Motion tendency based mobile object sensing system and method

Abstract

The present invention relates to a moving object sensing system and method based on motion tendency, which determines randomness based on the internal object motion tendency of a vehicle by using various sensors installed in the vehicle, and quickly and accurately checks and senses a separate external object (e.g., baggage or a person) by comparing with a reference randomness.

Description

[0001] Cross-citation of related applications

[0002] This application claims priority to Korean Patent Application No. 10-2021-0133488, filed on October 7, 2021, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This invention relates to a motion-prone fluid object or moving object sensing system and method, and more specifically, to a motion-prone fluid sensing system and method that determines randomness or entropy based on the motion tendency of objects inside the vehicle by using various sensors installed in the vehicle, and quickly and accurately inspects and senses individual external objects by comparing them with reference randomness (e.g., luggage or people). Background Technology

[0004] Typically, when a driver leaves their seat while a person or animal is moving inside the vehicle, the system needs to alert the driver that an animal or person has been detected in the vehicle. Specifically, because an accident involving an infant could occur if the driver leaves the vehicle while the infant is inside, a Rear Occupant Alert (ROA) system is needed to provide the driver with information about an infant left in the vehicle.

[0005] To address this, technology is currently being developed to sense the presence of occupants in the rear seats of a vehicle and notify the driver of the sensing results. However, existing ROA systems primarily sense only the distance from the sensing device to the occupant, thus presenting challenges in accurately detecting the location of rear-seat occupants and determining whether an object in the rear seat is an object or an occupant. Summary of the Invention

[0006] Therefore, the present invention provides a motion-prone object sensing system and method that determines randomness or entropy based on the motion tendency of objects inside the vehicle by using various sensors installed in the vehicle, and quickly and accurately examines and senses individual external objects by comparing them with reference randomness (e.g., luggage or people).

[0007] In one general aspect, a motion tendency-based moving object sensing system includes: a sensor configured to determine the motion tendency of an object within a vehicle; a motion signal extractor configured to set a field of view for an interior region of the vehicle, dividing the field of view into multiple unit cell regions, and extracting, for each of the multiple unit cell regions, a fixed motion signal obtained by the sensor in the absence of an external object not attached to the vehicle; and an external object determiner configured to set a reference randomness based on the extracted motion signals, calculating the randomness of an object corresponding to each moving motion signal sensed by the sensor when the sensor senses motion of a corresponding object within the vehicle, and determining the corresponding object as an external object when the calculated randomness is greater than the reference randomness.

[0008] In one embodiment, the sensor may include a radar device, a camera device, and a motion sensor.

[0009] In one embodiment, the motion signal extractor can measure the intensity of a fixed motion signal obtained by a sensor in a corresponding unit cell and transmit the measured intensity of the motion signal to an external object determiner, wherein the external object determiner can extract a pattern of intensity variation of the motion signal and can set a reference randomness based on the extracted pattern.

[0010] In one embodiment, the external object determiner may set reference randomness based on the intensity variation pattern of the motion signal of each object, which generates a motion signal in the vehicle based on the horizontal and vertical motion of the vehicle.

[0011] In one embodiment, when the manager terminal selects a specific unit cell for determining motion tendency, the motion signal extractor can extract the motion signal corresponding to the selected specific unit cell.

[0012] In one embodiment, the external object determiner can generate an alarm signal corresponding to the determined external object and can send the generated alarm signal to the manager terminal.

[0013] In another general aspect, a motion tendency-based moving object sensing system includes: a sensor configured to determine the motion tendency of an object within a vehicle; a motion signal extractor configured to set a field of view for a region inside the vehicle, dividing the field of view into multiple unit cell regions, extracting fixed motion signals obtained by the sensor for each of the multiple unit cell regions in the absence of external objects not attached to the vehicle, setting a unit cell region where an object with the highest frequency of movement within a predetermined time period is located, and preferentially extracting motion signals corresponding to the corresponding unit cell region; and an external object determiner configured to set a reference randomness based on the motion signals preferentially extracted by the motion signal extractor, calculating the randomness of an object corresponding to the motion signal sensed by the sensor when the sensor senses a corresponding object moving in the corresponding unit cell region, and determining the corresponding object as an external object when the calculated randomness is greater than the reference randomness.

