KR20160090081A - Temperature Compensation Apparatus and Method of UltraSonic Sensor for Vehicle - Google Patents

Abstract

The present invention relates to an apparatus and a method for compensating temperature of a vehicle ultrasonic sensor that compensates for temperature by using an attenuation coefficient and transmission and reception efficiency of an ultrasonic sensor for a vehicle according to an external temperature and an internal temperature of the ultrasonic sensor for a vehicle. Wherein the temperature compensation device comprises: a storage unit for storing temperature compensation information according to internal and external temperatures of a vehicle ultrasonic sensor; A sensing unit for sensing a temperature inside and outside of the vehicle ultrasonic sensor; And a compensation unit for temperature-compensating the vehicle ultrasonic sensor using temperature compensation information according to the inside and outside temperatures of the sensed vehicle ultrasonic sensor.

Description

TECHNICAL FIELD [0001] The present invention relates to a temperature compensating apparatus and method for an ultrasonic sensor for a vehicle,

The present invention relates to an apparatus and a method for compensating temperature of an ultrasonic sensor for a vehicle, and more particularly, to an apparatus and a method for temperature compensation using an attenuation coefficient and transmission / reception efficiency of an ultrasonic sensor for a vehicle according to an external temperature and an internal temperature of the ultrasonic sensor for a vehicle .

A general vehicle ultrasonic sensor transmits an ultrasonic signal, and when the transmitted ultrasonic signal is reflected by the object and is received, when the magnitude of the received ultrasonic signal is larger than the threshold value, a time when the ultrasonic signal is transmitted, The distance to the object can be calculated using the time difference between the reflected and received points.

Therefore, the threshold value of the ultrasonic sensor for vehicle should be set so that the ultrasonic signal transmitted according to ISO 17386 (standard for the reference object) is reflected on the reference object by distance and smaller than the size of the received signal.

On the other hand, the attenuation coefficient (the measure of the propagation of the radio wave or the difference of the reception sensitivity) changes in the atmospheric ultrasonic signal generally according to the temperature. For example, the attenuation coefficient of atmospheric ultrasound signals is greatest when the atmospheric temperature is in the range of 20 to 40 degrees, and becomes smaller as the atmospheric temperature is lowered from 20 degrees, and the atmospheric temperature is increased from 40 degrees The smaller it becomes.

The attenuation coefficient of the ultrasonic signal reflected by the reference object changes with the temperature as in the atmospheric ultrasonic signal.

Accordingly, in the conventional ultrasonic wave system for a vehicle, temperature compensation is performed by adjusting the threshold value using the atmospheric temperature information or changing the reception gain according to the distance, thereby preventing the object detection performance from being deteriorated according to the atmospheric temperature .

In general, a temperature compensation method for a vehicle is a method for compensating for attenuation that decreases the attenuation coefficient according to the atmospheric temperature, such as obtaining the atmospheric temperature information through a temperature sensor or the like and changing the threshold value of the ultrasonic sensor according to the obtained atmospheric temperature information By performing the compensation, it is possible to prevent the phenomenon that the sensing performance of the ultrasonic sensor is deteriorated according to the atmospheric temperature.

On the other hand, the atmospheric temperature information is obtained from an atmospheric temperature sensor obtained from a vehicle air conditioner or the like or separately mounted outside the vehicle.

However, the change of the attenuation coefficient (transmission / reception efficiency) with the temperature of the ultrasonic signal is caused not only by the atmospheric temperature but also by the internal temperature of the ultrasonic sensor.

Generally, the intensity of the sound pressure and the sound pressure of the ultrasonic sensor is maximum at room temperature and decreases as the ambient temperature changes.

If the ambient temperature and the internal temperature of the ultrasonic sensor coincide with each other, there is no problem even if temperature compensation is performed on the ultrasonic sensor using only the ambient temperature information.

However, since the bumper surface temperature and the atmospheric temperature of a vehicle are generally different from each other, temperature compensation for the ultrasonic sensor using only the atmospheric temperature is performed according to changes in the transmission / reception efficiency of the ultrasonic sensor due to the temperature difference between the internal temperature of the ultrasonic sensor and the ambient temperature. There is a problem that an erroneous temperature compensation value can be applied.

That is, if an erroneous temperature compensation value is applied according to a change in the transmission / reception efficiency of the ultrasonic sensor, the ultrasonic sensor may malfunction.

For example, when the atmospheric temperature is at room temperature, and the vehicle is parked so that half of the vehicle is located on the sunny place and the other half is located on the shade,

First, in the ultrasonic sensor mounted on the vehicle located on the sunny place, due to the sunlight absorption of the bumper, the internal temperature of the ultrasonic sensor rises above the atmospheric temperature to decrease the transmission / reception efficiency, and the ultrasonic signal reflected from the reference object The size of the received ultrasound signal may be smaller than the threshold value of the ultrasonic sensor.

In the ultrasonic sensor mounted on the vehicle side, the bumper does not absorb sunlight so that the internal temperature is lower than the atmospheric temperature, so that the transmission / reception efficiency is also decreased. When receiving the ultrasonic signal reflected from the reference object due to reduced transmission / The size of the received ultrasound signal may be smaller than the threshold value of the ultrasonic sensor.

In order to calculate the distance to the reference object using the received ultrasonic signal when the size of the ultrasonic signal reflected from the reference object is smaller than the threshold value of the ultrasonic sensor, Should be less than the size of

However, when temperature compensation is performed on the ultrasonic sensor using only the atmospheric temperature information, since the atmospheric temperature is at room temperature as described above, the temperature compensation is not performed at room temperature, and thus the performance of the ultrasonic parking assist system deteriorates .

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a temperature compensating ultrasonic sensor for temperature compensation using an attenuation coefficient and transmission and reception efficiency of a vehicle ultrasonic sensor according to an external temperature and an internal temperature of a vehicle ultrasonic sensor. And an object of the present invention is to provide an apparatus and a method.

According to an aspect of the present invention, there is provided an apparatus for compensating temperature of an ultrasonic sensor for a vehicle, comprising: a storage unit for storing temperature compensation information according to an internal temperature and an external temperature of a vehicle ultrasonic sensor; A sensing unit for sensing a temperature inside and outside of the vehicle ultrasonic sensor; And a compensation unit for temperature-compensating the vehicle ultrasonic sensor by using temperature compensation information according to the internal temperature and the external temperature of the sensed vehicle ultrasonic sensor.

