Method and apparatus for detecting state of housing of radar

Abstract

A method and apparatus for detecting the state of a housing of a radar. The method comprises: a detection apparatus acquiring a target angle measured by a radar; acquiring a first angle measurement deviation value corresponding to the target angle; determining an offset of the first angle measurement deviation value relative to a reference angle measurement deviation value corresponding to the target angle; and evaluating the state of a housing of the radar on the basis of the offset. The method is used for detecting a change in the state of a housing of a radar, so as to reduce the impact of the change in the state of the housing of the radar on the detection precision of the radar.

Description

A method and device for detecting radar casing status

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on March 19, 2024, with application number 202410312135.5 and application name “A method and device for detecting the status of a radar casing”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of radar technology, and in particular to a method and device for detecting the status of a radar casing. Background Art

[0004] With the advancement of sensor technology, some sensors are being used in intelligent vehicles. For example, radar is installed in vehicles to enable assisted or intelligent driving. However, the radar's measurement accuracy significantly impacts the performance of these systems. Therefore, it is crucial to comprehensively detect abnormal events that could affect radar's measurement accuracy.

[0005] Taking an automotive millimeter-wave radar as an example, as shown in Figure 1, it can be installed at the front of the vehicle. This radar is typically covered by a housing, which can include, for example, the vehicle's fascia or even a more complex multi-layered structure. This housing surrounds and protects the radar's antenna, transmitter, and receiver components from external environmental influences. The radar transmits electromagnetic wave signals through the antenna and receives echo signals reflected by the target. The radar then amplifies and down-converts the echo signals to obtain information such as the relative distance, speed, and angle between the vehicle and the target. This information can be used to implement assisted or intelligent driving.

[0006] Among them, due to the influence of the shell material, the shell usually produces anisotropic amplitude and phase effects on the transmitted radar signal, resulting in slight deviations in the radar angle measurement results. As shown in Figure 2A, the horizontal axis is the target angle (°) measured by the radar, and the vertical axis is the angle measurement deviation (°) introduced by the radar shell at this angle. This angle measurement deviation is usually within the expected error range. However, when there is an abnormality in the radar shell, such as the radar shell's factory state does not meet the specifications or the radar shell is scratched, the state of the radar shell deviates from the expected state, causing the radar's electromagnetic characteristics to deviate from the expected state. For example, as shown in Figure 2B, the radar has a large angle measurement deviation in certain directions, which in turn affects the radar's measurement accuracy.

[0007] There is currently no solution to detect changes in the radar housing status. Summary of the Invention

[0008] The present application provides a method and device for detecting the state of a radar casing, which are used to detect changes in the state of the radar casing to reduce the impact of changes in the state of the radar casing on the radar detection accuracy.

[0009] In the first aspect, the present application provides a method for detecting the status of a radar casing. The method can be implemented by a detection device. The detection device can be the radar itself or a component in the radar, such as a processor in the radar; it can also be a controller associated with the radar, or it can be software. The embodiments of the present application do not limit the form or implementation method of the detection device.

[0010] In this method, the detection device can obtain the target angle measured by the radar; obtain a first angle measurement deviation value corresponding to the target angle; determine the offset of the first angle measurement deviation value compared to the reference angle measurement deviation value corresponding to the target angle; and evaluate the shell status of the radar based on the offset.

[0011] Through the above method, the detection device can monitor the status of the radar housing in real time or periodically, detecting changes in the radar housing status early and reducing the impact of these changes on the radar's detection accuracy. In one example, the radar can be installed on a vehicle. By detecting and repairing the radar housing status, risks to the radar's sensing capabilities and the vehicle's intelligent driving functions can be reduced, helping to ensure the reliability of the radar's sensing and intelligent driving functions during vehicle use.

[0012] In combination with the first aspect, in a possible implementation, the method may further include: determining the usage status of the radar; wherein the usage status includes a first usage status and a second usage status, the first usage status includes: the usage time of the radar is less than or equal to a first threshold, or, if the radar is set on a vehicle, the first usage status includes: the mileage of the vehicle is less than or equal to a second threshold; the second usage status includes: the usage time of the radar is greater than the first threshold; or, if the radar is set on a vehicle, the second usage status includes: the mileage of the vehicle is greater than the second threshold.

[0013] Through the above method, the detection device can divide the different usage states of the radar according to different indicators, so as to detect the radar shell status separately under different usage states of the radar, thereby ensuring accurate detection of the radar shell status.

[0014] In combination with the first aspect, in a possible implementation, when the radar is in the first usage state, the reference angle measurement deviation value is an initial value preset according to the shell specifications of the radar; when the radar is in the second usage state, the reference angle measurement deviation value is the angle measurement deviation value calculated when the radar is in the first usage state.

[0015] Through the above method, the detection device can analyze the offset of the current angle measurement deviation value based on the different usage states of the radar and different reference angle measurement deviation values ​​as a benchmark. This method can obtain relatively accurate benchmark information, which helps to ensure the accuracy of the offset.

[0016] In combination with the first aspect, in a possible implementation, the first usage state is associated with a first threshold value, the second usage state is associated with a second threshold value, and the evaluating the casing state of the radar based on the offset includes: when the radar is in the first usage state, if the offset is greater than the first threshold value, the casing state of the radar is abnormal; or, when the radar is in the second usage state, if the offset is greater than the second threshold value, the casing state of the radar is abnormal.

[0017] Through the above method, the detection device can analyze whether the radar casing status is abnormal through different threshold values, which helps to improve the flexibility of the radar casing status detection method.

[0018] In combination with the first aspect, in a possible implementation, the method may further include: obtaining the confidence of the offset, the confidence being used to characterize the credibility of the offset; wherein, if the offset is greater than the first threshold value, the shell state of the radar is abnormal, including: if the offset is greater than the first threshold value and the confidence of the offset is greater than or equal to a third threshold value, the shell state of the radar is abnormal; if the offset is greater than the second threshold value, the shell state of the radar is abnormal, including: if the offset is greater than the second threshold value and the confidence of the offset is greater than or equal to a fourth threshold value, the shell state of the radar is abnormal.

[0019] Through the above method, the detection device can also combine the credibility of the offset analysis with the confidence level to reduce the possibility of false detection and improve the accuracy of the radar shell status detection method.

