Shielding detection method, system and platform suitable for vehicle-mounted millimeter wave radar

Abstract

The invention discloses a shielding detection method, system and platform suitable for a vehicle-mounted millimeter wave radar, and the method comprises the steps: generating and obtaining first data corresponding to the vehicle-mounted millimeter wave radar based on a surrounding environment target object, and generating second data and third data corresponding to a current frame according to the first data; generating and acquiring a first preset parameter according to the second data, and judging and marking whether the target point is an effective target point based on the first preset parameter; respectively generating and acquiring corresponding fourth data, fifth data and sixth data in a preset frame, and calculating and generating corresponding seventh data based on the fourth data, the fifth data and the sixth data; according to the seventh data, whether the vehicle-mounted millimeter-wave radar is shielded or not is judged in real time, the system and the platform corresponding to the method can detect whether the vehicle-mounted millimeter-wave radar is shielded or not in real time, and the recognition accuracy of the vehicle-mounted millimeter-wave radar is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of millimeter-wave radar detection and processing, and in particular relates to an occlusion detection method, system and platform suitable for vehicle-mounted millimeter-wave radar. Background Art

[0002] At present, vehicle-mounted millimeter-wave radar mainly provides accurate target information for the car's autonomous driving function and is one of the important sensors for the car to perceive its environment. However, when the millimeter-wave radar is blocked by objects such as rain, snow, and dust during use, target omissions and false detections may occur, resulting in a decrease in the detection performance of the millimeter-wave radar. In severe cases, the detection function of the millimeter-wave radar may even fail, and it may be unable to detect targets such as moving vehicles in the surrounding environment.

[0003] When the millimeter-wave radar is blocked, common obstructions include dust, mud and snow. Mud will greatly reduce the number of targets and concentrate the energy distribution in the echo in a very small range. Dust will cause the echo energy received by the millimeter-wave radar to decrease, the number of detected targets will decrease, and the radar's detection distance will also decrease accordingly. Heavy rain and snow will cause the energy in the radar echo to decrease, and because rain and snow have certain wave transmittance, the channel balance of the target will be significantly deteriorated.

[0004] In addition, the features of different obstructions are inconsistent. When making occlusion judgments, we cannot simply use a single feature for identification. We need to comprehensively consider the recognition accuracy of multiple scenarios, use the radar's maximum detection distance, the number of targets, and the channel balance of the targets as recognition features, and statistically analyze the change patterns of multiple frames to perform occlusion recognition judgments to improve recognition accuracy.

[0005] Therefore, in view of the above-mentioned technical problems and defects, it is urgent to design and develop an occlusion detection method, system and platform suitable for vehicle-mounted millimeter-wave radar. Summary of the invention

[0006] In order to overcome the shortcomings and difficulties of the above-mentioned prior art, the purpose of the present invention is to propose an occlusion detection method, system and platform suitable for vehicle-mounted millimeter-wave radar, which can detect in real time whether there is occlusion in the vehicle-mounted millimeter-wave radar.

[0007] The first purpose of the present invention is to provide an occlusion detection method suitable for vehicle-mounted millimeter-wave radar; the second purpose of the present invention is to provide an occlusion detection system suitable for vehicle-mounted millimeter-wave radar; the third purpose of the present invention is to provide an occlusion detection platform suitable for vehicle-mounted millimeter-wave radar.

[0008] The first object of the present invention is achieved in that the method comprises the following steps:

[0009] Based on the target objects in the surrounding environment, first data corresponding to the vehicle-mounted millimeter-wave radar is generated and obtained, and second data and third data corresponding to the current frame are generated according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean data of the channel imbalance data of the current frame;

[0010] Generate and obtain a first preset parameter according to the second data, and determine and mark whether the target point is a valid target point based on the first preset parameter; if so, execute the next step; otherwise, repeat the above steps;

[0011] Generate and obtain the fourth data, fifth data and sixth data corresponding to the preset frame respectively, and calculate and generate the corresponding seventh data based on the fourth data, fifth data and sixth data; wherein the fourth data is the valid target number data in the latest preset frame; the fifth data is the farthest detection distance data of the valid target in the latest preset frame; the sixth data is the channel imbalance mean value data in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame;

[0012] According to the seventh data, it is determined in real time whether the vehicle-mounted millimeter-wave radar is blocked.

