Radar occlusion detection method and related product

Abstract

A radar occlusion detection method and a related product, applied to the technical field of radars. In the present application, a detection area of a first radar and a detection area of a second radar each comprise a first FOV; information of a first echo received by a radar occlusion detection apparatus within a first time period is used for indicating a first energy reflection feature value of a first detected object within the first FOV; and information of a second echo received by the radar occlusion detection apparatus within the first time period is used for indicating a second energy reflection feature value of the first detected object. When the first energy reflection feature value is less than the second energy reflection feature value, and a first difference between the second energy reflection feature value and the first energy reflection feature value is greater than a first threshold, the radar occlusion detection apparatus determines that the first radar is occluded. Therefore, the interference on radar occlusion detection caused by the reflection intensity of electromagnetic waves emitted by the radar by the detected object can be reduced, thereby improving the accuracy of the radar occlusion detection.

Description

A radar obstruction detection method and related products Technical Field

[0001] This application relates to the field of radar technology, and in particular to a radar obstruction detection method and related products. Background Technology

[0002] In the field of modern radar technology applications, the reliable operation and accurate detection of radar play a decisive role in many key tasks. Among them, radar obstruction detection is an important aspect of ensuring the normal functioning of radar.

[0003] The current approach to detecting whether a radar is blocked is as follows: first, determine the energy of the radar echo signal received by the radar. If the energy is greater than a threshold, it is determined that the radar is not blocked; if the energy is less than or equal to the threshold, it is determined that the radar is blocked.

[0004] However, when a target with high reflection intensity of the radar's emitted electromagnetic waves exists within the radar's field of view (FOV), even if the radar is obstructed, the energy of the received echo will still exceed a threshold, leading to missed cases of radar obstruction. Conversely, when a target with low reflection intensity exists within the radar's FOV, even if the radar is not obstructed, the energy of the received echo will be less than or equal to a threshold, causing the radar to be falsely identified as obstructed. In other words, the current method has low accuracy in detecting radar obstruction. Summary of the Invention

[0005] This application provides a radar obstruction detection method and related products to improve the accuracy of detecting radar obstruction.

[0006] In a first aspect, embodiments of this application provide a radar obstruction detection method. This method includes: acquiring information about a first echo received by a first radar within a first time period and information about a second echo received by a second radar within the same time period. The detection areas of both the first and second radars include a first field of view (FOV). The information from the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information from the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold, it is determined that the first radar is obstructed.

[0007] In the first aspect, the radar obstruction detection method is implemented by a radar obstruction detection device. The radar obstruction detection device can be any electronic device capable of processing radar echoes. Optionally, the radar obstruction detection device can be one of the following: a digital signal processor (DSP), a field-programmable gate array (FPGA), a central processing unit (CPU), a microcontroller unit (MCU), an intelligent driving domain controller, or the main radar in a radar system.

[0008] Since the detection areas of the first radar and the second radar both include the first field of view (FOV), and the first target is an object within the first FOV, both the first radar and the second radar can detect the first target. Specifically, both the first radar and the second radar can detect the first target by emitting electromagnetic waves toward it and receiving the echoes reflected back from the target. Based on the information from the received echoes, they can determine the information of the first target (including range, azimuth, altitude, etc.).

[0009] The echo information is used to indicate the energy reflection characteristic value of the first detected object. The energy reflection characteristic value characterizes the energy of the echo reflected by the first detected object. Optionally, the energy reflection characteristic value includes the radar cross section (RCS) of the first detected object to the electromagnetic waves emitted by the radar, and the energy of the echo reflected by the first detected object. When the first detected object includes a point cloud cluster from the radar output, the RCS of the first detected object can be one of the following: the mean RCS of the points in the point cloud cluster, the maximum RCS of the points in the point cloud cluster, the minimum RCS of the points in the point cloud cluster, or the median RCS of the points in the point cloud cluster. When the first detected object includes a target detected by the radar, the RCS of the first detected object includes the RCS of the detected target. When the radar outputs radar data, including a radar data map (RDmap), by processing the received echoes, and the first detection target includes a region in the RDmap, the energy of the echo reflected by the first detection target includes one of the following: the mean energy of points in the region, the extreme energy of points in the region, the median energy of points in the region, the mean energy of sub-regions of the region, and the extreme energy of sub-regions of the region. For example, if the detection target includes a guardrail region in the RDmap, where the guardrail region is the area with guardrails in a road, the energy of the echo reflected by the first detection target includes one of the following: the mean energy of points in the guardrail region, the extreme energy of points in the guardrail region, the median energy of points in the guardrail region, the mean energy of sub-regions within the guardrail region, and the extreme energy of sub-regions within the guardrail region.

[0010] Optionally, after acquiring radar data, the radar obstruction detection device determines the echo information based on the radar data, wherein the radar data includes point clouds, radar-detected targets, and RDmaps. Alternatively, after acquiring data including echo information, the radar obstruction detection device determines the echo information based on that data; for example, after acquiring parameters including echo information, the radar obstruction detection device determines the echo information based on those parameters.

[0011] The echo reflected by the first target object received by the first radar within a first time period is designated as the first echo, and the echo reflected by the first target object received by the second radar within the same time period is designated as the second echo. In other words, the first echo and the second echo are the echoes reflected by the first target object received by the first radar and the second radar respectively within the same time period. The information from the first echo is used to indicate the first energy reflection characteristic value of the first target object, and the information from the second echo is used to indicate the second energy reflection characteristic value of the first target object.

[0012] Since radar obstruction reduces the energy reflection characteristic value of the target object, a significant difference between the first and second energy reflection characteristic values ​​indicates that one of the first and second radars is obstructed, and the energy reflection characteristic value corresponding to the obstructed radar should be even smaller. Therefore, the radar obstruction detection device uses a first threshold to determine whether the first difference between the second and first energy reflection characteristic values ​​is large or small. Specifically, if the first difference is greater than the first threshold, it indicates a large difference, thus confirming the presence of an obstructed radar. Thus, when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold, the radar obstruction detection device determines that the first radar is obstructed. This reduces the interference of the target object's reflection intensity of electromagnetic waves emitted by the radar on the detection of radar obstruction, thereby improving the accuracy of radar obstruction detection.

[0013] Optionally, the factors leading to the first difference include not only radar obstruction but also non-obstruction factors. Non-obstruction factors include: the energy of the electromagnetic wave emitted by the first radar towards the first target differs from the energy of the electromagnetic wave emitted by the second radar towards the first target; the distances between the first and second radars and the first target differ; the gain of the antennas of the first and second radars differs; and the reflection intensity of the electromagnetic wave emitted by the first radar from the first target differs from the reflection intensity of the electromagnetic wave emitted by the second radar from the first target. The first difference caused by both radar obstruction and non-obstruction factors is larger than the first difference caused solely by radar obstruction. Therefore, when determining whether radar obstruction is determined by a first threshold (whether the first difference is large or small), the value of the first threshold can be determined based on the factors leading to the first difference. Optionally, the first threshold when non-obstruction factors are included in the factors leading to the first difference is larger than the first threshold when non-obstruction factors are not included in the factors leading to the first difference.

[0014] In some scenarios, non-obstruction factors include the difference between the reflection intensity of the electromagnetic waves emitted by the first radar and the reflection intensity of the electromagnetic waves emitted by the first radar from the first detection object. If this non-obstruction factor is included as a factor causing the first difference, the first difference may be large even if neither the first nor the second radar is obstructed. If the first radar is obstructed, the first difference will further increase. Optionally, if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the difference between the reflection intensity of the electromagnetic waves emitted by the first radar and the reflection intensity of the electromagnetic waves emitted by the first radar from the first detection object and the reflection intensity of the electromagnetic waves emitted by the second radar from the first detection object includes the reflection intensity of the electromagnetic waves emitted by the first radar from the first detection object being smaller than the reflection intensity of the electromagnetic waves emitted by the first radar from the second detection object.

[0015] Optionally, if the factors causing the first difference do not include non-obstruction factors, the first value is determined to be a first threshold. If the factors causing the first difference include non-obstruction factors, the first threshold is obtained by increasing the first value, wherein the number of non-obstruction factors is positively correlated with the increase in the first value. For example, if the radar obstruction detection device determines that the factors causing the first difference include non-obstruction factors, it determines the increase in the first value based on the number of non-obstruction factors, and increases the first value based on this increase to obtain the first threshold. In this way, the first value can be used as a reference value, and the value of the first threshold can be determined based on the factors causing the first difference and the reference value.

[0016] In one possible implementation, the greater the degree of obstruction of the first radar, the greater the difference between the first energy reflection characteristic value and the second energy reflection characteristic value. Therefore, the radar obstruction detection method further includes: when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than a first threshold, determining the degree of obstruction of the first radar based on the magnitude of the first difference, wherein the magnitude of the first difference is positively correlated with the degree of obstruction of the first radar. This allows for the quantification of the degree of obstruction of the first radar.

[0017] In one possible implementation, the radar obstruction detection method further includes: determining the obstruction state of the first radar based on information from a third echo received by the first radar when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is less than or equal to a first threshold, wherein the information from the third echo is used to indicate the energy reflection characteristic value of the object being detected within the detection area of ​​the first radar.

[0018] In this implementation, a first difference less than or equal to a first threshold indicates that the first energy reflection characteristic value and the second energy reflection characteristic value differ little. In this case, it is difficult to determine the blocking state of the first radar and the second radar based on the first difference. Therefore, the blocking state of the first radar is determined based on the information from the third echo received by the first radar, thereby achieving the determination of the blocking state of the radar based on the echo information received by a single radar.

[0019] In one possible implementation, the radar obstruction detection method further includes: determining that the second radar is obstructed if a first energy reflection characteristic value is less than a second energy reflection characteristic value, a first difference is less than or equal to a first threshold, and the first radar is obstructed; and determining that the second radar is not obstructed if the first energy reflection characteristic value is less than the second energy reflection characteristic value, a first difference is less than or equal to the first threshold, and the first radar is not obstructed.

[0020] In this embodiment, a smaller first difference indicates a higher probability that the first radar's obstruction state is the same as the second radar's obstruction state. Therefore, the radar obstruction detection device determines that the second radar is obstructed if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is obstructed. Conversely, it determines that the second radar is not obstructed if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is not obstructed. Thus, by determining the obstruction state of either the first or second radar, the obstruction states of both radars can be determined, thereby improving the efficiency of determining the obstruction states of both radars.

[0021] In one possible implementation, the radar obstruction detection method further includes: acquiring information of a fourth echo received by a third radar within a first time period, wherein the detection area of ​​the third radar includes a first field of view (FOV), and the information of the fourth echo is used to indicate a third energy reflection characteristic value of a first detection object within the first FOV, wherein the third energy reflection characteristic value is greater than the first energy reflection characteristic value, and the difference between the third energy reflection characteristic value and the first energy reflection characteristic value is a second difference value, wherein the second difference value is less than the first difference value.

[0022] In this embodiment, there is an intersection between the detection areas of the first radar, the second radar, and the third radar; this intersection constitutes the first field of view (FOV). The echo reflected by the first detected object received by the third radar within a first time period is the fourth echo, and the information in the fourth echo indicates the third energy reflection characteristic value of the first detected object. The difference between the third energy reflection characteristic value and the first energy reflection characteristic value is the second difference, which is less than the first difference. In this first aspect, the radar obstruction detection device determines that the first radar is obstructed based on the first difference and a first threshold, thereby improving the accuracy of detecting obstruction of the first radar.

[0023] In one possible implementation, the first difference includes the difference in energy reflection characteristic values ​​due to obstruction. Thus, if the first difference is greater than or equal to a first threshold, it can be determined that the first radar is obstructed, thereby reducing interference from non-obstruction factors and improving the accuracy of detecting obstruction of the first radar.

[0024] In one possible implementation, the radar obstruction detection device is connected to a control module, and the two devices can transmit data through this connection. The control module is an electronic device distinct from both the first and second radars. The radar obstruction detection method further includes sending obstruction data to the control module. This obstruction data includes a first status indication indicating that the first radar is obstructed. The first status indication includes plaintext information and an identifier; for example, it may include plaintext information indicating that the first radar is obstructed, or it may include an identifier indicating that the first radar is obstructed. By sending the obstruction data, the radar obstruction detection device enables the control module to obtain information that the first radar is obstructed. Optionally, the radar obstruction detection device is the main radar in a radar system. For example, if the radar system includes a first radar and a second radar, and the main radar is the first radar, then the radar obstruction detection device is the first radar. In this case, after determining that the first radar is obstructed, the main radar sends the obstruction data to the control module, enabling the control module to obtain information that the first radar is obstructed.

