Vehicle and control method thereof

Abstract

A vehicle may include a sensor configured to: detect an object external to the vehicle; and a controller configured to execute a warning mode for generating a warning in response to the sensor detecting the object, the warning mode including a first mode for detecting the object under a first preset driving condition of the vehicle and a second mode for detecting the object under a second preset driving condition of the vehicle, and wherein the number of object detection attempts in the second mode is set to be relatively greater than the number of object detection attempts in the first mode.

Description

Technical Field

[0001] The present disclosure relates to a parking distance warning control device for a vehicle and a sensor therefor. Background Art

[0002] The parking distance warning (PDW) sensor of the vehicle can inform the driver of the distance between the vehicle and the objects around the vehicle when the vehicle is driving or parking. For example, the PDW sensor may include a plurality of ultrasonic sensors mounted on the bumper of the vehicle, and the distance between the vehicle and the objects around the vehicle may be calculated based on the time required for the ultrasonic signal sent from the ultrasonic sensor to reflect from the object and return. If the calculated distance is within a preset range, a warning may be output, and for a shorter distance, a louder warning sound may be output, and / or the warning sound may be repeatedly output at shorter intervals.

[0003] When using ultrasonic signals to measure the distance to an object, the PDW sensor may generate a false alarm, i.e., detect an object even though it does not actually exist, due to, for example, ultrasonic signal interference from another ultrasonic signal source (i.e., an unexpected noisy ultrasonic signal). Summary of the invention

[0004] The following summary presents a simplified summary of certain features. This summary is not an extensive overview and is not intended to identify key or critical elements.

[0005] Systems, apparatus, and methods for parking distance warning control of a vehicle are described. The vehicle may include a sensor configured to detect an object outside the vehicle and a controller configured to perform object detection according to a warning mode for generating a warning based on the sensor detecting the object. The warning mode includes a first mode for detecting the object under a first preset driving condition of the vehicle and a second mode for detecting the object under a second preset driving condition of the vehicle different from the first preset driving condition, and the number of object detection attempts in the second mode is set to be greater than the number of object detection attempts in the first mode.

[0006] A vehicle control method, the vehicle comprising: a sensor configured to: detect an object outside the vehicle; and a controller configured to: control object detection according to a warning mode for generating a warning in response to the sensor detecting the object, the control method comprising: performing object detection according to a first mode of the warning mode based on the vehicle satisfying a first preset driving condition; and performing object detection according to a second mode of the warning mode based on the vehicle satisfying a second preset driving condition. The number of object detection attempts in the second mode is set to be greater than the number of object detection attempts in the first mode.

[0007] These and other features and advantages are described in more detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and / or other examples of the present disclosure will become apparent and more easily understood through the following description of various examples in conjunction with the accompanying drawings, in which:

[0009] Figure 1 is a diagram illustrating a parking distance warning (PDW) sensor of a vehicle according to an example of the present disclosure;

[0010] Figure 2 is a diagram illustrating the operation of a PDW sensor of a vehicle according to an example of the present disclosure;

[0011] Figure 3 is a diagram showing an example of a vehicle operating in a noise avoidance mode;

[0012] Figure 4 is a control block diagram illustrating a vehicle and / or a computing device / system of a vehicle according to an example of the present disclosure;

[0013] Figure 5 is a diagram illustrating a parking distance warning mode of a vehicle according to an example of the present disclosure;

[0014] Figure 6 is a diagram illustrating a normal mode (referenced as 610 ) and a noise avoidance mode (referenced as 650 ) of a parking distance warning mode of a vehicle according to an example of the present disclosure;

[0015] Figure 7 is a diagram showing an example of receiving an ultrasonic wave signal from another vehicle in a noise avoidance mode of a parking distance warning mode of a vehicle according to an example of the present disclosure;

[0016] Figure 8 It is shown Figure 7 Graph showing reception intervals (cycles) of abnormally received ultrasonic signals shown in ;

[0017] Fig. 9 is a flowchart illustrating a parking distance warning method for a vehicle according to an example of the present disclosure; and

[0018] Fig.10 is a diagram showing another example of the noise avoidance mode of the parking distance warning mode of the vehicle. DETAILED DESCRIPTION

[0019] Throughout the specification, the same figure marks represent the same elements. In addition, this specification does not describe all the elements according to the examples of the present disclosure, and the well-known descriptions or overlapping parts in the technical field to which the present disclosure relates are omitted. Terms such as "~part", "~component", "~module", "~block", etc. can refer to at least one processing process processed by at least one hardware or software. According to the example, multiple "~parts", "~components", "~modules", "~blocks" can be embodied as a single element, or a single "~part", "~component", "~module", "~block" can include multiple elements.

