Radar obstruction judgment method, device, electronic equipment and storage medium

Abstract

The present invention provides a method, device, electronic device, and storage medium for determining radar obstruction. The method includes: obtaining first echo intensity information and constructing a measured directional pattern of the radar based on the first echo intensity information; the first echo intensity information is real-time echo intensity information fed back by a specified target in the radar's echo signal; comparing the measured directional pattern with a preset offline directional pattern; the measured directional pattern and the offline directional pattern are both radar monitoring angle-echo intensity patterns for the specified target; if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity satisfies a first condition, the radar is determined to be in an obstructed state; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the monitoring angle in the offline directional pattern. The present invention can determine radar obstruction with high efficiency.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a method, device, electronic device and storage medium for determining radar obstruction. Background Art

[0002] Radar, due to its accurate detection, high resolution, and limited penetrating power, is widely used in various fields. For example, there are on-board radars in the automotive field, security radars in the security field, and traffic radars in the transportation field. However, when radar is obstructed by foreign objects during use, its performance can degrade in various aspects, such as reduced target recognition and detection capabilities.

[0003] To address the issue of radar obstruction by foreign objects, patent document CN201910877475.1 provides a radar obstruction diagnosis method, device, and electronic device. These devices use a diagnostic data model to obtain detection information and determine whether the radar is obstructed based on the detection information. Patent document CN202010603856.3 provides a radar obstruction detection method and computer storage medium. These devices collect echo signals from different scenarios, use the echo signals to train a neural network, and construct a neural network judgment model to determine whether the radar is obstructed.

[0004] However, existing technologies determine whether the radar is blocked by building a model. The training process is long and the amount of data required is large. In addition, the constructed model is not universal and has low efficiency in judging radar blockage. Summary of the Invention

[0005] Embodiments of the present invention provide a method, device, electronic device, and storage medium for determining radar obstruction conditions, to address the problems in the prior art of determining whether a radar is obstructed by constructing a model, which results in a long training process, a large amount of data required, and a lack of universal applicability of the constructed model, leading to low efficiency in determining radar obstruction conditions.

[0006] In a first aspect, the present invention provides a method for determining radar obstruction, comprising:

[0007] Acquire first echo strength information, and construct a measured radar pattern based on the first echo strength information; the first echo strength information is real-time echo strength information fed back by a specified target in the radar echo signal;

[0008] Compare the measured directional pattern with the preset offline directional pattern; the offline directional pattern is constructed based on the second echo intensity information; the second echo intensity information is the offline echo intensity information fed back by the designated target in the radar echo signal when it is not blocked; the measured directional pattern and the offline directional pattern are both radar monitoring angle-echo intensity maps for the designated target;

[0009] If, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity meets the first condition, the radar is determined to be in an obstructed state; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the offline directional pattern for the monitoring angle.

[0010] In one possible implementation, if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle at which the echo intensity satisfies the first condition, then determining that the radar is in an obstructed state includes:

[0011] If, compared with the offline directional pattern, the measured directional pattern contains a first number of monitoring angles whose echo intensities satisfy the first condition, it is determined that the radar is in an obscured state.

[0012] In a possible implementation, after comparing the measured directional pattern with the preset offline directional pattern, the method further includes:

[0013] If, compared with the offline directional pattern, the measured directional pattern has a second number of monitoring angles whose echo intensities satisfy the second condition, the measured directional pattern is determined to be invalid;

[0014] The second condition includes: the echo intensity of the monitoring angle in the measured direction pattern is higher than the preset echo intensity range of the monitoring angle in the offline direction pattern.

[0015] In a possible implementation, after comparing the measured directional pattern with the preset offline directional pattern, the method further includes:

[0016] If, compared with the offline directional pattern, the number of monitoring angles in the measured directional pattern where the echo intensity satisfies the third condition is a first number, it is determined that the radar is in an unobstructed state;

[0017] The third condition includes: the echo intensity of the monitoring angle in the measured direction pattern is within a preset echo intensity range of the monitoring angle in the offline direction pattern.

[0018] In a possible implementation, after determining that the radar is in the blocked state, the method further includes:

[0019] Sum all monitoring angles that meet the first condition to obtain the occlusion range value;

[0020] The ratio of the obstruction range value to the radar's monitoring range value is calculated to determine the radar's obstruction degree.

