Patent Application
20250076489
This application claims the benefit of priority to Korean Patent Application No. 10-2023-0116545, filed in the Korean Intellectual Property Office on Sep. 1, 2023, the entire contents of which are incorporated herein by reference.
The present disclosure relates to a guardrail detecting apparatus and a guardrail detecting method for predicting and generating a guardrail pattern located on a front side a vehicle.
A radar device is a device that radiates electromagnetic wave signals through a transmitting antenna and receives the signals reflected from a target from a receiving antenna, and then generates detection information, such as a distance, a speed, and an angle of the target by using the received signals.
The radar technology is utilized to detect a target in a driving assisting system of a vehicle, warn an accident risk for detected target in advance, and actively prevent and avoid an accident.
This radar technology for vehicles is not only used to detect surrounding vehicles, but also to detect stationary structures, such as guardrails.
Here, to recognize a guardrail pattern by using the radar technology for vehicles, stationary structures, such as steel guardrails, safety bars, concrete walls, and tunnel walls are constructed by guardrails using stationary object detections that are determined by corner radar devices. Then, a guardrail pattern is generated in a broadside (90 degrees in a travel direction of a vehicle) area of the corner radar device by using stationary object detections near a B-pillar of the vehicle, and the coordinates of the guardrail leading to a rear side of the vehicle are predicted and generated by using a movement locus of the vehicle.
In this way, it is possible to predict a guardrail pattern in a rear area of the vehicle by using a trajectory of the movement of the vehicle over time. However, because a front area of the vehicle corresponds to a location, at which the vehicle has not yet moved, the movement trajectory of the vehicle cannot be used to generate a guardrail pattern, and the guardrail pattern has to be generated by predicting, among the detection signals received from the front side.
However, when a guardrail pattern is predicted by using detection signals received from the front side, a wrong detection signal may be recognized due to reflected signals or inaccurate angles that occur around the guardrail. Furthermore, a target unrelated to the driving of the vehicle may be recognized due to a signal reflected from a target in an opposite lane. As a result, a prediction accuracy of the guardrail pattern may decrease, and a wrong warning may occur as a false target is recognized.
The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while advantages achieved by the prior art are maintained intact.
An aspect of the present disclosure provides a guardrail detecting apparatus and a guardrail detecting method, by which a recognition and tracking accuracy of a front guardrail may be improved by generating a front guardrail pattern based on, among signals detected by using radar, a valid detection signal.
An aspect of the present disclosure also provides a guardrail detecting apparatus and a guardrail detecting method, by which a front detection area may be set in advance and a guardrail detection signal in the set front detection area may be extracted whereby false warnings due to false targets may be minimized.
An aspect of the present disclosure also provides a guardrail detecting apparatus and a guardrail detecting method, by which a front detection area may be divided to generate a guardrail pattern, not only straight but also curved guardrails may be recognized fluidly.
The technical problems to be solved by the present disclosure are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains.
According to an aspect of the present disclosure, a guardrail detecting apparatus includes a radar sensor that radiates radar signals in different directions from a vehicle to detect a guardrail on a front side of the vehicle, and a controller that selects a guardrail detection satisfying a preset condition from detection information received from the radar sensor in a guardrail detection area set on the front side of the vehicle, and generates a guardrail pattern based on guardrail coordinate information calculated by using coordinate information of the guardrail detection.
In an embodiment, the controller may include an area setter that, when a prior guardrail pattern is present in a side area of the vehicle, sets a plurality of the guardrail detection areas at a specific distance interval in a travel direction of the vehicle based on a location of the prior guardrail pattern in the side area, and sets a transverse direction detection area including a specific distance range in leftward and rightward directions from a location of the prior guardrail pattern in the side area, in the plurality of the guardrail detection area.
In an embodiment, in the plurality of the guardrail detection areas, first N areas may be set on a left side of a center line in a longitudinal direction that is parallel to a travel direction of the vehicle, and second N areas corresponding to the first N areas may be set on a right side of the center line.
In an embodiment, the area setter may adjust an interval of the plurality of the guardrail detection areas based on a velocity of the vehicle, and adjust the specific distance range of the transverse direction detection area based on a yaw rate of the vehicle.
