Device for recognizing obstacle around vehicle and method thereof
First Claim
1. A device for recognizing an obstacle around a vehicle, the device comprising:
- a distance sensor configured to generate sensing information regarding each of a plurality of signals by outputting the plurality of signals to an area spaced a predetermined distance from the front of the vehicle;
a signal processing unit comprising at least one processor configured to extract the sensing information regarding signals determined as sensing an obstacle by individually performing vertical ground filtering and horizontal ground filtering on the sensing information provided by each of the plurality of signals;
a signal mixer comprising at least one processor configured to mix the sensing information extracted by performing vertical ground filtering and the sensing information extracted by performing horizontal ground filtering;
an obstacle recognition unit comprising at least one processor configured to recognize the obstacle using a result of mixing the extracted sensing information,wherein the sensing information includes direct range information;
wherein the signal processing unit comprises;
a vertical signal processor configured to extract a first sensing information from among the signals output from the distance sensor at the same position and at the same horizontal angle and different vertical angles, and filter out the sensing information regarding signals determined as sensing the ground; and
a horizontal signal processor configured to extract a second sensing information from among the signals output from the distance sensor at the same position and at the same vertical angle and different horizontal angles, and filter out the sensing information regarding signals determined as sensing the ground; and
wherein the horizontal signal processor is configured to check whether the obstacle is sensed by two random signals adjacent in a horizontal direction among the signals output from the distance sensor at the same position and at the same vertical angle and the different horizontal angles by comparing a directivity between points sensed by the two random signals with a driving direction of the vehicle.
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Abstract
Provided are a device and method for recognizing an obstacle around a vehicle. The device includes a distance sensor configured to generate sensing information regarding each of a plurality of signals by outputting the plurality of signals to an area spaced a predetermined distance from the front of the vehicle, a signal processing unit configured to extract the sensing information regarding signals determined as sensing an obstacle by individually performing vertical ground filtering and horizontal ground filtering on the sensing information regarding each of the plurality of signals, a signal mixer configured to mix the sensing information extracted by performing vertical ground filtering and the sensing information extracted by performing horizontal ground filtering, and an obstacle recognition unit configured to recognize the obstacle using a result of mixing the extracted sensing information.
3 Citations
8 Claims
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1. A device for recognizing an obstacle around a vehicle, the device comprising:
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a distance sensor configured to generate sensing information regarding each of a plurality of signals by outputting the plurality of signals to an area spaced a predetermined distance from the front of the vehicle; a signal processing unit comprising at least one processor configured to extract the sensing information regarding signals determined as sensing an obstacle by individually performing vertical ground filtering and horizontal ground filtering on the sensing information provided by each of the plurality of signals; a signal mixer comprising at least one processor configured to mix the sensing information extracted by performing vertical ground filtering and the sensing information extracted by performing horizontal ground filtering; an obstacle recognition unit comprising at least one processor configured to recognize the obstacle using a result of mixing the extracted sensing information, wherein the sensing information includes direct range information; wherein the signal processing unit comprises; a vertical signal processor configured to extract a first sensing information from among the signals output from the distance sensor at the same position and at the same horizontal angle and different vertical angles, and filter out the sensing information regarding signals determined as sensing the ground; and a horizontal signal processor configured to extract a second sensing information from among the signals output from the distance sensor at the same position and at the same vertical angle and different horizontal angles, and filter out the sensing information regarding signals determined as sensing the ground; and wherein the horizontal signal processor is configured to check whether the obstacle is sensed by two random signals adjacent in a horizontal direction among the signals output from the distance sensor at the same position and at the same vertical angle and the different horizontal angles by comparing a directivity between points sensed by the two random signals with a driving direction of the vehicle. - View Dependent Claims (2, 3, 4)
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5. A method of recognizing an obstacle around a vehicle, the method comprising:
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generating, by a distance sensor, sensing information regarding each of a plurality of signals by outputting the plurality of signals to an area spaced a predetermined distance from the front of the vehicle; extracting, by a signal processing unit comprising at least one processor, the sensing information regarding signals determined as sensing an obstacle by individually performing vertical ground filtering and horizontal ground filtering on the sensing information regarding each of the plurality of signals, wherein the signal processing unit further comprises a vertical signal processor and a horizontal signal processor; mixing, by a signal mixer comprising at least one processor, the sensing information extracted by performing vertical ground filtering and the sensing information extracted by performing horizontal ground filtering; recognizing, by an obstacle recognition unit comprising at least one processor, the obstacle in the front area using a result of mixing the extracted sensing information, wherein the sensing information includes direct range information generated by a distance sensor, wherein the extracting of the sensing information comprises; extracting, by the vertical signal processor, first sensing information among the signals output at the same position and at the same horizontal angle and different vertical angles, while filtering out the sensing information regarding signals determined as sensing the ground; and extracting, by the horizontal signal processor, second sensing information among the signals output at the same position and at the same vertical angle and different horizontal angles, while filtering out the sensing information regarding signals determined as sensing the ground; and wherein the extracting of the second sensing information comprises checking, by the horizontal signal processor, whether the obstacle is sensed by two random signals adjacent in a horizontal direction among the signals output at the same position and at the same vertical angle and different horizontal angles by comparing a directivity between points sensed by the two random signals with a driving direction of the vehicle. - View Dependent Claims (6, 7, 8)
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Specification