[0025] In one possible implementation, the radar obstruction detection method further includes: sending obstruction data to a second radar, wherein the obstruction data includes a first state indication for indicating that the first radar is obstructed.

[0026] In this embodiment, the radar obstruction detection device is an electronic device different from the first radar and the second radar. In this case, the radar obstruction detection device sends obstruction data to the second radar, enabling the second radar to obtain information that the first radar is obstructed.

[0027] In one possible implementation, the first state indication is also used to instruct the second radar to perform beamforming within the first FOV. By instructing the second radar to perform beamforming within the first FOV, the second radar can enhance its detection capability of the first target, thereby compensating for the attenuation of the first radar's detection capability of the first target due to obstruction.

[0028] In one possible implementation, the radar obstruction detection method further includes: outputting obstruction-related information of the radar system to which the first radar belongs, based on the degree to which the first radar is obstructed and / or the obstruction of the first radar, wherein the obstruction-related information of the radar system to which the first radar belongs is related to the state information of the first radar, and the obstruction-related information is used to indicate the obstruction state of the radar system.

[0029] In one possible implementation, the obstruction-related information includes at least one of the following: the obstruction status of the radar in the radar system, the confidence level of the obstruction status of the radar in the radar system, and whether the information output by the radar system is available.

[0030] In this implementation, the radar obstruction state of the radar system includes whether each radar in the radar system is obstructed. The confidence level of the radar obstruction state in the radar system characterizes the reliability of the radar obstruction state. Whether the information output by the radar system is usable includes whether the information output by the radar system is available or unavailable, wherein the information output by the radar system includes the information output by the radar system itself, the information after fusion of the information output by the radar system, and the detection results of the radar system. The availability of the information output by the radar system indicates that the information output by the radar system can be used by downstream tasks, and the unavailability of the information output by the radar system indicates that the information output by the radar system cannot be used by downstream tasks. In one possible scenario, all radars in the radar system are installed on the vehicle, and the downstream task includes determining the vehicle's driving strategy based on the information output by the radar system. Since the obstruction of radars in the radar system may cause the information output by the radar system to fail to meet the needs of downstream tasks, thus making the information output by the radar system unusable by downstream tasks, the radar obstruction detection device can determine whether the information output by the radar system is usable based on the obstruction state of the radars in the radar system.

[0031] In one possible implementation, after determining the degree to which the first radar is blocked, the radar blocking detection method further includes outputting information including the degree of blocking.

[0032] In one possible scenario, the first radar is a radar installed on a vehicle, and the radar obstruction detection device outputs information including the degree of obstruction in at least one of the following ways: sending information including the degree of obstruction to a processor used to run advanced driver assistance systems (ADAS); displaying information including the degree of obstruction through the vehicle's on-board terminal; displaying information including the degree of obstruction through the vehicle's dashboard; outputting information including the degree of obstruction through voice prompts; outputting information including the degree of obstruction through vibration; or outputting information including the degree of obstruction through low-current stimulation released by the seat.

[0033] In one possible implementation, the first detection target is determined by identifying the overlapping area between a first point cloud output by a first radar and a second point cloud output by a second radar.

[0034] In this embodiment, both the radar data output by the first radar and the radar data output by the second radar include point clouds. In this case, the first detection target can be determined by identifying the overlapping area of ​​the first point cloud and the second point cloud.

[0035] In one possible implementation, the radar data output by the first radar includes targets detected by the first radar (such as targets tracked by the first radar), and the first detection object includes the targets detected by the first radar.

[0036] In this embodiment, both the radar data output by the first radar and the radar data output by the second radar include the target being detected. In this case, the first detection target can be determined by identifying the common target among the targets detected by both radars.

[0037] In one possible implementation, the position of the first detection object in the first RDmap output by the first radar is the first position.

[0038] In this embodiment, the position of the first detection object in the detection area of ​​the first radar is fixed, and the first RDmap is obtained by detecting the detection area of ​​the first radar. Therefore, the position of the first detection object in the first RDmap is also fixed. Specifically, the position of the first detection object in the first RDmap is the first position.

[0039] Secondly, a radar system obstruction detection method is provided. This method includes: acquiring the obstruction state of the radars in the radar system and the detection requirements of the radar system. If, based on the obstruction state of the radars in the radar system, it is determined that the radar system does not meet the detection requirements, then the radar system is determined to be obstructed. If, based on the obstruction state of the radars in the radar system, it is determined that the radar system meets the detection requirements, then the radar system is determined not to be obstructed.

[0040] In the second aspect, the entity executing the radar system obstruction detection method is a radar system obstruction detection device. The radar system obstruction detection device can be any electronic device capable of processing the echo received by the radar. Optionally, the radar system obstruction detection device can be one of the following: DSP, FPGA, CPU, MCU, intelligent driving domain controller, or the main radar in the radar system. In one possible implementation, the radar system obstruction detection device is an electronic device different from the radars in the radar system. In another possible implementation, the radar obstruction detection device can be a module within the radar of the radar system.

[0041] The obstruction status of radars in a radar system includes whether a radar in the radar system is obstructed or not. Detection requirements can characterize the detection requirements for a radar system. For example, detection requirements may include a resolution greater than or equal to a resolution threshold, or a detection requirement may include an energy reflection characteristic value of the target object greater than or equal to an energy reflection characteristic value threshold, or a detection requirement may include a detection requirement that the proportion of obstructed radars in the radar system is less than an obstruction threshold.

[0042] Since radar obstruction in a radar system can prevent the system from meeting detection requirements, a radar system obstruction detection device can determine whether the radar system meets the detection requirements based on the obstruction status of the radar within the system. If the radar system does not meet the detection requirements, it indicates that the system is obstructed, thus confirming that the radar system is obstructed. Conversely, if the radar system meets the detection requirements, it indicates that the system is not obstructed, thus confirming that the radar system is not obstructed. Therefore, if the radar system's obstruction status determines that it does not meet the detection requirements, it is determined that the radar system is obstructed. Conversely, if the radar system's obstruction status determines that it meets the detection requirements, it is determined that the radar system is not obstructed. This process effectively determines the radar system's obstruction status.

[0043] In one possible implementation, determining that the radar system is blocked when the radar system does not meet the detection requirements based on the blocking status of the radar in the radar system includes: determining that the radar system is blocked when the radar system does not meet the detection requirements based on the blocking status of the radar in the radar system and fused radar data, wherein the fused radar data is obtained by fusing radar data output by the radar in the radar system.

[0044] Fusion radar data is obtained by fusing radar data output from radars within a radar system. Therefore, fused radar data can be used as a basis for determining whether a radar system meets detection requirements. In this implementation, if the radar system is determined to be unresponsive to detection requirements based on the radar's obstruction status and the fused radar data, it can be determined that the radar system is obstructed, thereby improving the accuracy of detecting radar system obstruction.

[0045] In one possible implementation, determining that the radar system is not blocked when the radar system meets the detection requirements based on the radar blockage status in the radar system includes: determining that the radar system is not blocked when the radar system meets the detection requirements based on the radar blockage status in the radar system and fused radar data, wherein the fused radar data is obtained by fusing radar data output by the radars in the radar system.

[0046] Fusion radar data is obtained by fusing radar data output from radars within a radar system. Therefore, fusion radar data can be used as a basis for determining whether a radar system meets detection requirements. In this implementation, if the radar system meets detection requirements based on its obstruction status and fusion radar data, it can be determined that the radar system is not obstructed, thereby improving the accuracy of detecting that the radar system is not obstructed.

[0047] In one possible implementation, obtaining the blocking status of the radar in the radar system includes: obtaining information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system, wherein the detection area of ​​the first radar and the detection area of ​​the second radar both include a first field of view (FOV), the information of the first echo is used to indicate a first energy reflection characteristic value of a first detection object within the first FOV, and the information of the second echo is used to indicate a second energy reflection characteristic value of the first detection object within the first FOV.

[0048] In this embodiment, since the detection areas of the first radar and the second radar include the first field of view (FOV), and the first target is a target within the first FOV, both the first radar and the second radar can detect the first target. Specifically, both the first radar and the second radar can detect the first target by emitting electromagnetic waves towards it and receiving the echoes reflected back by the target. Based on the information from the received echoes, they can determine the information of the first target (including range, azimuth, altitude, etc.). The echo received by the first radar from the target within a first time period is the first echo, and the echo received by the second radar within the same time period is the second echo. That is, the first echo and the second echo are the echoes reflected back by the target received by the first radar and the second radar respectively within the same time period. The energy reflection characteristic value of the first echo is the first energy reflection characteristic value, and the energy reflection characteristic value of the second echo is the second energy reflection characteristic value.

[0049] Since radar obstruction reduces the energy reflection characteristic value of the target object, a significant difference between the first and second energy reflection characteristic values ​​indicates that one of the first and second radars is obstructed, and the energy reflection characteristic value corresponding to the obstructed radar should be even smaller. Therefore, the radar obstruction detection device uses a first threshold to determine whether the first difference between the second and first energy reflection characteristic values ​​is large or small. Specifically, if the first difference is greater than the first threshold, it indicates a large difference, thus confirming the presence of an obstructed radar. Thus, when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold, the radar obstruction detection device determines that the first radar is obstructed. This reduces the interference of the target object's reflection intensity of electromagnetic waves emitted by the radar on the detection of radar obstruction, thereby improving the accuracy of radar obstruction detection.

[0050] In one possible implementation, obtaining the obstruction status of a radar in a radar system includes: obtaining information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system. The detection areas of both the first and second radars include a first field of view (FOV). The information from the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information from the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold, the degree of obstruction of the first radar is determined based on the magnitude of the first difference, wherein the magnitude of the first difference is positively correlated with the degree of obstruction of the first radar. This allows for the quantification of the degree of obstruction of the first radar.

[0051] In one possible implementation, obtaining the blocking state of a radar in a radar system includes: obtaining information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system. The detection areas of both the first and second radars include a first field of view (FOV). The information from the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information from the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold, the blocking state of the first radar is determined based on information from a third echo received by the first radar, wherein the information from the third echo is used to indicate the energy reflection characteristic value of a detected object within the detection area of ​​the first radar.

[0052] In this implementation, a first difference less than or equal to a first threshold indicates that the first energy reflection characteristic value and the second energy reflection characteristic value differ little. In this case, it is difficult to determine the blocking state of the first radar and the second radar based on the first difference. Therefore, the blocking state of the first radar is determined based on the information from the third echo received by the first radar, thereby achieving the determination of the blocking state of the radar based on the echo information received by a single radar.

[0053] Thirdly, embodiments of this application provide a radar obstruction detection device, which includes a unit that performs the first aspect or any one of the embodiments described above.

[0054] Fourthly, embodiments of this application provide a radar system obstruction detection device, which includes a unit that performs the second aspect or any one of the embodiments described above.

[0055] Fifthly, embodiments of this application provide a radar obstruction detection device, which includes a processor for executing the unit described in the first aspect or any of the embodiments described in the first aspect.

[0056] In a sixth aspect, embodiments of this application provide a radar system obstruction detection device, which includes a processor for executing the unit described in the second aspect or any of the embodiments described in the second aspect.

[0057] In a seventh aspect, embodiments of this application provide a radar system, which includes a first radar, a second radar, and one of the following: a radar obstruction detection device in the third aspect, a radar obstruction detection device in the fourth aspect, a radar system obstruction detection device in the fifth aspect, and a radar system obstruction detection device in the sixth aspect.

[0058] Eighthly, embodiments of this application provide a vehicle comprising one of the following: the radar obstruction detection device of the third aspect, the radar obstruction detection device of the fourth aspect, the radar system obstruction detection device of the fifth aspect, the radar system obstruction detection device of the sixth aspect, and the radar system of the seventh aspect.

[0059] Ninthly, embodiments of this application provide a computer-readable storage medium for storing a computer program, wherein when the computer program is executed, the first aspect or any one of the embodiments described above is executed, or the second aspect or any one of the embodiments described above is executed.

