Shielding detection method and device of millimeter wave radar, electronic equipment and storage medium

Abstract

The invention provides a shielding detection method and device for a millimeter wave radar, electronic equipment and a storage medium. The shielding detection method for the millimeter-wave radar comprises the following steps: acquiring echo data of the millimeter-wave radar in a current period; calculating to obtain an estimated maximum operating distance based on the echo data; setting an adjustment factor according to the weather information and whether the vehicle has a target in front of the lane; and adjusting a preset shielding detection threshold value by using the adjustment factor to obtain an adjusted shielding detection threshold value, and determining the shielding probability based on the estimated maximum operating distance and the adjusted shielding detection threshold value.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to an occlusion detection method, device, electronic equipment and storage medium for a millimeter-wave radar. Background Art

[0002] With the development and popularization of self-driving cars, they are becoming more and more intelligent and widely used. Whether it is assisted driving or autonomous driving, various on-board sensors are needed to detect and perceive in order to realize various functions of assisted driving or autonomous driving. Millimeter-wave radar can measure important information such as the azimuth angle of the target within the observation range, the distance from the target to the millimeter-wave radar, and the target's movement speed, and plays a vital role in realizing the function of autonomous driving.

[0003] Usually, millimeter-wave radars have an occlusion detection algorithm to determine whether the millimeter-wave radar is blocked. One of the observation dimensions in the occlusion detection algorithm is the maximum effective distance. The echo power of the radar wave will decrease in rainy days, and the maximum effective distance will decrease in rainy scenes. Especially in heavy rain or rainstorms, the maximum effective distance value will drop below a threshold, and the radar will be judged to be blocked at this time.

[0004] However, in actual applications, in non-extreme rainy weather or when there is water on the road after rain, when following the vehicle in front, the rotation of the front vehicle's wheels will cause the water on the road to form water droplets that accumulate on the surface of the vehicle's radar. Especially when the radar is installed too low or the distance following the vehicle in front is too close, it is very easy to generate false alarms that the radar is blocked. Summary of the invention

[0005] The present invention is completed to solve the above-mentioned problem, and its purpose is to provide a millimeter-wave radar occlusion detection method, device, electronic device and storage medium, which are used to suppress the false alarm of the millimeter-wave radar occlusion detection.

[0006] According to one aspect of the present invention, there is provided a method for detecting occlusion of a millimeter-wave radar, comprising the following steps: acquiring echo data of a current period of the millimeter-wave radar; calculating an estimated maximum effective distance based on the echo data; setting an adjustment factor according to weather information and whether there is a target in front of the vehicle's lane; and adjusting a preset occlusion detection threshold using the adjustment factor to obtain an adjusted occlusion detection threshold, and determining an occlusion probability based on the estimated maximum effective distance and the adjusted occlusion detection threshold.

[0007] Preferably, in calculating the estimated maximum effective distance based on the echo data, the estimated maximum effective distance is calculated based on the echo power in the echo data and using a maximum effective distance equation.

[0008] Preferably, the preset occlusion detection threshold is obtained in advance through data statistical analysis, and includes a first threshold and a second threshold. The adjustment factor also includes a first factor and a second factor, which are used to adjust the first threshold and the second threshold respectively.

[0009] Preferably, setting the adjustment factor according to weather information and whether there is a target in front of the vehicle's lane includes: judging whether it is raining or snowing according to the weather information; if it is raining or snowing, further judging whether there is a target in a preset first area in front of the vehicle's lane, and if it is not raining or snowing, further judging whether there is a target in a preset second area in front of the vehicle's lane; if there is no target in the first area, there is no need to set the adjustment factor, and if there is a target in the first area, the first factor and the second factor of the adjustment factor are set to a preset first value and a preset second value, respectively; and if there is no target in the second area, there is no need to set the adjustment factor, and if there is a target in the second area, the first factor and the second factor of the adjustment factor are set to a preset third value and a preset fourth value, respectively.

[0010] Preferably, the second area is smaller than the first area, and the second area is closer to the vehicle than the first area.

