediately following,” these terms may be used to describe non-continuous or non-sequential processes or operations.

[0022] In addition, when referring to any dimension, relative size, etc., even if the relevant description does not indicate otherwise, the numerical value or corresponding information (e.g., level, range, etc.) of the element or feature should be considered to include tolerances or error ranges that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.). In addition, the term "may" fully encompasses all meanings of the term "can".

[0023] Refer to the following Figure 1 A radar sensor control device 10 according to the embodiment will be described.

[0024] Figure 1 is a block diagram illustrating a radar sensor control device 10 according to an embodiment of the present disclosure.

[0025] Reference Figure 1 According to an embodiment, the radar sensor control device 10 may include a receiver 110 , a determiner 120 , a controller 130 , and a transmitter 140 .

[0026] The radar sensor control device 10 can receive first detection target information 220 from the first radar sensor 21, receive second detection target information 230 from the second radar sensor 22 separated from the first radar sensor 21 by a predetermined distance, and once the first detection target information 220 is received, if the similarity target monitoring area 210 includes the first detection target information 220 and the second detection target information 230, use the first detection target information 220 and the second detection target information 230 to detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0027] The receiver 110 may receive first detection target information 220 from the first radar sensor 21 , and receive second detection target information 230 from the second radar sensor 22 spaced apart from the first radar sensor 21 by a predetermined distance.

[0028] In the present disclosure, at least two radar sensors may be used. For example, the radar sensor may include a front radar sensor installed at the front of the vehicle, a rear radar sensor installed at the rear of the vehicle, and one or more of a side or side / rear radar sensor installed on each side of the vehicle, and at least two radar sensors may be installed in each direction. The radar sensor or radar system may analyze the transmitted signal and the received signal to process the data, thereby detecting information about the detected target. To this end, the radar sensor or radar system may include an electronic control unit (ECU) or a processor. Data transmission or signal communication from the radar sensor to the ECU may use a communication link, such as a suitable vehicle network bus.

[0029] The first radar sensor 21 and the second radar sensor 22 can detect the detection target 30 and detect the first detection target information 220 and the second detection target information 230. The first detection target information 220 and the second detection target information 230 can each include at least one of a reflection power parameter of the detection target 30, a reflection area parameter, a relative distance parameter between the detection target and the host vehicle 20, a relative speed parameter between the detection target 30 and the host vehicle 20, or an angle of the detection target 30 relative to the host vehicle 20.

[0030] Figures 2 to 5 is a diagram illustrating a similarity target monitoring area 210 according to an embodiment.

[0031] Reference Figure 2 , the similarity target monitoring area 210 may include the first detection target information 220, and the determiner 120 may determine whether the second detection target information 230 exists in the similarity target monitoring area 210. Alternatively, the similarity target monitoring area 210 may include the second detection target information 230, and the determiner 120 may determine whether the first detection target information 220 exists in the similarity target monitoring area 210.

[0032] The first detection target information 220 may be information obtained by the first radar sensor 21 detecting the detection target 30. The first detection target information 220 may be obtained based on received information such as the reflection area of ​​the detection target 30 and the reflection intensity of the detection target 30. The second detection target information 230 may be information obtained by the second radar sensor 22 detecting the detection target 30. The second radar sensor 22 may be spaced apart from the first radar sensor 21 by a predetermined distance. Figure 2 The first detection target information shown is only an example and may be implemented in the form of a polygon, a circle, or an ellipse.

[0033] Upon receiving the first detection target information 220 , the determiner 120 may determine whether the second detection target information 230 exists in the similarity target monitoring area 210 including the first detection target information 220 .

[0034] The similarity target monitoring area 210 may be set by receiving a preset area from the outside, and may be set by the determiner 120 based on the first detection target information 220 and the second detection target information 230 .

[0035] Reference Figure 3 , the similarity target monitoring area 210 may be set within a range where the detection range of the first radar sensor 21 overlaps with the detection range of the second radar sensor 22. Specifically, the similarity target monitoring area 210 may be set to fall within an overlapping range between the detection ranges of the first radar sensor 21 and the second radar sensor 22 to determine whether the first detection target information 220 is the same as the second detection target information 230. If it is detected that the second detection target information 230 falls outside the similarity target monitoring area 210, the controller 130 may stop detecting the misalignment of the first radar sensor 21 and the second radar sensor 22.

