Environment recognition sensor device and its environment recognition method and battery pack

Abstract

This application provides an environmental identification sensor device and its environmental identification method, as well as a battery pack. The battery pack includes: multiple battery modules; multiple slave battery management systems (BMS), each including at least one antenna and configured to monitor the multiple battery modules; a master BMS, including at least one antenna and configured to wirelessly communicate with the multiple slave BMS; and an environmental identification sensor device configured to configure the antennas of the multiple slave BMS and the antenna of the master BMS as a phased array antenna, and to control the phase and amplitude of the signal corresponding to each antenna based on the identification result of the surrounding environment.

Description

Technical Field

[0001] Some aspects of embodiments of this disclosure relate to an environmental identification sensor device, an environmental identification method thereof, and a battery pack. Background Technology

[0002] Electric vehicles are typically driven by electric motors. Electric vehicles can use battery packs, which act as a high-voltage power source, to power the electric motors.

[0003] A battery pack may include a battery management system (BMS) and multiple battery modules. The BMS may include multiple slave BMSs, each detecting and controlling multiple battery modules, and a master BMS that manages the battery pack by communicating with the multiple slave BMSs.

[0004] The main BMS and multiple slave BMSs can be connected via wiring. Therefore, as the number of battery modules in a battery pack increases, the wiring increases, and the connections become more complex. This led to the emergence of wireless BMSs. Using a wireless BMS reduces the complex wiring inside the battery pack, improves maintainability, and allows for the addition of more battery cells within the available space, thus providing a longer driving range.

[0005] Meanwhile, autonomous driving technology can be applied to the automotive industry to improve vehicle safety and convenience. Autonomous driving systems can identify the surrounding environment using various sensors (LiDAR, radar, cameras, etc.) and control the vehicle based on this identification. Sensor fusion technology can be used to integrate data from these different sensors to achieve accurate and reliable environmental identification. However, using a large number of sensors to accurately and reliably identify the environment may increase the cost of the vehicle.

[0006] The information disclosed in this background section is only intended to enhance understanding of the background, and therefore the information discussed in this background section does not necessarily constitute prior art. Summary of the Invention

[0007] Some aspects of embodiments of this disclosure include an environmental identification sensor device and its environmental identification method, as well as a battery pack, capable of relatively improving the performance of a vehicle's sensor system by utilizing a wireless BMS.

[0008] According to some embodiments of this disclosure, an environmental identification sensor device includes: a phased array antenna system comprising a plurality of antennas, configured to control the phase and amplitude of a signal applied to each of the plurality of antennas in a transmit mode, and configured to control the phase and amplitude of a signal received from each of the plurality of antennas in a receive mode, wherein the plurality of antennas includes at least one antenna of each of a plurality of slave battery management systems (BMS) and at least one antenna of a master BMS communicating with the plurality of slave BMS; a sensor data processor configured to identify an surrounding environment and determine at least one beam target direction based on the identification result of the surrounding environment; an antenna array manager configured to configure at least one antenna array from the plurality of antennas corresponding to at least one beam target direction; and a beamforming controller configured to control the phase and amplitude of each antenna constituting the at least one antenna array to form a beam in the at least one beam target direction.

[0009] According to some embodiments, the environmental identification sensor device may be located within a battery pack, and the battery pack may include multiple slave BMS and master BMS.

[0010] According to some embodiments, the environmental identification sensor device may further include: an integrated controller configured to control the operation of a transmit mode and a receive mode by separating multiple communication operations between a slave BMS and a master BMS in time.

[0011] According to some embodiments, the sensor data processor can be configured to analyze vehicle data received from the vehicle's autonomous driving control unit and use the analysis results of the vehicle data to identify the surrounding environment, and the vehicle data may include sensor data collected from the sensor system of the autonomous driving control unit and driving status information including the vehicle's driving mode.

[0012] According to some embodiments, a sensor data processor can be configured to analyze signals received by at least one antenna of a phased array antenna system in receiving mode and to identify the surrounding environment by combining the analysis results of the received signals with the analysis results of vehicle data.

[0013] According to some embodiments, a sensor data processor can be configured to analyze signals received by at least one antenna of a phased array antenna system in receiving mode, identify the surrounding environment by using the analysis results of the received signals, and provide the identification results of the surrounding environment to the vehicle's autonomous driving control device.

[0014] According to some embodiments, the sensor data processor can be configured to estimate the orientation of the surrounding environment based on the phase difference of signals received through different antennas.

[0015] According to some embodiments, a sensor data processor can be configured to estimate the relative velocity of the surrounding environment based on the frequency offset of signals transmitted and received through at least one antenna of a phased array antenna system.

[0016] According to some embodiments, an antenna array manager can be configured to monitor the status of multiple antennas, configure at least one antenna array using available antennas, and disable the remaining antennas among the multiple antennas other than the available antennas used to configure at least one antenna array.

[0017] According to some embodiments, the beamforming controller can be configured to use a machine learning model that learns from data collected in various environments to determine the phase and amplitude.

[0018] According to some embodiments, the beamforming controller can be configured to correct the phase and amplitude of the output data of a machine learning model based on the beam target direction and the configuration of at least one antenna array.

[0019] According to some embodiments of this disclosure, a battery pack includes: a plurality of battery modules; a plurality of slave battery management systems (BMS), each including at least one antenna and configured to monitor the plurality of battery modules; a master BMS, including at least one antenna and configured to wirelessly communicate with the plurality of slave BMS; and an environmental identification sensor device configured to configure the antennas of the plurality of slave BMS and the antenna of the master BMS as phased array antennas, and to control the phase and amplitude of the signal corresponding to each antenna based on the identification result of the surrounding environment.

[0020] According to some embodiments, the environmental identification sensor device may include: a sensor data processor configured to identify the surrounding environment and determine at least one beam target direction based on the identification result of the surrounding environment; an antenna array manager configured to configure at least one antenna array from a phased array antenna corresponding to at least one beam target direction; and a beamforming controller configured to control the phase and amplitude of each antenna constituting at least one antenna array to form a beam in at least one beam target direction.

[0021] According to some embodiments, the sensor data processor can be configured to analyze vehicle data received from the vehicle's autonomous driving control unit and use the analysis results of the vehicle data to identify the surrounding environment. The vehicle data may include sensor data collected from the sensor system of the autonomous driving control unit and driving status information including the vehicle's driving mode.

