Moving object detection device using ultrasonic sensor, method thereof, and warning system using the same

• US 10,234,558 B2
• Filed: 08/22/2017
• Issued: 03/19/2019
• Est. Priority Date: 03/13/2017
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Inventors: Kim, Bo-Hyeon, Choi, In Young
• Primary Examiner(s): Bousono, Orlando
• Application Number:
  US15/683,273
• Publication Number:
  US 20180259644A1
• Time in Patent Office: 574 Days
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 15/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/937 sensor installation details constructional features of transducers G01S7/521 and B06B; casing of transducers, e.g. housing, cover or filler details, G10K9/22; mounting of transducers, i.e. fixture, fitting or holder details, G10K11/004
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees

Abstract

A moving object detection device using an ultrasonic sensor, a method thereof, and a warning system using the same is provided. The moving object detection device includes: an ultrasonic sensor configured to receive a plurality of reflected signals per period; and a detector configured to divide a sensing distance of the ultrasonic sensor into a plurality of regions, detect a region of the plurality of regions as a region of interest (ROI) when an intensity of a reflected signal of the plurality of reflected signals exceeds a predetermined threshold in a region of the plurality of regions, and detect a moving object based on changes in the ROI.

Claims

1. A moving object detection device comprising:

an ultrasonic sensor configured to receive a plurality of reflected signals per period; and

a detector configured to;

divide a sensing distance of the ultrasonic sensor into a plurality of regions;

when an intensity of a reflected signal of the plurality of reflected signals exceeds a predetermined threshold in a region of the plurality of regions, detect the region of the plurality of regions as a region of interest (ROI); and

when a ROI of a first reflected signal of the plurality of reflected signals does not correspond to a ROI of any subsequent reflected signals of the plurality of reflected signals, determine an object in the ROI of the first reflected signal as a moving object.

2. The device according to claim 1, wherein the detector is configured to:

when the ROI of the first reflected signal is a first region of the plurality of regions, determine whether any one of the first region, a second region, or a third region of the plurality of regions corresponds to a ROI of a second reflected signal, wherein the second region and the third region are adjacent to the first region;

when the second region is determined as the ROI of the second reflected signal, determine whether any one of the second region, the first region, or a fourth region of the plurality of regions corresponds to a ROI of a third reflected signal, wherein the second region and the fourth region are adjacent to the second region; and

when the ROI of any of the reflected signals is not determined, determine an object in the first region of the first reflected signal is a moving object.

3. The device according to claim 1, wherein the detector is configured to:

compare the intensity of any reflected signal of the plurality of reflected signals excluding the first reflected signal with the predetermined threshold, wherein hysteresis is applied to the predetermined threshold; and

detect the ROI.

4. The device according to claim 1, further comprising:

a storage configured to store the ROI of any reflected signal of the plurality of reflected signals.

5. A method for detecting a moving object using an ultrasonic sensor, the method comprising:

receiving, with the ultrasonic sensor, a plurality of reflected signals per period;

dividing, with a detector, a sensing distance of the ultrasonic sensor into a plurality of regions;

when an intensity of a reflected signal of the plurality of reflected signals exceeds a predetermined threshold in a region of the plurality of regions, detecting, with the detector, the region of the plurality of regions as a region of interest (ROI); and

determining, with the detector, an object in a ROI of a first reflected signal as a moving object when a ROI of the first reflected signal of the plurality of reflecting signals does not correspond to a ROI of any subsequent reflected signals of the plurality of reflected signals.

6. The method according to claim 5, wherein detecting the moving object comprises:

when the ROI of the first reflected signal is a first region of the plurality of regions, determining whether any one of the first region, a second region, or a third region of the plurality of regions corresponds to a ROI of a second reflected signal, wherein the second region and the third reason are adjacent to the first region;

when the second region is determined as the ROI of the second reflected signal, determining whether any one of the second region, the first region, or a fourth region of the plurality of regions corresponds to a ROI of a third reflected signal, wherein the second region and the fourth region are adjacent to the second region; and

when the ROI of any of the reflected signals is not determined, determining an object in the first region of the first reflected signal is a moving object.

7. The method according to claim 5, wherein detecting the moving object comprises:

comparing the intensity of any reflected signal of the plurality of reflected signals excluding the first reflected signal with the predetermined threshold, wherein hysteresis is applied to the predetermined threshold; and

detecting the ROI.

8. The method according to claim 5, further comprising:

storing the ROI of any reflected signal of the plurality of reflected signals.