[0060] In a tenth aspect, embodiments of this application provide a computer program product, which includes computer language code or computer instructions. When the computer program product is executed by a processor, it causes the first aspect or any one of the embodiments described above to be executed, or causes the second aspect or any one of the embodiments described above to be executed. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 is a schematic diagram of an application scenario of a radar detection method provided in an embodiment of this application;

[0063] Figure 2 is a schematic diagram showing the relationship between a radar obstruction detection device and a first radar and a second radar provided in an embodiment of this application;

[0064] Figure 3 is a schematic diagram showing the relationship between another radar obstruction detection device provided in an embodiment of this application and the first radar and the second radar;

[0065] Figure 4 is a flowchart illustrating a radar obstruction detection method provided in an embodiment of this application;

[0066] Figure 5 is a schematic diagram of an application scenario for another radar detection method provided in the embodiments of this application;

[0067] Figure 6 is a schematic diagram of a first radar, a second radar, and a third radar installed on a vehicle according to an embodiment of this application;

[0068] Figure 7 is a schematic diagram of the first radar in Figure 6 being blocked, provided by an embodiment of this application;

[0069] Figure 8 is a flowchart illustrating another radar obstruction detection method provided in an embodiment of this application;

[0070] Figure 9 is a flowchart illustrating another radar obstruction detection method provided in an embodiment of this application;

[0071] Figure 10 is a flowchart illustrating another radar obstruction detection method provided in an embodiment of this application;

[0072] Figure 11 is a schematic flowchart of a radar system obstruction detection method provided in an embodiment of this application;

[0073] Figure 12 is a schematic diagram of a radar obstruction detection device provided in an embodiment of this application;

[0074] Figure 13 is a schematic diagram of the structure of a radar system obstruction detection device provided in an embodiment of this application;

[0075] Figure 14 is a schematic diagram of another radar obstruction detection device provided in an embodiment of this application;

[0076] Figure 15 is a schematic diagram of another radar system obstruction detection device provided in an embodiment of this application. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0078] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0079] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0080] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0081] As described in the background section, current methods for detecting radar obstruction have low accuracy. Therefore, this application provides a radar obstruction detection method to improve the accuracy of radar obstruction detection.

[0082] Please refer to Figure 1, which is a schematic diagram of an application scenario of a radar detection method provided in an embodiment of this application. As shown in Figure 1, the scenario includes a first radar and a second radar. Both the first radar and the second radar can be any radar. Optionally, the radar in this embodiment includes: millimeter-wave radar, lidar (light detection and ranging, LiDAR), and ultra-wideband (UWB) radar. The intersection between the detection area of ​​the first radar and the detection area of ​​the second radar is the first FOV shown in Figure 1. That is to say, both the first radar and the second radar can detect the first FOV. The detection area of ​​the radar is the area that the radar can detect. Optionally, the detection area of ​​the radar can be the radar's FOV. In Figure 1, the first FOV includes a first detection object, which can be any detection object. For example, the first detection object could be a person, a tree, or a vehicle. Both the first and second radars detect the first target by transmitting electromagnetic waves to it and receiving the echoes reflected back from it. They then determine the target's information (including distance, azimuth, and altitude) based on the echoes.

[0083] Since radar obstruction reduces the energy reflection characteristic value of the target object, a significant difference between the first and second energy reflection characteristic values ​​indicates that one of the radars (first or second) is obstructed, and the energy reflection characteristic value corresponding to the obstructed radar should be even smaller. Therefore, the radar obstruction detection device uses the difference between the first and second energy reflection characteristic values ​​as a basis to determine whether the first or second radar is obstructed. This reduces the interference of the target object's reflection intensity of electromagnetic waves emitted by the radar on the detection of radar obstruction, thereby improving the accuracy of radar obstruction detection.

[0084] The radar obstruction detection device is the main implementer of the radar obstruction detection method. The radar obstruction detection device can be any electronic device capable of processing radar echoes. Optionally, the radar obstruction detection device can be one of the following: DSP, FPGA, CPU, MCU, intelligent driving domain controller, or the main radar in a radar system.

[0085] In one possible implementation, the radar obstruction detection device is an electronic device different from both the first and second radars. For example, the radar obstruction detection device is a DSP or an FPGA that is different from both the first and second radars. Please refer to Figure 2, which is a schematic diagram illustrating the relationship between a radar obstruction detection device and the first and second radars according to an embodiment of this application. As shown in Figure 2, the radar obstruction detection device is an electronic device different from both the first and second radars; that is, the radar obstruction detection device is an electronic device independent of both the first and second radars. The radar obstruction detection device can transmit data with the first and second radars separately. Through this data transmission, the radar obstruction detection device can obtain information about the echoes received by the first and second radars. It can also send information to the first and second radars separately through this data transmission. For example, after determining that the first radar is obstructed using the radar obstruction detection method, the radar obstruction detection device sends a message indicating that the first radar is obstructed to the first radar, or sends a message indicating that the first radar is obstructed to the second radar.

[0086] In another possible implementation, the radar obstruction detection device can be a module within either the first radar or the second radar. For example, the radar obstruction detection device can be a signal processing unit within the first radar, or it can be a signal processing unit within the second radar. The signal processing unit processes the echo received by the first radar. Alternatively, the radar obstruction detection device can be a DSP within the first radar that executes the obstruction detection method, or it can be a DSP within the second radar that executes the obstruction detection method. Please refer to Figure 3, which is a schematic diagram illustrating the relationship between another radar obstruction detection device and the first and second radars according to an embodiment of this application. As shown in Figure 3, the radar obstruction detection device belongs to the first radar, meaning it can be a module within the first radar. Data transmission is possible between the first and second radars. The first radar can obtain the echo received by the second radar through this data transmission. The first radar can also send a message indicating that the second radar is obstructed after the radar obstruction detection device determines that the second radar is obstructed using the radar obstruction detection method. Data transmission is possible between the radar obstruction detection device and the first radar. This data transmission can be between the radar obstruction detection device and the processor of the first radar. The processor of the first radar processes the echo received by the first radar to obtain radar data; for example, the processor of the first radar can obtain a point cloud by processing the echo. The radar obstruction detection device can acquire the point cloud obtained by the first radar through data transmission, and then determine the information of the echo received by the first radar based on this point cloud. Similarly, the radar obstruction detection device can also acquire the point cloud obtained by the second radar after the first radar acquires it, and then determine the information of the echo received by the second radar based on this point cloud. The radar obstruction detection device can also send messages to the first radar through this data transmission. For example, after determining that the second radar is obstructed using the radar obstruction detection method, the radar obstruction detection device sends a message to the first radar indicating that the second radar is obstructed.

[0087] It should be understood that the first radar and the second radar in the embodiments of this application refer to two radars whose detection areas overlap. As can be seen from the application scenario shown in Figure 1, for any two radars whose detection areas overlap, the radar obstruction detection method provided in the embodiments of this application can be used to detect whether the two radars are obstructed, and the accuracy of the detection can be improved.

[0088] The radar obstruction detection method provided in the embodiments of this application will be described in detail below. Please refer to Figure 4, which is a schematic flowchart of a radar obstruction detection method provided in the embodiments of this application.

[0089] 401. Acquire information about the first echo received by the first radar within a first time period and information about the second echo received by the second radar within the first time period, wherein the detection area of ​​the first radar and the detection area of ​​the second radar both include a first field of view (FOV), the information of the first echo is used to indicate the first energy reflection characteristic value of the first detection object within the first FOV, and the information of the second echo is used to indicate the second energy reflection characteristic value of the first detection object within the first FOV.

[0090] In this embodiment, the first detection target is located within the first field of view (FOV). That is, both the first radar and the second radar can detect the first detection target by emitting electromagnetic waves towards it and receiving the echoes reflected by the target. Optionally, the radar obstruction detection device determines the first detection target by matching the first radar data output by the first radar with the second radar data output by the second radar. The first radar data is the detection result of the first radar, which includes information about the detection target within its detection area. The second radar data is the detection result of the second radar, which includes information about the detection target within its detection area.

[0091] In one implementation of object matching, the first radar data includes a first point cloud, and the second radar data includes a second point cloud. The first object to be detected can be identified by the overlapping area between the first point cloud output by the first radar and the second point cloud output by the second radar. Optionally, the radar obstruction detection device determines the first object to be detected by identifying the overlapping area between the first point cloud and the second point cloud. Optionally, the position information included in the first point cloud and the position information included in the second point cloud are position information in the same spatial coordinate system; for example, the position information included in the first point cloud and the position information included in the second point cloud are both position information in the world coordinate system.

[0092] In another implementation of target matching, the first radar data includes at least one first detection target, wherein the first detection target is a target detected by the first radar. The second radar data includes at least one second detection target, wherein the second detection target is a target detected by the second radar. The first detection object includes a common detection target of at least one first detection target and at least one second detection target. For example, if at least one first detection target and at least one second detection target both include detection target A, then detection target A can be determined as the first detection object.

[0093] In another implementation of object matching, the first radar data includes a first RDmap, and the second radar data includes a second RDmap. The position of the first object in the first RDmap is a first position, and the position of the first object in the second RDmap is a second position. For example, both the first and second radars are mounted on a vehicle, and the first object is a cluttered area in the vehicle's driving environment. The positions of the cluttered area in the detection areas of both the first and second radars are fixed. Accordingly, the position of the cluttered area in the first RDmap output by the first radar is the first position, and the position of the cluttered area in the second RDmap output by the second radar is the second position. Therefore, the first object can be determined from the first RDmap based on the first position, and the first object can be determined from the second RDmap based on the second position. It should be understood that the cluttered area is only an example; in practical applications, the first object can also be a stationary area (such as a guardrail area or a curb area).

[0094] If we define the echo obtained by reflecting the electromagnetic waves emitted by the first radar back to the first detection object as the first radar echo, and the echo obtained by reflecting the electromagnetic waves emitted by the second radar back to the first detection object as the second radar echo, then the first echo is the first radar echo received by the first radar within a first time period, and the second echo is the second radar echo received by the second radar within the same time period. In other words, the first echo and the second echo are the echoes reflected by the first detection object received by the first radar and the second radar within the same time period.

[0095] In one possible implementation, the echoes received by the first radar and the second radar within a first time period are echoes of electromagnetic waves emitted by the first radar and the second radar towards the first target at the same time. For example, after the first radar emits electromagnetic waves towards the first target at time t1, it receives the first echo reflected by the first target at time t2. After the second radar emits electromagnetic waves towards the first target at time t1, it receives the second echo reflected by the first target at time t3. Both times t2 and t3 are within the first time period.

[0096] Optionally, after the first radar and the second radar transmit electromagnetic waves to the same target at the same time, there is a time difference in the received echoes from the target. For example, after the first radar transmits electromagnetic waves to the first target at time t1, it receives the first echo reflected by the target at time t2. After the second radar transmits electromagnetic waves to the first target at time t1, it receives the second echo reflected by the target at time t3. The duration between time t2 and time t3 is the time difference between the receipt of the echoes from the target by the first radar and the second radar. The starting time of the first time period is the earlier of the times when the first radar receives the echo and the second radar receives the echo, and the duration of the first time period is greater than or equal to the time difference. For example, after the first radar transmits electromagnetic waves to the first target at time t1, it receives the first echo reflected by the target at time t2. After the second radar transmits electromagnetic waves to the first target at time t1, it receives the second echo reflected by the target at time t3. If time t2 is earlier than time t3, then the starting time of the first time period is time t2. If the time difference is td1, then the duration of the first time interval is greater than or equal to td1, meaning the end time of the first time interval is no earlier than (t2+td1).

[0097] Optionally, the times when the first radar receives the first echo and the times when the second radar receives the second echo are both times within the same time system. Correspondingly, the first time period is also a time period within that time system, for example, the time system is the Global Positioning System (GPST). Optionally, by aligning the echoes received by the first radar and the echoes received by the second radar to that time system, the times when the first radar receives the first echo and the times when the second radar receives the second echo can both be times within that time system.

[0098] The information from the first echo is used to indicate a first energy reflection characteristic value of the first detected object, and the information from the second echo is used to indicate a second energy reflection characteristic value of the first detected object, wherein the first energy reflection characteristic value characterizes the energy of the first echo, and the second energy reflection characteristic value characterizes the energy of the second echo. In one possible implementation, the energy reflection characteristic value of the first detected object is the RCS of the first detected object. For example, if the RCS of the first detected object to the electromagnetic waves emitted by the first radar is 8 dBsm, and the RCS of the first detected object to the electromagnetic waves emitted by the second radar is 20 dBsm, then the first energy reflection characteristic value is 8 dBsm, and the second energy reflection characteristic value is 20 dBsm.