[0022] According to some embodiments, a sensor data processor can be configured to analyze signals received via a phased array antenna in receiving mode, identify the surrounding environment by using the analysis results of the received signals, and provide the identification results of the surrounding environment to the vehicle's autonomous driving control device.

[0023] According to some embodiments, the antenna array manager can be configured to monitor the status of multiple antennas from the slave BMS and the master BMS, and to configure at least one antenna array using the available antennas.

[0024] According to some embodiments of the present disclosure, a method for identifying the environment in an environmental identification sensor device located within a battery pack can be provided, the method comprising: identifying the surrounding environment; and controlling a phased array antenna to form a beam in at least one beam target direction based on the identification result of the surrounding environment, the phased array antenna comprising at least one antenna of each of a plurality of slave battery management systems (BMS) that monitor a plurality of battery modules, and at least one antenna of a master BMS that communicates with the plurality of slave BMS.

[0025] According to some embodiments, the control of a phased array antenna may include: determining at least one beam target direction based on the identification results of the surrounding environment; configuring at least one antenna array from the phased array antenna corresponding to the at least one beam target direction; and controlling the phase and amplitude of each antenna constituting the at least one antenna array to form a beam in the at least one beam target direction.

[0026] According to some embodiments, the configuration of at least one antenna array may include: monitoring the state of each antenna constituting the phased array antenna; configuring at least one antenna array using available antennas; and deactivating the remaining antennas among the available antennas other than the available antennas used to configure at least one antenna array.

[0027] According to some embodiments, the identification of the surrounding environment may include: receiving signals via a phased array antenna; and identifying the surrounding environment by analyzing the received signals.

[0028] According to some embodiments, the identification of the surrounding environment may include: identifying the surrounding environment by analyzing vehicle data received from the vehicle's autonomous driving control device, wherein the vehicle data may include sensor data collected from the sensor system of the autonomous driving control device and driving status information including the vehicle's driving mode. Attached Figure Description

[0029] Figure 1 This is a diagram illustrating an example of an electric vehicle according to some embodiments.

[0030] Figure 2 This is a diagram illustrating an environmental identification sensor device according to some embodiments.

[0031] Figure 3 This is a diagram illustrating the antenna module of a BMS according to some embodiments.

[0032] Figure 4 It is shown Figure 2 A diagram showing an example of a beamforming controller.

[0033] Figure 5 This is a diagram illustrating an example of an autonomous driving control device according to some embodiments of the present disclosure.

[0034] Figure 6 This is a flowchart illustrating a method for identifying the environment in an environmental identification sensor device according to some embodiments.

[0035] Figure 7 This is a diagram illustrating an environmental identification sensor device according to some embodiments. Detailed Implementation

[0036] Some aspects of the embodiments will now be described more fully below with reference to the accompanying drawings; however, these embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will more fully convey aspects of some embodiments to those skilled in the art. The drawings and description should be considered illustrative in nature and not restrictive. Throughout the specification, the same reference numerals denote the same elements. In the flowcharts described in this specification with reference to the accompanying drawings, the order of operations may be changed, several operations may be combined, some operations may be split, and certain operations may not be performed.

[0037] Throughout the specification and claims, if a component is referred to as "comprising" a particular element, it may mean that it may further include other elements without excluding them, unless otherwise specifically indicated.

[0038] Furthermore, a statement described in the singular can be interpreted as either singular or plural unless an explicit expression such as "a" or "single" is used.

[0039] Furthermore, various elements may be described using ordinal terms such as "first," "second," etc., but these elements are not limited by these terms. The terms above are used only to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of this disclosure.

[0040] Furthermore, when referring to a component being "connected" to another component, this includes not only cases where the two components are "directly connected," but also cases where the two components are "indirectly or non-contactly connected" using another component as an intervening element, or cases where the two components are "electrically connected." On the other hand, when referring to an element being "directly connected" to another element, it should be understood that there are no other elements in between.

[0041] Figure 1 This is a diagram illustrating an example of an electric vehicle according to some embodiments of the present disclosure.

[0042] refer to Figure 1 An electric vehicle may include a battery pack 10, a vehicle controller 20, an inverter 30, and an electric motor 40.

[0043] The battery pack 10 can be connected to an external charging device or load via terminals T+ and T-, and the battery pack 10 can be charged by the external charging device and discharged by the load.

[0044] The vehicle controller 20 can be configured to send an ignition signal to the wireless battery management system (WBMS) 300 in response to a user switching the ignition button provided in the electric vehicle to the ignition position. The vehicle controller 20 can also be configured to send an engine shutdown signal to the WBMS 300 in response to a user switching the ignition button to the engine shutdown position.

[0045] Inverter 30 can be connected between terminals T+ and T- of battery pack 10 and can be configured to convert direct current (DC) from batteries 100 included in battery pack 10 into alternating current (AC).

[0046] The motor 40 can be driven using AC power from the inverter 30. For example, a three-phase AC motor can be used as the motor 40. The components within the electric vehicle that receive discharge power from the battery pack 10 (including the inverter 30 and the motor 40) can be collectively referred to as electrical loads.

[0047] Battery pack 10 may include battery 100, relay 200 and WBMS 300.

[0048] Battery 100 can provide high voltage and high capacity by comprising multiple battery modules 110_1 to 110_N electrically connected in series and / or parallel to each other, where N can be a positive integer greater than 2. For example, the voltage of battery pack 10 used in electric vehicles is typically close to 400V, and the capacity can be above 60kWh.

[0049] Battery modules 110_1 to 110_N may each include multiple battery cells. These battery cells may be connected in series. Each of the multiple battery cells may be, for example, a lithium-ion battery cell.

[0050] Relay 200 can control the current path during charging or discharging of battery 100. Relay 200 can be connected between battery 100 and terminal T+. Alternatively, relay 200 can be connected between battery 100 and terminal T-.

[0051] The relay 200 can be turned on or off in response to a switching signal from the WBMS 300. The relay 200 can be a mechanical contactor configured to be turned on or off by the magnetic force of a coil, or a semiconductor switch such as a metal-oxide-semiconductor field-effect transistor (MOSFET).

[0052] If relay 200 is turned on during electrical load and / or charging device operation, battery 100 enters charging mode or discharging mode. If relay 200 is turned off when battery 100 is operating in charging mode or discharging mode, battery 100 can switch to idle mode.