[0020] It will be understood that when an element is referred to as being “connected” to another element, it may be directly or indirectly connected to the other element, wherein the indirect connection includes “connection” via a wireless communication network.

[0021] It should be understood that the terms "include", "have" or "comprises" etc. when used in this specification indicate the existence of the features, integers, steps, operations, elements and / or components, but do not exclude the existence or addition of at least one other feature, integer, step, operation, element, component and / or group thereof.

[0022] It should be understood that when it is stated in this specification that a member is “on” another member, not only may the member be in contact with the other member but also another member may exist between the two members.

[0023] It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms.

[0024] It should be understood that the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0025] The reference numbers used for the method steps are only for convenience of explanation and do not limit the order of the steps. Therefore, unless the context clearly dictates otherwise, other written orders may be used for execution.

[0026] Hereinafter, examples of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, examples of the present disclosure will be partially apparent from the description or may be learned through practice of the present disclosure.

[0027] Figure 1 is a diagram illustrating a stop distance warning (PDW) sensor of a vehicle.

[0028] like Figure 1As shown, a plurality of PDW sensors 150 may be installed at the front and rear of the vehicle 100, especially at the front bumper and the rear bumper. The PDW sensors 150 are provided at the vehicle 100 to measure the distance from the vehicle 100 to objects around the vehicle 100 when the vehicle 100 stops or travels at a low speed. Figure 1 As shown in FIG. 1 , four PDW sensors 150 are installed at the front of the vehicle 100, and four PDW sensors 150 are installed at the rear of the vehicle 100. The number of PDW sensors 150 is not limited as long as there is one or more.

[0029] Although Figure 1 Although not shown, a plurality of PDW sensors may be installed on the left and right sides of the vehicle 100 as needed to identify the distance between the vehicle 100 and objects located on both sides of the vehicle 100 .

[0030] Figure 2 is a diagram illustrating operation of a PDW sensor of a vehicle according to an example.

[0031] like Figure 2 As shown, a plurality of PDW sensors 150 mounted on the vehicle 100 are ultrasonic sensors. The PDW sensor 150 may generate and / or emit / transmit ultrasonic signals, and / or receive ultrasonic signals reflected from an object 210 located in the periphery of the vehicle 100 (e.g., outside and at an opposite position of the vehicle). The distance d between the vehicle 100 and the object 210 (more specifically, the distance between the PDW sensor 150 and the object 210) may be calculated based on a time period t between the transmission and reception of the ultrasonic signal and a propagation speed s of the ultrasonic signal. Since the time period t is a time period after the ultrasonic signal reaches the object 210, is reflected and received back by the PDW sensor 150, the actual distance d may be calculated as half of the product of the time t and the speed s, i.e., d=(ts) / 2.

[0032] By using the above-mentioned distance measurement function of the PDW sensor 150, the distance between the vehicle 100 and the object 210 can be measured. A normal parking distance warning can be generated to inform the driver of the measured distance (e.g., if the measured distance meets the distance standard (e.g., threshold value and / or range)). For example, in the case where the distance between the vehicle 100 and the object 210 is within a maximum of 100 cm, a parking distance warning (e.g., a repeated beeping sound) can be generated. As the distance decreases (e.g., 100 cm-60 cm-30 cm-20 cm-10 cm), the repetition period of the beeping sound can be shortened and / or the volume of the beeping sound can be increased, so that the driver can recognize the distance between the vehicle 100 and the object 210 through the change in the repetition period and / or volume of the beeping sound.

[0033] Figure 3is a diagram illustrating an example in which a vehicle operates in a noise avoidance mode according to an example.

[0034] During travel / operation, the vehicle 100 may stop at an intersection to wait for a turn signal, and / or may stop and / or slow down due to traffic congestion, etc. For example, Figure 3 , the vehicle 100 is shown as being stopped or moving slowly due to traffic congestion. In this case, an ultrasonic signal transmitted from another ultrasonic signal source around the vehicle 100 (e.g., a PDW sensor of another vehicle 310) may be received by the PDW sensor 150 of the vehicle 100. In this case, the vehicle 100 may mistakenly identify the ultrasonic signal received from the other vehicle 310 as a reflected signal of the ultrasonic signal transmitted by the vehicle itself, thereby generating an erroneous warning 390. However, according to the example, by executing the noise avoidance mode according to the present disclosure, the occurrence of the erroneous warning 390 in the above-mentioned case can be minimized. The noise avoidance mode according to the example of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0035] Figure 4 is a control block diagram illustrating a vehicle and / or a computing device / system for a vehicle according to an example of the present disclosure.

