Ultrasonic sensor, signal processing method thereof, and vehicle

Abstract

To provide an ultrasonic sensor, signal processing method thereof, and vehicle.SOLUTION: An ultrasonic sensor according to an embodiment of the present invention may comprise: a transmission / reception interface configured to transmit an ultrasonic signal based on a burst signal and receive an echo signal of the ultrasonic signal; a signal processing module configured to detect an envelope signal from the burst signal and the echo signal; and a signal compression module configured to compare the envelope signal with a preset threshold based on a preset sampling rate and, when the size of the envelope signal satisfies a preset reference, generate a data frame with sizes of the envelope signal.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an ultrasonic sensor, and more particularly, to an ultrasonic sensor that can efficiently process an envelope signal to provide data having an improved sampling rate and amplitude resolution, a signal processing method for an ultrasonic sensor, and a vehicle.

Background Art

[0002] Vehicles are provided with various types of sensors for assisting in the operation of the vehicle. For example, an ultrasonic sensor that generates distance information is installed in the vehicle.

[0003] The ultrasonic sensor can generate ultrasonic waves to sense surrounding objects and measure the distance between the vehicle and the surrounding objects to generate distance information.

[0004] Conventionally, the ultrasonic sensor generated distance information through signal processing and transmitted it to the vehicle controller. However, recently, as the performance of the vehicle controller has improved, the ultrasonic sensor tends to transmit the envelope signal to the vehicle controller, and the vehicle controller generates the distance information between the vehicle and the surrounding objects based on the envelope signal.

[0005] The ultrasonic sensor compresses the envelope signal in order to transmit the envelope signal to the vehicle controller. Conventionally, since the ultrasonic sensor compressed the entire envelope signal, signals that are not effective for object detection were also targets for compression.

[0006] Such background art is technical information that the inventor possessed for deriving the present invention or acquired during the derivation process of the present invention, and is not necessarily prior art publicly disclosed to the general public before the filing of the present invention.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The embodiments disclosed in the present invention are devised in response to the aforementioned requirements, and aim to provide an ultrasonic sensor, a signal processing method for an ultrasonic sensor, and a vehicle, which can perform efficient compression by compressing an envelope signal effective for object detection as a target to be compressed.

[0008] In addition, embodiments of the present invention aim to provide an ultrasonic sensor, a signal processing method for an ultrasonic sensor, and a vehicle, which can provide data sampled at an increased sampling rate and having high resolution through efficient compression.

[0009] In addition, embodiments of the present invention aim to provide an ultrasonic sensor, a signal processing method for an ultrasonic sensor, and a vehicle, which can provide time stamp data together with sampling data to enable accurate object detection.

[0010] The technical problems of the present invention are not limited to the above-mentioned matters, and those with ordinary knowledge in the technical field to which the present invention pertains will be able to clearly understand other problems intended by the present invention from the following description.

Means for Solving the Problems

[0011] As a technical means for achieving the above-mentioned technical problems, it is possible to provide an ultrasonic sensor, a signal processing method for an ultrasonic sensor, and a vehicle, which can efficiently process an envelope signal and provide data having an improved sampling rate and amplitude resolution.

[0012] The ultrasonic sensor according to an embodiment of the present invention includes a transmission / reception interface that transmits an ultrasonic signal based on a burst signal and receives an echo signal for the ultrasonic signal, a signal processing module that detects an envelope signal from the burst signal and the echo signal, and a signal compression module that compares the envelope signal with a preset sampling rate and a preset threshold value, and generates a data frame consisting of the magnitude of the envelope signal when the magnitude of the envelope signal satisfies a preset criterion.

[0013] According to an embodiment of the present invention, when the magnitude of the envelope signal satisfies the criterion, the signal compression module can match a level value preset to output when the criterion is satisfied, time stamp data related to the sampling time point, and the magnitude of the envelope signal and store them in a memory.

[0014] According to an embodiment of the present invention, when the magnitude of the envelope signal does not satisfy the criterion, the signal compression module can store in the memory a level value preset to output when the criterion is not satisfied and time stamp data related to the sampling time point.

