Radar-based moving object velocity estimation method and radar-based moving object velocity estimation device

Abstract

A radar-based moving object velocity estimation device according to embodiments of the present disclosure may comprise: a velocity-based classifier that determines a candidate velocity on the basis of velocities measured for surrounding objects located in the vicinity of a moving object according to a detection result of a radar sensor installed in the moving object; and a velocity estimation unit that estimates a final velocity of the moving object on the basis of the existing velocity of the moving object and the candidate velocity.

Description

Radar-based moving object speed estimation method and radar-based moving object speed estimation device

[0001] Embodiments of the present disclosure relate to a radar-based mobile speed estimation method and a radar-based mobile speed estimation device.

[0002] Vehicles and other moving objects typically have a "vehicle sensor-based moving object velocity estimation device" capable of determining their velocity (e.g., vehicle speed). A vehicle sensor-based moving object velocity estimation device can estimate the moving object velocity by utilizing various vehicle inertial sensors (e.g., lateral acceleration sensors, yaw rate sensors, longitudinal acceleration sensors, etc.).

[0003] Vehicle sensor-based vehicle speed estimation devices are only effective in linear tire friction sections with small longitudinal / lateral slip. Accurate speed estimation is difficult in nonlinear tire friction sections with high longitudinal / lateral slip or road lateral inclination. In other words, the accuracy of vehicle speed estimation using vehicle sensor-based vehicle speed estimation devices can be significantly affected by road and surface conditions, as well as the vehicle's condition.

[0004] In addition, the estimated vehicle speed by a vehicle sensor-based vehicle speed estimation device is largely dependent on a physical model and is therefore greatly affected by changes in vehicle parameters such as vehicle mass, tires, and road friction coefficient.

[0005] The accuracy of vehicle speed estimation using vehicle sensor-based speed estimation devices can significantly degrade depending on road / surface conditions or the vehicle's condition. Furthermore, vehicle sensor failures can also significantly reduce vehicle speed estimation accuracy. In such cases, vehicle behavior control or autonomous driving based on vehicle speed cannot function properly.

[0006] Embodiments of the present disclosure can provide a radar-based mobile speed estimation method and a radar-based mobile speed estimation device that can accurately estimate the speed of a mobile object regardless of the state of the mobile object, the state of the road, or the state of the road surface.

[0007] A radar-based mobile speed estimation device according to embodiments of the present disclosure may include a speed-based classifier that determines a candidate speed based on speeds measured for surrounding objects located around the mobile according to detection results of a radar sensor installed on the mobile; and a speed estimation unit that estimates a final mobile speed for the mobile based on the existing mobile speed and candidate speed for the mobile.

[0008] The candidate velocity can correspond to the velocity of a fixed object among surrounding objects located around the moving object.

[0009] A speed-based classifier can determine the maximum number of speeds as candidate speeds among the speeds measured for surrounding objects located around the moving object based on detection results of a radar sensor installed on the moving object.

[0010] The speed estimation unit can estimate the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio.

[0011] The speed estimation unit can estimate the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio based on the comparison result between the existing speed of the moving object and the candidate speed, or can estimate the existing speed of the moving object as the final speed of the moving object.

[0012] The speed estimation unit estimates the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio when the difference between the candidate speed determined by the speed-based classifier and the existing speed of the moving object is within a certain range, and estimates the existing speed of the moving object as the final speed of the moving object when the difference between the candidate speed determined by the speed-based classifier and the existing speed of the moving object is not within a certain range.

[0013] A radar-based mobile speed estimation device according to embodiments of the present disclosure may include a fixed speed measurement unit that measures a fixed speed with respect to a stationary stationary object around the mobile object based on a detection result of a radar sensor installed on the mobile object; and a mobile speed estimation unit that estimates a final mobile speed with respect to the mobile object based on the fixed speed.

[0014] The fixed body speed measuring unit can determine the speed having the largest number of speeds among the speeds measured for surrounding objects located around the moving body as the fixed body speed.

[0015] The moving object velocity estimation unit can estimate the final moving object velocity by combining the existing moving object velocity and the fixed object velocity at a predetermined ratio. Alternatively, the moving object velocity estimation unit can estimate the existing moving object velocity as the final moving object velocity.

[0016] A radar-based mobile speed estimation method according to embodiments of the present disclosure may include a step in which a radar-based mobile speed estimation device determines a candidate speed based on speeds measured for surrounding objects located around the mobile according to detection results of a radar sensor installed on the mobile; and a step in which the radar-based mobile speed estimation device estimates a final mobile speed for the mobile based on the existing mobile speed and the candidate speed for the mobile.