[0013] Further, the method of generating and acquiring first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generating second data and third data corresponding to the current frame respectively according to the first data, also includes:

[0014] Generate first control data corresponding to the vehicle-mounted millimeter-wave radar; wherein the first control data is control instruction data for outputting target point cloud information;

[0015] According to the first control data, based on the surrounding environment target object, and combined with the frequency modulated continuous wave, the corresponding first data is generated.

[0016] Further, the generating and acquiring the first preset parameter according to the second data, and marking and determining whether the target point is a valid target point based on the first preset parameter, further includes:

[0017] Generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data;

[0018] Based on the first preset parameter, the corresponding target point is determined and marked. If the second data is greater than the first preset parameter, the target point is marked as an invalid target; if the second data is less than the first preset parameter, the target point is marked as a valid target.

[0019] Further, the respectively generating and acquiring the fourth data, the fifth data and the sixth data corresponding to the preset frame, and calculating and generating the corresponding seventh data based on the fourth data, the fifth data and the sixth data, further includes:

[0020] Generate and obtain at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states;

[0021] Based on the eighth data, corresponding ninth data, tenth data and eleventh data are generated respectively; wherein the ninth data is weighted data of maximum detection distance; the tenth data is weighted data of target quantity; and the eleventh data is weighted data of channel imbalance.

[0022] Furthermore, the preset frame is greater than or equal to 100;

[0023] The calculation formula for generating the corresponding seventh data is:

[0024]

[0025] Where q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q3 is the weight of the channel imbalance. q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

[0026] Furthermore, the determining in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data also includes:

[0027] Generate and obtain the second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is obstructed, and output the corresponding obstruction flag; wherein, if the seventh data is less than the second preset parameter, it is determined that there is obstruction, and the corresponding obstruction flag is output; if the seventh data is greater than the second preset parameter, it is determined that there is no obstruction, and the corresponding no obstruction flag is output.

[0028] The second object of the present invention is achieved as follows: the system is used to implement the occlusion detection method applicable to the vehicle-mounted millimeter-wave radar, and the system includes:

[0029] A first data generating unit is used to generate and obtain first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generate second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean value data of the channel imbalance data of the current frame;

[0030] a first data determination unit, configured to generate and obtain a first preset parameter according to the second data, and determine and mark whether the target point is a valid target point based on the first preset parameter;

[0031] A second data generating unit is used to respectively generate and obtain fourth data, fifth data and sixth data corresponding to the preset frame, and calculate and generate corresponding seventh data based on the fourth data, fifth data and sixth data; wherein the fourth data is the number of valid targets in the latest preset frame; the fifth data is the farthest detection distance data of the valid targets in the latest preset frame; the sixth data is the mean value data of channel imbalance in the latest preset frame; and the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame;

[0032] The second data determination unit is used to determine in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data.

[0033] Furthermore, the first data generating unit further includes:

[0034] A first generating module is used to generate first control data corresponding to the vehicle-mounted millimeter wave radar; wherein the first control data is control instruction data for outputting target point cloud information;

[0035] A second generating module, configured to generate corresponding first data according to the first control data, based on the surrounding environment target object, and in combination with the frequency modulated continuous wave;

[0036] And / or, the first data determination unit further includes:

[0037] A third generating module, used to generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data;

[0038] A first determination module, used for determining and marking corresponding target points based on the first preset parameters;

[0039] And / or, the second data generating unit further includes:

[0040] A fourth generating module, used to generate and obtain at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states;

[0041] A fifth generating module, for generating corresponding ninth data, tenth data and eleventh data respectively based on the eighth data; wherein the ninth data is weighted data of the maximum detection distance; the tenth data is weighted data of the number of targets; and the eleventh data is weighted data of the channel imbalance;

[0042] And / or, the second data determination unit further includes:

[0043] The sixth generation module is used to generate and obtain the second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is blocked, and output a corresponding blockage mark.

[0044] Furthermore, the preset frame is greater than or equal to 100;

[0045] The calculation formula for generating the corresponding seventh data is:

[0046]

[0047] Where q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q3 is the weight of the channel imbalance. q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

[0048] The third object of the present invention is achieved as follows: it includes a processor, a memory and an occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar; wherein the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar is executed in the processor, the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar is stored in the memory, and the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar implements the occlusion detection method applicable to a vehicle-mounted millimeter-wave radar.

