# US 10,309,773 B2 · Device for recognizing obstacle around vehicle and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,773 B2 - Document ID: US10309773B2 - Status: Granted - Kind: B2 - Application number: 15/216,164 - Filed: 2016-07-21 - Published: 2017-03-09 - Granted: 2019-06-04 - Earliest claimed: 2015-09-04 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: Hyundai Mobis Co., Ltd. - Inventors: Jeong Ku Kim - Web page: https://patentgrep.com/patent/US10309773B2 ## CPC - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G06F 18/251: {of input or preprocessed data} - G06V 10/803: {of input or preprocessed data} - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### 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. ### Claim 2 (depends on 1) The device of claim 1, wherein the vertical signal processor is configured to calculate a height of a triangle formed by points sensed by two random signals adjacent in a vertical direction among the signals output from the distance sensor at the same position and at the same horizontal angle and the different vertical angles and a vertical angle between the two random signals, and check whether the obstacle is sensed by the two random signals by comparing a distance between the points sensed by the two random signals with the height. ### Claim 3 (depends on 1) The device of claim 1, wherein, when the directivity between the points sensed by the two random signals is parallel to the driving direction of the vehicle within a range of a predetermined inclination, the horizontal signal processor is configured to determine that the obstacle is sensed by the two random signals. ### Claim 4 (depends on 2) The device of claim 2, wherein, when an error between the distance and the height is less than a predetermined value, the vertical signal processor is configured to determine that the obstacle is sensed by the two random signals. ### Claim 5 A method of recognizing an obstacle around a vehicle, the method comprising: 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. ### Claim 6 (depends on 5) The method of claim 5, wherein the extracting of the first sensing information comprises: calculating a height of a triangle formed by points sensed by two random signals adjacent in a vertical direction among the signals output at the same position and at the same horizontal angle and the different vertical angles and a vertical angle between the two random signals; and checking whether the obstacle is sensed by the two random signals by comparing a distance between the points sensed by the two random signals with the height. ### Claim 7 (depends on 5) The method of claim 5, wherein the extracting of the second sensing information comprises determining that the obstacle is sensed by the two random signals when the directivity between the points sensed by the two random signals is parallel to the driving direction of the vehicle within a range of a predetermined inclination. ### Claim 8 (depends on 6) The method of claim 6, wherein the checking of whether the obstacle is sensed comprises determining that the obstacle is sensed by the two random signals when an error between the distance and the height is less than a predetermined value.