[0017] The candidate velocity can correspond to the velocity of a fixed object among surrounding objects located around the moving object.

[0018] In the step of determining a candidate speed, a radar-based mobile speed estimation device can determine the maximum number of speeds among the speeds measured for surrounding objects located around the mobile body as the candidate speed based on the detection results of a radar sensor installed on the mobile body.

[0019] In the step of estimating the final moving object speed, the radar-based moving object speed estimation device can estimate the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio.

[0020] In the step of estimating the final vehicle speed, the radar-based vehicle speed estimation device can estimate the final vehicle speed by combining the existing vehicle speed and the candidate speed at a predetermined combination ratio based on the comparison result between the existing vehicle speed and the candidate speed, or can estimate the existing vehicle speed as the final vehicle speed.

[0021] The step of estimating the final moving object speed may include: a step of determining whether a difference between the candidate speed and the existing moving object speed is within a certain range; a step of estimating the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio if the difference between the candidate speed and the existing moving object speed is not within the certain range; and a step of estimating the existing moving object speed as the final moving object speed if the difference between the candidate speed and the existing moving object speed is not within the certain range.

[0022] A radar-based mobile speed estimation method according to embodiments of the present disclosure may include a fixed body speed measurement step in which a radar-based mobile speed estimation device measures a fixed body speed with respect to a stationary body stationary around the mobile body based on a detection result of a radar sensor installed on the mobile body; and a moving body speed estimation step in which the radar-based mobile body speed estimation device estimates a final moving body speed with respect to the moving body based on the fixed body speed.

[0023] In the stationary object speed measurement step, the radar-based mobile object speed estimation device can determine the speed having the largest number of speeds among the speeds measured for surrounding objects located around the mobile object as the stationary object speed.

[0024] In the moving object speed estimation step, the radar-based moving object speed estimation device can estimate the final moving object speed by combining the existing moving object speed and fixed object speed for the moving object at a predetermined ratio.

[0025] In the moving object speed estimation step, the radar-based moving object speed estimation device can estimate the existing moving object speed as the final moving object speed.

[0026] According to embodiments of the present disclosure, a radar-based mobile speed estimation method and a radar-based mobile speed estimation device capable of accurately estimating the speed of a mobile object regardless of the state of the mobile object, the state of the road, or the state of the road surface can be provided.

[0027] FIG. 1 illustrates a driving situation of a vehicle equipped with a radar-based mobile speed estimation device according to embodiments of the present disclosure.

[0028] FIG. 2 is a block diagram of a radar-based mobile speed estimation device according to embodiments of the present disclosure.

[0029] FIG. 3 shows a velocity histogram for determining the rearward velocity of a radar-based mobile speed estimation device according to embodiments of the present disclosure.

[0030] FIG. 4 is a flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0031] FIG. 5 is a detailed flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0032] FIG. 6 is a block diagram of a radar-based mobile speed estimation device according to embodiments of the present disclosure.

[0033] FIG. 7 is a flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0034] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. When adding reference numerals to components in each drawing, the same components may have the same numerals as much as possible even if they are shown in different drawings. In addition, when describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description may be omitted. When "includes," "has," "consists of," etc. are used in this specification, other parts may be added unless "only" is used. When a component is expressed in the singular, it may include a plural unless there is a special explicit description.

[0035] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the present disclosure. These terms are only intended to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by the terms.

[0036] In a description of the positional relationship of components, when it is described that two or more components are "connected," "combined," or "connected," it should be understood that the two or more components may be directly "connected," "combined," or "connected," but that the two or more components may also be further "interposed" with another component to be "connected," "combined," or "connected." Here, the other component may be included in one or more of the two or more components that are "connected," "combined," or "connected" to each other.

[0037] In the description of the temporal flow relationship related to components, operation methods, or manufacturing methods, for example, when the temporal or flow relationship is described as “after”, “following”, “next to”, “before”, etc., it may also include cases where it is not continuous, unless “immediately” or “directly” is used.

[0038] Meanwhile, when numerical values ​​or corresponding information (e.g., levels, etc.) for components are mentioned, even without separate explicit description, the numerical values ​​or corresponding information may be interpreted as including an error range that may occur due to various factors (e.g., process factors, internal or external impact, noise, etc.).

[0039] Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0040] FIG. 1 shows a driving situation of a vehicle in which a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure is installed.

[0041] Referring to FIG. 1, at least one stationary fixed body (20) may exist around a road (1) on which a moving body (10), such as a vehicle, is traveling. In addition, another moving body (30) may travel on the road (1) in a direction opposite to the direction in which the moving body (10) is traveling.