[0021] In a possible implementation, the second echo strength information includes M valid echoes; and before acquiring the first echo strength information, the following is further included:

[0022] constructing an offline directional map based on the second echo intensity information;

[0023] The radar monitoring angle is used as the horizontal axis and the echo intensity is used as the vertical axis to construct a directional diagram.

[0024] According to the preset interval, the radar monitoring angle is divided into N angle intervals;

[0025] For each angle interval, when the number of valid echoes in the angle interval is not greater than a preset number, each time a valid echo is in the angle interval, the echo intensity corresponding to the angle interval is accumulated by the preset value; wherein, when the number of valid echoes in the angle interval is zero, the echo intensity corresponding to the angle interval is zero;

[0026] The directional map obtained after traversing M valid echoes is used as the offline directional map.

[0027] In a possible implementation, after dividing the monitoring angle of the radar into N angle intervals, the following steps are further included:

[0028] For each angle interval, when the number of valid echoes in the angle interval is greater than a preset number, the average echo intensity of the valid echoes in the angle interval is used as the echo intensity of the angle interval.

[0029] In a second aspect, the present invention provides a radar obstruction determination device, comprising:

[0030] An acquisition module is used to obtain first echo strength information and construct a measured direction map of the radar based on the first echo strength information; the first echo strength information is real-time echo strength information fed back by a specified target in the radar echo signal;

[0031] A comparison module is configured to compare the measured directional pattern with a preset offline directional pattern; the offline directional pattern is constructed based on the second echo intensity information; the second echo intensity information is the offline echo intensity information of the designated target in the radar echo signal when the radar is not blocked; the measured directional pattern and the offline directional pattern are both radar monitoring angle-echo intensity maps for the designated target;

[0032] The first judgment module is used to determine that the radar is in an obstructed state if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity meets a first condition; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the offline directional pattern for the monitoring angle.

[0033] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, the steps of the method for determining radar obstruction conditions as described in the first aspect or any possible implementation of the first aspect are implemented.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method for determining radar obstruction conditions as described in the first aspect or any possible implementation of the first aspect.

[0035] The present invention provides a method, device, electronic device, and storage medium for determining radar obstruction. The method constructs a measured directional pattern, compares the echo intensity at the monitoring angle in the measured directional pattern with the echo intensity at the same monitoring angle in a preset offline directional pattern, and thereby determines the radar obstruction. Both the measured directional pattern and the offline directional pattern are radar monitoring angle-echo intensity maps for a specified target. The present invention can accurately determine radar obstruction in real time without the need for model training, resulting in high judgment efficiency. The method is applicable to all radar operating scenarios and has high compatibility. The obstructed angle of the radar can be accurately located, facilitating the subsequent selection of an appropriate repair strategy, thereby reducing radar maintenance time and improving radar reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 is a flow chart of an implementation method for determining radar obstruction provided by an embodiment of the present invention;

[0038] Figure 2 is an offline directional diagram of an embodiment of the present invention;

[0039] Figure 3 1 is a comparative schematic diagram of a radar provided by an embodiment of the present invention in an unobstructed state;

[0040] Figure 4 1 is a comparative schematic diagram of a radar in an obstructed state provided by an embodiment of the present invention;

[0041] Figure 5 1 is a schematic structural diagram of a device for determining radar obstruction conditions provided by an embodiment of the present invention;

[0042] Figure 6 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0045] See also Figure 1 , which shows a flow chart of the implementation of the method for determining radar obstruction provided by an embodiment of the present invention. Figure 1 As shown, a method for determining radar obstruction may include:

[0046] S101, obtaining first echo strength information, and constructing a measured direction pattern of the radar based on the first echo strength information; the first echo strength information is real-time echo strength information fed back by a designated target in the radar echo signal.

[0047] The radar's received echo signal may include feedback from multiple monitored targets. A designated target is any one of these targets. By performing conventional calculations on the radar's echo signal, we can obtain the echo strength information for each monitored target.

[0048] For example, during vehicle driving, the echo signal received by the on-board millimeter-wave radar may include echo information fed back by multiple monitoring targets, such as the type of the target ahead and the speed of the target ahead.

[0049] Optionally, the first echo strength information is real-time echo strength information fed back by a designated target. The first echo strength information may include the real-time echo strength fed back by the designated target and the radar monitoring angle corresponding to each real-time echo strength. The first echo strength information may be entered into a directional diagram with echo strength as the vertical axis and radar monitoring angle as the horizontal axis, or a directional diagram with echo strength as the horizontal axis and radar monitoring angle as the vertical axis to construct a real-time monitoring angle-echo strength diagram for the designated target.