[0036] Reference Figure 4 , if the detection target 30 detected by the first detection target information 220 is a mobile object, the similarity target monitoring area 210 may be set based on the lane in which the detection target 30 is located. Specifically, the determiner 120 may set the similarity target monitoring area 210 including the first detection target information 220, and determine whether the detection target 30 is a mobile object based on, for example, a reflection power parameter of the detection target 30, a reflection area parameter, a relative distance parameter between the detection target 30 and the host vehicle 20, a relative speed parameter between the detection target 30 and the host vehicle 20, and an angle of the detection target 30 relative to the host vehicle 20. If the detection target 30 is determined to be a vehicle based on the first detection target information 220, the determiner 120 may set the lane on which the detection target 30 is traveling as the similarity target monitoring area 210.

[0037] Reference Figure 5, if a portion or more of the threshold point of the second detection target information 230 falls within the similarity target monitoring area 210, the determiner 120 may determine that the second detection target information 230 exists in the similarity target monitoring area 210. Specifically, if a predetermined portion of the second detection target information 230 is included in the similarity target monitoring area 210, and a portion or more of the threshold point of the second detection target information 230 is included in the predetermined portion, the determiner 120 may determine that the second detection target information 230 is included in the similarity target monitoring area 210. The threshold point may be that 50% of the area of ​​the second detection target information 230 is included in the similarity target monitoring area 210. According to an embodiment, once it is determined that the second detection target information 230 is included in the similarity target monitoring area 210, the determiner 120 may set a new similarity target monitoring area 215 that may include the entire second detection target information 230.

[0038] The similarity target monitoring area 210 described above is not limited to a rectangle, but may be expressed as a polygon, an ellipse, or a circle, and is not limited to a specific shape as long as it can include a predetermined area.

[0039] As described above, the radar sensor control device 10 can detect a moving object and set its surroundings as the similarity target monitoring area 210 , thereby more accurately detecting whether there is a misalignment between two radar sensors.

[0040] If the first detection target information 220 and the second detection target information 230 are included in the similarity target monitoring area 210 , the controller 130 may detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned using the first detection target information 220 and the second detection target information 230 .

[0041] The controller 130 may detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned according to a determination result of whether the detection target 30 detected by each of the first detection target information 220 and the second detection target information 230 included in the similarity target monitoring area 210 is for the same object.

[0042] Figure 6 is a diagram illustrating determination of whether information on the same object detected by a radar sensor and information on the same object detected by target image information are identical according to an embodiment.

[0043] Reference Figure 6As a result of the comparison therebetween, once it is determined that the detection target detected by each of the first detection target information 220 and the second detection target information 230 is for the same object, and it is determined that the information about the same object obtained by the first detection target information 220 and the second detection target information 230 is the same as the information about the same object detected by the target image information, the controller 130 may detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned. To this end, the receiving unit 110 may further receive the detection target image information 240 from the image sensor.

[0044] As described above, the radar sensor control device 10 can ensure the accuracy of detection as to whether the first radar sensor 21 and the second radar sensor 22 are misaligned by performing sameness determination of the same object based on the target image information from the image sensor.

[0045] If the detection target image information 240 exists in the similarity target monitoring area 210 , the controller 130 may determine whether the first detection target information 220 and the second detection target information 230 are identical to the detection target image.

[0046] The controller 130 can perform a similarity comparison on each of the one or more parameters included in the first detection target information 220 and the second detection target information 230 to obtain a result of similarity determination, and once it is determined based on the result of the similarity determination that the detection target is for the same object, it is determined whether the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0047] For example, the controller 130 may compare the reflection power parameter, the reflection area parameter, and the relative distance parameter between the detection target and the host vehicle 20 of the detection target 30 with respect to the first detection target information 220 and the second detection target information 230, and if each parameter falls within a preset error range, the controller 130 may determine that the detection targets of the first detection target information 220 and the second detection target information 230 are for the same object. As another example, if most of the parameters compared for the first detection target information 220 and the second detection target information 230 fall within a preset error range, the controller 130 may determine that the detection targets of the first detection target information 220 and the second detection target information 220 are for the same object.

[0048] The controller 130 may apply a preset weight to each of one or more parameters included in the first detection target information 220 and the second detection target information 230 , compare them for similarity, and derive a result of similarity determination.