[0042] A mobile body (10) according to embodiments of the present disclosure may include a radar sensor (100) and a radar-based mobile body speed estimation device (110).

[0043] A radar sensor (100) according to embodiments of the present disclosure can detect surrounding objects or detect the speed of surrounding objects based on signals received by transmitting radar signals and reflecting them from the surroundings.

[0044] A radar-based mobile speed estimation device (110) according to embodiments of the present disclosure can estimate the speed (Vm) of a mobile body (10) based on the measurement of the speed (Vs) of a stationary body (20) stationary around the mobile body (10) in correspondence with the progress speed (Vm) of the mobile body (10) by using a radar sensor (100) attached to the mobile body (10).

[0045] In the embodiments of the present disclosure, the fixed body (20) is stationary, so the actual speed is 0 (zero), but as a result of radar detection through the radar sensor (100), the fixed body (20) can be determined to be moving at a predetermined speed (Vs).

[0046] The fact that the measured speed (Vs) of the fixed body (20) corresponds to the progress speed (Vm) of the moving body (10) may mean that the size of the measured speed (Vs) of the fixed body (20) is the same as or almost the same as the size of the progress speed (Vm) of the moving body (10) (|Vs|=|Vm|), and the direction of the measured speed (Vs) of the fixed body (20) is opposite to the direction of the progress speed (Vm) of the moving body (10). Here, the measured speed (Vs) of the fixed body (20) may be the relative speed between the moving body (10) and the fixed body (20).

[0047] For example, fixed objects (20) around the road (1) on which the mobile object (10) is driving may include road structures, buildings, trees, etc.

[0048] Meanwhile, the mobile body (10) has a conventional “vehicle sensor-based mobile body speed estimation device” that can determine the speed of the mobile body (e.g., vehicle speed). The vehicle sensor-based mobile body speed estimation device can estimate the speed of the mobile body by utilizing various vehicle inertial sensors (e.g., lateral acceleration sensor, yaw rate sensor, longitudinal acceleration sensor, etc.).

[0049] Vehicle sensor-based vehicle speed estimation devices are only effective in linear tire friction sections with small longitudinal / lateral slip. Accurate speed estimation is difficult in nonlinear tire friction sections with high longitudinal / lateral slip or road lateral inclination. In other words, the accuracy of vehicle speed estimation using vehicle sensor-based vehicle speed estimation devices can be significantly affected by road and surface conditions, as well as the vehicle's condition.

[0050] In addition, the estimated vehicle speed by a vehicle sensor-based vehicle speed estimation device is largely dependent on a physical model and is therefore greatly affected by changes in vehicle parameters such as vehicle mass, tires, and road friction coefficient.

[0051] In addition, the accuracy of estimating the speed of a moving object by a vehicle sensor-based moving object speed estimation device estimates the speed of a moving object by integrating the measured values ​​measured by vehicle inertial sensors (e.g., lateral acceleration sensor, yaw rate sensor, longitudinal acceleration sensor, etc.). Therefore, in actual application, a high-precision sensor may be required or there may be a possibility of divergence in the estimated value.

[0052] Therefore, when a mobile object (10) is in an environment where the accuracy of the mobile object speed estimation by a vehicle sensor-based mobile object speed estimation device is low, when the vehicle sensor-based mobile object speed estimation device is broken, or when an auxiliary means for increasing the accuracy of the mobile object speed estimation by the vehicle sensor-based mobile object speed estimation device is needed, the radar-based mobile object speed estimation method and the radar-based mobile object speed estimation device (110) according to embodiments of the present disclosure can be used very usefully.

[0053] Accordingly, the radar-based mobile speed estimation method and the mobile speed estimated by the radar-based mobile speed estimation device (110) according to the embodiments of the present disclosure can be very usefully used for autonomous driving or behavior control of the mobile (10).

[0054] Hereinafter, a radar-based mobile speed estimation method and a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure will be described in more detail.

[0055] FIG. 2 is a block diagram of a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure.

[0056] Referring to FIG. 2, a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure may include a speed-based classifier (210) and a speed estimation unit (220).

[0057] Referring to FIG. 2, a speed-based classifier (210) can determine a candidate speed based on the speeds measured for surrounding objects located around the moving object (10) according to the output (radar detection result) of a radar sensor (100) installed on the moving object (10).

[0058] Referring to FIG. 2, the speed estimation unit (220) can estimate the final moving object speed for the moving object (10) based on the existing moving object speed and candidate speed for the moving object (10).

