Determining method and apparatus for obstacles around the parking path and surrounding using ultrasonic waves
AssigneeHyundai Mobis Co., Ltd.
InventorKang Hee Kim
Life of this patent
Estimating the term…
Abstract
A determining method for obstacles includes determining whether an ultrasonic noise exists in TOF of an ultrasonic wave reflected by an object and received; generating a virtual object on an outline of a parking path that a vehicle is to move on based on the received ultrasonic wave TOF; generating virtual indirect wave TOF using the virtual object; and determining whether the object is located inside or outside the outline of the parking path by comparing real indirect wave TOF, which is indirect wave TOF among the received ultrasonic wave TOFs, with the virtual indirect wave TOF.
Claims15
A determining method for obstacles on and around a parking path that a vehicle is to move on, the method comprising:
- determining whether an ultrasonic noise exists in time of flights (TOFs) of ultrasonic waves reflected by an object and received by evaluating dynamic noise based on vehicle speed and an ultrasonic update cycle, and static noise based on the distance between sensors;
- generating a virtual object on an outline of the parking path based on a received ultrasonic wave time of flight (TOF) when no ultrasonic noise exists;
- generating a virtual indirect wave TOF using the virtual object;
- and
- determining whether the object is located inside or outside the outline of the parking path by considering the relative positions of the sensors along the parking path and comparing a real indirect wave TOF, which is an indirect wave TOF among the received ultrasonic wave TOFs, to the virtual indirect wave TOF;
- wherein, in determining whether an ultrasonic noise exists, it is determined that no ultrasonic noise exists when both a direct wave TOF and the indirect wave TOF exist and neither a dynamic noise nor a static noise exists in the received ultrasonic wave TOFs;
- wherein it is determined that the static noise is generated when:
- |direct wave hTOF−indirect wave hTOF|>distance between sensors/2
- where:
- hTOF=TOF/2 and
- distance between sensors:
- distance between a sensor emitting and receiving a direct wave and a sensor receiving an indirect wave.
A determining apparatus for obstacles on and around a parking path that a vehicle is to move on, the apparatus comprising:
- a noise determination unit determining whether an ultrasonic noise exists in time of flights (TOFs) of ultrasonic waves reflected by an object and received by evaluating dynamic noise based on vehicle speed and an ultrasonic update cycle, and static noise based on the distance between sensors;
- a virtual object generation unit generating a virtual object on an outline of the parking path based on the received ultrasonic wave time of flight (TOF) when the noise determination unit determines that no ultrasonic noise exists;
- a virtual indirect wave generation unit generating a virtual indirect wave TOF using the virtual object generated by the virtual object generation unit;
- and an object location determination unit determining whether the object is located inside or outside the outline of the parking path by considering the relative positions of the sensors along the parking path and comparing a real indirect wave TOF, which is an indirect wave TOF among the received ultrasonic wave TOFs, to a virtual indirect wave TOF generated by the virtual indirect wave generation unit;
- wherein the noise determination unit includes a dynamic noise determination unit and a static noise determination unit and determines that no ultrasonic noise exists when both a direct wave TOF and the indirect wave TOF exist and neither a dynamic noise nor a static noise exists in the received ultrasonic wave TOFs;
- wherein the static noise determination unit is configured to determine that the static noise is generated when:
- |direct wave hTOF−indirect wave hTOF|>distance between sensors/2
- where:
- distance between sensors:
- distance between a sensor emitting and receiving the direct wave and a sensor receiving the indirect wave.
Dependencies are inferred from the claim text.