Method and device for sensing road environment based on frequency modulated continuous wave radar
View Patent ↗Disclosed herein are a method and device for sensing a road environment based on a frequency modulated continuous wave (FMCW) radar. A method for detecting a road environment based on the FMCW radar includes the steps of: the FMCW radar performing a first scan to acquire a first frequency spectrum of beat signals, and shifting the first frequency spectrum based on first velocity information of a vehicle on performing the first scan; the FMCW radar performing a second scan to acquire a second frequency spectrum of beat signals, and shifting the second frequency spectrum based on second velocity information of the vehicle on performing the second scan; acquiring correlation information between the shifted first frequency spectrum and the shifted second frequency spectrum; and comparing the correlation information with a set threshold value and detecting the road environment.
1. A method for detecting a road environment based on a frequency modulated continuous wave (FMCW) radar, the method comprising the steps of:
the FMCW radar performing a first scan to acquire a first frequency spectrum of beat signals, and shifting the first frequency spectrum based on first velocity information of a vehicle on performing the first scan;
the FMCW radar performing a second scan to acquire a second frequency spectrum of beat signals, and shifting the second frequency spectrum based on second velocity information of the vehicle on performing the second scan;
acquiring a correlation value between the shifted first frequency spectrum and the shifted second frequency spectrum which are acquired at different times by the FMCW radar; and
comparing the correlation value with a set threshold value and detecting the road environment.
2. The method according to claim 1 , wherein the step of comparing the correlation value with the set threshold value and detecting the road environment comprises the steps of:
determining that a fixed structure exists in surroundings of the vehicle when the correlation value is greater than the set threshold value; and
determining that the fixed structure does not exist in surroundings of the vehicle when the correlation value is equal to or less than the set threshold value.
3. The method according to claim 2 , wherein:
the first velocity information is acquired based on peak information of the first frequency spectrum which has been acquired; and
the second velocity information is acquired based on peak information of the second frequency spectrum which has been acquired.
4. The method according to claim 1 , wherein the first velocity information and the second velocity information are calculated based on information on environments of a road on which the vehicle is traveling.
5. The method according to claim 4 , wherein the first velocity information and the second velocity information correspond to values which are calculated by taking curvature information of a curved road into consideration when the vehicle is traveling on the curved road.
6. The method according to claim 5 , wherein the curvature information is acquired by detecting a traffic lane region and performing a curved line template matching based on the detected traffic lane region.
7. A frequency-modulated continuous wave (FMCW) radar for detecting a road environment, the FMCW radar comprising a processor, wherein the processor:
performs a first scan to acquire a first frequency spectrum of beat signals, and shifts the first frequency spectrum based on first velocity information of a vehicle on performing the first scan;
performs a second scan to acquire a second frequency spectrum of beat signals, and shifts the second frequency spectrum based on second velocity information of the vehicle on performing the second scan;
acquires a correlation value between the shifted first frequency spectrum and the shifted second frequency spectrum which are acquired at different times by the FMCW radar; and
compares the correlation value with a set threshold value and detects the road environment.
8. The FMCW radar according to claim 7 , wherein the processor determines that a fixed structure exists in surroundings of the vehicle when the correlation value is greater than the set threshold value, and determines that the fixed structure does not exist in surroundings of the vehicle when the correlation value is equal to or less than the set threshold value.
9. The FMCW radar according to claim 8 , wherein:
the first velocity information is acquired based on peak information of the first frequency spectrum which has been acquired; and
the second velocity information is acquired based on peak information of the second frequency spectrum which has been acquired.
10. The FMCW radar according to claim 7 , wherein the first velocity information and the second velocity information are calculated based on information on environments of a road on which the vehicle is traveling.
11. The FMCW radar according to claim 10 , wherein the first velocity information and the second velocity information correspond to values which are calculated by taking curvature information of a curved road into consideration when the vehicle is traveling on the curved road.
12. The FMCW radar according to claim 11 , wherein the curvature information is acquired by detecting a traffic lane region and performing a curved line template matching based on the detected traffic lane region.