[0049] For example, the controller 130 can compare the reflection power parameters, reflection area parameters, and relative distance parameters of the detection target 30 and the main vehicle 20 of the first detection target information 220 and the second detection target information 230, and when the reflection power parameters and reflection area parameters of the detection target 30 are outside the error range, while the relative speed parameter between the detection target 30 and the main vehicle 20 falls within the error range, if the relative speed parameter weight between the detection target 30 and the main vehicle 20 has been applied, the controller 130 can determine that the detection targets 30 of the first detection target information 220 and the second detection target information 230 are for the same object.

[0050] The controller 130 may determine whether the first detection target information 220 and the second detection target information 230 are similar based on the error range of the weighted parameters. In the case where weights have been applied to a plurality of parameters, if, as a result of comparison of the parameters of the first detection target information 220 and the second detection target information 230, most of the weighted parameters fall within the error range, the controller 130 may determine that the detection targets 30 of the first detection target information 220 and the second detection target information 230 are for the same object.

[0051] The controller 130 may perform a comparison on each parameter of the detection target 30 of the first detection target information 220 and the second detection target information 230, and determine whether it falls within the error range, and if it falls within the error range, 1 is generated for the corresponding parameter, and if it falls outside the error range, -1 is generated. If the value obtained after the comparison for all parameters is not less than a predetermined value, the controller 130 may determine that the detection targets of the first detection target information 220 and the second detection target information 230 are for the same object. The controller 130 may perform a comparison on each parameter, apply a preset weight to the obtained value, and if the value obtained after the comparison for all parameters is a predetermined value or more, determine that the detection targets of the first detection target information 220 and the second detection target information 230 are for the same object.

[0052] As described above, the radar sensor control device 10 can more accurately determine whether the detection targets 30 detected by the first detection target information 220 and the second detection target information 230 are the same by applying a weight to each parameter to reflect environmental factors according to the surrounding environment of the sensor.

[0053] Figure 7 is a diagram illustrating determination of misalignment according to an embodiment.

[0054] Reference Figure 7, if the angle between the straight line connecting the second radar sensor 22 and the first detection target information 220 and the straight line connecting the second radar sensor 22 and the second detection target information 230 is a predetermined angle or more, the controller 130 may determine that the first radar sensor 21 and the second radar sensor 22 are misaligned. The above angle may indicate the degree of misalignment of the first radar sensor 21 and the second radar sensor 22. The straight line connecting the second radar sensor 22 and the first detection target information 220 preferably connects the center of the second radar sensor 22 and the center of the first detection target information 220. Whether the first radar sensor 21 and the second radar sensor 22 are misaligned may be detected by the angle between the first radar sensor 21, the first detection target information 220 and the second detection target information 230, and the angle formed relative to the second radar sensor 22.

[0055] If the first detection target information 220 and the second detection target information 230 are spaced apart from each other by a predetermined interval or more, the controller 130 may determine that the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0056] If the sum of the angles between the straight line connecting the first radar sensor 21 and the detection target image information 240 and the straight line connecting the first radar sensor 21 and the first detection target information 220, and the angles between the straight line connecting the second radar sensor 22 and the detection target image information 240 and the straight line connecting the second radar sensor 22 and the second detection target information 230 is a predetermined angle or greater, the controller 130 can determine that the first radar sensor 21 and the second radar sensor 22 are not aligned.

[0057] The transmitter 140 may transmit information regarding the misalignment to an output device disposed in the host vehicle 20. The output device may include audio, navigation, or a display.

[0058] According to the present disclosure, the radar sensor control device 10 can be implemented as an electronic control unit (ECU). The ECU may include at least one or more of one or more processors, memories, storage units, user interface input units, or user interface output units that can communicate with each other via a bus. The ECU may also include a network interface for accessing a network. The processor may be a central processing unit (CPU) or a semiconductor device that executes processing instructions stored in a memory and / or storage unit. The memory and storage unit may include various types of volatile / non-volatile storage media. For example, the memory may include a read-only memory (ROM) and a random access memory (RAM).

[0059] Described below is a method of controlling a sensor using the radar sensor control device 10 that is capable of performing all of the above-described operations or functions.

