Vehicle-mounted millimeter wave radar shielding detection method and device, equipment and medium

Abstract

The application discloses a kind of vehicle-mounted millimeter wave radar shelter detection method, device, equipment and medium, wherein vehicle-mounted millimeter wave radar shelter detection method includes the following steps: in the process of moving along the preset direction, track target in the FOV range of radar, determine possible shelter angle area;According to the number of targets monitored in the possible shelter angle area in a plurality of preset periods, determine that radar is sheltered.Have beneficial effects: accurately identify which radar area is sheltered, high accuracy.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method, apparatus, equipment, and medium for detecting obstruction by vehicle-mounted millimeter-wave radar. Background Technology

[0002] With the increasing prevalence of driver assistance systems, more and more vehicles are equipped with millimeter-wave radar, leading to a rapid increase in the number of vehicles equipped with such systems. However, during vehicle use, millimeter-wave radar may be completely or partially blocked, which can affect the driver assistance system. Therefore, it is crucial to report any instances of complete or partial blockage of the millimeter-wave radar promptly and accurately.

[0003] Existing Solution 1: Compare the current valid statistical distribution with the reference statistical distribution under occlusion conditions. If the similarity is below a preset threshold, the vehicle radar is determined to be unobstructed; otherwise, based on logical judgment, it is determined that the vehicle radar is obstructed. The drawback of this solution is that the types and thicknesses of radar obstructions can have countless combinations, making it impossible to exhaustively list the reference statistical distribution under occlusion conditions or compare it one by one with these countless combinations. Therefore, this solution is very prone to missing occlusion detections.

[0004] Existing Solution 2: Calculate the sum of occlusion confidence scores under two occlusion states to obtain the occlusion feature boundaries under both occlusion and no-occlusion conditions. Based on this, determine the threshold for the sum of confidence scores indicating occlusion, and then use this threshold as input to the occlusion detection algorithm. This enables adaptive judgment of millimeter-wave radar occlusion, achieving real-time self-detection and alarm functions for millimeter-wave radar occlusion. The drawback of this solution is that it requires extensive prior testing, and testing is needed for each material to adapt to different vehicle models. Implementation is relatively cumbersome.

[0005] Existing Solution 3: Utilizes one of the following to determine if occlusion exists: FFT amplitude change, FFT amplitude change rate, or amplitude feature statistics. This method uses FFT data generated after the antenna output, which is early data with a large volume. Performing additional processing on this data is computationally and memory-intensive.

[0006] Existing Solution 4: Set a threshold based on the difference between a stationary object being obscured and not obscured by a foreign object of a certain thickness. The detection data is compared with the threshold to determine whether there is obstruction. The disadvantage of this solution is that it is only applicable to the obstruction of a foreign object of a certain thickness and the situation where there is no obstruction. It does not take into account the situation where the vehicle's front millimeter-wave radar is located behind the bumper.

[0007] Existing Option 5: Transmit a frequency modulation bandwidth in a predetermined direction and then analyze the echo signal strength to determine if the radar is blocked. However, this option is limited by constraints and its feasibility is not strong. Summary of the Invention

[0008] In view of the above-mentioned defects or improvement needs of the existing technology, the purpose of this invention is to provide a method, device, equipment and medium for detecting obstruction of vehicle-mounted millimeter-wave radar.

[0009] To achieve this objective, the present invention adopts the following technical solution:

[0010] Firstly, a method for detecting obstruction by a vehicle-mounted millimeter-wave radar includes the following steps:

[0011] During movement along a preset direction, the target is tracked within the radar's field of view (FOV) to determine the area of ​​possible obstruction.

[0012] The radar is determined to be blocked based on the number of targets detected within the possible obstruction angle area over multiple consecutive preset periods.

[0013] In one embodiment, the step of tracking the target within the radar's field of view (FOV) and determining the potentially obstructed angle region during movement in a preset direction includes:

[0014] The FOV range is determined based on the radar's stable target tracking distance.