[0036] like Figure 4 As shown, the controller 402 may be an electronic control unit (ECU) that controls the operation of the entirety or a portion of the vehicle 100. The controller 402 may be communicatively connected to and / or include one or more of the following: a vehicle speed sensor 430, a gear position sensor 432, a navigator 434, a PDW sensor 150, a random noise filter 436, a speaker 450, a display 452, and / or a memory 470.

[0037] The vehicle speed sensor 430 may detect the current speed of the vehicle 100. The controller 402 may obtain information about the current speed of the vehicle 100 from the vehicle speed sensor 430. For example, the controller 402 may determine the state of the vehicle (e.g., a temporary stop in the travel / operation of the vehicle 100) based on the speed information of the vehicle 100 detected by the vehicle speed sensor 430, for example.

[0038] The gear sensor 432 may detect which gear the vehicle 100 is currently in. The controller 402 may determine the state of the vehicle 100 (eg, a temporary stop during driving) based on the gear sensor 432 .

[0039] The navigator 434 can provide route guidance to the driver. The controller 402 can obtain information about the current speed and / or traffic conditions of the vehicle 100 from the navigator 434. In addition or alternatively, the controller 402 can determine the state of the vehicle (e.g., a temporary stop after driving) based on the navigator 434.

[0040] The PDW sensor 150 can measure the distance between the vehicle 100 and nearby objects (e.g., Figure 2 Object 210 or Figure 3 The controller 402 may generate a repeated beeping sound as a parking distance warning based on the distance measurement result of the PDW sensor 150. Here, the repetition period of the beeping sound corresponds to the distance between the vehicle 100 and the nearby object. In addition, regarding the distance from another vehicle (e.g., Figure 3 In the case of a noise signal of an unexpected noisy ultrasonic signal transmitted by the vehicle 310 in FIG. 4 and received by the PDW sensor 150 , the controller 402 may execute a noise avoidance mode according to the example, thereby minimizing the occurrence of false warnings.

[0041] The random noise filter 436 may remove noise signals that the PDW sensor 150 receives non-periodically (ie, receives randomly) by filtering.

[0042] The speaker 450 may output an audible parking distance warning (eg, a beep sound). Instead of or in addition to the speaker 450, a buzzer may be used as a typical beep sound output means.

[0043] Display 452 may output a visual parking distance warning (eg, flashing a specific color and / or displaying a numerical distance). Display 452 may include a liquid crystal display (LCD) and / or a light emitting diode (LED).

[0044] The memory 470 may store data generated during a control process of the controller 402 , software / firmware required by the controller 402 , and the like.

[0045] The controller 402 may be implemented as a memory (e.g., memory 470) that stores (e.g., on a non-transitory computer-readable medium) an algorithm and / or instruction for controlling the operation of the components of the vehicle 100, or data about a program that reproduces the algorithm. The controller 402 may include one or more processors configured to perform the above-mentioned operations using the data stored in the memory. In this case, the memory (e.g., memory 470) and the one or more processors may be provided as one chip, and / or as separate chips.

[0046] The memory (e.g., memory 470) may be implemented using at least one of a volatile memory (e.g., random access memory (RAM)), a nonvolatile memory (e.g., read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM)), or a storage medium (e.g., a hard disk drive (HDD) and a compact disk read-only memory (CD-ROM)), but is not limited thereto.

[0047] Display 452 can be a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel (PDP), a liquid crystal display (LCD) panel, an electroluminescent (EL) panel, an electrophoretic display (EPD) panel, an electrochromic display (ECD) panel, a light emitting diode (LED) panel, an organic light emitting diode (OLED) panel, etc., but is not limited thereto.

[0048] Can be based on Figure 4 The performance of the components of the vehicle shown, add or omit at least one component. In addition, those skilled in the art will readily appreciate that the mutual positions of the components can be modified according to the performance or structure of the system.

[0049] Figure 4 Each constituent component shown in the drawings may be implemented as one or more of software and / or hardware components, such as a field programmable gate array (FPGA) and / or an application specific integrated circuit (ASIC).

[0050] Figure 5 is a diagram illustrating a parking distance warning mode of a vehicle according to an example of the present disclosure.

[0051] The parking distance warning mode of the vehicle 100 according to the example includes two modes: "normal mode (first mode)" and "noise avoidance mode (second mode)". The normal mode and the noise avoidance mode in the parking distance warning mode according to the example may differ in the driving conditions for executing each mode and the number of object detection cycles in each mode.