[0015] According to an embodiment of the present invention, when the number of times of generating time stamp data reaches a preset reference number of times, the signal compression module searches the memory and extracts the magnitude of the envelope signal and the time stamp data that match the level value preset to output when the criterion is satisfied, and can generate a data frame.

[0016] According to an embodiment of the present invention, the signal compression module compares the envelope signal with one threshold value, and if the magnitude of the envelope signal is equal to or greater than the threshold value at the sampling time point, it can store the first level value, the time stamp data related to the sampling time point, and the magnitude of the envelope signal.

[0017] According to an embodiment of the present invention, if the magnitude of the envelope signal is less than the threshold value, the signal compression module can store the second level value and the time stamp data related to the sampling time point.

[0018] According to an embodiment of the present invention, the signal compression module compares the envelope signal with two threshold values. If the magnitude of the envelope signal at the sampling time point is between the first threshold value and the second threshold value greater than the first threshold value, the first level value, the time stamp data related to the sampling time point, and the magnitude of the envelope signal can be stored.

[0019] According to an embodiment of the present invention, if the magnitude of the envelope signal is less than the first threshold value, the signal compression module stores the second level value and the time stamp data related to the sampling time point. If the magnitude of the envelope signal is greater than the second threshold value, the third level value and the time stamp data related to the sampling time point can be stored.

[0020] The signal processing method of the ultrasonic sensor according to an embodiment of the present invention can include steps of transmitting an ultrasonic signal based on a burst signal, receiving an echo signal for the ultrasonic signal, detecting an envelope signal from the burst signal and the echo signal, comparing the envelope signal with a preset threshold value based on a preset sampling rate, and generating a data frame composed of the magnitude of the envelope signal when the magnitude of the envelope signal meets a preset criterion.

[0021] A vehicle according to an embodiment of the present invention includes a vehicle controller and an ultrasonic sensor. The ultrasonic sensor receives an echo signal for an ultrasonic signal transmitted based on a burst signal, detects an envelope signal from the burst signal and the echo signal, compares the envelope signal with a preset sampling rate and a preset threshold value, and if the magnitude of the envelope signal meets a preset criterion, a data frame consisting of the magnitude of the envelope signal can be generated and transmitted to the vehicle controller.

[0022] Specific matters according to various examples of the present invention other than the means for solving the above-described problems are included in the following description and drawings.

Advantages of the Invention

[0023] According to an embodiment of the present invention, it is possible to provide an ultrasonic sensor capable of performing efficient compression by compressing an envelope signal effective for object detection as a compression target.

[0024] Since the ultrasonic sensor according to the embodiment targets an envelope signal effective for object detection as a compression target, an envelope signal not effective for object detection is excluded from the compression target, and the amount of compressed data can be reduced.

[0025] As the amount of compressed data is reduced in this way, data can be transmitted to the vehicle controller using low-cost serial communication such as DSI3 without using expensive communication such as CAN (Controller Area Network).

[0026] In addition, the sampling rate can be improved by efficient compression, and data with improved amplitude resolution can be transmitted to the vehicle controller, so that the object detection accuracy of the vehicle controller can be improved.

[0027] In addition, the ultrasonic sensor according to the embodiment can improve the object detection accuracy of the vehicle controller by providing time stamp data together with sampling data.

[0028] The effects of the present invention are not limited to the above-described effects, and other effects not described above will be clearly understood by those skilled in the art from the following description.

[0029] The problems to be solved by the above-described invention, the means for solving the problems, and the contents of the effects of the invention do not specify the essential features of the claims. Therefore, the scope of rights of the claims is not limited by the matters described in the content of the invention.

Brief Description of the Drawings

[0030] The drawings attached below are for helping the understanding of the embodiments of the present invention, and provide the embodiments together with the detailed description. However, the technical features of the present embodiment are not limited to a specific drawing, and the features disclosed in each drawing can be combined with each other to form a new embodiment.

[0031]

Figure 1

Figure 2

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Embodiments for Carrying Out the Invention

[0032] The advantages, features, and methods for achieving them of the present invention will become clear by referring to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be realized in various different forms. However, this embodiment is provided only to make the disclosure of the present invention complete and to fully inform those with ordinary knowledge in the technical field to which the present invention pertains of the scope of the invention. The present invention is defined only by the scope of the claims.