[0049] The present invention generates and obtains first data corresponding to a vehicle-mounted millimeter-wave radar based on target objects in the surrounding environment, and generates second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is target point cloud information data; the second data is imbalance data of each target channel in the current frame; the third data is mean data of channel imbalance data in the current frame; generates and obtains first preset parameters according to the second data, and determines and marks whether the target point is a valid target point based on the first preset parameters; if so, executes the next step; otherwise, repeats the above steps; generates and obtains the information corresponding to the preset frame respectively. The corresponding fourth data, fifth data and sixth data are obtained, and based on the fourth data, fifth data and sixth data, the corresponding seventh data is calculated and generated; wherein the fourth data is the data on the number of valid targets in the latest preset frame; the fifth data is the data on the farthest detection distance of the valid targets in the latest preset frame; the sixth data is the data on the mean channel imbalance in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame; according to the seventh data, it is determined in real time whether the vehicle-mounted millimeter-wave radar is obstructed, and the system and platform corresponding to the method can detect in real time whether the vehicle-mounted millimeter-wave radar is obstructed.

[0050] In other words, the solution of the present invention comprehensively considers the recognition accuracy of various scenarios, that is, the radar's maximum detection distance, the number of targets and the channel balance of the targets are used as recognition features, and the changing rules of multiple frames are statistically analyzed to perform occlusion recognition and judgment to improve the accuracy of vehicle-mounted millimeter-wave radar recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic diagram of the process steps of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar according to the present invention;

[0053] Figure 2 Schematic diagram of energy distribution of target channel;

[0054] Figure 3 A schematic diagram of a millimeter wave radar obstruction detection process according to an embodiment of an obstruction detection method applicable to a vehicle-mounted millimeter wave radar of the present invention;

[0055] Figure 4This is a schematic diagram of the ratio of the number of effective targets before and after radar occlusion in an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0056] Figure 5 A schematic diagram showing the maximum detection distance of a radar according to an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0057] Figure 6 A schematic diagram showing channel imbalance comparison in an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0058] Figure 7 A schematic diagram of the ratio of effective targets of radar in an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0059] Figure 8 A schematic diagram of radar detection distance ratio in an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0060] Fig. 9 A schematic diagram of the channel imbalance ratio of an embodiment of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar of the present invention;

[0061] Fig.10 This is a schematic diagram of an occlusion detection system architecture suitable for vehicle-mounted millimeter-wave radar according to the present invention;

[0062] Fig.11 The present invention is a schematic diagram of an occlusion detection platform architecture suitable for vehicle-mounted millimeter-wave radar. DETAILED DESCRIPTION

[0063] In order to better understand the purpose, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0064] The present invention may also be implemented or applied through other different specific examples, and the details in this specification may also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0065] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0066] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. Secondly, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0067] Preferably, the present invention is applied to one or more terminals or servers for the occlusion detection method for vehicle-mounted millimeter-wave radar. The terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

[0068] The terminal can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal can interact with the client through a keyboard, a mouse, a remote control, a touch pad, or a voice control device.

[0069] The present invention is to realize an occlusion detection method, system, platform and storage medium suitable for vehicle-mounted millimeter-wave radar.

[0070] like Figure 1 , which is a flow chart of an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar provided in an embodiment of the present invention.

[0071] In this embodiment, the occlusion detection method applicable to vehicle-mounted millimeter-wave radar can be applied to a terminal with a display function or a fixed terminal. The terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0072] The occlusion detection method applicable to the vehicle-mounted millimeter-wave radar can also be applied to a hardware environment consisting of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: a wide area network, a metropolitan area network or a local area network. The occlusion detection method applicable to the vehicle-mounted millimeter-wave radar of the embodiment of the present invention can be executed by a server, or by a terminal, or by both a server and a terminal.

[0073] For example, for a terminal that needs to perform occlusion detection for a vehicle-mounted millimeter-wave radar, the occlusion detection function for a vehicle-mounted millimeter-wave radar provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. For another example, the method provided by the present invention can also be run on a server or other device in the form of a software development kit (SDK), and an interface for the occlusion detection function for a vehicle-mounted millimeter-wave radar is provided in the form of an SDK. The terminal or other device can implement the occlusion detection function for a vehicle-mounted millimeter-wave radar through the provided interface. The present invention is further described below in conjunction with the accompanying drawings.