In an embodiment, the controller may include a signal processor that generates detection information on at least one target, a determiner that selects a guardrail detection included in the transverse direction detection area in the detection information in the guardrail detection area set on the front side of the vehicle, and determines whether a guardrail is present in the plurality of the guardrail detection areas based on a number of the guardrail detections in the transverse direction detection area, and a guardrail generator that, when it is identified that the guardrail is present in at least one of the plurality of the guardrail calculates a coordinate of the guardrail based on coordinate information of the guardrail detections, and generates the guardrail pattern based on the coordinate of the guardrail.
In an embodiment, when the prior guardrail pattern is present in the side area of the vehicle, the determiner may select a stationary object detection included in the transverse direction detection area in the guardrail detection area on the front side of the vehicle as a guardrail candidate detection, compare an actual transverse direction location of the guardrail candidate detection and a predicted transverse direction location based on a linear guardrail function used when the prior guardrail pattern is present in the side area, and select a corresponding guardrail candidate detection as the guardrail detection when a difference between the actual transverse direction location and the predicted transverse direction location is within a preset error range.
In an embodiment, the determiner may determine that the guardrail is present in the corresponding guardrail detection area when a number of moving object detections in the guardrail detection area on the front side of the vehicle is 0 and the number of the guardrail detections is a specific number or more.
In an embodiment, the guardrail generator may calculate a linear guardrail function based on the coordinate information of the guardrail detections in the guardrail detection area, and calculate a coordinate of the guardrail included in the guardrail detection area by substituting the coordinate information of the prior guardrail pattern in the side area of the vehicle into the linear guardrail function.
In an embodiment, the guardrail generator may sequentially generate guardrail pattern in N guardrail detection areas on left side and right side from a first guardrail detection area on the front side of the vehicle, and end an operation of generating the guardrail pattern for subsequent guardrail detection areas when no guardrail pattern is generated in any one guardrail detection area among the N guardrail detection areas.
In an embodiment, the radar sensor may include a first sensor that radiates a radar signal to a front right side of the vehicle to detect a target, a second sensor that radiates a radar signal to a front left side of the vehicle to detect a target, a third sensor that radiates a radar signal to a rear right side of the vehicle to detect a target, and a fourth sensor that radiates a radar signal to a rear left side of the vehicle to detect a target,
According to another aspect of the present disclosure, a guardrail detecting method includes detecting, by a radar sensor, a guardrail on a front side of a vehicle, wherein the radar sensor radiates radar signals in different directions from the vehicle, and selecting, by a controller, a guardrail detection satisfying a preset condition from detection information received from the radar sensor in a guardrail detection area set on a front side of the vehicle, and generating, by the controller, a guardrail pattern based on guardrail coordinate information calculated by using coordinate information of the guardrail detection.
The above and other objects, features and advantages of the present disclosure will be more apparent from the following detailed description taken in conjunction with the accompanying drawings:
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of the drawings, it is noted that the same components are denoted by the same reference numerals even when they are drawn in different drawings. Furthermore, in describing the embodiments of the present disclosure, when it is determined that a detailed description of related known configurations and functions may hinder understanding of the embodiments of the present disclosure, a detailed description thereof will be omitted.
Furthermore, in describing the components of the embodiments of the present disclosure, terms, such as first, second, “A”, “B”, (a), and (b) may be used. The terms are simply for distinguishing the components, and the essence, the sequence, and the order of the corresponding components are not limited by the terms. Unless defined differently, all the terms including technical or scientific terms have the same meanings as those generally understood by an ordinary person in the art, to which the present disclosure pertains. The terms, such as the terms defined in dictionaries, which are generally used, should be construed to coincide with the context meanings of the related technologies, and are not construed as ideal or excessively formal meanings unless explicitly defined in the present disclosure.
Referring to
The radar sensor 120 may include a first sensor 121, a second sensor 122, a third sensor 123, and a fourth sensor 124.
The first sensor 121, the second sensor 122, the third sensor 123, and the fourth sensor 124 are installed at different locations of a vehicle, and the respective sensors may radiate radar signals in different directions of an outside of the vehicle to detect a target (for example, a guardrail) that is located around the vehicle.
As an example, the first sensor 121 is installed on a front right side FR of the vehicle, and may detect a target that is located in a sensor detection area on a front right side of the vehicle. The second sensor 122 is installed on a front left side FL of the vehicle, and may detect a target that is located in the sensor detection area on the front left side of the vehicle. The third sensor 123 is installed on a rear right side RR of the vehicle, and may detect a target that is located in the sensor detection area on the rear right side of the vehicle. The fourth sensor 124 is installed on a rear left side RL of the vehicle, and may detect a target located in the sensor detection area in the rear left side direction of the vehicle. Here, some areas of the sensor detection areas may overlap other detection areas.
