| 摘要 |
PURPOSE: A method for extracting the distance in a collision alarming apparatus is provided to supply a reliability to the control by giving the stability in the extraction of the distance between the vehicles, thereby improving the responsibility by removing the system delay due to the filtering. CONSTITUTION: A method for extracting the distance in a collision alarming apparatus includes the steps of: detecting(S201) the pulse received from the front vehicle or the obstacle during one period; measuring(S202) the time of the detection of the final one pulse during the detected one pulse; extracting(S203) a relative distance based on the measured time, time of generating one period pulse, and distance of one pulse; removing(S204) the abrupt value by filtering the extracted relative distance; and controlling(S205) the tracking with extracting the relative speed by applying Kalman filter to the relative distance finally extracted through the filtering.
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