[0020] In combination with the first aspect, in one possible implementation, the second usage state is further associated with a third threshold value, and the third threshold value is less than the second threshold value. The method also includes: when the radar is in the second usage state, if the offset is greater than the third threshold value and less than or equal to the second threshold value, correcting the offset.

[0021] Through the above method, based on the radar's own computing power, when the change of the radar shell falls within the correctable range, it is allowed to implement the correction process based on the current offset, so as to delay the time of manual intervention repair and reduce the number of manual repairs of the radar shell.

[0022] In combination with the first aspect, in a possible implementation, the method may further include: if the outer shell state of the radar is abnormal, sending an alarm message to a controller associated with the radar, wherein the alarm message is used to indicate that the outer shell state of the radar is abnormal.

[0023] Through the above method, when the radar housing is in an abnormal state, an alarm is sent to the controller associated with the radar, so that the controller can respond in a timely manner. For example, the controller can output the alarm information through various types of output devices to warn the user on the controller side.

[0024] In conjunction with the first aspect, in one possible implementation, the method may further include: sending status data to a controller associated with the radar, the status data including an evaluation result of a housing status of the radar when the radar is in different operating states. Accordingly, the controller may also output the status data, for example, via a vehicle display screen or a user's smartphone.

[0025] In conjunction with the first aspect, in one possible implementation, the radar's field of view includes M*N angle intervals, where M and N are integers greater than or equal to 1, and the target angle belongs to any of the M*N angle intervals. The status data includes at least one of the following information corresponding to each angle interval: an offset of the angle measurement deviation value; a confidence level for the offset of the angle measurement deviation value; and first indication information indicating whether the offset of the angle measurement deviation value corresponding to the angle interval is abnormal. This allows users or maintenance personnel to quickly determine the location of the abnormal radar casing, expedite repairs, and improve maintenance efficiency.

[0026] In combination with the first aspect, in a possible implementation, if the radar is installed on a vehicle, the method may further include: outputting the status data through a human-machine interface HMI associated with the vehicle.

[0027] In conjunction with the first aspect, in one possible implementation, the radar includes a vehicle-mounted millimeter-wave radar. In other embodiments, the radar may also include other types of radars on the vehicle, or the radar may also be applied to other scenarios, which is not limited in this embodiment of the present application.

[0028] In combination with the first aspect, in a possible implementation, determining the usage status of the radar includes: receiving second indication information from a controller associated with the radar, where the second indication information indicates the usage status of the radar.

[0029] In the second aspect, the present application provides a method for detecting the status of a radar casing, which is applied to a human-machine interface HMI, and the method includes: receiving status data of the radar, wherein the field of view angle of the radar includes M*N angle intervals, M and N are integers greater than or equal to 1, and the status data includes at least one of the following information corresponding to each angle interval: the offset of the angle measurement deviation value; the confidence level of the offset of the angle measurement deviation value; first indication information, indicating whether the offset of the angle measurement deviation value corresponding to the angle interval is abnormal; and outputting the status data.

[0030] In combination with the second aspect, in a possible implementation, the display interface of the HMI includes multiple grids, each grid corresponds to an angle interval, and the output of the status data includes: based on the status data, highlighting the grids corresponding to the angle intervals where the offset of the angle measurement deviation value is abnormal on the display interface of the HMI.

[0031] In combination with the second aspect, in a possible implementation, if the radar is installed on a vehicle, the HMI includes a display screen of an onboard terminal of the vehicle, or includes a display screen of a mobile terminal of a user of the vehicle.

[0032] In a third aspect, the present application provides a communication device, comprising: a communication interface for communicating with other devices; and a processor coupled to the communication interface so that the communication device executes the method described in any possible implementation of the first or second aspect above.

[0033] In a fourth aspect, the present application provides a communication system, including a radar and a detection device, wherein the detection device is used to implement the method described in any possible implementation manner of the first aspect.

[0034] In conjunction with the fourth aspect, in a possible implementation manner, the system may include a human-machine interface HMI, and the HMI is used to implement the method described in any possible implementation manner of the second aspect.

[0035] In the fifth aspect, the present application provides a chip system comprising at least one processor and an interface circuit, wherein the processor is used to execute instructions and / or data interaction through the interface circuit, so that the chip system executes the method described in any possible implementation of the first aspect or the second aspect above.

[0036] In a sixth aspect, the present application provides a vehicle comprising the communication device as described in the third aspect above, or comprising the communication system as described in the fourth aspect above, or comprising the chip system as described in the fifth aspect above.

[0037] In a seventh aspect, the present application provides a computer-readable storage medium comprising a program or instructions. When the program or instructions are executed, the method described in any possible implementation of the first aspect or the second aspect above is executed.

[0038] In an eighth aspect, the present application provides a computer program product, which, when read and executed by a computer, enables the computer to execute the method described in any possible implementation of the first or second aspect above.

[0039] In a ninth aspect, an embodiment of the present application provides a terminal device, comprising a unit for implementing the method described in the first aspect and any possible design of the first aspect, or a unit for implementing the method described in the second aspect and any possible design of the second aspect. By way of example, the terminal device includes, but is not limited to: intelligent transportation equipment (such as cars, ships, drones, trains, trucks, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent logistics, smart factories, etc.), and intelligent terminals (mobile phones, computers, tablet computers, PDAs, desktops, headphones, speakers, wearable devices, vehicle-mounted devices, etc.).

[0040] Based on the implementations provided in the above aspects, the embodiments of the present application can be further combined to provide more implementations.