[0059] The surrounding objects located around the moving body (10) may include at least one of a fixed body (20) and another moving body (30).

[0060] The candidate speed determined by the speed-based classifier (210) may correspond to the speed of a stationary object (20) among surrounding objects located around the moving object (10).

[0061] For example, a speed-based classifier (210) can determine the maximum number of speeds as a candidate speed among the speeds measured for surrounding objects located around the moving object (10) based on the detection results of a radar sensor (100) installed on the moving object (10).

[0062] For example, the speed estimation unit (220) can estimate the final speed of the moving object by combining the existing moving object speed and the candidate speed at a predetermined combination ratio, or can estimate the final speed of the moving object (10) based on the comparison result between the existing moving object speed and the candidate speed.

[0063] In other words, the speed estimation unit (220) can estimate the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio based on the comparison result between the existing speed of the moving object and the candidate speed. The speed estimation unit (220) can estimate the existing speed of the moving object as the final speed of the moving object based on the comparison result between the existing speed of the moving object and the candidate speed.

[0064] To explain more specifically, the speed estimation unit (220) estimates the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio when the difference between the candidate speed determined by the speed-based classifier (210) and the existing speed of the moving object is within a certain range, and when the difference between the candidate speed determined by the speed-based classifier (210) and the existing speed of the moving object is not within a certain range, the speed estimation unit (220) estimates the existing speed of the moving object as the final speed of the moving object.

[0065] FIG. 3 shows a velocity histogram for determining the rear velocity of a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure.

[0066] As a result of detection by the radar sensor (100), multiple speeds may be detected. This may be due to the presence of multiple objects around the moving object (10).

[0067] The plurality of objects existing around the moving body (10) may include two or more fixed bodies, or may include at least one fixed body and at least one other moving body.

[0068] The speed histogram shown in Fig. 3 is a graph showing the number of detected speeds for each speed detected as a result of the winding by the radar sensor (100).

[0069] Referring to Fig. 3, with respect to the number of objects of each type existing around a moving object (10), the number of surrounding fixed objects (20) is mostly greater than the number of moving objects (30). Considering this characteristic, the speed-based classifier (210) can select the maximum number of speeds as the candidate speed of the moving object (10).

[0070] In other words, the speed-based classifier (210) can determine the maximum number of speeds as a candidate speed among the speeds measured for surrounding objects located around the moving object (10) based on the detection results of the radar sensor (100) installed on the moving object (10).

[0071] Referring to FIG. 3, the speed-based classifier (210) can remove the noise level by setting a threshold (TH) and determine the candidate speed of the moving object (10).

[0072] For example, a speed-based classifier (210) can consider speeds having a number less than a threshold (TH) as noise (speed noise) and determine a candidate speed of a moving object (10) among speeds having a number greater than or equal to the threshold (TH).

[0073] FIG. 4 is a flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0074] Referring to FIG. 4, a radar-based mobile speed estimation method according to embodiments of the present disclosure may include a step (S400) in which a radar-based mobile speed estimation device (110) obtains a detection result of a radar sensor (100) installed in a mobile body (10), a step (S410) in which the radar-based mobile speed estimation device (110) determines a candidate speed based on speeds measured for surrounding objects located around the mobile body (10) according to the detection result of the radar sensor (100) installed in the mobile body (10), and a step (S420) in which the radar-based mobile speed estimation device (110) estimates a final mobile speed for the mobile body (10) based on the existing mobile speed and candidate speed for the mobile body (10).

[0075] The candidate speed determined in the candidate speed determination step (S410) may correspond to the speed of a fixed object (20) among surrounding objects located around the moving object (10).

[0076] In the candidate speed determination step (S410), the radar-based mobile speed estimation device (110) can determine the maximum number of speeds among the speeds measured for surrounding objects located around the mobile body (10) as the candidate speed based on the detection results of the radar sensor (100) installed on the mobile body (10).

[0077] In the final moving object speed estimation step (S420), the radar-based moving object speed estimation device (110) can estimate the final moving object speed by combining the existing moving object speed and candidate speed at a predetermined combination ratio.

[0078] If the road is a city road or national highway, there may be more fixed objects within the radar detection range. Therefore, accurate candidate speeds can be determined to accurately estimate the vehicle's speed.

[0079] However, if the road is a highway or other such road, there may be more moving objects within the radar detection range. In this case, the candidate speed cannot be accurately determined, making it difficult to accurately estimate the moving object speed.