[0053] WBMS 300 may include a main BMS 320 and multiple slave BMSs 310_1 to 310_N.

[0054] Multiple BMSs 310_1 to 310_N can correspond one-to-one with multiple battery modules 110_1 to 110_N included in the battery pack 10. Each of the multiple BMSs 310_1 to 310_N can be electrically connected to a corresponding battery module among the battery modules 110_1 to 110_N. For example, BMS 310_1 can be electrically connected to battery module 110_1, and BMS 310_2 can be electrically connected to battery module 110_2. BMS 310_N can be electrically connected to battery module 110_N.

[0055] Each of the multiple BMSs 310_1 to 310_N can detect the overall state (e.g., voltage, current, temperature) of one of the battery modules 110_1 to 110_N that is electrically connected to it, and execute various control functions (e.g., charging, discharging, balancing) to adjust the state of the battery modules 110_1 to 110_N. In this case, the various control functions can be executed directly by each of the BMSs 310_1 to 310_N based on the state of the battery modules 110_1 to 110_N, or they can be executed according to commands from the main BMS 320.

[0056] The main BMS 320 can receive information about battery modules 110_1 to 110_N from multiple sub-BMSs 310_1 to 310_N, and perform control functions such as state of charge (SOC) control, power control, cell balancing control, fault diagnosis control, cooling control, and thermal runaway detection control. Furthermore, the main BMS 320 can control relays 200 based on information about battery modules 110_1 to 110_N to supply power to or disconnect power from battery modules 110_1 to 110_N from the load.

[0057] The main BMS 320 can communicate wirelessly with multiple slave BMSs 310_1 to 310_N. Both the main BMS 320 and the multiple slave BMSs 310_1 to 310_N can each include at least one antenna.

[0058] According to some embodiments, at least one antenna of each of the plurality of BMS 310_1 to 310_N may be placed on top of a corresponding battery module of battery modules 110_1 to 110_N. For example, each of the plurality of BMS 310_1 to 310_N may include two antennas, and the two antennas may be placed on top of a corresponding battery module of battery modules 110_1 to 110_N at a certain distance from each other (e.g., a set or predetermined distance).

[0059] The wireless connection between the main BMS 320 and multiple BMSs 310_1 to 310_N can relatively reduce the complexity of communication wiring, relatively reduce the size of the battery pack 10, add relatively more battery cells to the available space within the battery pack 10, and thus provide a relatively longer driving range.

[0060] According to some embodiments, the antennas of WBMS 300, namely the main BMS 320 and the plurality of antennas from BMS 310_1 to 310_N, can be antennas capable of controlling the magnitude (amplitude) and phase of the signal. Accordingly, the main BMS 320 and the plurality of antennas from BMS 310_1 to 310_N can be used to configure a phased array antenna, and the battery pack 10 can operate as a single sensor device using the main BMS 320 and the plurality of antennas from BMS 310_1 to 310_N.

[0061] For example, the battery pack 10 can operate as a sensor device for identifying the environment during autonomous driving of the vehicle, and can send the sensing results to the vehicle's autonomous driving control device.

[0062] Figure 2 This is a diagram illustrating an environmental identification sensor device according to some embodiments.

[0063] refer to Figure 2 The environmental identification sensor device 400 can be located within the battery pack 10 and can be used as a sensor for environmental identification by using the main BMS 320 and multiple antennas from BMS 310_1 to 310_N.

[0064] The environmental identification sensor device 400 may include a phased array antenna system 410, a sensor data processor 420, a beamforming controller 430, an antenna array manager 440, a signal processor 450, and an integrated controller 460.

[0065] The phased array antenna system 410 may include a main BMS 320 and multiple antennas from BMS 310_1 to 310_N.

[0066] Figure 3 This is a diagram illustrating the antenna module of a BMS according to some embodiments.

[0067] refer to Figure 3 BMS 500 can represent the main BMS 320 and each of multiple BMS 310_1 to 310_N.

[0068] The BMS 500 may include an antenna 510, a transmitting module 520, a receiving module 530, an RF switch 540, and a control module 550. The transmitting module 520, the receiving module 530, the RF switch 540, and the control module 550 may be provided corresponding to one antenna 510, and the number of the transmitting module 520, the receiving module 530, the RF switch 540, and the control module 550 may be determined based on the number of antennas 510.

[0069] Antenna 510 can transmit RF signals in transmit mode and receive RF signals in receive mode. Antenna 510 can be a patch antenna and can have linear vertical polarization.

[0070] Let's refer to each other. Figure 2 and Figure 3 The transmitting module 520 can be connected to the antenna 510. The transmitting module 520 can change the phase and amplitude of the transmitted RF signal. The transmitting module 520 can adjust the phase and amplitude of the transmitted RF signal according to the control commands of the control module 550. The transmitting module 520 may include a phase shifter 522 and a power amplifier 524. The phase shifter 522 can change the phase of the transmitted RF signal according to the phase control commands of the control module 550. The power amplifier 524 can amplify the power of the transmitted RF signal according to the amplitude control commands of the control module 550 and send it to the antenna 510.

[0071] Receiver module 530 can be connected to antenna 510. Receiver module 530 can change the phase and amplitude of the received RF signal. Receiver module 530 can adjust the phase and amplitude of the received RF signal according to control commands from control module 550. Receiver module 530 may include phase shifter 532 and low-noise amplifier 534. Phase shifter 532 can change the phase of the received RF signal according to phase control commands from control module 550. Low-noise amplifier 534 can amplify the received RF signal with low noise according to amplitude control commands from control module 550 and output it. The received RF signal amplified by low-noise amplifier 534 can be sent to signal processor 450.

[0072] RF switch 540 can connect transmitting module 520 and antenna 510 or receiving module 530 and antenna 510 under the control of control module 550. That is, RF switch 540 can connect transmitting module 520 to antenna 510 in transmitting mode under the control of control module 550. RF switch 540 can also connect receiving module 530 to antenna 510 in receiving mode under the control of control module 550.

[0073] The control module 550 can control the antenna 510, the transmitting module 520, the receiving module 530 and the RF switch 540 according to the control commands of the integrated controller 460.

