CN112578345A - Radar blocking detection method, device, equipment and storage medium - Google Patents
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Abstract
The application relates to a radar blocking detection method, a device, equipment or a storage medium, wherein the method comprises the following steps: acquiring angle frequency spectrums of all target points; determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; acquiring theoretical angles of static targets in all target points; determining an error angle of the static target according to the detection angle and the theoretical angle of the static target; generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signal, and determining a main error angle and a main lobe width from the error angle distribution diagram; generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under a multi-frame radar echo signal, and determining a target point proportion lower than a preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph; and determining the radar shielding condition according to the main-side lobe ratio accumulation distribution graph and the error angle distribution graph. Therefore, the sensitivity of detecting the shielding object can be improved, the calculation force is less, and the detection efficiency can be improved.
Description
Technical Field
The present application relates to the field of radar technologies, and in particular, to a radar occlusion detection method, apparatus, device, and storage medium.
Background
The radar is an important electromagnetic sensor and plays an increasingly important role in the fields of national defense and civil use. Under the promotion of traction and technical development of application requirements, the development of the current radar technology is changed day by day, and some new systems, new systems and new methods are continuously emerging.
With the popularization and development of intelligent driving technology in vehicles, higher requirements are put forward on information acquisition of external environments. The millimeter wave radar is used as a sensor for detecting the surrounding environment by utilizing electromagnetic waves, and becomes an important component for sensing the external environment by the intelligent driving technology by virtue of excellent distance, speed and angle measuring capabilities and good environmental adaptability.
However, when the surface and the cover of the vehicle are covered with shelters such as mud layers and snow, the detection of the external environment by the millimeter wave radar is greatly affected, and even the condition that the detection cannot be performed is generated. Finally, the information collected by the millimeter wave radar is not credible, and wrong information misleading judgment can be generated under severe conditions.
Disclosure of Invention
The embodiment of the application provides a radar shielding detection method, a radar shielding detection device, radar shielding detection equipment and a storage medium, the sensitivity of a detected shielding object can be improved, the calculation force is low, and the detection efficiency can be improved.
In one aspect, an embodiment of the present application provides a radar occlusion detection method, including:
acquiring angle frequency spectrums of all target points; the angular spectrum is determined based on the acquired radar echo signals of each channel in the multiple channels;
determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the main-side lobe ratio is determined according to a first peak value and a second peak value in the angular spectrum;
acquiring theoretical angles of static targets in all target points;
determining an error angle of the static target according to the detection angle and the theoretical angle of the static target;
generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signal, and determining a main error angle and a main lobe width from the error angle distribution diagram;
generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under a multi-frame radar echo signal, and determining a target point proportion lower than a preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph;
and if the proportion of the target points in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion, and the width of the main lobe in the error angle distribution graph is larger than or equal to a preset main lobe width, determining that the radar is shielded.
Optionally, obtaining the angular spectrums of all the target points includes:
acquiring each frame of radar echo signal of each channel in multiple channels;
performing range-velocity dimension fast Fourier transform on each frame of radar echo signal of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel;
carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises complex amplitude values of all target points positioned in each channel;
and carrying out fast Fourier transform on the characteristic values to obtain angle frequency spectrums of all target points.
Optionally, obtaining theoretical angles of static targets in all target points includes:
acquiring the radial speed of a static target relative to the radar and the speed of the radar relative to the ground in all target points;
the theoretical angle of the static target is determined from the radial velocity and the velocity of the radar relative to the ground.
Optionally, the main error angle is an error angle corresponding to a maximum value in the error angle distribution diagram; the method further comprises the following steps:
if the width of a main lobe in the error angle distribution diagram is smaller than the preset width of the main lobe, or the proportion of a target point in the main-side lobe ratio accumulation distribution diagram is larger than the preset proportion, determining the radar shielding condition according to the main error angle;
determining the radar shielding condition according to the main error angle, comprising: and if the absolute value of the main error angle is larger than or equal to the preset angle, determining that the radar is shielded.