[0074] like Figure 1 As shown, the present invention provides an occlusion detection method applicable to a vehicle-mounted millimeter-wave radar, wherein the method comprises the following steps:

[0075] S01. Based on the target objects in the surrounding environment, generate and obtain first data corresponding to the vehicle-mounted millimeter-wave radar, and generate second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean data of the channel imbalance data of the current frame;

[0076] S02, generating and acquiring a first preset parameter according to the second data, and determining and marking whether the target point is a valid target point based on the first preset parameter; if so, executing the next step; otherwise, repeating the above steps;

[0077] S03, respectively generate and obtain the fourth data, the fifth data and the sixth data corresponding to the preset frame, and calculate and generate the corresponding seventh data based on the fourth data, the fifth data and the sixth data; wherein the fourth data is the valid target number data in the latest preset frame; the fifth data is the farthest detection distance data of the valid target in the latest preset frame; the sixth data is the channel imbalance mean data in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame;

[0078] S04. Determine in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data.

[0079] The method of generating and acquiring first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generating second data and third data corresponding to the current frame respectively according to the first data, further includes:

[0080] S011, generating first control data corresponding to the vehicle-mounted millimeter-wave radar; wherein the first control data is control instruction data for outputting target point cloud information;

[0081] S012. Generate corresponding first data according to the first control data, based on the surrounding environment target object, and in combination with the frequency modulated continuous wave.

[0082] The method of generating and acquiring a first preset parameter according to the second data, and marking and determining whether the target point is a valid target point based on the first preset parameter, further includes:

[0083] S021. Generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data;

[0084] S022. Based on the first preset parameter, determine and mark the corresponding target point. If the second data is greater than the first preset parameter, mark the target point as an invalid target; if the second data is less than the first preset parameter, mark the target point as a valid target.

[0085] The method of respectively generating and acquiring fourth data, fifth data and sixth data corresponding to the preset frame, and calculating and generating corresponding seventh data based on the fourth data, fifth data and sixth data, further includes:

[0086] S031, generating and acquiring at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states;

[0087] S032. Generate corresponding ninth data, tenth data and eleventh data respectively based on the eighth data; wherein the ninth data is weighted data of maximum detection distance; the tenth data is weighted data of target quantity; and the eleventh data is weighted data of channel imbalance.

[0088] The preset frame is greater than or equal to 100; the calculation formula for generating the corresponding seventh data is:

[0089]

[0090] Where q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q3 is the weight of the channel imbalance. q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

[0091] The determining in real time based on the seventh data whether the vehicle-mounted millimeter-wave radar is blocked also includes:

[0092] S041. Generate and obtain a second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is obstructed, and output a corresponding obstruction flag; wherein, if the seventh data is less than the second preset parameter, it is determined that there is obstruction, and the corresponding obstruction flag is output; if the seventh data is greater than the second preset parameter, it is determined that there is no obstruction, and the corresponding no obstruction flag is output.

[0093] Specifically, in the embodiment of the present invention, the millimeter wave radar relies on the echo energy scattered by the target to detect the target, and the radar's transmission power P t It is fed to the antenna, and the energy is radiated from the antenna. The electromagnetic wave irradiates the target at a radial distance R from the radar. Assume that the RCS of the target is σ 2 , then the energy intercepted by the target is:

[0094]

[0095] The radar echo energy is the energy of the electromagnetic wave reflected from the target to the radar and intercepted by the radar antenna. Assume that the effective area of ​​the radar antenna is A. e , the energy received by the radar can be expressed as:

[0096]

[0097] Since the relationship between antenna gain and effective area is Therefore, the energy scattered by the target received by the radar is:

[0098]

[0099] When the radar is blocked, the energy P scattered by the radar t Part of it will be reflected back by the obstruction, and the effective area A of the radar receiving antenna e will also decrease, resulting in increased energy loss, which in turn causes the target echo energy P received by the radar to r If the noise level is reduced, weak targets will be submerged in the noise, the number of targets detected by the radar will decrease, and the maximum detection distance R max also becomes smaller; if the radar is completely blocked, the target echo energy P r Will greatly reduce R max The radar will become very small, and the number of detected targets may be only a few, or even worse, no valid targets within the radar detection range may be detected.

