A Vehicular MMW Radar Obstruction Detection Method Based on Amplitude Variation Analysis

Abstract

The present invention relates to a vehicle-mounted millimeter-wave radar occlusion detection method based on amplitude change analysis, comprising: respectively obtaining 1D-time domain echo signals of multiple channels of the millimeter-wave radar under the condition of direct coverage by foreign objects and the condition of direct coverage without foreign objects. According to the difference characteristics of the FFT amplitude variation trend, the difference characteristics of the 1D-FFT amplitude variation trend and the difference characteristics of the 1D-FFT amplitude variation trend of the time-domain echo signals of multiple channels of the millimeter-wave radar at the current moment are used to judge mm Whether the wave radar is blocked. The present invention analyzes the amplitude change trend of 1D-FFT of the time-domain echo signals of each channel 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 , At the same time, this method has low requirements on computing power, which not only ensures the real-time perception of the environment by the vehicle-mounted millimeter-wave radar system, but also satisfies 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 amplitude variation 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, Forward Collision Warning, automatic Emergency Braking (Autonomous Emergency Braking), Blind Spot Detection (BSD), Lane Change Assistance (Lane Change Assistance LCA), Forward / Rear Cross Traffic Alert RCTA, Rear Collision Warning (RCW) ) and Door Open Warning DOW, which can not only remind the driver to pay attention to potential threats through light warning and other means, but also participate in body control to avoid potential dangers. [0003] However, during the loading and use of the vehicle-mounted millimeter-wave radar, the surface of the second surface (body or vehicle lo...

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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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