CN110927684B - Method and device for detecting radar shielding state of automobile - Google Patents
Method and device for detecting radar shielding state of automobile Download PDFInfo
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- CN110927684B CN110927684B CN201811117553.XA CN201811117553A CN110927684B CN 110927684 B CN110927684 B CN 110927684B CN 201811117553 A CN201811117553 A CN 201811117553A CN 110927684 B CN110927684 B CN 110927684B
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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
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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
Abstract
The application provides a method and a device for detecting the radar shielding state of an automobile, wherein the method comprises the following steps: transmitting a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through a millimeter wave automobile radar; the numerical value of the first preset value is 0.1GHZ-12 GHZ; receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar; detecting the intensity of the first reflected signal; and determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal. This application embodiment is through setting up millimeter wave radar frequency modulation slope to make millimeter wave radar's range resolution can distinguish the barrier on the millimeter wave radar closely, and the detection mode is simple and the reliability is higher.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a method and a device for detecting a radar shielding state of an automobile.
Background
Automotive radars are important for improving the driving safety performance of automobiles. The millimeter wave radar in the automobile radar has the advantages of high distance resolution, small radiation power, small size and the like, so that the millimeter wave radar is widely applied to the fields of advanced driving assistance systems, automatic driving and the like. The basic working principle of the millimeter wave radar is that the relative distance and speed of a target to be detected are obtained by continuously and periodically modulating the frequency of a transmitted signal and analyzing the frequency of the signal at the transmitting moment and the receiving moment.
When the millimeter wave radar detection device is used, if the millimeter wave radar is shielded by snow, mud and the like, the final detection result of a detected target can be influenced, and the driving safety is threatened.
Disclosure of Invention
In view of this, an object of the present application is to provide a method and an apparatus for detecting a radar blocking state of an automobile, so as to reduce the probability of driving accidents.
In a first aspect, an embodiment of the present application provides a method for detecting a shielding state of an automotive radar, where a millimeter wave automotive radar transmits a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction; the numerical value of the first preset value is 0.1GHZ-12 GHZ;
receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar;
detecting the intensity of the first reflected signal;
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where a millimeter wave automotive radar transmits a second chirp signal to a preset direction;
receiving a second reflected signal corresponding to the second linear frequency modulation signal through a millimeter wave automotive radar;
detecting the magnitude of the direct current component of the second reflected signal;
determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal, wherein the step comprises the following steps:
and determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the size of the direct current component of the second reflection signal.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where a third point-frequency signal is transmitted to a preset direction by a millimeter wave automotive radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
receiving a third reflected signal of the intermediate frequency signal through a millimeter wave automobile radar;
detecting the intensity of the third reflected signal;
determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal, wherein the step comprises the following steps:
and determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the strength of the third reflection signal.
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where a second chirp signal is transmitted to a preset direction by a millimeter wave automotive radar;
receiving a second reflected signal corresponding to the second linear frequency modulation signal through a millimeter wave automotive radar;
detecting the magnitude of the direct current component of the second reflected signal;
sending a third point frequency signal to a preset direction through a millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
receiving a third reflected signal of the intermediate frequency signal;
detecting the intensity of the third reflected signal;
determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal, wherein the step comprises the following steps:
and determining the shielding state of the millimeter wave automobile radar according to the intensity of the first reflection signal, the magnitude of the direct current component of the second reflection signal and the intensity of the third reflection signal.
With reference to the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the determining, according to the strength of the first reflection signal and the magnitude of the direct current component of the second reflection signal, an occlusion state of the millimeter wave automotive radar includes:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value and the second reference evaluation value is larger than a second preset threshold value, determining that the millimeter wave automobile radar is shielded.
With reference to the first aspect, an embodiment of the present application provides a sixth possible implementation manner of the first aspect, where the determining, according to the strength of the first reflected signal and the strength of the third reflected signal, the shielding state of the millimeter wave automotive radar includes:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a third reference evaluation value of a third reflection signal according to the intensity of the third reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value and the third reference evaluation value is larger than a third preset threshold value, determining that the millimeter wave automobile radar is shielded.