Wherein the temperature compensation information includes at least one of external temperature information of the ultrasonic sensor for the vehicle, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the ultrasonic sensor for the vehicle, , Reception efficiency information, and transmission / reception efficiency compensation information.

Wherein the compensation unit compares the first amplification factor for amplifying the input signal with the input signal intensity using the attenuation coefficient information and the attenuation coefficient compensation information corresponding to the detected external temperature among the stored attenuation coefficient information and the attenuation coefficient compensation information, A first calculation unit for calculating a first reference value for the first calculation unit; Receiving efficiency information and transmission / reception efficiency compensation information corresponding to the detected internal temperature among the stored transmission efficiency information, the reception efficiency information, and the transmission / reception efficiency compensation information, and a second amplification rate for amplifying the input signal, A second calculation unit for calculating a second reference value for comparison with the intensity; A first amplification factor computed by the first computation unit and the second amplification factor computed by the second computation unit to calculate a final amplification factor to be used for amplification of an input signal input to the vehicle ultrasonic sensor, An operation unit; And a second reference value calculating unit that calculates a final reference value to be used for comparison with the input signal intensity using the first reference value calculated by the first calculating unit and the second reference value calculated by the second calculating unit, And an operation unit.

Wherein the first calculation unit calculates the compensation range of the attenuation coefficient compensation interval corresponding to the detected external temperature interval and the compensation range of the external temperature interval corresponding to the detected external temperature interval when the external temperature interval higher than the current external temperature of the vehicle ultrasonic sensor is stored, The compensation range of the attenuation coefficient compensation period corresponding to the temperature interval is obtained from the stored attenuation coefficient compensation information, and the first amplification factor is calculated.

Wherein the first calculating unit obtains, from the stored external temperature information, an attenuation coefficient corresponding to the detected external temperature when the external temperature coincides with the current external temperature of the vehicle ultrasonic sensor, from the stored attenuation coefficient information, Is calculated.

Wherein the second calculation unit calculates the compensation range of the transmission / reception efficiency compensation interval corresponding to the detected internal temperature interval and the previous internal temperature interval of the detected internal temperature interval, when the internal temperature interval higher than the current internal temperature of the vehicle ultrasonic sensor is stored, And the second amplification factor is calculated by obtaining the compensation range of the transmission / reception efficiency compensation interval corresponding to the temperature interval from the stored transmission / reception efficiency compensation information.

Wherein the second calculation unit calculates a transmission efficiency and a reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information when the internal temperature corresponding to the current internal temperature of the vehicle ultrasonic sensor is found from the stored internal temperature information, And calculates the second reference value.

The first calculation unit may include: a first multiplier for multiplying the first amplification factor delivered from the first calculation unit by the time counted as a signal reflected from the object is input to the vehicle ultrasonic sensor; And a first adder for adding the resultant value delivered from the first multiplier and the second amplification factor delivered from the second calculation unit and outputting the resultant summed result to the final amplification rate.

The second arithmetic unit may include: a second multiplier for multiplying a time counted as a signal reflected from an object is input to the vehicle ultrasonic sensor and a first reference value transmitted from the first calculator; And a second multiplier operable to add the resultant value transferred from the second multiplier and the second reference value transferred from the second calculator, add the added result value and the preset reference value of the input signal, And a second adder for outputting the second adder.

According to another aspect of the present invention, there is provided a method of compensating temperature of an ultrasonic sensor for a vehicle, the method comprising: sensing an internal temperature and an external temperature of the ultrasonic sensor; And temperature compensation of the vehicle ultrasonic sensor using pre-stored temperature compensation information according to the inside and outside temperatures of the sensed vehicle ultrasonic sensor.

Wherein the temperature compensation information includes at least one of attenuation coefficient information and attenuation coefficient compensation information corresponding to external temperature information and external temperature information of the vehicle ultrasonic sensor, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information , Reception efficiency information, and transmission / reception efficiency compensation information.

Wherein the step of temperature-compensating the vehicle ultrasonic sensor comprises the steps of: amplifying an input signal inputted to the vehicle ultrasonic sensor using the attenuation coefficient information and the attenuation coefficient compensation information corresponding to the sensed external temperature among the stored attenuation coefficient information and the attenuation coefficient compensation information; Calculating a first reference value for comparison with the first amplification factor and the input signal intensity; Receiving efficiency information and transmission / reception efficiency compensation information corresponding to the detected internal temperature among the stored transmission efficiency information, the reception efficiency information, and the transmission / reception efficiency compensation information, and a second amplification rate for amplifying the input signal, Calculating a second reference value for comparison with the intensity; Calculating a final amplification factor to be used for amplification of the input signal using the calculated first amplification factor and the calculated second amplification factor; And calculating a final reference value to be used for comparison with the input signal strength using the calculated first reference value and the calculated second reference value.

The step of calculating the first reference value may include: searching an external temperature range higher than the current external temperature of the sensed vehicle ultrasonic sensor from the stored external temperature information; And a compensation range of the attenuation coefficient compensation interval corresponding to the detected external temperature interval and a compensation range of the attenuation coefficient compensation interval corresponding to the previous external temperature interval of the detected external temperature interval from the stored attenuation coefficient compensation information, And a step of calculating a difference value.

The calculating of the first reference value may include: searching for an external temperature that matches the current external temperature of the vehicle ultrasonic sensor from the stored external temperature information; And deriving the attenuation coefficient corresponding to the detected external temperature from the stored attenuation coefficient information to calculate the first reference value.

The step of calculating the second reference value may further include searching the stored internal temperature information for an internal temperature range higher than the current internal temperature of the sensed vehicle ultrasonic sensor; And a compensation range of a transmission / reception efficiency compensation interval corresponding to the searched internal temperature interval and a compensation range of a transmission / reception efficiency compensation interval corresponding to a previous internal temperature interval of the searched internal temperature interval, from the stored transmission / And a step of calculating a difference value.

The step of calculating the second reference value may include: searching an internal temperature that matches the current internal temperature of the vehicle ultrasonic sensor from the stored internal temperature information; And obtaining the transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information and calculating the second reference value.

Calculating the final amplification factor comprises: multiplying the first amplification factor delivered from the first calculation unit by the time counted as a signal reflected from the object is input to the vehicle ultrasonic sensor; And a step of summing the resultant value of the step of multiplying the first amplification factor by the calculated second amplification factor and outputting the result of the addition operation to the final amplification factor.