[0074] The control module 550 can control the transmitting module 520 and the receiving module 530 according to the phase control command and amplitude control command of the beamforming controller 430.

[0075] The control module 550 can measure the phase and amplitude offset of the transmitted RF signal sent through the antenna 510 upon initial power-on and generate internal correction values ​​including the phase and amplitude offsets. If the control module 550 receives phase and amplitude values ​​via phase control and amplitude control commands from the beamforming controller 430 in transmit mode, it can correct the phase and amplitude values ​​by reflecting the phase and amplitude offsets, which are internal correction values, into the received phase and amplitude values, respectively. The control module 550 can send a phase control signal including the corrected phase value and an amplitude control signal including the corrected amplitude value to the phase shifter 522 and the power amplifier 524, respectively.

[0076] The control module 550 can measure the phase and amplitude offset of the received RF signal received through the antenna 510 upon initial power-on and generate internal correction values ​​including the phase and amplitude offsets. If the control module 550 receives phase and amplitude values ​​in receive mode via phase control and amplitude control commands from the beamforming controller 430, it can correct the phase and amplitude values ​​by reflecting the phase and amplitude offsets, which are internal correction values, onto the received phase and amplitude values, respectively. The control module 550 can send a phase control signal including the corrected phase value and an amplitude control signal including the corrected amplitude value to the phase shifter 532 and the low-noise amplifier 534, respectively.

[0077] According to some embodiments, the control module 550 can measure signal quality information of the received RF signal received via the antenna 510. The signal quality information may include, for example, signal strength and channel state information. The control module 550 can send the signal quality information of the received RF signal to the beamforming controller 430.

[0078] The phased array antenna system 410 may further include a transmitting module 520, a receiving module 530, an RF switch 540, and a control module 550 corresponding to the main BMS 320 and each antenna 510 from BMS 310_1 to 310_N.

[0079] Antenna 510, along with the corresponding transmitting module 520, receiving module 530, RF switch 540, and control module 550, are collectively referred to as antenna modules. The phased array antenna system 410 can reconfigure all antenna modules located in the main BMS 320 and multiple BMSs 310_1 to 310_N as phased array antennas. For example, each of the main BMS 320 and multiple BMSs 310_1 to 310_N may include two antenna modules. Then, if the total number of antenna modules becomes 2×(N+1), the antenna can be reconfigured into an M×L array antenna using 2×(N+1) antenna modules. For example, M=2, L=(N+1), where N can be a positive integer greater than 2.

[0080] In addition, a shielding layer can be installed between the antenna module and the battery 100, and through this shielding layer, the interference between the antenna module and the battery 100 can be minimized.

[0081] Multiple antennas can be strategically placed along the structure of battery 100 to achieve 360-degree omnidirectional detection. For example, some of the multiple antennas can be arranged to sense the front, others to sense the right, still others to sense the left, and yet others to sense the rear.

[0082] Sensor data processor 420 can analyze received RF signals received through multiple antennas. Sensor data processor 420 can analyze the received RF signals and estimate the position, velocity, orientation, etc., of surrounding objects. Sensor data processor 420 can use various signal processing techniques (such as Doppler effect analysis and time delay estimation) to estimate the objects.

[0083] Furthermore, the sensor data processor 420 can measure channel state information from received RF signals received through multiple antennas, and measure signal quality information of the received RF signals. Signal quality information may include signal-to-noise ratio (SNR), signal-to-interference plus noise ratio (SINR), etc.

[0084] The sensor data processor 420 can send the channel state information and signal quality information of the received RF signal to the beamforming controller 430.

[0085] According to some embodiments, sensor data processor 420 can estimate the orientation of surrounding objects based on the phase difference of received RF signals received through different antennas. Sensor data processor 420 can estimate the position of surrounding vehicles or pedestrians more accurately by applying advanced signal processing techniques such as Multi-Signal Classification (MUSIC) algorithms.

[0086] According to some embodiments, the sensor data processor 420 can estimate the relative velocity of an object based on the frequency shift of signals transmitted and received through at least one antenna, can distinguish between stationary and moving objects by applying pulse Doppler processing techniques, and can estimate the velocity vector of the object.

[0087] The sensor data processor 420 can analyze vehicle data. Vehicle data may include data collected from at least one sensor installed in the vehicle for autonomous driving of the electric vehicle, the electric vehicle's location information, and the vehicle's driving information. The at least one sensor installed in the vehicle for autonomous driving may include, for example, a camera sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, a distance sensor, a global positioning system (GPS) sensor, etc.

[0088] The sensor data processor 420 can identify the surrounding environment based on the analysis results of vehicle data and the analysis results of received RF signals. For example, the sensor data processor 420 can detect objects (e.g., pedestrians, objects, obstacles, surrounding vehicles, etc.) based on the analysis results of vehicle data and the analysis results of received RF signals. In other words, the sensor data processor 420 can more accurately estimate object information by combining the analysis results of vehicle data and the analysis results of received RF signals.

[0089] The sensor data processor 420 can determine the beam target direction for beam steering based on the identification results of the surrounding environment. The sensor data processor 420 can determine the beam target direction for beam steering by considering the identification results of the surrounding environment and driving conditions. Driving conditions may include driving modes.

[0090] According to some embodiments, the sensor data processor 420 can receive ambient environment identification information from an autonomous driving control device that controls the autonomous driving of the vehicle. The sensor data processor 420 can determine the beam target direction for beam steering based on the ambient environment identification information and driving conditions. Furthermore, according to some embodiments, the sensor data processor 420 can determine the beam target direction by further considering analysis data of received RF signals received through multiple antennas.

[0091] According to some embodiments, the sensor data processor 420 can provide the surrounding environment identification results based on the analysis results of the received RF signals to the autonomous driving control device.

[0092] The beamforming controller 430 can determine the phase and amplitude of the antenna modules corresponding to the antenna array configuration in the transmission mode based on the beam target direction and optimal antenna array configuration determined by the sensor data processor 420. It can also generate phase control commands and amplitude control commands, each including the phase and amplitude values ​​of the antenna modules corresponding to the antenna array configuration. In the transmission mode, the phase control commands and amplitude control commands for each antenna module corresponding to the antenna array configuration can be sent to the control module 550 within the corresponding antenna module.