With reference to the first aspect, an embodiment of the present application provides a seventh possible implementation manner of the first aspect, where the determining, according to the strength of the first reflected signal, the size of the direct current component of the second reflected signal, and the strength of the third reflected signal, the shielding state of the millimeter wave automobile radar includes:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
determining a third reference evaluation value of a third reflection signal according to the intensity of the third reflection signal;
and when at least two of the first reference evaluation value, the second reference evaluation value and the third reference evaluation value are respectively greater than the corresponding first preset threshold, the second preset threshold and the third preset threshold, determining that the millimeter wave automobile radar is shielded.
In a second aspect, an embodiment of the present application further provides a device for detecting a radar shielding state of an automobile, including:
the first transmitting module is used for transmitting a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through the millimeter wave automobile radar;
the first receiving module is used for receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar;
the first detection module is used for detecting the strength of the first reflection signal;
a first determination module, configured to determine a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal; and when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect described above, or any possible implementation of the first aspect.
According to the method and the device for detecting the shielding state of the automobile radar, the first linear frequency modulation signal with the frequency modulation bandwidth of a first preset value is transmitted to the preset direction through the millimeter wave automobile radar; the numerical value of the first preset value is 0.1GHZ-12 GHZ; receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar; detecting the intensity of the first reflected signal; determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal; and when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded. The numerical value of the frequency modulation bandwidth reaches 0.1GHZ-12GHZ by adjusting the frequency modulation bandwidth of the millimeter wave radar, so that the distance resolution of the millimeter wave radar is improved, and the purpose of determining whether the front part of the millimeter wave radar is shielded by snow, mud and the like is achieved. The detection method provided by the application is simple, the calculated amount of a complex algorithm is avoided, and the detection reliability is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a basic flowchart of a method for detecting a radar blocking status of an automobile according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an optimization of a method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating an optimization of another method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating an optimization of another method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 5 is a supplementary basic flowchart of a method for detecting a radar blocking status of an automobile according to an embodiment of the present application;
FIG. 6 is a supplementary optimization flowchart illustrating a method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 7 is a flow chart illustrating a supplementary optimization of another method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 8 is a flow chart illustrating a supplementary optimization of another method for detecting a radar blocking state of an automobile according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram illustrating an apparatus for detecting a radar blocking state of an automobile according to an embodiment of the present application;
fig. 10 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The millimeter wave is electromagnetic wave with the wavelength of 1-10 mm, and has the advantages of large radio frequency bandwidth, high resolution, small size of an antenna component and capability of adapting to severe environment, so that the millimeter wave radar has the advantages of light weight, small volume, strong penetrating power, all-weather work, high spatial resolution and the like. However, when the millimeter-wave radar is shielded by a nearby shelter, the driving safety may be threatened. In the prior art, whether the millimeter wave radar is shielded by snow, mud and the like is generally judged by detecting the signal and the bottom noise of the millimeter wave radar and the difference change of the signal and the bottom noise under a normal working state. This detection mode requires support of a complex algorithm, and the reliability of the detection result is not high.
Based on this, the embodiment of the application provides a method and a device for detecting a radar blocking state of an automobile, which are described below through an embodiment.
To facilitate understanding of the present embodiment, a method for detecting a radar shielding status of an automobile disclosed in the embodiments of the present application is first described, and as shown in fig. 1, the method includes the following steps:
s101, transmitting a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through a millimeter wave automobile radar; the numerical value of the first preset value is 0.1GHZ-12 GHZ;
s102, receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar;
s103, detecting the intensity of the first reflection signal;
and S104, determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal.
Millimeter wave radars are mostly used in the field of unmanned driving. The millimeter wave automotive radar generally refers to a frequency modulated continuous wave radar (FMCW), and mainly comprises three parts: the device comprises a transmitting antenna, a receiving antenna and a signal processing module. The millimeter wave radar emits electromagnetic wave energy to a preset direction in a space through an antenna, and an object in the direction reflects the electromagnetic wave; the receiving antenna of the radar receives the reflected wave and sends the reflected wave to the signal processing module for processing. The millimeter wave radar in different embodiments of the present application is an FMCW radar.