[0100] When the transmitting antenna or receiving antenna of the radar is partially blocked, the channel energy becomes uneven, the energy difference between different channels becomes larger, and the channel imbalance is the value describing the channel power difference of the target, defined as the difference between the maximum and minimum channel powers. As Figure 2 shown, the blue is the channel energy distribution of the target without occlusion, which is relatively uniform, and the red is the channel energy distribution of the target when it is partially occluded. Obviously, the channel energy distribution is uneven and the channel imbalance becomes larger.

[0101] Based on the above principle, an algorithm is designed here to detect whether the radar is blocked. The millimeter-wave radar senses the objects in the surrounding environment through the FMCW waveform and outputs the target point cloud information.

[0102] The occlusion detection processing steps are as follows: Calculate the channel imbalance CM for the target point cloud detected by the millimeter-wave radar; Calculate the average value C n of the channel imbalance of the current frame; Mark the target point as a valid target or an invalid target according to the CM value. The target points with CM > a are considered invalid targets, and the target points with CM < a are considered valid targets; a is a constant, which can be set by the CM value of the corner reflector or moving vehicle; Count the number N valid of valid targets within the recent M frames. To prevent false alarms, the value of M is generally greater than 100;

[0103] Count the farthest detection distance R max of the valid targets within the recent M frames; Count the average value CM mean of the channel imbalance within the recent M frames.

[0104] Weighted summation:

[0105]

[0106] In the formula, q1 is the weight of the maximum detection distance, q2 is the weight of the target quantity, q3 is the weight of the channel imbalance, q1, q2, q3 ∈ (0, 1), q1 + q2 + q3 = 1, R wave is the farthest distance that the radar-designed waveform can detect, N thred is the target quantity threshold, which is an empirical constant, CM thred is the channel imbalance threshold, which is a constant;

[0107] Under the conditions of no foreign object occlusion and foreign object occlusion of the millimeter-wave radar, repeat steps 1 to 6, and collect at least one set of data in the occlusion and non-occlusion states to solve the thresholds q1, q2, q3.

[0108] If Q is less than b, it is considered that there is occlusion, otherwise there is no occlusion, and b is an empirical constant.

[0109] The above steps are explained below through a specific example. Take the case where a vehicle is blocked by tinfoil while driving. When the millimeter-wave radar is not blocked, the radar can detect a large number of target point clouds, the detection distance is far, and the channel balance of most targets is relatively small, so they can be considered valid targets. However, when the radar is blocked by tinfoil, the radar's detection energy decreases, and very few targets are detected, and most of them are invalid targets, and the radar is basically ineffective. Taking the preset frame number M=200 as an example, the number of valid targets before and after the radar is blocked is Figure 4 As shown, the y-axis is the ratio of the number of valid targets in each frame within the preset frame, and the average is calculated. is 0.67, after occlusion is 0.07. It can be clearly seen that when the radar is blocked, the proportion of the number of effective targets detected is greatly reduced; when it is not blocked, the proportion of the number of effective targets detected by the radar is large; the proportion of the maximum detection distance of the radar is as follows Figure 5 As shown, the y-axis is the detection distance ratio, and the maximum value is obtained before the occlusion. is 0.98, after occlusion is 0.15, and the ratio drops significantly after being blocked; the channel imbalance comparison is shown in Figure 6 As shown, the y-axis is the channel imbalance ratio Among them C n is the CM mean of each frame, then is 0.72, after occlusion is 0.36. When the radar is not blocked, the CM value of the target is low, the channel distribution is relatively uniform, and the proportion is low. When it is blocked, the energy distribution is uneven, the CM value increases, and the proportion increases. Assuming that the weighted weights are 0.4, 0.4, and 0.2 respectively, the Q value when it is not blocked is 0.804, and the Q value when it is blocked is 0.16. Assuming that the preset parameter is 0.3, the above weighted values ​​and preset parameters can be used to determine whether the radar is blocked.

[0110] Select the public road test scene and test it with mud cover. The number of effective targets of radar is more than that of Figure 7 , the radar detection range is better than, for example Figure 8 , the channel imbalance ratio is Fig. 9 , the calculated weighted sum value Q is 0.21, which is less than the preset parameter, and the radar is considered to be blocked, which is consistent with the actual situation.

