Vehicle control system and method for detecting objects

Abstract

A vehicle control system may include a controller that detects an object outside the vehicle, calculates an angle based on a ratio of a relative speed between the object and the vehicle to a speed of the vehicle, and updates a phase curve reflecting a phase distortion of an input signal based on the calculated angle. Angle ambiguity can be minimized by using the vehicle control system of the present invention.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2021-0059538 filed in the Korean Intellectual Property Office on May 7, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a technique for detecting an object in a vehicle control system. Background Art

[0004] The vehicle control system installed on the vehicle can use sensors to detect objects in front, on the side, behind, or to the side and rear. For example, the vehicle control system can calculate the angle between the vehicle and the object by the phase monopulse algorithm used in the radar. The phase monopulse algorithm estimates the incident angle (or output angle) of the input signal by the distance between the two antennas and the phase difference between the input signals incident on the two antennas. The curve representing the relationship between the phase difference and the output angle may be called a phase curve. Since the phase monopulse algorithm has the advantage of no angle ambiguity even when viewed from the side compared to the beamforming scheme, a sensor device (e.g., radar) to which the phase monopulse algorithm is applied is installed on the rear part of the vehicle so that the angle between the vehicle and the object can be calculated. Summary of the invention

[0005] The present disclosure is to solve the above-mentioned problems occurring in the prior art while maintaining the advantages achieved by the prior art unchanged.

[0006] In an angle calculation scheme using a phase curve and a phase difference like the phase single pulse algorithm, angle ambiguity can be minimized when the phase difference and the output angle of the input signal have a one-to-one correspondence. Therefore, although the sensor should be installed at a position where there is no phase distortion of the signal, when the bumper is installed on the vehicle, phase distortion is inevitable due to diffuse reflection in the bumper, and a sensor installation position that minimizes the phase distortion or does not exceed the distortion limit is required.

[0007] The sensor installation position that minimizes phase distortion may slightly differ depending on the vehicle, and considering time and cost, it is not possible to find the optimal sensor installation position by measuring the phase curve of the signal for each vehicle individually. Although a method of measuring the phase curve of the signal of several exemplary vehicles can be considered and generalized to each individual vehicle, compared with the human and financial consumption generated in the process of selecting an exemplary vehicle and measuring the phase curve of the signal, it is not possible to accurately reflect the deviation depending on the individual vehicle, so that efficiency may be reduced.

[0008] The technical problems to be solved by the present invention are not limited to the aforementioned problems, and those skilled in the art to which the present disclosure belongs will clearly understand any other technical problems not mentioned herein from the following description.

[0009] According to one aspect of the present disclosure, a vehicle control system may include a controller that detects an object outside the vehicle, calculates an angle based on a ratio of a relative speed between the object and the vehicle and a vehicle speed, and updates a phase curve reflecting a phase distortion of an input signal based on the calculated angle.

[0010] According to another aspect of the present disclosure, a method of operating a vehicle control system may include detecting an object outside the vehicle, calculating an angle based on a ratio of a relative speed between the object and the vehicle and a vehicle speed, and updating a phase curve reflecting a phase distortion of an input signal based on the calculated angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings.

[0012] Figure 1 is a block diagram illustrating a vehicle according to various embodiments;

[0013] Figures 2A to 2D is a view showing an operation of calculating an angle based on a phase single pulse algorithm;

[0014] Figure 3 is a block diagram illustrating a vehicle control system according to various embodiments;

[0015] Figure 4 is a detailed block diagram showing a signal processor according to various embodiments;

[0016] Figures 5 to 7 is a diagram showing an operation of updating a phase curve based on a relative speed according to various embodiments;

[0017] Figure 8 is a flow chart illustrating operations for calculating an angle between an object and a vehicle based on relative velocity according to various embodiments;

[0018] Fig. 9 is a flow chart illustrating the operation of collecting angle data according to various embodiments;

[0019] Fig.10 is a flow chart illustrating operations for updating a phase curve according to various embodiments;

[0020] Fig.11 is a graph showing a phase curve reflecting a speed error according to various embodiments; and

[0021] Fig.12 is a flow chart illustrating the operation of replacing at least a portion of a phase curve in accordance with various embodiments.

