Ghost optimization method, device and equipment for blind area radar

Abstract

The application provides a ghost optimization method, device and equipment for a blind area radar, and the method comprises the following steps: constructing a ghost simulation environment based on the blind area radar, a target cover and a reflecting entity; performing electromagnetic wave reflection simulation testing by using the ghost simulation environment, so as to determine a target reflection path in which the reflecting endpoint is the blind area radar and the reflecting entity participates in the reflection, and the target reflection path is adjusted by adjusting at least one simulation model participating in forming the target reflection path. The method provided by the application simulates the electromagnetic wave reflection of the blind area radar on an actual vehicle by using the ghost simulation environment, and then determines the target reflection path that may form a ghost; the simulation model participating in forming the target reflection path is adjusted, the reflection path is changed, and thus the reflection path in which the ghost may exist is eliminated, so that the generation of the ghost is avoided; meanwhile, the adjusted ghost simulation model can also be used to guide the improvement of the structure of the actual vehicle body.

Description

Technical Field

[0001] This application relates to the field of detection technology, specifically to a method, apparatus, and equipment for optimizing ghosting in blind zone radar. Background Technology

[0002] Radar, as an important means of obstacle detection, is widely used in many fields. In the automotive industry, to improve vehicle safety, blind spot radar is often configured to eliminate blind spots and provide customers with a safer driving experience. Blind spot radar is generally placed inside the rear bumper. Since there are other automotive components around the bumper, the surrounding environment is relatively complex, which can easily cause the radar to misidentify the reflection generated inside the bumper as a target vehicle, resulting in false alarms, i.e., ghosting. This seriously affects the radar detection effect and reduces driving safety. Therefore, eliminating ghosting in blind spot radar is an urgent problem to be solved. To this end, this application proposes a method, device, and equipment for optimizing ghosting in blind spot radar. Summary of the Invention

[0003] In view of this, embodiments of this application propose a method, apparatus, and device for optimizing the ghosting of radar. By building a ghosting simulation environment, various reflection paths of electromagnetic waves emitted by the radar are calculated in the ghosting simulation environment. When reflection ghosting exists, the ghosting is eliminated by adjusting the ghosting simulation environment. Thus, the design of automobiles can be guided based on the ghosting simulation environment to avoid ghosting problems in real vehicles.

[0004] The embodiments of this application are implemented using the following technical solutions:

[0005] In a first aspect, embodiments of this application provide a ghosting optimization method for blind zone radar. The method includes: constructing a ghosting simulation environment based on the simulation models and position parameters corresponding to the blind zone radar, the target covering, and the reflecting entity, whereby the blind zone radar emits electromagnetic waves, which are reflected by the target covering to the reflecting entity, and the reflecting entity performs secondary reflection of the received electromagnetic waves; performing electromagnetic wave reflection simulation tests using the ghosting simulation environment to obtain a set of electromagnetic wave reflection paths; determining candidate reflection paths whose reflection endpoints are the blind zone radar from the set of reflection paths; and adjusting the simulation model parameters or position parameters of at least one simulation model involved in forming the target reflection path in the simulation environment so that the set of reflection paths obtained by performing electromagnetic wave reflection simulation tests using the adjusted ghosting simulation environment does not include the target reflection path.

[0006] Secondly, embodiments of this application provide a ghosting optimization device for blind zone radar. The device includes: a construction module, used to construct a ghosting simulation environment based on the simulation models and position parameters corresponding to the blind zone radar, the target covering, and the reflecting entity, wherein the blind zone radar emits electromagnetic waves, the electromagnetic waves are reflected by the target covering to the reflecting entity, and the reflecting entity is used to perform secondary reflection of the received electromagnetic waves; a testing module, used to perform electromagnetic wave reflection simulation tests using the ghosting simulation environment to obtain a set of electromagnetic wave reflection paths; a filtering module, used to determine candidate reflection paths whose reflection endpoint is the blind zone radar from the set of reflection paths; and an adjustment module, used to adjust the simulation model parameters or position parameters of at least one simulation model participating in the formation of the target reflection path in the simulation environment if there is a target reflection path in the candidate reflection path that is reflected by the reflecting entity, so that the set of reflection paths obtained by performing electromagnetic wave reflection simulation tests using the adjusted simulation environment does not include the target reflection path.

[0007] In some embodiments, the ghosting optimization device further includes a thickness confirmation module, which is used to obtain a simulation model of the target cover. The thickness confirmation module includes a calculation unit and a selection unit. The calculation unit is used to obtain the energy loss of candidate cover models with different thicknesses for the same electromagnetic wave. The selection unit is used to select the candidate cover model with the minimum energy loss as the simulation model of the target cover.

[0008] In some implementations, the computing unit is also used to construct a thickness simulation environment based on the simulation model corresponding to the blind zone radar and the candidate cover model; in the thickness simulation environment, based on the dielectric constant and loss tangent value determined by the color of the candidate cover model, electromagnetic wave loss tests are performed on the candidate cover model at different thicknesses to obtain the energy loss of the candidate cover model for the same electromagnetic wave at different thicknesses.

[0009] In some implementations, the computing unit is also used to obtain the dual-path attenuation values ​​generated by the candidate covering model for the same electromagnetic wave under different thicknesses. The dual-path attenuation values ​​are used to characterize the sum of the first energy loss and the second energy loss. The first energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the first direction, and the second energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the second direction, which is the direction opposite to the first direction. The dual-path attenuation values ​​are used as the energy loss corresponding to the candidate covering model.