[0111] To achieve the above object, the present invention also provides an occlusion detection system suitable for vehicle-mounted millimeter-wave radar, such as Fig.10 As shown, the system is used to implement the occlusion detection method applicable to the vehicle-mounted millimeter-wave radar, and the system includes:

[0112] A first data generating unit is used to generate and obtain first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generate second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean value data of the channel imbalance data of the current frame;

[0113] a first data determination unit, configured to generate and obtain a first preset parameter according to the second data, and determine and mark whether the target point is a valid target point based on the first preset parameter;

[0114] A second data generating unit is used to respectively generate and obtain fourth data, fifth data and sixth data corresponding to the preset frame, and calculate and generate corresponding seventh data based on the fourth data, fifth data and sixth data; wherein the fourth data is the number of valid targets in the latest preset frame; the fifth data is the farthest detection distance data of the valid targets in the latest preset frame; the sixth data is the mean value data of channel imbalance in the latest preset frame; and the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame;

[0115] The second data determination unit is used to determine in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data.

[0116] Specifically, the first data generating unit further includes:

[0117] A first generating module is used to generate first control data corresponding to the vehicle-mounted millimeter wave radar; wherein the first control data is control instruction data for outputting target point cloud information;

[0118] A second generating module, configured to generate corresponding first data according to the first control data, based on the surrounding environment target object, and in combination with the frequency modulated continuous wave;

[0119] And / or, the first data determination unit further includes:

[0120] A third generating module, used to generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data;

[0121] A first determination module, used for determining and marking corresponding target points based on the first preset parameters;

[0122] And / or, the second data generating unit further includes:

[0123] A fourth generating module, used to generate and obtain at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states;

[0124] A fifth generating module, for generating corresponding ninth data, tenth data and eleventh data respectively based on the eighth data; wherein the ninth data is weighted data of the maximum detection distance; the tenth data is weighted data of the number of targets; and the eleventh data is weighted data of the channel imbalance;

[0125] And / or, the second data determination unit further includes:

[0126] The sixth generation module is used to generate and obtain the second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is blocked, and output a corresponding blockage mark.

[0127] Furthermore, the preset frame is greater than or equal to 100;

[0128] The calculation formula for generating the corresponding seventh data is:

[0129]

[0130] Where q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q3 is the weight of the channel imbalance. q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

[0131] In the system solution embodiment of the present invention, the method steps involved in the occlusion detection applicable to the vehicle-mounted millimeter-wave radar have been described above in detail, that is, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be repeated here.

[0132] To achieve the above object, the present invention also provides an occlusion detection platform suitable for vehicle-mounted millimeter-wave radar, such as Fig.11 As shown, it includes a processor, a memory, and a control program for an occlusion detection platform applicable to a vehicle-mounted millimeter-wave radar; wherein the processor executes the control program for an occlusion detection platform applicable to a vehicle-mounted millimeter-wave radar, the control program for an occlusion detection platform applicable to a vehicle-mounted millimeter-wave radar is stored in the memory, and the control program for an occlusion detection platform applicable to a vehicle-mounted millimeter-wave radar implements the steps of the occlusion detection method applicable to a vehicle-mounted millimeter-wave radar. For example:

[0133] S01. Based on the target objects in the surrounding environment, generate and obtain first data corresponding to the vehicle-mounted millimeter-wave radar, and generate second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean data of the channel imbalance data of the current frame;

[0134] S02, generating and acquiring a first preset parameter according to the second data, and determining and marking whether the target point is a valid target point based on the first preset parameter; if so, executing the next step; otherwise, repeating the above steps;

[0135] S03, respectively generate and obtain the fourth data, the fifth data and the sixth data corresponding to the preset frame, and calculate and generate the corresponding seventh data based on the fourth data, the fifth data and the sixth data; wherein the fourth data is the valid target number data in the latest preset frame; the fifth data is the farthest detection distance data of the valid target in the latest preset frame; the sixth data is the channel imbalance mean data in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame;

[0136] S04. Determine in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data.

[0137] The specific details of the steps have been explained above and will not be repeated here.

[0138] In the embodiment of the present invention, the built-in processor of the occlusion detection platform applicable to vehicle-mounted millimeter-wave radar can be composed of integrated circuits, such as a single packaged integrated circuit, or a plurality of integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor uses various interfaces and lines to connect various components, and executes or executes programs or units stored in the memory, and calls data stored in the memory to perform various functions and process data for occlusion detection applicable to vehicle-mounted millimeter-wave radar;

[0139] The memory is used to store program codes and various data. It is installed in the occlusion detection platform suitable for vehicle-mounted millimeter-wave radar and can realize high-speed and automatic access to programs or data during operation.