[0041] The technical effects that can be achieved by any possible implementation method in any of the second to ninth aspects mentioned above can be referred to the description of the technical effects that can be achieved by any possible implementation method in any of the first to second aspects mentioned above, and the repetitions will not be discussed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 shows the detection principle of a vehicle-mounted millimeter-wave radar and a schematic structural diagram of a radar housing;

[0043] 2A-2B show schematic diagrams of angular deviation curves;

[0044] FIG3A shows a schematic structural diagram of a communication system according to an embodiment of the present application;

[0045] FIG3B shows a schematic structural diagram of a radar housing according to an embodiment of the present application;

[0046] FIG4 is a schematic flow chart showing a method for detecting a radar housing status according to an embodiment of the present application;

[0047] FIG5 shows a schematic diagram of a detection process under different use states of the radar;

[0048] 6A-6B show comparison curves of angle measurement deviation estimates and true values ​​obtained by different solution methods;

[0049] FIG6C is a schematic diagram showing an abnormal offset of the angle measurement deviation in an embodiment of the present application;

[0050] FIG7 shows a curve of angle measurement deviation difference (offset) when an abnormal event is detected when the radar is in the second use state;

[0051] FIG8 shows a schematic diagram of a communication device according to an embodiment of the present application;

[0052] FIG9 shows a schematic diagram of another communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application provide a method and device for detecting the state of a radar housing, which are used to detect changes in the state of the radar housing to reduce the impact of changes in the state of the radar housing on the radar detection accuracy. For example, in an automotive application scenario, by detecting changes in the state of the housing of an on-board radar, the risks brought by changes in the state of the radar housing to the radar perception capability and the intelligent driving function of the vehicle are reduced. Among them, the method and the device are based on the same technical concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repetitions will not be repeated. Moreover, in the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0054] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0055] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish between multiple objects and are not used to define the priority or importance of multiple objects. For example, the first angle measurement deviation value and the second angle measurement deviation value are only used to distinguish different angle measurement deviation values, and do not indicate a difference in priority or importance between the two angle measurement deviation values.

[0056] For ease of understanding, the following is an introduction with reference to the accompanying drawings and embodiments.

[0057] Figure 3A shows a schematic diagram of the architecture of a communication system applicable to embodiments of the present application. As shown in Figure 3A, the communication system may include a radar 310 and a detection device 320. In one optional embodiment, the detection device 320 may be a component of the radar 310, such as a processor of the radar 310. In another optional embodiment, the detection device 320 may be a device independent of the radar 310, which is not limited in this embodiment of the present application. The dashed line in the figure indicates that the detection device 320 can be deployed independently of the radar, without any other limitations.

[0058] For example, the radar 310 can be installed on a vehicle, including but not limited to an unmanned vehicle, a smart car, an electric car, or a digital car. Radar 310 can acquire environmental information surrounding the vehicle, analyze and process the acquired information, and implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / reminders, thereby improving the safety, automation, and comfort of vehicle driving.

[0059] For example, radar 310 is implemented as an on-board millimeter-wave radar. This radar uses millimeter waves as a detection medium and can measure the distance, angle, and relative velocity between the radar and the target object. Millimeter-wave radars can be categorized into long-range radar (LRR), mid-range radar (MRR), and short-range radar (SRR) based on their detection range. LRR is primarily targeted at applications such as active cruise control and brake assist. It has low requirements for the detection angular width, which translates to a low 3dB beamwidth requirement for the antenna. MRR / SRR is primarily targeted at applications such as automated parking, lane change assistance, and blind spot detection. MRR / SRR has high requirements for the detection angular width, which translates to a high 3dB beamwidth requirement for the antenna and requires low sidelobe levels. A wide beamwidth ensures the detectable angular range, while low sidelobe levels reduce clutter energy reflected from the ground, minimizing false alarms and ensuring driving safety. LRR can be installed at the front of the vehicle body, and MRR / SRR can be installed at the four corners of the vehicle. When used together, they can achieve 360-degree coverage around the vehicle body.

[0060] The millimeter-wave radar may include a housing having at least one printed circuit board (PCB) built into the housing. For example, the housing may include a power supply PCB and a radar PCB. The power supply PCB may provide voltage for internal use in the radar, as well as an interface for communicating with other devices and providing security functions. The radar PCB may provide for the transmission, reception, and processing of millimeter-wave signals, and may integrate thereon components for millimeter-wave signal processing and antennas for transmitting and receiving millimeter-wave signals (transmitting antenna Tx and receiving antenna Rx). The antenna may be formed on the back of the radar PCB in the form of a microstrip array for transmitting and receiving millimeter waves. When the millimeter-wave radar is installed on a vehicle, a cover may be provided on the outside of the housing of the radar 310 in a manner similar to that shown in FIG1 . The cover may be a vehicle cover, i.e., the housing of the radar 310 may include a housing and a cover. Alternatively, the housing of the radar may also be a multi-layer structure, as shown in FIG3B , including a housing, a shielding structure, a digital board, an antenna board, and a cover.

[0061] Affected by the shell, the transmission and reception of millimeter wave signals are usually absorbed or reflected, resulting in the loss of the transmission and reception signals, thereby causing deviations (or errors) in the perception of various information. At present, the designers of the vehicle will improve the combination of the various layers of the shell or improve the material of the shell to control the perception deviation caused by the shell within the expected range. In this way, after the radar 310 obtains the original perception information, it can be calibrated in combination with the expected deviation information, and then the original perception data is analyzed and processed to ensure the accuracy of the obtained measurement information. Further, these measurement information can be provided to the vehicle's computing platform, such as the intelligent driving domain control unit (such as a mobile data center (MDC)), or the vehicle control unit (VCU), or the vehicle domain controller (VDC) in the computing platform, so that the MDC or VCU or VDC can realize assisted driving or automatic driving of the vehicle based on these measurement information and in combination with the advanced driving assistant system (ADAS). For example, the computing platform can use the distance to the surrounding objects to determine the number and density of obstacles around the vehicle. Alternatively, for example, the computing platform may determine the azimuth of obstacles around the vehicle using the angles relative to the surrounding objects. Alternatively, for example, the computing platform may determine whether to accelerate or decelerate the vehicle using the relative speed relative to the surrounding objects.

[0062] In an optional embodiment, the communication system may further include a cloud server. A cloud server can be a single server or a server cluster consisting of multiple servers. A cloud server may also be referred to as a cloud, cloud, cloud server, cloud controller, or connected vehicle server. It can also be understood that a cloud server is a general term for devices or components with data processing capabilities, such as physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits.

[0063] The above-mentioned communication system can be applied to fields such as unmanned driving, automatic driving, assisted driving, intelligent driving, connected vehicles, surveying and mapping, or security monitoring. It should be noted that the above application scenarios are only examples, and can also be applied to many other scenarios, which will not be described in detail here. Similarly, in other application scenarios, a shell can be provided outside the radar to surround and protect the radar's antenna, transmitter or receiver and other components from the external environment. The above-mentioned millimeter-wave radar can also be replaced with other radar devices, including but not limited to laser radar, ultrasonic radar, or infrared radar, etc. These radar devices can also be provided with shells according to usage requirements. Accordingly, the process or material of the shell can be adjusted according to different application scenarios, which will not be described in detail here.