[0015] In one embodiment, the step of determining whether the radar is blocked based on the number of targets detected within the potentially blocked angle area within a consecutive preset number of preset periods includes:

[0016] If the ratio of the number of targets detected within the potentially obstructed angle area to the number of targets that should pass through is less than or equal to the preset ratio, the condition satisfaction rate increases by m%.

[0017] When the condition is satisfied to 100%, it is determined that the radar is blocked.

[0018] In one embodiment, the step of determining whether the radar is blocked based on the number of targets detected within the possible blocking angle area over multiple consecutive preset periods further includes:

[0019] If the ratio is greater than the preset ratio, the current condition satisfaction rate decreases by n%, where n > m.

[0020] In one embodiment, n is a multiple of m.

[0021] In one embodiment, the step of determining whether the radar is blocked based on the number of targets detected within the potentially blocked angle area within a consecutive preset number of preset periods further includes:

[0022] The reporting duration is determined based on the preset number and the preset period;

[0023] If no target is detected within the reporting time or the detected target remains stationary relative to the vehicle and the noise level remains above the preset noise level, then it is determined that the FOV of all radars is blocked.

[0024] In one embodiment, the step of determining whether the radar is blocked based on the number of targets detected within the potentially blocked angle area within a consecutive preset number of preset periods further includes:

[0025] If the area where the target tracking cannot match happens to be spatially consistent with the FOV of one of the millimeter-wave radars, then it is determined that the radar is completely blocked.

[0026] If the area where target tracking cannot be matched happens to partially overlap with the FOV of one of the millimeter-wave radars in space, then it is determined that the radar is partially blocked.

[0027] Secondly, a vehicle-mounted millimeter-wave radar obstruction detection device includes:

[0028] The first module is used to track the target within the radar's field of view (FOV) and determine the possible obstruction angle area during movement in a preset direction.

[0029] The second module is used to determine whether the radar is blocked based on the number of targets detected within the possible obstruction angle area in a series of preset periods.

[0030] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the vehicle-mounted millimeter-wave radar obstruction detection method as described above.

[0031] Fourthly, a computer-readable storage medium stores computer instructions that cause the computer to perform the vehicle-mounted millimeter-wave radar obstruction detection method described above.

[0032] The beneficial effects of this invention are:

[0033] For vehicle-mounted millimeter-wave radar obstruction detection methods, devices, equipment, and media, during movement along a preset direction, the target is tracked within the radar's field of view (FOV) to determine the possible obstruction angle area. Based on the number of targets detected within the possible obstruction angle area in multiple consecutive preset cycles, it is determined that the radar is obstructed. This method can accurately identify which radar and which area is obstructed, with high precision.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0036] Figure 1 This is a flowchart of the vehicle-mounted millimeter-wave radar obstruction detection method in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of radar FOV scanning during vehicle movement in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of the device for determining the safe area of ​​a faulty vehicle in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0041] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0043] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as in the embodiments of this application.

[0044] This embodiment provides a method for detecting obstruction by vehicle-mounted millimeter-wave radar, such as... Figure 1 As shown, the detection method includes steps S10-S20.

[0045] Step S10: During the movement along the preset direction, track the target within the radar's FOV range and determine the possible obstruction angle area.

[0046] Figure 2 This is a schematic diagram of radar FOV scanning during vehicle movement. The vehicle is moving at a constant speed of 15 km / h, and the radar tracks moving and static targets detected by the vehicle within a relatively accurate distance range within its own FOV. This relatively accurate distance is generally determined based on the radar's stable target tracking distance.

[0047] It should be noted that in this embodiment, the radar is a millimeter-wave radar, and it is not limited to being installed at the front, rear, side, roof, or chassis of the vehicle.

[0048] For example, if the FOV range of a radar is S1 and the FOV range for stable target tracking is S2 (S2≤S1), then the target is selected based on the distance of S2, i.e., the target is tracked within this FOV range.

