Apparatus and method for measuring distance to object using ultrasonic sensor mounted on vehicle

Abstract

The present invention relates to an apparatus and a method for measuring a distance to an object by using an ultrasonic sensor mounted on a vehicle. To this end, an apparatus for measuring a distance to an object by using an ultrasonic sensor mounted on a vehicle, according to one embodiment of the present invention, may comprise: an ultrasonic sensor including a transmission sensor for transmitting at least one signal to sense an object and a reception sensor for receiving at least one reflected signal in which the transmitted at least one signal is reflected by the object; and a processor electrically connected to the ultrasonic sensor, wherein the processor may identify whether a first interval between signals transmitted via the transmission sensor and a second interval between reflected signals received via the reception sensor match, increment a signal matching count by one when the first interval and the second interval match, and, when the increased signal matching count becomes identical to the number of signals transmitted during a first time period, measure the distance to the object by using a reflected signal that was last received.

Description

Device and method for measuring distance to an object using an ultrasonic sensor mounted on a vehicle

[0001] The present invention relates to a device and method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle.

[0002] Typically, ultrasonic sensors are used to measure the distance to obstacles to prevent collisions when vehicles are driving at low speeds in environments that require close-range environmental awareness, such as alleyways and parking lots.

[0003] Figure 1 is an example diagram showing a state of measuring the distance to an object using a conventional ultrasonic sensor.

[0004] Referring to FIG. 1, the transmitting sensor (110) transmits a signal toward an object (130), and the transmitted signal is reflected by the object (130) and input to the receiving sensor (120). At this time, when the transmitting sensor (140) of another vehicle transmits a signal, the receiving sensor (120) receives both the reflected signal reflected by the object (130) and the transmitting signal transmitted by the transmitting sensor (140), resulting in interference between the signals.

[0005] Thus, when two or more vehicles equipped with and operating ultrasonic sensors are facing or adjacent to each other, the ultrasonic signals generated from each vehicle may interfere with each other. This may result in the ultrasonic sensors failing to detect obstacles or in false detection.

[0006] The prior art document (Korean Patent Publication No. 10-2022-0167615, December 21, 2022) relates to an ultrasonic sensor for a vehicle and a control method thereof, and discloses a method for recognizing an accurate target by analyzing the ring time of an ultrasonic sensor when the target is located at a close range.

[0007] However, existing literature only discloses the content of recognizing a target through the ring time of an ultrasonic sensor at a close distance from the target, and does not disclose the content of resolving interference caused by signals transmitted by surrounding vehicles.

[0008] Therefore, there is a need to measure the exact distance to the target even when adjacent vehicles transmit interference signals.

[0009] Accordingly, the present invention provides a device and method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle.

[0010] The purposes of the present invention are not limited to those mentioned above, and other unmentioned purposes and advantages of the present invention can be understood through the following description and will be more clearly understood through embodiments of the present invention. Furthermore, it will be readily apparent that the purposes and advantages of the present invention can be realized by the means and combinations thereof set forth in the claims.

[0011] In order to achieve this purpose, an apparatus for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention includes an ultrasonic sensor including a transmitting sensor that transmits at least one signal to detect an object, and a receiving sensor that receives at least one reflected signal in which the at least one transmitted signal is reflected by the object; and a processor electrically connected to the ultrasonic sensor, wherein the processor identifies whether a first interval between signals transmitted through the transmitting sensor and a second interval between reflected signals received through the receiving sensor match, and if the first interval and the second interval match, increases the number of signal matches by 1, and if the increased number of signal matches is equal to the number of signals transmitted during a first time period, the distance to the object can be measured using a reflected signal that is finally received.

[0012] In addition, a method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention may include: a step of transmitting at least one signal to detect the object; a step of receiving at least one reflection signal reflected by the object from the at least one transmitted signal; a step of identifying whether a first interval between the transmitted signals and a second interval between the received reflection signals match; a step of increasing the number of signal matches by 1 if the first interval and the second interval match; and a step of measuring the distance to the object using the last received reflection signal if the increased number of signal matches is equal to the number of signals transmitted during a first time period.

