A Vehicular MMW Radar Obstruction Detection Method Based on Amplitude Change Rate Analysis

Abstract

The present invention relates to a vehicle-mounted millimeter-wave radar occlusion detection method based on amplitude change rate analysis, comprising: obtaining FFT of time-domain echo signals of multiple channels of the millimeter-wave radar under the condition of direct coverage of foreign objects and under the condition of direct coverage of no foreign objects, respectively. For the amplitude change rate information, it is determined whether the millimeter wave radar is blocked according to the comparison result of the FFT amplitude change rate information and the FFT amplitude change rate of the time domain echo signals of multiple channels of the millimeter wave radar at the current moment. The present invention analyzes the FFT amplitude change rate of each channel time-domain echo signal of the millimeter-wave radar to judge the blocking situation of the millimeter-wave radar, thereby effectively realizing the detection of the blocking situation of the vehicle-mounted millimeter-wave radar, and at the same time , this method has lower requirements on computing power, and while ensuring the real-time perception of the environment by the vehicle-mounted millimeter-wave radar system, it also meets the real-time performance of the vehicle-mounted millimeter-wave radar self-diagnosis function.

Description

technical field [0001] The invention relates to the technical field of radar, in particular to a vehicle-mounted millimeter-wave radar occlusion detection method based on the analysis of the amplitude change rate. Background technique [0002] Millimeter-wave radar has the characteristics of good directionality, high resolution and low power, especially Frequency Modulation Continuous Wave (FMCW) radar, which has the advantages of no blind spot for ranging and easy to achieve miniaturization, making it suitable for the automotive field. It is favored and has become one of the important devices for automobiles to perceive the surrounding environment. However, during the installation and use of the vehicle-mounted millimeter-wave radar, the body directly in front of the millimeter-wave radar is easily covered by snow, mud or other objects, which is characterized by the radar being blocked. When it is blocked, the radar's detection function of the target directly fails, so tha...

AI Technical Summary

Problems solved by technology

However, during the installation and use of the vehicle-mounted millimeter-wave radar, the body directly in front of the millimeter-wave radar is easily covered by snow, mud or other objects, which means that the radar is blocked. When blocked, the radar's detection function on the target will directly fail, so that the radar system cannot provide or provide wrong environmental perception information and decision-making for the vehicle, and there is a driving hazard

[0003] In view of this problem, most of the existing occlusion detection algorithms are implemented by observing the intuitive results of CFAR (Constant False Alarm Rate) detection of environmental targets by radar from the perspective of signal processing, and then judging whether the millimeter-wave radar is occluded. Under certain circumstances, this method is indeed effective, but in an absolutely open environment or when the millimeter-wave radar is close to the target object, it is easy to generate false alarms for occlusion detection, and it is difficult to distinguish the occlusion directly covered by the real foreign object from the detection caused by the surrounding environment restrictions False occlusion with smaller range (such as walls, vehicles, etc.)

[0004] Even in an absolutely open environment or when the millimeter-wave radar is close to the target object, the amplitude change rate of the Fast Fourier Transformation (FFT) of the time-domain signal of the radar is relatively small with or without occlusion. big difference

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