[0050] S102, compare the measured directional pattern with the preset offline directional pattern; the offline directional pattern is constructed based on the second echo intensity information; the second echo intensity information is the offline echo intensity information fed back by the designated target in the radar's echo signal when it is not blocked; the measured directional pattern and the offline directional pattern are both the radar's monitoring angle-echo intensity diagram for the designated target.

[0051] Optionally, the second echo strength information is the offline echo strength information fed back by the designated target. The second echo strength information may include the offline echo strength fed back by the designated target, and the monitoring angle of the radar corresponding to each offline echo strength. The offline echo strength refers to the echo strength information fed back by the designated target when the radar is not blocked. The offline directional pattern can be constructed using the second echo strength in the same way as the measured directional pattern. Figure 2 As shown, it shows an offline direction diagram of an embodiment of the present invention.

[0052] like Figure 3 As shown, it shows a comparative schematic diagram of a radar provided by an embodiment of the present invention in an unobstructed state; wherein, the solid line represents the offline direction pattern, and the dotted line represents the measured direction pattern.

[0053] By comparing the echo intensity corresponding to the monitoring angle of the measured directional pattern with the echo intensity corresponding to the monitoring angle of the offline directional pattern, it is possible to determine whether the radar is in an obstructed state at the monitoring angle, and then determine the obstruction status of the radar.

[0054] S103: If, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity satisfies a first condition, it is determined that the radar is in an obstructed state; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the offline directional pattern for the monitoring angle.

[0055] The monitoring angle range in the measured directional pattern is consistent with the monitoring angle range in the offline directional pattern. For any monitoring angle within the monitoring angle range, the monitoring angle corresponds to one echo intensity in both the measured directional pattern and the offline directional pattern.

[0056] Specifically, for a specified monitoring angle of the radar, if the echo intensity of the specified monitoring angle in the measured direction pattern is lower than the echo intensity of the specified monitoring angle in the offline direction pattern, it can be determined that the radar is blocked at the specified monitoring angle.

[0057] Exemplarily, the first monitoring angle is within a preset monitoring angle range, the echo intensity of the first monitoring angle in the measured pattern is a first echo intensity, and the echo intensity in the offline pattern is a second echo intensity. If the first echo intensity is lower than the second echo intensity, then the first monitoring angle is determined to meet the first condition, and the radar is further determined to be in an obstructed state.

[0058] like Figure 4 As shown, it shows a comparative schematic diagram of a radar provided by an embodiment of the present invention in an obscured state; wherein, the solid line represents the offline directional pattern, the dotted line represents the measured directional pattern, θ0 and θ1 are two monitoring angles, and the echo intensity of θ0 and θ1 in the measured directional pattern is lower than the echo intensity of θ0 and θ1 in the offline directional pattern.

[0059] By comparing measured patterns with offline patterns, the present invention accurately determines radar obstruction in real time. This approach eliminates the need for model training, resulting in highly efficient judgment and compatibility across a wide range of radar scenarios. Furthermore, by comparing monitoring angles, the obstruction angle can be accurately located, facilitating the selection of appropriate repair strategies, thereby reducing radar maintenance time and improving operational reliability.

[0060] In some embodiments of the present invention, the above-mentioned step S103 of “if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity satisfies the first condition, determining that the radar is in an obstructed state” may include:

[0061] If, compared with the offline directional pattern, the measured directional pattern contains a first number of monitoring angles whose echo intensities satisfy the first condition, it is determined that the radar is in an obscured state.

[0062] Optionally, the first quantity may be at least one, and may be set specifically according to actual conditions.

[0063] The echo intensity at each monitoring angle in the offline directional map generally selects the maximum echo intensity or average echo intensity fed back by the designated target in an unobstructed state to ensure the reliability of the offline directional map.

[0064] Specifically, for each monitoring angle, a preset echo intensity range for that monitoring angle is established based on the echo intensity of that monitoring angle in the offline directional map. The echo intensity of that monitoring angle in the offline directional map can be either the upper limit or the median of the preset echo intensity range for that monitoring angle, and the upper limit or median value can be selected based on actual conditions. Each monitoring angle corresponds to a preset echo intensity range for that angle.