[0022] With regard to the description of the drawings, the same or similar elements may be marked with the same or similar reference numerals. DETAILED DESCRIPTION

[0023] Below, various embodiments of the present disclosure may be described with reference to the accompanying drawings. Therefore, those skilled in the art will recognize that various modifications, equivalents and / or substitutions may be made to the various embodiments described herein without departing from the scope and spirit of the present disclosure.

[0024] It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to specific embodiments, and include various variations, equivalences or substitutions of the corresponding embodiments. With respect to the description of the accompanying drawings, similar reference numerals may be used to refer to similar or related elements. It should be understood that the singular form of a noun corresponding to an item may include one or more of the items, unless the relevant context explicitly indicates otherwise. As used herein, for example, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B or C" may include any one or all possible combinations of the items listed together in one of the corresponding phrases. As used herein, for example, terms such as "1st" and "2nd" or "first" and "second" may be used to simply distinguish a corresponding component from another component, and are not otherwise limited to the component (e.g., importance or order). It should be understood that whether or not the term "operably" or "communicatively" is used, if an element (e.g., a first element) is referred to as being "coupled" to, "coupled to," "connected to," or "connected to" another element (e.g., a second element), this means that the element can be coupled to the other element directly (e.g., by wire), wirelessly, or via a third element.

[0025] As used herein, the term "module" may include units implemented in hardware, software, or firmware, and may be used interchangeably with other terms, such as "logic," "logic block," "component," or "circuit." A module may be a single integral component, or its smallest unit or component, adapted to perform one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0026] The various embodiments described herein may be implemented in software (e.g., a program) that includes one or more instructions stored in a storage medium (e.g., an internal memory or an external memory) that can be read by a machine. For example, a machine may call at least one of the one or more instructions stored in a storage medium and execute it with or without one or more other components under the control of a processor. This allows the machine to be operated to perform at least one function according to at least one instruction called. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-temporary storage medium. Among them, the term "non-temporary" only means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but this term does not distinguish between a location where data is semi-permanently stored in a storage medium and a location where data is temporarily stored in a storage medium.

[0027] According to one embodiment, the method according to various embodiments of the present disclosure may be included and provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read only memory (CD-ROM)), or distributed online (e.g., downloaded or uploaded) via an application store, or distributed directly between two user devices. If distributed online, at least a portion of the computer program product may be temporarily generated or at least temporarily stored in a machine-readable storage medium (e.g., a memory of a manufacturer's server, a server of an application store, or a relay server).

[0028] According to various embodiments, each of the above-mentioned components (e.g., a module or a program) may include a single entity or multiple entities. According to various embodiments, one or more of the above-mentioned components may be omitted, or one or more other components may be added. Alternatively or additionally, multiple components (e.g., a module or a program) may be integrated into a single component. In this case, according to various embodiments, the integrated component may still perform one or more functions of each of the multiple components in the same or similar manner as they were performed by corresponding components in the multiple components before integration. According to various embodiments, the operations performed by a module, a program, or another component may be performed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations may be performed or omitted in a different order, or one or more other operations may be added.

[0029] Figure 1 is a block diagram of a vehicle according to various embodiments.

[0030] The vehicle 10 may include an application processor (AP) driver 105, a first controller area network (CAN) 101, a second CAN 102, rear sensors 110-1 and 110-2, light modules 120-1 and 120-2, power drivers 130-1 and 130-2, a radar 140, a navigation system 150, a steering gear 160, a camera 170, and wipers 180-1 and 180-2.