[0093] The beamforming controller 430 can determine the phase and amplitude of the antenna modules corresponding to the antenna array configuration in the receiving mode based on the beam target direction and optimal antenna array configuration determined by the sensor data processor 420. It can also generate phase control commands and amplitude control commands, each including the phase and amplitude values ​​of the antenna modules corresponding to the antenna array configuration. In the receiving mode, the phase control commands and amplitude control commands for each antenna module corresponding to the antenna array configuration can be sent to the control module 550 within the corresponding antenna module.

[0094] The beamforming controller 430 can control the beam in the beam target direction by adjusting the phase of the RF signal corresponding to each antenna based on the beam target direction and the optimal antenna array configuration. Furthermore, the beamforming controller 430 can control the beam shape and sidelobe level by adjusting the power of the RF signal corresponding to each antenna based on the beam target direction and the optimal antenna array configuration.

[0095] The beamforming controller 430 can calculate the phase and amplitude for forming the optimal beam pattern based on the beam target direction, the optimal antenna array configuration, the phase and amplitude of the received RF signal received through the antenna module, and the signal quality information of the received RF signal.

[0096] Furthermore, the beamforming controller 430 can calculate the transmit beamforming weights based on the channel state information of the received RF signal received through the antenna module, and can calculate the phase and amplitude of the transmitted RF signal based on the beam target direction, the optimal antenna array configuration, and the transmit beamforming weights.

[0097] The antenna array manager 440 can monitor the status of multiple antennas and dynamically configure the antenna array to steer the beam based on available antennas and the beam target direction. The antenna array manager 440 can deactivate antennas that contribute little to beam steering based on the beam target direction and the antenna positions.

[0098] For example, when the beam target direction is 60 degrees forward, the antenna array manager 440 can consider the positions of the available antennas and select only some antennas arranged to detect the forward direction to use the antenna array to steer the beam. In this way, energy consumption can be reduced by selectively activating antennas depending on the beam target direction.

[0099] As another example, when the beam target direction is omnidirectional 360 degrees, the antenna array manager 440 can divide all available antennas into multiple array antennas that steer the beam in different directions in order to achieve beam steering in a 360-degree omnidirectional manner.

[0100] The signal processor 450 can convert the received RF signal received through the phased array antenna system 410 into digital form and perform preliminary processing. The processed data can then be sent to the sensor data processor 420.

[0101] The integrated controller 460 can control the phased array antenna system 410, sensor data processor 420, beamforming controller 430, antenna array manager 440 and signal processor 450.

[0102] In addition, the integrated controller 460 can be integrated with the main BMS ( Figure 1 The integrated controller 460 can communicate with the main BMS (320). Figure 1 The integrated controller 460 can use communication (320) to control the transmission and reception modes of RF signals. For example, the integrated controller 460 can time-separate multiple wireless communication operations between BMS 310_1 to 310_N and the main BMS 320, as well as the transmission / reception mode operations of RF signals.

[0103] Figure 4 It is shown Figure 2 A diagram showing an example of a beamforming controller.

[0104] refer to Figure 4 The beamforming controller 430 may include a machine learning model 432 and a correction processor 434.

[0105] Machine learning model 432 can receive input data, predict phase and amplitude values, and output the predicted phase and amplitude values. The input data for machine learning model 432 may include antenna location information, GPS coordinates (which are vehicle location data), vehicle driving information, surrounding vehicle information, base station information, antenna channel status information, and battery module status information. Here, the antenna location information can be used as antenna identification information. A preprocessing procedure can be performed on the input data before it is fed into machine learning model 432.

[0106] The machine learning model 432 can be trained using data collected in various environments through real-world driving tests and simulations.

[0107] The correction processor 434 can correct the phase and amplitude values ​​of each antenna output from the machine learning model 432 based on the beam target direction and optimal antenna array configuration information. The correction processor 434 can send a phase control signal including the phase value of each antenna, and can send an amplitude control signal including the amplitude value of each antenna.

[0108] According to some embodiments, beam target direction and optimal antenna array configuration information can also be used as input data for machine learning model 432. Machine learning model 432 can be trained using data collected in various environments through actual driving tests and simulations, along with beam target direction and optimal antenna array configuration information, as learning data. In this case, correction processor 434 can send a phase control signal including the phase value of each antenna output from machine learning model 432, and can send an amplitude control signal including the amplitude value of each antenna output from machine learning model 432.

[0109] Figure 5 This is a diagram illustrating an example of an autonomous driving control device according to some embodiments of the present disclosure.

[0110] refer to Figure 5 The autonomous driving control device 600 may include a first driving information detector 610, a second driving information detector 620, an output device 630, a lower-level control system 640, an integrated controller 650, and a sensor system 660.

[0111] The first driving information detector 610 can detect first driving information based on the driver's actions in the vehicle's automatic driving mode or manual driving mode. The first driving information may include driving mode information and navigation information. Driving mode information (i.e., automatic driving mode / manual driving mode) can be sent to the integrated controller 650 as first driving information. Furthermore, navigation information (such as a route to the destination entered by the driver) can also be sent to the integrated controller 650 as first driving information.

[0112] The second driving information detector 620 can detect second driving information indicating the vehicle's driving state and send this second driving information to the integrated controller 650. The second driving information may include the steering angle formed when the driver operates the steering wheel, the accelerator pedal travel or brake pedal travel formed when the driver depresses the accelerator pedal or brake pedal, and various information indicating the vehicle's driving state and behavior (such as vehicle speed, acceleration, yaw angle, pitch angle, and roll angle). The second driving information detector 620 may include various sensors for detecting this driving information. For example, the second driving information detector 620 may include a steering angle sensor, an acceleration position sensor (APS) / pedal travel sensor (PTS), a vehicle speed sensor, an acceleration sensor, and yaw / pitch / roll angle sensors. Furthermore, the vehicle's second driving information may include the vehicle's location information, which can be obtained through a Global Positioning System (GPS) receiver applied to the vehicle. This second driving information can be sent to the integrated controller 650 and can be used to control the vehicle's driving in autonomous driving mode or manual driving mode.

[0113] The integrated controller 650 can acquire first driving information and second driving information indicating the vehicle's driving status based on the driver's operations. It can also send driving status information and warning information generated by the autonomous driving algorithm processed by the internal processor to the output device 630, and control information generated by the autonomous driving algorithm processed by the internal processor to the lower-level control system 640, thereby achieving driving control of the vehicle. This driving status information and warning information can be output through auditory and visual means.