[0140] The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0141] The present invention generates and obtains first data corresponding to a vehicle-mounted millimeter-wave radar based on target objects in the surrounding environment, and generates second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is target point cloud information data; the second data is imbalance data of each target channel in the current frame; the third data is mean data of channel imbalance data in the current frame; generates and obtains first preset parameters according to the second data, and determines and marks whether the target point is a valid target point based on the first preset parameters; if so, executes the next step; otherwise, repeats the above steps; generates and obtains the information corresponding to the preset frame respectively. The corresponding fourth data, fifth data and sixth data are obtained, and based on the fourth data, fifth data and sixth data, the corresponding seventh data is calculated and generated; wherein the fourth data is the data on the number of valid targets in the latest preset frame; the fifth data is the data on the farthest detection distance of the valid targets in the latest preset frame; the sixth data is the data on the mean channel imbalance in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame; according to the seventh data, it is determined in real time whether the vehicle-mounted millimeter-wave radar is obstructed, and the system and platform corresponding to the method can detect in real time whether the vehicle-mounted millimeter-wave radar is obstructed.

[0142] In other words, the solution of the present invention comprehensively considers the recognition accuracy of various scenarios, that is, the radar's maximum detection distance, the number of targets and the channel balance of the targets are used as recognition features, and the changing rules of multiple frames are statistically analyzed to perform occlusion recognition and judgment to improve the accuracy of vehicle-mounted millimeter-wave radar recognition.

[0143] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for detecting occlusion of a vehicle-mounted millimeter-wave radar, characterized in that: The method comprises: Based on the target objects in the surrounding environment, first data corresponding to the vehicle-mounted millimeter-wave radar is generated and obtained, and second data and third data corresponding to the current frame are generated according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean data of the channel imbalance data of the current frame; Generate and obtain a first preset parameter according to the second data, and determine and mark whether the target point is a valid target point based on the first preset parameter; if so, execute the next step; otherwise, repeat the above steps; Generate and obtain the fourth data, fifth data and sixth data corresponding to the preset frame respectively, and calculate and generate the corresponding seventh data based on the fourth data, fifth data and sixth data; wherein the fourth data is the valid target number data in the latest preset frame; the fifth data is the farthest detection distance data of the valid target in the latest preset frame; the sixth data is the channel imbalance mean value data in the latest preset frame; the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame; According to the seventh data, it is determined in real time whether the vehicle-mounted millimeter-wave radar is blocked.

2. The occlusion detection method for vehicle-mounted millimeter-wave radar according to claim 1, characterized in that: The method of generating and acquiring first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generating second data and third data corresponding to the current frame respectively according to the first data, further includes: Generate first control data corresponding to the vehicle-mounted millimeter-wave radar; wherein the first control data is control instruction data for outputting target point cloud information; According to the first control data, based on the surrounding environment target object, and combined with the frequency modulated continuous wave, the corresponding first data is generated.

3. The occlusion detection method applicable to vehicle-mounted millimeter-wave radar according to claim 1, characterized in that: Generate and obtain a first preset parameter according to the second data, and mark and determine whether the target point is a valid target point based on the first preset parameter, and further include: Generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data; Based on the first preset parameter, the corresponding target point is determined and marked. If the second data is greater than the first preset parameter, the target point is marked as an invalid target; if the second data is less than the first preset parameter, the target point is marked as a valid target.

4. The occlusion detection method applicable to vehicle-mounted millimeter-wave radar according to claim 1, characterized in that: The method of respectively generating and acquiring fourth data, fifth data and sixth data corresponding to the preset frame, and calculating and generating corresponding seventh data based on the fourth data, fifth data and sixth data, further includes: Generate and obtain at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states; Based on the eighth data, corresponding ninth data, tenth data and eleventh data are generated respectively; wherein the ninth data is weighted data of maximum detection distance; the tenth data is weighted data of target quantity; and the eleventh data is weighted data of channel imbalance.