[0080] In other words, when a mobile object (10) equipped with a radar sensor (100) and a radar-based mobile object speed estimation device (110) is driving in a road environment where there are more mobile objects than fixed objects within the radar detection range, there may be a limitation in accurately estimating the mobile object speed.

[0081] The radar-based mobile speed estimation device (110) according to embodiments of the present disclosure can provide a radar-based mobile speed estimation method to overcome the above limitations, which will be described with reference to FIG. 5.

[0082] FIG. 5 is a detailed flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0083] Referring to FIG. 5, a radar-based mobile speed estimation method according to embodiments of the present disclosure may include a step (S400) in which a radar-based mobile speed estimation device (110) obtains a detection result of a radar sensor (100) installed in a mobile body (10), a step (S410) in which the radar-based mobile speed estimation device (110) determines a candidate speed (Vc) based on speeds measured for surrounding objects located around the mobile body (10) according to the detection result of the radar sensor (100) installed in the mobile body (10), and a step (S420) in which the radar-based mobile speed estimation device (110) estimates a final mobile speed (Vm) for the mobile body (10) based on the existing mobile speed (Vm0) of the mobile body (10) and the candidate speed (Vc) of the mobile body (10).

[0084] The candidate speed (Vc) of the moving body (10) determined in the candidate speed determination step (S410) may correspond to the speed (Vs) of a fixed body (20) among surrounding objects located around the moving body (10).

[0085] In the candidate speed determination step (S410), the radar-based mobile speed estimation device (110) can determine the maximum number of speeds among the speeds measured for surrounding objects located around the mobile body (10) as the candidate speed (Vc) based on the detection results of the radar sensor (100) installed on the mobile body (10).

[0086] In the final moving object speed estimation step (S420), the radar-based moving object speed estimation device (110) can estimate the final moving object speed (Vm) by combining the existing moving object speed (Vm0) and the candidate speed (Vc) at a predetermined combination ratio (a: b).

[0087] The combination ratio mentioned above is the ratio of the moving object speed (Vm0) and the candidate speed (Vc), and can be a:b. Here, a is a real number greater than or equal to 0 and less than or equal to 1, b is a real number greater than or equal to 0 and less than or equal to 1, and the sum of a and b can be 1.

[0088] In the final moving object speed estimation step (S420), the radar-based moving object speed estimation device (110) can estimate the final moving object speed (Vm) by combining the existing moving object speed (Vm0) and the candidate speed (Vc) at a predetermined combination ratio (a: b) based on the comparison result between the existing moving object speed (Vm0) and the candidate speed (Vc), or can estimate the existing moving object speed (Vm0) as the final moving object speed (Vm).

[0089] Referring to FIG. 15, the step (S420) of estimating the final moving object speed (Vm) may include a step (S510) of determining whether the difference (|Vc- Vm0|) between the candidate speed (Vc) and the existing moving object speed (Vm0) is within a certain range (R) (|Vc- Vm0| < R), a step (S520) of estimating the existing moving object speed (Vm0) as the final moving object speed (Vm) if the difference (|Vc- Vm0|) between the candidate speed (Vc) and the existing moving object speed (Vm0) is not within a certain range (R), and a step (S530) of estimating the final moving object speed (Vm) by combining the existing moving object speed (Vm0) and the candidate speed (Vc) at a predetermined combination ratio (a:b) if the difference (|Vc- Vm0|) between the candidate speed (Vc) and the existing moving object speed (Vm0) is within a certain range (R). there is.

[0090] At step S520, the radar-based mobile speed estimation device (110) can determine the road environment as a road environment with many moving objects (e.g., a highway, etc.) if the difference (|Vc- Vm0|) between the candidate speed (Vc) and the existing moving object speed (Vm0) is not within a certain range (R), that is, if the difference (|Vc- Vm0|) between the existing moving object speeds (Vm0) is outside the certain range (R).

[0091] Accordingly, the radar-based mobile speed estimation device (110) regards the candidate speed (Vc) as the speed of another mobile object rather than the speed of a fixed object, and when estimating the mobile speed, it can estimate the current final mobile speed (Vm) using only the existing mobile speed (Vm0) without considering the candidate speed (Vc).

[0092] At step S530, the radar-based mobile speed estimation device (110) can determine the road environment as a road environment with many fixed objects (e.g., city road, national road, etc.) if the difference (|Vc- Vm0|) between the candidate speed (Vc) and the existing mobile speed (Vm0) is within a certain range (R).

[0093] Accordingly, the radar-based mobile speed estimation device (110) regards the candidate speed (Vc) as the speed of a fixed body, and when estimating the speed of a mobile body, can estimate the final speed (Vm) of the mobile body by combining the existing speed (Vm0) of the mobile body and the candidate speed (Vc) at a predetermined combination ratio (a:b).