In step S101, the millimeter wave radar transmits a first linear frequency modulation signal having a frequency modulation bandwidth of a first preset value to a preset direction, where the preset direction is a direction in which the millimeter wave radar to be detected may be blocked by a blocking object, and the general preset direction is directly in front of the millimeter wave radar. The ratio of the frequency modulation bandwidth to the frequency modulation time of the first millimeter wave radar is the frequency modulation slope, and the distance resolution of the millimeter wave radar is improved by setting the frequency modulation slope, so that the millimeter wave radar can detect shelters in a short distance of the radar. The frequency modulation slope is set to enable the value of the frequency modulation bandwidth to be kept at a first preset value, and the value of the first preset value is 0.1GHz-12 GHz. The bandwidth of the frequency modulation and the range resolution are in a certain functional relationship, and specifically, the range resolution mainly depends on the effective bandwidth B of the radar. By Δ rcIndicating the range resolution, the range resolution of the millimeter wave radar
That is, the range resolution and the effective bandwidth satisfy an inverse proportional function relationship, i.e., the higher the effective bandwidth, the larger the range resolution. The FM slope of the millimeter wave radar is set to be maximum, usually 2GHz/10us, so that the effective bandwidth of the millimeter wave radar can reach a higher level, usually 0.1GHz-12GHz, especially 5GHz, and the range resolution of the radar is improved, so that the millimeter wave radar can identify targets at a distance of 3CM or less than 3 CM. Meanwhile, because the frequency modulation slope is large, the frequency of the signal (such as the signal with the distance resolution of 3cm and the frequency of 40KHz of the intermediate frequency) can be within the passband range of the intermediate frequency filter, and the attenuation of the signal can be reduced. When the effective band of millimeter wave radarWhen the width reaches a higher level, the performance of an antenna, a chip and other hardware of the millimeter wave radar used in cooperation with the width also meets the requirement that the millimeter wave radar reaches an effective bandwidth value.
In step S102, a first reflected signal corresponding to the first chirp signal is received by the millimeter wave automotive radar. The first reflection signal is formed by reflecting the first chirp signal contacted by the shielding object in the preset direction. And the millimeter wave radar transmits the first linear frequency modulation signal in the step through the transmitting antenna, wherein the first linear frequency modulation signal is transmitted by the millimeter wave radar with the frequency modulation bandwidth of a first preset value. The bandwidth is determined based on the distance resolution determined in step S101. Similarly, the millimeter wave radar receives a first reflected signal corresponding to the first chirp signal into a reception channel of the millimeter wave radar through the reception antenna.
Step S103, after receiving the first reflection signal, detecting the signal strength of the first reflection signal. The intensity of the first reflection signal is detected, and the first reflection signal is input to an analog-to-digital converter to obtain a digital signal corresponding to the first reflection signal, so as to calculate the amplitude of the first reflection signal. Other methods of detecting the strength of the radar signal may also be used.
And step S104, determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal. The shielding state of the millimeter wave automotive radar may include a suspected shielded state and a determined shielded state. Step S104 may be specifically implemented as follows: and comparing the intensity of the first reflected signal with the preset intensity of the first reflected signal to determine whether the millimeter wave radar is blocked by the blocking object. The preset first reflection signal is a reflection signal of a transmission signal received when the frequency modulation slope is set to be a first preset value under the condition that the millimeter wave radar is not shielded. Comparing the intensity of the first reflection signal with a preset first reflection signal, and when the intensity is increased, considering that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, the confirmation of the millimeter wave radar is determined to be the blocked state.
In the above embodiment of the present application, by setting the frequency modulation slope of the millimeter wave radar, the frequency modulation bandwidth of the millimeter wave radar can reach the first preset value, and the range resolution of the millimeter wave radar is improved, that is, the obstacle at the position close to the millimeter wave radar can be resolved. The detection method used by the embodiment of the application is simple, the calculated amount of a complex algorithm is avoided, and the detection reliability is improved.
The method described in the above-mentioned step S101 to step S104 is a basic method for detecting a millimeter wave radar shielding state, and the following is an improvement of the basic method, and on the basis of the above-mentioned steps S101 to S103, the following steps may be further performed, as shown in fig. 2:
s201, transmitting a second linear frequency modulation signal to a preset direction through a millimeter wave automobile radar;
s202, receiving a second reflection signal corresponding to the second linear frequency modulation signal through a millimeter wave automobile radar;
s203, detecting the magnitude of the direct current component of the second reflection signal;
step S104, comprising:
and S204, determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the direct-current component of the second reflection signal.