[0013] The present invention increases the number of signal matches by 1 when a first interval between transmitted signals and a second interval between reflected signals are the same, and when the increased number of signal matches is the same as the number of signals transmitted during the first time period, the distance to the object is measured using the last received reflected signal, thereby accurately measuring the distance between a vehicle and an object.

[0014] In addition, the present invention can improve the processing speed for measuring the distance to an object by quickly identifying interference signals when adjacent vehicles use different frequencies by identifying whether the first frequency of the transmitted signal and the second frequency of the reflected signal match each time a reflected signal is received.

[0015] In addition, the present invention can accurately determine interference signals by identifying whether the first interval between transmitted signals and the second interval between reflected signals are identical when the first frequency and the second frequency are identical.

[0016] In addition, the present invention can determine whether a received reflected signal is a magnetic signal or an interference signal by identifying the number of transmitted signals and the number of reflected signals, respectively.

[0017] In addition to the effects described above, specific effects of the present invention are described below while explaining specific details for carrying out the invention.

[0018] Figure 1 is an example diagram showing a state of measuring the distance to an object using a conventional ultrasonic sensor.

[0019] FIG. 2 is a block diagram of a device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention.

[0020] FIG. 3 is a flowchart illustrating a process of measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention.

[0021] FIG. 4 is an exemplary diagram showing a state in which an interference signal is included in a reflected signal received based on a transmission signal according to one embodiment of the present invention.

[0022] The above-described objects, features, and advantages will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can easily practice the technical idea of ​​the present invention. In describing the present invention, if it is determined that a detailed description of known technologies related to the present invention may unnecessarily obscure the gist of the present invention, a detailed description thereof will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

[0023] Although terms like "first" and "second" are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless otherwise specified, a "first" component may also be a "second" component.

[0024] Hereinafter, the phrase "any configuration is placed on (or below)" a component or "on (or below)" a component may mean that any configuration is placed in contact with the upper surface (or lower surface) of said component, and that other configurations may be interposed between said component and any configuration placed on (or below) said component.

[0025] Additionally, when it is described that a component is "connected," "coupled," or "connected" to another component, it should be understood that the components may be directly connected or connected to one another, but that other components may also be "interposed" between the components, or that each component may be "connected," "coupled," or "connected" through another component.

[0026] Throughout the specification, unless otherwise specifically stated, each element may be singular or plural.

[0027] As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "consisting of" or "comprising" should not necessarily be construed to include all of the components or steps described in the specification, and should be construed to mean that some of the components or steps may not be included, or that additional components or steps may be included.

[0028] Throughout the specification, when we refer to "A and / or B", this means A, B, or A and B, unless otherwise stated, and when we refer to "C to D", this means C or more and D or less, unless otherwise stated.

[0029] Hereinafter, a device and method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to some embodiments of the present invention will be described.

[0030] FIG. 2 is a block diagram of a device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention.

[0031] Referring to FIG. 2, a device (210) for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention may include an ultrasonic sensor (220) including a transmitting sensor (221) and a receiving sensor (222), a memory (230), and a processor (240).

[0032] The configuration of the device (210) illustrated in FIG. 2 is according to one embodiment, and the components of the device (210) are not limited to the embodiment illustrated in FIG. 2, and some components may be added, changed, or deleted as needed.

[0033] According to one embodiment, the ultrasonic sensor (200) may be used to measure the distance to an object (130) to prevent collisions when a vehicle is driven at a low speed in an environment requiring close-range environmental recognition, such as an alleyway or a parking lot. The ultrasonic sensor (200) generates a plurality of electric pulse signals to generate ultrasonic waves (e.g., transmission signals) through a transducer, and when the energy waves are reflected by an object (130) and return to the sensor, the transducer may convert the reflected waves (e.g., reflection signals) into electric signals.