[0010] In some implementations, the test module includes an analysis unit and a simulation unit; the analysis unit is used to perform finite element segmentation on the electromagnetic waves emitted by the blind radar based on the field of view envelope corresponding to the blind radar, to obtain multiple mesh elements, each mesh element being used to characterize the emission location of an electromagnetic wave; the simulation unit is used to determine the reflection path of the electromagnetic wave in each mesh element in a ghost simulation environment; and based on the reflection paths of the electromagnetic waves in each mesh element, to obtain a set of electromagnetic wave reflection paths.

[0011] In some implementations, the adjustment module is further configured to adjust the simulation model parameters or position parameters of at least one simulation model participating in the formation of the target reflection path in the simulation environment if there is a target reflection path in the candidate reflection path in which the reflection entity participates in the reflection and the reflection intensity is greater than a preset intensity threshold.

[0012] In some implementations, the adjustment module is also used to calculate the reflection intensity of the candidate reflection path based on the reflectivity of each simulation model involved in the reflection and the number of reflections of each simulation model.

[0013] Thirdly, embodiments of this application provide an electronic device, including one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to perform the methods described above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing program code that can be called by a processor to execute the above-described method.

[0015] This application provides a method, apparatus, and device for optimizing ghosting in blind-spot radar. The method constructs a ghosting simulation environment that includes the blind-spot radar, target covering components, and reflective entities. Electromagnetic wave reflection simulation tests are conducted using this environment to simulate the electromagnetic wave reflection of the blind-spot radar, thereby determining the target reflection paths that may generate ghosting. By adjusting the simulation models involved in forming the target reflection paths, the target reflection paths that may cause ghosting in the ghosting simulation environment are changed, thus avoiding ghosting and optimizing ghosting in the blind-spot radar. Simultaneously, the adjusted ghosting simulation model can also be used to guide improvements to the actual vehicle body structure.

[0016] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the ghosting optimization method for blind zone radar provided in an embodiment of this application is shown.

[0019] Figure 2 A flowchart illustrating the acquisition process of the target overlay provided in an embodiment of this application is shown.

[0020] Figure 3 The embodiments provided in this application are shown. Figure 2 A flowchart of step S111.

[0021] Figure 4 The diagram shows the attenuation waveform of the electromagnetic wave provided in the embodiment of this application.

[0022] Figure 5 The embodiments provided in this application are shown. Figure 2 Another flowchart of step S111.

[0023] Figure 6 The embodiments provided in this application are shown. Figure 1 A flowchart of step S120.

[0024] Figure 7 This illustration shows a scenario diagram provided by an embodiment of this application.

[0025] Figure 8 An application flowchart provided by an embodiment of this application is shown.

[0026] Figure 9 A schematic diagram of the ghosting optimization device provided in an embodiment of this application is shown.

[0027] Figure 10 A schematic diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0030] Radar, as an important tool for assisting driving and improving driving safety, works by emitting electromagnetic waves and detecting and determining the spatial location of targets based on the scattering of these waves by the target. For blind-spot radar, because it is installed inside the bumper, the electromagnetic waves emitted by the blind-spot radar first pass through the bumper before propagating outwards for target detection. Simultaneously, because the electromagnetic waves are reflected off the bumper, they propagate inside the vehicle. This propagation of electromagnetic waves inside the vehicle can easily cause the radar to misidentify the reflection generated inside the bumper as the target vehicle, resulting in a ghosting effect.

[0031] To address the aforementioned issues, this application provides a ghosting optimization method, apparatus, and device for blind zone radar. The method includes: constructing a ghosting simulation environment based on the simulation models and position parameters corresponding to the blind zone radar, the target covering, and the reflecting entity, wherein the blind zone radar emits electromagnetic waves, which are reflected by the target covering to the reflecting entity, and the reflecting entity performs secondary reflection of the received electromagnetic waves; performing electromagnetic wave reflection simulation tests using the ghosting simulation environment to obtain a set of electromagnetic wave reflection paths; determining candidate reflection paths whose reflection endpoints are the blind zone radar from the set of reflection paths; if a target reflection path, in which the reflecting entity participates in the reflection, exists among the candidate reflection paths, adjusting the simulation model parameters or position parameters of at least one simulation model participating in the formation of the target reflection path in the simulation environment, so that the set of reflection paths obtained by performing electromagnetic wave reflection simulation tests using the adjusted simulation environment does not include the target reflection path.

[0032] The method provided in this application constructs a ghost simulation environment that includes blind-spot radar, target covering components, and reflective entities. Electromagnetic wave reflection simulation tests are then conducted within this environment to simulate the electromagnetic wave reflection of blind-spot radar on a real vehicle, thereby identifying potential target reflection paths that could generate ghosting. By adjusting the simulation model involved in forming the target reflection path, the reflection paths within the ghost simulation environment are altered, thus eliminating potential ghosting paths and preventing ghosting from occurring. Furthermore, the adjusted ghost simulation model can guide improvements to the real vehicle's data structure.

[0033] The embodiments provided in this application will now be described with reference to the accompanying drawings.

[0034] like Figure 1 As shown, Figure 1 A flowchart illustrating the ghosting optimization method for blind zone radar provided in this application embodiment is given, including:

[0035] S110. A ghost simulation environment is constructed based on the simulation models and position parameters corresponding to the blind zone radar, target covering parts, and reflective entities.

