Vehicle-mounted millimeter wave radar shielding detection method based on amplitude change analysis

Abstract

The invention relates to a vehicle-mounted millimeter wave radar shielding detection method based on amplitude change analysis. The method comprises the steps of respectively obtaining difference characteristics of 1D-FFT amplitude change trends of time domain echo signals of multiple channels of a millimeter wave radar under a foreign matter direct coverage condition and a foreign matter-free direct coverage condition, and judging whether the millimeter wave radar is shielded or not according to a comparison result of the difference characteristics of the 1D-FFT amplitude change trend and thedifference characteristics of the 1D-FFT amplitude change trend of the time domain echo signals of the plurality of channels of the millimeter wave radar at the current moment. According to the invention, the amplitude change trend of the 1D-FFT of each channel time domain echo signal of the millimeter wave radar is analyzed, and the shielding condition of the millimeter-wave radar is judged, sothat the shielding condition of the vehicle-mounted millimeter-wave radar is effectively detected; meanwhile, the method is low in calculation force requirement; and the real-time performance of a self-diagnosis function of the vehicle-mounted millimeter-wave radar is met while the real-time perception of the vehicle-mounted millimeter-wave radar system to the environment is guaranteed.

Description

technical field [0001] The invention relates to the technical field of radar, in particular to a method for detecting occlusion of a vehicle-mounted millimeter-wave radar based on amplitude change analysis. Background technique [0002] With the development of autonomous driving technology, more and more models are equipped with on-board millimeter-wave radar, which can realize adaptive cruise control (Adaptive Cruise Control), forward collision warning (Forward Collision Warning), automatic Autonomous Emergency Braking, Blind Spot Detection BSD, Lane Change Assistance LCA, Forward / Rear Cross Traffic Alert RCTA, Rear Collision Warning RCW ) and Door Open Warning (Door Open Warning DOW) and other functions, not only can remind the driver to pay attention to potential threats through light warnings, but can even participate in vehicle body control to avoid potential dangers. [0003] However, during the installation and use of the vehicle-mounted millimeter-wave radar, the se...

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Problems solved by technology

[0003] However, during the installation and use of the vehicle-mounted millimeter-wave radar, the second surface (body or logo) directly in front of the millimeter-wave radar is easily covered by snow, mud or other objects, which means that the radar is blocked, and the result is The detection performance of the radar on the target is damaged. When it is seriously blocked, the detection function of the radar on the target will even fail directly, 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.

[0004] 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

[0005] Even in an absolutely open environment or when the millimeter-wave radar is close to the target object, the time-domain signal of the radar corresponds to the amplitude of the 1D-FFT (1Dimension-Fast Fourier Transformation, 1D-FFT) with or without occlusion. There is a large difference in the value change

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