[0011] Preferably, the occlusion detection threshold is adjusted using the adjustment factor, and the occlusion probability is obtained based on the estimated maximum effective distance and the adjusted occlusion detection threshold, including: if the adjustment factor is not set, the first threshold is used as the adjusted first threshold, and the second threshold is used as the adjusted second threshold; if the adjustment factor is set, the adjusted first threshold is obtained by multiplying the first factor by the first threshold, and the adjusted second threshold is obtained by multiplying the second factor by the second threshold; and if the estimated maximum effective distance is less than or equal to the adjusted first threshold, the occlusion probability is set to 1, and if the estimated maximum effective distance is greater than or equal to the adjusted second threshold, the occlusion probability is set to 0.

[0012] Preferably, the weather information is obtained via a wiper signal.

[0013] Preferably, the weather information is obtained through Internet of Vehicles communications.

[0014] According to another aspect of the present invention, there is provided an occlusion detection device for a millimeter-wave radar, comprising: an acquisition module for acquiring echo data of a current period of the millimeter-wave radar; a calculation module for calculating an estimated maximum effective distance based on the echo data; a factor setting module for setting an adjustment factor according to weather information and whether there is a target in front of the vehicle's lane; and a probability determination module for adjusting a preset occlusion detection threshold using the adjustment factor to obtain an adjusted occlusion detection threshold, and determining the occlusion probability based on the estimated maximum effective distance and the adjusted occlusion detection threshold.

[0015] According to another aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded by the processor and executes the method described in the above aspect.

[0016] According to another aspect of the present invention, a computer storage medium is provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to the above aspect of claim 1. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a millimeter wave radar occlusion detection method provided by an embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of determining the occlusion probability in the occlusion detection method of the millimeter wave radar provided in an embodiment of the present invention.

[0019] Figure 3 It is a schematic diagram of the first area and the second area in the millimeter wave radar obstruction detection method provided in an embodiment of the present invention.

[0020] Figure 4 It is a structural block diagram of a millimeter wave radar obstruction detection device provided by an embodiment of the present invention.

[0021] Figure 5 It is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0023] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0024] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0026] The embodiments of the present invention provide a millimeter-wave radar occlusion detection method and device based on the same concept. Since the method and the device solve the problem in a similar manner, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0027] Figure 1 It is a flow chart of the occlusion detection method of the millimeter-wave radar provided by an embodiment of the present invention. This specification provides method operation steps such as the embodiments or flow charts, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the methods shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0028] like Figure 1 As shown, the millimeter wave radar occlusion detection method provided in this embodiment includes the following steps.

[0029] S101: Acquire the echo data of the current cycle of the millimeter wave radar.

[0030] Millimeter wave radar is a radar that works in the millimeter wave band (millimeter wave), which usually refers to the 30-300GHz frequency band (wavelength is 1-10mm). The millimeter wave radar is installed on the vehicle 1, sends electromagnetic waves at a certain period, and receives echo data, so that it can measure the distance, speed and direction of multiple targets (vehicles) at the same time. The echo data includes the echo power Pr.

[0031] S102: Calculate and estimate the maximum effective distance based on the echo data.

[0032] Specifically, based on the echo power Pr in the echo data, the estimated maximum effective range R is calculated using the maximum effective range equation.

[0033] S103: Setting an adjustment factor according to weather information and whether there is a target ahead of the vehicle in the lane.

[0034] It should be noted that the adjustment factor is a factor used to adjust the preset occlusion detection threshold. Figure 2 FIG. 1 is a schematic diagram of determining the occlusion probability in the occlusion detection method of the millimeter wave radar provided in an embodiment of the present invention. Figure 2 , the determination of occlusion probability, the preset occlusion detection threshold and the adjustment factor are explained.

[0035] Figure 2 The horizontal axis represents the maximum range R, and the vertical axis represents the occlusion probability P. The preset occlusion detection thresholds include threshold ThA (first threshold) and threshold ThB (second threshold), which are obtained in advance through data statistical analysis. If the maximum range R of the radar is less than or equal to the threshold ThA, then Figure 2 The shielding probability P shown is 1 (shielded). If the maximum operating range R of the radar is greater than or equal to the threshold ThB, the shielding probability P is 0 (not shielded).

[0036] The adjustment factor is a factor used to adjust the preset occlusion detection threshold. Therefore, the adjustment factor also includes a first factor and a second factor, which are used to adjust the threshold ThA and the threshold ThB respectively.