Calculating the final reference value comprises: multiplying the counted time by the input of the signal reflected from the object to the vehicle ultrasonic sensor and the calculated first reference value; Adding the result of the multiplication of the first reference value and the calculated second reference value; And adding the result of the addition of the second reference value and a preset reference value of the input signal to output the final reference value.

According to the present invention, the vehicle ultrasonic sensor can be temperature-compensated using the attenuation coefficient and transmission / reception efficiency of the ultrasonic sensor for vehicle according to the external temperature and the internal temperature of the ultrasonic sensor for vehicle.

In particular, the temperature compensation of the input signal can be performed by using the attenuation coefficient of the ultrasonic sensor for the vehicle according to the external temperature of the ultrasonic sensor for the vehicle, and the temperature compensation can be performed using the transmission / reception efficiency of the ultrasonic sensor for the vehicle according to the internal temperature of the ultrasonic sensor Therefore, it is possible to realize a more robust ultrasonic sensor for changes in the external and internal temperatures.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an apparatus for compensating temperature of an ultrasonic sensor for a vehicle according to an embodiment of the present invention. FIG.
Figure 2 is a more detailed view of Figure 1;
FIG. 3 is a graph illustrating attenuation coefficients of an ultrasonic signal according to an external temperature change of the ultrasonic sensor of FIG. 1; FIG.
FIG. 4 and FIG. 5 are diagrams illustrating transmission and reception efficiencies according to changes in the internal temperature of the ultrasonic sensor of FIG. 1;
FIG. 6 is a view illustrating an attenuation coefficient compensation value according to an external temperature change of the ultrasonic sensor of FIG. 1; FIG.
FIG. 7 is a view illustrating a transmission / reception efficiency compensation value according to an internal temperature change of the ultrasonic sensor of FIG. 1; FIG.
8 is a flowchart illustrating a method of compensating temperature of an ultrasonic sensor for a vehicle according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, advantages and features of the present invention and methods of achieving them will be apparent from the following detailed description of embodiments thereof taken in conjunction with the accompanying drawings.

The present invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of the invention to those skilled in the art. And effects of the present invention, the scope of the present invention is defined by the description of the claims.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises "and / or" comprising ", as used herein, unless the recited component, step, operation, and / Or added.

Hereinafter, a temperature compensation apparatus for an ultrasonic sensor for a vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is a view illustrating an apparatus for compensating temperature of a vehicle ultrasonic sensor according to an embodiment of the present invention, and FIG. 2 is a more detailed view of FIG.

1, the apparatus for compensating temperature of a vehicle ultrasonic sensor according to an embodiment of the present invention includes a first compensator 100, a second lifter 200, a storage 300, an ultrasonic sensor 400 and a first temperature sensor 500.

2, the first compensating unit 100 includes a first calculating unit 110 and a second calculating unit 120. The first compensating unit 100 may include a first calculating unit 110 and a second calculating unit 120, The dynamic amplification factor, the dynamic threshold value, and the static threshold value for temperature compensation of the ultrasonic sensor 400 using the temperature compensation information stored in the memory 300. The first compensator 100 delivers the calculated dynamic amplification factor, the static amplification factor, the dynamic threshold value, and the static threshold value to the second compensator 200.

The first calculation unit 110 may calculate the current external temperature of the ultrasonic sensor 400 transmitted from the first temperature sensor 500 and the external temperature interval information and the external temperature interval information stored in the storage unit 300 The dynamic amplification factor is calculated using the corresponding attenuation coefficient compensation information.

The first calculating unit 110 may calculate the current temperature of the ultrasonic sensor 400 using the attenuation coefficient information corresponding to the current external temperature of the ultrasonic sensor 400 transmitted from the first temperature sensor 500 and the external temperature information stored in the storage unit 300 And calculates a dynamic threshold value.

The first calculation unit 110 transmits the calculated dynamic amplification factor and the dynamic threshold value to the second compensation unit 200.

The second calculation unit 120 calculates the current internal temperature of the ultrasonic sensor 400 transmitted from the second temperature sensor 410 and the internal temperature interval information and the internal temperature interval information stored in the storage unit 300, And calculates the static amplification factor using the compensation information.

The second calculation unit 120 calculates the transmission efficiency information corresponding to the current internal temperature of the ultrasonic sensor 400 transmitted from the second temperature sensor 410 and the internal temperature information stored in the storage unit 300, The static threshold value is calculated using the efficiency information.

The second calculation unit 120 transmits the calculated static amplification factor and the static threshold value of the ultrasonic sensor 400 to the second compensation unit 200.

The second compensator 200 includes a first calculator 210 and a second calculator 220. The second compensator 200 uses the dynamic amplification factor, the dynamic threshold value, the static amplification factor, and the static threshold value transmitted from the first compensator 100 Thereby compensating for the temperature of the ultrasonic sensor 400.

The first calculation unit 210 includes a first multiplier M1 and a first adder S1 and outputs the first amplification factor calculated by the first calculation unit 110 and the second amplification factor calculated by the second calculation unit 120, The final amplification factor to be used for amplification of the input signal input to the ultrasonic sensor 400 is calculated using the second amplification factor calculated by the second amplification factor.

The first multiplier M1 multiplies the counted time and the first amplification factor delivered from the first calculator 110 as the signal reflected from the object is input to the vehicle ultrasound sensing unit 400. [

The first adder S1 adds the result obtained by multiplying by the first multiplier M1 and the second amplification factor delivered from the second calculator 120, and outputs the result of the addition operation as the final amplification factor .

The second calculator 220 includes a second multiplier M2 and a second adder S2 and calculates a dynamic threshold value calculated by the first calculator 110 and a dynamic threshold value calculated by the second calculator 120 And calculates a final reference value to be used for comparison with the input signal intensity input to the ultrasonic sensor 400 using the static threshold value.

The second multiplier M2 multiplies the counted time and the dynamic threshold value received from the first calculator 110 as the signal reflected from the object is input to the ultrasonic sensor 400. [

The second adder S2 adds the resultant value multiplied by the second multiplier M2 and the static threshold value transmitted from the second calculator 120 and outputs the added result to the ultrasound sensing unit 400 ), And outputs the result as a final reference value.