[0014] In one embodiment, the sensor may include a vehicle vibration sensor, a radar device, a camera device, a motion sensor, and an infrared sensor.

[0015] In one embodiment, the motion signal extractor can measure the intensity of a fixed motion signal obtained by a sensor in a corresponding unit cell, and can transmit the measured intensity of the motion signal to an external object determiner, which can extract a pattern of intensity variation of the motion signal and set a reference randomness based on the extracted pattern.

[0016] In one embodiment, the external object determiner may set a reference randomness based on the intensity variation pattern of the motion signal of each object, each object generating a motion signal in the vehicle based on the horizontal and vertical movement of the vehicle, and the external object determiner may consider an object that provides a corresponding motion signal when moving in a direction corresponding to the horizontal or vertical movement of the stationary vehicle obtained by the vehicle vibration sensor as an internal object.

[0017] In one embodiment, when the manager terminal selects a specific unit cell for determining motion tendency, the motion signal extractor can extract the motion signal corresponding to the selected specific unit cell.

[0018] In another general aspect, a motion-prone moving object sensing method includes: scanning an interior area of ​​a vehicle using sensors installed in the vehicle; setting a field of view for the interior area of ​​the vehicle by a motion signal extractor, dividing the field of view into multiple unit cell regions, and extracting a fixed motion signal obtained by the sensors for each of the multiple unit cell regions in the absence of external objects not attached to the vehicle; setting a reference randomness by an external object determiner based on the extracted motion signals, calculating the randomness of a corresponding object when the sensors sense that the corresponding object is moving in the vehicle, and determining the corresponding object as an external object when the calculated randomness is greater than the reference randomness.

[0019] In one embodiment, the extraction of motion signals may include measuring the intensity of a fixed motion signal obtained by a sensor in a corresponding unit cell by a motion signal extractor, transmitting the measured intensity of the motion signal to an external object determiner, and determining the corresponding object as an external object may include extracting a pattern of intensity variation of the motion signal by the external object determiner and setting reference randomness based on the extracted pattern.

[0020] In one embodiment, identifying the corresponding object as an external object may further include setting a reference randomness by an external object determiner based on the intensity variation pattern of the motion signal of each object, the motion signal being generated in the vehicle based on the horizontal and vertical motion of the vehicle.

[0021] In one embodiment, identifying the corresponding object as an external object may further include generating an alarm signal corresponding to the identified external object by an external object determiner and sending the generated alarm signal to the manager terminal.

[0022] Other features and aspects will become apparent from the following detailed description, drawings and claims. Attached Figure Description

[0023] Figure 1 This is a diagram illustrating the configuration of a motion-prone moving object sensing system 100 according to an embodiment of the present invention;

[0024] Figure 2 It is shown that by using based on Figure 1 The diagram shows a sequence of processes by which a motion-prone moving object sensing system 100 senses moving objects inside a vehicle. Detailed Implementation

[0025] Since the present invention can have different modified embodiments, preferred embodiments are shown in the accompanying drawings and described in the detailed description of the invention. However, this does not limit the invention to the specific embodiments, and it should be understood that the invention covers all modifications, equivalents, and substitutions within the spirit and scope of the invention.

[0026] It should be understood that although this document uses terms that include common numbers (e.g., first or second) to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another.

[0027] In the following description, technical terms are used only to explain specific exemplary embodiments and are not intended to limit the invention. Singular terms may include plural forms unless otherwise stated. The terms “comprising,” “including,” or “having” specify attributes, areas, fixed quantities, steps, processes, elements, and / or components, but do not exclude other attributes, areas, fixed quantities, steps, processes, elements, and / or components. The same reference numerals always refer to the same elements.

[0028] Figure 1 This is a diagram illustrating the configuration of a motion-prone moving object sensing system 100 according to an embodiment of the present invention.