[0052] like Figure 5As shown, in the parking distance warning mode according to the example, the "normal mode" is executed when the vehicle 100 is traveling (e.g., when the vehicle resumes traveling after temporarily stopping), and the "noise avoidance mode" is executed when the vehicle 100 is temporarily stopped while traveling. Here, "temporary stopping while traveling" may include a complete stop (vehicle speed = 0 km / h) or slow driving (e.g., lower than a preset speed (e.g., less than or equal to 10 km / h)). That is, when the vehicle 100 is traveling at a speed exceeding a preset speed (e.g., 10 km / h), the normal mode of the parking distance warning mode may be executed. If the vehicle 100 travels at a speed exceeding a preset speed (e.g., 10 km / h) and then decelerates to less than 10 km / h and / or stops, the parking distance warning mode may be switched to the noise avoidance mode. Here, although "temporary parking during driving" refers to a situation where the vehicle 100 initially drives at a speed higher than a preset speed (e.g., 10 km / h) and then decelerates to less than 10 km / h or stops, a situation where the vehicle 100 stops at one location for a relatively long time (e.g., more than a few minutes) is not included in "temporary parking during driving". In the example, the preset speed for distinguishing "temporary parking during driving" from driving (traveling) is not limited to 10 km / h, and other reference speeds may be applied in consideration of factors such as the type of vehicle 100, driving environment (e.g., speed limit, traffic conditions, location), user settings / driving history / preferences, etc. In the example of the present disclosure, a situation where the vehicle 100 stops at one location for a relatively long time (e.g., more than a few minutes) is classified as "long-term parking".

[0053] Figure 6 is a diagram illustrating a normal mode 610 and a noise avoidance mode 650 of a parking distance warning system / method for a vehicle according to an example of the present disclosure.

[0054] like Figure 6 As shown, the normal mode 610 may include periods (e.g., time intervals) of random noise filtering #1, object detection #1, and object detection #2. In random noise filtering #1, the noise signal non-periodically received by the PDW sensor 150 of the vehicle 100 may be removed by filtering (e.g., using the random noise filter 436). In object detection #1 and object detection #2, the PDW sensor 150 of the vehicle 100 may be used to detect / determine the presence and / or absence and / or distance of objects around the vehicle 100. In each of the intervals of object detection #1 and object detection #2, the PDW sensor 150 of the vehicle 100 may transmit ultrasonic signals at equal intervals, and one or more of the PDW sensors may receive reflected ultrasonic signals at equal intervals. Therefore, in the normal mode 610, when the ultrasonic signal transmitted from the PDW sensor 150 of the vehicle 100 is reflected by an object (e.g., Figure 2In the case where the ultrasonic wave is reflected by the object 210 in the object detection #1 and then received by one of the PDW sensors 150 (e.g., the transmitting PDW sensor 150), the ultrasonic wave signal (object detection) may be received at approximately equal intervals / time points / time periods / delays t1 in each interval of object detection #1 and object detection #2, for example Figure 6 602. Including two object detection cycles / intervals (eg, on a time scale such that the position of the object 210 relative to the vehicle 100 does not change significantly, or changes predictably relative to the vehicle position) can confirm that the received ultrasonic signal is a reflection from an object.

[0055] Unlike the normal mode 610 that includes a single loop (loop #1), the noise avoidance mode 650 may include multiple loops, for example, two loops, loop #1 and loop #2. For example, loop #2 may be executed after loop #1 of the normal mode 610. Loop #1 - that is, the first loop of the noise avoidance mode 650 - may include random noise filtering #1, object detection #1, and object detection #2. The operations in the random noise filtering #1, object detection #1, and object detection #2 that constitute loop #1 of the noise avoidance mode 650 may be the same as the operations in the normal mode 610 described above. Loop #2 - that is, the second loop of the noise avoidance mode 650 - may include random noise filtering #2, object detection #3, and object detection #4. The operations in the random noise filtering #2, object detection #3, and object detection #4 that constitute loop #2 of the noise avoidance mode 650 may be the same as the operations in the normal mode 610 described above. As Figure 6 As shown, in the noise avoidance mode 650 according to the example parking distance warning mode, a total of four object detections (object detection #1 to object detection #4) may be performed during two cycles (cycle #1 and cycle #2). Accordingly, in the noise avoidance mode 650, when the ultrasonic wave signal transmitted from the PDW sensor 150 of the vehicle 100 is detected by an object (e.g., Figure 2 In the case where the object 210 in the image is reflected and then received by the corresponding PDW sensor 150, as shown in FIG. Figure 6 As shown in the noise avoidance mode 650 in FIG. 1 , ultrasonic signals (object detection) can be received at approximately equal intervals (cycles) t1 in each of the object detection #1 to object detection #4.

[0056] from Figure 6 It can be seen that in the parking distance warning mode according to the example, the number of object detection attempts in loop #1 and loop #2 of the noise avoidance mode 650 (two each) is greater than the number of object detection attempts in loop #1 of the normal mode 610 (one). Figure 6In the noise avoidance mode 650 , compared with the normal mode 610 , an additional cycle for object detection is performed, so that the reliability standard of the PDW sensor 150 for objects around the vehicle 100 can be enhanced, and the noise avoidance performance can be improved.