[0037] Next, step S103 is described in detail. Step S103 further includes the following sub-steps:

[0038] (1) Determine whether it is raining or snowing based on weather information.

[0039] The weather information here is mainly used to determine whether there is rain or snow, which affects the detection performance of the radar. Therefore, the wiper signal of whether the wiper of the vehicle 1 is in the enabled state can be directly used as weather information to make this judgment. If the wiper is in the enabled state, it is judged that there is rain or snow, and if the wiper is not in the enabled state, it is judged that there is no rain or snow. Of course, it is also possible to obtain the current weather information of the environment where the vehicle 1 is located through the Internet of Vehicles communication to determine whether there is rain or snow.

[0040] (2) If it is raining or snowing, further determine whether there is a target in a preset first area D in front of the vehicle's lane; if it is not raining or snowing, further determine whether there is a target in a preset second area C in front of the vehicle's lane.

[0041] Figure 3 FIG. 1 is a schematic diagram of a first area D and a second area C in a millimeter wave radar occlusion detection method provided in an embodiment of the present invention. Figure 3 As shown, both the first area D and the second area C are located in front of the vehicle (self-vehicle) 1 in the lane, and are located in the field of view (FOV) of the millimeter-wave radar of the vehicle 1. The second area C is smaller than the first area D, and the second area C is closer to the vehicle 1 than the first area D.

[0042] In addition, the target in this sub-step mainly refers to other vehicles. That is, in the case of rain or snow, it is further determined whether there are other vehicles in the first area D, and in the case of no rain or snow, it is further determined whether there are other vehicles in the second area C.

[0043] (3) If there is no target in the first area D, there is no need to set the adjustment factor. If there is a target in the first area, the first factor and the second factor of the adjustment factor are set to the preset first value D1 and the preset second value D2 respectively.

[0044] (4) If there is no target in the second area C, there is no need to set the adjustment factor. If there is a target in the second area, the first factor and the second factor of the adjustment factor are set to the preset third value C1 and the preset fourth value C2 respectively.

[0045] Here, D1, D2, C1, and C2 are determined through a large number of tests and experiments. D1, D2, C1, and C2 are usually set to a value less than 1.

[0046] S104: adjusting the preset occlusion detection threshold using the adjustment factor to obtain an adjusted occlusion detection threshold, and determining the occlusion probability based on the estimated maximum action distance and the adjusted occlusion detection threshold.

[0047] If the adjustment factor is not set, the preset occlusion detection threshold is maintained unchanged, that is, the first threshold is used as the adjusted first threshold ThA', and the second threshold is used as the adjusted second threshold ThB'. If the adjustment factor is set, the adjusted first threshold ThA' is obtained by multiplying the first factor of the adjustment factor by the first threshold ThA, and the adjusted second threshold ThB' is obtained by multiplying the second factor of the adjustment factor by the second threshold ThB.

[0048] If the estimated maximum action distance R calculated in step S102 is less than or equal to the adjusted first threshold ThA′, the occlusion probability is set to 1; if the estimated maximum action distance R is greater than or equal to the adjusted second threshold ThB′, the occlusion probability is set to 0.

[0049] If the estimated maximum effective distance R is greater than the adjusted first threshold and less than the adjusted second threshold, the occlusion probability P at this time may also be calculated by linear interpolation.

[0050] According to the present invention, it is possible to suppress false alarms of obstruction detection by the millimeter-wave radar caused by following a preceding vehicle in non-extreme rainy weather or when there is water on the road after rain.

[0051] Figure 4 It is a structural block diagram of a millimeter wave radar obstruction detection device provided by an embodiment of the present invention.

[0052] like Figure 4 As shown, the millimeter wave radar occlusion detection device 200 includes: an acquisition module 201, a calculation module 202, a factor setting module 203 and a probability determination module 204.

[0053] Among them, the acquisition module 201 is used to obtain the echo data of the current cycle of the millimeter wave radar. The calculation module 202 is used to calculate the estimated maximum effective distance based on the echo data. The factor setting module 203 is used to set the adjustment factor according to weather information and whether there is a target in front of the vehicle's lane. The probability determination module 204 is used to adjust the preset occlusion detection threshold using the adjustment factor to obtain the adjusted occlusion detection threshold, and determine the occlusion probability based on the estimated maximum effective distance and the adjusted occlusion detection threshold.

