CN112162249B - Vehicle-mounted millimeter wave radar occlusion detection method and system based on dynamic CFAR - Google Patents
Vehicle-mounted millimeter wave radar occlusion detection method and system based on dynamic CFAR Download PDFInfo
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- CN112162249B CN112162249B CN202010886877.0A CN202010886877A CN112162249B CN 112162249 B CN112162249 B CN 112162249B CN 202010886877 A CN202010886877 A CN 202010886877A CN 112162249 B CN112162249 B CN 112162249B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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Abstract
The invention provides a vehicle-mounted millimeter wave radar shielding detection method and system based on dynamic CFAR, wherein RD maps corresponding to radar echoes of different scenes are used as input, the target detection performance of a radar system depended on is developed by a shielding detection algorithm in advance, the shielding confidence degrees of different CFAR detection points are determined, the CFAR detection results within a certain time range are counted when a bumper on an electromagnetic wave propagation path of the millimeter wave radar is shielded or not, the shielding confidence degrees obtained are combined, the shielding confidence degree sum under two shielding states is respectively calculated, shielding characteristic boundaries under two conditions of shielding or not are obtained, and a shielding characteristic threshold value is determined on the basis of the shielding confidence degree sum, so that the threshold value is used as the input of the shielding detection algorithm, the self-adaptive judgment on the shielding condition of the millimeter wave radar is completed, the functions of real-time self-detection and shielding alarm of the millimeter wave radar are realized, the robustness of the method is strong, and the sensing capability of the vehicle-mounted millimeter wave radar system on the environment is effectively ensured.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted information, in particular to a vehicle-mounted millimeter wave radar shielding detection method and system based on dynamic CFAR.
Background
The millimeter Wave radar has the characteristics of small volume, light weight, high spatial resolution, all-weather (except heavy rainy days) all-day time and the like, and particularly for Frequency Modulation Continuous Wave (FMCW) radars, because of the advantages of no blind area in ranging, easiness in realizing miniaturization and the like, the millimeter Wave radar is favored in the automobile field and becomes one of important devices for the automobile to sense the surrounding environment. However, in the use process of vehicle-mounted millimeter wave radar for loading, because the vehicle body part on the electromagnetic wave propagation path is easily covered by wet snow, sludge or other objects, the radar is characterized as being shielded, and further the detection performance of the radar on the target is damaged, when the radar is seriously shielded, the radar completely loses the detection capability on the surrounding environment target, so that the radar system cannot provide wrong environment perception information and decision for the vehicle, and the driving danger exists. In order to solve the problem, a commonly used and easily implemented occlusion detection algorithm is to perform CFAR target detection on a frame of radar echo, count the number of points detected by a Constant False Alarm Rate (CFAR) in a velocity dimension (doppler dimension near a vehicle speed) of an absolute stationary object, compare the number of the detected points with a preset threshold number, if the number of the detected points is greater than the preset threshold, determine that the radar is not occluded, otherwise determine that the radar is occluded, and directly display a determination result of the frame as a final result of the occlusion detection. The method is simple, but the setting of the threshold required by the occlusion detection judgment is greatly influenced by the fluctuation of the radar signal quality and the radar system stability, and even if the fluctuation has no obvious influence on the target detection function of the system, the CFAR point number is possibly out of the range divided by the threshold, so that the occlusion detection fails. Secondly, in each occlusion detection output result, the time period of data for analysis is short, the statistical quantity is small, and the numerical value of the CFAR point is not representative. Thirdly, for some special environments, such as open scenes, the number of absolute stationary targets which can be detected by the millimeter wave radar in the environment is small or almost small, and even if moving targets are introduced in a certain time range, the number of absolute stationary targets in the environment is always small or almost small, so that under the condition that the targets are not blocked, the detection result is continuously blocked, and an unexpected condition of false alarm occurs. From these points, the method of comparing the number of local CFAR detection points of a single-frame echo with an absolute threshold to determine whether to block tends to make the algorithm have poor robustness, affect the final result of blocking detection, and cause a blocking detection false alarm or a blocking detection false alarm.