[0064] In actual use cases, radar measurement accuracy can be affected by variations in the radar housing's characteristics. If these characteristics cause measurement information to exceed expected deviations, subsequent analysis and processing based on this deviation information can distort the measurement information, thereby affecting radar measurement accuracy. For example, taking an automotive millimeter-wave radar as an example, if the radar housing (including the skin) does not meet process specifications at the time of shipment, such as uneven skin thickness or substandard paint performance, the vehicle may be scratched where the millimeter-wave radar is located (e.g., on the bumper), causing minor scratches or more severe bumps or dents on the radar housing. These variations in housing characteristics can affect information such as the phase or amplitude of the radar's transmit / receive signals, causing deviations between the actual angle (or other measurement parameter) measured by the radar and its true value. If this deviation exceeds the expected deviation range, even if calibration is performed based on the expected deviation information and then the raw perception data is analyzed and processed to obtain measurement information, the information will still be biased. In other words, calibration based on the expected deviation information cannot meet measurement accuracy requirements.

[0065] Therefore, if changes in radar casing characteristics can be detected and corresponding solutions can be implemented to reduce the risks posed by changes in radar casing characteristics to radar perception results and vehicle intelligent driving functions, it will help ensure the reliability of radar perception and intelligent driving functions during vehicle use.

[0066] In view of this, embodiments of the present application provide a method for detecting the status of a radar housing. This method allows for timely detection of changes in the status of the radar housing and timely reporting of these changes to the radar's associated controller, enabling the controller to compensate for these changes. This reduces the risk to radar sensing results and the vehicle's intelligent driving functions from changes in the characteristics of the radar housing. This detection method can be performed by the detection device 320 in Figure 3A. The detection method proposed in embodiments of the present application is described in detail below in conjunction with Figures 4 and 5.

[0067] FIG4 shows a flow chart of a detection method according to an embodiment of the present application. As shown in FIG4 , the method may include the following steps:

[0068] S410: The detection device obtains the target angle measured by the radar.

[0069] In the embodiments of the present application, the radar may be, for example, an on-board millimeter-wave radar, hereinafter referred to as the radar. Based on the detection principle shown in FIG1 , the radar can estimate the angle of the reflected signal by using the phase change caused by the distance difference between the target object and the radar's different receiving antennas. This angle is called the angle of arrival (AOA), which is also the angle of the target object relative to the radar, referred to as the target angle.

[0070] Exemplarily, the target angle may satisfy the following expression (1):

[0071] Where θ represents the target angle, d represents the distance between the receiving antennas, and λ represents the wavelength of the electromagnetic wave signal. Indicates the phase, represents the phase difference, It can be calculated by the following expression (2):

[0072] in, Indicates the distance difference between the target object and different receiving antennas of the radar.

[0073] The range of the radar's angle measurement is the radar's field of view (FOV). Typically, the radar's angular range can be divided into a horizontal angle range and a vertical angle range, referred to as the horizontal field of view and the vertical field of view. In terms of the horizontal angle range, the radar can achieve all-around scanning and detection. By adjusting the antenna's directivity and beamwidth, it is possible to detect and measure distances to targets at different angles. The horizontal angle range can typically be between 0° and 360°, covering as much of the horizontal direction as possible. In terms of the vertical angle range, the radar can achieve coverage of targets at different heights, and the vertical angle range can typically be between -90° and 90°, covering as much of the area from the ground to the sky as possible. Based on different radar usage scenarios, the range of the radar's field of view may be different, and the embodiments of the present application are not limited thereto.

[0074] When implementing the above S410, in an optional implementation, if the detection device 320 is set inside the radar, the detection device 320 can obtain the target angle measured by the radar through internal communication. In another optional implementation, if the detection device 320 is set independently of the radar, the detection device 320 can obtain the target angle measured by the radar through wired communication or wireless communication. The radar can provide the target angle measured by it to the detection device 320 in real time or periodically. Alternatively, the detection device 320 can send an instruction to the radar, and the radar reports the target angle measured by it to the detection device 320 in response to the instruction. The embodiment of the present application does not limit the method or timing of the detection device obtaining the target angle.

[0075] S420: The detection device obtains a first angle measurement deviation value corresponding to the target angle.

[0076] Due to various factors, the angle actually measured by the radar may deviate from the true measured angle (referred to as the true value), which is called angle measurement error or angle measurement deviation. Among them, some angle measurement deviations can be corrected. For example, the radar's transmission power is 12dBm, but the actual output power is only 11dBm. The deviation caused by this reason can be corrected by increasing the gain of the power amplifier (PA) or other means. However, some angle measurement deviations caused by abnormalities require manual intervention. For example, if the factory status of the radar casing does not meet the process specifications or the radar casing is scratched, the radar and its casing need to be returned to the factory for manual correction.

[0077] Therefore, in order to detect abnormal events that affect the measurement accuracy of the radar as comprehensively as possible, the detection device needs to obtain the angle measurement deviation value corresponding to the target angle in order to analyze the abnormal event that causes the angle measurement deviation and take corresponding measures to reduce the risk of the abnormal event to the radar perception capability and the vehicle's intelligent driving function.

[0078] In the embodiments of the present application, a deviation resolution algorithm may be provided within the detection device to calculate an angle measurement deviation value corresponding to the target angle, represented as a first angle measurement deviation value. The embodiments of the present application do not limit the specific implementation of this deviation resolution algorithm. It should be understood that the above is merely an example of a method for calculating angle measurement deviation and does not constitute a limitation. In other embodiments, the angle measurement deviation value may also be calculated using amplitude or angle measurement extracted from the radar signal, and this will not be further described here.

[0079] In an embodiment of the present application, the change in the state of the radar housing can be diverse. Taking the change in the state of the radar housing as an example, which is related to the length of time the radar is used, for example, in the initial use stage, the possibility of the radar housing state changing is small. As the radar is used for a longer time, the possibility of the radar housing state changing gradually increases. Therefore, in an optional implementation, before implementing S420, the detection device can also determine the use state of the radar, and determine the corresponding angle measurement deviation solution algorithm and the reference angle measurement deviation value corresponding to the target angle according to the actual use state of the radar, so as to evaluate the state of the radar housing. Exemplarily, this process can be implemented as S501 shown in Figure 5: the detection device determines the use state of the radar.