[0057] Figure 7 is a diagram showing an example in which an ultrasonic wave signal is received from another vehicle in the noise avoidance mode.

[0058] As mentioned above Figure 6 As described above, in the noise avoidance mode 650, when the ultrasonic signal transmitted from the PDW sensor 150 of the vehicle 100 is detected by an object (eg, Figure 2 In the case where the object 210 in the image is reflected and then normally received by the corresponding PDW sensor 150, such as Figure 6 As shown in 652 in FIG. 1 , ultrasonic signals (object detection) can be received at approximately equal intervals (cycles) t1 in each of object detection #1 to #4.

[0059] In other words, because the PDW sensor 150 of the vehicle 100 directly receives the ultrasonic signal transmitted by the PDW sensor 150 itself, although a time delay (time difference) may occur, the interval (cycle) between the reception of the ultrasonic signal and the interval (cycle) between the transmission and reception of the ultrasonic signal are almost the same. Figure 6 As shown, ultrasonic signals may be received (object detection may be performed) at substantially equal intervals (cycles) t1. However, in the case where the PDW sensor 150 of the vehicle 100 receives ultrasonic signals from different sources (e.g., transmitted from one or more other vehicles 310 adjacent to the vehicle 100) (e.g., in the case where the vehicle 100 temporarily stops and / or moves slowly, such as Figure 3 shown), may not be Figure 6 As shown in FIG. 652, ultrasonic signals are received at approximately equal intervals (periods) t1 (object detection may not be performed), and / or ultrasonic signals may be received at random / different intervals (periods) t2 within at least one cycle. This is because the probability that the transmission intervals (periods) of ultrasonic signals from other vehicles 310 match the intervals of object detection #1 to #4 of the PDW sensor 150 of the vehicle 100 is very low.

[0060] exist Figure 7, it can be seen that in object detection #1 and object detection #2 of cycle #1, ultrasonic signals are received at equal intervals (periods) t1, while in object detection #3 and object detection #4 of cycle #2, ultrasonic signals are received at different intervals (periods) t1 (752) and t2 (754), which indicates that the PDW sensor 150 of the vehicle 100 receives an ultrasonic signal transmitted by another source (e.g., another vehicle 310). Therefore, it can be seen that by the noise avoidance mode including cycle #1 and cycle #2 according to the example, the case where an ultrasonic signal transmitted from another vehicle 310 is received can be easily detected.

[0061] Figure 8 It is shown Figure 7 The reception interval (cycle) of the abnormally received ultrasonic signal is shown in FIG. Figure 8 As shown, in object detection #1 and object detection #2 of cycle #1, ultrasonic signals are received at the same time point t1, while in object detection #3 and object detection #4 of cycle #2, ultrasonic signals (754 and 752) are received at different time points t2 and t1. That is, based on the difference between the ultrasonic signal reception time point t2 in object detection #3 and the ultrasonic signal reception time point t1 in object detection #1, #2, and #4, it can be concluded that the ultrasonic signal reception 752 and 754 are abnormal receptions of ultrasonic signals from another source (e.g., Figure 3 The ultrasonic signal transmitted from the PDW sensor 150 of the vehicle 100 is received normally.

[0062] Return to reference Figure 7 , in such Figure 6 In the case where the PDW sensor 150 shown in FIG. 1 normally receives the ultrasonic signal, the controller 402 of the vehicle 100 can generate a normal parking distance warning based on the distance measurement result based on the ultrasonic signal reception. Figure 7 and Figure 8 In the case where the PDW sensor 150 shown abnormally receives an ultrasonic signal (e.g., at an irregular time in a continuous object detection cycle), the controller 402 may not generate a parking distance warning (i.e., an abnormal parking distance warning) because this is not a normal ultrasonic signal reception (e.g., at a regular time within an object detection cycle). Therefore, the output of a false warning caused by abnormal ultrasonic signal reception can be suppressed and / or minimized.

[0063] Fig. 9 is a flowchart illustrating a parking distance warning method for a vehicle according to an example.

