Vehicle-mounted millimeter wave radar shielding detection method based on amplitude characteristic statistics

Abstract

The invention relates to a vehicle-mounted millimeter wave radar shielding detection method based on amplitude characteristic statistics. The method comprises the steps of respectively acquiring FFT amplitude change characteristic statistical analysis of time domain echo signals of a plurality of 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 amplitude change characteristic statistical analysis resultof the FFT and the amplitude change characteristic statistical analysis result of the FFT of the time domain echo signals of the plurality of channels of the millimeter wave radar at the current moment. According to the invention, statistical analysis is carried out on the amplitude change characteristics of the FFT of each channel time domain echo signal of the millimeter wave radar, and the shielding condition of the millimeter wave radar is judged, so that 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 field of radar technology, in particular to a method for detecting occlusion of a vehicle-mounted millimeter-wave radar based on amplitude feature statistics. Background technique [0002] As one of the important sensors of Advanced Driving Assistance System (ADAS), vehicle-mounted millimeter-wave radar has become an indispensable part of the ADAS system. With the continuous development of autonomous driving technology, vehicle-mounted millimeter-wave radar will have a huge market need. Through its perception ability beyond human itself, it can not only remind drivers to pay attention to potential threats through light warning and other methods, but also participate in body control to avoid potential dangers. [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 ...

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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 point where the amplitude of the Fast Fourier Transform (FFT) of the time-domain signal changes greatly under the condition of radar with or without occlusion There are significant differences in the number of

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