The storage unit 300 stores attenuation coefficient compensation information corresponding to external temperature interval information and external temperature interval information of the ultrasonic sensor 400, attenuation coefficient information corresponding to external temperature information of the ultrasonic sensor 400, Transmission efficiency compensation information corresponding to internal temperature interval information and internal temperature interval information of the ultrasonic sensor 400, transmission efficiency information corresponding to the internal temperature information of the ultrasonic sensor 400, and reception efficiency information.

The ultrasonic sensor 400 includes a second temperature sensor 410, a variable amplifier 420, a timer 430, a bandpass filter 440, an envelope detector 450, a comparator 460, an object position detector 470, A transmit pulse generator 480, and an ultrasound transducer 490.

The second temperature sensor 410 senses the internal temperature of the ultrasonic sensor 400 and transmits the sensed internal temperature information to the second calculator 120.

The variable amplifier 420 amplifies the input signal reflected from the object according to the set variable gain, that is, the final amplification factor calculated by the first calculation unit 210, and outputs the amplified signal.

The timer 430 is initialized as the signal reflected from the object is inputted to the variable amplifier 420 to count the time and transmits the counted time Tc to the first multiplier M1 and the second multiplier M2 .

The bandpass filter 440 filters the signal output from the variable amplifier 420 according to a predetermined bandwidth and outputs the filtered signal.

The envelope detector 450 detects a curve in contact with an output signal according to a predetermined band among the signals output from the band-pass filter 440.

The comparator 460 compares the magnitude of the signal detected by the envelope detector 450 with the variable reference value, that is, the final reference value calculated by the second calculator 220, and outputs a signal according to the comparison result.

The object position detector 470 obtains the distance information to the object using the signal output from the comparator 460, and detects the position of the object using the obtained distance information.

The transmission pulse generator 480 generates transmission pulses for detecting the position of the object.

The ultrasonic transducer 490 converts the transmission pulse generated by the transmission pulse generator 480 into an ultrasonic signal.

As described above, the static amplification factor and the dynamic amplification factor are calculated using the transmission / reception efficiency compensation information and the attenuation coefficient compensation information according to the internal temperature and the external temperature of the ultrasonic sensor unit 400, and the calculated static amplification factor and dynamic amplification factor are used The variable gain is calculated and transmitted to the variable amplifier 420. The variable amplifier 420 amplifies the input signal of the ultrasonic sensor 400 according to the calculated variable gain so that the ultrasonic sensor 400 ) Can be temperature compensated. In addition, the static threshold value and the dynamic threshold value are calculated using the transmission efficiency information, the reception efficiency information, and the attenuation coefficient information according to the internal temperature and the external temperature of the ultrasonic sensor unit 400, and the calculated static threshold value and dynamic threshold value The comparator 460 calculates the reference value of the comparator 460 and transmits the calculated reference value to the comparator 460. The comparator 460 compares the input signal intensity amplified by the variable amplifier 420 with the reference value, The sensing unit 400 can be temperature-compensated.

That is, according to the present invention, the vehicle ultrasonic sensor can be temperature-compensated using the attenuation coefficient and transmission / reception efficiency of the ultrasonic sensor for vehicle according to the external temperature and the internal temperature of the ultrasonic sensor for vehicle. In particular, it is possible to temperature compensate the ultrasonic sensor of the vehicle using the attenuation coefficient of the ultrasonic sensor according to the external temperature, and to compensate the temperature of the ultrasonic sensor of the vehicle using the transmission / reception efficiency of the ultrasonic sensor according to the internal temperature. A more robust ultrasonic sensor can be realized due to the change in the internal temperature.

3 and 7, the operation of the first calculating unit 110 and the second calculating unit 120 and the storing unit 300 of the first compensating unit 100 of FIG. 2 will be described more specifically Explain. FIG. 3 is a view showing attenuation coefficients of an ultrasonic signal according to an external temperature change of the ultrasonic sensor of FIG. 1, FIGS. 4 and 5 are views showing transmission and reception efficiencies according to changes in internal temperature of the ultrasonic sensor of FIG. FIG. 6 is a view illustrating a compensation value of an attenuation coefficient according to an external temperature change of the ultrasonic sensor of FIG. 1, and FIG. 7 is a diagram illustrating a transmission / reception efficiency compensation value according to an internal temperature change of the ultrasonic sensor of FIG.

The storage unit 300 stores the external temperature information of the ultrasonic sensor 400 and the attenuation coefficient information of the ultrasonic sensor 400 corresponding to the external temperature information of the ultrasonic sensor 400.

For example, as shown in FIG. 3, the storage unit 300 has the largest value when the external temperature of the ultrasonic sensor 400 is in the range of 20 to 40 degrees, And the attenuation coefficient information of the ultrasonic sensor 400 which is decreased in inverse proportion to the increase of the external temperature from 40 degrees to the external temperature information of the ultrasonic sensor 400 The range information up to the second angle, etc.).

The storage unit 300 stores transmission efficiency information of the ultrasonic sensor 400 corresponding to internal temperature information of the ultrasonic sensor 400 and internal temperature information of the ultrasonic sensor 400.

For example, as shown in FIG. 4, the storage unit 300 has a maximum value when the internal temperature of the ultrasonic sensor 400 is 30 °, and when the internal temperature decreases from 30 °, And decreases inversely as the internal temperature decreases from 30 ° to 40 °, gradually increases from 50 ° to 50 °, and gradually increases from 50 ° to 60 ° The transmission efficiency information of the ultrasonic sensor 400 that increases rapidly as the internal temperature increases to a point corresponding to the internal temperature information (e.g., a temperature range from -20 to 60 degrees) of the ultrasonic sensor 400 .

The storage unit 300 stores reception efficiency information of the ultrasonic sensor 400 corresponding to internal temperature information of the ultrasonic sensor 400 and internal temperature information of the ultrasonic sensor 400.

For example, as shown in FIG. 5, the storage unit 300 decreases the internal temperature of the ultrasonic sensor 400 from about -30 to -20, increases from -20 to -10, The reception efficiency information of the ultrasonic sensor 400 decreasing again from around -10 to about 0, increasing again from about 0 to about 10, and decreasing from about 10 to 60 to the ultrasonic sensor 400 (e.g., a temperature range from -30 deg. To 60 deg.).