[0064] like Fig. 9As shown, in a state where the parking distance warning mode (PDW mode) of the vehicle 100 is activated (902), if the vehicle 100 is in a parking state, the controller 402 can determine the parking type of the vehicle 100 (904). In the example, the parking type of the vehicle 100 may include "temporary parking during driving" and "long-term parking". "Temporary parking during driving" may include self-driving complete parking (vehicle speed = 0 km / h) or slow driving below a preset speed (e.g., 10 km / h). That is, when the vehicle 100 is traveling at a preset speed (e.g., 10 km / h) or above, the normal mode of the parking distance warning mode may be executed. The situation in which the vehicle 100 is traveling at a speed higher than a preset speed (e.g., 10 km / h) and then decelerates to less than 10 km / h and / or stops can be determined as "temporary parking during driving". "Long-term parking" may refer to a situation in which the vehicle 100 is parked at one location for a relatively long time (e.g., more than a few minutes). Based on the determination that the parking type of the vehicle 100 is long-term parking (“No” in operation 906), the controller 402 may maintain the normal mode of operation 902 while executing the reference Figure 5 and Figure 6 That is, in the case where the vehicle 100 has been parked for a long time, i.e., the vehicle 100 has been stationary at the current position for more than several minutes, the controller 402 may determine that the change in the surrounding environment is small and the ultrasonic signal from another ultrasonic signal source is unlikely to interfere with the PDW sensor 150 of the vehicle 100, and the controller 402 may continue to execute the normal mode.

[0065] If the parking type of the vehicle 100 is determined to be "temporary parking while driving" ("Yes" in operation 906), the controller 402 may identify whether there is an object around the vehicle 100 (908). In this case, the controller 402 may use a single cycle of the parking distance warning mode (e.g., Figure 6 In the normal mode 610 or the noise avoidance mode 650 loop #1), it is used to identify whether there are objects around the vehicle 100.

[0066] In the event that no other objects are present around the vehicle 100 (“No” in operation 908 ), the controller 402 may determine that distance measurement based on object detection is not required, and may switch the parking distance warning mode of the vehicle 100 from the normal mode (e.g., immediately after the determination) to the noise avoidance mode ( 912 ).

[0067] In the case where an object exists / is detected around the vehicle 100 ("Yes" in operation 908), the controller 402 may determine whether it is necessary to generate a parking distance warning based on the distance to the object (910). That is, when the measured distance between the vehicle 100 and the object is within the preset warning range, the controller 402 may generate a normal parking distance warning to urgently notify the driver ("Yes" in operation 910). For example, in the case where the distance between the vehicle 100 and the object is within a maximum range of 100 cm, a parking distance warning (e.g., a repeated beep) may be generated, and as the distance decreases (e.g., 100 cm-60 cm-30 cm-20 cm-10 cm), the repetition period of the beep may be shortened, so that the driver can recognize the distance between the vehicle 100 and the object through the change in the repetition period of the beep.

[0068] If the measured distance between the vehicle 100 and the object is not within the preset warning range and there is no need to urgently generate a normal parking distance warning (“No” in operation 910), the controller 402 may switch the parking distance warning mode from the normal mode to the noise avoidance mode (912). To this end, the controller 402 may send a single loop (e.g., Figure 6 610 or 650) to add one or more loops (e.g., Figure 6 650), thereby identifying normal ultrasonic signal reception due to object detection performed by the PDW sensor 150 ( Figure 6 650) or abnormal ultrasonic signal reception from another ultrasonic signal source ( Figures 7 and 8 ). In other words, in the noise avoidance mode according to the example, by adding at least one cycle #2 to the cycle #1 of the normal mode, the standard for determining the integrity and / or consistency of ultrasonic signal reception can be enhanced (the detection information increases due to the addition of at least one cycle). Figure 3 In the case of an ultrasonic signal transmitted by a vehicle 310 in the example, abnormal ultrasonic signal reception can be detected based on loop #2 added according to the noise avoidance mode. In the noise avoidance mode according to the example, in the case of abnormal ultrasonic signal reception, a parking distance warning (i.e., abnormal parking distance warning) is not generated. Therefore, false warnings caused by abnormal ultrasonic signal reception can be suppressed and minimized.

[0069] If the "temporary stop during driving" is released ("Yes" in operation 914), that is, when the vehicle 100 resumes driving at a speed higher than a preset speed (e.g., 10 km / h) from a stopped and / or slowed state, the controller 402 may return to the normal mode according to 902 to perform object detection and / or reference Figure 5 and Figure 6 In other words, if the "temporary stop during driving" is released and / or the vehicle 100 resumes driving (e.g., accelerating and / or driving at a preset speed or higher), the controller 410 may measure the distance between the vehicle 100 and the object in only one cycle #1, such as Figure 6 As shown in 610 , and / or a normal stopping distance warning may be generated to inform the driver of the measured distance.

[0070] In contrast, in a case where the vehicle 100 maintains the “temporary stop while driving” state (“No” in operation 914 ), the controller 402 may maintain the noise avoidance mode ( 916 ).

[0071] Fig.10 is a diagram showing another example of the noise avoidance mode of the parking distance warning mode of the vehicle.