[0034] According to one embodiment, the transmitting sensor (221) can transmit at least one signal to detect an object (130). The transmitting sensor (221) can transmit a predetermined number of signals (e.g., transmitting signals) modulated by the processor (240) toward the object (130) for a predetermined time period. The interval (e.g., time difference) between these signals (e.g., transmitting signals) can be the same or different. Additionally, the frequencies of these signals (e.g., transmitting signals) can be the same or different.

[0035] According to one embodiment, the receiving sensor (222) can receive at least one reflection signal that is input after the signal transmitted by the transmitting sensor (221) is reflected by the object (130). The receiving sensor (222) can receive a predetermined number of reflection signals during a predetermined time period. The interval (e.g., time difference) between these reflection signals can be the same as the interval (e.g., time difference) between the transmitted signals (e.g., transmission signals). For example, when the vehicle is stationary, the interval (e.g., time difference) between the reflected signals is the same as the interval (e.g., time difference) between the transmitted signals (e.g., transmission signals).

[0036] If the vehicle is moving slowly, the vehicle's speed is very small compared to the signal propagation speed, so the vehicle's speed does not significantly interfere with measuring the distance to the object.

[0037] And, the frequency of these reflected signals is equal to the frequency of the transmitted signal (i.e., the transmitted signal).

[0038] According to one embodiment, the receiving sensor (222) may receive a signal (e.g., an interference signal) transmitted from a transmitting sensor mounted on a vehicle other than the transmitting sensor (221). However, such a signal may act as interference, resulting in failure to recognize an object or in false detection.

[0039] According to one embodiment, the memory (230) may store information, data, programs, etc. necessary for the operation of the device (210). Specifically, various information or data described below may be stored in advance in the memory (230). Accordingly, the processor (240) may perform the control operation described below with reference to the information stored in the memory (230). The memory (230) may store programs for signal processing and control within the processor (240). The memory (230) may also store various platforms. The memory (230) may include, for example, at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., an SD or XD memory, etc.), a RAM, and a ROM (e.g., an EEPROM).

[0040] According to one embodiment, the memory (230) can store the time at which at least one transmission signal is transmitted and the time at which at least one reflection signal is received.

[0041] According to one embodiment, the processor (240) may include circuitry capable of controlling components of the device (210). For example, the processor (240) may be electrically connected to an ultrasonic sensor (220) and a memory (230).

[0042] According to one embodiment, the processor (240) may be implemented as a physical element of at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, micro-controllers, microprocessors, microcontroller units (MCUs), and microprocessors (MPUs).

[0043] According to one embodiment, the processor (240) can identify whether a first frequency of a transmitted signal and a second frequency of the reflected signal match each time a reflected signal is received. In addition, if the first frequency and the second frequency match, the processor (240) can identify whether a first interval between signals transmitted through the transmitting sensor (221) and a second interval between reflected signals received through the receiving sensor (222) match.

[0044] According to one embodiment, the processor (240) may increase the number of signal matches by 1 when the first interval and the second interval match.

[0045] According to one embodiment, the processor (240) may identify the number of signals transmitted during a second time period, which is a time period preceding the first time period, and the number of reflected signals received based on the signals transmitted during the second time period, and may identify whether the increased number of signal matches is equal to the number of signals transmitted during the first time period. For example, the number of signals transmitted during the first time period and the number of signals transmitted during the second time period may or may not be equal.

[0046] According to one embodiment, if the number of signal matches increased by 1 is not equal to the number of signals transmitted during the first time period, the processor (240) may determine that the last received reflected signal (i.e., the reflected signal whose number of signal matches was last increased) is an interference signal transmitted by an ultrasonic sensor of another vehicle.

[0047] According to one embodiment, the processor (240) can measure the distance to the object (130) using the last received reflected signal if the increased number of signal matches is equal to the number of signals transmitted during the first time period.