[0060] Figure 8 is a flowchart illustrating a method for controlling a radar sensor according to an embodiment.

[0061] Reference Figure 8 , a method for controlling a radar sensor may include: receiving first detection target information 220 from a first radar sensor 21, and receiving second detection target information 230 from a second radar sensor 22 spaced a predetermined distance from the first radar sensor 21 (S810); if the first detection target information 220 is received, determining whether the second detection target information 230 exists in a similarity target monitoring area 210 set to include the first detection target information 220 (S820); and if the similarity target monitoring area 210 includes the first detection target information 220 and the second detection target information 230, determining whether the first radar sensor 21 and the second radar sensor 22 are misaligned using the first detection target information 220 and the second detection target information 230 (S830). The first detection target information 220 and the second detection target information 230 may each include at least one of a reflection power parameter of a detection target 30, a reflection area parameter, a relative distance parameter of the detection target to a host vehicle 20, a relative speed parameter of the detection target 30 and the host vehicle 20, or an angle of the detection target 30 relative to the host vehicle 20.

[0062] Detecting misalignment (S830) can detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned based on the determination result of whether the detection target 30 detected by each of the first detection target information 220 and the second detection target information 230 included in the similarity target monitoring area 210 is for the same object.

[0063] Detecting misalignment (S830) can perform a similarity comparison on each parameter of one or more parameters included in the first detection target information 220 and the second detection target information 230, obtain a result of similarity determination, and once it is determined based on the result of the similarity determination that the detection target is for the same object, it is determined whether the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0064] The detecting misalignment (S830) may apply a preset weight to each of one or more parameters included in the first detection target information 220 and the second detection target information 230, compare them for similarity, and obtain a result of similarity determination.

[0065] If the angle between the straight line connecting the second radar sensor 22 and the first detection target information 220 and the straight line connecting the second radar sensor 22 and the second detection target information 230 is a predetermined angle or greater, detecting misalignment (S830) can determine that the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0066] Detecting misalignment (S830) can further receive detection target image information 240 from the image sensor, and as a result of comparison therebetween, once it is determined that the detection target detected by each of the first detection target information 220 and the second detection target information 230 is for the same object, and it is determined that the information for the same object obtained by the first detection target information 220 and the second detection target information 230 is the same as the information for the same object detected by the target image information, the controller 240 can detect whether the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0067] The similarity target monitoring area 210 may be set within a range where the detection range of the first radar sensor 21 overlaps with the detection range of the second radar sensor 22 .

[0068] If the detection target 30 detected by the first detection target information 220 is a mobile object, a similarity target monitoring area 210 can be set for the lane where the detection target 30 is located, and if the detection target 30 is determined to be a vehicle based on the first detection target information 220, the similarity target monitoring area 210 (S820) can be set as the lane where the detection target 30 is traveling.

[0069] If a portion or more of the threshold points of the second detection target information 230 falls within the similarity target monitoring area 210 , determining the similarity target monitoring area 210 ( S820 ) may determine that the second detection target information 230 exists in the similarity target monitoring area 210 .

[0070] Fig. 9 is a flowchart illustrating step S830 according to an embodiment in more detail.

[0071] Reference Fig. 9 , the radar sensor control device 10 can determine whether the second detection target information 230 exists in the similarity target monitoring area (S910). If a part or more of the threshold points of the second detection target information 230 falls within the similarity target monitoring area 210, the radar sensor control device 10 can determine that the second detection target information 230 exists in the similarity target monitoring area 210.

[0072] The radar sensor control device 10 may determine whether the detection target 30 detected by each of the first detection target information 220 and the second detection target information 230 is for the same object (S920). The radar sensor control device 10 may determine whether they are similar by performing a comparison on the reflection power parameter of the detection target 30, the reflection area parameter, the relative distance parameter of the detection target 30 to the host vehicle 20, the relative speed parameter of the detection target 30 to the host vehicle 20, and the angle of the detection target 30 relative to the host vehicle 20 included in each of the first detection target information 220 and the second detection target information 230. The sensor control device 10 may apply a weight to each parameter and determine whether the detection target 30 detected by each of the first detection target information 220 and the second detection target information 230 is the same or similar.

