US 11,841,423 B2
Apparatus and method for recognizing object
Yeon Joo Shim, Yongin-si (KR); Jin Woo Jung, Yongin-si (KR); Sang Won Park, Yongin-si (KR); and Jun Seop Jeong, Yongin-si (KR)
Assigned to HYUNDAI MOBIS Co., Ltd, Seoul (KR)
Filed by HYUNDAI MOBIS Co., Ltd., Seoul (KR)
Filed on Aug. 18, 2020, as Appl. No. 16/996,722.
Claims priority of application No. 10-2019-0169549 (KR), filed on Dec. 18, 2019.
Prior Publication US 2021/0190957 A1, Jun. 24, 2021
Int. Cl. G01S 15/00 (2020.01); G01S 7/497 (2006.01); G01S 7/539 (2006.01); G01S 15/931 (2020.01)
CPC G01S 15/00 (2013.01) [G01S 7/497 (2013.01); G01S 7/539 (2013.01); G01S 15/931 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An object recognition apparatus for a vehicle, the apparatus comprising:
two or more sensors each configured to transmit a signal toward an object and to receive signals having a direct path and indirect path and reflected and received from the object;
a time of flight detector configured to detect time of flights of the direct path and indirect path of each of the two or more sensors using the signals having the direct path and indirect path and received by each of the two or more sensors; and
an object recognizer configured to recognize the object using the time of flights of the direct path and indirect path of each of the two or more sensors, detected by the time of flight detector,
wherein the two or more sensors comprise:
a first sensor configured to transmit a first signal having a first frequency band and receive the first signal having a direct path and a second signal having an indirect path, which are reflected and received from the object; and
a second sensor configured to transmit a third signal having a second frequency band and receive the third signal having a direct path and a fourth signal having an indirect path, which are reflected and received from the object,
wherein the time of flight detector is configured to:
detect a first direct path time of flight and a first indirect path time of flight using the first signal having the direct path and the second signal having the indirect path, respectively, which are received by the first sensor, and
detect a second direct path time of flight and a second indirect path time of flight using the third signal having the direct path and the fourth signal having the indirect path, respectively, which are received by the second sensor, and
wherein the object recognizer is configured to:
compare an error between the first indirect path time of flight and the second indirect path time of flight with a preset first threshold, and
recognize the object as gravel when the error exceeds the first threshold as a result of the comparison.