Steps S201 to S203 and steps S101 to 103 may be performed simultaneously or may be performed separately.
In step S201, a second linear frequency modulation signal is transmitted to a preset direction through the millimeter wave automotive radar. The preset direction is the direction in which the millimeter wave radar to be detected can be blocked by a blocking object, and the general preset direction is the right front of the millimeter wave radar. The millimeter-wave radar transmits the second linear frequency modulation signal through the transmitting antenna.
In step S202, the millimeter wave automobile radar receives a second reflection signal corresponding to the second chirp signal through the receiving antenna. Then, in step S203, the magnitude of the dc component in the received second reflected signal is detected. When the millimeter wave radar is shielded by shelters such as snow and mud, the signal strength of the millimeter wave radar in distance can be improved besides influencing normal target detection, namely the direct-current component of the intermediate-frequency signal in a receiving channel of the millimeter wave radar is increased. The shielding state of the millimeter wave radar can be determined by detecting the size of the direct current component in front of the high-pass filter in the millimeter wave radar receiving channel. Step S204 is a refinement of step S104, namely, determining the shielding state of the millimeter wave automotive radar based on the intensity of the first reflected signal determined through steps S101 to S104, together with the magnitude of the direct current component of the second reflected signal determined in step S203. Comparing the intensity of the first reflection signal with the intensity of a preset first reflection signal, and when the intensity is increased, determining that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. Then, comparing the magnitude of the direct current component of the second reflection signal with the magnitude of the preset direct current component of the second reflection signal, and when the intensity is increased, the millimeter wave radar is considered to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. And finally, determining the shielding state of the millimeter wave radar finally according to the shielding state of the millimeter wave radar judged by the first reflection signal and the shielding state of the millimeter wave radar judged by the second reflection signal. The preset second reflection signal is a reflection signal of a received transmission signal of the millimeter wave radar under the condition of no shielding.
Further, describing the third method for detecting the shielding state of the millimeter wave radar, on the basis of the above steps S101 to S103, the following steps may be further performed, as shown in fig. 3:
s301, transmitting a third point frequency signal to a preset direction through a millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
s302, receiving a third reflected signal of the intermediate-frequency signal through a millimeter wave automobile radar;
s303, detecting the intensity of the third reflected signal;
step S104, comprising:
s304, determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the strength of the third reflection signal.
Steps S301 to S303 and steps S101 to 103 may be performed simultaneously or may be performed separately.
In step S301, a third point-frequency signal is transmitted to a preset direction through the millimeter wave automobile radar, where the preset direction is a direction in which the millimeter wave radar to be detected may be blocked by a blocking object, and the general preset direction is directly in front of the millimeter wave radar. This step is carried out by mixing an intermediate frequency signal f by means of a mixer1The intermediate frequency signal f1In the passband of the intermediate frequency part of the receive channel of the millimeter wave radar. Millimeter wave radar local oscillator L0Has a frequency of f0At this time, the millimeter wave radar transmits a frequency f through the transmitting antenna0±f1The third audio signal. When the millimeter wave radar is shielded by the shielding object, the intermediate frequency signal f1Is increased, i.e. only the intermediate frequency signal f needs to be detected1The intensity of the millimeter wave radar can be judged whether the millimeter wave radar is shielded by snow, mud and the like in a short distance. Wherein the third point frequency signal comprises an intermediate frequency signal with a frequency of a second preset value, f1Is the passband frequency, f, of an intermediate frequency filter1I.e. a second preset value, which is generally between 0.1MHz and 15 MHz. In addition, f0The radar operating frequency is typically between 76 and 81 GHz.