Disclosure of Invention
The invention provides a vehicle-mounted millimeter wave radar occlusion detection method and system based on dynamic CFAR, which take a vehicle-mounted millimeter wave radar applying FMCW as a research basis, provide an optimization method for carrying out weighted summation on the output points of full-speed dimension CFAR of multi-frame data, and judge the occlusion condition of the millimeter wave radar, thereby realizing the occlusion self-diagnosis function of the vehicle-mounted millimeter wave radar.
The method comprises the following specific steps:
a vehicle-mounted millimeter wave radar shielding detection method based on dynamic CFAR comprises the following steps,
s1: counting the number of points which can be detected by the existing radar target detection algorithm under different scenes and different shielding states, and searching a prior value of the target detection performance of a radar system;
s2: p discrete shielding confidence degrees alpha are given to different CFAR output points according to the prior value, and alpha belongs to (0, 1);
s3: calculating the lower limit of the CFAR detection point weighted sum under the shielding condition that a bumper in front of the millimeter wave radar is directly covered by foreign matters; calculating the upper limit of the CFAR detection point number weighted sum under the condition that no direct foreign matter is covered at the position of a bumper right in front of the millimeter wave radar; calculating a threshold value according to the lower limit and the upper limit;
s4: collecting real-time radar echoes, judging whether the current radar is in a shielding state or not according to the threshold value, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection.
Wherein, it has the CFAR detection point under the condition of sheltering from that direct foreign matter covers to have in millimeter wave radar dead ahead bumper department to calculate the lower limit of weighing summation, still includes:
s31: collecting receiving end time domain echo signals under the shielding condition covered by direct foreign matters to obtain an N-frame radar receiving signal matrix A;
s32: performing two-dimensional Fast Fourier Transform (FFT) on a Fast time dimension and a slow time dimension of time domain echo signals of each receiving channel in a frame time, performing incoherent accumulation on FFT results obtained by FFT operation of all the time domain signals of the receiving channels to obtain an incoherent FFT two-dimensional matrix containing a distance dimension and a speed dimension, wherein the incoherent FFT two-dimensional matrix corresponds to an RD Map;
s33: repeating the step S32 for the remaining N-1 frames; counting the number TA (i), i =1,2, \8230;, K of the occurrence times of different CFAR detection points Sn in N detections in N CFAR output detection points Sn (N =1,2, \8230;, N); k is the number of different numerical values in the N CFAR detection points;
s34: finding an occlusion confidence coefficient alpha A (i) matched with each CFAR detection point Sn according to the occlusion confidence coefficient alpha in the step S2, and calculating the lower limit of the CFAR detection point weighted summation under the occlusion condition of direct foreign matter coverage:
。
further, the upper limit of the weighted summation of the detection points of the CFAR under the condition that the direct foreign matter is not covered at the bumper in front of the millimeter wave radar is calculated, further comprising: according to the steps S31 to S34, the following are calculated: the method comprises the following steps of counting N frames of radar receiving signal matrixes B under the shielding condition without direct foreign matter coverage, counting the times TB (i) of the different CFAR detection points Sn ' in N times of detection and the shielding confidence alpha B (i) matched with each CFAR detection point Sn ' in N frames of CFAR output detection points Sn ', and calculating the upper limit value of the CFAR detection point weighted summation under the shielding condition without direct foreign matter coverage:
。
wherein the threshold is:
。
further, the step S4 further includes:
s41: collecting single-frame real-time radar echoes, carrying out CFAR detection, counting the number of CFAR detection points passing a CFAR detection threshold, and storing the number in an array H;
s42: until the array H is an N-frame radar receiving signal matrix, counting times TH (i) of different CFAR detection point numbers Sn (H) appearing in N-time detection in N-time output detection point numbers Sn (H) of N frames of CFAR, and determining the shielding confidence coefficient alpha H (i) of each CFAR detection point number Sn (H), wherein the confidence coefficient sum value is as follows:
；
s43, judging
If the radar level is smaller than the preset threshold value, the radar is not shielded; otherwise, the radar is shielded; and finishing the detection.
Further, the threshold may be:
，
；
further, the blocking alarm includes prompting the user in a text, voice, or video manner.