[0031] The AP driver 105 may be, for example, a control device for controlling components in the vehicle 10. The AP driver 105 may be referred to as a processor or an electronic controller unit (ECU). The AP driver 105 may control components in the vehicle 10 through the first CAN 101 or the second CAN 102. The first CAN 101 and the second CAN 102 may be protocols used by the AP driver 105 to control components in the vehicle 10. For example, the AP driver 105 may control at least one of the camera 170, the radar 140, the rear sensors 110-1 and 110-2, and the navigation system 150 through the first CAN 101 to perform sensing of the vehicle 10 and its functions, and may control the steering 160, the brake (not shown), and the speed of the vehicle 10 through the second CAN 102 to control functions related to driving of the vehicle 10. The first CAN 101 may be referred to as a private CAN (P-CAN), and the second CAN 102 may be referred to as a chassis CAN (C-CAN).

[0032] The rear sensors 110-1 and 110-2 may be configured to detect blind spots (e.g., the rear side of the vehicle) that cannot be detected by the driver of the vehicle 10. For example, the rear sensors 110-1 and 110-2 may be radar devices configured to detect objects outside the vehicle 10 by transmitting and receiving signals in a specified frequency band. The rear sensors 110-1 and 110-2 may be used for blind spot detection (BSD) or blind-spot collision warning (BCW). The number and position of the rear sensors 110-1 and 110-2 are not limited to Figure 1 The example shown in .

[0033] The lamp modules 120-1 and 120-2 may include headlights that irradiate light to the front of the vehicle. According to one embodiment, the lamp module 120-1 may include a digital micro-mirror device (DMD) including a plurality of micro-mirrors so that the vehicle 10 can more accurately control the intensity and direction of the light. According to one embodiment, each of the lamp modules 120-1 and 120-2 may be connected to the AP driver 105 via a coaxial cable (e.g., a fakra cable). Each of the power drivers 130-1 and 130-2 may be configured to supply power to the lamp modules 120-1 and 120-2, respectively.

[0034] The radar 140 may be configured to detect an object located in front of the vehicle 10. For example, the AP driver 105 may detect the position, speed, or direction of an object (eg, a pedestrian or an obstacle) by using the radar 140.

[0035] The camera 170 may obtain an image in front of the vehicle 10. The AP driver 105 may detect the position, speed, direction, shape, or size of an object located in front by analyzing the image obtained by the camera 170. Figure 1 In addition to the example shown, the vehicle 10 may also include at least one camera configured to obtain an image of the rear of the vehicle 10 or an image of a 360-degree space around the vehicle 10 .

[0036] The wipers 180 - 1 and 180 - 2 can ensure the driver's sight by removing rainwater placed on the windshield of the vehicle. Figure 1 In addition to the example shown, the vehicle 10 may also include at least one wiper configured to remove rainwater placed on the rear of the vehicle 10. Figure 1 Two wipers 180 - 1 and 180 - 2 are shown, but the vehicle 10 may use one wiper.

[0037] Next, a method of correcting phase distortion of a signal using the rear sensors 110 - 1 and 110 - 2 installed at the rear side of the vehicle 10 with an algorithm for calculating an angle between the vehicle 10 and an external object will be described.

[0038] Figures 2A to 2D is a view showing an operation of calculating an angle based on a phase single pulse algorithm.

[0039] When the distance d between the antennas and the frequency of the signal (f=w / 2π) are given, a vehicle control system (eg, Figure 3 300) can calculate the angle θ between the vehicle 10 (or the rear sensor) and the external object based on the following equation 1, as Figure 2A shown.

[0040] [Equation 1]

[0041]

[0042] Corresponding to the distance between the antennas, a phase difference corresponding to the angle can be generated, and Figure 2B The vehicle control system can generate a phase curve representing the phase difference corresponding to the angle, as shown in the first graph 201. For example, the vehicle control system can compare the phase difference Φ between the signals incident on the two antennas with the phase curve and calculate the angle θ with the minimum phase difference error, as shown in the first graph 201. Figure 2B As shown in the second graph 202 .