[0049] like Figure 2 As shown, the area where target 1 is currently located is area A. When the vehicle moves forward (in the V direction), target 1 reaches area B and becomes 1'. If target 1' cannot be seen in area B due to radar obstruction, then the spatial angle area where area B is located is marked as the possible obstruction angle area θ1.

[0050] Step S20: Determine if the radar is blocked based on the number of targets detected within the possible obstruction angle region θ1 within multiple consecutive preset periods t.

[0051] Specifically, step S20 includes:

[0052] If the ratio of the number of targets detected within the potentially obstructed angle region θ1 within the preset period to the number of targets that should pass through is less than or equal to the preset ratio, then the condition satisfaction rate increases by m%.

[0053] When the condition satisfaction rate increases to 100%, it is determined that the radar is blocked.

[0054] Furthermore, the number of targets to be passed through is determined as follows: based on the relationship between the targets detected by the radar in other areas and the movement of the vehicle, the sum of the number of targets that these targets should pass through in the marked area within time t.

[0055] Common coverage scenarios such as snow and ice coverage, car cover coverage, and thick soil coverage were selected for separate testing. The maximum value of the number of targets detected in the marked area of ​​the scenario divided by the total number of targets that should pass through the marked area was taken as the preset ratio.

[0056] For example Figure 2 Based on its relationship with the vehicle's motion, target 1 should reach 1' within t, thus passing through the obscured area B. Such a target is considered a target that should be passed through the marked area.

[0057] Number of targets detected within the marked area: Based on the relationship between targets detected in other areas of the radar and the vehicle's motion, this is the sum of the number of targets detected within the marked area within time t. For example... Figure 2 Based on their relationship with the vehicle's motion, targets 1 and 2 should reach 1' and 2' within time t, thus passing through the obscured area B. Such targets are counted as targets that should pass through the marked area. If target 1' appears in area B but target 2' does not, then one target is lost and one target is detected. The total number of targets detected, such as 1', is called the total number of targets detected within the marked area.

[0058] Understandably, the initial condition satisfaction is 0. In the first preset period, if the ratio of the number of targets detected in the possible obstruction angle region θ1 to the number of targets that should pass through is less than or equal to the preset ratio, the condition satisfaction increases from 0 to m%. In the second period, if the ratio of the number of targets detected in the possible obstruction angle region θ1 to the number of targets that should pass through is less than or equal to the preset ratio, the condition satisfaction increases to 2m%. And so on. If the condition satisfaction continues to increase to 100% in several consecutive periods, it is determined that the radar is obstructed.

[0059] It should be noted that, for example, the condition satisfaction degree of the i-th time is 100-r (r>0), and the condition satisfaction degree of the (i+1)-th time is 100-r+m. If 100-r+m>100, then it is determined that the radar is blocked by the (i+1)-th time.

[0060] It should be noted that if the ratio of the number of targets detected within the occlusion angle region θ1 within the preset period to the number of targets that should pass through is greater than the preset ratio, the condition satisfaction will decrease by n%, and in order to ensure the trend of slow rise and rapid fall, n > m.

[0061] It should be noted that, for example, if the condition satisfaction rate for the i-th time is i·m%, and the ratio of the number of targets detected within the potentially occluded angle region θ1 within the preset period to the number of targets that should pass through is greater than the preset ratio, then the condition satisfaction rate for the (i+1)-th time is i·mn.

[0062] Since n is greater than m, if the ratio of the number of targets to the number of targets to be passed exceeds the preset ratio, the condition satisfaction will be greatly reduced. In other words, in order to achieve 100% accuracy, the condition satisfaction can be greatly reduced when the above conditions are not met, and the condition satisfaction can be increased multiple times to reach 100%, thereby improving the accuracy.

[0063] In this embodiment, n is a multiple of m, such as n = 2m or n = 3m. It should be noted that the multiple in this embodiment is not limited to 2 or 3. Taking n = 2m as an example, once the ratio of the number of targets to the number of targets that should be passed is greater than a preset ratio, the condition satisfaction will be backdated to two preset periods ago.