[0099] Optionally, the radar obstruction detection device determines a first energy reflection characteristic value based on the radar data corresponding to the first detection object in the first radar data output by the first radar, and determines a second energy reflection characteristic value based on the radar data corresponding to the first detection object in the second radar data output by the second radar. In one possible implementation, the first radar data includes a first point cloud, the second radar data includes a second point cloud, the point cloud in the first point cloud corresponding to the first detection object is a first point cloud cluster, and the point cloud in the second point cloud corresponding to the first detection object is a second point cloud cluster. The radar obstruction detection device can determine the first energy reflection characteristic value based on the first point cloud cluster, and can determine the second energy reflection characteristic value based on the second point cloud cluster. Optionally, the first energy reflection characteristic value is one of the following: the extreme value of the energy reflection characteristic value of the points in the first point cloud cluster, the mean value of the energy reflection characteristic value of the points in the first point cloud cluster, the median value of the energy reflection characteristic value of the points in the first point cloud cluster, and the maximum or minimum value of the energy reflection characteristic value of the points in the first point cloud cluster. The second energy reflection characteristic value is one of the following: the extreme value of the energy reflection characteristic value of the points in the second point cloud cluster, the mean value of the energy reflection characteristic value of the points in the second point cloud cluster, the median value of the energy reflection characteristic value of the points in the second point cloud cluster, and the maximum or minimum value of the energy reflection characteristic value of the points in the second point cloud cluster.

[0100] In another possible implementation, the first radar data includes a first RDmap, and the second radar data includes a second RDmap. The data in the first RDmap corresponding to the first detection object is a first region, and the data in the second RDmap corresponding to the first detection object is a second region. The radar obstruction detection device can determine a first energy reflection characteristic value based on the first region and a second energy reflection characteristic value based on the second region. Optionally, the first energy reflection characteristic value is one of the following: an extreme value of the energy reflection characteristic value of a point in the first region, the mean value of the energy reflection characteristic value of a point in the first region, the median value of the energy reflection characteristic value of a point in the first region, the maximum or minimum value of the energy reflection characteristic value of a point in the first region, an extreme value of the energy reflection characteristic value of a region in the first region, the mean value of the energy reflection characteristic value of a region in the first region, the mean value of the energy of a sub-region in the first region, and an extreme value of the energy of a sub-region in the first region. The second energy reflection characteristic value is one of the following: the extreme value of the energy reflection characteristic value of the point in the second region, the mean value of the energy reflection characteristic value of the point in the second region, the median value of the energy reflection characteristic value of the point in the second region, the maximum value of the energy reflection characteristic value of the point in the second region, the extreme value of the energy reflection characteristic value of the region in the second region, the mean value of the energy reflection characteristic value of the region in the second region, the mean value of the energy of the sub-region in the second region, and the extreme value of the energy of the sub-region in the second region.

[0101] 402. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold, it is determined that the first radar is blocked.

[0102] On the one hand, since radar obstruction reduces the energy reflection characteristic value of the target object, the difference between the first and second energy reflection characteristic values ​​should be relatively large when an obstructed radar exists in both the first and second radars. Therefore, the radar obstruction detection device can determine that an obstructed radar exists in either the first or second radar when the difference between the second and first energy reflection characteristic values ​​is large. In this embodiment, the difference between the second and first energy reflection characteristic values ​​is called the first difference, i.e., the second energy reflection characteristic value minus the first energy reflection characteristic value = the first difference. The radar obstruction detection device determines whether the first difference is large or small based on a first threshold. Specifically, if the first difference is greater than the first threshold, it indicates that the first difference is large, and thus it can be determined that an obstructed radar exists in either the first or second radar.

[0103] On the other hand, if there is a blocked radar in the first radar and the second radar, the blocked radar will cause the energy reflection characteristic value of the first detection object to decrease due to the blocking. Therefore, the radar blocking detection device can determine that the radar corresponding to the smaller value of the first energy reflection characteristic value and the second energy reflection characteristic value is the blocked radar.

[0104] Based on the above two aspects, the radar obstruction detection device determines that the first radar is obstructed when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold.

[0105] In this embodiment, the detection areas of the first radar and the second radar overlap, forming a first field of view (FOV). A first detection object exists within the first FOV. The echo reflected by the first detection object received by the first radar within a first time period is the first echo, and the echo reflected by the second detection object received by the second radar within the first time period is the second echo. The information from the first echo indicates a first energy reflection characteristic value of the first detection object, and the information from the second echo indicates a second energy reflection characteristic value of the first detection object. Since radar obstruction reduces the energy reflection characteristic value of the detection object, after acquiring the information from the first and second echoes, the radar obstruction detection device can determine that the radar corresponding to the smaller of the first and second energy reflection characteristic values ​​is obstructed if the first difference between the second energy reflection characteristic value indicated by the first echo and the first energy reflection characteristic value indicated by the second echo is larger. Therefore, the obstruction detection device determines that the first radar is obstructed if the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold. This reduces the interference of the reflection intensity of the electromagnetic waves emitted by the radar from the target object on determining whether the radar is blocked, thereby improving the accuracy of detecting radar blockage.

[0106] As an optional implementation, considering that the factors affecting the magnitude of the energy reflection characteristic value of the first detection object include not only radar obstruction factors but also non-obstruction factors, the factors causing the difference in energy reflection characteristic values ​​can be either radar obstruction factors or non-obstruction factors. The difference in energy reflection characteristic values ​​is the difference between the energy reflection characteristic value of the first detection object towards the electromagnetic waves emitted by the second radar and the energy reflection characteristic value of the first detection object towards the electromagnetic waves emitted by the first radar. Non-obstruction factors include: the energy of the electromagnetic waves emitted by the first radar towards the first detection object differs from the energy of the electromagnetic waves emitted by the second radar towards the first detection object; the distances between the first radar and the second radar reaching the first detection object differ; the gain of the antennas of the first radar differs from the gain of the antennas of the second radar; and the reflection intensity of the electromagnetic waves emitted by the first radar towards the first detection object differs from the reflection intensity of the electromagnetic waves emitted by the first detection object towards the second radar.

[0107] When the factors causing the difference in energy reflection characteristic values ​​include non-obstruction factors, detecting whether the first radar is obstructed based on the difference in energy reflection characteristic values ​​is prone to low detection accuracy. However, when the difference in energy reflection characteristic values ​​is caused by obstruction factors, detecting whether the first radar is obstructed based on the difference in energy reflection characteristic values ​​can improve detection accuracy. Therefore, when the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value includes the difference in energy reflection characteristic value due to obstruction, the radar obstruction detection device can determine that the first radar is obstructed if the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than a first threshold, thereby improving the accuracy of detecting whether the first radar is obstructed.

[0108] Optionally, when the factors causing the difference between the second energy reflection characteristic value and the first energy reflection characteristic value include both obstruction factors and non-obstruction factors, the radar obstruction detection device determines the first difference through the following steps: determining a third difference between the second energy reflection characteristic value and the first energy reflection characteristic value, wherein the third difference includes the difference in energy reflection characteristic values ​​caused by obstruction factors and the difference in energy reflection characteristic values ​​caused by non-obstruction factors; obtaining a fourth difference, wherein the fourth difference is the difference in energy reflection characteristic values ​​caused by non-obstruction factors; and determining the difference between the third difference and the fourth difference to obtain the first difference. This reduces the influence of non-obstruction factors on the first difference.

[0109] Optionally, non-obstruction factors include: the energy of the electromagnetic wave emitted by the second radar towards the first target differs from the energy of the electromagnetic wave emitted by the first radar towards the first target. Correspondingly, the difference between the energy of the electromagnetic wave emitted by the second radar towards the first target and the energy of the electromagnetic wave emitted by the first radar towards the first target is the aforementioned fourth difference.

[0110] As an optional implementation, the radar obstruction detection device is a module within either the first radar or the second radar, and is connected to the control module. Data transmission between the radar obstruction detection device and the control module is possible through this connection. The control module is an electronic device different from both the first and second radars, and can transmit data with both the first and second radars. For example, the control module could be a CPU different from both the first and second radars, or an MCU different from both the first and second radars. By transmitting data with the first and second radars, the control module can acquire data fed back by the first and second radars (such as point clouds fed back by the first and second radars), and can control the first and second radars (such as controlling the on / off state of the first and second radars, adjusting the detection area of ​​the first radar, and adjusting the detection area of ​​the second radar). The radar obstruction detection device sends obstruction data to the control module, wherein the obstruction data includes a first status indication indicating that the first radar is obstructed. The first state indication includes plaintext information and an identifier. For example, the first state indication includes plaintext information indicating that the first radar is blocked, or it may include an identifier indicating that the first radar is blocked. The radar blockage detection device enables the control module to obtain information that the first radar is blocked by sending blockage data to the control module.

[0111] Optionally, after the radar obstruction detection device sends obstruction data to the control module, the control module can send obstruction data to the second radar. Upon receiving the obstruction data from the control module, the second radar can enhance its detection capability against the first target by increasing the energy reflection characteristic value of the first target, thereby compensating for the attenuation of the first radar's detection capability due to obstruction. In one possible implementation, the second radar enhances its detection capability against the first target through beamforming. In another possible implementation, the second radar enhances its detection capability against the first target by increasing the energy of the electromagnetic waves emitted towards the first target.

[0112] In one possible scenario, both the first and second radars are mounted on the vehicle, and the control module is an MCU (Microcontroller Unit) on the vehicle, distinct from both the first and second radars. The vehicle can determine its driving strategy based on the detection results of the first and second radars regarding its driving environment. After the radar obstruction detection device sends obstruction data to the control module, the control module can send obstruction data to the second radar. This allows the second radar to enhance its detection capability of the first detection object, increasing the energy reflection characteristic value of the first detection object. This compensates for the attenuation of the first radar's detection capability, thereby improving the accuracy of the detection results of both radars regarding the vehicle's driving environment. Consequently, the accuracy of the driving strategy determined based on these detection results can be improved.

[0113] Optionally, after the radar obstruction detection device sends obstruction data to the control module, the control module can send a shutdown command to the first radar to shut it down, thereby reducing the power consumption of the first radar.

[0114] In this embodiment, the radar obstruction detection device can feed back a message that the radar in the first radar and the second radar is obstructed to the control module, so that the control module can further control the first radar and the second radar based on the message.

[0115] As an optional implementation, the radar obstruction detection device is an electronic device different from both the first and second radars. The radar obstruction detection device sends obstruction data to the second radar, wherein the obstruction data includes a first status indication indicating that the first radar is obstructed. This allows the second radar to obtain information that the first radar is obstructed.

[0116] Optionally, the first state indication is also used to instruct the second radar to perform beamforming within the first FOV, which can enhance the second radar's detection capability of the first target and thus compensate for the attenuation of the first radar's detection capability of the first target due to obstruction.

[0117] In one possible scenario, both the first and second radars are mounted on the vehicle, and the radar obstruction detection device is an MCU (Microcontroller Unit) on the vehicle, distinct from both the first and second radars. The vehicle can determine its driving strategy based on the detection results of the first and second radars regarding its driving environment. After the radar obstruction detection device determines that the first radar is obstructed, it sends obstruction data to the second radar. This allows the second radar to enhance its detection capability of the first target object, increasing the energy reflection characteristic value of the target object, thereby compensating for the attenuation of the first radar's detection capability. This improves the accuracy of the detection results of both radars regarding the vehicle's driving environment, and consequently, enhances the accuracy of the driving strategy determined based on these detection results.

[0118] Optionally, when the radar obstruction detection device determines that the first radar is obstructed, it sends a shutdown command to the first radar to shut it down, thereby reducing the power consumption of the first radar.

[0119] As an optional implementation, the greater the degree of obstruction of the first radar, the greater the difference between the second energy reflection characteristic value and the first energy reflection characteristic value. Therefore, when the first radar is obstructed, the radar obstruction detection device can also determine the degree of obstruction of the first radar based on the magnitude of the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value, wherein the magnitude of the first difference is positively correlated with the degree of obstruction of the first radar. As described in step 402, if the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold, it indicates that the first radar is obstructed. Therefore, when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold, the radar obstruction detection device can further determine the degree of obstruction of the first radar based on the magnitude of the first difference. This allows for the quantification of the degree of obstruction of the first radar.