[0080] In one example, a usage duration threshold can be set to categorize the radar's usage status into different states, so that the first angle measurement deviation value can be compared with the usage duration threshold to assess whether an abnormal event has occurred on the radar housing. Specifically, for example, a first threshold can be set based on the radar's usage duration, and the radar's usage status can be categorized into a first usage state and a second usage state based on the first threshold. The first usage state can include: the radar's usage duration is less than or equal to the first threshold, and the second usage state can include: the radar's usage duration is greater than the first threshold.

[0081] In another example, the radar can be used as a component mounted on other devices. For example, the radar can be installed on a vehicle to achieve assisted driving or intelligent driving. Therefore, the different usage states of the radar can also be divided according to the usage time threshold of the device where the radar is located. For example, a first threshold can be set based on the time when the vehicle leaves the factory, and the usage stage of the vehicle after leaving the factory is divided into a first usage stage and a second usage stage based on the first threshold, which is equivalent to the first usage state and the second usage state of the radar. Similarly, the first usage state may include: the usage time of the radar is less than or equal to the first threshold, and the second usage state may include: the usage time of the radar is greater than the first threshold.

[0082] In another example, if a radar is installed on a vehicle, taking into account the time difference between the vehicle's factory and sale, the radar's usage status can be divided according to other indicators to more accurately analyze the possibility of abnormal events in the radar housing status. For example, a second threshold can be set based on the vehicle's mileage. Based on this second threshold, the vehicle's post-manufacturer usage phase is divided into a first usage phase and a second usage phase, which is equivalent to the radar's first and second usage states. The first usage state may include: the vehicle's mileage is less than or equal to the second threshold; the second usage state includes: the vehicle's mileage is greater than the second threshold.

[0083] It should be understood that the above-mentioned classification of the radar usage status is only an example and not a limitation. In other embodiments, the radar usage status can be divided by other indicators, or the radar can be divided into multiple different usage states by two or more thresholds. The embodiments of the present application do not limit this.

[0084] It is worth noting that in an embodiment of the present application, the radar itself can record the usage time to distinguish different usage states. In another optional embodiment, the radar can be associated with a controller, and the controller can inform the detection device of the usage state of the radar. For example, the controller associated with the radar can send a second indication message to the detection device, and the second indication message can indicate the usage state of the radar. Accordingly, the detection device can receive the second indication message from the controller, and according to the second indication message, perform a subsequent radar shell status evaluation process under the usage state of the radar. In a specific implementation, the above-mentioned second indication message can be carried in a diagnostic message from the controller, and the diagnostic message can be used to trigger the detection device to execute the detection method of the embodiment of the present application to evaluate the shell state of the radar. The embodiment of the present application does not limit the way in which the detection device obtains the usage state of the radar.

[0085] Accordingly, in the above different examples, when the radar is in different usage states, the detection method of the embodiment of the present application can be executed according to the deviation resolution algorithm and the reference angle measurement deviation value corresponding to the usage state.

[0086] For example, if the radar is determined to be in the first operating state during S501, S420 may be implemented as S502 shown in FIG5 : the detection device may obtain a first angle measurement deviation value corresponding to the target angle according to the first calculation method. Alternatively, if the radar is determined to be in the second operating state during S501, S420 may be implemented as S509 shown in FIG5 : the detection device may obtain a first angle measurement deviation value corresponding to the target angle according to the second calculation method.

[0087] For example, when the radar is in a first operational state, the angle measurement deviation curve obtained using the first calculation method is shown in Figure 6A , where the blue curve represents the true angle measurement deviation curve, and the orange curve represents the angle measurement deviation curve obtained using the first calculation method. This shows that the first calculation method can relatively accurately estimate the radar's angle measurement deviation. When the radar is in a second operational state, the angle measurement deviation curve obtained using the second calculation method is shown in Figure 6B , where the blue curve represents the true angle measurement deviation curve, and the orange curve represents the angle measurement deviation curve obtained using the second calculation method. This shows that the second calculation method can relatively accurately estimate the radar's angle measurement deviation.

[0088] S430: The detection device determines an offset of the first angle measurement deviation value compared to a reference angle measurement deviation value corresponding to the target angle.

[0089] In an embodiment of the present application, the reference angle measurement deviation value corresponding to the target angle is the expected angle measurement deviation value, which serves as a benchmark value / reference value for analyzing the state of the radar shell. It can be used to evaluate whether the first angle measurement deviation value actually obtained by the detection device deviates from the expected value, so as to analyze whether the state of the radar shell has changed.

[0090] With δθ1 representing the first angle measurement deviation value and δθ2 representing the reference angle measurement deviation value, the offset can satisfy the following expression (3): Δ=δθ1-δθ2 (3)

[0091] Here, Δ represents the offset of the first angle measurement deviation value compared to the reference angle measurement deviation value corresponding to the target angle.

[0092] In an embodiment of the present application, when implementing S430, the detection device can compare the first angle measurement deviation value corresponding to the target angle with the corresponding reference angle measurement deviation value according to the usage status of the radar to calculate the offset of the actual angle measurement deviation value corresponding to the target angle compared to the true angle measurement deviation value.

[0093] For example, if the radar is in the first usage state, in this case, the reference angular measurement deviation value can be set to an initial angular measurement deviation value preset according to the shell specifications of the radar, and the initial value meets the factory acceptance criteria of the radar shell process requirements, such as the offset of the angular measurement deviation is required to be within ±1°. S430 can be implemented as S503 shown in Figure 5: the detection device compares the first angular measurement deviation value with the initial angular measurement deviation value that meets the radar shell process requirements to evaluate the offset of the angular measurement deviation. If the radar is in the second usage state, the reference angular measurement deviation value can be set to the angular measurement deviation value calculated when the radar is in the first usage state. S430 can be implemented as S510 shown in Figure 5: the detection device compares the first angular measurement deviation value with the angular measurement deviation value calculated when the radar is in the first usage state to evaluate the relative offset of the angular measurement deviation.

[0094] S440: The detection device evaluates the housing status of the radar according to the offset.

[0095] In one example, the first usage state may be associated with a first threshold value, and the second usage state may be associated with a second threshold value. When implementing S440, the detection device may compare the first angle measurement deviation value with the threshold value in the corresponding usage state based on the usage state of the radar to evaluate the housing condition of the radar.