[0048] According to one embodiment, the processor (240) may determine that the last received reflected signal is a signal transmitted by the transmitting sensor if the increased number of signal matches is equal to the number of signals transmitted during the first time period.

[0049] For example, the processor (240) can compare signal information of the transmitting sensor (221) and the receiving sensor (222) (e.g., clock information and periodic pattern of the transmitted signal, clock information and periodic pattern of the received signal, etc.) to derive a similarity, and then determine whether the last reflected signal is a magnetic signal.

[0050] According to one embodiment, the processor (240) can identify a time difference between the time at which the signal is transmitted and the time at which a reflected signal based on the transmitted signal is received, and convert the identified time difference into a distance to measure the distance between the vehicle and the object (130).

[0051] For example, the processor (240) can identify the time at which a signal is transmitted and the time at which a reflected signal is received through a timer. In addition, the processor (240) can calculate the time difference between the time at which a signal is transmitted and the time at which a reflected signal is received in microseconds.

[0052] Generally, the speed of sound waves is 340 m / s. The processor (240) can measure the distance between a vehicle and an object (130) by multiplying 340 m / s by the time difference, dividing the result by 1 m / s, and then dividing the result by 2.

[0053] FIG. 3 is a flowchart illustrating a process of measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention.

[0054] Hereinafter, with reference to FIGS. 2 and 3, a process of measuring a distance to an object using an ultrasonic sensor mounted on a vehicle according to an embodiment of the present invention will be described in detail.

[0055] According to one embodiment, the processor (240) can receive a reflected signal (S310). After transmitting at least one signal through the transmitting sensor (221), the processor (240) can receive at least one reflected signal reflected from the object (130) through the receiving sensor (222).

[0056] According to one embodiment, the processor (240) can check the number of signal transmissions (e.g., N) and the reception of reflected signals (e.g., M) during the previous T seconds (e.g., a predetermined time period) (S312). For example, if a reflected signal is received based on a signal transmitted during a first time period, the processor (240) can identify how many signals were transmitted and how many reflected signals were received during a second time period (i.e., a time period prior to the first time period).

[0057] Alternatively, the processor (240) may identify how many signals were transmitted and how many reflected signals were received in a second time period (i.e., a time period prior to the first time period) before the reflected signals are received based on the signals transmitted during the first time period.

[0058] According to one embodiment, the processor (240) may set comparison variable values ​​(S314). For example, when a reflection signal is received, the processor (240) may set the transmission signal index (n) to 1, the reflection signal index (m) to 1, and the number of signal matches (c) to 0. In addition, the processor (240) may store the set comparison variable values ​​in the memory (230).

[0059] Alternatively, the processor (240) may set the transmission signal index (n) to 1, the reflection signal index (m) to 1, and the number of signal matches (c) to 0 when the number of signal transmissions (e.g., N) and the number of reflected signals (e.g., M) are confirmed to have been received during the previous T seconds (e.g., the second time period).

[0060] According to one embodiment, the processor (240) can identify whether the index (m) of the reflected signal exceeds the number (M) of the received reflected signals (S316). When a reflected signal is received in the above process (S310), the processor (240) can identify whether the index (m) of the reflected signal exceeds the number (M) of the received reflected signals.

[0061] According to one embodiment, the processor (240) can identify whether the frequency of the transmission signal and the frequency of the reflection signal are the same if the index (m) of the reflection signal does not exceed the number (M) of the received reflection signals (S318). The processor (240) can identify whether the frequency of the transmission signal and the frequency of the reflection signal are the same within an error range if the index (m) of the reflection signal does not exceed the number (M) of the received reflection signals. For example, the processor (240) can perform an operation of identifying whether the frequency of the transmission signal and the frequency of the reflection signal are the same, or can optionally not perform the operation.