The controller 110 recognizes a coordinate of a target, that is, a guardrail based on detection results from the first to fourth sensors 121 to 124, and generates a guardrail pattern based on the recognized coordinate of the guardrail.
Then, the controller 110 sets a guardrail detection area for a guardrail detection on the front side of the vehicle, and selects a valid detection signal from detection signals that are received from the first to fourth sensors 121 to 124 in the set guardrail detection area such that a guardrail pattern is generated and recognized whereby a detection accuracy of an actual guardrail is improved.
Here, the controller 110 may be implemented in a form of an independent hardware device including a memory and at least one processor that processes respective operations, and may be driven in a form that is included in another hardware device, such as a microprocessor or a general-purpose computer system. At least one processor may be implemented as an application specific integrated circuit (ASIC), a central processing unit (CPU), a microcontroller, and/or a microprocessor.
Referring to
The signal processor 111 processes radar signals that are received from the first to fourth sensors 121 to 124 to identify at least one detection information.
As an example, the signal processor 111 may acquire information, such as a detection location and a velocity of the target based on the radar signals.
The area setter 113 sets a guardrail detection area for detecting a guardrail on the front side of the vehicle. Here, the guardrail detection area is set to a specific area in a travel direction of the vehicle, that is, on the front side, and may include N areas that are formed at a specific interval in the travel direction of the vehicle with respect to a guardrail pattern that is generated in a side area of the radar sensor 120.
The side area of the radar sensor 120 refers to a broadside area on a side of 90 degrees with respect to the travel direction of the vehicle.
Accordingly,
Referring to
The N areas may have a length of a specific distance “1” in the transverse direction with respect to a center line in a longitudinal direction that extends in the travel direction of the vehicle. Here, the longitudinal direction refers to a direction that is parallel to the travel direction of the vehicle, and a transverse direction refers to a direction that is perpendicular to the travel direction of the vehicle.
Then, N guardrail detection areas may be set on the left side with respect to the center line in the longitudinal direction of the vehicle, which extends in the travel direction of the vehicle, and N guardrail detection areas that are symmetrical to the left side may be set on the right side.
However, the area setter 113 may set the guardrail detection area on the front side of the vehicle only when there is a guardrail pattern generated in the side area of the vehicle. Here, the guardrail pattern may be generated by the guardrail generator 117.
As illustrated in
That is, the area setter 113 may adjust the interval (width) of the front guardrail detection areas depending on the velocity “V” of the vehicle. For example, the area setter 113 identifies the velocity “V”, and when the identified velocity “V” is more than a reference velocity V1, the interval (width) of the guardrail detection area located first on the front side may be adjusted to two times of an existing interval (width), that is, 2 d.
When it is assumed that the location of the vehicle is located in the (i−1)-th area of a preset guardrail detection area, and when the velocity “V” is more than the reference velocity V1, the interval (width) of the i-th area that is first located on front side may be adjusted to 2 d.
The determiner 115 may determine whether to perform an operation of generating a guardrail pattern in the previously set guardrail detection area.
As an example, when a guardrail pattern is present in the side area of the vehicle, the determiner 115 determines that an operation of generating a guardrail pattern for the first area on the front side has to be performed, and when a guardrail pattern is not present in the side area of the vehicle, the determiner 115 determines that the operation of generating a guardrail pattern for the first area on the front side does not have to be performed.
Furthermore, the determiner 115 may determine that an operation of generating a guardrail pattern for the next i-th area has to be performed if a guardrail pattern generated in the (i−1)-th area is present when the vehicle enters the guardrail detection area and is located in the (i−1)-th area. Meanwhile, the determiner 115 may determine that an operation of generating a guardrail pattern for the i-th area does not have to be performed thereafter when no guardrail pattern generated in the (i−1)-th area is present.
Here, the determiner 115 may determine whether a guardrail pattern is present in the i-th area before performing an operation of generating a guardrail pattern for the i-th area.
When it is identified that a guardrail pattern is present in the i-th area, the determiner 115 may determine that an operation of generating a guardrail pattern for the i-th area has to be performed.