And step S302, receiving a third reflected signal of the intermediate-frequency signal through a millimeter wave automobile radar. The transmitting frequency of the millimeter wave radar is f0±f1And receiving the third dot frequency signal through the receiving antenna at a frequency f0±f1' will reflect a signal of frequency f1' the intermediate frequency signal is received to a receive path. The millimeter wave radar performs frequency mixing on the received reflection signal of the third dot frequency signal and the local oscillation signal to obtain an intermediate frequency signal, namely, a third reflection signal. Frequency f1' the reflected signal of the intermediate frequency signal is the third reflected signal. And in step S303, the signal strength of the third reflected signal is detected. When a shelter exists in the preset direction of the millimeter wave radar, the intensity of the reflected intermediate frequency signal is increased,that is, the intensity of the third reflected signal is increased, so as to determine the shielding state of the millimeter wave radar. Finally, step S104 includes step S304, determining a shielding state of the millimeter wave automotive radar according to the intensity of the first reflection signal and the intensity of the third reflection signal. Comparing the intensity of the first reflection signal with the intensity of a preset first reflection signal, and when the intensity is increased, determining that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. Then, comparing the intensity of the third reflected signal with the preset intensity of the third reflected signal, and when the intensity is increased, determining that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. The preset third reflection signal is a reflection signal corresponding to the received intermediate frequency signal under the condition that the millimeter wave radar is not shielded. And finally, determining the shielding state of the millimeter wave radar finally according to the shielding state of the millimeter wave radar judged by the first reflection signal and the shielding state of the millimeter wave radar judged by the third reflection signal.
Further, a fourth method of detecting the shielding state of the millimeter wave radar is described below, as shown in fig. 4:
s401, transmitting a second linear frequency modulation signal to a preset direction through a millimeter wave automobile radar;
s402, receiving a second reflection signal corresponding to the second linear frequency modulation signal through a millimeter wave automobile radar;
s403, detecting the magnitude of the direct current component of the second reflection signal;
s404, sending a third point frequency signal to a preset direction through the millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
s405, receiving a third reflection signal of the intermediate frequency signal;
s406, detecting the intensity of the third reflected signal;
step S104, comprising:
s407, determining the shielding state of the millimeter wave automobile radar according to the intensity of the first reflection signal, the magnitude of the direct current component of the second reflection signal and the intensity of the third reflection signal.
Steps S401 to S403, steps S404 to S406, and steps S101 to 103 may be performed simultaneously or separately. Steps S401 to S403 are the same as steps S201 to S203 described above, and steps S404 to S406 are the same as steps S301 to S303 described above.
Finally, step S104 includes step S407 of determining a shielding state of the millimeter wave automotive radar according to the intensity of the first reflected signal, the magnitude of the direct current component of the second reflected signal, and the intensity of the third reflected signal. Comparing the intensity of the first reflection signal with the intensity of a preset first reflection signal, and when the intensity is increased, determining that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. Then, comparing the magnitude of the direct current component of the second reflection signal with the magnitude of the preset direct current component of the second reflection signal, and when the intensity is increased, the millimeter wave radar is considered to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. Secondly, comparing the intensity of the third reflection signal with the preset intensity of the third reflection signal, and when the intensity is increased, determining that the millimeter wave radar is suspected to be shielded; when the intensity increases to a certain degree, it can be determined that the millimeter wave radar is occluded. And finally, determining the shielding state of the millimeter wave radar finally according to the shielding state of the millimeter wave radar judged by the first reflection signal, the shielding state of the millimeter wave radar judged by the direct-current component of the second reflection signal and the shielding state of the millimeter wave radar judged by the third reflection signal.
In addition, step S104 includes the following steps, as shown in fig. 5:
s501, determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
and S502, when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded.
In step S501, the first reflection signal is input to an analog-to-digital converter to obtain an amplitude of the first reflection signal, where the amplitude is the first reference evaluation value. The first reference evaluation value is a value that can be visually compared. According to step S502, when the first evaluation value obtained as described above is larger than the first preset threshold value, it may be determined that the millimeter wave radar is blocked. The first preset threshold is set manually.
Further, step S204 includes the following steps, as shown in fig. 6:
s601, determining a first reference evaluation value of the first reflection signal according to the intensity of the first reflection signal;
s602, determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
s603, when the first reference evaluation value is larger than a first preset threshold value and the second reference evaluation value is larger than a second preset threshold value, it is determined that the millimeter wave automobile radar is shielded.
Step S601 and step S602 are respectively inputting the dc components of the first reflected signal and the second reflected signal to the analog-to-digital converter to obtain the amplitude of the first reflected signal and the dc voltage amplitude of the dc component of the second reflected signal, i.e. the first reference evaluation value and the second reference evaluation value. Step S603 is to compare the first reference evaluation value and the second reference evaluation value with a first preset threshold and a second preset threshold, respectively, and determine that the millimeter wave automotive radar is blocked when the first reference evaluation value is greater than the first preset threshold and the second reference evaluation value is greater than the second preset threshold.