As another preferred example, the present invention further provides a vehicle-mounted millimeter wave radar occlusion detection system based on dynamic CFAR, specifically including:
the radar signal acquisition end is used for acquiring real-time radar echoes and storing acquired data in a memory;
the data processing center is used for counting the number of points which can be detected by the existing radar target detection algorithm in different scenes and different shielding states, searching a prior value of the target detection performance of the radar system, and endowing P discrete shielding confidence coefficients alpha for different CFAR output points according to the prior value; calculating the lower limit of the CFAR detection point number weighted sum under the shielding condition that a direct foreign matter covers a bumper right in front of the millimeter wave radar; calculating the upper limit of the CFAR detection point number weighted sum under the shielding condition that no direct foreign matter covers at the position of a bumper right in front of the millimeter wave radar; calculating a threshold value according to the lower limit and the upper limit; judging whether the current radar is in a shielding state or not according to the threshold and the radar echo acquired in real time, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection.
And the user terminal presents the shielding alarm to the user in a text, voice or video mode.
The radar signal acquisition end is fixedly arranged at any position of the automobile.
Further, the user terminal is a vehicle-mounted display or a mobile user terminal.
In summary, the vehicle millimeter wave radar occlusion detection method and system based on the dynamic CFAR provided by the present invention effectively improve the compatibility of the occlusion detection algorithm to external interference factors and enhance the occlusion state representativeness of the CFAR detection point count result by giving dynamic occlusion confidence to the CFAR detection points and extending the time period participating in the occlusion detection data statistics. By expanding the speed dimension of the CFAR detection point counting, the capturing capability of the occlusion detection algorithm on the environmental state along with the time and the slight change caused by the introduction of the moving target is enhanced, and the detection capability of the occlusion detection algorithm is improved.
Drawings
Fig. 1 is a flowchart of a method for detecting occlusion of a vehicle-mounted millimeter wave radar based on a dynamic CFAR in an embodiment.
FIG. 2 is a diagram illustrating the relationship between CFAR point numbers and occlusion confidence levels in an embodiment.
FIG. 3 is a block detection result based on dynamic weights in an embodiment.
Fig. 4 is a schematic diagram of a vehicle-mounted millimeter wave radar occlusion detection system based on dynamic CFAR in an embodiment.
Detailed Description
The following describes in detail a method and a system for detecting occlusion of a vehicle-mounted millimeter wave radar based on dynamic CFAR according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the method for detecting occlusion of a vehicle-mounted millimeter wave radar based on dynamic CFAR provided by the present invention includes a threshold value confirmation part and a real-time detection part, and the specific implementation steps are as follows:
the method comprises the following steps: counting the number of points which can be detected by the existing radar target detection algorithm under different scenes and different shielding states, and searching a prior value of the target detection performance of a radar system;
step two: different CFAR output point numbers are given discrete shielding confidence degrees alpha between P0-1 according to the prior value, wherein alpha belongs to (0, 1), wherein the larger the CFAR output point number is, the smaller the confidence value is (as shown in figure 2). The size of P depends on the CFAR point statistical analysis and is dynamically adjustable for different scenarios.
Step three: calculating the lower limit of the CFAR detection point weighted sum under the shielding condition that a bumper in front of the millimeter wave radar is directly covered by foreign matters; calculating the upper limit of the CFAR detection point number weighted sum under the condition that no direct foreign matter is covered at the position of a bumper right in front of the millimeter wave radar; calculating a threshold value according to the lower limit and the upper limit; the method specifically comprises the following steps:
analyzing a receiving end time domain echo signal acquired under the shielding condition that direct foreign matter covers a bumper right in front of a millimeter wave radar, respectively performing two-dimensional FFT of a fast time dimension and a slow time dimension on the time domain echo signal of each receiving channel in a frame time, and performing incoherent accumulation on FFT results obtained by FFT operation on all the time domain signals of the receiving channels, at the moment, obtaining an incoherent FFT two-dimensional matrix containing a distance dimension and a speed dimension, corresponding to an RD map, performing CFAR detection based on the incoherent FFT two-dimensional matrix of the frame, counting CFAR output detection points S passing through a CFAR detection threshold in a partial distance section of the full speed dimension of the frame, and if N frame data exists in a time range participating in the counting, performing the same operation on other N-1 frame data to correspondingly obtain CFAR detection point counting results of the N RD maps, further counting N CFAR detection points Sn (N =1,2, 8230, N) in different CFAR detection points in N detection times TA (i =1, i, 82k, N); k is different numerical values in the number of the N CFAR detection points, and according to the shielding confidence level determined in the step two, the shielding confidence level alpha A (i) matched with each CFAR detection point Sn is found, and finally the formula is used
Obtaining the lower limit value of the CFAR detection point number weighted summation under the shielding condition; similarly, the upper limit of the CFAR detection point weighted summation under the condition that no direct foreign matter is covered at the bumper right in front of the millimeter wave radar is calculated, and the following can be obtained: the N frames of radar receiving signal matrix B under the condition of no direct foreign matter coverage counts different CFAR detection points in the output detection point number Sn' of the N frames of CFARCalculating the upper limit value of the CFAR detection point number weighted summation under the shielding condition without direct foreign matter coverage by using the times TB (i) of the number Sn 'appearing in the N times of detection and the shielding confidence coefficient alpha B (i) matched with each CFAR detection point number Sn':
。
preferably, the incoherent result of all channels can be replaced by a partial channel.