[0064] Further step S20 also includes:

[0065] The reporting duration m×t is determined based on the preset number m and the preset period t;

[0066] If no target is detected within m×t within the reporting time or the detected target remains stationary relative to the vehicle and the noise level remains above the preset noise level, then it is determined that the FOV of all radars is blocked.

[0067] If the area where target tracking cannot be matched happens to coincide spatially with the FOV of one of the millimeter-wave radars, then it is determined that the radar is completely blocked.

[0068] If the area where target tracking cannot be matched happens to partially overlap with the FOV of one of the millimeter-wave radars in space, then it is determined that the radar is partially blocked.

[0069] It should be noted that this detection method is also applicable to the detection of blockages by a single radar.

[0070] For the vehicle-mounted millimeter-wave radar obstruction detection method, during the movement along a preset direction, the target is tracked within the radar's FOV range to determine the possible obstruction angle area. Based on the number of targets detected within the possible obstruction angle area in multiple consecutive preset cycles, it is determined that the radar is obstructed. This method can accurately identify which radar and which area is obstructed, with high accuracy.

[0071] This embodiment also provides a vehicle-mounted millimeter-wave radar obstruction detection device. Figure 3This is a schematic diagram of the structure of the device for determining the safe area of ​​a faulty vehicle provided in this embodiment. The device for determining the safe area of ​​a faulty vehicle includes a first module 31 and a second module 32.

[0072] The first module 31 is used to track the target within the radar's field of view (FOV) during movement in a preset direction and determine the possible obstruction angle area.

[0073] The second module 32 is used to determine whether the radar is blocked based on the number of targets detected within the possible blocking angle area in a series of preset periods.

[0074] The first module 31 is also used to determine the FOV range based on the stable target tracking distance of the radar.

[0075] The second module 32 is also used to increase the condition satisfaction by m% when the ratio of the number of targets detected in the potentially obstructed angle area within the preset period to the number of targets that should pass is less than or equal to a preset ratio.

[0076] The second module 32 is also used to: determine that the radar is blocked when the condition satisfaction rate increases to 100%;

[0077] If the ratio is greater than the preset ratio, the current condition satisfaction rate decreases by n%, where n > m.

[0078] Preferably, n is a multiple of m.

[0079] The second module 32 is also used to: determine the reporting duration based on the preset number and preset period;

[0080] If no target is detected within the reporting time or the detected target remains stationary relative to the vehicle and the noise level remains above the preset noise level, then it is determined that the FOV of all radars is blocked.

[0081] The second module 32 is also used to: if the area where the target tracking cannot be matched happens to be spatially consistent with the FOV of one of the millimeter-wave radars, then determine that the radar is completely blocked.

[0082] If the area where target tracking cannot be matched happens to partially overlap with the FOV of one of the millimeter-wave radars in space, then it is determined that the radar is partially blocked.

[0083] It should be noted that the vehicle-mounted millimeter-wave radar obstruction detection device provided in this embodiment can also be a computer program (including program code) running on a computer device. For example, the vehicle-mounted millimeter-wave radar obstruction detection device can be used as an application program to execute the corresponding steps in the control method provided in this embodiment.

[0084] In some feasible implementations, the vehicle-mounted millimeter-wave radar obstruction detection device provided in this embodiment can be implemented using a combination of hardware and software. As an example, the device for determining the safe area of ​​a faulty vehicle in this embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the device for determining the safe area of ​​a faulty vehicle provided in this embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0085] In some feasible implementations, the vehicle-mounted millimeter-wave radar obstruction detection device provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and includes a series of modules to implement the vehicle-mounted millimeter-wave radar obstruction detection method provided in the above embodiment.

[0086] This application also provides an electronic device. Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application, such as... Figure 4 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be a high-speed RAM or non-volatile memory, such as at least one disk storage device. The memory 1005 may optionally be at least one storage device located remotely from the processor 1001. Figure 4 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0087] like Figure 4 In the electronic device 1000 shown, the network interface 1004 provides network communication functions; the user interface 1003 is mainly used to provide an input interface for users; and the processor 1001 can be used to call the device control application stored in the memory 1005 to implement the steps of the above-mentioned vehicle millimeter-wave radar obstruction detection method.