Further, step S304 includes the following steps, as shown in fig. 7:
s701, determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
s702, determining a third reference evaluation value of a third reflection signal according to the intensity of the third reflection signal;
and S703, when the first reference evaluation value is greater than a first preset threshold value and the third reference evaluation value is greater than a third preset threshold value, determining that the millimeter wave automobile radar is shielded.
In steps S701 and S702, the first reflection signal and the third reflection signal are respectively input to an analog-to-digital converter to obtain an amplitude of the first reflection signal and an amplitude of the third reflection signal, that is, a first reference evaluation value and a third reference evaluation value. Step S703 is to compare the first reference evaluation value and the third reference evaluation value with a first preset threshold and a third preset threshold, respectively, and determine that the millimeter wave automotive radar is blocked when the first reference evaluation value is greater than the first preset threshold and the third reference evaluation value is greater than the third preset threshold.
Further, step S407 includes the following steps, as shown in fig. 8:
s801, determining a first reference evaluation value of a first reflection signal according to the strength of the first reflection signal;
s802, determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
s803, determining a third reference evaluation value of the third reflection signal according to the intensity of the third reflection signal;
and S804, when at least two of the first reference evaluation value, the second reference evaluation value and the third reference evaluation value are respectively greater than the corresponding first preset threshold, the second preset threshold and the third preset threshold, determining that the millimeter wave automobile radar is shielded.
In steps S801, S802 and 803, the magnitudes of the dc components of the first reflected signal and the second reflected signal and the magnitude of the third reflected signal are respectively input to an analog-to-digital converter to obtain the magnitudes of the first reflected signal, the dc voltage of the dc component of the second reflected signal and the third reflected signal, i.e. the first reference evaluation value, the second reference evaluation value and the third reference evaluation value. Step S804 is to compare the first reference evaluation value, the second reference evaluation value, and the third reference evaluation value with a first preset threshold, a second preset threshold, and a third preset threshold, respectively, and determine that the millimeter wave automotive radar is blocked when at least two of the first reference evaluation value, the second reference evaluation value, and the third reference evaluation value are greater than the corresponding first preset threshold, the second preset threshold, and the third preset threshold, respectively.
In the embodiment of the application, three modes and combination thereof are provided for detecting whether the millimeter wave radar is blocked by the blocking object. Whether the millimeter wave radar is shielded by the shielding object in a close range is judged by setting up the millimeter wave radar frequency modulation slope, detecting the intensity of the direct current component in the millimeter wave radar receiving channel and detecting the intensity of the intermediate frequency signal respectively, and the detection mode is simple and the reliability is higher. The three modes can be combined together in pairs for judgment, can also be respectively judged, or can be jointly judged by the three modes. In the prior art, it is generally determined whether the millimeter wave radar is blocked by snow, mud, or the like by detecting a signal and a ground noise of the millimeter wave radar and a difference change between the signal and the ground noise in a normal operating state. This detection mode requires support of a complex algorithm, and the reliability of the detection result is not high. Compared with the prior art, the method provided by the application is simple, the calculated amount of a complex algorithm is avoided, and the reliability of detection is improved.
Corresponding to the above method, as shown in fig. 9, the present application further provides a device for detecting a radar shielding state of an automobile, including:
the first transmitting module 901 is configured to transmit a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through the millimeter wave automotive radar;
a first receiving module 902, configured to receive, by a millimeter wave automotive radar, a first reflected signal corresponding to the first chirp signal;
a first detecting module 903, configured to detect an intensity of the first reflected signal;
and a first determining module 904, configured to determine a shielding state of the millimeter wave automotive radar according to the strength of the first reflected signal.
Further, the apparatus further comprises:
the second transmitting module is used for transmitting a second linear frequency modulation signal to the preset direction through the millimeter wave automobile radar;
the second receiving module is used for receiving a second reflection signal corresponding to the second linear frequency modulation signal through a millimeter wave automobile radar;
the second detection module is used for detecting the magnitude of the direct-current component of the second reflection signal;
and the second determining module is used for determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the magnitude of the direct current component of the second reflection signal.