[0033] The shapes, sizes, ratios, angles, numbers, etc. disclosed in the drawings for explaining the embodiments of the present invention are exemplary, and the present invention is not limited to the matters illustrated. Throughout the specification, the same reference numerals refer to the same components. Also, when explaining the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, that detailed description will be omitted. When terms such as "including", "having", "consisting of", etc. are used in this specification, other parts can be added unless "only" is used. When a component is expressed in the singular, it includes the case of including a plurality unless there is a particularly explicit description.

[0034] When interpreting a component, even if there is no separate explicit description regarding the error range, it is interpreted as including the error range.

[0035] When it is an explanation about the time relationship, when the time sequence relationship is explained by "after", "then", "next", "before", etc., it can include the case where they are not consecutive unless "immediately" or "directly" is used.

[0036] Terms such as "first" and "second" are used to describe various components, but these components are not limited by these terms. These terms are only used to distinguish one component from another. Thus, the first component referred to below may be the second component within the technical idea of the present invention.

[0037] In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. can be used. These terms are only for distinguishing the components from other components, and the essence, order, sequence, or number of the components are not limited by the terms. When a component is described as being "connected", "coupled", or "joined" to another component, it can be directly connected or joined to the other component, but it should be understood that there may be another component "interposed" between the components that can be indirectly connected or joined, unless otherwise explicitly stated.

[0038] It should be understood that "at least one" includes all combinations of one or more of the related components. For example, the meaning of "at least one of the first, second, and third components" can be said to include not only the first, second, or third components, but also all combinations of two or more of the first, second, and third components.

[0039] The respective features of the various embodiments in this specification can be partially or wholly combined or combined with each other, and various linkages and drives are technically possible. Each embodiment may be implemented independently of each other or implemented together in an associated relationship.

[0040] The scale of the components shown in the drawings has a scale different from the actual one for the convenience of explanation, and thus is not limited to the scale shown in the drawings.

[0041] Hereinafter, with reference to the accompanying drawings, an ultrasonic sensor, a signal processing method thereof, and a vehicle including the same according to an embodiment of the present invention will be described.

[0042] FIG. 1 is a diagram showing a vehicle 1 including an ultrasonic sensor 100 according to an embodiment of the present invention.

[0043] Referring to FIG. 1, the vehicle 1 can include an ultrasonic sensor 100 according to an embodiment of the present invention.

[0044] For example, the vehicle 1 may be an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), etc., and the type of the vehicle 1 is not limited thereto.

[0045] The vehicle 1 can be equipped with a vehicle controller 200 that is linked with the ultrasonic sensor 100 and generates distance information between the vehicle 1 and objects around the vehicle based on the data provided by the ultrasonic sensor 100.

[0046] The ultrasonic sensor 100 can transmit an ultrasonic signal and receive an echo signal reflected back by an object around the vehicle.

[0047] The ultrasonic sensor 100 can process the received echo signal to generate an envelope signal, compress the generated envelope signal, and output the compressed data to the vehicle controller 200.

[0048] As shown in FIG. 1, the ultrasonic sensor 100 can be installed in front of the vehicle 1, but the installation position of the ultrasonic sensor 100 is not limited thereto. For example, the ultrasonic sensor 100 can be installed at least at one of the front, rear, left side, and right side of the vehicle 1. For example, the ultrasonic sensor 100 can be installed on the bumper, grille, door, etc. of the vehicle 1.

[0049] According to an embodiment, the ultrasonic sensor 100 can generate compressed data by using, as a compression target, a signal in a region effective for object detection in an envelope signal generated by processing an echo signal.

[0050] FIG. 2 is a diagram showing the configuration of the ultrasonic sensor 100 according to an embodiment of the present invention.

[0051] Referring to FIGS. 1 and 2, the ultrasonic sensor 100 can include a transmission / reception interface 110, a signal processing module 120, a signal compression module 130, and a communication interface 140, and the configuration of the ultrasonic sensor 100 is not limited thereto.