[0072] like Fig.10 As shown, the noise avoidance mode according to another example includes three or more cycles (cycle #1, cycle #2, ... and cycle #n). Fig.10 In the noise avoidance mode of the parking distance warning mode of another example shown, a total of 2n object detections (object detections #1 to #2n) may be performed during n cycles (cycle #1, cycle #2, ..., and cycle #n). Therefore, in the noise avoidance mode, when the ultrasonic wave signal transmitted from the PDW sensor 150 of the vehicle 100 is detected by an object (e.g., Figure 2 In the case where the object 210 in the image is reflected and then normally received by the corresponding PDW sensor 150, such as Fig.10 As shown in FIG. 1 , ultrasonic signals (object detection) can be received at approximately equal intervals (cycles) t1 in each interval from object detection #1 to object detection #2n. Fig.10 In the noise avoidance mode, by adding two or more object detection cycles, the reliability standard of the PDW sensor 150 for objects close to the vehicle 100 can be improved, and the noise avoidance performance can be greatly improved.

[0073] According to an example of the present disclosure, by adding a loop for object detection in the noise avoidance mode of the PDW sensor of the vehicle, the reliability standard of the PDW sensor for objects close to the vehicle 100 can be improved. Therefore, the noise avoidance performance can be improved. In addition, by applying the above-mentioned noise avoidance mode to all levels of autonomous driving, including a remote parking system (RPP), a remote smart parking assist system (RSPA), or a parking collision avoidance assist system (PCA), the user's satisfaction with the autonomous driving of the vehicle 100 can be greatly improved.

[0074] The present disclosure provides a vehicle and a control method thereof, which can improve the reliability standard of a parking distance warning sensor, thereby enhancing noise avoidance performance and minimizing the occurrence of false warnings.

[0075] According to the present disclosure, a vehicle may include: a sensor configured to: detect objects around the vehicle; and a controller configured to: execute a warning mode for generating a warning in response to the sensor detecting the object, wherein the warning mode includes a first mode for detecting the object under a first preset driving condition of the vehicle and a second mode for detecting the object under a second preset driving condition of the vehicle, and wherein the number of object detection attempts in the second mode is set to be relatively larger than the number of object detection attempts in the first mode.

[0076] Detecting an object may include confirming the presence of the object and measuring the distance between the object and the vehicle.

[0077] The second preset driving condition may include stopping the vehicle, and stopping the vehicle may include stopping the vehicle or decelerating the vehicle to below a preset speed.

[0078] The first preset driving condition may include resuming driving at a speed exceeding a preset speed after the vehicle stops or slows down according to the second preset driving condition.

[0079] The controller may be configured to not generate a warning in response to objects not being detected at equal intervals in the second mode.

[0080] The controller may be configured to switch the vehicle from the first mode to the second mode in response to no objects being detected around the vehicle in the first mode.

[0081] The controller may be configured to switch the vehicle from the first mode to the second mode if it is determined that no warning needs to be generated based on the detected object even if an object around the vehicle is detected in the first mode.

[0082] Object detection attempts may be performed periodically in each of the first mode and the second mode.

[0083] The sensor may be an ultrasonic sensor configured to transmit and receive ultrasonic signals, and the transmission and reception of the ultrasonic signals may be synchronized with the object detection attempt cycle.

[0084] Filtering for removing the non-periodic reception signal may be performed in each of the first mode and the second mode.

[0085] According to the present disclosure, a control method for a vehicle includes: a sensor configured to detect objects around the vehicle; and a controller configured to execute a warning mode for generating a warning in response to the sensor detecting the object. The method may include: executing a first mode for detecting an object under a first preset driving condition of the vehicle, the first mode being included in the warning mode; and executing a second mode for detecting an object under a second preset driving condition of the vehicle, the second mode being included in the warning mode, wherein the number of object detection attempts in the second mode is set to be relatively greater than the number of object detection attempts in the first mode.

[0086] Detecting an object may include confirming the presence of the object and measuring the distance between the object and the vehicle.

[0087] The second preset driving condition may include stopping the vehicle, and stopping the vehicle may include stopping the vehicle or decelerating the vehicle to below a preset speed.

[0088] The first preset driving condition may include resuming driving exceeding a preset speed after the vehicle stops or slows down according to the second preset driving condition.

[0089] The control method may further include: in response to the objects not being detected at equal intervals in the second mode, not generating a warning.

[0090] The control method may further include switching the vehicle from the first mode to the second mode in response to there being no undetected objects around the vehicle in the first mode.

[0091] The control method may further include switching the vehicle from the first mode to the second mode based on determining that in response to the object being detected around the vehicle in the first mode but no warning needs to be generated.

[0092] Object detection attempts may be performed periodically in each of the first mode and the second mode.