Preferably, the partial range segments of the full speed dimension that count the number of CFAR output points S that pass the CFAR detection threshold may be replaced with full range segments of the full speed dimension or any full range segments or any range segments that determine the range of the range segments or partial speed dimension.
Preferably, p values with occlusion confidence degrees of 0-1 are given to different CFAR output point numbers, and other numerical value ranges can be used instead, wherein the intervals between the p points can be equal or different.
Preferably, the occlusion confidence coefficient is given to different CFAR output points to be 0-1, and if the point number is larger, the confidence coefficient value is smaller; different CFAR output points can be replaced to give a non-occlusion confidence coefficient of 0-1, and if the point number is larger, the confidence coefficient value is larger.
Based on the calculation result, according to the difference value between the lower limit of the CFAR detection point number weighted summation under the shielding condition and the upper limit of the CFAR detection point number weighted summation under the non-shielding condition, taking an intermediate value between the lower limit and the upper limit, confirming the judgment threshold of the shielding condition and the shielding condition, and taking the threshold as the input condition of the shielding real-time detection algorithm. Preferably, the method of determining which condition the threshold value is inclined to may also be determined according to the requirements of the system on the false alarm rate and the false alarm rate of the occlusion alarm, and further, the threshold value may also be:
；
step four: collecting real-time radar echoes, judging whether the current radar is in a shielding state or not according to the threshold value, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection. The method specifically comprises the following steps:
s41: collecting single-frame real-time radar echoes, carrying out CFAR detection, counting the number of CFAR detection points passing through a CFAR detection threshold, and storing the number in an array H;
s42: until the array H is an N-frame radar receiving signal matrix, counting the times TH (i) of the detection point numbers Sn (H) output by the CFAR of the N frames, wherein the different detection point numbers Sn (H) appear in the N times of detection, and determining the shielding confidence coefficient alpha H (i) of each detection point number Sn (H), wherein the confidence coefficient sum value is:
(ii) a Otherwise, continuing to acquire and input the real-time radar echo until the array H contains N frame data, namely the Size (H) is N.
S43, judging
If the radar level is smaller than the preset threshold value, the radar is not shielded; otherwise, the radar is shielded, and then shielding alarm is started; and outputting the detection result (as shown in fig. 3) to finish the detection. Optionally, the output frequency of the detection result is N frames output for 1 time.
Preferably, the blocking alarm includes prompting the user in a text, voice, or video manner.
As another preferred, the present invention further provides a vehicle millimeter wave radar occlusion detection system based on dynamic CFAR (as shown in fig. 4), which includes:
the radar signal acquisition end is used for acquiring real-time radar echoes and storing acquired data in the memory;
the data processing center is used for counting the number of points which can be detected by the existing radar target detection algorithm under different scenes and different shielding states, searching a prior value of the target detection performance of the radar system, and endowing P discrete shielding confidence coefficients alpha for different CFAR output points according to the prior value; calculating the lower limit of the CFAR detection point number weighted sum under the shielding condition that a direct foreign matter covers a bumper right in front of the millimeter wave radar; calculating the upper limit of the CFAR detection point number weighted sum under the condition that no direct foreign matter is covered at the position of a bumper right in front of the millimeter wave radar; calculating a threshold value according to the lower limit and the upper limit; judging whether the current radar is in a shielding state or not according to the threshold and the radar echo acquired in real time, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection.