[0036] The blind zone radar is used to emit electromagnetic waves, the target covering is used to cover the blind zone radar, the electromagnetic waves are reflected by the target covering to the reflective entity, and the reflective entity is used to perform secondary reflection of the received electromagnetic waves.

[0037] It should be noted that, because the blind zone radar is blocked by the target covering, the electromagnetic waves emitted by the blind zone radar can only propagate to the target covering first. The electromagnetic waves that propagate to the target covering are divided into three parts: absorbed by the target covering, propagated outward through the target covering, and reflected on the target covering, thus reflecting to the reflecting entity.

[0038] Taking blind spot radar in a car as an example, the target covering is the car bumper, and the reflective entities are other entities in the car that can reflect electromagnetic waves (mainly metal entities), such as brackets, anti-collision beams, intercoolers, horns, etc. After the blind spot radar emits electromagnetic waves, some of the electromagnetic waves pass through the bumper and propagate outward, thus realizing blind spot detection; some electromagnetic waves are reflected by the bumper, thus propagating between reflective entities inside the car; and some electromagnetic waves are absorbed by the bumper, which means that electromagnetic waves are lost.

[0039] The simulation model parameters should include at least shape parameters, and position parameters mainly refer to the relative spatial positions between each simulation model. Furthermore, for entities with standard specifications such as blind spot radar and intercooler, the shape parameters in their simulation models can be determined by directly querying the corresponding standard specifications. For target covers, brackets, and other shapes defined by the manufacturer, their shape parameters can be obtained by measuring the actual vehicle.

[0040] It is worth mentioning that when blind-spot radar performs blind-spot detection, electromagnetic waves need to pass through the target covering. As the electromagnetic waves pass through the target covering, the covering absorbs some of the electromagnetic waves, leading to attenuation and affecting the echo quality received by the blind-spot radar. Echo quality determines whether the target detection function of the blind-spot radar can be performed normally. The thickness of the target covering directly affects its ability to absorb electromagnetic waves. Therefore, in some implementations, the covering with the least electromagnetic wave attenuation can be selected as the target covering for simulation to ensure that subsequent simulation tests are conducted based on the echo quality meeting the functional requirements of the blind-spot radar. Of course, when determining the thickness of the simulation model corresponding to the target covering, it is also necessary to comprehensively consider whether that thickness can achieve the basic functions of the target covering, such as the protection and buffering functions of a bumper.

[0041] The target covering element, which minimizes electromagnetic wave attenuation, can be obtained through the following methods: Figure 2 As shown, Figure 2 A schematic diagram illustrating the process of obtaining the simulation model corresponding to the target covering part provided in the embodiments of this application is given. Obtaining the simulation model of the target covering part includes:

[0042] S111. Obtain the energy loss of candidate covering models for the same electromagnetic wave under different thicknesses.

[0043] Among them, candidate cover models can be obtained from the CAS surface data of the car's styling (Concept ASurface, a digital model used to initially showcase the interior and exterior styling of the car before the release of the A-surface of the car's styling).

[0044] It should be noted that energy loss occurs during the process of electromagnetic waves passing through the candidate cover model. The smaller the energy loss, the more electromagnetic waves can pass through the candidate cover, that is, the better the penetration effect of the electromagnetic waves. Furthermore, the better the penetration effect of the electromagnetic waves, the higher the quality of the echo received by the blind zone radar.

[0045] In some implementations, obtaining the energy loss of candidate cover models with different thicknesses for the same electromagnetic wave can be achieved by configuring multiple candidate cover models with different thicknesses within a preset thickness range and calculating the energy loss of each candidate cover model, and selecting the candidate cover model with the smallest energy loss; alternatively, the calculated energy loss can be fitted to obtain a fitted energy loss curve, and the candidate cover model with the smallest energy loss can be determined based on the peaks or troughs of the energy loss curve (which needs to be determined according to the actual plotting method of the energy loss curve).

[0046] Furthermore, the preset thickness range can be determined based on the actual usage scenario of the target covering. For example, when the target covering is a bumper, since the bumper is designed to absorb and mitigate external impacts and protect the vehicle body and occupants, a bumper that is too thin will not provide protection, while a bumper that is too thick will not mitigate external impacts. Therefore, the common bumper thickness is between 1.5mm and 4.5mm, meaning the preset thickness range can be set to 1.5mm-4.5mm.

[0047] In some implementations, the energy loss caused by electromagnetic waves passing through the candidate covering can be calculated through simulation tests, such as... Figure 3 As shown, Figure 3 The embodiments provided in this application are given Figure 2 The flowchart of step S111 is shown below. Step S111 includes:

[0048] S111a. Construct a thickness simulation environment based on the simulation model corresponding to the blind zone radar and the candidate overlay model.

[0049] Among them, the simulation model corresponding to the blind zone radar needs to include the field of view (FOV) envelope data of the blind zone radar. The field of view is the angle formed by the two edges of the maximum range through which the image of the target object can pass through the lens, with the lens as the vertex. It defines the angular coverage range of the radar in the horizontal plane azimuth and vertical plane elevation. Furthermore, the field of view envelope can be used to simulate the propagation direction and range of the electromagnetic waves emitted by the blind zone radar.

[0050] Clearly, the area where the field of view envelope of the blind zone radar intersects with the candidate cover model is the area of ​​the candidate cover model that the electromagnetic wave needs to pass through during propagation.