[0093] The sensor may be an ultrasonic sensor configured to transmit and receive ultrasonic signals, and the transmission and reception of the ultrasonic signals may be synchronized with the object detection attempt cycle.

[0094] Filtering for removing the non-periodic reception signal may be performed in each of the first mode and the second mode.

[0095] As can be seen from the above, according to the examples of the present disclosure, the vehicle and the control method thereof can improve the reliability standard of the parking distance warning sensor, thereby improving the noise avoidance performance and minimizing the occurrence of false warnings.

[0096] On the other hand, the above examples can be stored in the form of a recording medium storing computer executable instructions. The instructions can be stored in the form of program code, and when the instructions are executed by a processor, the instructions can perform the operations of the disclosed examples. The recording medium can be implemented as a computer readable recording medium.

[0097] The computer-readable recording medium includes various recording media in which instructions decoded by a computer are stored in, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical recording medium, or the like.

[0098] Although examples have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible without departing from the scope and spirit of the present disclosure. Therefore, examples are not described for limiting purposes.

Claims

1. A vehicle, include: A sensor configured to: detect an object external to the vehicle; and a controller configured to perform object detection according to a warning mode for generating a warning based on the sensor detecting the object, The warning mode includes: a first mode for detecting an object under a first preset driving condition of the vehicle; and a second mode for detecting an object under a second preset driving condition of the vehicle different from the first preset driving condition, and The number of object detection attempts in the second mode is set to be greater than the number of object detection attempts in the first mode.

2. The vehicle according to claim 1, in, The sensor is configured as: Objects are detected by confirming their presence and measuring the distance between them and the vehicle.

3. The vehicle according to claim 1, in, The second preset driving condition includes: Parking of vehicle; or The vehicle slows down below the preset speed.

4. The vehicle according to claim 3, in, The first preset driving condition includes: After the second preset driving condition is met, the vehicle accelerates to reach or exceed the preset speed.

5. The vehicle according to claim 1, in, The controller is configured to: Based on the absence of object detection at regular intervals in the second mode, no warning is generated.

6. The vehicle according to claim 1, in, The controller is configured to: Based on the absence of object detection in the first mode, switching from object detection according to the first mode to object detection according to the second mode.

7. The vehicle according to claim 1, in, The controller is configured to: In the event that it is determined that no warning needs to be generated based on the distance to the object detected according to the first mode, switching from object detection according to the first mode to object detection according to the second mode.

8. The vehicle according to claim 1, in, The controller is configured to: Object detection attempts in the first mode or the second mode are caused to be performed periodically.

9. The vehicle according to claim 8, in, The sensor includes an ultrasonic sensor configured to transmit and receive ultrasonic signals in synchronization with an object detection attempt cycle.

10. The vehicle according to claim 1, in, The controller is configured to: Object detection is performed according to the first mode or the second mode by removing the non-periodic signal received from the sensor.

11. A method for controlling a vehicle, wherein the vehicle include: A sensor configured to: detect an object external to the vehicle; and a controller configured to control object detection according to a warning mode for generating a warning in response to the sensor detecting the object, The control method includes the following: Based on the vehicle satisfying a first preset driving condition, performing object detection according to a first mode of the warning mode; as well as Based on the vehicle satisfying a second preset driving condition, performing object detection according to a second mode of the warning mode, The number of object detection attempts in the second mode is set to be greater than the number of object detection attempts in the first mode.

12. The control method according to claim 11, in, The sensor is configured as: Objects are detected by confirming their presence and measuring the distance between them and the vehicle.

13. The control method according to claim 11, in, The second preset driving condition includes: the vehicle stops; or The vehicle slows down below the preset speed.

14. The control method according to claim 13, in, The first preset driving condition includes: After the second preset driving condition is met, the vehicle accelerates to reach or exceed the preset speed.

15. The control method according to claim 11, further comprising: The following steps are involved: Based on the absence of detection of an object at regular intervals in the second mode, a determination is made not to generate a warning.

16. The control method according to claim 11, further comprising: The following steps are involved: Based on the absence of object detection in the first mode, switching from object detection according to the first mode to object detection according to the second mode.

17. The control method according to claim 11, further comprising: The following steps are involved: In the event that it is determined that no warning needs to be generated based on the distance to the object detected according to the first mode, switching from object detection according to the first mode to object detection according to the second mode.

18. The control method according to claim 11, in, Performing object detection according to the first mode or the second mode includes: Object detection attempts in the first mode or the second mode are caused to be performed periodically.

19. The control method according to claim 18, in, The sensor includes an ultrasonic sensor configured to transmit or receive an ultrasonic signal in synchronization with an object detection attempt cycle.

20. The control method according to claim 11, further comprising: The following steps are involved: A non-periodic signal received from the sensor is removed.

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