[0096] For example, as shown in Figure 5, when the radar is in the first operating state, S440 is implemented as S504: determining whether the offset exceeds a first threshold. If the offset exceeds the first threshold, the radar housing is abnormal, and the process proceeds to S507, where the detection device updates the radar housing status to "Not Up to Standard." If the offset is less than or equal to the first threshold, the radar housing meets the process requirements, and the process proceeds to S505. In S505, the detection device updates the radar housing status to "Up to Standard." Alternatively, when the radar is in the second operating state, S440 is implemented as S511 and S514, where S511 determines whether the offset exceeds a third threshold, and S514 determines whether the offset exceeds a second threshold, where the third threshold is less than the second threshold. If the offset exceeds the second threshold, the radar housing is abnormal, and the process proceeds to S517, where the detection device updates the radar housing status to "Variation Exceeds Limit." If the offset is greater than the third threshold and less than or equal to the second threshold, the radar housing status has changed but is within the correctable range. The process proceeds to S515, where the detection device updates the radar housing status to "Changed - Correctable." If the offset is less than or equal to the third threshold, the radar housing status has not changed significantly. The process proceeds to S512, where the detection device updates the radar housing status to "No Significant Change."

[0097] In an optional embodiment, when implementing S440, the detection device may also obtain the confidence level of the offset using a built-in algorithm. This confidence level can be used to characterize the credibility of the offset. When evaluating the radar housing status based on the offset, the detection device may integrate the offset and the corresponding confidence level to implement this evaluation process. For example, a third threshold or a fourth threshold value may be set within the detection device based on the confidence level of the offset. When the radar is in the first operational state, in S504, if the offset is greater than the first threshold value and the confidence level of the offset is greater than or equal to the third threshold value, the radar housing status is abnormal. The process then proceeds to S507, where the detection device updates the radar housing status to "substandard." Similarly, when the radar is in the second operational state, in S514, if the offset is greater than the second threshold value and the confidence level of the offset is greater than or equal to the fourth threshold value, the radar housing status is abnormal. The process then proceeds to S517, where the detection device updates the radar housing status to "exceeds the limit." Conversely, if, in S504, the offset is greater than the first threshold and the confidence level of the offset is less than the third threshold, the radar housing status is considered normal, and the process proceeds to S505. In S505, the detection device updates the radar housing status to "Meets Standards." Similarly, when the radar is in the aforementioned second operating state, in S514, if the offset is greater than the second threshold and the confidence level of the offset is greater than or equal to the fourth threshold, the radar housing status is abnormal, and the process proceeds to S517. In S517, the detection device updates the radar housing status to "Change Exceeds Limit."

[0098] If the radar housing is abnormal, the detection device can update the status of the radar housing and send an alarm to the radar's associated controller. This alarm indicates that the radar housing is abnormal. As shown in Figure 5, when the radar is in the first operating state, after S507, the process can proceed to S506 to alert the controller. Alternatively, when the radar is in the second operating state, after S517, the process can proceed to S513 to alert the controller.

[0099] The controller can update the status of the radar housing based on the alarm information. For example, the controller can set an abnormality signal light associated with the radar. When the controller receives an alarm from the detection device, it can trigger the signal light to light up or flash, etc., to alert maintenance personnel that the radar housing status is abnormal. Maintenance personnel can then inspect and repair the radar housing to reduce the impact of the abnormal housing event on radar accuracy. Optionally, if the radar housing status is normal, the detection device can also instruct the controller to update the radar housing status, such as updating the detection time of the housing status.

[0100] In addition, the second usage state may be associated with a third threshold value, which is less than the second threshold value. When the radar is in the second usage state, the detection device may compare the offset with the second threshold value when evaluating the status of the radar housing in S514. If the offset is greater than the third threshold value and less than or equal to the second threshold value, the detection device may instruct the radar to correct the offset using a built-in algorithm to compensate for the offset in the detection results caused by minor changes in the radar housing.

[0101] In an optional embodiment, the detection device may also update the status data of the radar housing based on the evaluation results and transmit the status data to a controller associated with the radar. This status data may include evaluation results of the status of the radar housing when the radar is in different operating states, as shown in S506, S508, S513, S515, and S518 of Figure 5. The controller may output this status data via a human-machine interface (HMI) so that maintenance personnel can implement appropriate repair measures based on the status data, such as replacing or repairing the housing. Alternatively, the detection device may be associated with an HMI and output the status data via the HMI so that maintenance personnel can implement appropriate repair measures based on the status data.

[0102] For example, the radar's field of view can be divided into M*N angle intervals, where M and N are integers greater than or equal to 1, M represents the number of vertical angle intervals, and N represents the number of horizontal angle intervals. The target angle acquired by the detection device in S410 can belong to any of the M*N angle intervals. The status data may include evaluation results of the radar housing status when the radar is in different usage states. As shown in Table 1 below, the status data may include evaluation results of the radar housing status when the radar is in a first usage state, or include evaluation results of the radar housing status when the radar is in a second usage state.

[0103] Optionally, the detection device can also evaluate the offset of each angle interval to quantitatively determine the affected angle interval and the degree of impact. As shown in Table 1, the status data can also include at least one of the following information for each angle interval: the offset of the angle measurement deviation value; the confidence level of the offset of the angle measurement deviation value; and an angle interval annotation, represented as first indication information, indicating / annotating whether the offset of the angle measurement deviation value corresponding to the angle interval is abnormal.

[0104] Table 1

[0105] When the detection device implements the above S440, when the radar is in the first use state, if the offset of the angle measurement deviation value in each angle interval meets the requirements of the factory specifications, then the shell specifications are considered to be up to standard. If the offset of the angle measurement deviation value in one or some angle intervals does not meet the requirements of the factory specifications, then the shell is considered to be substandard. At this time, the detection device can report the current status data of the radar to the control associated with the radar according to the type and value range of each element shown in Table 1, so as to synchronously update the angle interval with abnormalities, the offset of the angle measurement deviation value corresponding to the abnormal angle interval, and the confidence level of the offset of the angle measurement deviation value corresponding to the abnormal angle interval on the controller side. Among them, the "angle interval label" can be a Boolean (bool) two-dimensional array of size M*N, where M and N represent the number of angle intervals divided by the vertical and horizontal FOV of the radar, respectively. The normal angle interval is assigned a value of 0, and the abnormal angle interval is assigned a value of 1. "Interval offset" and "Interval confidence" are two-dimensional floating-point arrays of size M*N, representing the offset of the angle measurement deviation introduced by the radar housing status in each angle interval and the confidence level of the angle interval anomaly assessment.

