System and method for detecting obstacles

• US 9,805,603 B2
• Filed: 09/03/2015
• Issued: 10/31/2017
• Est. Priority Date: 09/05/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Kim, Young shin, Kim, Won gyum, Ryu, Soo youn
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/845,228
• Publication Number:
  US 20160071416A1
• Time in Patent Office: 789 Days
• Field of Search: None
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention provides an obstacle detecting system and method. The obstacle detecting system includes: a transmitting unit which emits a laser signal; a MEMS scanning mirror which scans detecting regions set at an angle of view at which obstacles in front of a vehicle are detected and a cut-in situation when a vehicle in a next lane suddenly cuts in is detected, and divides the detecting regions into a plurality of regions to scan the plurality of regions at different point intervals; a receiving unit which receives the laser signal transmitted from the MEMS scanning mirror to detect information on an object detected in the detecting regions; and a processing unit which detects the obstacles and the cut-in situation through the information detected in the receiving unit to issue an alarm or transmit a braking command.

Claims

1. An obstacle detecting system, comprising:

a transmitting unit configured to emit a laser signal;

a micro electro mechanical system (MEMS) scanning mirror configured to reflect the laser signal to scan detecting regions and configured to divide the detecting regions into an obstacle detecting region and cut-in detecting regions at point intervals different among the detecting regions;

a receiving unit configured to receive the laser signal transmitted from the MEMS scanning mirror and configured to detect information of an object detected in the obstacle detecting region and the cut-in detecting regions; and

a processing unit which issues an alarm or transmits a braking command based on the information detected from the receiving unit,

wherein the obstacle detecting region is set at an angle of view at which an obstacle in front of a vehicle is detected and the cut-in detecting regions are set at angles of view at which a cut-in situation from a vehicle in a next lane is detected,

wherein the information of the object detected comprises at least one value selected from the group consisting of a coordinate value, a distance value, and a reflection value, and

wherein the processing unit comprises;

an obstacle detecting unit configured to detect whether the object is the obstacle based on the information of the object detected in the obstacle detecting region

an obstacle classifying unit configured to classify the obstacle into a vehicle and a pedestrian based on the information of the object detected in the obstacle detecting region;

a cut-in detecting unit configured to detect whether there is the cut-in situation based on the information of the object detected in the obstacle detecting region; and

a control unit configured to issue the alarm or transmit the braking command based on the classification of the obstacle from the obstacle classifying unit and detection of the cut-in situation from the cut-in detecting unit.

2. The system of claim 1, wherein the point interval is adjusted in accordance with a rotating speed of the MEMS scanning mirror.

3. The system of claim 1, wherein the detecting regions comprises an the obstacle detecting region with a narrow point interval and the cut-in detecting regions with a wide point interval.

4. The system of claim 3, wherein the cut-in detecting regions are formed at both sides in a diagonal direction with respect to the obstacle detecting region.

5. The system of claim 3, wherein the MEMS scanning mirror is configured to scan the obstacle detecting region and the cut-in detecting regions while moving horizontally and vertically with respect to at least one axis.

6. The system of claim 3, wherein the point interval at which the obstacle detecting region is scanned is narrower than the point interval at which the cut-in detecting regions are scanned.

7. The system of claim 1, wherein the receiving unit is formed to detect at least one pixel of information, and to continuously detect the information of the object in accordance with the rotating speed of the MEMS scanning mirror.

8. The system of claim 3, wherein the receiving unit comprises:

an obstacle detecting region detector configured to detect the information of the object scanned in the obstacle detecting region; and

a cut-in detecting region detector configured to detect the information of an the object scanned in the cut-in detecting regions.

9. The system of claim 1, wherein the MEMS scanning mirror is configured to transmit the laser signal to hit the object and return to the receiving unit.

10. A method for detecting an obstacle, comprising:

emitting a laser signal;

reflecting, by a micro electro mechanical system (MEMS) scanning mirror, the laser signal to scan a plurality of regions which is obtained by dividing detecting regions into an obstacle detecting region set at an angle of view at which the obstacle in front of a vehicle is detected and cut-in detecting regions set at angles of view at which a cut-in situation from a vehicle in a next lane is detected;

receiving the laser signal transmitted from the MEMS scanning mirror to detect information of an object detected in the obstacle detecting region and the cut-in detecting regions;

detecting the obstacle based on the information of the object detected in the obstacle detecting region; and

issuing an alarm or transmitting the a braking command based on detecting the obstacle from the information of the object detected in the obstacle detecting region,

wherein the obstacle detecting region and the cut-in detecting regions are at different point intervals,

wherein the information of the object detected in detecting regions comprises at least one value selected from the group consisting of a coordinate value, a distance value, and a reflection value,

wherein issuing the alarm or transmitting of the braking command further comprises;

classifying the obstacle into a vehicle and a pedestrian based on the information detected in the obstacle detecting region, and

issuing the alarm or transmitting the braking command based on the classification of the obstacle.

11. The method of claim 10, wherein the point interval is adjusted in accordance with a rotating speed of the MEMS scanning mirror.

12. The method of claim 10, wherein the scanning of the plurality of regions at different point intervals comprises:

distributing the laser signal by a beam splitter so that the laser signal reaches the MEMS scanning mirror.

13. The method of claim 10, wherein the point interval at which the obstacle detecting region is scanned is narrower than the point interval at which the cut-in detecting regions are scanned.

14. The method of claim 10, wherein detecting of the information of the object detected in the detecting regions further comprises:

transmitting the laser signal to a receiving unit of scanning the obstacle detecting region and the cut-in detecting regions and then transmitting the laser signal which hits the object and returns to the MEMS scanning mirror to the receiving unit.

15. The method of claim 14, wherein the receiving unit is formed to detect at least one pixel of information, and to continuously detect information of the object in accordance with the rotating speed of the MEMS scanning mirror.

16. The method of claim 10, wherein issuing of the alarm or transmitting of the braking command further comprises:

detecting whether there is the cut-in situation based on the information of the object which is detected in the cut-in detecting regions; and

issuing the alarm or transmitting the braking command based on whether the cut-in situation is detected.