[0120] In one possible implementation, the degree of obstruction of the first radar includes a change in detection, where the change in detection represents the change in the detection capacity of the first radar due to the obstruction. Optionally, the change in detection includes at least one of the following: an attenuation of the detection capability of the first radar, a reduction in the detection range of the first radar, the maximum detection range of the first radar under obstruction, a factor by which the detection range of the first radar is reduced, and a detection energy reflection characteristic value of the first radar under obstruction.

[0121] The attenuation of the detection capability of the first radar represents the attenuation of the energy reflection characteristic value of the object being detected by the first radar. This attenuation is due to obstruction and is positively correlated with a first difference. Optionally, this attenuation is the first difference. For example, if the first energy reflection characteristic value is 8 dBsm and the second energy reflection characteristic value is 20 dBsm, then the first difference is 20 dBsm - 8 dBsm = 12 dBsm.

[0122] The reduction in the detection range of the first radar is due to obstruction. Optionally, there is a mapping relationship between the reduction in the detection range of the first radar and the attenuation of its detection capability. After determining the attenuation of the first radar's detection capability, the radar obstruction detection device can determine the reduction in the detection range of the first radar based on this attenuation and the mapping relationship. For example, if the attenuation of the first radar's detection capability is 12 dBsm, and in this mapping relationship, the reduction in detection range corresponding to 12 dBsm is 50 meters, then the reduction in the detection range of the first radar is 50 meters.

[0123] The maximum detection range of the first radar under obstructed conditions can be determined based on the difference between the maximum detection range of the first radar when it is not obstructed and the reduction in detection range caused by the obstruction. For example, if the maximum detection range of the first radar under obstructed conditions is 200 meters, and the reduction in detection range is 50 meters, then the maximum detection range of the first radar under obstructed conditions is 200 meters - 50 meters = 150 meters.

[0124] The reduction factor of the detection range of the first radar is the ratio of the reduction in the detection range of the first radar to the maximum detection range of the first radar when it is blocked. For example, if the maximum detection range of the first radar when it is blocked is 200 meters, and the reduction in the detection range of the first radar is 50 meters / 200 meters = 1 / 4.

[0125] When detecting a target, the first radar can determine the target's type based on its energy reflection characteristic value. For example, if the RCS of the target detected by the first radar is 20 dBsm, the target type can be determined to be a vehicle. In other words, the target type corresponds to its energy reflection characteristic value. For ease of description, the energy reflection characteristic value corresponding to the target type is called the detection energy reflection characteristic value. For example, the detection energy reflection characteristic value corresponding to a vehicle is 20 dBsm. Since obstruction reduces the target's energy reflection characteristic value, the detection energy reflection characteristic value also needs to be reduced. Optionally, the detection energy reflection characteristic value of the first radar under obstructed conditions is determined based on the difference between the detection energy reflection characteristic value of the first radar under unobstructed conditions and the attenuation of the first radar's detection capability. For example, if the detection energy reflection characteristic value of the first radar under unobstructed conditions is 20 dBsm, and the attenuation of the first radar's detection capability is 12 dBsm, then the detection energy reflection characteristic value of the first radar under obstructed conditions is 20 dBsm - 12 dBsm = 8 dBsm.

[0126] Optionally, the degree of obstruction of the first radar includes the level of detection change. For example, the classification standard for detection capability attenuation is as follows: If the detection capability attenuation is greater than 0 and less than 10 dBsm, the detection capability attenuation is level one. If the detection capability attenuation is greater than 10 and less than 20 dBsm, the detection capability attenuation is level two. If the detection capability attenuation is greater than 20 dBsm, the detection capability attenuation of the first radar is determined to be level two.

[0127] As an optional implementation, after determining the degree of obstruction of the first radar, the radar obstruction detection device outputs information including the degree of obstruction. In one possible scenario, the first radar is a radar installed on a vehicle, and the radar obstruction detection device outputs information including the degree of obstruction in at least one of the following ways: sending information including the degree of obstruction to a processor for running ADAS; displaying information including the degree of obstruction through the vehicle's in-vehicle terminal; displaying information including the degree of obstruction through the vehicle's dashboard; outputting information including the degree of obstruction through voice prompts; outputting information including the degree of obstruction through vibration; or outputting information including the degree of obstruction through low-current stimulation released by the seat. Sending information including the degree of obstruction to the processor for running ADAS can provide information for ADAS to formulate driving strategies. For example, the processor for running ADAS can determine the accuracy of the detection results of the first radar based on the degree of obstruction, and can determine whether ADAS should use the detection results of the first radar based on the accuracy, or can determine how ADAS should use the detection results of the first radar based on the accuracy. Aside from sending information about the degree of obstruction to the processor used to run ADAS, other methods can be used to alert occupants to the extent of radar obstruction. For example, a radar obstruction detection device can control the vehicle's speakers to output a voice indicating the degree of radar obstruction. Alternatively, the radar obstruction detection device can alert the driver by vibrating the driver's seat, with a larger vibration amplitude indicating a greater degree of obstruction. Another method is to alert the driver by releasing a low-current stimulus to the driver's seat, with a larger current released for greater obstruction.

[0128] As an optional implementation, the detection area of ​​the third radar also includes the aforementioned first FOV, meaning the third radar can also detect the first detection object within the first FOV. Please refer to Figure 5, which is a schematic diagram of an application scenario for another radar detection method provided in this application embodiment. As shown in Figure 5, this scenario includes a first radar, a second radar, and a third radar. There is an intersection between the detection areas of the first radar, the second radar, and the third radar; this intersection is the first FOV shown in Figure 5. The echo reflected by the first detection object received by the third radar within a first time period is the fourth echo. The information of the fourth echo is used to indicate the third energy reflection characteristic value of the first detection object. The difference between the third energy reflection characteristic value and the first energy reflection characteristic value is the second difference, which is less than the first difference. In this implementation, the radar obstruction detection device determines that the first radar is obstructed if the first difference is greater than a first threshold. In other words, the radar obstruction detection device determines that the first radar is obstructed based on the larger of the first and second differences, thus improving the accuracy of detecting first radar obstruction.

[0129] In one possible implementation, as shown in Figure 5, the radar obstruction detection device is an electronic device that is different from the first, second, and third radars. In another possible implementation, as shown in Figure 5, the radar obstruction detection device can be a module within any one of the first, second, and third radars.

[0130] Optionally, Figure 6 is a schematic diagram of a first radar, a second radar, and a third radar installed on a vehicle according to an embodiment of this application. As shown in Figure 6, the first radar, the second radar, and the third radar are all radars installed on the vehicle. When the first radar, the second radar, and the third radar are not obstructed, the intersection between the detection areas of the first radar, the second radar, and the third radar is the first FOV shown in Figure 6. That is to say, the first radar, the second radar, and the third radar can all detect the first FOV. Figure 6 also shows the determination of the first detection object from within the first FOV by matching detection objects. Specifically, the first detection object can be determined by identifying the overlapping area of ​​the first point cloud and the second point cloud, or it can be determined based on the common detection target of at least one first detection target and at least one second detection target, or it can be determined based on the area at the first position in the first RDmap.

[0131] Optionally, Figure 7 is a schematic diagram of the first radar in Figure 6 being blocked, according to an embodiment of this application. When the first radar is determined to be blocked, both the second and third radars can enhance their respective detection areas through beamforming, thereby enhancing their detection capability against the first target and compensating for the attenuation of the first radar's detection capability against the first target. As shown in Figure 7, the enhanced detection area includes the detection areas of the second and third radars, and the boundary of the enhanced detection area includes the boundary of the second radar's detection area and the boundary of the third radar's detection area.

[0132] As mentioned earlier, for any two radars whose detection areas overlap, if the energy reflection characteristic values ​​of the electromagnetic waves emitted by the same target to the two radars differ significantly, it indicates that the radar with the smaller energy reflection characteristic value is blocked. The specific implementation of this has been explained in detail above. For cases where the energy reflection characteristic values ​​of the electromagnetic waves emitted by the same target to the two radars differ only slightly, how to determine whether a radar is blocked will be explained in detail below using the first and second radars as examples.

[0133] As an optional implementation, the radar obstruction detection device determines the obstruction state of the first radar based on information from the third echo received by the first radar when the first difference is less than or equal to a first threshold. The third echo information indicates the energy reflection characteristic value of the detected object within the detection area of ​​the first radar. The detection area of ​​the first radar includes not only the first field of view (FOV) but also the detection area outside the first FOV. In this implementation, the radar obstruction detection device determines the obstruction state of the first radar based on information from the third echo received by the first radar when the first difference is small; that is, it determines the obstruction state of the radar based on the echo information received by a single radar. Determining the radar obstruction state based on the echo information received by a single radar is a mature technology. Therefore, any mature technology can be used to determine the obstruction state of the first radar in this implementation. For example, if the third energy reflection characteristic value is greater than a second threshold, determining the obstruction state of the first radar includes that the first radar is not obstructed; if the third energy reflection characteristic value is less than or equal to the second threshold, determining the obstruction state of the first radar includes that the first radar is obstructed.

[0134] Optionally, if the first difference is less than or equal to the first threshold, the radar obstruction detection device determines the obstruction state of the second radar based on the information of the fifth echo received by the second radar, wherein the information of the fifth echo is used to indicate the energy reflection characteristic value of the detected object in the detection area of ​​the second radar.

[0135] Optionally, a smaller first difference indicates a higher probability that the first radar's obstruction state is the same as the second radar's obstruction state. Therefore, if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is obstructed, the radar obstruction detection device determines that the second radar is obstructed. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is not obstructed, the second radar is determined to be unobstructed. In this way, by determining the obstruction state of either the first or second radar, the obstruction state of both radars can be determined, thereby improving the efficiency of determining the obstruction state of both radars.

[0136] Optionally, if the first radar experiences a smaller reduction in its first energy reflection characteristic value due to obstruction, while the second radar is not obstructed, the first difference may also be smaller. Therefore, to improve the accuracy of the second radar's obstruction status, the radar obstruction detection device can determine the second radar's obstruction status based on whether the reduction in the first energy reflection characteristic value is smaller or larger, provided that the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to a first threshold, and the first radar is obstructed. Since the first radar experiences a larger reduction in its first energy reflection characteristic value due to obstruction, resulting in a smaller first energy reflection characteristic value, the magnitude of the first energy reflection characteristic value can be used to determine whether the reduction is smaller or larger. The radar obstruction detection device uses a third threshold as a basis to determine whether the first energy reflection characteristic value is large or small, thereby determining whether the reduction is smaller or larger. Specifically, if the first energy reflection characteristic value is less than or equal to the third threshold, it indicates that the first energy reflection characteristic value is small, thus determining that the reduction in the first energy reflection characteristic value is significant. Conversely, if the first energy reflection characteristic value is greater than the third threshold, it indicates that the first energy reflection characteristic value is large, thus determining that the reduction in the first energy reflection characteristic value is small. Therefore, the radar obstruction detection device determines that the second radar is obstructed when the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, the first energy reflection characteristic value is less than or equal to the third threshold, and the first radar is obstructed. When the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, the first energy reflection characteristic value is greater than the third threshold, and the first radar is obstructed, it determines that the second radar is not obstructed.

