Vehicle-mounted radar shielding detection method, storage medium and vehicle-mounted equipment

Abstract

The invention belongs to the technical field of vehicle-mounted radars and relates to a vehicle-mounted radar shielding detection method, a storage medium and vehicle-mounted equipment. The method comprises the following steps of: acquiring echo data of a vehicle-mounted radar, and calculating to obtain a distance-Doppler graph of the current vehicle-mounted radar; according to the distance-Doppler graph and speed information of the vehicle-mounted radar, obtaining an effective statistical distribution condition of relative power values of the distance-Doppler graph; performing similarity comparison on the current effective statistical distribution condition and a reference statistical distribution condition in a shielding state; and if the similarity is lower than a preset threshold value, judging that the vehicle-mounted radar is not shielded, otherwise, judging that the vehicle-mounted radar is shielded on the basis of logic judgment. According to the vehicle-mounted radar shielding detection method, the storage medium and the vehicle-mounted equipment of the invention, clutters existing in received signals of the radar, namely echoes of all reflecting objects which are kept absolutely static during radar detection, are utilized, shielding condition detection of the vehicle-mounted millimeter wave radar is effectively achieved; and the method has the advantages of wide applicability, small external interference and high robustness.

Description

technical field [0001] The present invention relates to the technical field of vehicle radar, in particular to a vehicle radar shielding detection method, storage medium and vehicle equipment. Background technique [0002] Millimeter-wave radar has the characteristics of small size, light weight, high spatial resolution and all-weather (except heavy rain) all-weather, etc., especially for Frequency Modulation Continuous Wave (FMCW) radar, because of its no blind spot in ranging and easy Due to the advantages of miniaturization, it is favored in the automotive field. It assists the driver to perceive the environment around the car in real time and identify potential driving hazards, so it has become one of the important on-board sensors. [0003] However, due to the influence of the environment or bad weather, on the second surface of the millimeter-wave radar, such as a bumper, radome or grid, etc., it is inevitable that there will be accumulation of foreign matter such as s...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the technical problems that current vehicle-mounted radar occlusion detection is susceptible to external interference, poor accuracy, and dependent on algorithm performance, the invention provides a vehicle-mounted radar occlusion detection method, storage medium and vehicle-mounted equipment

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