[0106] Similarly, when the radar is in its second operational state, if the offset of the angle measurement deviation values ​​in each angle interval is small, for example, less than or equal to the third threshold value, the radar housing state change is considered minor and its impact on radar accuracy is within an acceptable range. If the offset of the angle measurement deviation values ​​in a particular angle interval or certain angle intervals is greater than the third threshold value and less than or equal to the second threshold value, indicating that the radar housing state has changed but the impact of this change on radar accuracy can be eliminated through correction, the detection device can report the radar's current state data to the radar-associated control according to the type and value range of each information element shown in Table 1, so that the controller can synchronously update the offset of the angle measurement deviation values ​​corresponding to each angle interval, as well as the confidence level of the offset of the angle measurement deviation values ​​corresponding to each angle interval. Simultaneously, the detection device can also instruct the radar to correct the offset. If the offset of the angle measurement deviation value in each angle interval is greater than the second threshold value, that is, the state of the radar shell changes and exceeds the upper limit of the correction capability, the detection device can report the current status data of the radar to the radar-associated control according to the type and value range of each information element shown in Table 1, so as to synchronously update the angle interval with abnormalities, the offset of the angle measurement deviation value corresponding to the abnormal angle interval, and the confidence level of the offset of the angle measurement deviation value corresponding to the abnormal angle interval on the controller side.

[0107] As shown in FIG6C , taking an offset greater than 0.5 as an example, FIG6C shows an abnormality in the target angle range of -30° to 50°, that is, the position of the radar housing corresponding to the angle range has a relatively obvious change, such as a scratch.

[0108] Taking a radar installed on a vehicle as an example, the radar-associated controller can be an MDC. After receiving an alarm prompt from the detection device, the MDC can upload the status data of the radar housing via the high-definition multimedia interface (HDMI) to the display screen of the vehicle terminal (such as the central control screen). The display size of the display screen is M*N grids, with the horizontal axis representing the horizontal field of view angle dimension of the radar and the vertical axis representing the vertical field of view angle dimension of the radar. Based on the abnormal angle interval and interval confidence results in the data interface, the grid corresponding to the abnormal angle interval can be marked on the corresponding grid. Accordingly, the vehicle owner can know that the status of the radar housing is abnormal based on the content output on the central control screen and that manual intervention is required to repair it.

[0109] For example, as shown in FIG7 , the horizontal direction of the display screen corresponds to the horizontal FOV, and the vertical direction corresponds to the vertical FOV. M*N grids can be displayed on the display screen. Abnormal angle intervals can be marked with red highlighted rectangular frames, while normal angle intervals do not need to be highlighted.

[0110] Through this method, the detection device is able to detect the status of the radar casing. It can promptly detect and report any abnormal events affecting the radar's measurement capabilities, allowing for early repair of the radar casing and reducing the impact of these abnormalities on radar accuracy. This helps ensure the reliability of radar sensing and intelligent driving functions in the automotive field. Furthermore, the angle range where the abnormality occurs is explicitly displayed on the screen, allowing for quick location of the abnormality and improving maintenance efficiency.

[0111] It is understandable that in order to realize the functions in the above examples, the radar, detection device and radar-related controller include hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the modules and method steps of each example described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0112] Based on the above content and the same concept, Figure 8 is a schematic diagram of the structure of the communication device provided by this application. The detection device can be used to implement the functions implemented by the detection device or controller or HMI in the above method embodiment, and can also achieve the beneficial effects of the above method embodiment.

[0113] As shown in Figure 8 , the communication device 800 may include an acquisition unit 801, a determination unit 802, and an evaluation unit 803. When the communication device 800 is used to implement the functions of the aforementioned detection device, the acquisition unit 801 is configured to acquire the target angle measured by the radar; acquire a first angle measurement deviation value corresponding to the target angle; the determination unit 802 is configured to determine an offset between the first angle measurement deviation value and a reference angle measurement deviation value corresponding to the target angle; and the evaluation unit 803 is configured to evaluate the radar housing status based on the offset. For specific implementation methods, please refer to the method steps implemented by the detection device in the aforementioned method embodiment, and will not be repeated here.

[0114] It should be understood that the division of the various units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into a physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the various units of the device, where the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units by designing the logical relationship of the components in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units. All units of the above devices can be implemented in the form of software called by the processor, or in the form of hardware circuits, or in part by software called by the processor, and the rest by hardware circuits.

[0115] In an embodiment of the present application, a processor is a circuit with a signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a CPU, a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0116] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0117] In addition, the various units in the above devices can be fully or partially integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the device. The type of the at least one processor can be different, for example, including a CPU and FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0118] In a simple embodiment, those skilled in the art can imagine that the communication devices in the above embodiments may all adopt the form shown in FIG. 9 .

[0119] The apparatus 900 shown in FIG9 includes at least one processor 910 and a communication interface 930. In an optional design, a memory 920 may also be included.

[0120] The embodiment of the present application does not limit the specific connection medium between the processor 910 and the memory 920.

[0121] In the apparatus shown in FIG. 9 , the processor 910 may transmit data through the communication interface 930 when communicating with other devices.

[0122] When the communication device adopts the form shown in FIG. 9 , the processor 910 in FIG. 9 can call the computer-executable instructions stored in the memory 920 so that the device 900 can execute any of the above method embodiments.

[0123] An embodiment of the present application also relates to a chip system, which includes a processor for calling a computer program or computer instructions stored in a memory so that the processor executes the method of any of the above embodiments.

[0124] In a possible implementation, the processor may be coupled to the memory through an interface.

[0125] In a possible implementation, the chip system may also directly include a memory, in which a computer program or computer instructions are stored.

[0126] For example, the memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0127] An embodiment of the present application further relates to a processor, which is used to call a computer program or computer instruction stored in a memory so that the processor executes the method described in any of the above embodiments.

[0128] For example, in the embodiments of the present application, the processor is an integrated circuit chip with signal processing capabilities. For example, the processor can be an FPGA, a general-purpose processor, a DSP, an ASIC or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a system on chip (SoC), a CPU, a network processor (NP), a microcontroller unit (MCU), a PLD or other integrated chip, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0129] It should be understood that the embodiments of the present application may be provided as methods, systems, or computer program products.

