Device and method for controlling radar sensor
The disclosure relates to a device and method for controlling radar sensors. According to an embodiment, a device for controlling a radar sensor comprises a receiver receiving first detection target information from a first radar sensor and receiving second detection target information from a second radar sensor spaced apart from the first radar sensor by a predetermined distance, a determiner determining whether the second detection target information is present in a similarity target monitoring area set to include the first detection target information, if the first detection target information is received, and a controller detecting whether the first radar sensor and the second radar sensor are misaligned using the first detection target information and the second detection target information if the similarity target monitoring area includes the first detection target information and the second detection target information.
1. A device for controlling a radar sensor, comprising:
a receiver receiving first detection target information from a first radar sensor and receiving second detection target information from a second radar sensor spaced apart from the first radar sensor by a predetermined distance;
a determiner determining whether the second detection target information is present in a similarity target monitoring area set to include the first detection target information, if the first detection target information is received; and
a controller detecting whether the first radar sensor and the second radar sensor are misaligned using the first detection target information and the second detection target information if the similarity target monitoring area includes the first detection target information and the second detection target information,
wherein the receiver further receives detection target image information from an image sensor, and wherein if is determined that a detection target detected by each of the first detection target information and the second detection target information is for the same object, and if it is determined that information for the same object detected by the first detection target information and the second detection target information is identical to information for the same object detected by the detection target image information as a result of comparison therebetween, the controller detects whether the first radar sensor and the second radar sensor are misaligned.
2. The device of claim 1 , wherein each of the first detection target information and the second detection target information includes at least one of a reflection power parameter for ,:the detection target, a reflection area parameter, a relative distance parameter of the detection target and a host vehicle, a relative speed parameter of the detection target and the host vehicle, or an angle of the detection target with respect to the host vehicle.
3. The device of claim 2 , wherein the controller detects whether the first radar sensor and the second radar sensor are misaligned according to a result of determining whether the detection target detected by each of the first detection target information and the second detection target information included in the similarity target monitoring area is for the same object.
4. The device of claim 3 , wherein the controller performs comparison on similarity for each of one or more parameters included in the first detection target information and the second detection target information and derives a result of similarity determination, and
detects whether the first radar sensor and the second radar sensor are misaligned if it is determined as the result of similarity determination that the detection target is for the same object.
5. The device of claim 4 , wherein the controller applies a preset weight to each of one or more parameters included in the first detection target information and the second detection target information, performs the comparison on the similarity, and derives the result of similarity determination.
6. The device of claim 3 , wherein the controller determines that the first radar sensor and the second radar sensor are misaligned if an angle between a straight line connecting the second radar sensor and the first detection target information and a straight line connecting the second radar sensor and the second detection target information is a predetermined angle or more.
7. The device of claim 1 , wherein the similarity target monitoring area is set within an overlapping range between a detection range of the first radar sensor and a detection range of the second radar sensor.
8. The device of claim 1 , wherein the similarity target monitoring area is set with respect to a lane where the detection target is located, if the detection target detected by the first detection target information is a moving object.
9. The device of claim 1 , wherein the determiner determines that the second detection target information is present in the similarity target monitoring area if a portion of a threshold point or more of the second detection target information is included in the similarity target monitoring area.
10. A method for controlling a radar sensor, comprising:
receiving first detection target information from a first radar sensor and receiving second detection target information from a second radar sensor spaced apart from the first radar sensor by a predetermined distance;
determining whether the second detection target information is present in a similarity target monitoring area set to include the first detection target information, if the first detection target information is received; and
detecting whether the first radar sensor and the second radar sensor are misaligned using the first detection target information and the second detection target information if the similarity target monitoring area includes the first detection target information and the second detection target information,
wherein detecting whether the first radar sensor and the second radar sensor are misaligned includes:
further receiving detection target image information from an image sensor, and if it is determined that a detection target detected by each of the first detection target information and the second detection target information is for the same object, and if it is determined that information for the same oject detected by the first detection target information and the second detected target information is identical to information for the same object detected by the detection target image information as a result of comparison therebetween, detecting whether the first radar sensor and the second radar sensor are misaligned.
11. The method of claim 10 , wherein each of the first detection target information and the second detection target information includes at least one of a reflection power parameter for the detection target, a reflection area parameter, a relative distance parameter of the detection target and a host vehicle, a relative speed parameter of the detection target and the host vehicle, or an angle of the detection target with respect to the host vehicle.
12. The method of claim 11 , wherein detecting whether the first radar sensor and the second radar sensor are misaligned includes detecting whether the first radar sensor and the second radar sensor are misaligned according to a result of determining whether the detection target detected by each of the first detection target information and the second detection target information included in the similarity target monitoring area is for the same object.
13. The method of claim 12 , wherein detecting whether the first radar sensor and the second radar sensor are misaligned includes:
performing comparison on similarity for each of one or more parameters included in the first detection target information and the second detection target information and derives a result of similarity determination; and
determining whether the first radar sensor and the second radar sensor are misaligned if it is determined as the result of similarity determination that the detection target is for the same object.
14. The method of claim 13 , wherein detecting whether the first radar sensor and the second radar sensor are misaligned includes applying a preset weight to each of one or more parameters included in the first detection target information and the second detection target information, performing the comparison on the similarity, and deriving the result of similarity determination.
15. The method of claim 12 , wherein detecting whether the first radar sensor and the second radar sensor are misaligned includes determining that the first radar sensor and the second radar sensor are misaligned if an angle between a straight line connecting the second radar sensor and the first detection target information and a straight line connecting the second radar sensor and the second detection target information is a predetermined angle or more.
16. The method of claim 10 , wherein the similarity target monitoring area is set within an overlapping range between a detection range of the first radar sensor and a detection range of the second radar sensor.
17. The method of claim 10 , wherein the similarity target monitoring area is set with respect to a lane where the detection target is located, if the detection target detected by the first detection target information is a moving object.
18. The method of claim 10 , wherein determining whether the second detection target information is present in a similarity target monitoring area includes determining that the second detection target information is present in the similarity target monitoring area if a portion of a threshold point or more of the second detection target information is included in the similarity target monitoring area.