[0065] In some embodiments of the present invention, after comparing the measured directional pattern with the preset offline directional pattern, the method further includes:

[0066] If, compared with the offline directional pattern, the measured directional pattern has a second number of monitoring angles whose echo intensities satisfy the second condition, the measured directional pattern is determined to be invalid;

[0067] The second condition includes: the echo intensity of the monitoring angle in the measured direction pattern is higher than the preset echo intensity range of the monitoring angle in the offline direction pattern.

[0068] Optionally, the second number may be at least one, or to ensure the reliability of the determination, the second number may be set to 20% or 50% of all monitoring angles, which may be specifically set according to actual conditions.

[0069] For example, for any monitoring angle, when the echo intensity of the monitoring angle in the measured direction map is higher than the preset echo intensity range of the monitoring angle, it indicates that the echo intensity of the monitoring angle in the measured direction map is abnormal and may not be consistent with reality. It can be determined that the measured direction map is invalid and needs to be reconstructed and re-judged.

[0070] In some embodiments of the present invention, after comparing the measured directional pattern with the preset offline directional pattern, the method further includes:

[0071] If, compared with the offline directional pattern, the number of monitoring angles in the measured directional pattern where the echo intensity satisfies the third condition is a first number, it is determined that the radar is in an unobstructed state;

[0072] The third condition includes: the echo intensity of the monitoring angle in the measured direction pattern is within a preset echo intensity range of the monitoring angle in the offline direction pattern.

[0073] Optionally, the third number may be the number of all monitoring angles, or 95% or 98% of the number of all monitoring angles, and may be set specifically according to actual conditions.

[0074] Exemplarily, for all monitoring angles, when the echo intensity of the monitoring angle in the measured direction map is within the preset echo intensity range of the monitoring angle, it can be determined that the radar is in an unblocked state.

[0075] In some embodiments of the present invention, after determining that the radar is in an obstructed state, the method further includes:

[0076] Sum all monitoring angles that meet the first condition to obtain the occlusion range value;

[0077] The ratio of the obstruction range value to the radar's monitoring range value is calculated to determine the radar's obstruction degree.

[0078] The radar's obstruction angle is the monitoring angle that meets the first condition. The radar's obstruction range value is obtained by summing all monitoring angles that meet the first condition. The radar's obstruction range value is calculated by calculating the ratio of the radar's obstruction range value to the radar's monitoring range value.

[0079] For details, see Figure 4 , the radar is in the obstruction state between θ0 and θ1, then we can use Indicates the degree of radar obstruction, where |θ1-θ0| represents the obstruction range value, θ range Indicates the monitoring range value of the radar.

[0080] For example, within the range of -90° to 90°, if the monitoring angle within the range of 10° to 20° is blocked, it is considered that the obstruction degree of the radar is 1 / 18.

[0081] In some embodiments of the present invention, when constructing a measured directional pattern or an offline directional pattern, it is necessary to filter the first echo intensity information or the second echo intensity information.

[0082] Screening is to remove invalid echoes from the first echo intensity information or the second echo intensity information and leave valid echoes.

[0083] Specifically, an invalid echo means that the information contained in the echo is not within a preset range. For example, if the pitch angle contained in the echo is 60°, which is not within the preset pitch angle range, the echo is considered to be an invalid echo.

[0084] For example, the radial distance is 10m to 50m. If the radial distance contained in some echoes is not within this range, the echo is invalid. Alternatively, the vehicle speed range is limited to 30km / h to 50km / h. If the vehicle speed contained in some echoes is not within this range, the echo is invalid. Alternatively, the vehicle type is limited to "car". If the vehicle type contained in some echoes is not of this type, the echo is invalid. Alternatively, the distance is limited to 50m to 80m. If the distance contained in some echoes is not within this range, the echo is invalid. Specific screening conditions can be set according to actual conditions.

[0085] The following uses the offline directional map as an example to illustrate the construction process. The same applies to the measured directional map.

[0086] In some embodiments of the present invention, the second echo strength information includes M valid echoes; and before acquiring the first echo strength information, the method further includes:

[0087] constructing an offline directional map based on the second echo intensity information;

[0088] The radar monitoring angle is used as the horizontal axis and the echo intensity is used as the vertical axis to construct a directional diagram.