[0114] The driver can check the vehicle's autonomous driving status or manual driving status based on the driving status information output through the output device 630, and the driving status information can include various information indicating the vehicle's driving status, such as the current driving mode, transmission gear, and vehicle speed.

[0115] The integrated controller 650 can send control information for driving the vehicle in either autonomous or manual driving mode to a lower-level control system 640 applied to the vehicle. The lower-level control system 640 for driving control may include an engine control system 642, a braking control system 644, and a steering control system 646, and the integrated controller 650 can send engine control information, braking control information, and steering control information as control information to the engine control system 642, braking control system 644, and steering control system 646 respectively. Accordingly, the engine control system 642 can control the vehicle's speed and acceleration by increasing or decreasing the fuel supply to the engine, the braking control system 644 can control the vehicle's braking by adjusting the braking force, and the steering control system 646 can control the vehicle's steering through a steering mechanism applied to the vehicle (e.g., an electric power steering (MDPS) system).

[0116] To ensure stable autonomous driving, it is necessary to continuously monitor the driving state by accurately measuring the vehicle's driving environment and control the driving based on the measured driving environment. To this end, the autonomous driving control device 600 may include a sensor system 660 for detecting the surrounding environment, such as surrounding vehicles, pedestrians, roads, or fixed facilities (e.g., traffic lights, traffic signs, construction fences, etc.).

[0117] The sensor system 660 may include one or more of a lidar sensor 662, a radar sensor 664, and a camera sensor 666 to detect surrounding objects outside the vehicle.

[0118] The lidar sensor 662 can detect objects outside the vehicle by sending signals around the vehicle and receiving signals reflected from objects outside the vehicle. It can detect objects within a predefined range, a defined vertical viewing angle range, and a defined horizontal viewing angle range, depending on its specifications. The lidar sensor 662 can be installed at least one of the front, top, and rear of the vehicle, and the installation location and number are not limited to specific embodiments.

[0119] The integrated controller 650 can determine the position (including distance from the object), speed, and direction of motion of each object by measuring the time required for the laser signal sent by the lidar sensor 662 to be reflected by the object and received.

[0120] The radar sensor 664 can detect objects outside the vehicle by emitting electromagnetic waves around the vehicle and receiving electromagnetic waves reflected by objects outside the vehicle. It can detect objects located within a predefined set distance, a set vertical viewing angle range, and a set horizontal viewing angle range, according to its specifications. The radar sensor 664 can be installed at least one of the front, left, right, and rear of the vehicle, and the installation location and number are not limited to specific embodiments.

[0121] The integrated controller 650 can determine the position (including distance from the object), speed, and direction of motion of each object by analyzing the electromagnetic wave power transmitted and received by the radar sensor 664.

[0122] The camera sensor 666 can detect surrounding objects outside the vehicle by capturing images of the vehicle's environment, and can detect surrounding objects within a predefined set distance, a set vertical viewing angle range, and a set horizontal viewing angle range, according to its specifications. The camera sensor 666 can be installed at least one of the front, left, right, and rear of the vehicle, and the installation location and number are not limited to specific embodiments.

[0123] The integrated controller 650 can determine the position (including distance from the object), speed, and direction of motion of each object by applying predefined image processing to images captured by the camera sensor 666.

[0124] Furthermore, the sensor system 660 may further include an ultrasonic sensor 668, and the sensor system 660 may further include various types of sensors for detecting objects around the vehicle.

[0125] The integrated controller 650 can use the sensors of the sensor system 660 to detect surrounding vehicles and objects within the vehicle's omnidirectional area.

[0126] Such an automatic driving control device 600 can be installed Figure 1 In the vehicle shown, sensor data collected by sensor system 660 or environmental identification results identified by sensor system 660 can be sent to environmental identification sensor device 400 in battery pack 10. Furthermore, environmental identification results from environmental identification sensor device 400 can also be provided to integrated controller 650 of autonomous driving control device 600.

[0127] In other words, the environmental recognition sensor device 400 can also be operated as a sensor constituting the sensor system 660, and the integrated controller 650 of the autonomous driving control device 600 can combine (fuse) the environmental recognition results of the sensor system 660 with the environmental recognition results of the environmental recognition sensor device 400. Accordingly, the accuracy of environmental recognition can be improved, and more reliable and safer autonomous driving can be provided.

[0128] Figure 6 This is a flowchart illustrating various aspects of a method for identifying the environment in an environmental identification sensor device according to some embodiments. Although Figure 6 The illustrations depict various operations in a method for identifying the environment in an environmental identification sensor device, but the embodiments of this disclosure are not limited thereto, and the method may include more or fewer operations, or the order of operations may be changed, without departing from the spirit and scope of the embodiments of this disclosure, unless otherwise stated or implied.

[0129] refer to Figure 6 The sensor data processor 420 of the environmental recognition sensor device 400 can receive vehicle data (operation S610). The vehicle data may include sensor data collected by the sensor system 660 of the autonomous driving control device 600 and / or environmental recognition results detected from the sensor data collected by the sensor system 660, first driving information detected by the first driving information detector 620, and second driving information detected by the second driving information detector 610.

[0130] The sensor data processor 420 of the environmental recognition sensor device 400 can analyze vehicle data (operation S620).

[0131] The sensor data processor 420 of the environmental recognition sensor device 400 can identify the surrounding environment based on the analysis results of vehicle data (operation S650). In contrast, the sensor data processor 420 of the environmental recognition sensor device 400 can receive environmental recognition results detected by the autonomous driving control device 600.

[0132] If a received RF signal is received through the phased array antenna system 410 (operation S630), the sensor data processor 420 of the environmental identification sensor device 400 can analyze the received RF signal (operation S640) and use the analysis results of vehicle data and the analysis results of the received RF signal to identify the surrounding environment.

[0133] The sensor data processor 420 of the environmental recognition sensor device 400 can determine the beam target direction for beam steering based on the environmental recognition results (operation S660). The sensor data processor 420 can determine the beam target direction for beam steering by considering the environmental recognition results and driving conditions (operation S660).

[0134] The antenna array manager 440 can monitor the status of multiple antennas and can dynamically configure the antenna array for beam steering based on available antennas and beam target direction (operation S670).