The determiner 115 may determine a guardrail detection candidate with reference to the embodiment illustrated in
Referring to
For example, when the yaw rate of the vehicle is less than 5 degrees, the determiner 115 may recognize a straight line situation, and may set “a” to 1 m. In this case, assuming that the coordinate of the guardrail pattern generated in the (i-−1)-th area are (xi−1, yi−1)={1.2, 5.5}, it may be determined that a transverse direction condition is satisfied when the “y” coordinate value in the detections from the radar sensor 120 corresponds to a range of 4.5 to 6.5,
Meanwhile, when the yaw rate of the vehicle is 5 degrees or more, the determiner 115 may recognize it as a curve situation, and may set “a” to 2 m. In this case, assuming that the coordinate of the guardrail generated in the (i−1)-th area are (xi−1, yi−1)={1.2, 5.5}, it may be determined that the transverse direction condition is satisfied when the “y” coordinate value in the detections from the radar sensor 120 corresponds to a range of 3.5 to 7.5.
Accordingly, the determiner 115 determines, among the detection signals in the i-th area, the detection signals that satisfy the transverse direction condition, and determines the number of moving object detection signals and stationary object detection signals among them. In the embodiment of
Here, the determiner 115 selects stationary object detection signals that satisfies the transverse direction condition in the i-th guardrail detection area as a guardrail candidate detection.
Thereafter, the determiner 115 compares a “y” coordinate of a guardrail candidate detection that is predicted based on a linear guardrail function used when the guardrail pattern in the (i−1)-th area is generated with an actual “y” coordinate of a guardrail candidate detection in the i-th area to select similar guardrail candidate detections as a guardrail detection.
Here, the determiner 115 may predict the “y” coordinate by substituting the “x” coordinate of the guardrail candidate detection into the linear guardrail function that is used when the guardrail pattern in the (i−1)-th area is generated.
The linear guardrail function has a form f(x)=ax+b, and an inclination of the “a” value and a “y” intercept of the “b” value may be obtained by performing linear regression based on a guardrail detection.
As an example, when the linear guardrail function used when the guardrail pattern of the (i−1)-th area is generated is f(x)i−1=−0.1x+5, the “x” values of the guardrail candidate detections are substituted into the x value of f(x)i−1. When a coordinate of any one of the seven guardrail candidate detections is (5.5, 4), the determiner 115 may substitute 5.5 into the “x” value to predict the “y” coordinate from f(x)i−1=4.45.
Then, assuming that a prediction error range for the “y” coordinate is 0.5, the actual “y” coordinate of the corresponding guardrail candidate detection is 4, and thus, the predicted “y” coordinate corresponds to an error range. Here, the prediction error range for the “y” coordinate may be changed as much as desired depending on the embodiment.
Accordingly, the determiner 115 may select the guardrail candidate detection as a guardrail detection because the predicted “y” coordinate for the corresponding guardrail candidate detection and the actual “y” coordinate are similar in the error range.
Of course, when the difference between the predicted “y” coordinate for the guardrail candidate detection and the actual “y” coordinate deviates from the error range, the determiner 115 may determine the corresponding guardrail candidate detection as being invalid and exclude it.
The determiner 115 may determine whether a guardrail pattern is present in the corresponding area based on the number of guardrail detections and the number of moving object detections in the transverse direction detection area of the i-th area. As an example, the determiner 115 may determine that a guardrail pattern is present in the corresponding area when the number of moving object detections in the transverse direction detection area of the i-th area is 0 and there are a specific number of guardrail detections, for example, 2 or more.
As illustrated in
When the determiner 115 identifies that a guardrail pattern is present in the i-th area, the controller generates the guardrail pattern in the i-th area through the guardrail generator 117.
The guardrail generator 117 may generate a guardrail pattern on the rear side by using a movement locus, along which the vehicle has passed, and may generate a guardrail pattern on the side area formed in a direction that is perpendicular to the travel direction of the vehicle by using a stationary object detection near a central pillar (B-pillar) of the vehicle.
Furthermore, when the determiner 115 identifies that a guardrail pattern is present in the guardrail detection area on the front side, the guardrail generator 117 generates a guardrail pattern in the guardrail detection area on the front side.
The guardrail generator 117 may calculate a linear guardrail function by performing a linear regression on not less than a specific number of guardrail detections that area selected by the determiner 115, and may predict a coordinate of the guardrail for the i-th area based on the calculated linear guardrail function to generate a guardrail pattern.