Further, the apparatus further comprises:
the third transmitting module is used for transmitting a third point frequency signal to the preset direction through the millimeter wave automobile radar;
the third receiving module is used for receiving a third reflected signal of the intermediate-frequency signal through a millimeter wave automobile radar;
a third detection module for detecting the intensity of the third reflected signal;
and the third determining module is used for determining the shielding state of the millimeter wave automobile radar according to the intensity of the first reflection signal and the intensity of the third reflection signal.
Further, the apparatus further comprises:
the fourth transmitting module is used for transmitting a second linear frequency modulation signal to the preset direction through the millimeter wave automobile radar;
the fourth receiving module is used for receiving a second reflection signal corresponding to the second linear frequency modulation signal through a millimeter wave automobile radar;
the fourth detection module is used for detecting the magnitude of the direct-current component of the second reflection signal;
the fourth transmitting unit is used for transmitting a third point frequency signal to the preset direction through the millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
a fourth receiving unit, configured to receive a third reflected signal of the intermediate frequency signal;
and the fourth determining module is used for determining the shielding state of the millimeter wave automobile radar according to the intensity of the first reflection signal, the magnitude of the direct current component of the second reflection signal and the intensity of the third reflection signal.
Further, the first determining module 904 comprises: a first generation submodule 9041 and a first determination submodule 9042;
a first generation sub-module 9041, configured to determine a first reference evaluation value of the first reflected signal according to the strength of the first reflected signal;
and the first determining sub-module 9042 is configured to determine that the millimeter wave automobile radar is blocked when the first reference evaluation value is greater than a first preset threshold value.
Further, the second determining module includes: the second generation submodule, the third generation submodule and the second determination submodule;
a second generation submodule for determining a first reference evaluation value of the first reflected signal according to the intensity of the first reflected signal;
a third generation submodule for determining a second reference evaluation value of the second reflected signal from the direct current component of the second reflected signal;
and the second determination submodule is used for determining that the millimeter wave automobile radar is blocked when the first reference evaluation value is greater than a first preset threshold value and the second reference evaluation value is greater than a second preset threshold value.
Further, the third determining module includes: a fourth generation submodule, a fifth generation submodule and a third determination submodule;
a fourth generation submodule for determining a first reference evaluation value of the first reflected signal according to the intensity of the first reflected signal;
a fifth generation sub-module for determining a third reference evaluation value of the third reflected signal according to the intensity of the third reflected signal;
and the third determining sub-module is used for determining that the millimeter wave automobile radar is shielded when the first reference evaluation value is greater than a first preset threshold value and the third reference evaluation value is greater than a third preset threshold value.
Further, the fourth determining module includes: a sixth generation submodule, a seventh generation submodule, an eighth generation submodule and a fourth determination submodule;
a sixth generation sub-module for determining a first reference evaluation value of the first reflected signal according to the intensity of the first reflected signal;
a seventh generation submodule for determining a second reference evaluation value of the second reflected signal from the direct current component of the second reflected signal;
an eighth generation submodule for determining a third reference evaluation value of the third reflected signal according to the intensity of the third reflected signal;
and the fourth determining sub-module is used for determining that the millimeter wave automobile radar is shielded when at least two of the first reference evaluation value, the second reference evaluation value and the third reference evaluation value are respectively greater than the corresponding first preset threshold value, the second preset threshold value and the third preset threshold value.
Based on the same technical concept, the embodiment of the application further provides electronic equipment for detecting the radar shielding state of the automobile, and specific reference can be made to the following embodiments.
As shown in fig. 10, a schematic diagram of a computing device provided in an embodiment of the present application, where the computing device 10 includes: the system comprises a processor 1001, a memory 1002 and a bus 1003, wherein the memory 1002 stores execution instructions, when the computing device runs, the processor 1001 and the memory 1002 are communicated through the bus 1003, and the processor 1001 executes steps of a method stored in the memory 1002, such as detecting the radar shielding state of the automobile.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method for detecting the radar shielding state of an automobile is characterized by comprising the following steps:
transmitting a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through a millimeter wave automobile radar; the numerical value of the first preset value is 0.1GHZ-12 GHZ;
receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar;
detecting the intensity of the first reflected signal;
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded.
2. The method of claim 1, further comprising:
transmitting a second linear frequency modulation signal to a preset direction through a millimeter wave automobile radar;
receiving a second reflected signal corresponding to the second linear frequency modulation signal through a millimeter wave automotive radar;
detecting the magnitude of the direct current component of the second reflected signal;
and determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the size of the direct current component of the second reflection signal.
