A occlusion detection method for vehicle-mounted millimeter-wave radar based on amplitude feature statistics

Abstract

The present invention relates to a vehicle-mounted millimeter-wave radar occlusion detection method based on amplitude characteristic statistics, comprising: respectively obtaining the FFT of 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. Statistical analysis of the amplitude change characteristics, according to the comparison results of the statistical analysis results of the amplitude change characteristics of the FFT and the FFT amplitude change characteristics statistical analysis results of the time domain echo signals of multiple channels of the millimeter wave radar at the current moment to determine whether the millimeter wave radar is detected block. The present invention performs statistical analysis on the FFT amplitude change characteristics of the time-domain echo signals of each channel of the millimeter-wave radar to judge the occlusion situation of the millimeter-wave radar, thereby effectively realizing the detection of the occlusion condition 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 feature statistics. Background technique [0002] As one of the important sensors of Advanced Driving Assistance System (ADAS), in-vehicle millimeter-wave radar has become an indispensable part of ADAS system, and with the continuous development of autonomous driving technology, in-vehicle millimeter-wave radar will have a huge market. need. Through its ability to surpass human perception, 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 loading and use of the vehicle-mounted millimeter-wave radar, the surface of the second surface (body or vehicle logo) directly in front of the millimeter-wave radar is easily covered by snow, mud or other obje...

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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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