[0089] According to the preset interval, the radar monitoring angle is divided into N angle intervals;

[0090] For each angle interval, when the number of valid echoes in the angle interval is not greater than a preset number, each time a valid echo is in the angle interval, the echo intensity corresponding to the angle interval is accumulated by the preset value; wherein, when the number of valid echoes in the angle interval is zero, the echo intensity corresponding to the angle interval is zero;

[0091] The directional map obtained after traversing M valid echoes is used as the offline directional map.

[0092] In some embodiments of the present invention, after dividing the monitoring angle of the radar into N angle intervals, the method further includes:

[0093] For each angle interval, when the number of valid echoes in the angle interval is greater than a preset number, the average echo intensity of the valid echoes in the angle interval is used as the echo intensity of the angle interval.

[0094] For example, the second echo intensity can be radar point cloud data, or target-level data formed after clustering or tracking, specifically radar frame data. A radar frame can be 60ms or 80ms, and radar data generally includes data from multiple radar frames, such as 1,000 frames or 10,000 frames. The process of constructing an offline directional map is as follows:

[0095] (1) Set the horizontal axis angle range of the radiation pattern, that is, the radar monitoring range, for example, -60° to 60°.

[0096] (2) According to the preset interval, the horizontal axis angle interval of the directional pattern is divided into N angle intervals, that is, [θ1,...,θ N ], the preset interval is θ Δ For example, the preset interval may be 3° or 1°.

[0097] (3) The second echo intensity information is eliminated according to the preset screening conditions to obtain M valid echoes.

[0098] (4) Use M valid echoes to accumulate offline directional patterns.

[0099] The M valid echoes are traversed, and the echo strength of the directional pattern of the corresponding angle interval is updated.

[0100] For example, if the monitoring angle of a target is 3 degrees and the echo intensity is 60db, then the target is in the directional pattern interval between 0° and 5°, and the echo intensity of the directional pattern between 0° and 5° is accumulated by 60db.

[0101] If in a certain frame, within a certain angle interval in the directional diagram, the number of valid echoes in the angle interval is not greater than a preset number, then each time a valid echo is in the angle interval, the echo intensity corresponding to the angle interval is accumulated by a preset value;

[0102] If in a certain frame, within a certain angle interval in the directional diagram, the number of valid echoes in the angle interval is greater than a preset number, the average echo intensity of the valid echoes in the angle interval is used as the echo intensity of the angle interval.

[0103] For example, after 1000 frames, there are 30,000 valid echoes accumulated between 0° and 5°, and the average echo intensity of the 30,000 valid echoes is calculated as the echo intensity between 0° and 5°.

[0104] After traversing M valid echo targets, a relatively accurate offline direction map is obtained.

[0105] The process for constructing a measured pattern is similar to that for offline patterns. Specifically, the filtering criteria, update cycle, and interval division can differ from those for offline patterns. More specifically, considering the computational complexity of the measured pattern calculation, the interval division can be more coarse, and the filtering process can be more rigorous.

[0106] The embodiments of the present invention can accurately determine radar obstruction in real time without requiring model training, resulting in high efficiency and compatibility across all radar operating scenarios. Furthermore, by comparing monitoring angles, it can more accurately calculate whether a radar is obstructed and the degree of obstruction within certain angle ranges, facilitating the subsequent selection of appropriate repair strategies, thereby reducing radar maintenance time and improving radar reliability.

[0107] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0108] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0109] Figure 5 A schematic diagram of the structure of a radar obstruction determination device provided by an embodiment of the present invention is shown. For ease of explanation, only the portion related to the embodiment of the present invention is shown, which is described in detail as follows:

[0110] like Figure 5 As shown, the radar obstruction judgment device 20 may include:

[0111] An acquisition module 201 is configured to acquire first echo strength information and construct a measured radar pattern based on the first echo strength information; the first echo strength information is real-time echo strength information fed back by a designated target in the radar echo signal;

[0112] Comparison module 202 is configured to compare the measured directional pattern with a preset offline directional pattern; the offline directional pattern is constructed based on the second echo intensity information; the second echo intensity information is the offline echo intensity information of the designated target in the radar echo signal when the radar is not blocked; the measured directional pattern and the offline directional pattern are both radar monitoring angle-echo intensity maps for the designated target;

[0113] The first judgment module 203 is used to determine that the radar is in an obstructed state if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity meets a first condition; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the offline directional pattern for the monitoring angle.

[0114] In some embodiments of the present invention, the first judgment module 203 is specifically configured to determine that the radar is in an obstructed state if, compared with the offline directional pattern, the measured directional pattern has a first number of monitoring angles whose echo intensity satisfies a first condition.