[0029] refer to Figure 1 According to an embodiment of the present invention, a motion-prone moving object sensing system 100 may include a sensor 110, a motion signal extractor 120, and an external object determiner 130.

[0030] First, sensor 110 can be installed in a vehicle and can collect information for determining the motion tendency of objects inside the vehicle. Sensor 110 may include radar devices, camera devices, and motion sensors. Furthermore, sensor 110 may also include vehicle vibration sensors, motion sensors, and infrared sensors.

[0031] Therefore, sensor 110 can collect all information for determining the motion tendency of objects previously installed in the vehicle and for determining the motion tendency of external objects (e.g., luggage or passengers). Sensor 110 can be installed in the direction toward the rear occupants of the vehicle, where the driver's field of view is not fixed and its type is not limited.

[0032] The motion signal extractor 120 can set the field of view of the interior area of ​​a fixed vehicle obtained by the sensor 110, divide the field of view into multiple unit area, and extract the fixed motion signal obtained by the sensor 110 for each unit area.

[0033] More specifically, when a camera device is fixed to the field of view corresponding to the rear passenger, the corresponding area may be relatively wide, making it difficult to accurately examine the detailed movement of each object. Therefore, the motion signal extractor 120 can divide the corresponding field of view into multiple virtual unit cell regions, set the position of the object located in each unit cell region, and extract the motion signal of the corresponding object. Thus, compared to determining the motion of the entire field of view, this motion signal can be extracted more accurately and quickly. The extracted motion signal can be transmitted to the external object determiner 130.

[0034] In one embodiment, the motion signal extractor 120 can measure the intensity of a fixed motion signal of each object obtained by the sensor 110 for each unit cell, and can transmit the measured intensity information and motion signal of each object to the external object determiner 130.

[0035] Furthermore, in one embodiment, when the manager terminal selects a specific unit cell for determining the motion tendency in the entire field of view, the motion signal extractor 120 can preferentially and restrictively extract the motion signal in the selected unit cell.

[0036] The external object determiner 130 can determine objects with consistent intensity based on the motion signals of each object transmitted from the motion signal extractor 120, and can set reference randomness based on the determination result. In this case, the external object determiner 130 can determine low randomness when the motion in the field of view has a consistent tendency, and high randomness when the motion in the field of view has an inconsistent tendency. When there are no objects in the vehicle, the motion signals in the vehicle may be almost non-existent, therefore, the external object determiner 130 can assign an offset to the corresponding state (value) to set the reference randomness.

[0037] For example, when an object is moving in a vehicle, the external object determiner 130 can calculate the randomness of the object, and when the randomness of the object is greater than the reference randomness, the external object determiner 130 can determine the object as an external object (e.g., luggage or passenger).

[0038] In one embodiment, the external object determiner 130 can examine the intensity variation pattern of motion signals of all objects within the vehicle that generate motion signals based on the vehicle's horizontal and vertical motion, and can set a reference randomness based on the determined pattern. Therefore, by using a vehicle vibration sensor included in sensor 110, the external object determiner 130 can examine the moving motion signals sensed by the sensor based on the vehicle's horizontal and vertical motion and the intensity variation pattern of the motion signals of all objects.

[0039] In this case, the external object determiner 130 can regard an object that provides motion signals corresponding to the horizontal and vertical directions of the vehicle as an object previously located in the vehicle (e.g., handles, curtains, etc.). Otherwise, the external object determiner 130 can regard an object that does not provide motion signals corresponding to the horizontal and vertical directions of the vehicle as an external object.

[0040] In addition, in one embodiment, the external object determiner 130 can generate an alarm signal corresponding to the determined external object and can send the alarm signal to the manager terminal, or provide the alarm signal to the driver through an output device installed in the driver's seat of the vehicle.

[0041] The following will describe the use of the above references. Figure 2 The method described is to sense fluid inside a vehicle using a moving object sensing system 100 with a tendency to move.