[0062] For example, if a sensor of an adjacent vehicle transmits a signal having a frequency that is not the same as the frequency of the signal transmitted through the transmitting sensor (221), the processor (240) may determine that the received reflected signal is a signal transmitted by the adjacent vehicle and not a magnetic signal.

[0063] According to one embodiment, the processor (240) increases the reflection signal index (m) by 1 (S320). If the frequency of the transmission signal and the frequency of the reflection signal are not the same, the processor (240) increases the reflection signal index (m) by 1.

[0064] According to one embodiment, the processor (240) can identify whether the intervals between the transmission signals and the intervals between the reflection signals are the same (S322). If the frequency of the transmission signal and the frequency of the reflection signal are the same, the processor (240) can identify whether the intervals between the transmission signals and the intervals between the reflection signals are the same. If the frequency of the transmission signal and the frequency of the reflection signal are not the same, the processor (240) increases the reflection signal index (m) by 1.

[0065] According to one embodiment, the processor (240) increases the transmission signal index (n), the reflection signal index (m), and the number of signal matches (c) by 1, respectively (S324). If the frequency of the transmission signal and the frequency of the reflection signal are the same, the processor (240) increases the transmission signal index (n) by 1, increases the reflection signal index (m) by 1, and increases the number of signal matches (c) by 1.

[0066] According to one embodiment, the processor (240) can identify whether the number of signal matches (c) is equal to the number of transmitted signals (N) if the index (m) of the reflected signal exceeds the number (M) of received reflected signals in the process (S316) (S326). The processor (240) can identify whether the index (m) of the reflected signal exceeds the number (M) of received reflected signals after increasing the transmitted signal index (n), the reflected signal index (m), and the number of signal matches (c) by 1, respectively.

[0067] If, after the processor (240) increases the transmission signal index (n), the reflection signal index (m), and the number of signal matches (c) by 1, and the index (m) of the reflection signal exceeds the number (M) of received reflection signals, it can identify whether the number of signal matches (c) is equal to the number (N) of transmission signals.

[0068] According to one embodiment, if the number of signal coincidences (c) is not equal to the number of transmitted signals (N), the processor (240) may determine that the last received reflected signal is an interference signal (S328). If the number of signal coincidences (c) is not equal to the number of transmitted signals (N), the processor (240) may determine that the last received reflected signal (i.e., the last received reflected signal during the first time period) is an interference signal (e.g., a signal transmitted by another vehicle).

[0069] According to one embodiment, the processor (240) may wait to receive the next reflected signal after determining the last received reflected signal as an interference signal (S330). The processor (240) may receive the next reflected signal after determining the last received reflected signal as an interference signal.

[0070] For example, the processor (240) may start again from the above process (S310) after determining that the last received reflected signal is an interference signal.

[0071] According to one embodiment, if the number of signal coincidences (c) is equal to the number of transmission signals (N), the processor (240) may determine that the last received reflection signal is a magnetic signal (i.e., a reflection signal by a signal transmitted by the transmission sensor (221)) (S332). If the number of signal coincidences (c) is equal to the number of transmission signals (N), the processor (240) may determine that the last received reflection signal (i.e., a reflection signal last received during the first time period) is a magnetic signal (i.e., a signal transmitted by the transmission sensor (221).

[0072] In one embodiment, the processor (240) can measure the distance to an object based on the last received reflected signal (S334). The processor (240) can measure the distance between the vehicle and the object (130) by multiplying the time difference by 340 m / s, dividing the result by 1 m / s, and then dividing the result by 2.

[0073] FIG. 4 is an exemplary diagram showing a state in which an interference signal is included in a reflected signal received based on a transmission signal according to one embodiment of the present invention.

[0074] Referring to FIG. 4, the processor (240) may transmit at least one signal via the transmission sensor (221) during a predetermined time period (e.g., a first time period). For example, the processor (240) may modulate signals and then transmit a plurality of modulated signals at different intervals during the predetermined time period (e.g., a first time period).