[0115] In some embodiments of the present invention, the determining device 20 may further include:

[0116] The second judgment module is used to determine that the measured directional pattern is invalid if, compared with the offline directional pattern, the number of monitoring angles in the measured directional pattern whose echo intensity meets the second condition is a second number; the second condition includes: the echo intensity of the monitoring angle in the measured directional pattern is higher than the preset echo intensity range of the monitoring angle in the offline directional pattern.

[0117] In some embodiments of the present invention, the determining device 20 may further include:

[0118] The third judgment module is used to determine that the radar is in an unobstructed state if, compared with the offline directional pattern, the number of monitoring angles in the measured directional pattern whose echo intensity meets the third condition is a first number; the third condition includes: the echo intensity of the monitoring angle in the measured directional pattern is within a preset echo intensity range of the monitoring angle in the offline directional pattern.

[0119] In some embodiments of the present invention, the determining device 20 may further include:

[0120] The fourth judgment module is used to, after determining that the radar is in an obstructed state, sum up all monitoring angles that meet the first condition to obtain an obstruction range value; calculate the ratio of the obstruction range value to the radar's monitoring range value to determine the degree of obstruction of the radar.

[0121] In some embodiments of the present invention, the second echo strength information includes M valid echoes, and the determining device 20 may further include:

[0122] A construction module is used to construct an offline direction map based on the second echo intensity information.

[0123] Building blocks can include:

[0124] The first division unit is used to construct a directional diagram with the radar's monitoring angle as the horizontal axis and the echo intensity as the vertical axis;

[0125] A second division unit is used to divide the radar monitoring angle into N angle intervals according to a preset interval;

[0126] a third dividing unit configured to, for each angle interval, when the number of valid echoes in the angle interval is not greater than a preset number, accumulate the echo intensity corresponding to the angle interval by a preset value each time a valid echo is in the angle interval; wherein, when the number of valid echoes in the angle interval is zero, the echo intensity corresponding to the angle interval is zero;

[0127] The construction unit is used to use the directional map obtained after traversing M valid echoes as the offline directional map.

[0128] In some embodiments of the present invention, the building blocks may further include:

[0129] The fourth division unit is used to divide the radar's monitoring angle into N angle intervals. For each angle interval, when the number of valid echoes in the angle interval is greater than a preset number, the average echo intensity of the valid echoes in the angle interval is used as the echo intensity of the angle interval.

[0130] Figure 6 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 6 As shown, the electronic device 30 of this embodiment includes: a processor 300, a memory 301, and a computer program 302 stored in the memory 301 and executable on the processor 300. When the processor 300 executes the computer program 302, the steps in the above-mentioned embodiments of the method for determining the radar obstruction situation are implemented, such as Figure 1 Alternatively, when the processor 300 executes the computer program 302, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 5 Functions of modules / units 201 to 203 are shown.

[0131] For example, the computer program 302 may be divided into one or more modules / units, one or more modules / units are stored in the memory 301 and executed by the processor 300 to implement the present invention. One or more modules / units may be a series of computer program instruction segments that can implement specific functions, and the instruction segments are used to describe the execution process of the computer program 302 in the electronic device 30. For example, the computer program 302 may be divided into Figure 5 Modules / units 201 to 203 are shown.

[0132] The electronic device 30 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device 30 may include, but is not limited to, a processor 300 and a memory 301. Those skilled in the art will appreciate that Figure 6 This is merely an example of the electronic device 30 and does not constitute a limitation of the electronic device 30 . The electronic device 30 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0133] The processor 300 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0134] The memory 301 can be an internal storage unit of the electronic device 30, such as a hard disk or memory of the electronic device 30. The memory 301 can also be an external storage device of the electronic device 30, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 30. Furthermore, the memory 301 can include both an internal storage unit of the electronic device 30 and an external storage device. The memory 301 is used to store computer programs and other programs and data required by the electronic device. The memory 301 can also be used to temporarily store data that has been output or is about to be output.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0136] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0137] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0138] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0140] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0141] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned radar obstruction determination method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, legislation and patent practice do not require that computer-readable media include electric carrier signals and telecommunications signals.