[0042] Figure 2 It is shown that by using based on Figure 1 The diagram shows a sequence of processes by which a motion-prone moving object sensing system 100 senses moving objects inside a vehicle.

[0043] refer to Figure 2 In step S201, sensors installed in the vehicle can first scan the interior of the vehicle to obtain information for determining the motion tendency of each object in the vehicle. In step S202, the motion signal extractor can set the field of view of the interior area of ​​the vehicle based on the information obtained by the sensors. In step S203, the motion signal extractor can divide the field of view into multiple unit cell regions, extract a fixed motion signal obtained by the sensors for each unit cell in the absence of external objects not attached to the vehicle, and send the motion signal to the external object determiner.

[0044] In step S204, the external object determiner can set a reference randomness in the vehicle based on the extracted motion signal. When an object moving within the vehicle is sensed by a sensor, in step S205-1, the external object determiner can calculate the randomness of the corresponding object. For example, in step S205-2, when the calculated randomness is not greater than the reference randomness, in step S206, the external object determiner can consider the corresponding object as an internal object previously located in the vehicle (e.g., a handle, curtain, etc.). For example, in step S205-2, when the calculated randomness is greater than the reference randomness, in step S207, the external object determiner can determine the corresponding object as an external object (e.g., luggage or a person). Then, in step S208, an alarm signal can be generated based on this, and the alarm signal can be sent to the manager terminal or provided to the driver via an output device installed in the driver's seat.

[0045] According to embodiments of the present invention, a moving object sensing system and method can determine randomness based on the tendency of objects to move inside the vehicle using various sensors installed in the vehicle, and can quickly and accurately check and sense individual external objects by comparing them with reference randomness (e.g., luggage or people), thereby preventing accidents involving neglected passengers and providing rapid assistance in emergency situations.

[0046] Specifically, according to embodiments of the present invention, compared with the prior art, the randomness-based method has good robustness to interference and can eliminate interference.

[0047] Furthermore, unlike things, living things generally possess biological signals, and because things lack will, external shocks are applied to them as is. On the other hand, living things have a willingness to react to external shocks, which may therefore be reflected in randomness. Therefore, based on these characteristics, the present invention can be used to accurately distinguish between things inside a vehicle and living things inside a vehicle.

[0048] Many exemplary embodiments have been described above. However, it should be understood that various modifications can be made. For example, suitable results may be obtained if the described techniques are performed in a different order, and / or if the components in the described system, architecture, apparatus, or circuit are combined in a different manner, and / or replaced or supplemented by other components or their equivalents. Therefore, other embodiments are within the scope of the following claims.

Claims

1. A motion-prone object sensing system, comprising: Sensors are configured to determine the tendency of objects to move within the vehicle; A motion signal extractor is configured to set the field of view of the interior region of the vehicle, divide the field of view into multiple unit cell regions, and extract, for each of the multiple unit cell regions, a fixed motion signal obtained by the sensor in the absence of any external object not attached to the vehicle. as well as An external object determiner is configured to set a reference randomness based on extracted fixed motion signals, calculate the randomness of the corresponding object corresponding to each motion signal sensed by the sensor when the sensor senses movement of the corresponding object within the vehicle, and determine the corresponding object as an external object when the calculated randomness is greater than the reference randomness. The external object determiner is configured to consider objects that provide corresponding motion signals while moving in a direction corresponding to the horizontal or vertical motion of the vehicle obtained by the sensor as internal objects.

2. The mobile object sensing system of claim 1, wherein, The sensors include radar devices, camera devices, and motion sensors.

3. The moving object sensing system according to claim 1, wherein, The motion signal extractor is further configured to measure the intensity of the fixed motion signal obtained by the sensor in the corresponding unit cell region, and to transmit the measured intensity of the fixed motion signal to the external object determiner. The external object determiner is also configured to extract the pattern of intensity variation of the fixed motion signal and set the reference randomness based on the extracted pattern.

4. The mobile object sensing system of claim 3, wherein, The external object determiner is further configured to set the reference randomness based on the pattern of intensity variation of the motion signal of each object that generates the motion signal based on the horizontal and vertical motion of the vehicle within the vehicle.

