Radar control device, method and system
A radar control device includes a receiver configured to receive first forward driving information which is a detection result of a front of a host vehicle from a lidar and second forward driving information which is a detection result of the front of the host vehicle from a radar; a straight line determiner configured to, when an object around the host vehicle is continuously detected in a predetermined direction based on the first and second forward driving information, determine a first straight line based on the first forward driving information, and determine a second straight line based on the second forward driving information; and a controller configured to determine a correction angle of the radar based on an intersection angle between the first straight line and the second straight line, and generate a control signal for an angle correction of the radar according to the correction angle.
1 . A radar control device comprising:
a receiver configured to receive first forward driving information which is a detection result of a front of a host vehicle from a lidar and second forward driving information which is a detection result of the front of the host vehicle from a radar;
a straight line determiner configured to, in the case that an object around the host vehicle is continuously detected in a specific direction based on the first forward driving information and the second forward driving information, determine a first straight line based on the first forward driving information, and determine a second straight line based on the second forward driving information, wherein the first straight line is determined by determining third measurements, which are three-dimensional lidar data measured by the lidar, converting the third measurements into a two-dimensional plane, determining a straight-line determination area comprising the two-dimensional plane, and determining the first straight line to be located in the specific direction, which is a direction in which the object is continuously detected, within the straight-line determination area based on the first forward driving information; and
a controller configured to determine a correction angle of the radar based on an intersection angle between the first straight line and the second straight line, generate a control signal for an angle correction of the radar according to the correction angle, and send the control signal to a mounting angle correction device.
2 . The radar control device of claim 1 , wherein the controller determines the correction angle of the radar by applying a predetermined coefficient corresponding to the intersection angle to the intersection angle.
3 . The radar control device of claim 1 , wherein the straight line determiner determines the first straight line to be located within a predetermined distance from a plurality of first measurements located in the predetermined-specific direction.
4 . The radar control device of claim 3 , wherein the first straight line is determined by determining a straight line minimizing a distance from each of the plurality of first measurements.
5 . The radar control device of claim 1 , wherein the straight line determiner determines the second straight line to be located within a predetermined distance from a plurality of second measurements located in the predetermined specific direction.
6 . The radar control device of claim 1 , wherein the controller determines, as the intersection angle, an acute angle among the angles between the first straight line and the second straight line.
7 . A radar control method comprising:
receiving first forward driving information which is a detection result of a front of a host vehicle from a lidar and second forward driving information which is a detection result of the front of the host vehicle from a radar;
determining that an object around the host vehicle is continuously detected in a specific direction based on the first forward driving information and the second forward driving information;
determining a first straight line based on the first forward driving information, and determining a second straight line based on the second forward driving information, wherein the first straight line is determined by determining third measurements, which are three-dimensional lidar data measured by the lidar, converting the third measurements into a two-dimensional plane, determining a straight-line determination area comprising the two-dimensional plane, and determining the first straight line to be located in the specific direction, which is a direction in which the object is continuously detected, within the straight-line determination area based on the first forward driving information;
determining a correction angle of the radar based on an intersection angle between the first straight line and the second straight line;
generating a control signal for an angle correction of the radar according to the correction angle, and;
sending the control signal to a mounting angle correction device.
8 . The radar control method of claim 7 , wherein determining a correction angle comprises determining the correction angle of the radar by applying a predetermined coefficient corresponding to the intersection angle to the intersection angle.
9 . The radar control method of claim 7 , wherein determining a first straight line comprises determining the first straight line to be located within a predetermined distance from a plurality of first measurements located in the predetermined specific direction.
10 . The radar control method of claim 9 , wherein the first straight line is determined by determining a straight line minimizing a distance from each of the plurality of first measurements.
11 . The radar control method of claim 7 , wherein determining a second straight line comprises determining the second straight line to be located within a predetermined distance from a plurality of second measurements located in the predetermined specific direction.
12 . The radar control method of claim 7 , wherein determining a correction angle comprises determining, as the intersection angle, an acute angle among the angles between the first straight line and the second straight line.
13 . A radar control system comprising:
one or more lidars provided in a host vehicle;
one or more radars provided in the host vehicle; and
a radar control device configured to,
receive first forward driving information which is a detection result of a front of a host vehicle from the lidar and second forward driving information which is a detection result of the front of the host vehicle from the radar,
determine, in the case that an object around the host vehicle is continuously detected in a specific direction based on the first forward driving information and the second forward driving information, a first straight line based on the first forward driving information, and determine a second straight line based on the second forward driving information, wherein the first straight line is determined by determining third measurements, which are three-dimensional lidar data measured by the lidar, converting the third measurements into a two-dimensional plane, determining a straight-line determination area comprising the two-dimensional plane, and determining the first straight line to be located in the specific direction, which is a direction in which the object is continuously detected, within the straight-line determination area based on the first forward driving information,
determine a correction angle of the radar based on an intersection angle between the first straight line and the second straight line, generate a control signal for an angle correction of the radar according to the correction angle, and send the control signal to a mounting angle correction device.
14 . The radar control system of claim 13 , wherein the radar control device determines the correction angle of the radar by applying a predetermined coefficient corresponding to the intersection angle to the intersection angle.
15 . The radar control system of claim 13 , wherein the radar control device determines the first straight line to be located within a predetermined distance from a plurality of first measurements located in the specific direction.
16 . The radar control system of claim 15 , wherein the first straight line is determined by determining a straight line minimizing a distance from each of the plurality of first measurements.
17 . The radar control system of claim 13 , wherein the radar control device determines the second straight line to be located within a predetermined distance from a plurality of second measurements located in the specific direction.