[0052] The transmission / reception interface 110 can transmit an ultrasonic signal and receive an echo signal reflected back by an object around the vehicle.

[0053] According to an embodiment, the transmission / reception interface 110 can include a signal generation module 111, a transducer 112, and a signal reception module 113, and the configuration of the transmission / reception interface 110 is not limited thereto.

[0054] The signal generation module 111 can generate an electrical signal (burst signal) having a preset frequency in response to a preset transmission cycle.

[0055] The transducer 112 can convert the electrical signal generated by the signal generation module 111 into physical vibrations to transmit an ultrasonic signal, receive the echo signal reflected back by the objects around the vehicle, and convert it into an electrical signal with an analog waveform.

[0056] The signal reception module 113 can receive the burst signal generated by the signal generation module 111 and the echo signal transmitted from the transducer 112. For example, the signal reception module 113 can amplify the received electrical signal according to a preset gain.

[0057] For example, the signal generation module 111 can include a clock generation module that generates a clock signal according to a preset period, a signal generator that generates an electrical signal (burst signal) at a preset frequency in response to the clock signal, and a driver that drives the transducer 112 based on the electrical signal generated by the signal generator. The configuration of the signal generation module 111 is not limited to this.

[0058] For example, the signal reception module 113 can include a Programmable Gain Amplifier (PGA), and the configuration of the signal reception module 113 is not limited to this.

[0059] The signal processing module 120 can detect an envelope signal from the burst signal and the echo signal transmitted from the signal reception module 113 of the transceiver interface 110.

[0060] According to an embodiment, the signal processing module 120 can convert the burst signal and the echo signal in analog form into digital form, then pass them through a band-pass filter to generate a sine wave, and detect an envelope signal based on the generated sine wave.

[0061] For this purpose, the signal processing module 120 can include an Analog-Digital Converter (ADC) 121, a Band Pass Filter (BPF) 122, and an envelope detector 123. The configuration of the signal processing module 120 is not limited to this.

[0062] The ADC 121 can convert the analog waveform electrical signal transmitted from the signal receiving module 113 of the transceiver interface 110 into a digital signal.

[0063] The BPF 122 can convert the digital signal transmitted from the ADC 121 into a sine wave, and the envelope detector 123 can detect an envelope signal from the signal transmitted from the BPF 122.

[0064] According to an embodiment, the signal processing module 120 can transmit the detected envelope signal to the signal compression module 130.

[0065] The signal compression module 130 can extract and compress the signal of the region effective for object detection from the envelope signal transmitted from the signal processing module 120.

[0066] According to an embodiment, the signal compression module 130 can include a first memory 131, a second memory 132, a third memory 133, and a signal compressor 134, and the configuration of the signal compression module 130 is not limited to this.

[0067] The first memory 131 can store algorithms (such as signal compression algorithms and data frame generation algorithms, etc.), setting values (such as threshold values, sampling rates, etc.), data frame format information, etc. required for the operation of the signal compressor 134.

[0068] The second memory 132 can store the envelope signal transmitted from the signal processing module 120. The third memory 133 can store the data transmitted from the signal compressor 134.

[0069] For example, the first to third memories 131, 132, and 133 can include a volatile memory and / or a non-volatile memory. The volatile memory can include DRAM (Dynamic Random Access Memory), SRAM (Static RAM), SDRAM (Synchronous DRAM), PRAM (Phase-change RAM), MRAM (Magnetic RAM), RRAM (Resistive RAM), FeRAM (Ferroelectric RAM), DBM (Data Boosting Memory), etc. The non-volatile memory can include MRAM (Magnetic Random Access Memory), ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Electically Programmable ROM), EEPROM (Electrically Erasable Programmalbe ROM), flash memory, etc.

[0070] The signal compressor 134 according to the embodiment can be realized by at least one processor, and can extract a signal in a region effective for object detection (hereinafter, detection-effective signal) from the envelope signal based on the algorithm and set value stored in the first memory 131.