As illustrated in
Then, as illustrated in
Here, a linear regression is a regression analysis technique that models a linear correlation between a dependent variable “y” and one or more independent variables “x”, and an inclination and a y-intercept of the linear guardrail function may be obtained by using “x” and “y”. Because the linear regression is a commonly used regression analysis technique, a detailed description thereof will be omitted.
Accordingly, the guardrail generator 117 predicts the coordinate of the i-th guardrail by using the linear guardrail function f(x)i=−0.84x+8.67 that is calculated for the i-th area. Here, the guardrail generator 117 may predict the coordinate of the i-th guardrail based on the guardrail coordinate of the (i−1)-th area.
For example, a distance between the (i−1)-th guardrail pattern and the i-th guardrail pattern differs by the interval (width) of the i-th area. Accordingly, assuming that the interval (width) of the i-th area is 5 m, the guardrail generator 117 may predict the “x” coordinate of the (i−1)-th area added by 5 as the “x” coordinate of the i-th guardrail.
Here, because the “x” coordinate of the (i−1)-th guardrail pattern is 1.2, the “x” coordinate of the i-th guardrail pattern may be 6.2 (=1.2+5).
Furthermore, the guardrail generator 117 may predict the “y” coordinate of the i-th guardrail pattern based on the linear guardrail function f(x)i. Here, the guardrail generator 117 may predict the “y” coordinate of the i-th guardrail pattern from f(x)i=3.46 by substituting the “x” coordinate of 6.2 of the i-th guardrail pattern into the x value of the linear guardrail function f(x)i=−0.84x+8.67 of the i-th area.
The guardrail generator 117 may generate the i-th guardrail pattern based on the predicted coordinates (xi, yi)=(6.2, 3.46).
In the same manner as above, the guardrail generator 117 may generate a continuous guardrail pattern for the N-th area from the first area of the guardrail detection area. Then, the guardrail pattern may be generated to correspond to the left and right areas with respect to a center location of the vehicle. Accordingly, the embodiment of
When the guardrail detection area is set, the guardrail generator 117 sequentially performs operations for generating a guardrail pattern, starting from the nearest area with respect to the location of the vehicle. Then, when it is identified that no guardrail pattern is generated in any one of the first to N-th areas, the guardrail generator 117 determines that it is impossible to generate a guardrail pattern anymore because a continuity of the guardrail is not established, and thus ends an operation of generating a guardrail pattern in the next sequence.
Although not illustrated in
The communication part may include a communication module for a vehicle network communication with electrical equipment and/or controllers provided in the vehicle. Here, the vehicle network communication technology may include a controller area network (CAN) communication, a local Interconnect network (LIN) communication, and Flex-Ray communication.
Furthermore, the communication part may include a communication module for wireless Internet access or a communication module for short range communication. Here, the wireless Internet technology may include Wireless LAN (WLAN), Wireless Broadband (Wibro), Wi-Fi, and World Interoperability for Microwave Access (Wimax). Furthermore, the short-range communication technology may include Bluetooth, ZigBee, Ultra-Wideband (UWB), Radio Frequency Identification (RFID), and Infrared Data Association (IrDA).
The storage may store data, commands, and/or algorithms that are necessary for operating the guardrail detecting apparatus 100. Here, the storage may include a storage medium, such as a random access memory (RAM), a static random access memory (SRAM), a read only memory (ROM), a programmable read only memory (PROM), and an electrically erasable programmable read only memory (EEPROM).
In relation to the actual target detection image illustrated in
Furthermore, in
Meanwhile, in relation to the actual target detection image illustrated in
In this case, similarly, it may be identified that a guardrail pattern was generated by using a guardrail detection in, among the guardrail detection areas, the transverse direction detection area, and the false target formed outside the guardrail may be deleted from the tracking target based on the guardrail pattern.
In this way, when an accurate guardrail pattern is generated by recognizing the guardrail pattern on the front side and when it is identified that the initial track is a false target for the false target or the opposite lane, the target information may be deleted whereby a wrong warning due to the false target may be prevented in advance, and accordingly, not only may the tracking accuracy of the actual target be improved, but also the reliability of the driving assisting system also may be improved.
An operation flow of the guardrail detecting apparatus according to the present disclosure configured as above will be described in more detail as follows.
First, referring to
Thereafter, the guardrail detecting apparatus 100 sets a guardrail detection area on the front side with respect to the guardrail pattern generated in the side area (S120), and sets a transverse direction detection area with respect to the yaw rate of the vehicle in the guardrail detection area (S130). Then, the guardrail detecting apparatus 100 may generate a guardrail pattern on the front side by using detection signals included in the transverse direction detection area in the guardrail detection area.