[0135] The beamforming controller 430 of the environmental identification sensor device 400 can determine the phase and amplitude of the antenna module corresponding to the antenna array configuration for each of the transmit and receive modes based on the beam target direction and optimal antenna array configuration determined by the sensor data processor 420 (operation S680).

[0136] The phased array antenna system 410 of the environmental identification sensor device 400 can adjust the phase and amplitude of the signal applied to each corresponding antenna according to the phase and amplitude determined by the beamforming controller 430.

[0137] In this way, by adjusting the phase and amplitude of the antenna module corresponding to the antenna array configuration, a beam can be formed in the desired direction using the antenna module corresponding to the antenna array configuration.

[0138] For example, when driving in a complex urban environment, the environmental recognition sensor device 400 can determine the beam target direction for beam steering by considering the surrounding environment recognition results and driving conditions. This could be 30 degrees in front of the vehicle, 120 degrees to the sides of the vehicle, 15 degrees towards a pedestrian if one is detected, or 15 degrees towards a traffic light based on the location information captured by a camera. The antenna array manager 440 can configure the antenna array for each beam target direction, and the beamforming controller 430 can determine the phase and amplitude of the antenna modules based on each beam target direction and the antenna array configuration, thereby controlling the phase and amplitude of the corresponding antenna modules and providing a beam in each beam target direction.

[0139] In this manner, the environmental recognition sensor device 400 uses an antenna module arranged facing forward to form a 30-degree forward beam for forward detection, and uses an antenna module arranged to detect left and right directions to form a 120-degree fan-shaped beam for lateral detection. Furthermore, the environmental recognition sensor device 400 can detect the movement speed and direction of a pedestrian by forming a narrow beam pointing towards the pedestrian's location, and can detect changes in the state of a traffic light by forming a beam in the direction of the traffic light.

[0140] In addition, the environmental recognition sensor device 400 can identify low-speed parking situations and use the entire antenna module to form a 360-degree beam around the vehicle, thereby supporting safe parking.

[0141] The environmental recognition results of the environmental recognition sensor device 400 can be provided to the autonomous driving control device 600.

[0142] As another example, in a highway driving environment, the environmental recognition sensor device 400 can form a narrow, long beam in front of the vehicle by considering the surrounding environment recognition results and driving conditions, thereby ensuring sufficient braking distance through long-range forward detection. It can use antenna modules arranged to face the side and rear blind spots to form beams in the side and rear blind spots and focus on detecting blind spots, thus supporting lane changes by the autonomous driving control device 600. Furthermore, the environmental recognition sensor device 400 can measure the distance between vehicles in front and behind by forming forward and rearward beams using antenna modules arranged to face forward and rear, and can detect speed changes of vehicles ahead through Doppler processing. In addition, the environmental recognition sensor device 400 can analyze road conditions in rainy weather by adjusting the beam angle and waveform, thereby detecting hydroplaning or icing in advance and supporting safe driving. The environmental recognition sensor device 400 can improve the quality of vehicle-to-everything (V2X) communication with surrounding vehicles or road infrastructure by utilizing the beamforming of the phased array antenna system 410. For example, when communicating with a specific vehicle or roadside unit (RSU), the beam can be directed toward the specific vehicle or RSU to improve communication quality.

[0143] Figure 7 This is a diagram illustrating an environmental identification sensor device according to some embodiments.

[0144] refer to Figure 7 The environmental identification sensor device 700 can represent a computing device that implements the environmental identification method of the above-described environmental identification sensor device 400.

[0145] The environmental identification sensor device 700 may include at least one of a processor 710, a memory 720, an input interface device 730, an output interface device 740, and a storage device 750. The various components are connected to a bus 760 and can communicate with each other. Furthermore, the various components may be connected via a separate interface or a separate bus centered on the processor 710, rather than via a common bus 760.

[0146] The processor 710 can be implemented as various types such as an application processor (AP), a central processing unit (CPU), a graphics processing unit (GPU), etc., and can be any semiconductor device that executes commands stored in memory 720 or storage device 750. The processor 710 can execute program commands stored in at least one of memory 720 and storage device 750. The processor 710 stores instructions for implementing... Figure 2 The program commands for at least some of the functions of the phased array antenna system 410, sensor data processor 420, beamforming controller 430, antenna array manager 440, signal processor 450, and integrated controller 460 shown are executed, and reference can be performed by executing the stored program commands. Figures 1 to 6 The operation of the environmental recognition sensor device 400 is described.

[0147] The memory 720 and storage device 750 may include various forms of volatile or non-volatile storage media. For example, the memory 720 may include read-only memory (ROM) 721 and random access memory (RAM) 722. According to some embodiments, the memory 720 may be located inside or outside the processor 710, and the memory 720 may be connected to the processor 710 via various known means.

[0148] The input interface device 730 can be configured to provide data to the processor 710. According to some embodiments, the input interface device 730 can provide data received from the autonomous driving control device 600 to the processor 710.

[0149] The output interface device 740 can be configured to output data from the processor 710. According to some embodiments, the output interface device 740 can output the environmental recognition results of the environmental recognition sensor device 700 to the autonomous driving control device 600.

[0150] According to some embodiments, the input interface device 730 and the output interface device 740 may be network interface devices connected to a network.

[0151] At least some of the environmental identification methods according to the embodiments can be implemented as programs or software running on a computing device, and the programs or software can be stored on a computer-readable medium.

[0152] Furthermore, at least some of the environmental recognition methods can be implemented in hardware that can be electrically connected to a computing device.

[0153] According to some embodiments, by configuring the antennas of the slave BMS and the master BMS as phased array antennas, the phase and amplitude of each antenna can be adjusted to form a beam in the desired direction, thereby maximizing sensing sensitivity and more accurately identifying the surrounding environment.

[0154] Furthermore, according to some embodiments, the battery pack can be used as a sensor device, and specifically as a sensor system for an autonomous driving control device, thereby providing more accurate and reliable autonomous driving.

[0155] Some aspects of embodiments have been disclosed herein, and although specific terminology has been used, it is used and interpreted in a general and descriptive sense only and not for limiting purposes. In some cases, as will be apparent to those skilled in the art at the time of filing of this application, features, characteristics, and / or elements described in connection with particular embodiments may be used alone or in combination with features, characteristics, and / or elements described in connection with other embodiments, unless specifically instructed otherwise. Accordingly, those skilled in the art will understand that various modifications in form and detail may be made without departing from the spirit and scope of the invention as set forth in the claims and their equivalents.