[0071] For example, a processor can be a data processing device implemented in hardware having a circuit with a physical structure for performing desired operations. For example, the desired operations can include code or instructions included in a program. For example, a data processing device implemented in hardware can include a microprocessor, a central processing unit, a processor core, a multi-core processor, a multiprocessor, an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array).

[0072] According to an embodiment, the signal compressor 134 can extract a detected valid signal from the envelope signal based on one threshold value, or can extract a detected valid signal from the envelope signal based on a plurality of threshold values.

[0073] When extracting a detected valid signal from the envelope signal based on one threshold value, the signal compressor 134 can compare the magnitude (amplitude) of the envelope signal at the sampling time point with a preset threshold value based on a preset sampling rate.

[0074] According to an embodiment, the signal compressor 134 can output one level value from two level values according to the comparison result.

[0075] For example, if the magnitude of the envelope signal at the sampling time point is greater than or equal to the threshold value, the signal compressor 134 can output a first level value (for example, 1), and if the magnitude of the envelope signal at the sampling time point is less than the threshold value, the signal compressor 134 can output a second level value (for example, 0).

[0076] According to an embodiment, the signal compressor 134 can generate timestamp data for all sampling time points, match the timestamp data with the output level value, and store them in the third memory 133.

[0077] According to an embodiment, when the magnitude of the envelope signal is equal to or greater than a threshold value, the signal compressor 134 can generate timestamp data for the sampling time point. Then, when the magnitude of the envelope signal is equal to or greater than the threshold value, the signal compressor 134 can extract the magnitude of the envelope signal at the sampling time point.

[0078] The signal compressor 134 can match the timestamp data, the output level value, and the magnitude of the envelope signal and store them in the third memory 133.

[0079] According to an embodiment, the signal compressor 134 can count every time it generates timestamp data.

[0080] FIG. 3 is a diagram showing an example in which one threshold value is applied to the envelope signal according to an embodiment of the present invention.

[0081] Referring to FIG. 3, the signal compressor 134 does not extract the magnitude of the envelope signal for regions S1, S2, S3, S4, S5 having a magnitude less than the threshold value th from the envelope signal.

[0082] According to an embodiment, the signals in the non-extracted regions S1, S2, S3, S4, S5 are not included in the data frame transmitted to the vehicle controller 200. In this way, the signal compressor 134 does not extract data that does not meet the standard, thereby producing an effect of compressing the data.

[0083] When extracting a detected valid signal from an envelope signal based on multiple thresholds, if the magnitude of the envelope signal at the sampling time is less than a preset first threshold based on a preset sampling rate, the signal compressor 134 can output a second level value (for example, 0).

[0084] Then, if the magnitude of the envelope signal at the sampling time is greater than a preset second threshold which is greater than the first threshold, the signal compressor 134 outputs a third level value (for example, 2), and if the magnitude of the envelope signal at the sampling time is greater than or equal to the first threshold and less than or equal to the second threshold, that is, between the first threshold and the second threshold, the signal compressor 134 can output a first level value (for example, 1).

[0085] According to an embodiment, the signal compressor 134 can generate timestamp data for all sampling times, match the timestamp data with the output level value, and store them in the third memory 133.

[0086] According to an embodiment, the signal compressor 134 can generate timestamp data for the sampling time when the magnitude of the envelope signal is between the first threshold and the second threshold. And if the magnitude of the envelope signal is between the first threshold and the second threshold, the signal compressor 134 can extract the magnitude of the envelope signal.

[0087] The signal compressor 134 can match the timestamp data, the output level value, and the magnitude of the envelope signal and store them in the third memory 133.

[0088] According to an embodiment, the signal compressor 134 can count each time it generates timestamp data.

[0089] According to the embodiment, the third memory 133 can store a data set in which the time stamp data and the output level value are matched, and a data set in which the time stamp data, the output level value, and the magnitude of the envelope signal are matched.

[0090] According to the embodiment, the third memory 133 can store a data set in which the time stamp, the output level value, and the magnitude of the envelope signal are matched.

[0091] FIG. 4 is a diagram showing an example in which two threshold values are applied to the envelope signal according to an embodiment of the present invention.

