KR-20260064435-A - ROTATIONAL UWB ANCHOR ANTENNAS METHOD FOR REAL-TIME VEHICLE PEDESTRIAN DETECTION AND TRACKING

Abstract

A UWB anchor rotation method comprises: a step in which an analysis device acquires distance information between a pedestrian's tag and each of a plurality of anchors; a step in which the analysis device calculates the pedestrian's position based on the distance information; a step in which the analysis device selects a pedestrian having a risk level greater than a preset standard based on the pedestrian's position; a step in which the analysis device calculates an anchor angle targeting a pedestrian with a high risk level based on the pedestrian's position and the anchor's position; and a step in which the analysis device rotates the anchor based on the calculated anchor angle.

Inventors

• 김대유
• 이종민
• 정준희
• 조민성
• 정유성
• 김윤지
• 김한경

Assignees

• 인하대학교 산학협력단

Dates

Publication Date

20260507

Application Date

20250218

Priority Date

20241031

Claims (5)

1. A step in which an analysis device acquires distance information between each of the pedestrian's tag and a plurality of anchors; A step in which the analysis device calculates the position of the pedestrian based on the distance information; The above analysis device selects a pedestrian having a risk level greater than or equal to a preset standard based on the location of the pedestrian; and The above analysis device calculates the angle of the anchor for a pedestrian having a risk level greater than or equal to the preset standard based on the position of the pedestrian and the position of the anchor; and A UWB anchor rotation method comprising the step of the analysis device rotating the anchor based on the calculated angle of the anchor.
2. In paragraph 1, The above anchor is a UWB anchor rotation method that measures distance information between the pedestrian's tag and the anchor through UWB (Ultra-Wideband) communication.
3. In paragraph 1, A UWB anchor rotation method comprising the step of calculating the angle of the above anchor using the following mathematical formula 1. [Mathematical Formula 1] In the above mathematical formula 1, θ is the angle of the anchor. In the above mathematical formula 1, X and Y are the X and Y coordinates for the position of the pedestrian. In the above mathematical formula 1, A and B are the X and Y coordinates for the position of the anchor.
4. In paragraph 1, UWB anchor rotation method, wherein the angle of the above-calculated anchor is an angle such that the direction of the anchor is within ±45°.
5. In paragraph 1, A UWB anchor rotation method further comprising the step of, when there are multiple pedestrians having a risk level greater than or equal to the above-preset standard, the analysis device selecting the pedestrian with the highest risk level.

Description

Rotational UWB Anchor Antennas Method for Real-Time Vehicle Pedestrian Detection and Tracking The technology described below is about a method for tracking pedestrians. Ultra-Wideband (UWB) systems are a type of wireless communication system that utilizes a very wide frequency range of several GHz in the baseband without using wireless carriers, and are applied in fields such as communications and radar. UWB systems measure distance by emitting nano- or picosecond pulses from an anchor and measuring the time it takes for them to reflect back from a tag. Because UWB systems enable centimeter-level precision using short resolution, they are primarily used in indoor location tracking. Furthermore, UWB systems are installed in vehicles and utilized as a means to replace Bluetooth and NFC, such as for recognizing whether a passenger is inside the vehicle. With the recent revitalization of the autonomous driving industry, there is a demand for fully autonomous driving system solutions. Fully autonomous driving systems require advanced object recognition systems. For example, a system is needed to determine accurate location by positioning the antenna directions of the anchor and the tag similarly. Alternatively, it may be necessary to install multiple anchors to ensure similar antenna orientations. However, these methods presented the problem of doubling system costs. Figure 1 shows one example of a UWB system (100). FIG. 2 shows one of the embodiments (200) of the UWB anchor rotation method. FIGS. 3 to 7 show one of the embodiments in which the UWB anchor rotation method is performed. FIG. 3 illustrates one of the situations in which a vehicle and a pedestrian may collide. FIG. 4 shows four anchors installed on a vehicle. FIG. 5 shows the angles and distances between the four anchors installed on the vehicle and the pedestrian. FIG. 6 is one embodiment controlling the angle of one of the four anchors. FIG. 7 shows the degree of error according to the angle of the anchor. FIG. 8 is a configuration of one of the embodiments of an analysis device (400). The technology described below may be subject to various modifications and may have various embodiments. Specific embodiments of the technology described below may be described in the drawings of the specification. However, this is for the purpose of explaining the technology described below and is not intended to limit the technology described below to specific embodiments. Accordingly, it should be understood that all modifications, equivalents, and substitutions that fall within the spirit and scope of the technology described below are included in the technology described below. Terms such as first, second, A, B, etc., may be used to describe various components. However, the above terms are used merely to distinguish one component from other components and are not intended to limit the components to the said terms. For example, without departing from the scope of rights of the technology described below, the first component may be named the second component, and similarly, the second component may be named the first component. The term “and/or” includes a combination of multiple related described items or any of the multiple related described items. In the terms used below, singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "includes" should be understood to mean that the described features, number, steps, actions, components, parts, or combinations thereof exist, and not to exclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Before providing a detailed description of the drawings, it is to clarify that the classification of components in this specification is merely based on the primary function each component is responsible for. That is, two or more components described below may be combined into a single component, or a single component may be divided into two or more components based on more subdivided functions. Furthermore, each component described below may additionally perform some or all of the functions of other components in addition to its own primary function, and it is obvious that some of the primary functions of each component may be exclusively performed by other components. Furthermore, in performing the method or operation method, each process constituting the method may occur differently from the specified order unless a specific order is clearly indicated in the context. That is, each process may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order. Figure 1 shows one example of a UWB system (100). The UWB system (100) may be installed on a means of transportation. The UWB system (100) may be installed on a moving means of transportation. In one embodiment, the means of transportation may include a movin