[0043] In the case where the sensor (e.g., 140) is installed in the front of the vehicle 10, surface treatment may be performed to minimize signal distortion, but the sensor (e.g., 110-1 or 110-2) installed in the rear of the vehicle 10 may be arranged inside the bumper, so that distortion may occur in the phase of the signal due to diffuse reflection in the bumper. For example, referring to Figure 2C In the third graph 203, the phase curve measured in the electromagnetic wave anechoic environment has the same shape as the first phase curve 203-1, while ripples may appear in the phase curve measured after the rear bumper of the vehicle 10 is installed, as in the second phase curve 203-2. When ripples appear, a one-to-one relationship between the phase difference and the output angle is not established, which may cause angle errors and ambiguity. For ease of explanation, the algorithm used to generate the phase curve (e.g., 203-1) in the electromagnetic wave anechoic environment is a sample phase curve (SPC), and the algorithm used to generate the phase curve (e.g., 203-2) after the rear bumper is installed may be referred to as an individual phase curve (IPC).

[0044] The angular error allowed in the angle measurement may be referred to as the "required maximum angular accuracy". The sensor cannot be mounted at a position in the phase curve where the angular error exceeds the required maximum angular accuracy (e.g., 4 degrees). The required maximum angular accuracy may vary depending on the distance between the vehicle 10 and the object. For example, for a lateral position error of within 1 meter between the vehicle 10 and the object, the maximum allowable angular error corresponding to the longitudinal position distance may be as follows: Figure 2DFor example, at a distance of 80 meters from the longitudinal position, an angular accuracy within 0.8 degrees is required, while at a distance of 15 meters from the longitudinal position, an angular accuracy within 3.8 degrees may be required. In a similar manner as described above, the required maximum angular accuracy may vary according to the angular range within the field of view (FOV) of the sensor. For example, Figure 2D Reference numeral 205 indicates the required maximum angular accuracy for each angular range of the sensor 110-2 installed on the rear side of the vehicle 10. When it is assumed that an angular accuracy within a first angle (e.g., 1 degree) is required within a range of 30 to 50 degrees, an angular accuracy within a second angle (e.g., 3 degrees) greater than the first angle may be required within a range of -60 to 30 degrees. In addition, within the ranges of -75 to -60 degrees and 50 to 75 degrees, an angular accuracy within a third angle (e.g., 4 degrees) greater than the second angle may be required.

[0045] As described above, although the vehicle control system needs to use a phase curve (IPC) (in which the phase distortion caused by the bumper of each vehicle is reflected) when measuring the angle between the vehicle 10 and the object existing on the rear side of the vehicle 10, considering time and cost, it is impossible to measure the IPC after installing the bumper of each individual vehicle during the production process, and the IPC cannot be applied to vehicles that have already been produced. Compared with the manpower and resource consumption in the process of selecting exemplary vehicles and measuring the signal phase curve, the scheme of measuring and generalizing the IPC of some example vehicles may not accurately reflect the deviation of individual vehicles, so the efficiency may be reduced. The vehicle control system according to the embodiment can generate and correct the phase curve by using the ratio of the relative speed between the vehicle and the object to the vehicle speed, thereby improving the accuracy of the angle calculation - despite the phase distortion caused by the bumper.

[0046] Figure 3 is a block diagram showing a vehicle control system according to various embodiments. Figure 3 , the vehicle control system 300 may include a signal processor 310 , a controller 320 , and a memory 330 .

[0047] The signal processor 310 may be configured to transmit and receive signals in a specified frequency band in order to measure the distance and angle between the vehicle 10 and an object. For example, the signal processor 310 may be Figure 1 The rear sensors 110-1 and 110-2.