[0137] For the two scenarios of "the energy reflection characteristic values ​​of the same detection object to the electromagnetic waves emitted by two radars differing significantly" and "the energy reflection characteristic values ​​of the same detection object to the electromagnetic waves emitted by two radars differing slightly," the methods for determining whether the radar is blocked have been explained in detail above. To better understand the relationship between the processing methods for these two scenarios, please refer to Figure 8, which is a flowchart illustrating another radar blockage detection method provided in this application embodiment. As shown in Figure 8, after acquiring the first radar data output by the first radar, the second radar data output by the second radar, and the third radar data output by the third radar, spatiotemporal alignment of the radar data is performed. Specifically, the first radar data, the second radar data, and the third radar data are time-aligned to ensure that the time information of the first radar data, the second radar data, and the third radar data are all time information under the same time system. The first radar data, the second radar data, and the third radar data are spatially aligned to ensure that the position information of the first radar data, the second radar data, and the third radar data are position information under the same coordinate system. After completing the spatiotemporal alignment of the radar data, the first detection object is determined by matching the first, second, and third radar data. Then, obstruction detection is performed based on the energy reflection characteristic value of the first detection object. Specifically, the obstruction status of the first, second, and third radars is determined based on the difference in the energy reflection characteristic values ​​presented by the first detection object to the electromagnetic waves emitted by each radar. If the difference in the energy reflection characteristic values ​​presented by the first detection object to the electromagnetic waves emitted by the first, second, and third radars and any two radars is greater than a first threshold, the radar corresponding to the smaller energy reflection characteristic value is determined to be obstructed. The implementation process of this step can be found in the previous description of the situation where "the energy reflection characteristic values ​​presented by the same detection object to the electromagnetic waves emitted by two radars differ significantly," and will not be repeated here. For any one of the first, second, and third radars, if the difference between the energy reflection characteristic value of the electromagnetic waves emitted by the first detection object to this radar and the energy reflection characteristic value of the first detection object to the electromagnetic waves emitted by the other two radars is less than or equal to a first threshold, single-radar obstruction detection is performed. The implementation process of single-radar obstruction detection can be found in the description of the situation where "the energy reflection characteristic values ​​of the electromagnetic waves emitted by the same detection object to two radars are relatively similar," and will not be repeated here. Finally, by fusing the obstruction detection results obtained from the two cases, the obstruction status of each of the first, second, and third radars can be obtained.

[0138] As an optional implementation, the first radar belongs to a radar system, wherein the radar system includes at least a first radar and a second radar; that is, the radar system may include both the first and second radars, or it may include radars other than the first and second radars. In other words, the number of radars in the radar system is greater than or equal to two. The obstruction detection device can output obstruction-related information of the radar system based on whether the first radar is obstructed and / or the degree of obstruction. The obstruction-related information of the radar system to which the first radar belongs is related to the status information of the first radar, and the obstruction-related information is used to indicate the obstruction status of the radar system.

[0139] Optionally, the obstruction-related information includes at least one of the following: the obstruction state of the radars in the radar system, the confidence level of the obstruction state of the radars in the radar system, and the availability of the information output by the radar system. The obstruction state of the radars in the radar system includes whether each radar in the radar system is obstructed, and the obstruction state of the radars in the radar system can be determined based on the radar obstruction detection method provided above. The confidence level of the obstruction state of the radars in the radar system can be determined based on the confidence level of the first detection object, wherein the confidence level of the obstruction state of the detection object is positively correlated with the confidence level of the first detection object. The availability of the information output by the radar system includes whether the information output by the radar system is available or unavailable, wherein the information output by the radar system includes the information output by the radars in the radar system, the information after fusion of the radar outputs in the radar system, and the detection results of the radar system. The availability of the information output by the radar system indicates that the information output by the radar system can be used by downstream tasks, and the unavailability of the information output by the radar system indicates that the information output by the radar system cannot be used by downstream tasks. In one possible scenario, all radars in the radar system are installed on the vehicle, and the downstream task includes determining the vehicle's driving strategy based on the information output by the radar system. Since the radar in a radar system may be blocked, the information output by the radar system may not meet the needs of downstream tasks, thus making the information output by the radar system unusable for downstream tasks, the radar blockage detection device can determine whether the information output by the radar system is usable based on the blockage status of the radar in the radar system.

[0140] As described above, the information output by the radar obstruction detection device includes obstruction data, information on the degree of obstruction, and obstruction-related information of the radar system. The obstruction data and the information on the degree of obstruction can be fed back to the radar as feedback information, enabling the radar to make adjustments based on this feedback (such as enhancing detection of the detection area or shutting down the radar). Please refer to Figure 9, which is a flowchart illustrating another radar obstruction detection method provided in an embodiment of this application.

[0141] Figure 9 includes a first radar, a second radar, ..., an Nth radar, where N is greater than or equal to 3. A first field of view (FOV) may exist between M of the N radars, where M is greater than or equal to 2 and less than or equal to N. For example, the N radars include a first radar, a second radar, and a third radar, where the detection areas of the first radar, the second radar, and the third radar all include the first FOV, or a first FOV exists between the detection areas of the first radar and the second radar, but not between the detection areas of the first radar and the third radar. After acquiring radar data output from the N radars, the radar obstruction detection device can determine the obstruction status of each of the N radars based on the radar obstruction detection method described above. Then, based on the obstruction status of each of the N radars, it can output at least one of the following information: obstruction data, information including the degree of obstruction, and obstruction-related information of the radar system. The obstruction data and the information including the degree of obstruction can be fed back to the N radars. For example, the obstruction data includes information that the first radar is obstructed. The radar obstruction detection device can feed back obstruction data to a first radar, causing it to shut down and thus saving power. The device can also feed back obstruction data to a second radar, enabling it to increase its detection capability against the first target. For example, the device can feed back information including the degree of obstruction to the first radar, allowing it to determine whether to shut down based on that degree. Similarly, the device can feed back the degree of obstruction to the second radar, enabling it to determine how much its detection capability against the first target needs to be increased to compensate for the attenuation of the first radar's detection capability due to obstruction.

[0142] To more clearly illustrate the relationship between the radar obstruction detection device's radar obstruction detection and its output information after detection, please refer to Figure 10. Figure 10 is a flowchart illustrating another radar obstruction detection method provided in this embodiment. Figure 10 includes a radar module, a radar obstruction detection device, and other modules. The radar module includes a first radar, a second radar, a third radar, and the process of each radar outputting radar data based on the received echoes. The radar obstruction detection device is used to perform obstruction detection based on the radar data output by each radar. Other processing modules can be any electronic device other than the radars and the radar obstruction detection device in the radar module.

[0143] As shown in Figure 10, in the radar module, the first radar processes the received echo to generate first radar data, the second radar processes the received echo to generate second radar data, and the third radar processes the received echo to generate third radar data. The processing of the echoes includes signal processing. After generating the first, second, and third radar data, the radar obstruction detection device acquires the first, second, and third radar data through interface 1. The radar data includes the radar's identification (ID) and at least one of the following: point cloud and RD map. For example, the first radar data includes the ID of the first radar data, the first point cloud, and the first RD map. Optionally, the radar ID can be represented by an unsigned 8-bit integer (unit8).

[0144] Optionally, after acquiring the first radar data output by the first radar, the second radar data output by the second radar, and the third radar data output by the third radar, the radar obstruction detection device performs spatiotemporal alignment of the radar data. The specific implementation process can be found in the relevant description in Figure 8, which will not be repeated here.

[0145] The radar obstruction detection module of the radar obstruction detection device obtains the obstruction status of each of the first, second, and third radars by performing the following steps: determining the first detection target, performing obstruction detection based on the energy reflection characteristic value of the first detection target, single-radar obstruction detection, and fusion obstruction detection. The implementation process of these steps can be seen in the description of these steps in Figure 8, and will not be repeated here.

[0146] After obtaining the obstruction status of each of the first, second, and third radars, the radar obstruction detection device outputs information through interface 2. This output information includes obstruction data, information on the degree of obstruction, and obstruction-related information of the radar system. Optionally, the information output by interface 2 may also include the radar ID; for example, if the obstruction data indicates that the first radar is obstructed, then the obstruction data includes the ID of the first radar. Optionally, when the radar system's obstruction-related information includes whether the information output by the radar system is available, a first identifier indicates that the information output by the radar system is available, and a second identifier indicates that the information output by the radar system is unavailable; for example, the first identifier is 0, and the second identifier is 1. Interface 2 can output the information from the radar obstruction detection device to other modules, and it can also feed back the obstruction data and information on the degree of obstruction to the radar, as shown in Figure 10. Interface 3 can feed back the obstruction data and information on the degree of obstruction to the radar. Optionally, interfaces 1, 2, and 3 in Figure 10 are all software interfaces.

[0147] Optionally, the first, second, and third radars are all installed on the vehicle, and other modules include a processor on the vehicle used to run ADAS. Interface 2 outputs information from the radar obstruction detection module to this processor. Based on this output information, the processor can determine whether to determine the vehicle's driving strategy based on the first radar data output by the first radar, the second radar data output by the second radar, and the third radar data output by the third radar. Alternatively, it can determine how to use the first radar data, the second radar data output by the second radar, and the third radar data output by the third radar when determining the vehicle's driving strategy. For example, the higher the degree of obstruction of the first radar, the lower the confidence level of the first radar data. When determining the driving strategy, if it is necessary to fuse the first radar data with other data, the fusion weight of the first radar data can be adjusted accordingly.

[0148] As described in the background section, current methods detect obstruction at the level of a single radar, but cannot detect obstruction across an entire radar system. Therefore, this application also provides a radar system obstruction detection method. The execution entity of this method is a radar system obstruction detection device, which can be one of the following: DSP, FPGA, CPU, or MCU. Please refer to Figure 11, which is a flowchart illustrating a radar system obstruction detection method provided in this application embodiment.

[0149] 1101. Obtain the radar obstruction status and detection requirements of the radar system.

[0150] The radar system includes at least two radars. In one possible implementation, all radars in the radar system are mounted on the vehicle, with different installation locations and different detection areas for each radar. Optionally, the radar system includes two radars whose detection areas have a first field of view (FOV). For example, the radar system includes the first radar and the second radar described above. The radar obstruction state in the radar system includes whether the radar in the radar system is obstructed or not. Optionally, the radar obstruction state in the radar system can be determined based on the radar obstruction detection method described above, which will not be repeated here.

[0151] Detection requirements characterize the detection demands on a radar system. For example, detection requirements might include a resolution greater than or equal to a resolution threshold, or an energy reflection characteristic value of the received echo reflected from the target object greater than or equal to an energy reflection characteristic value threshold, or a detection requirement that the proportion of blocked radars in the radar system is less than a blocking threshold. Blockage of radars in a radar system can prevent the system from meeting detection requirements. Therefore, a radar system blocking detection device can determine whether the radar system meets its detection requirements based on the blocking status of the radars within the system.

[0152] In one possible implementation, the radar data output from the radars in the radar system is fused to obtain fused radar data. The radar system obstruction detection device, based on the obstruction status of the radars in the radar system and the fused radar data, can determine whether the radar system meets the detection requirements. Optionally, the radar system obstruction detection device, based on the obstruction status of the radars in the radar system, determines the existence of obstructed radars in the radar system, and fuses the radar data output from the radars in the radar system to obtain fused radar data. If the fused radar data does not meet the requirements, the radar system is determined not to meet the detection requirements. If the fused radar data meets the requirements, the radar system is determined to meet the detection requirements. For example, if the requirement is a resolution greater than or equal to a resolution threshold, then if the resolution of the fused radar data is less than the resolution threshold, the radar system is determined not to meet the detection requirements. As another example, if the requirement is that the energy reflection characteristic value of the target object is greater than or equal to an energy reflection characteristic value threshold, then if the energy reflection characteristic value of the target object is determined to be less than the energy reflection characteristic value threshold based on the fused radar data, the radar system is determined not to meet the detection requirements. If the energy reflection characteristic value of the target object is determined to be greater than or equal to the energy reflection characteristic value threshold based on fused radar data, the radar system is deemed to meet the detection requirements.

[0153] In another possible implementation, the radar obstruction detection device determines that the radar system does not meet the detection requirements if the proportion of obstructed radars in the radar system, based on the obstruction status of the radars in the system, is greater than or equal to an obstruction threshold. Conversely, if the proportion of obstructed radars in the radar system, based on the obstruction status of the radars in the system, is less than the obstruction threshold, the radar system meets the detection requirements.

[0154] In another possible implementation, the radar obstruction detection device determines that the radar system does not meet the detection requirements if it determines, based on the obstruction status of the radars in the radar system, that there are radars in the radar system whose obstruction level exceeds a threshold. Conversely, if it determines, based on the obstruction status of the radars in the radar system, that there are no radars in the radar system whose obstruction level exceeds the threshold, it determines that the radar system meets the detection requirements.

[0155] 1102. If the radar system does not meet the detection requirements based on the radar obstruction status in the radar system, then the radar system is determined to be obstructed.

[0156] If the radar system fails to meet the detection requirements, it indicates that the radar system is being blocked, thus confirming that the radar system is being blocked.

[0157] 1103. If the radar system meets the detection requirements based on the radar obstruction status in the radar system, then the radar system is determined to be unobstructed.