[0073] Once it is determined that the detection target 30 detected by each of the first detection target information 220 and the second detection target information 230 is for the same object, the radar sensor control device 10 may detect misalignment information about the first radar sensor 21 and the second radar sensor 22 (S930). The radar sensor control device 10 may compare the parameters included in the first detection target information 220 and the second detection target information 230 to detect the misalignment information. If the angle between the straight line connecting the second radar sensor 22 and the first detection target information 220 and the straight line connecting the second radar sensor 22 and the second detection target information 230 is a predetermined angle or more, the radar sensor control device 10 may determine that the first radar sensor 21 and the second radar sensor 22 are misaligned.

[0074] Radar sensor control device 10 may send information about the detection of the misalignment to an output device to inform a user of the result of the misalignment detection.

[0075] As described above, according to the present disclosure, the radar sensor control device 10 determines whether the detection targets detected by the two radar sensors are similar, and determines whether the first radar sensor and the second radar sensor are misaligned via each detected parameter.

[0076] The technology of providing an apparatus and method for controlling a radar sensor can be implemented in the form of an application or a program instruction executable by various computer components, which can be recorded in a computer-readable recording medium. The computer-readable medium can include programming commands, data files, or data structures alone or in combination.

[0077] The programming commands recorded in the computer-readable medium may be specially designed and configured for the present disclosure, or may be well-known and available to ordinary technicians in the computer software industry.

[0078] Examples of computer-readable recording media may include, but are not limited to, magnetic media (such as a hard disk, floppy disk, or tape), optical media (such as a CD-ROM or DVD), magneto-optical media (such as a floppy disk), memory (such as a ROM, RAM, or flash memory), or other hardware devices specially configured to retain and execute programming commands.

[0079] The above description has been given to enable any technician in the field to make and use the technical concept of the present disclosure, and the above description has been provided in the context of specific applications and their requirements. Various modifications, additions and substitutions to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. The above description and the accompanying drawings provide examples of the technical concept of the present disclosure for exemplary purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical concept of the present disclosure. Therefore, the scope of the present disclosure is not limited to the embodiments shown, but should be given the widest scope consistent with the claims. The scope of protection of the present disclosure should be interpreted based on the attached claims, and all technical concepts within the scope of their equivalents should be interpreted as included within the scope of the present disclosure.

[0080] CROSS-REFERENCE TO RELATED APPLICATIONS

[0081] This application claims priority to Korean Patent Application No. 10-2020-0054932, filed on May 8, 2020, which is hereby incorporated by reference for all purposes as if fully set forth herein.

Claims

1. A device for controlling a radar sensor, the device comprising: a receiver that receives first detected target information from a first radar sensor and receives second detected target information from a second radar sensor that is spaced a predetermined distance from the first radar sensor; a determiner that, if the first detection target information is received, determines whether the second detection target information exists in a similarity target monitoring area that is set to include the first detection target information; as well as a controller, if the similarity target monitoring area includes the first detection target information and the second detection target information, the controller uses the first detection target information and the second detection target information to detect whether the first radar sensor and the second radar sensor are misaligned, Among them, if a part or more of the threshold point of the second detection target information is included in the similarity target monitoring area, the determiner determines that the second detection target information exists in the similarity target monitoring area and sets a new similarity target monitoring area including the entire second detection target information to detect a moving object and sets the surrounding area of ​​the moving object as the similarity target monitoring area.

2. The device according to claim 1, wherein: Each of the first detection target information and the second detection target information includes at least one of the following: a reflection power parameter of the detection target, a reflection area parameter, a relative distance parameter between the detection target and the main vehicle, a relative speed parameter between the detection target and the main vehicle, or an angle of the detection target relative to the main vehicle.

3. The device according to claim 2, wherein: The controller detects whether the first radar sensor and the second radar sensor are misaligned according to a determination result of whether a detection target detected by each of the first detection target information and the second detection target information included in the similarity target monitoring area is for the same object.

4. The device according to claim 3, wherein: The controller performs a comparison regarding similarity for each of one or more parameters included in the first detection target information and the second detection target information and obtains a result of similarity determination, and if it is determined as a result of the similarity determination that the detection targets are for the same object, detects whether the first radar sensor and the second radar sensor are misaligned.

5. The device according to claim 4, wherein: The controller applies a preset weight to each of one or more parameters included in the first detection target information and the second detection target information, performs a comparison regarding similarity, and obtains a result of the similarity determination.