[0051] S111b. In the thickness simulation environment, based on the dielectric constant and loss tangent determined by the color of the candidate cover model, electromagnetic wave loss tests are performed on the candidate cover model at different thicknesses to obtain the energy loss of the candidate cover model for the same electromagnetic wave at different thicknesses.

[0052] Among them, the dielectric constant is the main parameter reflecting the dielectric properties or polarization properties of piezoelectric materials under the action of an electrostatic field.

[0053] The loss tangent, also known as the dielectric loss factor, is the tangent of the dielectric loss angle, or simply the dielectric loss tangent. The dielectric loss angle is the complementary angle between the current phasor and the voltage phasor flowing through the dielectric under the action of an alternating electric field.

[0054] It is worth mentioning that dielectric constant and loss tangent are parameters that reflect the properties of the material itself. Generally, once the material of the candidate cover is determined, its corresponding dielectric constant and loss tangent are also relatively determined. However, in practical applications, taking the cover as a bumper as an example, for bumpers using the same material, different colors of paint will be sprayed on the bumper. Factors such as the thickness, color, uniformity, and composition of the paint will all affect the dielectric constant and loss tangent. Therefore, in some implementations, it is necessary to first determine the color of the candidate cover, and then determine the corresponding dielectric constant and loss tangent under that color.

[0055] The dielectric constant and loss tangent of the candidate overlays of different colors can be obtained through the following experimental steps:

[0056] Step 1: Set up the flat plate according to the common thickness and size of the bumper, so that the flat plate is consistent with the bumper, for example, the thickness is 2.8mm and the size is greater than 200mm*200mm.

[0057] Step 2: Apply the same paint coating process as the bumper to the flat panel to ensure that the paint thickness, uniformity, and paint composition are consistent with the mass production state.

[0058] Step 3: Perform dielectric constant and loss angle tests on the coated flat parts to obtain the parameters corresponding to common colors, as shown in the table below:

[0059] Dielectric constant 29 18.5 50 5.5 14 Loss tangent 0.1 0.08 0.1 0.09 0.09

[0060] Among them, Category I gold and Category II gold are golds with different paint compositions.

[0061] It can be seen that different components of paint affect the dielectric constant and loss tangent of the bumper, which in turn affects the bumper's electromagnetic wave loss.

[0062] Among them, the electromagnetic wave loss test can be carried out by selecting a set number of measurement points in the intersection area of ​​the field of view envelope of the blind zone radar and the candidate cover model to measure the electromagnetic wave loss; or it can be carried out by using finite element analysis to measure the electromagnetic wave loss in the entire intersection area.

[0063] In this context, considering that the intersection area between the field-of-view envelope of the blind zone radar and the candidate cover model has a certain range, and that the incident angle and direction of the electromagnetic wave are different at different locations within the intersection area, and that the candidate cover model has a certain shape, further increasing the variability at different locations within the intersection area, some implementations can use the minimum finite element method to segment the electromagnetic wave beam to build a MESH mesh, simulating the penetration, reflection, and absorption of the electromagnetic wave beam throughout the entire area. The color of the candidate cover model will then be used as the basis for further analysis. The determined dielectric constant and loss tangent are substituted into the radar equation (which quantitatively describes the relationship between the range, radar parameters, and target characteristics) to calculate the radar waveform corresponding to each finite element point in the entire region. Based on the attenuation, reflection, and absorption range-Doppler (RD) spectrum of the candidate cover model, the RD spectrum of the intersection region between the field of view envelope of the blind zone radar and the candidate cover model is determined. Based on the electromagnetic wave attenuation reflected in the RD spectrum, the waveform diagram of electromagnetic wave attenuation with thickness is drawn.

[0064] like Figure 4 As shown, Figure 4 The attenuation waveform of the electromagnetic waves provided in the embodiments of this application is given. It can be seen that the electromagnetic wave attenuation caused by the black bumper is weaker than that caused by the silver bumper. For the silver bumper, the attenuation of the electromagnetic waves is minimal when the thickness is 2.36mm, that is, 2.36mm is the optimal thickness for the silver bumper. At the same time, based on the plotted waveform and the allowable electromagnetic wave attenuation value, the allowable thickness range of the bumper can be determined. For example, if the allowable electromagnetic wave attenuation value is no more than 4dB, all possible thickness ranges with attenuation values ​​less than 4dB can be determined from the waveform. When it is necessary to adjust the bumper thickness to eliminate ghosting in the future, the adjustment can be made according to the thickness range, so that the adjusted bumper can also meet the functional requirements of blind spot radar.

[0065] It is worth mentioning that, because when blind-spot radar performs blind-spot detection, electromagnetic waves must first pass through the target cover, and then pass through the target cover again before being received by the blind-spot radar. Considering the difference in shape on both sides of the target cover, the energy loss caused by the electromagnetic waves passing through the target cover from the two directions is inconsistent. To more accurately simulate the attenuation of electromagnetic waves, in some implementations, the dual-path attenuation value of the electromagnetic waves can be used as an indicator of energy loss, such as... Figure 5 As shown, Figure 5 The embodiments provided in this application are given Figure 2Another flowchart of step S111, which specifically includes:

[0066] S111c: Obtain the dual-path attenuation values ​​of the candidate covering model for the same electromagnetic wave under different thicknesses.

[0067] The dual-path attenuation value is used to characterize the sum of the first energy loss and the second energy loss. The first energy loss is the energy loss caused by the electromagnetic wave passing through the candidate cover model from the first direction, and the second energy loss is the energy loss caused by the electromagnetic wave passing through the candidate cover model from the second direction, which is the direction opposite to the first direction.