[0048] The controller 320 may be connected to the signal processor 310 and the memory 330. For example, the controller 320 may be a hardware device, such as an AP driver 105 or a processor, or instructions (e.g., programs, applications, etc.) for executing the overall operation of the vehicle control system 300. The controller 320 may control at least one of the other components (e.g., hardware components or software components) of the vehicle control system 300, and may perform various data processing or operations. According to one embodiment, as at least part of the data processing or operation, the controller 320 may store a command or data received from another component (e.g., a sensor) in a volatile memory, process the command or data stored in the volatile memory, and store the resultant data in a non-volatile memory (e.g., memory 330). According to one embodiment, the controller 320 may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, an image signal processor, a sensor hub processor, or a communication processor), which may operate independently or in conjunction with the main processor. For example, when the controller 320 includes a main processor and a secondary processor, the secondary processor may be configured to use less power than the main processor, or configured to be dedicated to a specified function. A coprocessor may be implemented separately from the main processor, or together with a portion of the main processor.

[0049] In one embodiment, the controller 320 may detect an object outside the vehicle 10, calculate an angle based on a ratio of a relative speed between the detected object and the vehicle 10 and a speed of the vehicle 10, and generate or update a phase curve reflecting a phase distortion of an input signal based on the calculated angle. To calculate the angle, the controller 320 may obtain an object candidate group from the detected objects based on a first condition, calculate the ratio of the relative speed and the speed of each object candidate group and the angle data accordingly, and then filter the angle data based on a second condition. To update the phase curve, the controller 320 may generate a phase curve within a specified angle range, calculate an offset of the generated phase curve, and generate a final phase curve by smoothing after compensating the phase curve.

[0050] The memory 330 may store instructions for controlling the vehicle control system 300, and may store control instruction codes, control data, or user data. For example, the memory 330 may include at least one of an application, an operating system (OS), a middleware, and a device driver. The memory 330 may include one or more of a volatile memory and a non-volatile memory. Volatile memory may include a dynamic random access memory (DRAM), a static RAM (SRAM), a synchronous DRAM (SDRAM), a phase-change RAM (PRAM), a magnetic RAM (MRAM), a resistive RAM (RRAM), a ferroelectric RAM (FeRAM), and the like. Non-volatile memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, and the like. The memory 330 may also include non-volatile media such as a hard disk drive (HDD), a solid state disk (SSD), an embedded multi-media card (eMMC), and universal flash storage (UFS).

[0051] Figure 4 is a detailed block diagram illustrating a signal processor according to various embodiments.

[0052] Reference Figure 4, the signal processor 310 may be a transmission (Tx) ramp generator 411, a transmission radio frequency (RF) analog terminal 412, at least one antenna 413, a reception (Rx) RF analog terminal 414, and a reception digital front end (DFE) 415. The transmission ramp generator 411 may convert a signal for detecting an object into a specified frequency. The transmission analog terminal 412 may transmit a signal through at least one antenna 413 by processing a signal of a specified frequency band. For example, the transmission analog terminal 412 may include a power amplifier (PA). The reception RF analog terminal 414 may process a signal received through the at least one antenna 413. For example, the reception RF analog terminal 414 may include a low noise amplifier (LNA), a mixer, an intermediate frequency (IF) converter, and an analog-digital converter (ADC). The reception DFE 415 may convert the received signal into a digital signal and transmit the digital signal to the controller 320. The controller 320 may calculate the angle by receiving the signal from the receiving DFE 415 and control the operation of the vehicle control system 300 to correct the phase curve.

[0053] Figures 5 to 7 FIG. 5 is a diagram illustrating an operation of updating a phase curve based on a relative speed according to various embodiments.

[0054] Reference Figure 5 , the object 520 may be a stationary object. When the vehicle 10 is traveling, the vehicle control system 300 may use the relative velocity V of the object 520 r The speed V of the vehicle 10 h The ratio V r / V h To calculate the angle θ between the vehicle 10 and the object 520 represented by the following equation 2 车辆 , where the calculated angle can be expressed using the acos function, such as Figure 6 As shown in the first diagram 601 .

[0055] [Equation 2]

[0056]

[0057] like Figure 6As shown in the second graph 602, the vehicle control system 300 can calculate the angular coordinates based on the vehicle 10 and the angular coordinates based on the rear sensor 110-2, and can input the phase difference obtained by the input signal at each calculated angle. When the data on the above angle and phase difference are accumulated within a specified angle range (e.g., -90 degrees to 90 degrees), a phase curve 705 representing the relationship between the angle and the phase difference can be generated, as shown in FIG. Figure 7 As shown in the third chart 703.