5. The mobile object sensing system of claim 1, wherein, When the manager terminal selects a specific unit cell region for determining the motion tendency, the motion signal extractor extracts the motion signal corresponding to the selected specific unit cell region.

6. The mobile object sensing system of claim 1, wherein, The external object determiner is also configured to generate an alarm signal corresponding to the determined external object and send the generated alarm signal to the manager terminal.

7. A motion-prone object sensing system, comprising: Sensors are configured to determine the tendency of motion of objects inside the vehicle; A motion signal extractor is configured to set the field of view of the interior area of ​​the vehicle, divide the field of view into multiple unit cell areas, extract fixed motion signals obtained by sensors for each of the multiple unit cell areas in the absence of external objects not attached to the vehicle, set the corresponding unit cell area where the object with the highest frequency of movement within a predetermined time period is located, and extract the fixed motion signal corresponding to the corresponding unit cell area. as well as An external object determiner is configured to set a reference randomness based on the fixed motion signal extracted by a motion signal extractor, calculate the randomness of the corresponding object corresponding to the motion signal sensed by the sensor when the sensor senses movement of the corresponding object in the corresponding unit cell region, and determine the corresponding object as an external object when the calculated randomness is greater than the reference randomness. The external object determiner is configured to consider objects that provide corresponding motion signals while moving in a direction corresponding to the horizontal or vertical motion of the vehicle obtained by the sensor as internal objects.

8. The mobile object sensing system of claim 7, wherein, The sensors include vehicle vibration sensors, radar devices, camera devices, motion sensors, and infrared sensors.

9. The moving object sensing system according to claim 7, wherein: The motion signal extractor is also configured to measure the intensity of the fixed motion signal obtained by the sensor in the corresponding unit cell region, and to transmit the measured intensity of the fixed motion signal to the external object determiner. The external object determiner is also configured to extract the pattern of intensity variation of the fixed motion signal and set the reference randomness based on the extracted pattern.

10. The moving object sensing system according to claim 9, wherein: The external object determiner is further configured to set the reference randomness based on the pattern of intensity variation of the motion signal of each object that generates the motion signal based on the horizontal and vertical motion of the vehicle within the vehicle.

11. The mobile object sensing system of claim 7, wherein, When the manager terminal selects a specific unit cell region for determining the motion tendency, the motion signal extractor is configured to extract the motion signal corresponding to the selected specific unit cell region.

12. A method for sensing moving objects based on motion tendency, comprising: Use sensors to scan the interior areas of the vehicle; The field of view of the interior area of ​​the vehicle is set; The field of view is divided into multiple unit cell regions; For each of the plurality of unit cell regions, a fixed motion signal obtained by the sensor is extracted in the absence of any external object not attached to the vehicle; The reference randomness is set based on the extracted fixed motion signal; When the sensor detects that an object is moving in the vehicle, the randomness of the object corresponding to the motion signal sensed by the sensor is calculated; and When the calculated randomness is greater than the reference randomness, the object is determined to be an external object, wherein, Defining an object as an external object includes considering an object that provides a corresponding motion signal while moving in a direction corresponding to the horizontal or vertical motion of the vehicle obtained by the sensor as an internal object.

13. The moving object sensing method according to claim 12, wherein: Extracting the fixed motion signal includes: measuring the intensity of the fixed motion signal obtained by the sensor in the corresponding unit cell region, and The setting of the reference randomness includes extracting a pattern of intensity variation of the fixed motion signal, and setting the reference randomness based on the extracted pattern.

14. The moving object sensing method according to claim 13, wherein The setting of the reference randomness further includes setting the reference randomness based on a pattern of intensity variation of the moving motion signal of each object that generates the moving motion signal based on horizontal and vertical direction motions of the vehicle in the vehicle.

15. The mobile object sensing method of claim 12, wherein, The determination of the object as the external object further includes generating an alarm signal corresponding to the determined external object, and transmitting the generated alarm signal to a manager terminal.

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