Claims

1. An environmental identification sensor device, comprising: A phased array antenna system includes a plurality of antennas configured to control the phase and amplitude of a signal applied to each of the plurality of antennas in a transmit mode, and configured to control the phase and amplitude of a signal received from each of the plurality of antennas in a receive mode, wherein the plurality of antennas includes at least one antenna of each of a plurality of slave BMSs and at least one antenna of a master BMS communicating with the plurality of slave BMSs. A sensor data processor is configured to identify the surrounding environment and determine at least one beam target direction based on the identification result of the surrounding environment; An antenna array manager is configured to configure at least one antenna array from the plurality of antennas corresponding to the at least one beam target direction; and A beamforming controller is configured to control the phase and amplitude of each antenna constituting the at least one antenna array to form a beam in the at least one beam-target direction.

2. The environmental identification sensor device according to claim 1, wherein, The environmental identification sensor device is located inside the battery pack, and The battery pack includes the plurality of slave BMS and the master BMS.

3. The environmental identification sensor device according to claim 2, further comprising: An integrated controller is configured to control the operation of the transmit mode and the receive mode by separating the communication operations between the plurality of slave BMSs and the master BMS in time.

4. The environmental identification sensor device according to claim 1, wherein, The sensor data processor is configured to analyze vehicle data received from the vehicle's autonomous driving control unit and use the analysis results of the vehicle data to identify the surrounding environment. The vehicle data includes sensor data collected from the sensor system of the autonomous driving control device and driving status information including the vehicle's driving mode.

5. The environmental identification sensor device according to claim 4, wherein, The sensor data processor is configured to analyze signals received by at least one antenna of the phased array antenna system in the receiving mode and to identify the surrounding environment by combining the analysis results of the received signals with the analysis results of the vehicle data.

6. The environmental identification sensor device according to claim 1, wherein, The sensor data processor is configured to analyze signals received by at least one antenna of the phased array antenna system in the receiving mode, identify the surrounding environment by using the analysis results of the received signals, and provide the identification results of the surrounding environment to the vehicle's autonomous driving control device.

7. The environmental identification sensor device according to claim 6, wherein, The sensor data processor is configured to estimate the orientation of the surrounding environment based on the phase difference of signals received through different antennas.

8. The environmental identification sensor device according to claim 6, wherein, The sensor data processor is configured to estimate the relative velocity of the surrounding environment based on the frequency offset of signals transmitted and received through at least one antenna of the phased array antenna system.

9. The environmental identification sensor device according to claim 1, wherein, The antenna array manager is configured to monitor the status of the plurality of antennas, configure the at least one antenna array using available antennas, and disable the remaining antennas among the plurality of antennas other than the available antennas used to configure the at least one antenna array.

10. The environmental identification sensor device according to claim 1, wherein, The beamforming controller is configured to use a machine learning model that learns from data collected in various environments to determine the phase and the amplitude.

11. The environmental identification sensor device according to claim 10, wherein, The beamforming controller is configured to correct the phase and amplitude of the output data of the machine learning model based on the beam target direction and the configuration of the at least one antenna array.

12. A battery pack, comprising: Multiple battery modules; Multiple BMSs, each including at least one antenna, are configured to monitor the multiple battery modules; The master BMS includes at least one antenna and is configured to wirelessly communicate with the plurality of slave BMSs; as well as An environmental identification sensor device is configured to configure the antennas of the plurality of slave BMSs and the antennas of the master BMS as phased array antennas, and to control the phase and amplitude of the signal corresponding to each antenna based on the identification results of the surrounding environment.

13. The battery pack according to claim 12, wherein, The environmental identification sensor device includes: A sensor data processor is configured to identify the surrounding environment and determine at least one beam target direction based on the identification result of the surrounding environment; An antenna array manager is configured to configure at least one antenna array from the phased array antennas corresponding to the at least one beam target direction; and A beamforming controller is configured to control the phase and amplitude of each antenna constituting the at least one antenna array to form a beam in the at least one beam-target direction.

14. The battery pack according to claim 13, wherein, The sensor data processor is configured to analyze vehicle data received from the vehicle's autonomous driving control unit and use the analysis results of the vehicle data to identify the surrounding environment. The vehicle data includes sensor data collected from the sensor system of the autonomous driving control device and driving status information including the vehicle's driving mode.

15. The battery pack according to claim 13, wherein, The sensor data processor is configured to analyze signals received through the phased array antenna in receiving mode, identify the surrounding environment by using the analysis results of the received signals, and provide the identification results of the surrounding environment to the vehicle's autonomous driving control device.

16. The battery pack according to claim 13, wherein, The antenna array manager is configured to monitor the status of the antennas of the plurality of slave BMSs and the antennas of the master BMS, and to configure the at least one antenna array using available antennas.

17. A method for identifying the environment in an environmental identification sensor device located within a battery pack, the method comprising: Identify the surrounding environment; as well as The phased array antenna is controlled to form a beam in at least one beam target direction based on the identification results of the surrounding environment. The phased array antenna includes at least one antenna of each of a plurality of slave BMS that monitors a plurality of battery modules and at least one antenna of a master BMS that communicates with the plurality of slave BMS.

18. The method according to claim 17, wherein, The control of the phased array antenna includes: The direction of the at least one beam target is determined based on the identification result of the surrounding environment; Configure at least one antenna array from the phased array antenna that corresponds to the at least one beam target direction; and The phase and amplitude of each antenna constituting the at least one antenna array are controlled to form the beam in the at least one beam target direction.

19. The method according to claim 18, wherein, The configuration of the at least one antenna array includes: Monitor the status of each antenna that constitutes the phased array antenna; Configure the at least one antenna array using available antennas; and The remaining antennas in the available antenna array, excluding the available antennas configured in the at least one antenna array, are deactivated.

20. The method of claim 17, wherein, The identification of the surrounding environment includes: Signals are received via the phased array antenna; The surrounding environment is identified by analyzing the received signals; and The surrounding environment is identified by analyzing vehicle data received from the vehicle's autonomous driving control unit. The vehicle data includes sensor data collected from the sensor system of the autonomous driving control device and driving status information including the vehicle's driving mode.

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