[0058] Figures 5 to 7 An embodiment of generating a phase curve by using the relative speed between the moving vehicle 10 and the stationary object 520 is shown, but according to another embodiment, the vehicle control system 300 can obtain the moving speed of the vehicle moving behind the vehicle 10 through vehicle-to-vehicle communication, and can generate a phase curve by using the speed ratio between the vehicle 10 and the vehicle moving behind it.

[0059] Figure 8 is a flow chart illustrating the operation of calculating the angle between an object and a vehicle based on relative velocity according to various embodiments. Figures 8 to 10 The operations shown in may be implemented by the vehicle control system 300, or may be implemented by some configuration of the vehicle control system 300 (eg, the controller 320).

[0060] Reference Figure 8 In operation 810, the vehicle control system 300 may detect an object outside the vehicle 10. According to one embodiment, when the speed of the vehicle 10 is greater than or equal to a threshold speed (e.g., 30 km / h) and the angular velocity of the vehicle 10 is less than a threshold angular velocity (e.g., yaw rate <5), the vehicle control system 300 may perform an operation of detecting an external object.

[0061] In operation 820 , the vehicle control system 300 may calculate an angle between the vehicle 10 and the object based on a ratio of a relative speed between the object and the vehicle 10 and a speed of the vehicle 10 .

[0062] In operation 830 , the vehicle control system 300 may update a phase curve in which the phase distortion of the input signal is reflected based on the calculated angle.

[0063] Fig. 9 is a flow chart illustrating the operation of collecting angle data according to various embodiments. For example, Fig. 9 The operations shown in can be implemented in more detail Figure 8 The operation of operation 820 is as follows.

[0064] Reference Fig. 9In operation 910, the vehicle control system 300 may obtain a candidate group of objects that satisfy at least one of the following conditions in order to improve the accuracy of the angle data used to correct the phase distortion:

[0065] 1) The distance between the object and the vehicle is less than or equal to a threshold distance (e.g., 60 meters).

[0066] 2) The cosine value of the input signal is less than a threshold value (eg, 0.15) (ie, a stationary object).

[0067] 3) The threshold power of the input signal is greater than or equal to the threshold power (eg, 87 dB).

[0068] 4)Relative speed and speed ratio (v r / v h ) is less than or equal to a first threshold (e.g., 1).

[0069] In operation 920 , for each object candidate group obtained, the vehicle control system 300 may calculate angle data based on a ratio of the relative speed to the speed.

[0070] In operation 930 , the vehicle control system 300 may filter the angle data to improve the accuracy of the angle data. For example, the vehicle control system 300 may obtain angle data that satisfies at least one of the following conditions.

[0071] 1) Within a threshold angle range (e.g., -90 degrees to 90 degrees).

[0072] 2)Relative speed and speed ratio (v r / v h ) (e.g., 0.997) is less than or equal to a second threshold (e.g., 0.997), and the second threshold is less than the first threshold.

[0073] 3) The angle difference from the angle calculated by detection is less than a threshold angle (eg, 3 degrees).

[0074] 4) The phase difference from a reference phase curve (eg, a phase curve measured by SPC) is less than a first threshold difference (eg, 0.5 radians (rad) or 0.8 rad).

[0075] Fig.10 is a flow chart illustrating operations for updating a phase curve according to various embodiments. For example, Fig.10 The operations shown in can be implemented in more detail Figure 8 Operation 830 of operation.

[0076] Reference Fig.10In operation 1010, the vehicle control system 300 may generate a phase curve within a specified angle range based on the filtered angle data. Figure 7 As shown, when information on the phase difference at each angle is accumulated within an angle range of -40 degrees to 80 degrees (or -40 degrees to 40 degrees), the vehicle control system 300 may generate a phase curve.