The storage unit 300 stores attenuation coefficient compensation information corresponding to external temperature information of the ultrasonic sensor 400 and external temperature information of the ultrasonic sensor 400. The storage unit 300 stores transmission / reception efficiency compensation information corresponding to internal temperature information of the ultrasonic sensor 400 and internal temperature information of the ultrasonic sensor 400.

The first calculation unit 110 divides the attenuation coefficient compensation information of the ultrasonic sensor 400 corresponding to the external temperature information and the external temperature information of the ultrasonic sensor 400 stored in the storage unit 300 into N sections And stores the external temperature section information and the attenuation coefficient compensation section information, which are divided into N sections, in the storage section 300.

The first calculation unit 110 divides the external temperature information of the ultrasonic sensor 400 stored in the storage unit 300 into N sections.

For example, the first calculation unit 110 divides the temperature range corresponding to each of the external temperature sections divided into N sections into 10-degree intervals.

6, the first calculating unit 110 stores temperature range information of -40 ° to 80 °, which is external temperature information of the ultrasonic sensor 400 stored in the storage unit 300, to To [ 1], ..., To [n-1], To [n = N]. The first calculation unit 110 calculates the temperature range corresponding to each of the external temperature ranges divided into N sections by {-40 degrees to -30 degrees}, {-30 degrees to -20 degrees} , ..., {60 ° to 70 °} and {70 ° to 80 °}, respectively.

The first calculation unit 110 stores temperature range information corresponding to each set external temperature interval in the storage unit 300.

For example, the first calculation unit 110 calculates the temperature range information of -40 ° to -30 °, -30 ° to -20 °, ..., {60 ° to 70 °}, { To [n-1] and To [n] corresponding to the external temperature section are respectively associated with To [1], To [2] To [1] = {-40˚ to -30˚}, To [2] = {-30˚ to -20˚}, ..., To [n-1] = 60˚ to 70˚}, To [n] = {70 DEG to 80 DEG} is stored in the storage unit 300.

The first calculation unit 110 calculates the attenuation coefficient compensation information of the ultrasonic sensor 400 stored in the storage unit 300 as Ma [1], ... Ma [n-1], Ma [n = N ], And so on.

Then, the first calculation unit 110 compares the compensation range corresponding to each of the n-weighted damping coefficient compensation periods with the damping coefficient compensation information of the ultrasound sensing unit 400 stored in the storage unit 300, Set using temperature information.

For example, the first calculating unit 110 calculates the attenuation coefficient compensation information (0.5 m / dB to 3 m / dB) of the ultrasonic sensor 400 stored in the storage unit 300 and the corresponding external temperature information To the temperature range from 0 [deg.] To 80 [deg.]) To obtain the external temperature section To [5] corresponding to the attenuation coefficient compensation section Ma [5]. The first calculation unit 110 calculates the compensation range 1.75m / dB to 1m / dB corresponding to the temperature range 0 ° to 10 ° using the temperature range 0 ° to 10 ° corresponding to the obtained external temperature range To [5] From the storage unit (300). For example, the first calculation unit 110 calculates the compensation range 1.75 m / dB to 1 m / dB obtained from the storage unit 300 using the temperature range of 0 ° to 10 ° in accordance with the attenuation coefficient compensation period Ma [5] The compensation range is set.

The first calculation unit 110 calculates a linear interpolation method for interpolating the values in the compensation range of each set attenuation coefficient compensation period by using the start and end values of the compensation range as two points and interpolating the points between the two points as real values .

For example, the first calculation unit 110 interpolates the points between the two values (points) as a real value, such as the start value 1.75 of the compensation range corresponding to the attenuation coefficient compensation period Ma [5] and the end value 1 of the compensation range To calculate values within the compensation range of 1.75 m / dB to 1 m / dB.

The first calculation unit 110 stores the information on each of the attenuation coefficient compensation periods divided into N sections and the compensation range information corresponding to the set and calculated attenuation coefficient compensation periods in the storage unit 300.

When the current external temperature T of the ultrasonic sensor 400 is transmitted from the first temperature sensor 500 located outside the ultrasonic sensor 400, The dynamic amplification factor of the ultrasonic sensor 400 is calculated using the current external temperature T of the external temperature sensor 400, the stored external temperature interval information, and the corresponding attenuation coefficient compensation information.

For example, the first calculation unit 110 may calculate a start value or an end value of the temperature range corresponding to the current external temperature T transmitted from the first temperature sensor 500 and the external temperature interval stored in the storage unit 300, Compare.

That is, the first calculator 110 searches the external temperature interval corresponding to the temperature range higher than the current external temperature T from the respective external temperature interval information divided into N sections stored in the storage unit 300. [

As a result of the search, if the external temperature interval corresponding to the temperature range higher than the present external temperature T is retrieved in the storage unit 300, the compensation of the attenuation coefficient compensation interval Ma [n] corresponding to the retrieved external temperature interval To [n] Range in the storage unit 300 and stores the compensation range of the attenuation coefficient compensation period Ma [n-1] corresponding to the previous external temperature interval To [n-1] of the detected external temperature interval To [n] 300).

The first calculation unit 110 calculates the obtained attenuation coefficient compensation interval Ma [n-1 (n-1)] at the start value (or end value) of the compensation range corresponding to the attenuation coefficient compensation interval Ma [n] (Or the end value) of the compensation range corresponding to the first compensation value "

The first calculation unit 110 calculates the previous outer temperature range To [n-1] of the searched outer temperature range To [n] at the start value (or end value) of the temperature range corresponding to the searched outer temperature range To [ (Or the end value) of the temperature range corresponding to the first temperature value.

The first calculation unit 110 calculates the third result by dividing the first result by the second result and outputs the result of the third calculation to the previous outer side of the outer temperature range To [n] (Or the end value) of the temperature range corresponding to the temperature section To [n-1] by a subtraction operation.

The first calculation unit 110 calculates the dynamic amplification factor of the ultrasonic sensor 400 by adding the starting value (or end value) of the compensation range corresponding to the attenuation coefficient compensation period Ma [n-1] to the fourth result do.

However, if the external temperature interval corresponding to the temperature range higher than the current external temperature T is not found as a result of the search, the first calculation unit 110 outputs the first reference amplification factor to the dynamic amplification factor of the ultrasonic sensor 400 .