[0158] If the radar system meets the detection requirements, it means that the radar system is not obstructed and therefore does not fail to meet the detection requirements. Thus, it can be determined that the radar system is not obstructed.

[0159] In this embodiment, after acquiring the radar occlusion status and detection requirements of the radar system, the radar system occlusion detection device can determine whether the radar system meets the detection requirements based on the radar occlusion status. If the radar system does not meet the detection requirements based on the radar occlusion status, the radar system is determined to be occluded; if the radar system meets the detection requirements based on the radar occlusion status, the radar system is determined not to be occluded. This allows the determination of the radar system's occlusion status.

[0160] As an optional implementation, the radar system obstruction detection device determines the degree of radar system obstruction based on the obstruction status and detection requirements of the radars in the radar system. In one possible implementation, the radar system obstruction detection device determines the degree of radar system obstruction based on the number of obstructed radars in the radar system, wherein this data is positively correlated with the degree of radar system obstruction. In another possible implementation, the radar system obstruction detection device determines the degree of radar system obstruction based on the proportion of obstructed radars in the radar system, wherein this proportion is positively correlated with the degree of radar system obstruction. In yet another possible implementation, the radar system obstruction detection device determines the degree of radar system obstruction based on the ratio of the area of ​​the obstructed detection area to the area of ​​the radar system's detection area, wherein this ratio is positively correlated with the degree of radar system obstruction, and the detection area of ​​the radar system is the union of the detection areas of all radars in the radar system.

[0161] In one possible scenario, both the radar in the radar system and the radar system obstruction detection device are installed on the vehicle. Based on the radar system obstruction detection method shown in Figure 11, the radar system obstruction detection device can determine the obstruction state and / or the degree of obstruction of the radar system. This allows the vehicle to determine how to use the information output by the radar system based on the obstruction state and / or the degree of obstruction. The radar system output information includes the information output by individual radars within the radar system, the fused information from the individual radar outputs, and the detection results of the radar system. For example, if the radar system is obstructed, it is determined that the information output by the radar system is unusable. Another example is that if the radar system is obstructed, the confidence level of the information output by the radar system is determined to be low. Yet another example is that based on the degree of obstruction, the confidence level of the information output by the radar system is determined, where the confidence level of the information output by the radar system is negatively correlated with the degree of obstruction. Yet another example is that if the radar system is obstructed, and the degree of obstruction is less than a threshold, the information output by the radar system is determined to be usable.

[0162] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0163] It should be understood that the division of units in the apparatus provided in this application embodiment is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented by a processor calling software. For example, the apparatus includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a CPU, MCU, or MPU, and the memory is either internal or external to the apparatus.

[0164] Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all of the units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. As another example, in another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking an FPGA as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functionality of some or all of the above units.

[0165] In the embodiments of this application, each unit in the device may be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, MCU, graphics processing unit (GPU), neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), MPU, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0166] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the units in the device. The at least one processor may be of different types, such as including a CPU and an FPGA, or including a CPU and an MCU, or including a CPU and a GPU, etc. Several possible devices are listed below.

[0167] Please refer to Figure 12, which is a schematic diagram of a radar obstruction detection device provided in an embodiment of this application. Optionally, the radar obstruction detection device 120 can be a standalone device, such as a processing device. Alternatively, the radar obstruction detection device 120 can also be a component in a standalone device (such as a vehicle), such as a chip or integrated circuit. The radar obstruction detection device 120 is used to implement the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementations shown in Figure 4.

[0168] For example, the radar obstruction detection device 120 includes an interface unit 1201 and further includes a processing unit 1202. The interface unit 1201 is used to perform one or more operations such as sending, receiving, and acquiring, while the processing unit 1202 is used to perform one or more operations such as processing, determining, generating, calculating, and updating. It should be understood that the unit division here is only illustrative; in actual implementation, some units may be combined together, or a single unit may be divided into multiple units.

[0169] In one possible design, interface unit 1201 is used to acquire information about a first echo received by the first radar within a first time period and information about a second echo received by the second radar within the same time period. The detection areas of both the first and second radars include a first field of view (FOV). The information from the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information from the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. Processing unit 1202 is used to determine that the first radar is blocked if the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold.

[0170] In one possible implementation, the processing unit 1202 is further configured to determine the degree of obstruction of the first radar based on the magnitude of the first difference when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold value, wherein the magnitude of the first difference is positively correlated with the degree of obstruction of the first radar.

[0171] In one possible implementation, the processing unit 1202 is further configured to determine the blocking state of the first radar based on the information of the third echo received by the first radar when the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is less than or equal to the first threshold. The information of the third echo is used to indicate the energy reflection characteristic value of the object to be detected within the detection area of ​​the first radar.

[0172] In one possible implementation, the processing unit 1202 is further configured to: determine that the second radar is blocked if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is blocked; and determine that the second radar is not blocked if the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is not blocked.

[0173] In one possible implementation, the interface unit 1201 is further configured to acquire information of the fourth echo received by the third radar within a first time period. The detection area of ​​the third radar includes a first field of view (FOV). The information of the fourth echo is used to indicate the third energy reflection characteristic value of the first detection object within the first FOV. The difference between the third energy reflection characteristic value and the first energy reflection characteristic value is a second difference value, which is less than the first difference value.

[0174] In one possible implementation, the first difference includes the difference in energy reflection characteristics due to occlusion.

[0175] In one possible implementation, the radar obstruction detection device 120 is connected to the control module, and the interface unit 1201 is also used to send obstruction data to the control module, wherein the obstruction data includes a first status indication, which is used to indicate that the first radar is obstructed.

[0176] In one possible implementation, the interface unit 1201 is further configured to send obstruction data to the second radar, wherein the obstruction data includes a first status indication, which indicates that the first radar is obstructed.

[0177] In one possible implementation, the first state indication is also used to instruct the second radar to perform beamforming within the first field of view (FOV).

[0178] In one possible implementation, the interface unit 1201 is further configured to output obstruction-related information of the radar system to which the first radar belongs, based on the degree to which the first radar is obstructed and / or the obstruction of the first radar, wherein the obstruction-related information of the radar system to which the first radar belongs is related to the status information of the first radar.

[0179] In one possible implementation, the obstruction-related information includes at least one of the following: the obstruction status of the radar in the radar system, the confidence level of the obstruction status of the radar in the radar system, and whether the information output by the radar system is available.

[0180] In one possible implementation, the interface unit 1201 is also configured to output information including the degree of occlusion.

[0181] In one possible implementation, the first detection target is determined by identifying the overlapping area between a first point cloud output by a first radar and a second point cloud output by a second radar.

[0182] In one possible implementation, the first detection object includes a target detected by the first radar.

[0183] In one possible implementation, the position of the first detection object in the first RDmap output by the first radar is the first position.

[0184] For a detailed description of the implementation of the radar obstruction detection device, please refer to the foregoing description of the radar obstruction detection method embodiments.

[0185] Please refer to Figure 13, which is a schematic diagram of the structure of a radar system obstruction detection device provided in an embodiment of this application. Optionally, the radar system obstruction detection device 130 can be a standalone device, such as a processing device. Alternatively, the radar system obstruction detection device 130 can also be a component in a standalone device (such as a vehicle), such as a chip or integrated circuit. The radar system obstruction detection device 130 is used to implement the aforementioned radar obstruction detection method, such as the radar system obstruction detection method and its possible implementations shown in Figure 11.

[0186] For example, the radar system obstruction detection device 130 includes an interface unit 1301 and further includes a processing unit 1302. The interface unit 1301 is used to perform one or more operations such as sending, receiving, and acquiring, while the processing unit 1302 is used to perform one or more operations such as processing, determining, generating, calculating, and updating. It should be understood that the unit division here is only illustrative; in actual implementation, some units may be combined together, or one unit may be divided into multiple units.

[0187] In one possible design, interface unit 1301 is used to acquire the radar's obstruction status and detection requirements in the radar system. Processing unit 1302 is used to determine that the radar system is obstructed if the radar system does not meet the detection requirements based on the radar's obstruction status. Processing unit 1302 is also used to determine that the radar system is not obstructed if the radar system meets the detection requirements based on the radar's obstruction status.

[0188] In one possible implementation, the processing unit 1302 is further configured to determine that the radar system is blocked when the radar system does not meet the detection requirements based on the blocking status of the radar in the radar system and the fused radar data. The fused radar data is obtained by fusing the radar data output by the radar in the radar system.

[0189] In one possible implementation, the processing unit 1302 is further configured to determine that the radar system is not blocked when the radar system meets the detection requirements based on the blocking status of the radar in the radar system and the fused radar data. The fused radar data is obtained by fusing the radar data output by the radar in the radar system.

[0190] In one possible implementation, interface unit 1301 is further configured to: acquire information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system, wherein the detection areas of the first radar and the second radar both include a first field of view (FOV), the information of the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information of the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. Interface unit 1301 is further configured to determine that the obstruction state of the first radar includes the first radar being obstructed when the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than a first threshold.

[0191] In one possible implementation, the interface unit 1301 is further configured to: acquire information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system, wherein the detection areas of both the first and second radars include a first field of view (FOV), the information of the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information of the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold, the degree to which the first radar is blocked is determined based on the magnitude of the first difference, wherein the magnitude of the first difference is positively correlated with the degree to which the first radar is blocked.

[0192] In one possible implementation, the interface unit 1301 is further configured to: acquire information about a first echo received by a first radar of the radar system and information about a second echo received by a second radar of the radar system, wherein the detection areas of both the first and second radars include a first field of view (FOV), the information of the first echo is used to indicate a first energy reflection characteristic value of a first detected object within the first FOV, and the information of the second echo is used to indicate a second energy reflection characteristic value of the first detected object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and a first difference between the second and first energy reflection characteristic values ​​is greater than a first threshold, the blocking state of the first radar is determined based on information about a third echo received by the first radar, wherein the information of the third echo is used to indicate the echo reflected by a target within the detection area of ​​the first radar.

[0193] For a detailed description of the implementation of the radar system obstruction detection device, please refer to the foregoing description of the radar system obstruction detection method embodiments.

[0194] Please refer to Figure 14, which is a schematic diagram of another radar obstruction detection device provided in an embodiment of this application. As shown in Figure 14, the radar obstruction detection device 140 can be a standalone device, such as a processing unit. Alternatively, the radar obstruction detection device 140 can also be a component within a standalone device (such as a vehicle), such as a chip or integrated circuit. This radar obstruction detection device 140 is used to implement the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementations shown in Figure 4.

[0195] The radar obstruction detection device 140 may include at least one processor 1401 and a memory 1403. Optionally, it may also include a communication interface 1402. Further optionally, it may also include a connection line 1404, wherein the processor 1401, the communication interface 1402 and / or the memory 1403 are connected via the connection line 1404, and / or communicate with each other via the connection line 1404 to transmit control signals and / or data signals.

[0196] Wherein: Processor 1401 is a module for performing arithmetic and / or logical operations, and may specifically include one or more of the following modules: CPU, MCU, application processor (AP), ECU, GPU, MPU, ASIC, image signal processor (ISP), DSP, FPGA, complex programmable logic device (CPLD), or coprocessor, etc.

[0197] The communication interface 1402 can be used to provide information input or output to at least one processor, or to receive and / or transmit signals to externally transmitted signals. For example, the communication interface 1402 may include interface circuitry. For instance, the communication interface 1402 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, the communication interface 1402 may also include a radio frequency transmitter, an antenna, etc. If the communication interface 1402 includes an antenna, the number of antennas can be one or more.

[0198] As a possible design, if the radar obstruction detection device 140 is a standalone device, the communication interface 1402 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0199] As another possible design, if the radar obstruction detection device 140 is a chip or circuit, the communication interface 1402 may include an input interface and an output interface. The input interface and the output interface may be the same interface or they may be different interfaces.

[0200] Optionally, the functionality of the communication interface 1402 can be implemented through transceiver circuitry or dedicated transceiver chips.

[0201] The memory 1403 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1403 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0202] The functions and actions of each module or unit in the radar obstruction detection device 140 listed above are merely illustrative examples.

[0203] Each functional unit in the radar obstruction detection device 140 can be used to implement the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementation methods shown in FIG4.

[0204] Optionally, the processor 1401 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0205] Optionally, if the radar obstruction detection device 140 includes at least one memory 1403, and the processor 1401 implements the aforementioned radar obstruction detection method by calling a computer program, the computer program can be stored in the memory 1403.