5. The occlusion detection method applicable to vehicle-mounted millimeter-wave radar according to claim 1 or 4, characterized in that: The preset frame is greater than or equal to 100; The calculation formula for generating the corresponding seventh data is: In the formula, q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q 3 is the weight of channel imbalance, q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

6. The occlusion detection method applicable to vehicle-mounted millimeter-wave radar according to claim 1, characterized in that: The determining in real time based on the seventh data whether the vehicle-mounted millimeter-wave radar is blocked also includes: Generate and obtain the second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is obstructed, and output the corresponding obstruction flag; wherein, if the seventh data is less than the second preset parameter, it is determined that there is obstruction, and the corresponding obstruction flag is output; if the seventh data is greater than the second preset parameter, it is determined that there is no obstruction, and the corresponding no obstruction flag is output.

7. An occlusion detection system suitable for vehicle-mounted millimeter-wave radar, characterized in that: The system is applied to the occlusion detection method applicable to a vehicle-mounted millimeter-wave radar as claimed in any one of claims 1 to 6, and the system comprises: A first data generating unit is used to generate and obtain first data corresponding to the vehicle-mounted millimeter-wave radar based on the target object in the surrounding environment, and generate second data and third data corresponding to the current frame respectively according to the first data; wherein the first data is the target point cloud information data; the second data is the imbalance data of each target channel in the current frame; and the third data is the mean value data of the channel imbalance data of the current frame; a first data determination unit, configured to generate and obtain a first preset parameter according to the second data, and determine and mark whether the target point is a valid target point based on the first preset parameter; A second data generating unit is used to respectively generate and obtain fourth data, fifth data and sixth data corresponding to the preset frame, and calculate and generate corresponding seventh data based on the fourth data, fifth data and sixth data; wherein the fourth data is the number of valid targets in the latest preset frame; the fifth data is the farthest detection distance data of the valid targets in the latest preset frame; the sixth data is the mean value data of channel imbalance in the latest preset frame; and the seventh data is the weighted sum data corresponding to the target point cloud in the latest preset frame; The second data determination unit is used to determine in real time whether the vehicle-mounted millimeter-wave radar is blocked according to the seventh data.

8. The occlusion detection system for vehicle-mounted millimeter-wave radar according to claim 7, characterized in that: The first data generating unit further includes: A first generating module is used to generate first control data corresponding to the vehicle-mounted millimeter wave radar; wherein the first control data is control instruction data for outputting target point cloud information; A second generating module, configured to generate corresponding first data according to the first control data, based on the surrounding environment target object, and in combination with the frequency modulated continuous wave; And / or, the first data determination unit further includes: A third generating module, used to generate and obtain a first preset parameter corresponding to the vehicle-mounted millimeter-wave radar according to the second data; A first determination module, used for determining and marking corresponding target points based on the first preset parameters; And / or, the second data generating unit further includes: A fourth generating module, used to generate and obtain at least one set of eighth data, wherein the eighth data includes data in occlusion and non-occlusion states; a fifth generating module, for generating corresponding ninth data, tenth data and eleventh data respectively based on the eighth data; wherein the ninth data is weighted data of the maximum detection distance; the tenth data is weighted data of the number of targets; and the eleventh data is weighted data of the channel imbalance; And / or, the second data determination unit further includes: The sixth generation module is used to generate and obtain the second preset parameter, and based on the seventh data, determine whether the vehicle-mounted millimeter-wave radar is blocked, and output a corresponding blockage mark.

9. The occlusion detection system for vehicle-mounted millimeter-wave radar according to claim 7 or 8, characterized in that: The preset frame is greater than or equal to 100; The calculation formula for generating the corresponding seventh data is: In the formula, q1 is the weight of the maximum detection distance, q2 is the weight of the number of targets, and q 3 is the weight of channel imbalance, q1,q2,q3∈(0,1),q1+q2+q3=1,R wave N is the maximum distance that the radar waveform can detect. thred is the target quantity threshold, is a constant, CM thred is the channel imbalance threshold, which is a constant.

10. An occlusion detection platform suitable for vehicle-mounted millimeter-wave radar, characterized in that: It includes a processor, a memory, and an occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar; wherein the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar is executed by the processor, the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar is stored in the memory, and the occlusion detection platform control program applicable to a vehicle-mounted millimeter-wave radar implements the occlusion detection method applicable to a vehicle-mounted millimeter-wave radar as described in any one of claims 1 to 6.

Images