[0088] The vehicle-mounted millimeter-wave radar obstruction detection device provided in this embodiment tracks the target within the radar's field of view (FOV) during movement along a preset direction, determines the possible obstruction angle area, and determines that the radar is obstructed based on the number of targets detected within the possible obstruction angle area in multiple consecutive preset periods. It can accurately identify which radar and which area is obstructed with high accuracy.

[0089] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), which may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0090] In practice, the aforementioned electronic device 1000 can execute the implementation methods provided by the various steps of the control method described above through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps described above, which will not be repeated here.

[0091] The electronic device provided in this embodiment tracks the target within the radar's field of view (FOV) during movement along a preset direction, determines the possible obstruction angle area, and determines that the radar is obstructed based on the number of targets detected within the possible obstruction angle area in multiple consecutive preset periods. It can accurately identify which radar and which area is obstructed with high precision.

[0092] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the vehicle-mounted millimeter-wave radar obstruction detection method described above. For details, please refer to the implementation methods provided for the various steps described above, which will not be repeated here.

[0093] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0094] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for detecting obstruction by a vehicle-mounted millimeter-wave radar, characterized in that, Includes the following steps: During movement along a preset direction, the target is tracked within the radar's field of view (FOV) to determine the area of ​​possible obstruction. The radar is determined to be blocked based on the number of targets detected within the possible obstruction angle area in a series of preset periods. The step of determining that the radar is blocked includes: If the ratio of the number of targets detected within the potentially obstructed angle area to the number of targets that should pass through is less than or equal to the preset ratio, the condition satisfaction rate increases by m%. If the ratio is greater than the preset ratio, the current condition satisfaction rate decreases by n%, where n > m, and n and m are multiples of each other. When the satisfaction rate of the aforementioned condition increases to 100%, it is determined that the radar is blocked. The process for determining the number of targets that should be passed through is as follows: based on the relationship between the targets detected by the radar in other areas and the movement of the vehicle, the sum of the number of targets that these targets should pass through in the marked area within time t.

2. The vehicle-mounted millimeter-wave radar obstruction detection method according to claim 1, characterized in that, The step of tracking the target within the radar's field of view (FOV) and determining the possible obstruction angle region during movement along a preset direction includes: The FOV range is determined based on the radar's stable target tracking distance.

3. The vehicle-mounted millimeter-wave radar obstruction detection method according to claim 1, characterized in that, The step of determining whether the radar is blocked based on the number of targets detected within the potentially blocked angle area within a preset number of consecutive preset periods further includes: The reporting duration is determined based on the preset number and the preset period; If no target is detected within the reporting time or the detected target remains stationary relative to the vehicle and the noise level remains above the preset noise level, then it is determined that the FOV of all radars is blocked.

4. The vehicle-mounted millimeter-wave radar obstruction detection method according to claim 3, characterized in that, The step of determining whether the radar is blocked based on the number of targets detected within the potentially blocked angle area within a preset number of consecutive preset periods further includes: If the area where the target tracking cannot match happens to be spatially consistent with the FOV of one of the millimeter-wave radars, then it is determined that the radar is completely blocked. If the area where target tracking cannot be matched happens to partially overlap with the FOV of one of the millimeter-wave radars in space, then it is determined that the radar is partially blocked.

5. A vehicle-mounted millimeter-wave radar obstruction detection device, used to implement the vehicle-mounted millimeter-wave radar obstruction detection method as described in claim 1, characterized in that, include: The first module is used to track the target within the radar's field of view (FOV) and determine the possible obstruction angle area during movement in a preset direction. The second module is used to determine whether the radar is blocked based on the number of targets detected within the possible obstruction angle area in a series of preset periods.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle-mounted millimeter-wave radar obstruction detection method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the computer to perform the vehicle-mounted millimeter-wave radar obstruction detection method as described in any one of claims 1 to 4.

Images