6. The device according to claim 3, wherein: The controller determines that the first radar sensor and the second radar sensor are misaligned if an angle between a straight line connecting the second radar sensor and the first detection target information and a straight line connecting the second radar sensor and the second detection target information is a predetermined angle or more.

7. The device according to claim 3, wherein: The receiver also receives detection target image information from the image sensor, and wherein, as a result of comparison therebetween, if it is determined that the detection target detected by each of the first detection target information and the second detection target information is for the same object, and if it is determined that the information about the same object detected by the first detection target information and the second detection target information is the same as the information about the same object detected by the detection target image information, the controller detects whether the first radar sensor and the second radar sensor are misaligned.

8. The device according to claim 1, wherein: The similarity target monitoring area is set within an overlapping range between a detection range of the first radar sensor and a detection range of the second radar sensor.

9. The device according to claim 1, wherein: If the detection target detected by the first detection target information is a moving object, the similarity target monitoring area is set for the lane where the detection target is located.

10. A method for controlling a radar sensor, the method comprising the following steps: receiving first detected target information from a first radar sensor, and receiving second detected target information from a second radar sensor spaced a predetermined distance from the first radar sensor; If the first detection target information is received, determining whether the second detection target information exists in a similarity target monitoring area set to include the first detection target information; as well as If the similarity target monitoring area includes the first detection target information and the second detection target information, using the first detection target information and the second detection target information to detect whether the first radar sensor and the second radar sensor are misaligned, Among them, the step of determining whether the second detection target information exists in the similarity target monitoring area includes the following steps: if a part or more of the threshold point of the second detection target information is included in the similarity target monitoring area, it is determined that the second detection target information exists in the similarity target monitoring area and a new similarity target monitoring area including the entire second detection target information is set to detect a moving object and the surrounding of the moving object is set as the similarity target monitoring area.

11. The method according to claim 10, wherein: Each of the first detection target information and the second detection target information includes at least one of the following: a reflection power parameter of the detection target, a reflection area parameter, a relative distance parameter between the detection target and the main vehicle, a relative speed parameter between the detection target and the main vehicle, or an angle of the detection target relative to the main vehicle.

12. The method according to claim 11, wherein: The step of detecting whether the first radar sensor and the second radar sensor are misaligned includes the following steps: detecting whether the first radar sensor and the second radar sensor are misaligned based on a determination result of whether the detection targets detected by each of the first detection target information and the second detection target information included in the similarity target monitoring area are for the same object.

13. The method according to claim 12, wherein: The step of detecting whether the first radar sensor and the second radar sensor are misaligned comprises the following steps: performing a comparison regarding similarity for each parameter among one or more parameters included in the first detection target information and the second detection target information, and obtaining a result of similarity determination; and If it is determined as a result of the similarity determination that the detection targets are for the same object, it is determined whether the first radar sensor and the second radar sensor are misaligned.

14. The method according to claim 13, wherein: The step of detecting whether the first radar sensor and the second radar sensor are misaligned includes the following steps: applying a preset weight to each of one or more parameters included in the first detection target information and the second detection target information, performing a comparison on similarity, and deriving a result of the similarity determination.

15. The method according to claim 12, wherein: The step of detecting whether the first radar sensor and the second radar sensor are misaligned includes the following steps: if an angle between a straight line connecting the second radar sensor and the first detection target information and a straight line connecting the second radar sensor and the second detection target information is a predetermined angle or greater, determining that the first radar sensor and the second radar sensor are misaligned.

16. The method according to claim 12, wherein: The step of detecting whether the first radar sensor and the second radar sensor are misaligned comprises the following steps: Detection target image information is further received from an image sensor, and as a result of comparison therebetween, if it is determined that the detection targets detected by each of the first detection target information and the second detection target information are for the same object, and if it is determined that information about the same object detected by the first detection target information and the second detection target information is the same as the information about the same object detected by the detection target image information, it is detected whether the first radar sensor and the second radar sensor are misaligned.

17. The method according to claim 10, wherein: The similarity target monitoring area is set within an overlapping range between a detection range of the first radar sensor and a detection range of the second radar sensor.

18. The method according to claim 10, wherein: If the detection target detected by the first detection target information is a moving object, the similarity target monitoring area is set for the lane where the detection target is located.

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