3. The method of claim 1, further comprising:
transmitting a third point frequency signal to a preset direction through a millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
receiving a third reflected signal of the intermediate frequency signal through a millimeter wave automobile radar;
detecting the intensity of the third reflected signal;
and determining the shielding state of the millimeter wave automobile radar according to the strength of the first reflection signal and the strength of the third reflection signal.
4. The method of claim 1, comprising:
transmitting a second linear frequency modulation signal to a preset direction through a millimeter wave automobile radar;
receiving a second reflected signal corresponding to the second linear frequency modulation signal through a millimeter wave automotive radar;
detecting the magnitude of the direct current component of the second reflected signal;
sending a third point frequency signal to a preset direction through a millimeter wave automobile radar; the third audio signal comprises an intermediate frequency signal with a frequency of a second preset value;
receiving a third reflected signal of the intermediate frequency signal;
detecting the intensity of the third reflected signal;
and determining the shielding state of the millimeter wave automobile radar according to the intensity of the first reflection signal, the magnitude of the direct current component of the second reflection signal and the intensity of the third reflection signal.
5. The method of claim 2, wherein the step of determining the occlusion state of the millimeter wave automotive radar based on the strength of the first reflected signal and the magnitude of the dc component of the second reflected signal comprises:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value and the second reference evaluation value is larger than a second preset threshold value, determining that the millimeter wave automobile radar is shielded.
6. The method of claim 3, wherein the step of determining the occlusion state of the millimeter wave automotive radar based on the strength of the first reflected signal and the strength of the third reflected signal comprises:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a third reference evaluation value of a third reflection signal according to the intensity of the third reflection signal;
and when the first reference evaluation value is larger than a first preset threshold value and the third reference evaluation value is larger than a third preset threshold value, determining that the millimeter wave automobile radar is shielded.
7. The method of claim 4, wherein the step of determining the shielding state of the millimeter wave automotive radar based on the intensity of the first reflected signal, the magnitude of the direct current component of the second reflected signal, and the intensity of the third reflected signal comprises:
determining a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal;
determining a second reference evaluation value of the second reflection signal according to the direct current component of the second reflection signal;
determining a third reference evaluation value of a third reflection signal according to the intensity of the third reflection signal;
and when at least two of the first reference evaluation value, the second reference evaluation value and the third reference evaluation value are respectively greater than the corresponding first preset threshold, the second preset threshold and the third preset threshold, determining that the millimeter wave automobile radar is shielded.
8. A device for detecting the radar shielding state of an automobile is characterized by comprising:
the first transmitting module is used for transmitting a first linear frequency modulation signal with a frequency modulation bandwidth of a first preset value to a preset direction through the millimeter wave automobile radar;
the first receiving module is used for receiving a first reflection signal corresponding to the first linear frequency modulation signal through a millimeter wave automobile radar;
the first detection module is used for detecting the strength of the first reflection signal;
a first determination module, configured to determine a first reference evaluation value of the first reflection signal according to the strength of the first reflection signal; and when the first reference evaluation value is larger than a first preset threshold value, determining that the millimeter wave automobile radar is shielded.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of a method of detecting a radar blocking status of a vehicle as claimed in any one of claims 1 to 7.
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| CN111580109B (en) * | 2020-04-08 | 2022-06-24 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle-mounted millimeter wave radar shielding detection method based on amplitude characteristic statistics |
| CN111580051B (en) * | 2020-04-08 | 2022-06-24 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-mounted millimeter wave radar shielding detection method based on amplitude change rate analysis |
| CN111580108B (en) * | 2020-04-08 | 2022-06-24 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle-mounted millimeter wave radar occlusion detection method based on amplitude change analysis |
| CN111624560B (en) * | 2020-04-16 | 2022-12-23 | 惠州市德赛西威智能交通技术研究院有限公司 | Method for detecting shielding state of vehicle-mounted millimeter wave radar based on target identification |
| CN111965607B (en) * | 2020-07-09 | 2023-11-17 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-mounted radar function failure detection method and device and vehicle |
| CN113129641B (en) * | 2021-04-20 | 2022-10-28 | 中国科学院半导体研究所 | Parking space vehicle detection device |
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