[0068] It is understandable that the dual-path attenuation value can be achieved by emitting the same electromagnetic waves from both sides of the candidate cover, that is, by using two identical electromagnetic waves to pass through the candidate cover from the first direction and the second direction; or the electromagnetic waves can be emitted from one side of the candidate cover, pass through the candidate cover from the first direction, and then pass through the candidate cover from the second direction through reflection. The specific implementation method is not limited.

[0069] S111d, the dual-path attenuation value is used as the energy loss corresponding to the candidate overlay model.

[0070] Clearly, dual-path attenuation values ​​can more accurately represent the impact of candidate cover model on electromagnetic wave attenuation when blind zone radar performs blind zone detection, thus making the simulation model corresponding to the determined target cover more accurate.

[0071] S112. Select the candidate cover model corresponding to the minimum energy loss as the simulation model of the target cover.

[0072] Understandably, because the simulation model of the target covering minimizes energy loss, most electromagnetic waves can pass through the target covering and propagate outward, resulting in better echo quality and thus meeting the functional requirements of blind zone detection. At the same time, it reduces the reflected energy of electromagnetic waves, eliminating the possibility of ghosting in blind zone radar caused by direct reflection of electromagnetic waves by the target covering.

[0073] S120. Electromagnetic wave reflection simulation test is performed using a ghost simulation environment to obtain the set of electromagnetic wave reflection paths.

[0074] Since the field of view envelope describes the propagation of electromagnetic waves emitted by the blind zone radar, in some implementations, when conducting electromagnetic wave reflection simulation tests, a preset number of points can be selected based on a specific location of the field of view to conduct electromagnetic wave reflection simulation tests, thereby obtaining a set of electromagnetic wave reflection paths.

[0075] In other implementations, multiple mesh elements obtained from finite element analysis can be used, and electromagnetic wave reflection simulation tests can be performed on each mesh element to obtain a set of electromagnetic wave reflection paths, such as... Figure 6 As shown, Figure 6 The embodiments provided in this application are given Figure 1 A flowchart of step S120 is shown. Step S120 includes:

[0076] S121. Based on the field-of-view envelope corresponding to the blind zone radar, the electromagnetic waves emitted by the blind zone radar are divided into multiple mesh elements by finite element method.

[0077] Each grid cell represents the location where an electromagnetic wave is emitted, and each grid cell can determine a reflection path of the electromagnetic wave.

[0078] It should be noted that, within a certain range, the smaller the mesh element obtained by finite element segmentation, the higher the simulation accuracy. Furthermore, the size of the mesh element can be determined based on a preset size, or it can be determined based on the size of the intersection area between the field of view envelope of the blind zone radar and the target coverage. For example, the smaller the intersection area, the smaller the mesh element is.

[0079] S122. For each mesh cell, determine the reflection path of the electromagnetic wave in that mesh cell in the ghost simulation environment.

[0080] It should be noted that the reflection path of electromagnetic waves refers to the complete path through which the electromagnetic wave is either re-received or completely attenuated. Obviously, based on the final reflection endpoint of the electromagnetic wave, the reflection path of electromagnetic waves can have the following two reflection scenarios: one is that the electromagnetic wave returns to the blind zone radar after reflection and is then received by the blind zone radar; the other is that the electromagnetic wave is absorbed by other entities or gradually attenuates until it dissipates after reflection.

[0081] S123. Based on the reflection paths of electromagnetic waves in each grid cell, obtain the set of electromagnetic wave reflection paths.

[0082] It should be noted that the reflection path set needs to associate and store the mesh cells with the corresponding reflection paths, so that the reflection paths can be optimized in a targeted manner to eliminate ghosting based on the location of the reflection paths and the corresponding mesh cells.

[0083] S130. Determine candidate reflection paths from the set of reflection paths whose reflection endpoints are blind zone radars.

[0084] Clearly, only when the reflection endpoint is a candidate reflection path of the blind zone radar can its electromagnetic waves be received by the blind zone radar, thus causing the blind zone radar to appear as a ghost image.

[0085] Of course, it is understandable that the candidate reflection path of the radar in the blind zone will include the following two types of reflection paths: The first type of reflection path is that the electromagnetic wave returns directly to the radar in the blind zone after being reflected by the target covering, that is, the reflection path does not contain other reflecting entities; the second type of reflection path is that the electromagnetic wave returns to the radar in the blind zone after being reflected multiple times by the target covering and the reflecting entities, that is, the reflection path contains other reflecting entities.

[0086] Obviously, since the target covering covers the electromagnetic wave transmission area of ​​the blind zone radar, the first type of reflection path will inevitably exist and cannot be avoided. However, the electromagnetic waves reflected by the first type of reflection path alone, that is, the electromagnetic waves reflected by the target covering alone, have weak reflection energy and will not cause the blind zone radar to misidentify them. When the electromagnetic waves return to the blind zone radar after being reflected multiple times by the target covering and the reflective entity, it is equivalent to increasing the energy reflected by the target covering for the blind zone radar. This causes the blind zone radar to misidentify the target covering as the target vehicle, thus producing a ghost image.

[0087] Since the first type of reflection path cannot be avoided, the only way to optimize ghosting is to change the second type of reflection path.