[0092] Referring to FIG. 4, the signal compressor 134 does not extract the magnitude of the envelope signal from the envelope signal for regions S1', S3', S4', S5', S6' having a magnitude less than the first threshold Th_1 and region S2' having a magnitude greater than the second threshold Th_2.

[0093] According to the embodiment, the signals in the regions S1', S2', S3', S4', S5', S6' that are not extracted are not included in the data frame transmitted to the vehicle controller 200. In this way, the signal compressor 134 does not extract data that does not meet the criteria, thereby achieving the effect of compressing the data.

[0094] On the other hand, FIGS. 3 and 4 illustrate that the threshold values Th, Th_1, and Th_2 are maintained constant, but the present invention is not limited thereto.

[0095] FIG. 5 is a diagram showing an example in which one variable threshold value is applied to the envelope signal according to an embodiment of the present invention, and FIG. 6 is a diagram showing an example in which one variable threshold value and one fixed threshold value are applied to the envelope signal according to an embodiment of the present invention.

[0096] As shown in FIGS. 5 and 6, the threshold value applied to the envelope signal may be constant (Th_2 in FIG. 6) or variable (Th in FIG. 5, Th_1 in FIG. 6).

[0097] In FIG. 6, it is exemplified that the first threshold value Th_1 is variable and the second threshold value Th_2 is constant, but it is not limited thereto. For example, the first threshold value Th_1 may be constant and the second threshold value Th_2 may be variable. For example, both the first threshold value Th_1 and the second threshold value Th_2 may be variable.

[0098] When the signal compressor 134 satisfies preset conditions, it can generate a data frame including the data stored in the third memory 133 and output it to the communication interface 140.

[0099] According to an embodiment, when the number of times of generating timestamp data reaches a preset reference number of times, the signal compressor 134 can generate a data frame including the data stored in the third memory 133. The reference number of times is not limited to a specific value and can be changed according to the setting.

[0100] The signal compressor 134 sequentially searches the third memory 134 for a number of data sets corresponding to the reference number of times, extracts the timestamp data and the magnitude of the envelope signal from the data set having an output level value equal to a preset level value (for example, the first level value), and can generate a data frame based on the extracted timestamp data and the magnitude of the envelope signal.

[0101] According to an embodiment, the signal compressor 134 can generate a data set based on the DSI3 protocol, but is not limited thereto.

[0102] FIG. 7 is a diagram for explaining the structure of a data frame generated according to an embodiment of the present invention.

[0103] Referring to FIG. 7, a data frame according to an embodiment of the present invention may include a header area HA including information of an ultrasonic sensor, a first data area DA1 including timestamp data, a second data area DA2 including the magnitude of an envelope signal, and a data verification area EDA including a cyclic redundancy check (CRC) code.

[0104] The structure of the data frame generated by the ultrasonic sensor 1 of the present invention is not limited to the structure of FIG. 7.

[0105] FIG. 8 is a diagram for explaining a signal processing method of an ultrasonic sensor according to an embodiment of the present invention.

[0106] The step-by-step operations shown in FIG. 8 can be performed by the ultrasonic sensor 100 described with reference to FIGS. 1 to 7.

[0107] Referring to FIGS. 1 to 8, the ultrasonic sensor 100 transmits an ultrasonic signal using the transducer 112 based on a burst signal (S800) and can receive an echo signal (S810).

[0108] Thereafter, the ultrasonic sensor 100 can detect an envelope signal from the burst signal and the echo signal through signal processing (S820).

[0109] Thereafter, the ultrasonic sensor 100 compares the envelope signal with a preset threshold based on a preset sampling rate (S830) and can determine whether the magnitude of the envelope signal satisfies a criterion (S840).

[0110] When the determination result in step S840 satisfies the criterion (S840-Yes), the ultrasonic sensor 100 can generate and store a data set by matching a preset first level value (for example, 1), the timestamp data related to the sampling time point, and the magnitude of the envelope signal (S850).

[0111] Each time the ultrasonic sensor 100 generates timestamp data, it can count the number of generations.