And the user terminal presents the shielding alarm to the user in a text, voice or video mode.
The radar signal acquisition end is fixedly arranged at any position of the automobile.
The user terminal is a vehicle-mounted display or a mobile user terminal.
In summary, the invention provides a vehicle-mounted millimeter wave radar occlusion detection method and system based on dynamic CFAR, which take RD maps (Range Doppler maps) corresponding to radar echoes of different scenes as input, pre-quantize the target detection performance of a radar system depended on by an occlusion detection algorithm, determine the occlusion confidence coefficients of different CFAR detection points, then count the CFAR detection results within a certain time Range when a bumper on an electromagnetic wave propagation path of the millimeter wave radar has occlusion and does not have occlusion, and respectively calculate the occlusion confidence sum under two occlusion states by combining the obtained occlusion confidence coefficients, that is, obtain the occlusion characteristic boundary under two conditions of having occlusion and not having occlusion, and determine the confidence sum threshold of whether occlusion or not based on the result, and finally take the threshold as the input of the occlusion detection algorithm, and after that self-adaptive judgment is performed on the occlusion condition of the millimeter wave radar, thereby realizing the functions of millimeter wave radar occlusion self-detection and occlusion alarm. According to the method and the system for detecting the shielding condition of the vehicle-mounted millimeter wave radar based on the dynamic CFAR, disclosed by the invention, the shielding condition detection of the vehicle-mounted millimeter wave radar can be effectively realized, meanwhile, the method is strong in robustness and low in computational requirement, the sensing capability of the vehicle-mounted millimeter wave radar system on the environment is ensured, and the real-time performance of the vehicle-mounted millimeter wave radar diagnosis application is met.
While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, those skilled in the art will appreciate that various modifications can be made to the present invention without departing from the scope and spirit of the invention. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, which is defined by the appended claims and their equivalents.
Claims (10)
1. A vehicle-mounted millimeter wave radar shielding detection method based on dynamic CFAR is characterized by comprising the following steps,
s1: counting the number of points which can be detected by the existing radar target detection algorithm under different scenes and different shielding states, and searching a prior value of the target detection performance of a radar system;
s2: p discrete shielding confidence degrees alpha are given to different CFAR output points according to the prior value, and alpha belongs to (0, 1);
s3: calculating the lower limit of the CFAR detection point weighted sum under the shielding condition that a direct foreign matter covers a bumper in front of the millimeter wave radar
(ii) a And calculating the upper limit of the CFAR detection point weighted sum under the condition that no direct foreign matter is covered at the position of a bumper right in front of the millimeter wave radar
(ii) a Calculating a threshold value according to the lower limit and the upper limit;
s4: collecting real-time radar echoes, judging whether the current radar is in a shielding state or not according to the threshold value, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection;
TA (i) is the frequency of the occurrence of different CFAR detection point numbers Sn in N times of detection; i =1,2, \ 8230;, K; k is the number of different numerical values in the N CFAR detection points; α A (i) is the occlusion confidence that the number of detection points Sn for each CFAR matches; TB (i) is the number of times that different CFAR detection points Sn' appear in N times of detection; α B (i) detects occlusion confidence for each CFAR for which the points Sn' match.