[0088] S140. If there is a target reflection path in the candidate reflection path in which the reflection entity participates in the reflection, adjust the simulation model parameters or position parameters of at least one simulation model that participates in forming the target reflection path in the simulation environment so that the set of reflection paths obtained by electromagnetic wave reflection simulation test using the adjusted ghost simulation environment does not include the target reflection path.

[0089] Among them, simulation model parameters mainly refer to the shape parameters and surface parameters of the simulation model; for example, simulation model parameters can be parameters that can affect reflection, such as the shape of the reflecting surface and the roughness of the reflecting surface.

[0090] Clearly, changes in simulation model parameters or position parameters directly alter the electromagnetic wave reflection path, thus enabling the set of reflection paths to exclude the target reflection path.

[0091] It is worth noting that in the actual design process of a vehicle, the installation positions of blind spot radar, reflective entities, and target coverings are relatively fixed. That is, the relative positions of each simulation model are relatively fixed. Considering the convenience of vehicle structure adjustment, when ghosting occurs, the relative spatial positions of each simulation model are often not directly adjusted. Instead, the relative positions are adjusted by adjusting the simulation model parameters, such as changing the bumper thickness by modifying the model, thereby changing the reflection path.

[0092] It is worth mentioning that since the formation of ghosting may be the result of multiple factors, at least two conditions must be met simultaneously for the reflection that causes ghosting: the reflected endpoint of the electromagnetic wave must return to the blind zone radar, and the reflection intensity must reach a certain intensity threshold. Therefore, not all candidate reflection paths involving reflecting entities need to be adjusted. In order to more accurately identify the reflection paths that need adjustment and improve adjustment efficiency, in some implementations, the selection of the target reflection path also needs to consider the reflection intensity of the reflection path. That is, step S140 can be:

[0093] If a target reflection path exists in the candidate reflection path, in which a reflective entity participates in the reflection and the reflection intensity is greater than a preset intensity threshold, adjust the simulation model parameters or position parameters of at least one simulation model that participates in forming the target reflection path in the simulation environment.

[0094] Obviously, for candidate reflection paths where a reflecting entity participates in the reflection but the reflection intensity is less than a preset intensity threshold, since the reflected energy is low, even if the reflected electromagnetic waves are received by the blind zone radar, it will not cause the blind zone radar to misidentify the target covering. Therefore, there is no need to optimize such reflection paths, thereby reducing the target reflection paths that need to be adjusted and improving the adjustment efficiency.

[0095] Understandably, before determining whether the reflection intensity of a reflection path is greater than a preset intensity threshold, it is necessary to determine the reflection intensity of each reflection path. Therefore, the ghosting optimization method for blind zone radar may also include the following steps:

[0096] The reflection intensity of the candidate reflection path is calculated based on the reflectivity of each simulation model involved in the reflection and the number of reflections of each simulation model.

[0097] Among them, reflectivity refers to the percentage of radiant energy reflected by an object relative to the total radiant energy. It is mainly determined by the properties of the object itself, as well as the wavelength and angle of incidence of the incident electromagnetic wave. Obviously, when determining the reflectivity of each simulation model, it is necessary to determine it based on the material and position parameters of the entity corresponding to each simulation model.

[0098] It is worth mentioning that in the ghost simulation environment, the target reflection path can be optimized by directly modifying the simulation model parameters, position parameters, or reflectivity of the simulation model; however, in the actual vehicle optimization, the above measures need to be implemented through specific operations, such as modifying the bumper, attaching wave-absorbing materials to the reflective entity, or even changing the vehicle body structure to optimize the target reflection path.

[0099] The ghosting optimization method for blind zone radar provided in this application constructs a thickness simulation environment to conduct electromagnetic wave loss tests, determining the target covering with the minimum electromagnetic wave attenuation. This ensures that subsequent ghosting path detection is performed while meeting the functional requirements of the blind zone radar. Then, using a ghosting simulation environment containing the blind zone radar, the target covering, and the reflecting entity, electromagnetic wave reflection simulation tests are conducted to determine the target reflection path where the reflection endpoint is the blind zone radar and the reflecting entity participates in the reflection—that is, the path that may cause ghosting. By adjusting the simulation model that forms the target reflection path, the target simulation path is optimized, thus avoiding ghosting. Simultaneously, the adjusted ghosting simulation environment can be used to guide vehicle design, thereby preventing ghosting problems from the vehicle design stage.

[0100] For a better understanding of this solution, please refer to [link / reference]. Figure 7 , Figure 7 A schematic diagram of a scenario provided by an embodiment of this application is given, including a bumper 10, a blind spot radar 20, and a reflective entity 30. The blind spot radar 10 is installed on the inner side of the bumper 10 and two are symmetrically installed. The reflective entity 30 is also installed on the inner side of the bumper 10 and is symmetrically arranged. The field of view envelope of the electromagnetic wave emitted by the blind spot radar 10 is the ellipse represented by FOV in the figure.

[0101] by Figure 7 Taking the blind zone radar 20 on the left side as an example, the explanation is as follows: Figure 7 It can be seen that in the area where the field of view envelope of the electromagnetic wave emitted by the blind zone radar 20 intersects with the bumper (i.e., Figure 7 In the area where the FOV intersects with the bumper 10, there exists a reflection path: blind zone radar 20 - bumper 10 - reflection point 1 - bumper 10 - reflection point 2 - bumper 10 - blind zone radar 20. After multiple reflections, it returns to the blind zone radar 20. This reflection path is the target reflection path in this application and needs to be optimized. To eliminate the target reflection path, the structure of the reflection entities corresponding to reflection points 1 and 2 can be changed to alter the reflection path, or absorbing material can be pasted onto the reflection entities corresponding to reflection points 1 and 2 to reduce the reflection intensity.