[0112] According to an embodiment, the ultrasonic sensor 100 compares an envelope signal with one threshold Th. If the magnitude of the envelope signal at the sampling time is greater than or equal to the threshold Th, it can match the first level value, the timestamp data related to the sampling time, and the magnitude of the envelope signal to generate a data set.

[0113] According to an embodiment, the ultrasonic sensor 100 compares an envelope signal with two thresholds Th_1 and Th_2 (Th_1 < Th_2). If the magnitude of the envelope signal at the sampling time is between the first threshold Th_1 and the second threshold Th_2, it can match the first level value, the timestamp data related to the sampling time, and the magnitude of the envelope signal to generate a data set.

[0114] When the determination result criterion in step S840 is not satisfied (S840 - No), the ultrasonic sensor 100 can generate and store the preset second level value (for example, 0) or third level value (for example, 2) and the timestamp data related to the sampling time (S860).

[0115] Each time the ultrasonic sensor 100 generates timestamp data, it can count the number of generations.

[0116] According to an embodiment, the ultrasonic sensor 100 compares an envelope signal with one threshold Th. If the magnitude of the envelope signal at the sampling time is less than the threshold Th, it can match the second level value and the timestamp data related to the sampling time to store the data set.

[0117] According to the embodiment, the ultrasonic sensor 100 compares the envelope signal with two threshold values Th_1 and Th_2. If the magnitude of the envelope signal at the sampling time is less than the first threshold value Th_1, the second level value is matched with the time stamp data related to the sampling time to save the data set. If the magnitude of the envelope signal at the sampling time is greater than the second threshold value Th_2, the third level value is matched with the time stamp data related to the sampling time to save the data set.

[0118] Thereafter, the ultrasonic sensor 100 can determine whether the number of times the time stamp data is generated has reached the reference number of times (S870).

[0119] When the number of times the time stamp data is generated reaches the reference number of times (S870-Yes), the ultrasonic sensor 100 sequentially searches the third memory 134 for the number of data sets corresponding to the reference number of times, and extracts the time stamp data and the magnitude of the envelope signal from the data set having the level value as the set level value (for example, the first level value). Based on the extracted time stamp data and the magnitude of the envelope signal, a data frame can be generated and output to the vehicle controller 200 (S880).

[0120] When the number of times the time stamp data is generated has not reached the reference number of times (S870-No), the ultrasonic sensor 100 can compare the envelope signal with a preset threshold value based on the sampling rate by performing step S830.

[0121] The embodiments of the present invention have been described in more detail with reference to the accompanying drawings. However, the present invention is not necessarily limited to such embodiments, and various modifications can be made without departing from the technical idea of the present invention. Therefore, the embodiments disclosed in this specification are for the purpose of explanation, not for limiting the technical idea of the present invention. The scope of the technical idea of the present invention is not limited by such embodiments. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The protection scope of the present invention should be interpreted by the scope of claims, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Explanation of Reference Signs

[0122] 1 Vehicle 100 Ultrasonic Sensor 110 Transmission / Reception Interface 120 Signal Processing Module 130 Signal Compression Module 140 Communication Interface 200 Vehicle Controller

Claims

1. a transmission / reception interface that transmits an ultrasonic signal based on the burst signal and receives an echo signal corresponding to the ultrasonic signal; a signal processing module for detecting an envelope signal from the burst signal and the echo signal; and a signal compression module that compares the envelope signal with a preset threshold based on a preset sampling rate and generates a data frame comprising a magnitude of the envelope signal when the magnitude of the envelope signal meets a preset criterion.

2. 2. The ultrasonic sensor of claim 1, wherein the signal compression module matches a level value preset to be output when the magnitude of the envelope signal satisfies the criterion, timestamp data related to the sampling point, and the magnitude of the envelope signal, and stores them in a memory when the magnitude of the envelope signal satisfies the criterion.

3. 3. The ultrasonic sensor of claim 2, wherein the signal compression module stores in the memory a level value preset to be output when the magnitude of the envelope signal does not satisfy the criterion and timestamp data related to the sampling point.

4. 4. The ultrasonic sensor of claim 3, wherein when the number of times the time stamp data is generated reaches a preset reference number, the signal compression module searches the memory and extracts the magnitude of the envelope signal and the time stamp data that match a preset level value to be output when the reference is met, to generate the data frame.