The first calculation unit 110 may calculate the current external temperature T of the ultrasonic sensor 400 transmitted from the first temperature sensor 500 and the attenuation coefficient information stored in the storage unit 300, (400). ≪ / RTI >

The first calculation unit 110 calculates the difference between the current external temperature T of the ultrasonic sensor 400 transmitted from the first temperature sensor 500 and the attenuation coefficient information stored in the storage unit 300 The attenuation coefficient of the ultrasonic sensor 400 is obtained.

For example, the first calculation unit 110 searches the external temperature information stored in the storage unit 300 for an external temperature that coincides with the current external temperature T transmitted from the first temperature sensor 500, T, the attenuation coefficient corresponding to the external temperature retrieved from the attenuation coefficient information stored in the storage unit 300 is obtained.

The first calculation unit 110 calculates the dynamic threshold value of the ultrasonic sensor 400 using the attenuation coefficient of the ultrasonic sensor 400 obtained from the storage unit 300.

For example, the first calculation unit 110 multiplies the dynamic amplification factor of the ultrasound sensing unit 400, which is calculated or set, by the attenuation coefficient of the ultrasound sensing unit 400 acquired from the storage unit 300, Lt; / RTI >

The first calculation unit 110 transmits the dynamic amplification factor of the calculated or set ultrasound sensing unit 400 and the calculated dynamic threshold value of the ultrasound sensing unit 400 to the second compensating unit 200.

The second calculation unit 120 divides transmission and reception efficiency compensation information of the ultrasonic sensor 400 corresponding to internal temperature information and internal temperature information of the ultrasonic sensor 400 stored in the storage unit 300 into K intervals And stores the internal temperature section information and the transmission / reception efficiency compensation section information, which are divided into K sections, in the storage section 300.

The second calculation unit 120 divides the internal temperature information of the ultrasonic sensor 400 stored in the storage unit 300 into K sections.

For example, the second calculator 120 may divide the temperature range corresponding to each internal temperature section divided into K sections into 10-degree intervals.

7, the second calculating unit 120 stores temperature range information of -20 to 60 degrees, which is internal temperature information of the ultrasonic sensor 400 stored in the storage unit 300, as Ti [ 1], ..., Ti [n-1], and Ti [n = K]. The second calculation unit 120 calculates the temperature range corresponding to each internal temperature interval divided by K sections from {-20 to -10 degrees}, {-10 to 0}, { ..., {40 ° to 50 °} and {50 ° to 60 °}, respectively.

The second calculation unit 120 stores the temperature range information corresponding to each of the set internal temperature ranges in the storage unit 300.

For example, the second calculator 120 may calculate the temperature range information {-20 to -10}, {-10 to 0}, ..., {40 to 50}, and { °] corresponding to the internal temperature section information Ti [1], Ti [2], ..., Ti [n-1] and Ti [n = K] Ti [2] = {-10 to 0}, ..., Ti [n-1] = 40 to 50 degrees}, Ti [n = K] = {50 DEG to 60 DEG} is stored in the storage unit 300.

The second calculation unit 120 calculates transmission and reception efficiency compensation information of the ultrasonic sensor 400 stored in the storage unit 300 from Mr [1] to ... Mr [n-1], Mr [n = K ] Are divided into K sections.

Then, the second calculation unit 120 compares the compensation range corresponding to each transmission / reception efficiency compensation interval divided into K sections with the transmission / reception efficiency compensation information of the ultrasonic sensor 400 stored in the storage unit 300, Set using temperature information.

For example, the second calculation unit 120 may calculate transmission / reception efficiency compensation information (from 0.3% to 0.65%) of the ultrasonic sensor 400 stored in the storage unit 300 and corresponding external temperature information The temperature range Ti [5] corresponding to the transmission / reception efficiency compensation section Mr [5] is obtained. The second calculation unit 120 calculates the compensation range of 0.375% to 0.3% corresponding to the temperature range of 20 ° to 30 ° using the temperature range of 20 ° to 30 ° corresponding to the acquired internal temperature range Ti [5] (300). The second calculation unit 120 sets the compensation range of 0.375% to 0.3% obtained from the storage unit 300 to the compensation range corresponding to the transmission / reception efficiency compensation period Mr [5] using the temperature range of 20 ° to 30 ° .

The second calculation unit 120 calculates the values within the compensation range corresponding to the set transmission and reception efficiency compensation periods by using the start and end values of each compensation range as two points and linearly interpolating the points between the two points as a real value It is calculated using the interpolation method.

For example, the second calculator 120 interpolates points between the two values (points) as a real value, such as a start value 0.375 of the compensation range corresponding to the transmission / reception efficiency compensation section Mr [5] and an end value 0.3 of the compensation range To calculate the values within the compensation range of 0.375% to 0.3%.

The second calculation unit 120 stores the transmission / reception efficiency compensation period information divided into K periods and the compensation range information corresponding to the set and calculated transmission / reception efficiency compensation periods in the storage unit 300.

When the current internal temperature t of the ultrasonic sensor 400 is transmitted from the second temperature sensor 410 located inside the ultrasonic sensor 400, The current internal temperature t of the ultrasound sensing unit 400 and the K internal sections of the storage unit 300 and the corresponding transmission and reception efficiency compensation period information, And the amplification factor is calculated.

For example, the second calculation unit 120 may calculate a start value or an end value of the temperature range corresponding to the current internal temperature t transmitted from the second temperature sensor 410 and the internal temperature interval stored in the storage unit 300, Compare.

That is, the second calculation unit 120 searches the internal temperature interval corresponding to the temperature range higher than the current external temperature T from the internal temperature interval information divided into K intervals stored in the storage unit 300. [

As a result of the search, if the internal temperature section corresponding to the temperature range higher than the current internal temperature t is found, the compensation range of the transmission and reception efficiency compensation section Mr [n] corresponding to the searched internal temperature section Ti [n] , And acquires the compensation range of the transmission / reception efficiency compensation section Mr [n-1] corresponding to the previous internal temperature section Tr [n-1] of the searched internal temperature section Tr [n] in the storage section 300.

The second calculation unit 100 calculates the transmission efficiency efficiency compensation period Mr [n-1 (n)] at the start value (or end value) of the compensation range corresponding to the transmission / reception efficiency compensation period Mr [n] (Or the end value) of the compensation range corresponding to the first compensation value is calculated.