[0102] It is understandable that the ghosting optimization method for blind-spot radar provided in this application can be implemented in the early stages of vehicle design, thereby guiding the vehicle design based on the optimized ghosting simulation environment and avoiding ghosting problems in the designed vehicle. Figure 8 As shown, Figure 8This application provides an application flowchart. During vehicle design, a flat panel is first fabricated using the material from the vehicle's bumper. This flat panel is then painted. The thickness of the flat panel, as well as the color, thickness, and uniformity of the paint, must match the requirements of the bumper. Dielectric constant and loss tangent values ​​are tested on the painted flat panel to obtain these values. Optimal thickness simulation is then performed using these values ​​to obtain the optimal thickness of the bumper (which is the target cover in this application). Ghosting simulation is then performed based on the optimal thickness of the bumper to determine if ghosting exists. If ghosting exists, the vehicle body structure data is optimized to eliminate the reflection paths that cause ghosting.

[0103] Of course, it is also possible to simulate vehicles that already have ghosting. By measuring the data of the real vehicle, a ghosting simulation environment can be built for testing, thereby determining the reflection path that produces the ghosting. This allows for targeted optimization of the vehicle body structure based on the specific reflection path, such as bumper modification and application of wave-absorbing materials.

[0104] In some embodiments, based on the above-described ghosting optimization method for blind zone radar, this application also provides a ghosting optimization device for blind zone radar, such as... Figure 9 As shown, Figure 9 A schematic diagram of a ghosting optimization device provided in an embodiment of this application is given. The ghosting optimization device 300 includes:

[0105] Module 310 is used to construct a ghost simulation environment based on the simulation models and position parameters of the blind zone radar, the target covering, and the reflective entity. The blind zone radar is used to emit electromagnetic waves, which are reflected by the target covering to the reflective entity. The reflective entity is used to perform secondary reflection of the received electromagnetic waves.

[0106] Test module 320 is used to perform electromagnetic wave reflection simulation tests using a ghost simulation environment to obtain a set of electromagnetic wave reflection paths.

[0107] The filtering module 330 is used to determine candidate reflection paths whose reflection endpoints are blind zone radars from the set of reflection paths.

[0108] The adjustment module 340 is used to adjust the simulation model parameters or position parameters of at least one simulation model involved in forming the target reflection path in the simulation environment if there is a target reflection path in the candidate reflection path that is reflected by a reflection entity, so that the set of reflection paths obtained by electromagnetic wave reflection simulation test using the adjusted simulation environment does not include the target reflection path.

[0109] In some embodiments, the ghosting optimization device 300 further includes a thickness confirmation module, which is used to obtain a simulation model of the target cover. The thickness confirmation module includes a calculation unit and a selection unit. The calculation unit is used to obtain the energy loss of candidate cover models with different thicknesses for the same electromagnetic wave. The selection unit is used to select the candidate cover model with the smallest energy loss as the simulation model of the target cover.

[0110] In some implementations, the computing unit is also used to construct a thickness simulation environment based on the simulation model corresponding to the blind zone radar and the candidate cover model; in the thickness simulation environment, based on the dielectric constant and loss tangent value determined by the color of the candidate cover model, electromagnetic wave loss tests are performed on the candidate cover model at different thicknesses to obtain the energy loss of the candidate cover model for the same electromagnetic wave at different thicknesses.

[0111] In some implementations, the computing unit is also used to obtain the dual-path attenuation values ​​generated by the candidate covering model for the same electromagnetic wave under different thicknesses. The dual-path attenuation values ​​are used to characterize the sum of the first energy loss and the second energy loss. The first energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the first direction, and the second energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the second direction, which is the direction opposite to the first direction. The dual-path attenuation values ​​are used as the energy loss corresponding to the candidate covering model.

[0112] In some implementations, the test module 320 includes an analysis unit and a simulation unit; the analysis unit is used to perform finite element segmentation on the electromagnetic waves emitted by the blind radar based on the field of view envelope corresponding to the blind radar, to obtain multiple mesh elements, each mesh element being used to characterize the emission position of an electromagnetic wave; the simulation unit is used to determine the reflection path of the electromagnetic wave in each mesh element in a ghost simulation environment; and based on the reflection paths of the electromagnetic waves in each mesh element, to obtain a set of electromagnetic wave reflection paths.

[0113] In some embodiments, the adjustment module 340 is further configured to adjust the simulation model parameters or position parameters of at least one simulation model participating in the formation of the target reflection path in the simulation environment if there is a target reflection path in the candidate reflection path in which the reflection entity participates in the reflection and the reflection intensity is greater than a preset intensity threshold.

[0114] In some implementations, the adjustment module 340 is also used to calculate the reflection intensity of the candidate reflection path based on the reflectivity of each simulation model involved in the reflection and the number of reflections of each simulation model in the candidate reflection path.

[0115] In some implementations, based on the ghosting optimization method for blind zone radar provided in the above embodiments, this application also provides an electronic device, such as... Figure 10, Figure 10 A structural block diagram of an electronic device provided in an embodiment of this application is given. The electronic device 400 includes one or more processors 410; a memory 420; and one or more programs, wherein the one or more programs are stored in the memory 420 and configured to be executed by the one or more processors 410, and the one or more programs are configured to perform the above-described method.

