Autonomous emergency braking system and method of controlling same
Disclosed are an autonomous emergency braking system and a method of controlling the same, wherein at least one track corresponding to the target is formed using the received radar signal, it is determined whether the tracks are generated by another vehicle, and it is determined whether the tracks determined to be generated by the other vehicle are generated by an overhead structure. Accordingly, it is possible to prevent the overhead structure from being mistaken for a vehicle and thus to prevent a malfunction of the system and improve reliability.
1. An autonomous emergency braking system comprising:
a radar signal transmitter configured to radiate a radar signal;
a radar signal receiver configured to receive the radar signal reflected from a target;
a target detector configured to form at least one track corresponding to the target through the radar signal;
a first target classifier configured to determine whether the tracks are generated by a vehicle or clutter; and
a second target classifier configured to receive information on the tracks determined to be generated by the vehicle from the first target classifier and determine whether the tracks are generated by a vehicle or an overhead structure,
wherein the target detector divides the tracks into a reference track formed by a radar signal having a relatively high intensity and a neighbor track neighboring the reference track within a predetermined range.
2. The autonomous emergency braking system of claim 1 , wherein the second target classifier calculates an RCS for each of a reference track formed by a radar signal having a relatively high intensity among the tracks and a neighbor track neighboring the reference track and calculates an RCS difference between the reference track and the neighbor track.
3. The autonomous emergency braking system of claim 2 , wherein the second target classifier determines that the reference track is generated by the vehicle when the RCS difference is larger than or equal to a preset difference value and determines that the reference track is generated by the overhead structure when the RCS difference is smaller than the preset difference value.
4. The autonomous emergency braking system of claim 1 , wherein, when only one track is formed by the target detector, the second target classifier calculates an RCS of the track, and when the RCS is larger than or equal to a preset threshold value, determines that the track is generated by the vehicle.
5. The autonomous emergency braking system of claim 1 , wherein the first target classifier determines the target generating the track as one of a vehicle, an undecided type, and clutter.
6. A method of controlling an autonomous emergency braking system, the method comprising:
radiating a radar signal;
receiving the radar signal reflected from a target;
forming at least one track corresponding to the target through the received radar signal;
determining whether the tracks are generated by a vehicle or clutter; and
receiving information on the tracks determined to be generated by the vehicle, and determining whether the tracks are generated by a vehicle or an overhead structure,
wherein the forming at least one track comprising:
dividing the tracks into a reference track formed by a radar signal having a relatively high intensity and a neighbor track neighboring the reference track within a predetermined range.
7. The method of claim 6 , wherein the determining whether the tracks are generated by a vehicle or an overhead structure comprising:
calculating an RCS for each of a reference track formed by a radar signal having a relatively high intensity among the tracks and a neighbor track neighboring the reference track, and
calculating an RCS difference between the reference track and the neighbor track.
8. The method of claim 7 , wherein the determining whether the tracks are generated by a vehicle or an overhead structure comprising:
determining that the reference track is generated by the vehicle when the RCS difference is larger than or equal to a preset difference value, and
determining that the reference track is generated by the overhead structure when the RCS difference is smaller than the preset difference value.
9. The method of claim 6 , wherein the determining whether the tracks are generated by a vehicle or an overhead structure comprising:
when only one track is formed by the target detector, calculating an RCS of the track, and
when the RCS is larger than or equal to a preset threshold value, determining that the track is generated by the vehicle.
10. The method of claim 6 , wherein the determining whether the tracks are generated by a vehicle or clutter comprising:
determining the target generating the track as one of a vehicle, an undecided type, and clutter.