The second calculation unit 120 calculates the previous internal temperature interval Ti [n-1] of the searched internal temperature interval Ti [n] at the start value (or end value) of the temperature range corresponding to the searched internal temperature interval Ti [n] (Or the end value) of the temperature range corresponding to the first temperature and the second temperature to calculate the sixth result.

The second calculation unit 120 calculates the seventh result by dividing the fifth result by the sixth result, and calculates the seventh result by multiplying the calculated seventh result by the internal result of the internal temperature interval Ti [n] (Or the end value) of the temperature range corresponding to the temperature section Ti [n-1] is multiplied by the result of the subtraction operation to calculate the eighth result.

The second calculation unit 120 calculates the static amplification factor of the ultrasonic sensor 400 by adding the compensation range start value (or end value) corresponding to the transmission / reception efficiency compensation period Mr [n-1] to the eighth result .

However, if the internal temperature interval corresponding to the temperature range higher than the current internal temperature t is not found as a result of the search, the second calculator 120 calculates the second reference amplification factor by the static amplification factor of the ultrasonic sensor 400 .

The second calculation unit 120 may use the current internal temperature t of the ultrasonic sensor 400 transmitted from the second temperature sensor 410 and the transmission efficiency information and the reception efficiency information stored in the storage unit 300 The static threshold value of the ultrasonic sensor 400 is calculated.

 The second calculation unit 120 calculates the current internal temperature t of the ultrasonic sensor 400 transmitted from the second temperature sensor 410 and the transmission efficiency information stored in the storage unit 300, The degree of reduction in transmission / reception efficiency of the ultrasonic sensor 400 is obtained using the efficiency information.

For example, the second calculation unit 120 searches the internal temperature information stored in the storage unit 300 for an internal temperature coinciding with the current internal temperature t delivered from the second temperature sensor 410, t, the transmission efficiency and reception efficiency corresponding to the internal temperature searched in the transmission efficiency information and reception efficiency information stored in the storage unit 300 are obtained.

The second calculation unit 120 calculates a static threshold value of the ultrasonic sensor 400 using the transmission efficiency and reception efficiency of the ultrasonic sensor 400 acquired from the storage unit 300.

For example, the second calculation unit 100 multiplies the static amplification factor of the calculated or set ultrasound sensing unit 400 by the average value of the transmission efficiency and the reception efficiency of the ultrasound sensing unit 400 acquired from the storage unit 300 The static threshold value of the ultrasonic sensor 400 is calculated.

The second calculation unit 120 transmits the static amplification factor of the calculated or set ultrasound sensing unit 400 and the calculated static threshold value to the second compensator 200.

Hereinafter, a method of compensating the temperature of a vehicle ultrasonic sensor according to an embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart illustrating a temperature compensation method of a vehicle ultrasonic sensor according to an embodiment of the present invention.

As shown in FIG. 8, the temperature compensation method of a vehicle ultrasonic sensor according to an embodiment of the present invention stores temperature compensation information of a vehicle ultrasonic sensor (S700).

For example, the attenuation coefficient compensation information corresponding to the external temperature section information and the external temperature section information of the vehicle ultrasonic sensor, the attenuation coefficient information corresponding to the external temperature information of the vehicle ultrasonic sensor, the internal temperature section information of the vehicle ultrasonic sensor, Transmission efficiency information corresponding to internal temperature information of the vehicle ultrasonic sensor, and reception efficiency information, and the like.

Then, the internal and external temperatures of the vehicle ultrasonic sensor are sensed (S701).

The temperature compensation information according to the internal and external temperatures of the sensed vehicle ultrasonic sensor is retrieved from the stored temperature compensation information (S702).

The input signal of the vehicle ultrasonic sensor is temperature-compensated using the searched temperature compensation information (S703).

For example, the dynamic amplification factor for amplifying the input signal of the vehicle ultrasonic sensor is calculated using the current external temperature of the sensed vehicle ultrasonic sensor, the stored external temperature interval information, and the attenuation coefficient compensation information corresponding to the external temperature interval information. The dynamic threshold value for the comparison with the input signal intensity of the vehicle ultrasonic sensor is calculated using the current external temperature of the sensed vehicle ultrasonic sensor and the attenuation coefficient information corresponding to the stored external temperature information. The static amplification factor for amplifying the input signal of the vehicle ultrasonic sensor is calculated using the current internal temperature of the sensed vehicle ultrasonic sensor, the stored internal temperature range information, and the transmission / reception efficiency compensation information corresponding to the internal temperature range information. A static threshold value for comparison with the input signal size of the vehicle ultrasonic sensor is calculated using the current internal temperature of the sensed vehicle ultrasonic sensor and the transmission efficiency information and reception efficiency information corresponding to the stored internal temperature information. The temperature of the input signal of the vehicle ultrasonic sensor is compensated using the calculated dynamic amplification factor and dynamic threshold value, the calculated static amplification factor and the static threshold value.

That is, the variable gain is calculated using the calculated static amplification factor and the dynamic amplification factor, and the calculated variable gain is transmitted to the variable amplifier of the vehicle ultrasonic sensor, so that the variable amplifier amplifies the input signal of the vehicle ultrasonic sensor according to the calculated variable gain , The input signal of the vehicle ultrasonic sensor is firstly temperature-compensated. The reference value of the comparator is calculated using the static threshold value and the dynamic threshold value calculated and the calculated reference value is transmitted to the comparator so that the comparator compares the input signal intensity amplified by the variable amplifier with the reference value, The input signal of the sensor is compensated for the second temperature.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Therefore, the scope of the present invention should not be limited by the illustrated embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

100: first compensation unit 110: first calculation unit
120: second calculation unit 200: second compensation unit
210: first operation unit 220: second operation unit
S1, S2: Adder M1, M2: Multiplier
300: storage unit 400: ultrasonic wave sensing unit
410: second temperature sensor 420: variable amplifier
430: timer 440: bandpass filter
450: envelope detector 460: comparator
470: Object position detector 480: Transmission pulse generator
490: ultrasonic transducer 500: first temperature sensor

Claims (10)