[0206] This application also provides a chip, which includes logic circuitry and a communication interface. The communication interface is used to receive or transmit signals; the logic circuitry is used to receive or transmit signals through the communication interface. The chip is used to implement the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementations shown in Figure 4.

[0207] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or radar obstruction detection device), implement the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementations shown in Figure 4 and other embodiments.

[0208] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned radar obstruction detection method, such as the radar obstruction detection method and its possible implementations shown in FIG4.

[0209] Please refer to Figure 15, which is a schematic diagram of another radar system obstruction detection device provided in an embodiment of this application. As shown in Figure 15, the radar system obstruction detection device 150 can be an independent device, such as a processing device. Alternatively, the radar system obstruction detection device 150 can also be a component within an independent device (such as a vehicle), such as a chip or integrated circuit. This radar system obstruction detection device 150 is used to implement the aforementioned radar system obstruction detection method, such as the radar system obstruction detection method and its possible implementations shown in Figure 4.

[0210] The radar system obstruction detection device 150 may include at least one processor 1501 and a memory 1503. Optionally, it may also include a communication interface 1502. Further optionally, it may also include a connection line 1504, wherein the processor 1501, the communication interface 1502 and / or the memory 1503 are connected via the connection line 1504, and / or communicate with each other via the connection line 1504 to transmit control signals and / or data signals.

[0211] Wherein: Processor 1501 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: CPU, MCU, AP, MCU, ECU, GPU, MPU, ASIC, ISP, DSP, FPGA, CPLD, or coprocessor, etc.

[0212] Communication interface 1502 can be used to provide information input or output to at least one processor, or to receive and / or transmit signals to externally transmitted signals. For example, communication interface 1502 may include interface circuitry. For instance, communication interface 1502 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, communication interface 1502 may also include a radio frequency transmitter, antenna, etc. If communication interface 1502 includes an antenna, the number of antennas can be one or more.

[0213] As one possible design, if the radar system obstruction detection device 150 is a standalone device, the communication interface 1502 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0214] As another possible design, if the radar system obstruction detection device 150 is a chip or circuit, the communication interface 1502 may include an input interface and an output interface. The input interface and the output interface may be the same interface or they may be different interfaces.

[0215] Optionally, the functionality of the communication interface 1502 can be implemented through transceiver circuitry or dedicated transceiver chips.

[0216] The memory 1503 provides storage space, which can store data such as the operating system and computer programs. The memory 1503 can be one or a combination of RAM, ROM, EPROM, or CD-ROM, etc.

[0217] The functions and actions of each module or unit in the radar system obstruction detection device 150 listed above are merely illustrative examples.

[0218] Each functional unit in the radar system obstruction detection device 150 can be used to implement the aforementioned radar system obstruction detection method, such as the radar system obstruction detection method and its possible implementation methods shown in FIG11.

[0219] Optionally, the processor 1501 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0220] Optionally, if the radar system obstruction detection device 150 includes at least one memory 1503, and the processor 1501 implements the aforementioned radar system obstruction detection method by calling a computer program, the computer program can be stored in the memory 1503.

[0221] This application also provides a chip, which includes logic circuitry and a communication interface. The communication interface is used to receive or transmit signals; the logic circuitry is used to receive or transmit signals through the communication interface. The chip is used to implement the aforementioned radar system obstruction detection method, such as the radar system obstruction detection method and its possible implementations shown in Figure 11.

[0222] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or radar system obstruction detection device), implement the aforementioned radar system obstruction detection method, such as the radar system obstruction detection method and its possible implementations shown in Figure 11 and other embodiments.

[0223] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned radar system obstruction detection method, such as the radar system obstruction detection method and its possible implementations shown in FIG11.

[0224] This application embodiment also provides a vehicle, which includes one of radar obstruction detection device 120 and radar obstruction detection device 140, and one of radar system obstruction detection device 130 and radar system obstruction detection device 150.

[0225] It should be understood that the aforementioned vehicles are vehicles in a broad sense, which can include transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.). Similarly, robots can refer to automated guided vehicles (AGVs), walking and talking robots, service robots, and other types of robots.

[0226] It should be noted that, in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0227] It should be noted that, in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0228] In this embodiment, the names of information and devices are given exemplary purposes to facilitate understanding of the content of this solution. In specific implementations, their names may have other designs. Furthermore, the names of the same thing may also have different designs in different scenarios.

Claims

1. A radar obstruction detection method, characterized in that, The radar obstruction detection method includes: Information on the first echo received by the first radar within a first time period and information on the second echo received by the second radar within the first time period are obtained. The detection areas of the first radar and the second radar both include a first field of view (FOV). The information on the first echo is used to indicate the first energy reflection characteristic value of the first detection object within the first FOV, and the information on the second echo is used to indicate the second energy reflection characteristic value of the first detection object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold, it is determined that the first radar is blocked.

2. The method according to claim 1, characterized in that, The radar obstruction detection method further includes: When the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is greater than the first threshold, the degree of the first radar being blocked is determined based on the magnitude of the first difference, and the magnitude of the first difference is positively correlated with the degree of the first radar being blocked.

3. The method according to claim 1 or 2, characterized in that, The radar obstruction detection method further includes: When the first energy reflection characteristic value is less than the second energy reflection characteristic value and the first difference is less than or equal to the first threshold, the blocking state of the first radar is determined based on the information of the third echo received by the first radar. The information of the third echo is used to indicate the energy reflection characteristic value of the detected object within the detection area of ​​the first radar.

4. The method according to any one of claims 1 to 3, characterized in that, The radar obstruction detection method further includes: If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference is less than or equal to the first threshold, and the first radar is blocked, then the second radar is determined to be blocked. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, the first difference is less than or equal to the first threshold, and the first radar is not blocked, then it is determined that the second radar is not blocked.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Information on the fourth echo received by the third radar within the first time period is obtained. The detection area of ​​the third radar includes the first field of view (FOV). The information of the fourth echo is used to indicate the third energy reflection characteristic value of the first detection object within the first FOV. The third energy reflection characteristic value is greater than the first energy reflection characteristic value. The difference between the third energy reflection characteristic value and the first energy reflection characteristic value is the second difference value. The second difference value is less than the first difference value.

6. The method according to any one of claims 1 to 5, characterized in that, The first difference includes the difference in energy reflection characteristics due to occlusion.

7. The method according to any one of claims 1 to 6, characterized in that, The method is applied to a radar obstruction detection device connected to a control module, and the method further includes: The control module sends obstruction data, which includes a first status indication indicating that the first radar is obstructed.

8. The method according to any one of claims 1 to 6, characterized in that, The method further includes: The first radar is sent obstruction data, which includes a first status indication indicating that the first radar is obstructed.

9. The method according to claim 8, characterized in that, The first status indication is also used to instruct the second radar to perform beamforming within the first FOV.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Based on the degree to which the first radar is blocked, the system output includes blocking-related information of the radar system to which the first radar belongs, and the blocking-related information of the radar system to which the first radar belongs is related to the status information of the first radar.

11. The method according to claim 10, characterized in that, The obstruction-related information includes at least one of the following: the obstruction status of the radar in the radar system, the confidence level of the obstruction status of the radar in the radar system, and whether the information output by the radar system is available.

12. The method according to claim 2, characterized in that, After determining the degree to which the first radar is blocked, the method further includes: The output includes information about the degree of occlusion.

13. The method according to any one of claims 1 to 12, characterized in that, The first detection target is determined by identifying the overlapping area between the first point cloud detected by the first radar and the second point cloud detected by the second radar.

14. The method according to any one of claims 1 to 12, characterized in that, The first detection object includes the target detected by the first radar.

15. The method according to any one of claims 1 to 12, characterized in that, The first detection object is located in the first radar data map output by the first radar as the first position.

16. A radar system obstruction detection method, characterized in that, The radar system obstruction detection method includes: To obtain the radar blockage status of the radar in the radar system and the detection requirements of the radar system; If, based on the obstruction status of the radar in the radar system, it is determined that the radar system does not meet the detection requirements, then the radar system is determined to be obstructed. If the radar system meets the detection requirements based on the obstruction status of the radar in the radar system, then the radar system is determined to be unobstructed.

17. The method according to claim 16, characterized in that, The step of determining that the radar system is blocked when the radar system does not meet the detection requirements based on the blocking status of the radar in the radar system includes: If, based on the radar obstruction status of the radar in the radar system and the fused radar data, it is determined that the radar system does not meet the detection requirements, then the radar system is determined to be obstructed. The fused radar data is obtained by fusing the radar data output by the radar in the radar system.

18. The method according to claim 16 or 17, characterized in that, The step of determining that the radar system is not blocked when the radar system meets the detection requirements based on the radar's obstruction status includes: If the radar system meets the detection requirements based on the radar obstruction status and fused radar data, it is determined that the radar system is not obstructed. The fused radar data is obtained by fusing radar data output by the radars in the radar system.

19. The method according to any one of claims 16 to 18, characterized in that, The acquisition of the radar obstruction status in the radar system includes: The information of the first echo received by the first radar of the radar system and the information of the second echo received by the second radar of the radar system are obtained. The detection area of ​​the first radar and the detection area of ​​the second radar both include a first field of view (FOV). The information of the first echo is used to indicate the first energy reflection characteristic value of the first detection object within the first FOV, and the information of the second echo is used to indicate the second energy reflection characteristic value of the first detection object within the first FOV. If the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold, the blocking state of the first radar is determined to include the first radar being blocked.

20. The method according to any one of claims 16 to 19, characterized in that, The acquisition of the radar obstruction status in the radar system includes: The information of the first echo received by the first radar of the radar system and the information of the second echo received by the second radar of the radar system are obtained. The detection area of ​​the first radar and the detection area of ​​the second radar both include a first field of view (FOV). The information of the first echo is used to indicate the first energy reflection characteristic value of the first detection object within the first FOV, and the information of the second echo is used to indicate the second energy reflection characteristic value of the first detection object within the first FOV. When the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold, the degree of the first radar being blocked is determined based on the magnitude of the first difference, and the magnitude of the first difference is positively correlated with the degree of the first radar being blocked.

21. The method according to any one of claims 16 to 20, characterized in that, The acquisition of the radar obstruction status in the radar system includes: The information of the first echo received by the first radar of the radar system and the information of the second echo received by the second radar of the radar system are obtained. The detection area of ​​the first radar and the detection area of ​​the second radar both include a first field of view (FOV). The information of the first echo is used to indicate the first energy reflection characteristic value of the first detection object within the first FOV, and the information of the second echo is used to indicate the second energy reflection characteristic value of the first detection object within the first FOV. When the first energy reflection characteristic value is less than the second energy reflection characteristic value, and the first difference between the second energy reflection characteristic value and the first energy reflection characteristic value is greater than the first threshold, the blocking state of the first radar is determined based on the information of the third echo received by the first radar. The information of the third echo is used to indicate the energy reflection characteristic value of the detected object within the detection area of ​​the first radar.

22. A radar obstruction detection device, characterized in that, The radar obstruction detection device includes a unit for performing the method as described in any one of claims 1 to 15.

23. A radar system obstruction detection device, characterized in that, The radar system obstruction detection device includes a unit for performing the method as described in any one of claims 16 to 21.

24. A radar obstruction detection device, characterized in that, Includes a processor for performing the method as described in any one of claims 1 to 15.

25. A radar system obstruction detection device, characterized in that, Includes a processor for performing the method as described in any one of claims 16 to 21.

26. A radar system, characterized in that, The radar system includes a first radar, a second radar, and one of the following: The radar obstruction detection device as described in claim 22, the radar obstruction detection device as described in claim 23, the radar system obstruction detection device as described in claim 24, and the radar system obstruction detection device as described in claim 25.

27. A vehicle, characterized in that, The vehicle includes one of the following: The radar obstruction detection device as described in claim 22, the radar obstruction detection device as described in claim 23, the radar system obstruction detection device as described in claim 24, the radar system obstruction detection device as described in claim 25, and the radar system as described in claim 26.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1 to 15, or the method as described in any one of claims 16 to 21.

29. A computer program product, characterized in that, The computer program product includes a computer program that, when executed, performs the method as described in any one of claims 1 to 15, or the method as described in any one of claims 16 to 21.

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