# US 12,000,927 B2 · Vehicle control system for detecting object 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 12,000,927 B2 - Document ID: US12000927B2 - Status: Granted - Kind: B2 - Application number: 17/382,991 - Filed: 2021-07-22 - Published: 2022-11-10 - Granted: 2024-06-04 - Earliest claimed: 2021-05-07 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: Hyundai Mobis Co., Ltd. - Inventors: Won Jong Choi; Seok Hyun Kang; Young Hoon Kim - Web page: https://patentgrep.com/patent/US12000927B2 ## CPC - G01S 7/40: Means for monitoring or calibrating - G01S 13/931: of land vehicles - G01S 7/4026: {Antenna boresight} - G01S 7/411: {Identification of targets based on measurements of radar reflectivity (G01S7/415 takes precedence)} - G01S 13/06: Systems determining position data of a target - G01S 13/4418: {with means for eliminating radar-dependent errors in angle measurements, e.g. multipath effects} - G01S 13/4454: {phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement} - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/68: for angle tracking only - G01S 13/867: {Combination of radar systems with cameras} - G01S 2013/9315: {Monitoring blind spots} - G01S 2013/9318: {Controlling the steering} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9319: {Controlling the accelerator} - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93275: {in the bumper area} - 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 ## Abstract A vehicle control system may include a controller that detects an object outside a vehicle, calculates an angle based on a ratio of a relative speed between the object and the vehicle to a speed of the vehicle, and updates a phase curve reflecting a phase distortion of an input signal based on the calculated angle. ## Claims ### Claim 1 A vehicle control system comprising: a controller configured to: detect an object outside a vehicle; calculate an angle based on a ratio of a relative speed between the object and the vehicle to a speed of the vehicle; and update a phase curve reflecting a phase distortion of an input signal based on the calculated angle, wherein the controller is further configured to: in order to calculate the angle, obtain an object candidate group based on at least one of whether a distance between the object and the vehicle is less than or equal to a threshold distance, whether a cosine value of the input signal is less than a threshold value, or whether the ratio of the relative speed to the speed of the vehicle is equal to or less than a threshold value; calculate angle data based on the ratio of the relative speed to the speed of the vehicle with respect to the object candidate group; and filter the angle data. ### Claim 2 (depends on 1) The vehicle control system of claim 1, wherein the controller is further configured to: detect the object when the speed of the vehicle is greater than or equal to a threshold speed and an angular speed of the vehicle is less than a threshold angular speed. ### Claim 3 (depends on 1) The vehicle control system of claim 1, wherein the controller is further configured to: filter the angle data based on at least one of whether the angle data is within a threshold angle range, whether a ratio of a relative speed to a speed of the vehicle corresponding to each of the angle data is less than or equal to a second threshold value, which is less than the first threshold value, whether a difference between an angle determined based on the input signal and an angle determined based on the angle data is less than a threshold angle, or whether a difference between a phase difference corresponding to each of the angle data and a phase difference corresponding to a reference phase curve is less than a first threshold difference. ### Claim 4 (depends on 1) The vehicle control system of claim 1, wherein the controller is further configured to: in order to update the phase curve, generate a phase curve within a specified angle range based on the filtered angle data; calculate an offset of the generated phase curve; compensate the phase curve of which the offset is calculated; and generate a final phase curve through the compensated phase curve and smoothing. ### Claim 5 (depends on 1) The vehicle control system of claim 1, wherein the controller is further configured to: compare the updated phase curve with a reference phase curve, store the updated phase curve when a phase difference between the updated phase curve and the reference phase curve is less than a second threshold difference; and change the updated phase curve to the reference phase curve when the phase difference between the updated phase curve and the reference phase curve is equal to or greater than the second threshold difference. ### Claim 6 (depends on 1) The vehicle control system of claim 1, further comprising: a signal processor configured to transmit or receive the input signal. ### Claim 7 (depends on 1) The vehicle control system of claim 1, further comprising: a signal processor including a radar device configured to transmit or receive a signal in a specified frequency band. ### Claim 8 A method of operating a vehicle control system, the method comprising: detecting an object outside a vehicle; calculating an angle based on a ratio of a relative speed between the object and the vehicle to a speed of the vehicle; and updating a phase curve reflecting a phase distortion of an input signal based on the calculated angle, wherein the calculating of the angle includes: obtaining an object candidate group based on at least one of whether a distance between the object and the vehicle is less than or equal to a threshold distance, whether a cosine value of the input signal is less than a threshold value, whether a power of the input signal is greater than or equal to a threshold power, or whether a ratio of the relative speed to the speed of the vehicle is equal to or less than a threshold value; calculating angle data based on the ratio of the relative speed to the speed of the vehicle with respect to the object candidate group; and filtering the angle data. ### Claim 9 (depends on 8) The method of claim 8, wherein the detecting of the object includes: detecting the object when the speed of the vehicle is greater than or equal to a threshold speed and an angular speed of the vehicle is less than a threshold angular speed. ### Claim 10 (depends on 8) The method of claim 8, wherein the filtering of the angle data includes: filtering the angle data based on at least one of whether the angle data is within a threshold angle range, whether a ratio of a relative speed to a speed of the vehicle corresponding to each of the angle data is less than or equal to a second threshold value, which is less than the first threshold value, whether a difference between an angle determined based on the input signal and an angle determined based on the angle data is less than a threshold angle, or whether a difference between a phase difference corresponding to each of the angle data and a phase difference corresponding to a reference phase curve is less than a first threshold difference. ### Claim 11 (depends on 9) The method of claim 9, wherein the updating of the phase curve includes: generating a phase curve within a specified angle range based on the filtered angle data; calculating an offset of the generated phase curve; compensating the phase curve of which the offset is calculated; and generating a final phase curve through the compensated phase curve and smoothing. ### Claim 12 (depends on 8) The method of claim 8, further comprising: comparing the updated phase curve with a reference phase curve; and storing the updated phase curve when the phase difference between the updated phase curve and the reference phase curve is less than a second threshold difference, and changing the updated phase curve to the reference phase curve when the phase difference between the updated phase curve and the reference phase curve is equal to or greater than the second threshold difference.