[0094] According to a radar-based mobile speed estimation method such as that of Fig. 5, the mobile speed can be estimated more accurately in various road environments.

[0095] FIG. 6 is a block diagram of a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure.

[0096] Referring to FIG. 6, a radar-based mobile speed estimation device (110) according to embodiments of the present disclosure may include a fixed speed measurement unit (610) that measures a fixed speed for a stationary body (20) stationary around a mobile body (10) based on a detection result of a radar sensor (100) installed on the mobile body (10), and a mobile speed estimation unit (620) that estimates a final mobile speed for the mobile body (10) based on the fixed speed.

[0097] The fixed body speed measuring unit (610) can determine the speed with the largest number of speeds among the speeds measured for surrounding objects located around the moving body (10) as the fixed body speed. Here, the fixed body speed may have the same meaning as the posterior speed mentioned above.

[0098] If the difference between the existing moving object speed and the fixed object speed is within a certain range, the moving object speed estimation unit (620) can estimate the final moving object speed by combining the existing moving object speed and the fixed object speed for the moving object (10) at a certain ratio.

[0099] If the difference between the existing moving object speed and the fixed object speed is outside a certain range, the moving object speed estimation unit (620) can estimate the existing moving object speed as the final moving object speed.

[0100] FIG. 7 is a flowchart of a radar-based mobile speed estimation method according to embodiments of the present disclosure.

[0101] Referring to FIG. 7, a radar-based mobile speed estimation method according to embodiments of the present disclosure may include a step (S700) in which a radar-based mobile speed estimation device (110) obtains a detection result of a radar sensor (100) installed on a mobile body (10), a fixed body speed measurement step (S710) in which the radar-based mobile speed estimation device (110) measures a fixed body speed with respect to a stationary body (20) stationary around the mobile body (10) based on the detection result of the radar sensor (100) installed on the mobile body (10), and a moving body speed estimation step (S720) in which the radar-based mobile speed estimation device (110) estimates a final moving body speed with respect to the mobile body (10) based on the fixed body speed.

[0102] In the fixed body speed measurement step (S710), the radar-based mobile body speed estimation device (110) can determine the speed with the largest number of speeds among the speeds measured for surrounding objects located around the mobile body (10) as the fixed body speed.

[0103] If the difference between the existing moving object speed and the fixed object speed is within a certain range, in the moving object speed estimation step S720), the radar-based moving object speed estimation device (110) can estimate the final moving object speed by combining the existing moving object speed and the fixed object speed for the moving object (10) at a predetermined ratio.

[0104] If the difference between the existing moving object speed and the fixed object speed is outside a certain range, in the moving object speed estimation step S720), the radar-based moving object speed estimation device (110) can estimate the existing moving object speed as the final moving object speed.

[0105] A radar-based mobile speed estimation device according to embodiments of the present disclosure may include a speed-based classifier that determines a candidate speed based on speeds measured for surrounding objects located around the mobile according to detection results of a radar sensor installed on the mobile; and a speed estimation unit that estimates a final mobile speed for the mobile based on the existing mobile speed and candidate speed for the mobile.

[0106] The candidate velocity can correspond to the velocity of a fixed object among surrounding objects located around the moving object.

[0107] A speed-based classifier can determine the maximum number of speeds as candidate speeds among the speeds measured for surrounding objects located around the moving object based on detection results of a radar sensor installed on the moving object.

[0108] The speed estimation unit can estimate the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio.

[0109] The speed estimation unit can estimate the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio based on the comparison result between the existing speed of the moving object and the candidate speed, or can estimate the existing speed of the moving object as the final speed of the moving object.

[0110] The speed estimation unit estimates the final speed of the moving object by combining the existing speed of the moving object and the candidate speed at a predetermined combination ratio when the difference between the candidate speed determined by the speed-based classifier and the existing speed of the moving object is within a certain range, and estimates the existing speed of the moving object as the final speed of the moving object when the difference between the candidate speed determined by the speed-based classifier and the existing speed of the moving object is not within a certain range.

[0111] A radar-based mobile speed estimation device according to embodiments of the present disclosure may include a fixed speed measurement unit that measures a fixed speed with respect to a stationary stationary object around the mobile object based on a detection result of a radar sensor installed on the mobile object; and a mobile speed estimation unit that estimates a final mobile speed with respect to the mobile object based on the fixed speed.

[0112] The fixed body speed measuring unit can determine the speed having the largest number of speeds among the speeds measured for surrounding objects located around the moving body as the fixed body speed.