[0075] For example, after a first interval (e.g., Δt1) has elapsed since the processor (240) transmits the first transmission signal (411) through the transmission sensor (221), the processor (240) may transmit the second transmission signal (412) through the transmission sensor (221). Thereafter, after a second interval (e.g., Δt2) has elapsed since the processor (240) transmits the second transmission signal (412), the processor (240) may transmit the third transmission signal (413). In addition, after a third interval (e.g., Δt3) has elapsed since the processor (240) transmits the third transmission signal (413), the processor (240) may transmit the fourth transmission signal (414). The frequencies of each of these transmission signals (411, 412, 413, 414) may be the same or different. And, each of the first interval (e.g., Δt1) to the third interval (e.g., Δt3) may be the same or different.

[0076] In this way, the processor (240) can transmit a plurality of signals during a predetermined time period (e.g., a first time period).

[0077] Thereafter, the processor (240) can receive reflected signals (431, 432, 433, 434) reflected from the object (130) based on the transmission of the transmission signals (411, 412, 413, 414).

[0078] For example, the processor (240) can receive a first reflection signal (431) that is a reflection of a first transmission signal (411) through the receiving sensor (222). Then, the processor (240) can receive a second reflection signal (432) through the receiving sensor (222) when a first interval (e.g., Δt1) has elapsed since the first reflection signal (431) is received. Then, the processor (240) can receive a third reflection signal (432) when a second interval (e.g., Δt2) has elapsed since the second reflection signal (432) is received, and can receive a fourth reflection signal (434) when a third interval (e.g., Δt3) has elapsed since the third reflection signal (433) is received.

[0079] However, signals transmitted from other vehicles can be received.

[0080] For example, an interference signal (421) may be received while the first reflection signal (431) to the fourth reflection signal (434) are being received.

[0081] According to one embodiment, the processor (240) may compare the frequency of each of the transmission signals (411, 412, 413, 414) with the frequency of each of the reflection signals (431, 432, 421, 433, 434), and determine that a reflection signal (421) that is not identical to the frequency of the transmission signals (411, 412, 413, 414) among the received reflection signals (431, 432, 421, 433, 434) is an interference signal.

[0082] According to one embodiment, the processor (240) may compare the intervals (Δt1, Δt2, Δt3) between the transmission signals (411, 412, 413, 414) with the intervals (Δt1, Δt2, Δt3) between the reflection signals (431, 432, 421, 433, 434), and determine that a reflection signal (421) corresponding to an interval that is not equal to the intervals of the transmission signals (411, 412, 413, 414) in the received reflection signals (431, 432, 421, 433, 434) is an interference signal.

[0083] For example, if a second transmission signal (412) is transmitted after a first interval (e.g., Δt1) after a first transmission signal (411) is transmitted, and if a second reflection signal (432) is received after a first interval (e.g., Δt1) after a first reflection signal (431) is received, the processor (240) may determine the second reflection signal (432) as a magnetic signal.

[0084] For example, if a third transmission signal (413) is transmitted after a second interval (e.g., Δt2) after a second transmission signal (412) is transmitted, and a reflection signal (421) is received before a second interval (e.g., Δt2) after a second reflection signal (432) is received, the processor (240) may determine the received reflection signal (421) as an interference signal.

[0085] As described above, the present invention increases the number of signal matches by 1 when the first interval between transmitted signals and the second interval between reflected signals are the same, and when the increased number of signal matches is the same as the number of signals transmitted during the first time period, the distance to the object is measured using the last received reflected signal, thereby accurately measuring the distance between the vehicle and the object.

[0086] Each step in each of the flowcharts described above may be performed regardless of the order shown, or may be performed simultaneously. Furthermore, at least one component of the present invention and at least one operation performed by said at least one component may be implemented in hardware and / or software.