A storage unit for storing temperature compensation information according to internal and external temperatures of the vehicle ultrasonic sensor;
A sensing unit for sensing a temperature inside and outside of the vehicle ultrasonic sensor; And
A temperature compensating unit for compensating temperature of the vehicle ultrasonic sensor using temperature compensation information according to the detected temperature of the inside and outside of the vehicle ultrasonic sensor,
And a temperature compensating unit for compensating the temperature of the ultrasonic wave. The method according to claim 1,
Wherein the temperature compensation information includes at least one of external temperature information of the ultrasonic sensor for the vehicle, attenuation coefficient information and attenuation coefficient compensation information corresponding to the external temperature information, internal temperature information of the ultrasonic sensor for the vehicle, , Reception efficiency information and transmission / reception efficiency compensation information
Temperature compensating device for an ultrasonic sensor for vehicle. 3. The apparatus of claim 2,
A first gain for amplifying the input signal and a second gain for amplifying the input signal using the attenuation coefficient information and the attenuation coefficient compensation information corresponding to the detected external temperature among the stored attenuation coefficient information and the attenuation coefficient compensation information, A first calculation unit for calculating a reference value;
Receiving efficiency information and transmission / reception efficiency compensation information corresponding to the detected internal temperature among the stored transmission efficiency information, the reception efficiency information, and the transmission / reception efficiency compensation information, and a second amplification rate for amplifying the input signal, A second calculation unit for calculating a second reference value for comparison with the intensity;
A first amplification factor computed by the first computation unit and the second amplification factor computed by the second computation unit to calculate a final amplification factor to be used for amplification of an input signal input to the vehicle ultrasonic sensor, An operation unit; And
A second calculation unit for calculating a final reference value to be used for comparison with the input signal intensity using the first reference value calculated by the first calculation unit and the second reference value calculated by the second calculation unit; Including
Temperature compensating device for an ultrasonic sensor for vehicle. The method of claim 3,
Wherein the first calculation unit calculates the compensation range of the attenuation coefficient compensation interval corresponding to the detected external temperature interval and the compensation range of the external temperature interval corresponding to the detected external temperature interval when the external temperature interval higher than the current external temperature of the vehicle ultrasonic sensor is stored, Wherein the controller calculates the first amplification factor by acquiring the compensation range of the attenuation coefficient compensation section corresponding to the temperature interval from the stored attenuation coefficient compensation information and determines an external temperature corresponding to the current external temperature of the vehicle ultrasonic sensor from the stored external temperature information Obtaining the attenuation coefficient corresponding to the detected external temperature from the stored attenuation coefficient information, and calculating the first reference value
Temperature compensating device for an ultrasonic sensor for vehicle. The method of claim 3,
Wherein the second calculation unit calculates the compensation range of the transmission / reception efficiency compensation interval corresponding to the detected internal temperature interval and the previous internal temperature interval of the detected internal temperature interval, when the internal temperature interval higher than the current internal temperature of the vehicle ultrasonic sensor is stored, Receiving efficiency compensation information corresponding to the temperature interval is obtained from the stored transmission / reception efficiency compensation information to calculate the second amplification factor, and an internal temperature corresponding to the current internal temperature of the vehicle ultrasonic sensor is calculated from the stored internal temperature information And if it is found, obtaining the transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and the reception efficiency information and calculating the second reference value
Temperature compensating device for an ultrasonic sensor for vehicle. Sensing an inside and an outside temperature of the ultrasonic wave sensor for a vehicle; And
Compensating temperature of the vehicle ultrasonic sensor using pre-stored temperature compensation information according to the inside and outside temperatures of the sensed vehicle ultrasonic sensor
And a temperature compensating means for compensating the temperature of the ultrasonic sensor. The method according to claim 6,
Wherein the temperature compensation information includes at least one of attenuation coefficient information and attenuation coefficient compensation information corresponding to external temperature information and external temperature information of the vehicle ultrasonic sensor, internal temperature information of the vehicle ultrasonic sensor, and transmission efficiency information , Reception efficiency information and transmission / reception efficiency compensation information
A method of compensating temperature of an ultrasonic sensor for a vehicle. The method of claim 7, wherein the step of temperature compensating the ultrasonic wave sensor comprises:
The first amplification factor for amplifying the input signal inputted to the vehicle ultrasonic sensor using the attenuation coefficient information and the attenuation coefficient compensation information corresponding to the detected external temperature among the stored attenuation coefficient information and the attenuation coefficient compensation information, Calculating a first reference value for comparison of the first reference value;
Receiving efficiency information and transmission / reception efficiency compensation information corresponding to the detected internal temperature among the stored transmission efficiency information, the reception efficiency information, and the transmission / reception efficiency compensation information, and a second amplification rate for amplifying the input signal, Calculating a second reference value for comparison with the intensity;
Calculating a final amplification factor to be used for amplification of the input signal using the calculated first amplification factor and the calculated second amplification factor; And
And calculating a final reference value to be used for comparison with the input signal strength using the calculated first reference value and the calculated second reference value
A method of compensating temperature of an ultrasonic sensor for a vehicle. 9. The method of claim 8, wherein the calculating the first reference value comprises:
Searching for the external temperature range higher than the current external temperature of the sensed vehicle ultrasonic sensor from the stored external temperature information;
The compensation range of the attenuation coefficient compensation interval corresponding to the detected external temperature interval and the compensation range of the attenuation coefficient compensation interval corresponding to the previous external temperature interval of the detected external temperature interval are obtained from the stored attenuation coefficient compensation information to calculate the first amplification factor ;
Searching for an external temperature that matches the current external temperature of the vehicle ultrasonic sensor from the stored external temperature information; And
Obtaining the attenuation coefficient corresponding to the detected external temperature from the stored attenuation coefficient information, and calculating the first reference value
A method of compensating temperature of an ultrasonic sensor for a vehicle. 9. The method of claim 8, wherein the calculating the second reference value comprises:
Searching the stored internal temperature information for an internal temperature range higher than the current internal temperature of the sensed vehicle ultrasonic sensor;
The compensation range of the transmission / reception efficiency compensation interval corresponding to the searched internal temperature interval and the compensation range of the transmission / reception efficiency compensation interval corresponding to the previous internal temperature interval of the searched internal temperature interval are obtained from the stored transmission / reception efficiency compensation information, ;
Retrieving an internal temperature that matches the current internal temperature of the vehicle ultrasonic sensor from the stored internal temperature information; And
And obtaining the transmission efficiency and reception efficiency corresponding to the searched internal temperature from the stored transmission efficiency information and reception efficiency information and calculating the second reference value
A method of compensating temperature of an ultrasonic sensor for a vehicle.

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