[0077] In operation 1020, the vehicle control system 300 may calculate an offset of the generated phase curve. For example, for each channel, the vehicle control system 300 may calculate an offset that minimizes the error from the reference phase curve (eg, -40 degrees to 40 degrees).

[0078] In operation 1030, the vehicle control system 300 may compensate for the phase curve. For example, due to the lack of stationary objects, data within a specific angle range may be insufficient, and the vehicle control system 300 may replace the data within the corresponding angle range with data of the reference phase curve.

[0079] In operation 1040 , the vehicle control system 300 may generate a final phase curve in which phase distortion is reflected by using the compensated phase curve and by smoothing.

[0080] Fig.11 is a graph showing a phase curve reflecting a speed error according to various embodiments.

[0081] Reference Fig.11 When the phase curve 1101-3 is generated using the relative speed and the speed ratio, although the phase distortion caused by the bumper can be reflected, the performance may be deteriorated compared to the phase curve 1101-1 measured by SPC within a specific angle range (e.g., 1150) and the phase curve 1101-2 measured by IPC due to various reasons. For example, in the case where the phase distortion caused by the bumper is severe (e.g., the angle error exceeds 3 degrees) so that the phase curve does not show a monotonous decrease (i.e., angle ambiguity occurs), an object is located behind the vehicle 10 (i.e., the angle is 0 degrees) making it difficult to accurately calculate the arc cosine value, there is a decrease in the accuracy of the sensor (e.g., wheel speed sensor) measuring the speed of the vehicle 10 or a time delay between sensors, due to the symmetry of the cosine function, an object located at the same angle on the left and right has angle ambiguity, or due to insufficient objects stationary within a specific angle range (e.g., 30 to 60 degrees), insufficient accumulated data, the accuracy of the phase curve correction using the relative speed and the speed ratio may be reduced.

[0082] The vehicle control system 300 according to the embodiment may improve the accuracy of correction by replacing data of the phase curve with data of the reference phase curve within the range of performance deterioration.

[0083] Fig.12 is a flow chart illustrating the operation of replacing at least a portion of a phase curve in accordance with various embodiments.

[0084] Reference Fig.12 In operation 1210 , the vehicle control system 300 may generate a phase curve based on the relative speed and the ratio of the speeds.

[0085] In operation 1220, the vehicle control system 300 may compare the generated phase curve with the reference phase curve, and may determine whether the phase difference therebetween is equal to or greater than a threshold difference (e.g., 0.2 rad). In one embodiment, the vehicle control system 300 may perform an operation for each specified angle range. When the phase difference is less than the threshold difference, the vehicle control system 300 may store the generated phase curve in operation 1230. When the phase difference is equal to or greater than the threshold difference, in operation 1240, the vehicle control system 300 may change the data in the corresponding range to the data in the reference phase curve.

[0086] According to the embodiments disclosed in the present disclosure, a vehicle control system can generate a phase curve reflecting bumper distortion characteristics unique to each vehicle, thereby improving angle accuracy and more accurately detecting objects around the vehicle.

[0087] According to the embodiments disclosed in the present disclosure, the vehicle control system can improve the angle performance even with a simple implementation, thereby reducing the cost and time required for vehicle production.

[0088] Furthermore, various effects directly or indirectly understood by the present disclosure can also be provided.

[0089] Although the present disclosure has been described herein with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various modifications and changes may be made by those skilled in the art to which the present disclosure belongs without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

Claims

1. A vehicle control system, comprising: A controller configured to: Detecting objects outside the vehicle; calculating an angle based on a ratio of a relative speed between the object and the vehicle and a speed of the vehicle; and Based on the calculated angle, updating a phase curve reflecting the phase distortion of the input signal; The controller is further configured to: In order to calculate the angle, a candidate group of objects is obtained based on at least one of the following: whether the distance between the object and the vehicle is less than or equal to a threshold distance, whether the cosine value of the input signal is less than a threshold, or whether the ratio of the relative speed to the speed of the vehicle is equal to or less than a first threshold; calculating angle data based on a ratio of the relative speed with respect to the object candidate group and a speed of the vehicle; as well as The angle data is filtered.