Here, the guardrail detection area is formed into N guardrail areas with respect to the travel direction of the vehicle, sequentially performs the processes in
Referring to
When a guardrail pattern is present in the (i−1)-th area (S210), the guardrail detecting apparatus 100 selects, among the stationary object detections, a guardrail candidate detections detected in the i-th area on the front side (S220). In process ‘S220’, the guardrail detecting apparatus 100 may select, among the stationary object detections detected in the i-th area, stationary object detections included in the transverse direction detection area as guardrail candidate detections.
The guardrail detecting apparatus 100 predicts the “y” coordinates of guardrail candidate detections in the i-th area based on the linear guardrail function calculated to generate a guardrail pattern in the (i−1)-th area (S230). In process ‘S230’, the guardrail detecting apparatus 100 may predict the “y” coordinates by applying the “x” coordinates of the guardrail candidate detections in the i-th area to the linear guardrail function.
Then, the guardrail detecting apparatus 100 may compare the “y” coordinates predicted in process ‘S230’ and the actual “y” coordinates of the guardrail candidate detections to select the corresponding guardrail candidate detection as a valid guardrail detection (S250) when they are similar within a preset error range (S240).
The guardrail detecting apparatus 100 may determine whether a guardrail pattern is present in the i-th area by identifying the number of guardrail detections and the number of moving object detections selected in process ‘S250’. In other words, when identifying that the number of the guardrail detections in the transverse direction detection area set in the i-th area is a specific number (m) or more and that there are 0 moving object detections (S260), the guardrail detecting apparatus 100 determines that a guardrail pattern is present in the i-th area, and thus performs a guardrail pattern generating operation of ‘S270’ to ‘S290’, and otherwise, ends the guardrail pattern generating operation.
When identifying that a guardrail is present in the i-th area, the guardrail detecting apparatus 100 calculates a linear guardrail function based on the guardrail detections selected in the i-th area (S270). In process ‘S270’, the guardrail detecting apparatus 100 may calculate a linear guardrail function by performing a linear regression based on the coordinate information of guardrail detections.
The guardrail detecting apparatus 100 calculates guardrail coordinates by using the linear guardrail function calculated in process ‘S270’ (S280), and generates a guardrail pattern based on the guardrail coordinates calculated in process ‘S280’ (S290).
Thereafter, the guardrail detecting apparatus 100 performs operations ‘S210’ to ‘S290’ while increasing i by 1 (S300) to generate a continuous guardrail pattern in the N guardrail detection areas.
Of course, when a guardrail pattern is not created in any one area while the guardrail detecting apparatus 100 performs a guardrail pattern generating operation in the order from the first area to the N-th area, the continuity of the guardrail is broken and the guardrail pattern is not generated in the subsequent areas and the operation ends.
As described above, according to an embodiment of the present disclosure, a recognition and tracking accuracy of a front guardrail may be improved by generating a front guardrail pattern based on, among signals detected by using radar, a valid detection signal, a front detection area may be set in advance and a guardrail detection signal in the set front detection area may be extracted whereby false warnings due to false targets may be minimized, and a front detection area may be divided to generate a guardrail pattern, not only straight but also curved guardrails may be recognized fluidly.
According to an embodiment of the present disclosure, a recognition and tracking accuracy of a front guardrail may be improved by generating a front guardrail pattern based on, among signals detected by using radar, a valid detection signal.
Furthermore, according to an embodiment of the present disclosure, a front detection area may be set in advance and a guardrail detection signal in the set front detection area may be extracted whereby false warnings due to false targets may be minimized.
In addition, according to an embodiment of the present disclosure, a front detection area may be divided to generate a guardrail pattern, not only straight but also curved guardrails may be recognized fluidly.
The above description is a simple exemplary description of the technical spirits of the present disclosure, and an ordinary person in the art, to which the present disclosure pertains, may make various corrections and modifications without departing from the essential characteristics of the present disclosure.
Therefore, the embodiments disclosed in the present disclosure are not for limiting the technical spirits of the present disclosure but for describing them, and the scope of the technical spirits of the present disclosure is not limited by the embodiments. The protection scope of the present disclosure should be construed by the following claims, and all the technical spirits in the equivalent range should be construed as being included in the scope of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2023-0116545 | Sep 2023 | KR | national |