[0130] In one possible implementation, an embodiment of the present application provides a computer-readable storage medium, which stores program code. When the program code runs on the computer, the computer executes the above method embodiment.

[0131] In a possible implementation, an embodiment of the present application provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above method embodiment.

[0132] Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0135] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these changes and variations. In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

Claims

1. A method for detecting the status of a radar housing, characterized in that: The method comprises: Obtaining a target angle measured by the radar; Obtaining a first angle measurement deviation value corresponding to the target angle; determining an offset of the first angle measurement deviation value compared to a reference angle measurement deviation value corresponding to the target angle; A housing status of the radar is evaluated based on the offset.

2. The method according to claim 1, characterized in that The method further comprises: determining an operational state of the radar; The usage status includes a first usage status and a second usage status, the first usage status includes: the usage time of the radar is less than or equal to a first threshold, or, if the radar is installed on a vehicle, the first usage status includes: the mileage of the vehicle is less than or equal to a second threshold; The second usage status includes: the usage time of the radar is greater than the first threshold; or, if the radar is installed on a vehicle, the second usage status includes: the mileage of the vehicle is greater than the second threshold.

3. The method according to claim 2, characterized in that When the radar is in the first use state, the reference angle measurement deviation value is an initial value preset according to the housing specifications of the radar; When the radar is in the second usage state, the reference angle measurement deviation value is the angle measurement deviation value calculated when the radar is in the first usage state.

4. The method according to claim 2 or 3, characterized in that The first usage state is associated with a first threshold value, the second usage state is associated with a second threshold value, and the evaluating the housing state of the radar according to the offset includes: When the radar is in the first use state, if the offset is greater than the first threshold value, the housing state of the radar is abnormal; or, When the radar is in the second usage state, if the offset is greater than the second threshold value, the housing state of the radar is abnormal.

5. The method according to claim 4, characterized in that The method further comprises: Obtaining a confidence level of the offset, where the confidence level is used to characterize a degree of credibility of the offset; If the offset is greater than the first threshold value, then the housing state of the radar is abnormal, including: If the offset is greater than the first threshold value and the confidence level of the offset is greater than or equal to a third threshold value, then the housing state of the radar is abnormal; If the offset is greater than the second threshold value, then the housing state of the radar is abnormal, including: If the offset is greater than the second threshold value and the confidence level of the offset is greater than or equal to a fourth threshold value, the housing state of the radar is abnormal.

6. The method according to any one of claims 2 to 5, characterized in that The second usage state is further associated with a third threshold value, and the third threshold value is smaller than the second threshold value. The method further includes: When the radar is in the second use state, if the offset is greater than the third threshold value and less than or equal to the second threshold value, the offset is corrected.

7. The method according to any one of claims 2 to 6, characterized in that The method further comprises: If the outer shell of the radar is in an abnormal state, an alarm message is sent to a controller associated with the radar, where the alarm message is used to indicate that the outer shell of the radar is in an abnormal state.

8. The method according to any one of claims 2 to 7, characterized in that The method further comprises: Status data is sent to a controller associated with the radar, the status data including evaluation results of the status of the housing of the radar when the radar is in different usage states.

9. The method according to claim 8, characterized in that The radar's field of view includes M*N angle intervals, where M and N are integers greater than or equal to 1. The target angle belongs to any angle interval in the M*N angle intervals. The status data includes at least one of the following information corresponding to each angle interval: The offset of the angle measurement deviation value; Confidence level of the offset of the angle measurement deviation value; The first indication information indicates whether the offset of the angle measurement deviation value corresponding to the angle interval is abnormal.

10. The method according to claim 8 or 9, characterized in that If the radar is installed on a vehicle, the method further includes: The status data is outputted via a human-machine interface HMI associated with the vehicle.

11. The method according to claim 10, characterized in that: The radar includes a vehicle-mounted millimeter-wave radar.

12. The method according to any one of claims 2 to 11, characterized in that The determining the usage status of the radar includes: receiving second indication information from a controller associated with the radar, where the second indication information indicates the usage status of the radar.

13. A method for detecting the status of a radar housing, characterized in that: Applied to a human-machine interface (HMI), the method includes: Receive status data of a radar, wherein the radar field of view includes M*N angle intervals, where M and N are integers greater than or equal to 1, and the status data includes at least one of the following information corresponding to each angle interval: an offset of an angle measurement deviation value; a confidence level of the offset of the angle measurement deviation value; and first indication information indicating whether the offset of the angle measurement deviation value corresponding to the angle interval is abnormal; The status data is output.

14. The method according to claim 13, characterized in that The display interface of the HMI includes a plurality of grids, each grid corresponding to an angle interval, and the outputting of the status data includes: According to the status data, grids corresponding to angle intervals where the offset of the angle measurement deviation value is abnormal are marked on the display interface of the HMI in a highlighted manner.

15. The method according to claim 13 or 14, characterized in that If the radar is installed on a vehicle, the HMI includes a display screen of an onboard terminal of the vehicle, or includes a display screen of a mobile terminal of a user of the vehicle.

16. A communication device, characterized in that: include: a communication interface for communicating with other devices; A processor, coupled to the communication interface, causes the communication device to perform the method according to any one of claims 1 to 12, or causes the communication device to perform the method according to any one of claims 13 to 15.

17. A communication system, characterized in that: The invention comprises a radar and a detection device, wherein the detection device is used to implement the method according to any one of claims 1 to 12.

18. The system according to claim 17, wherein: It also includes a human-machine interface HMI, which is used to implement the method according to any one of claims 13 to 15.

19. A chip system, characterized in that: It includes at least one processor and an interface circuit, wherein the processor is used to execute instructions and / or data interaction through the interface circuit, so that the chip system executes the method described in any one of claims 1-12, or the chip system executes the method described in any one of claims 13-15.

20. A vehicle, characterized in that: Includes the communication device according to claim 16, or includes the communication system according to any one of claims 17-18, or includes the chip system according to claim 19.

21. A computer-readable storage medium, characterized in that The method comprises a program or an instruction. When the program or the instruction is executed, the method according to any one of claims 1 to 12 is executed, or the method according to any one of claims 13 to 15 is executed.

22. A computer program product, characterized in that When a computer reads and executes the computer program product, the computer is enabled to execute the method according to any one of claims 1 to 12, or execute the method according to any one of claims 13 to 15.

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