[0142] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for determining radar obstruction, characterized in that: include: Acquire first echo intensity information, and construct a measured direction pattern of the radar based on the first echo intensity information; The first echo strength information is real-time echo strength information fed back by a designated target in the echo signal of the radar; Comparing the measured directional pattern with a preset offline directional pattern; the offline directional pattern is constructed based on second echo intensity information; the second echo intensity information is offline echo intensity information fed back by a designated target in the echo signal of the radar in an unobstructed state; the measured directional pattern and the offline directional pattern are both monitoring angle-echo intensity maps of the radar for the designated target; If, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity satisfies a first condition, the radar is determined to be in an obstructed state; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the monitoring angle in the offline directional pattern.

2. The method for determining radar obstruction according to claim 1, wherein: If, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity satisfies the first condition, then determining that the radar is in an obstructed state includes: If, compared with the offline directional pattern, the measured directional pattern has a first number of monitoring angles whose echo intensity meets the first condition, it is determined that the radar is in an obscured state; and the first number is at least one.

3. The method for determining radar obstruction according to claim 1, wherein: After comparing the measured directional pattern with the preset offline directional pattern, the method further includes: If, compared with the offline directional pattern, the measured directional pattern has a second number of monitoring angles whose echo strength meets the second condition, the measured directional pattern is determined to be invalid; the second number is at least one, or 20% or 50% of all monitoring angles; The second condition includes: the echo intensity of the monitoring angle in the measured direction pattern is higher than the preset echo intensity range of the monitoring angle in the offline direction pattern.

4. The method for determining radar obstruction according to claim 1, wherein: After comparing the measured directional pattern with the preset offline directional pattern, the method further includes: If, compared with the offline directional pattern, the measured directional pattern contains a third number of monitoring angles whose echo intensities satisfy a third condition, the radar is determined to be in an unobstructed state; the third number is the number of all monitoring angles, or 95% or 98% of the number of all monitoring angles; The third condition includes: the echo intensity of the monitoring angle in the measured direction pattern is within a preset echo intensity range of the monitoring angle in the offline direction pattern.

5. The method for determining radar obstruction according to claim 1, wherein: After determining that the radar is in the blocked state, the method further includes: Sum all monitoring angles that meet the first condition to obtain the occlusion range value; The ratio of the obstruction range value to the monitoring range value of the radar is calculated to determine the obstruction degree of the radar.

6. The method for determining radar obstruction according to any one of claims 1 to 5, characterized in that: The second echo strength information includes M valid echoes; and before obtaining the first echo strength information, the method further includes: constructing the offline directional map based on the second echo intensity information; The radar monitoring angle is used as the horizontal axis and the echo intensity is used as the vertical axis to construct a directional diagram. Dividing the radar's monitoring angle into N angle intervals according to preset intervals; For each angle interval, when the number of valid echoes in the angle interval is not greater than a preset number, each time a valid echo is in the angle interval, the echo intensity corresponding to the angle interval is accumulated by the preset value; wherein, when the number of valid echoes in the angle interval is zero, the echo intensity corresponding to the angle interval is zero; The directional map obtained after traversing M valid echoes is used as the offline directional map.

7. The method for determining radar obstruction according to claim 6, wherein: After dividing the monitoring angle of the radar into N angle intervals, the method further includes: For each angle interval, when the number of valid echoes in the angle interval is greater than the preset number, the average echo intensity of the valid echoes in the angle interval is used as the echo intensity of the angle interval.

8. A device for determining radar obstruction, characterized in that: include: an acquisition module, configured to acquire first echo strength information and construct a measured direction pattern of the radar based on the first echo strength information; The first echo strength information is real-time echo strength information fed back by a designated target in the echo signal of the radar; A comparison module, configured to compare the measured directional pattern with a preset offline directional pattern; the offline directional pattern is constructed based on the second echo intensity information; The second echo intensity information is offline echo intensity information fed back by a designated target in the echo signal of the radar in an unobstructed state; the measured directional pattern and the offline directional pattern are both monitoring angle-echo intensity diagrams of the radar for the designated target; The first judgment module is used to determine that the radar is in an obstructed state if, compared with the offline directional pattern, the measured directional pattern has a monitoring angle whose echo intensity meets a first condition; the first condition includes: the echo intensity corresponding to the monitoring angle in the measured directional pattern is lower than the echo intensity corresponding to the monitoring angle in the offline directional pattern.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method for determining radar obstruction conditions as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for determining radar obstruction conditions as described in any one of claims 1 to 7 are implemented.

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