On the other hand, the embodiment of the present application provides a radar blocking detection device, including:
the first acquisition module is used for acquiring angle spectrums of all target points; the angular spectrum is determined based on the acquired radar echo signals of each channel in the multiple channels;
the first determining module is used for determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the main-side lobe ratio is determined according to a first peak value and a second peak value in the angular spectrum;
the second acquisition module is used for acquiring theoretical angles of the static targets in all the target points;
the second determining module is used for determining an error angle of the static target according to the detection angle and the theoretical angle of the static target;
the third determining module is used for generating an error angle distribution diagram based on the error angles of the static targets under the multi-frame radar echo signals, and determining a main error angle and a main lobe width from the error angle distribution diagram;
the fourth determining module is used for generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under the multi-frame radar echo signals, and determining a target point ratio lower than a preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph;
and the fifth determining module is used for determining that the radar is shielded if the proportion of the target point in the main-side lobe ratio accumulation distribution graph is smaller than or equal to the preset proportion and the width of the main lobe in the error angle distribution graph is larger than or equal to the preset width of the main lobe.
Optionally, the first obtaining module is further configured to: acquiring each frame of radar echo signal of each channel in multiple channels; performing range-velocity dimension fast Fourier transform on each frame of radar echo signal of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel; carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises complex amplitude values of all target points positioned in each channel; and carrying out fast Fourier transform on the characteristic values to obtain angle frequency spectrums of all target points.
Optionally, the second obtaining module is further configured to: acquiring the radial speed of a static target relative to a radar and the speed of the radar relative to the ground; the theoretical angle of the static target is determined from the radial velocity and the velocity of the radar relative to the ground.
Optionally, the main error angle is an error angle corresponding to a maximum value in the error angle distribution diagram;
the fifth determining module is further configured to: if the width of a main lobe in the error angle distribution diagram is smaller than the preset width of the main lobe, or the proportion of a target point in the main-side lobe ratio accumulation distribution diagram is larger than the preset proportion, determining the radar shielding condition according to the main error angle;
the fifth determining module is further configured to: and if the absolute value of the main error angle is larger than or equal to the preset angle, determining that the radar is shielded.
In another aspect, an embodiment of the present application provides an apparatus, where the apparatus includes a processor and a memory, where the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the radar occlusion detection method.
In another aspect, an embodiment of the present application provides a computer storage medium, where at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the radar occlusion detection method.
The radar blocking detection method, device, equipment or storage medium provided by the embodiment of the application has the following beneficial effects:
obtaining angle frequency spectrums of all target points; the angular spectrum is determined based on the acquired radar echo signals of each channel in the multiple channels; determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the main-side lobe ratio is determined according to a first peak value and a second peak value in the angular spectrum; acquiring theoretical angles of static targets in all target points; determining an error angle of the static target according to the detection angle and the theoretical angle of the static target; generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signal, and determining a main error angle and a main lobe width from the error angle distribution diagram; generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under a multi-frame radar echo signal, and determining a target point proportion lower than a preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph; and if the proportion of the target points in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion, and the width of the main lobe in the error angle distribution graph is larger than or equal to a preset main lobe width, determining that the radar is shielded. Therefore, the sensitivity of detecting the shielding object can be improved, the calculation force is less, and the detection efficiency can be improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a radar occlusion detection method according to an embodiment of the present application;
fig. 2 is a schematic diagram of an angular spectrum provided in an embodiment of the present application;
fig. 3 is a schematic diagram of an application scenario provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of an error angle distribution diagram provided by an embodiment of the present application;
fig. 5 is a schematic diagram of a cumulative main-to-side lobe ratio distribution diagram according to an embodiment of the present application;
FIG. 6 is a schematic diagram of another error angle distribution diagram provided by an embodiment of the present application;
fig. 7 is a schematic diagram of another cumulative main-side lobe ratio distribution chart according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a radar blocking detection apparatus according to an embodiment of the present application;
fig. 9 is a block diagram of a hardware structure of a server of a radar occlusion detection method according to an embodiment of the present application.