5. 2. The ultrasonic sensor of claim 1, wherein the signal compression module compares the envelope signal with a threshold value and, if the magnitude of the envelope signal at a sampling time is greater than or equal to the threshold value, stores a first level value, timestamp data associated with the sampling time, and the magnitude of the envelope signal.

6. The ultrasonic sensor of claim 5 , wherein the signal compression module stores a second level value and timestamp data associated with the sampling instant if the magnitude of the envelope signal is below the threshold.

7. 2. The ultrasonic sensor of claim 1, wherein the signal compression module compares the envelope signal with two thresholds and, if the magnitude of the envelope signal at a sampling time is between a first threshold and a second threshold greater than the first threshold, stores a first level value, timestamp data associated with the sampling time, and the magnitude of the envelope signal.

8. 8. The ultrasonic sensor of claim 7, wherein the signal compression module stores a second level value and timestamp data associated with the sampling instant if the magnitude of the envelope signal is less than the first threshold, and stores a third level value and timestamp data associated with the sampling instant if the magnitude of the envelope signal is greater than the second threshold.

9. The ultrasonic sensor of claim 1 , wherein the envelope signal includes a first envelope signal from the burst signal and a second envelope signal from the echo signal.

10. transmitting an ultrasonic signal based on a burst signal; receiving an echo signal corresponding to the ultrasound signal; detecting an envelope signal from the burst signal and the echo signal; and comparing the envelope signal with a preset threshold based on a preset sampling rate, and generating a data frame consisting of the magnitude of the envelope signal when the magnitude of the envelope signal meets a preset criterion.

11. The method of claim 10, further comprising: matching the time stamp data related to the sampling time point and the magnitude of the envelope signal to store them in a memory when the magnitude of the envelope signal satisfies the preset criterion.

12. 12. The method of claim 11, further comprising the step of storing in memory a level value preset to be output and timestamp data related to the sampling point when the magnitude of the envelope signal does not satisfy the criterion.

13. searching the memory when the number of times the time stamp data is generated reaches a preset reference number; The method of claim 12, further comprising: extracting a magnitude of the envelope signal and timestamp data that is matched to a preset level value to be output when the criteria are met to generate a data frame.

14. 11. The method of claim 10, further comprising the step of comparing the envelope signal with a threshold value and, if a magnitude of the envelope signal at a sampling time is equal to or greater than at least one of the threshold values, storing a first level value, timestamp data associated with the sampling time, the magnitude of the envelope signal, or any combination thereof.

15. The method of claim 14 , further comprising the step of storing a second level value and timestamp data associated with the sampling instant if the magnitude of the envelope signal is less than a threshold value.

16. 11. The method for processing a signal of an ultrasonic sensor according to claim 10, further comprising the steps of: comparing the envelope signal with at least two thresholds and storing a first level value, timestamp data related to the sampling instant and the magnitude of the envelope signal if the magnitude of the envelope signal at the sampling instant is between a first threshold and a second threshold greater than the first threshold.

17. if the magnitude of the envelope signal is less than the first threshold, storing a second level value and timestamp data associated with the sampling instant; The method of claim 16, further comprising the step of: if the magnitude of the envelope signal is greater than the second threshold, storing a third level value and timestamp data associated with the sampling instant.

18. The method for processing a signal of an ultrasonic sensor according to claim 10, wherein the envelope signal includes a first envelope signal from the burst signal and a second envelope signal from the echo signal.

19. A vehicle controller; an ultrasonic sensor; The ultrasonic sensor receives an echo signal for the ultrasonic signal transmitted based on a burst signal, detects an envelope signal from the burst signal and the echo signal, compares the envelope signal with a predetermined threshold based on a predetermined sampling rate, and generates a data frame consisting of the magnitude of the envelope signal when the magnitude of the envelope signal satisfies a predetermined criterion, and transmits the data frame to the vehicle controller.

20. 20. The vehicle of claim 19, wherein the envelope signal includes a first envelope signal from the burst signal and a second envelope signal from the echo signal.

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