2. The method according to claim 1, wherein the calculating the lower limit of the weighted summation of the number of the CFAR detection points under the shielding condition that a bumper right in front of the millimeter wave radar is covered by a direct foreign object further comprises:
s31: collecting a receiving end time domain echo signal under the shielding condition of direct foreign matter coverage to obtain an N-frame radar receiving signal matrix A;
s32: performing two-dimensional fast Fourier transform of a fast time dimension and a slow time dimension on time domain echo signals of all receiving channels in a frame time respectively, and performing incoherent accumulation on FFT results obtained by performing two-dimensional FFT operation on all the time domain signals of the receiving channels to obtain an incoherent FFT two-dimensional matrix containing a distance dimension and a speed dimension, wherein the incoherent FFT two-dimensional matrix corresponds to an RD Map; based on the incoherent FFT two-dimensional matrix of the frame, CFAR detection is carried out, and the number S of CFAR output detection points passing through a CFAR detection threshold in a partial distance section of the full speed dimension of the frame is counted;
s33: repeating the step S32 for the rest N-1 frames; counting the number of detection points Sn output by N frames of CFAR, wherein N =1,2, \8230, in N, the times TA (i) of the occurrence of different CFAR detection points Sn in N detections;
s34: and finding the occlusion confidence coefficient alpha A (i) matched with each CFAR detection point Sn according to the occlusion confidence coefficient alpha in the step S2, and calculating the lower limit Xthrd of the CFAR detection point weighted summation under the occlusion condition of direct foreign matter coverage.
3. The method of claim 2, wherein the calculating the upper limit of the CFAR detection point weighted sum under the condition of no direct foreign matter coverage at the bumper right in front of the millimeter wave radar further comprises: according to the steps S31 to S34, calculating: and counting the times TB (i) of different CFAR detection points Sn ' appearing in N times of detections in the N frames of CFAR output detection points Sn ' and the occlusion confidence coefficient alpha B (i) matched with each CFAR detection point Sn ', and calculating the upper limit value Ythrd of CFAR detection point weighted summation under the occlusion condition without direct foreign matter coverage.
4. The method of claim 1, wherein the threshold is:
。
5. the method according to claim 1, wherein the step S4 further comprises:
s41: collecting single-frame real-time radar echoes, carrying out CFAR detection, counting the number of CFAR detection points passing a CFAR detection threshold, and storing the number in an array H;
s42: until the array H is an N-frame radar receiving signal matrix, counting times TH (i) of different CFAR detection point numbers Sn (H) appearing in N-time detection in N-time output detection point numbers Sn (H) of N frames of CFAR, and determining the shielding confidence coefficient alpha H (i) of each CFAR detection point number Sn (H), wherein the confidence coefficient sum value is as follows:
；
s43, judging that P < ZThrd, if less than, the radar is not shielded; otherwise, the radar is shielded; and finishing the detection.
6. The method according to any one of claims 1 or 4, wherein the threshold value is further:
，β∈[0，1]。
7. the method of claim 1, wherein the occlusion alarm comprises prompting the user by text, voice, or video.
8. The utility model provides an on-vehicle millimeter wave radar shelters from detecting system based on developments CFAR which characterized in that includes:
the radar signal acquisition end is used for acquiring real-time radar echoes and storing acquired data in the memory;
the data processing center is used for counting the number of points which can be detected by the existing radar target detection algorithm under different scenes and different shielding states, searching a prior value of the target detection performance of the radar system, and endowing P discrete shielding confidence coefficients alpha for different CFAR output points according to the prior value; calculating the lower limit of the CFAR detection point weighted sum under the shielding condition that the direct foreign matter covers the bumper in front of the millimeter wave radar
(ii) a And calculating the upper limit of the weighted summation of the CFAR detection points under the condition that no direct foreign matter is covered at the position of a bumper right in front of the millimeter wave radar
(ii) a Calculating a threshold value according to the lower limit and the upper limit; judging whether the current radar is in a shielding state or not according to the threshold and the radar echo acquired in real time, and starting shielding alarm if the current radar is in the shielding state; otherwise, continuing a new round of occlusion detection;
the user terminal presents the shielding alarm to a user in a text, voice or video mode;
TA (i) is the frequency of the occurrence of different CFAR detection point numbers Sn in N times of detection; i =1,2, \ 8230;, K; k is the number of different numerical values in the N CFAR detection points; α A (i) is the occlusion confidence coefficient matched with each CFAR detection point Sn; TB (i) is the frequency of the appearance of different CFAR detection point numbers Sn' in N detections; α B (i) detects the occlusion confidence that the points Sn' match for each CFAR.
9. The system of claim 8, wherein the radar signal acquisition end is fixedly arranged at any position of the automobile.
10. The system of claim 8, wherein the user terminal is a vehicle-mounted display or a mobile user terminal.
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