[0113] The moving object velocity estimation unit can estimate the final moving object velocity by combining the existing moving object velocity and the fixed object velocity at a predetermined ratio. Alternatively, the moving object velocity estimation unit can estimate the existing moving object velocity as the final moving object velocity.

[0114] A radar-based mobile speed estimation method according to embodiments of the present disclosure may include a step in which a radar-based mobile speed estimation device determines a candidate speed based on speeds measured for surrounding objects located around the mobile according to detection results of a radar sensor installed on the mobile; and a step in which the radar-based mobile speed estimation device estimates a final mobile speed for the mobile based on the existing mobile speed and the candidate speed for the mobile.

[0115] The candidate velocity can correspond to the velocity of a fixed object among surrounding objects located around the moving object.

[0116] In the step of determining a candidate speed, a radar-based mobile speed estimation device can determine the maximum number of speeds among the speeds measured for surrounding objects located around the mobile body as the candidate speed based on the detection results of a radar sensor installed on the mobile body.

[0117] In the step of estimating the final moving object speed, the radar-based moving object speed estimation device can estimate the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio.

[0118] In the step of estimating the final vehicle speed, the radar-based vehicle speed estimation device can estimate the final vehicle speed by combining the existing vehicle speed and the candidate speed at a predetermined combination ratio based on the comparison result between the existing vehicle speed and the candidate speed, or can estimate the existing vehicle speed as the final vehicle speed.

[0119] The step of estimating the final moving object speed may include: a step of determining whether a difference between the candidate speed and the existing moving object speed is within a certain range; a step of estimating the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio if the difference between the candidate speed and the existing moving object speed is not within the certain range; and a step of estimating the existing moving object speed as the final moving object speed if the difference between the candidate speed and the existing moving object speed is not within the certain range.

[0120] A radar-based mobile speed estimation method according to embodiments of the present disclosure may include a fixed body speed measurement step in which a radar-based mobile speed estimation device measures a fixed body speed with respect to a stationary body stationary around the mobile body based on a detection result of a radar sensor installed on the mobile body; and a moving body speed estimation step in which the radar-based mobile body speed estimation device estimates a final moving body speed with respect to the moving body based on the fixed body speed.

[0121] In the stationary object speed measurement step, the radar-based mobile object speed estimation device can determine the speed having the largest number of speeds among the speeds measured for surrounding objects located around the mobile object as the stationary object speed.

[0122] In the moving object speed estimation step, the radar-based moving object speed estimation device can estimate the final moving object speed by combining the existing moving object speed and fixed object speed for the moving object at a predetermined ratio.

[0123] In the moving object speed estimation step, the radar-based moving object speed estimation device can estimate the existing moving object speed as the final moving object speed.

[0124] According to the embodiments of the present disclosure described above, a radar-based mobile speed estimation method and a radar-based mobile speed estimation device capable of accurately estimating the speed of a mobile object regardless of the mobile object state, road state, or road surface state can be provided.

[0125] The above description merely exemplifies the technical concepts of the present disclosure. Those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present disclosure. Furthermore, the embodiments disclosed in this disclosure are intended to illustrate, rather than limit, the technical concepts of the present disclosure. Therefore, the scope of the technical concepts of the present disclosure is not limited by these embodiments.

[0126]

[0127] CROSS-REFERENCE TO RELATED APPLICATION

[0128] This patent application claims priority under 35 USC §119(a) to Korean Patent Application No. 10-2023-0126322, filed September 21, 2023, the entire contents of which are incorporated herein by reference. Furthermore, this patent application claims priority in countries other than the United States for the same reasons, the entire contents of which are incorporated herein by reference.

Claims

1. A speed-based classifier that determines a candidate speed based on the speeds measured for surrounding objects located around the moving object based on the detection results of a radar sensor installed on the moving object; and A radar-based mobile speed estimation device including a speed estimation unit that estimates a final mobile speed for the mobile based on the existing mobile speed and the candidate speed for the mobile.

2. In paragraph 1, A radar-based mobile speed estimation device in which the candidate speed corresponds to the speed of a fixed object among the surrounding objects located around the mobile object.

3. In paragraph 1, The above speed-based classifier is a radar-based mobile speed estimation device that determines the maximum number of speeds as the candidate speed among the speeds measured for the surrounding objects located around the mobile based on the detection results of the radar sensor installed on the mobile.

4. In paragraph 1, The above speed estimation unit is a radar-based mobile speed estimation device that estimates the final mobile speed by combining the existing mobile speed and the candidate speed at a predetermined combination ratio.

