Method for multi-mode obstacle detection using radar, and apparatus for same

• US 9,488,724 B2
• Filed: 11/08/2011
• Issued: 11/08/2016
• Est. Priority Date: 10/18/2011
• Status: Active Grant

• Current Assignee: Metabuild Company Limited
• Original Assignee: Metabuild Company Limited
• Inventors: Cho, Poong Youn
• Primary Examiner(s): Bythrow, Peter
• Application Number:
  US14/351,210
• Publication Number:
  US 20140240167A1
• Time in Patent Office: 1,827 Days
• Field of Search: 342 70- 72
• US Class Current: 1/1
• CPC Class Codes: G01S 13/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 13/5244 Adaptive clutter cancellation specially adapted for airborne MTI, G01S13/5242
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 7/292 Extracting wanted echo-signals
• CPC Class Codes: G01S 7/414 Discriminating targets with respect to background clutter
• CPC Class Codes: G08G 1/01 Detecting movement of traffic to be counted or controlled G08G1/07 - G08G1/14 take precedence
• CPC Class Codes: G08G 1/048 with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P

Abstract

The present invention relates to a method for multi-mode obstacle detection using radar, including the steps of: determining whether an object moves by acquiring radar information on the object; discriminating between a stationary object and a moving object according to whether the object moves; executing a first detecting mode for detecting the stationary object or a second detecting mode for detecting the moving object; and transmitting location information on the stationary object obtained through the first detecting mode, or location and speed information on the moving object obtained through the second detecting mode, to an external terminal. According to the method for multi-mode obstacle detection using radar, and to the apparatus for same, multi-detection modes can be provided to separately detect a stationary object and a moving object using the radar information on the object obtained using radar, thereby increasing location tracking efficiency for each object.

Claims

1. A method for multi-mode obstacle detection using radar, performed via at least one processor, the method comprising:

determining whether an object moves using radar information on the object acquired by a radar apparatus;

discriminating between a stationary object and a moving object according to whether the object moves;

executing a first detecting mode for detecting the stationary object or a second detecting mode for detecting the moving object;

transmitting location information on the stationary object obtained through the first detecting mode, or location and speed information on the moving object obtained through the second detecting mode, to a user terminal other than the at least one processor; and

after location information and speed information on the moving object are obtained, driving a tracking camera on a road where the moving object is placed, so as to receive a captured image on the moving object.

2. The method of claim 1, wherein the executing of the first detecting mode comprises:

removing radar information on the moving object;

if the radar information on the stationary object exceeds a threshold for detecting the stationary object stored in a reference map obtained based on statistical values of past radar information, determining that the stationary object is valid; and

obtaining location information on the stationary object using the radar information on the stationary object.

3. The method of claim 2, wherein the executing of the second detecting mode comprises:

removing the radar information on the stationary object;

if the radar information on the moving object is less than a predetermined doppler threshold, determining the moving object as a low-speed object;

if the radar information on the low-speed object exceeds a threshold for detecting the low-speed object stored in the reference map, determining the low-speed object to be valid; and

obtaining location information and speed information on the low-speed object using the radar information on the low-speed object.

4. The method of claim 3, further comprising:

if the radar information on the moving object exceeds the predetermined doppler threshold, determining the moving object as a high-speed object;

if radar information on the high-speed object exceeds a threshold for detecting the high-speed object stored in the reference map, determining the high-speed object to be valid; and

obtaining location information and speed information on the high-speed object using the radar information on the high-speed object.

5. The method of claim 4, further comprising, after the location information or speed information on the stationary object or moving object is obtained:

obtaining permittivity information on the road where the object is placed;

if the obtained road permittivity information is within a predetermined normal range, transmitting the location information or speed information to an external server or the user terminal; and

if the obtained permittivity information exceeds the normal range, transmitting the location information or speed information, and state information on the road corresponding to permittivity of the road to the server or the user terminal.

6. An apparatus for multi-mode obstacle detection using radar, the apparatus comprising:

circuitry configured to;

determine whether an object moves using a radar apparatus that acquires radar information on the object;

discriminate between a stationary object and a moving object according to whether the object moves;

execute a first detecting mode for detecting the stationary object or a second detecting mode for detecting the moving object;

transmit location information on the stationary object obtained through the first detecting mode, or location and speed information on the moving object obtained through the second detecting mode, to a user terminal other than the circuitry; and

receive a captured image on the moving object by driving a tracking camera on a road where the moving object is placed.

7. The apparatus of claim 6, wherein the circuitry is further configured to:

remove radar information on the moving object when the first detecting mode is executed, and

determine that the stationary object is valid and obtain location information on the stationary object using the radar information on the stationary object if the radar information on the stationary object exceeds a threshold for detecting the stationary object stored in a reference map obtained based on statistical values of past radar information.

8. The apparatus of claim 7, wherein the circuitry is further configured to:

remove the radar information on the stationary object when the second detecting mode is executed,

determine the moving object as a low-speed object if the radar information on the moving object is less than a predetermined doppler threshold, and

determine the low-speed object to be valid and obtain location information and speed information on the low-speed object using the radar information on the low-speed object if the radar information on the low-speed object exceeds a threshold for detecting the low-speed object stored in the reference map.

9. The apparatus of claim 8, wherein, the circuitry is further configured to:

determine the moving object as a high-speed object if the radar information on the moving object exceeds the predetermined doppler threshold, and

determine the high-speed object to be valid and obtain location information and speed information on the high-speed object using the radar information on the high-speed object if radar information on the high-speed object exceeds a threshold for detecting the high-speed object stored in the reference map.

10. The apparatus of claim 9, wherein the circuitry is further configured to:

obtain permittivity information on the road where the object is placed, after the location information or speed information on the stationary object or moving object is obtained, and

wherein, the circuitry is further configured to transmit the location information or speed information to an external server or the user terminal if the obtained road permittivity information is within a predetermined normal range, and transmit the location information or speed information, and state information on the road corresponding to permittivity of the road to the server or the user terminal if the obtained permittivity information exceeds the normal range.