[0087] Although the present invention has been described with reference to the drawings exemplified above, it is to be understood that the present invention is not limited to the embodiments and drawings disclosed herein, and that various modifications may be made by those skilled in the art within the scope of the technical idea of ​​the present invention. Furthermore, even if the operational effects according to the configuration of the present invention have not been explicitly described while describing the embodiments of the present invention, it is natural that the effects predictable by the corresponding configuration should also be acknowledged.

Claims

1. In a device that measures the distance to an object using an ultrasonic sensor mounted on a vehicle, An ultrasonic sensor comprising a transmitting sensor that transmits at least one signal to detect an object, and a receiving sensor that receives at least one reflected signal of the transmitted at least one signal reflected by the object; and A processor electrically connected to the above ultrasonic sensor, The above processor, Identify whether a first interval between signals transmitted through the transmitting sensor and a second interval between reflected signals received through the receiving sensor are identical, If the first interval and the second interval match, increase the number of signal matches by 1. A device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle that is set to measure the distance to the object using the last received reflected signal if the number of increased signal matches is equal to the number of signals transmitted during the first time period.

2. In paragraph 1, The above processor, Whenever the above reflected signal is received, it is identified whether the first frequency of the transmitted signal and the second frequency of the reflected signal match, A device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle that is set to identify whether the first interval and the second interval match when the first frequency and the second frequency match.

3. In paragraph 1, The above processor, The number of signals transmitted during a second time period, which is a time period preceding the first time period, and the number of reflected signals received based on the signals transmitted during the second time period are respectively identified. The number of increased signal matches is set to identify whether the number of signals transmitted during the first time period is equal to the number of signals transmitted during the first time period. A device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle, characterized in that the number of signals transmitted during the first time period and the number of signals transmitted during the second time period are the same.

4. In paragraph 3, The above processor, A device for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle, wherein the device determines that the last received reflected signal is an interference signal transmitted by an ultrasonic sensor of another vehicle if the number of increased signal matches is not equal to the number of signals transmitted during the first time period.

5. In paragraph 1, The above processor, A device for measuring the distance to an object using an ultrasonic sensor mounted on a vehicle, wherein the device is configured to determine that the last received reflected signal is a signal transmitted by the transmitting sensor if the number of increased signal matches is equal to the number of signals transmitted during the first time period.

6. In paragraph 1, The above processor, Identify the time difference between the time at which the above signal is transmitted and the time at which a reflected signal based on the above transmitted signal is received, A device for measuring the distance to an object using an ultrasonic sensor mounted on a vehicle, the ultrasonic sensor being set to measure the distance between the vehicle and the object by converting the identified time difference into a distance.

7. In paragraph 1, The above processor, A device for measuring the distance to an object using an ultrasonic sensor mounted on a vehicle that is set to transmit a signal by changing the frequency and transmission cycle each time the above signal is transmitted.

8. A method for measuring the distance to an object using an ultrasonic sensor mounted on a vehicle, A process of transmitting at least one signal to detect an object; A process of receiving at least one reflected signal reflected by the object from at least one transmitted signal; A process of identifying whether a first interval between transmitted signals and a second interval between received reflected signals match; If the first interval and the second interval match, a process of increasing the number of signal matches by 1; and A method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle, comprising the step of measuring a distance to the object using a last received reflected signal if the number of increased signal matches is equal to the number of signals transmitted during a first time period.

9. In paragraph 8, The process of identifying whether the first interval between the transmitted signals and the second interval between the received reflected signals match is as follows: A process of identifying whether the first frequency of the transmitted signal and the second frequency of the reflected signal match each time the reflected signal is received; and A method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle, the method including a process of identifying whether the first interval and the second interval match if the first frequency and the second frequency match.

10. In paragraph 8, The process of measuring the distance to the above object is: A process for identifying the time difference between the time at which the signal is transmitted and the time at which a reflected signal based on the transmitted signal is received; and A method for measuring a distance to an object using an ultrasonic sensor mounted on a vehicle, the method including converting the identified time difference into a distance and measuring the distance between the vehicle and the object.

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