[0054] Figure 5 is a structural block diagram of an electronic device provided by an embodiment of the present invention. Figure 5 As shown, the present invention also provides an electronic device 300, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above embodiment.

[0055] The present invention also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the method described in the above embodiment.

[0056] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0057] Those skilled in the art should be able to appreciate that the modules, units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0058] Although the present invention has been described with reference to the current specific embodiments, those skilled in the art should recognize that the scope of the invention involved in the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A millimeter wave radar occlusion detection method, It is characterized in that The steps include: Get the echo data of the current cycle of the millimeter-wave radar; Calculate and estimate the maximum effective distance based on the echo data; The adjustment factor is set according to weather information and whether there is a target ahead of the vehicle in the lane; as well as The preset occlusion detection threshold is adjusted by using the adjustment factor to obtain an adjusted occlusion detection threshold, and the occlusion probability is determined based on the estimated maximum working distance and the adjusted occlusion detection threshold.

2. The millimeter wave radar occlusion detection method according to claim 1, It is characterized in that In the estimated maximum range calculated based on the echo data, The estimated maximum operating range is calculated based on the echo power in the echo data and using a maximum operating range equation.

3. The millimeter wave radar occlusion detection method according to claim 1 or 2, It is characterized in that The preset occlusion detection threshold is obtained in advance through data statistical analysis, and includes a first threshold and a second threshold. The adjustment factor also includes a first factor and a second factor, which are used to adjust the first threshold and the second threshold respectively.

4. The millimeter wave radar occlusion detection method as claimed in claim 3, It is characterized in that The adjustment factor is set based on weather information and whether there is a target in front of the vehicle in the lane, including: Determine whether it is raining or snowing based on weather information; If it is raining or snowing, further determine whether there is a target in a preset first area in front of the vehicle's lane; if it is not raining or snowing, further determine whether there is a target in a preset second area in front of the vehicle's lane; If there is no target in the first area, there is no need to set the adjustment factor; if there is a target in the first area, the first factor and the second factor of the adjustment factor are set to a preset first value and a preset second value respectively; and If there is no target in the second area, there is no need to set the adjustment factor. If there is a target in the second area, the first factor and the second factor of the adjustment factor are set to a preset third value and a preset fourth value respectively.

5. The millimeter wave radar occlusion detection method as claimed in claim 4, It is characterized in that The second area is smaller than the first area, and the second area is closer to the vehicle than the first area.

6. The millimeter wave radar occlusion detection method according to claim 4 or 5, It is characterized in that The occlusion detection threshold is adjusted by using the adjustment factor, and the occlusion probability is obtained based on the estimated maximum working distance and the adjusted occlusion detection threshold, including: If the adjustment factor is not set, the first threshold is used as the adjusted first threshold, and the second threshold is used as the adjusted second threshold; if the adjustment factor is set, the adjusted first threshold is obtained by multiplying the first factor by the first threshold, and the adjusted second threshold is obtained by multiplying the second factor by the second threshold; and If the estimated maximum effective distance is less than or equal to the adjusted first threshold, the occlusion probability is set to 1; if the estimated maximum effective distance is greater than or equal to the adjusted second threshold, the occlusion probability is set to 0.

7. The millimeter wave radar occlusion detection method according to claim 4 or 5, It is characterized in that The weather information is obtained through a wiper signal.

8. The millimeter wave radar occlusion detection method according to claim 4 or 5, It is characterized in that The weather information is obtained through Internet of Vehicles communication.

9. A millimeter wave radar occlusion detection device, It is characterized in that include: The acquisition module is used to obtain the echo data of the current cycle of the millimeter wave radar; A calculation module, used for calculating and estimating a maximum effective distance based on the echo data; A factor setting module, used to set an adjustment factor according to weather information and whether there is a target ahead of the vehicle in the lane; as well as The probability determination module is used to adjust the preset occlusion detection threshold using the adjustment factor to obtain the adjusted occlusion detection threshold, and determine the occlusion probability based on the estimated maximum working distance and the adjusted occlusion detection threshold.

10. An electronic device, It is characterized in that The electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method according to any one of claims 1 to 8.

11. A computer storage medium, It is characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to any one of claims 1 to 8.

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