2. The vehicle control system according to claim 1, wherein the controller is further configured to: The object is detected when the speed of the vehicle is greater than or equal to a threshold speed and the angular velocity of the vehicle is less than a threshold angular velocity.

3. The vehicle control system according to claim 1, wherein the controller is further configured to: The angle data is filtered based on at least one of the following: whether the angle data is within a threshold angle range; whether a ratio of a relative speed corresponding to each of the angle data to a speed of the vehicle is less than or equal to a second threshold, wherein the second threshold is less than the first threshold; whether a difference between an angle determined based on the input signal and an angle determined based on the angle data is less than a threshold angle; or whether a difference between a phase difference corresponding to each of the angle data and a phase difference corresponding to a reference phase curve is less than a first threshold difference.

4. The vehicle control system according to claim 1, wherein the controller is further configured to: In order to update the phase curve, a phase curve is generated within a specified angle range based on the filtered angle data; calculating an offset of the generated phase curve; Compensating the phase curve calculated to obtain the offset; as well as The final phase curve is generated by the compensated phase curve and by smoothing.

5. The vehicle control system according to claim 1, wherein the controller is further configured to: comparing the updated phase curve with a reference phase curve; When the phase difference between the updated phase curve and the reference phase curve is less than a second threshold difference, storing the updated phase curve; and When the phase difference between the updated phase curve and the reference phase curve is equal to or greater than the second threshold difference, the updated phase curve is changed to the reference phase curve.

6. The vehicle control system according to claim 1, further comprising: A signal processor is configured to send or receive the input signal.

7. The vehicle control system according to claim 1, further comprising: A signal processor of the radar device is included and is configured to transmit or receive signals within a specified frequency band.

8. A method of operating a vehicle control system, the method comprising: Detecting objects outside the vehicle; calculating an angle based on a ratio of a relative speed between the object and the vehicle and a speed of the vehicle; as well as Based on the calculated angle, updating a phase curve reflecting the phase distortion of the input signal; The calculation of the angle includes: obtaining an object candidate group based on at least one of the following: whether the distance between the object and the vehicle is less than or equal to a threshold distance, whether the cosine value of the input signal is less than a threshold, whether the power of the input signal is greater than or equal to a threshold power, or whether the ratio of the relative speed to the speed of the vehicle is equal to or less than a first threshold; calculating angle data based on a ratio of the relative speed with respect to the object candidate group and a speed of the vehicle; and The angle data is filtered.

9. The method of claim 8, wherein detecting the object comprises: The object is detected when a speed of the vehicle is greater than or equal to a threshold speed and an angular velocity of the vehicle is less than a threshold angular velocity.

10. The method of claim 8, wherein filtering the angle data comprises: filtering the angle data based on at least one of: whether the angle data is within a threshold angle range; whether a ratio of a relative speed corresponding to each of the angle data to a speed of the vehicle is less than or equal to a second threshold, wherein the second threshold is less than the first threshold; whether a difference between an angle determined based on the input signal and an angle determined based on the angle data is less than a threshold angle; or whether a difference between a phase difference corresponding to each of the angle data and a phase difference corresponding to a reference phase curve is less than a first threshold difference.

11. The method of claim 9, wherein updating the phase curve comprises: Based on the filtered angle data, generating a phase curve within a specified angle range; calculating an offset of the generated phase curve; Compensating the phase curve calculated to obtain the offset; as well as The final phase curve is generated by the compensated phase curve and by smoothing.

12. The method according to claim 8, further comprising: comparing the updated phase curve with a reference phase curve; as well as When the phase difference between the updated phase curve and the reference phase curve is less than a second threshold difference, storing the updated phase curve; as well as When the phase difference between the updated phase curve and the reference phase curve is equal to or greater than the second threshold difference, the updated phase curve is changed to the reference phase curve.

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