[0116] Among them, electronic device 400 can be terminal device, which can be computer, tablet computer, vehicle terminal, etc.

[0117] Processor 410 may include one or more processing cores. Processor 410 connects to various parts of the wearable device using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 420, and by calling data stored in memory 420. Optionally, processor 410 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 410 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and Modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor and may be implemented using a separate communication chip.

[0118] The memory 420 may include random access memory (RAM) or read-only memory (ROM). The memory 420 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 420 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below. The data storage area may also store data created during the use of the electronic device.

[0119] In some embodiments, this application also provides a computer-readable storage medium storing program code that can be invoked by a processor to execute the above-described methods.

[0120] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, computer-readable storage media includes non-transitory computer-readable storage media. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed in an appropriate form.

[0121] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A ghosting optimization method for blind zone radar, comprising: Obtain the energy loss of candidate cover models with different thicknesses for the same electromagnetic wave; The energy loss is generated during the process of the electromagnetic wave passing through the candidate cover model; The candidate cover model corresponding to the minimum energy loss is selected as the simulation model of the target cover. A ghost simulation environment is constructed based on the simulation models and position parameters corresponding to the blind zone radar, the target covering, and the reflective entity. The blind zone radar is used to emit electromagnetic waves, which are reflected by the target covering to the reflective entity. The reflective entity is used to perform secondary reflection of the received electromagnetic waves. The target covering covers the electromagnetic wave transmission area of ​​the blind zone radar. Electromagnetic wave reflection simulation tests were conducted using the aforementioned ghost simulation environment to obtain the set of electromagnetic wave reflection paths; From the set of reflection paths, determine the candidate reflection paths whose reflection endpoints are the blind zone radar; If a target reflection path exists among the candidate reflection paths, in which the reflection entity participates in the reflection and the reflection intensity is greater than a preset intensity threshold, then absorbing material is pasted onto the reflection entity that participates in forming the target reflection path, so that the set of reflection paths obtained by electromagnetic wave reflection simulation test using the adjusted ghost simulation environment does not include the target reflection path.

2. The method according to claim 1, characterized in that, The process of obtaining candidate cover models at different thicknesses for the same electromagnetic wave energy loss includes: A thickness simulation environment is constructed based on the simulation model corresponding to the blind zone radar and the candidate overlay model. In the thickness simulation environment, based on the dielectric constant and loss tangent determined by the color of the candidate cover model, electromagnetic wave loss tests are performed on the candidate cover model at different thicknesses to obtain the energy loss of the candidate cover model for the same electromagnetic wave at different thicknesses.

3. The method according to claim 1, characterized in that, The process of obtaining candidate cover models at different thicknesses for the same electromagnetic wave energy loss includes: Obtain the dual-path attenuation values ​​of candidate covering models with different thicknesses for the same electromagnetic wave. The dual-path attenuation values ​​are used to characterize the sum of the first energy loss and the second energy loss. The first energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the first direction, and the second energy loss is the energy loss generated by the electromagnetic wave passing through the candidate covering model from the second direction, which is the direction opposite to the first direction. The dual-path attenuation value is used as the energy loss corresponding to the candidate cladding model.

4. The method according to claim 1, characterized in that, The electromagnetic wave reflection simulation test performed using the ghost simulation environment to obtain the set of electromagnetic wave reflection paths includes: Based on the field of view envelope corresponding to the blind zone radar, the electromagnetic wave emitted by the blind zone radar is divided into multiple grid cells by finite element method, and each grid cell is used to characterize the emission position of an electromagnetic wave. For each of the mesh cells, the reflection path of the electromagnetic wave in that mesh cell is determined in the ghost simulation environment; Based on the reflection paths of electromagnetic waves in each of the grid cells, a set of electromagnetic wave reflection paths is obtained.

5. The method according to claim 1, characterized in that, The method includes: The reflection intensity of the candidate reflection path is calculated based on the reflectivity of each simulation model involved in the reflection and the number of reflections of each simulation model.

6. A ghosting optimization device for blind zone radar, characterized in that, include: The thickness confirmation module is used to obtain the energy loss of candidate cover models with different thicknesses for the same electromagnetic wave; The candidate cover model with the minimum energy loss is selected as the simulation model of the target cover; the energy loss is generated during the electromagnetic wave passing through the candidate cover model. The module is used to construct a ghost simulation environment based on the simulation models and position parameters of the blind zone radar, the target covering, and the reflective entity. The blind zone radar is used to emit electromagnetic waves, which are reflected by the target covering to the reflective entity. The reflective entity is used to perform secondary reflection of the received electromagnetic waves. The target covering covers the electromagnetic wave transmission area of ​​the blind zone radar. The testing module is used to perform electromagnetic wave reflection simulation tests using the ghost simulation environment to obtain a set of electromagnetic wave reflection paths. A filtering module is used to determine candidate reflection paths whose reflection endpoints are the blind zone radar from the set of reflection paths; An adjustment module is used to attach absorbing material to the reflecting entity that participates in the reflection of the candidate reflection path and whose reflection intensity is greater than a preset intensity threshold if there is a target reflection path in the candidate reflection path. This is to ensure that the set of reflection paths obtained by electromagnetic wave reflection simulation test using the adjusted simulation environment does not include the target reflection path.

7. An electronic device, characterized in that, include: One or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code that can be invoked by a processor to perform the method as described in any one of claims 1-5.

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