5. In paragraph 4, The above speed estimation unit, According to the comparison result between the above existing moving object speed and the above candidate speed, Estimating the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio, or A radar-based moving object speed estimation device that estimates the existing moving object speed as the final moving object speed.

6. In paragraph 5, The above speed estimation unit, If the difference between the candidate speed determined by the speed-based classifier and the existing moving object speed is within a certain range, the final moving object speed is estimated by combining the existing moving object speed and the candidate speed at a predetermined combination ratio, A radar-based mobile speed estimation device that estimates the existing mobile speed as the final mobile speed when the difference between the candidate speed determined by the speed-based classifier and the existing mobile speed is not within a certain range.

7. A fixed body speed measuring unit that measures the speed of a fixed body stationary around the moving body based on the detection results of a radar sensor installed on the moving body; and A radar-based mobile speed estimation device including a mobile speed estimation unit that estimates a final mobile speed for the mobile speed based on the fixed speed.

8. In paragraph 7, The above fixed body speed measurement unit is a radar-based mobile body speed estimation device that determines the speed having the largest number of speeds among the speeds measured for surrounding objects located around the mobile body as the fixed body speed.

9. In paragraph 7, The above-mentioned moving object speed estimation unit is a radar-based moving object speed estimation device that estimates the final moving object speed by combining the existing moving object speed and the fixed object speed for the moving object at a predetermined ratio.

10. In paragraph 7, The above-mentioned moving object speed estimation unit is a radar-based moving object speed estimation device that estimates the existing moving object speed for the moving object as the final moving object speed.

11. A step of determining a candidate speed based on the speeds measured for surrounding objects located around the moving object based on the detection results of a radar sensor installed on the moving object by a radar-based moving object speed estimation device; and A radar-based mobile speed estimation method, comprising a step of estimating a final mobile speed for the mobile based on an existing mobile speed and a candidate speed for the mobile.

12. In paragraph 11, A radar-based method for estimating the velocity of a moving object, wherein the candidate velocity corresponds to the velocity of a fixed object among the surrounding objects located around the moving object.

13. In paragraph 11, A radar-based mobile speed estimation method, wherein, in the step of determining the candidate speed, the radar-based mobile speed estimation device determines the maximum number of speeds among the speeds measured for the surrounding objects located around the mobile as the candidate speed based on the detection results of the radar sensor installed on the mobile.

14. In paragraph 11, A radar-based mobile speed estimation method in which, in the step of estimating the final mobile speed, the radar-based mobile speed estimation device estimates the final mobile speed by combining the existing mobile speed and the candidate speed at a predetermined combination ratio.

15. In paragraph 14, In the step of estimating the final moving object speed, the radar-based moving object speed estimation device, According to the comparison result between the above existing moving object speed and the above candidate speed, Estimating the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio, or A radar-based moving object speed estimation method for estimating the existing moving object speed as the final moving object speed.

16. In paragraph 15, The step of estimating the final moving object speed is: A step of determining whether the difference between the candidate speed and the existing moving object speed is within a certain range; If the difference between the candidate speed and the existing moving object speed is within a certain range, a step of estimating the final moving object speed by combining the existing moving object speed and the candidate speed at a predetermined combination ratio; and A radar-based method for estimating a speed of a moving object, comprising a step of estimating the speed of the existing moving object as the final speed of the moving object if the difference between the candidate speed and the speed of the existing moving object is not within a certain range.

17. A stationary object speed measurement step in which a radar-based mobile object speed estimation device measures the stationary object speed of a stationary object stationary around the mobile object based on the detection results of a radar sensor installed on the mobile object; and A radar-based mobile speed estimation method, comprising a mobile speed estimation step in which the radar-based mobile speed estimation device estimates a final mobile speed for the mobile based on the fixed speed.

18. In paragraph 17, A radar-based mobile speed estimation method in which, in the fixed body speed measurement step, the radar-based mobile body speed estimation device determines, as the fixed body speed, the speed having the largest number of speeds among the speeds measured for surrounding objects located around the mobile body.

19. In paragraph 17, A radar-based mobile speed estimation method in which, in the above-mentioned moving object speed estimation step, the radar-based mobile object speed estimation device estimates the final moving object speed by combining the existing moving object speed and the fixed object speed for the moving object at a predetermined ratio.

20. In paragraph 17, A radar-based mobile speed estimation method in which, in the above-mentioned mobile speed estimation step, the radar-based mobile speed estimation device estimates the existing mobile speed for the mobile as the final mobile speed.

Images