Detailed Description
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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method is suitable for a Multiple Input Multiple Output (MIMO) radar, and based on the characteristic that after the radar is shielded, the amplitude consistency between channels is damaged by a shielding object, the radar shielding detection method is provided, whether the radar is shielded can be judged by judging the size of the angle measurement error, and compared with the prior art, the sensitivity is greatly improved; and the method is suitable for radar systems of other equipment needing to sense the surrounding environment, such as vehicles, sweeping robots and the like, for example, in vehicle radars to improve the target detection precision.
The following describes a specific embodiment of a radar occlusion detection method according to the present application, and fig. 1 is a schematic flow chart of a radar occlusion detection method according to the embodiment of the present application, and the present specification provides the method operation steps according to the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101: acquiring angle frequency spectrums of all target points; the angular spectrum is determined based on each frame of radar return signals acquired for each of the multiple channels.
In the embodiment of the application, a radar acquires a radar echo signal of each channel in multiple channels through an antenna array, and determines an angle spectrum of a target point after performing Fast Fourier Transform (FFT) on each frame of radar echo signal; it should be noted that the number of target points is determined by the actual surrounding environment, and if there are multiple target points, the angle spectrum corresponding to each target point is obtained respectively.
In an alternative embodiment, acquiring the angular spectrum of all target points includes: acquiring each frame of radar echo signal of each channel in multiple channels; performing range-velocity dimension fast Fourier transform on each frame of radar echo signal of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel; carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises complex amplitude values of all target points positioned in each channel; and carrying out fast Fourier transform on the characteristic values to obtain angle frequency spectrums of all target points.
Specifically, the step of performing range-velocity dimension fast fourier transform on each frame of radar echo signal of each channel to obtain the detection matrix may include: sequentially performing distance dimension 1D-FFT and Doppler dimension 2D-FFT on each frame of radar echo signal of each channel to obtain a distance-velocity matrix of each channel, and connecting the distance-velocity matrices of a plurality of channels in series to obtain a detection matrix.
Specifically, the step of performing target detection on the detection matrix to obtain all target points and characteristic values of all target points may include: performing target detection on the detection matrix by using the existing detection target algorithm to obtain target characteristic information and a characteristic value of a target point, namely a complex amplitude value of the target point in each channel; the existing detection target algorithm can also be directly improved, so that the target of the detection matrix is directly detected by using the improved detection target algorithm, and the target point and the characteristic value of the target point are obtained; the static target obtaining method comprises the following steps: and screening the characteristic values of all the target points, and selecting the target points with the speed within a preset range as static targets.
S103: determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the dominant-sidelobe ratio is determined from the first peak and the second peak in the angular spectrum.
In the embodiment of the application, fast fourier transform is performed on the characteristic values, that is, after the characteristic values of the channels of the target point are arranged, angle FFT is performed, an obtained angle spectrogram can refer to fig. 2, and then the detection angle and the main-side lobe ratio of the target point can be directly determined based on the angle spectrum, for example, in fig. 2, the main-side lobe ratio of the static target can be obtained by dividing the amplitude of the second peak B point by the amplitude of the first peak a point; the actual angle of the target point is 0 deg. corresponding to the first peak a point.
S105: and acquiring theoretical angles of the static targets in all the target points.
S107: and determining an error angle of the static target according to the detection angle and the theoretical angle of the static target.
In this embodiment of the application, through the detection angle of the static target directly measured and analyzed by the radar in step S103, in step S105, a theoretical angle of the static target may be calculated from another angle according to other information acquired by the radar, and the two calculated angles are subtracted to obtain an error angle of the static target; it should be noted that, in the present application, the angle refers to an included angle between the target and the radar axis.
In an alternative embodiment, the method for obtaining the theoretical angle of the static target in all target points includes: acquiring the radial speed of a static target relative to a radar and the speed of the radar relative to the ground; the theoretical angle of the static target is determined from the radial velocity and the velocity of the radar relative to the ground. In the embodiment, the principle is to convert the angle of the static target relative to the radar axis through the velocity vector of the radar relative to the ground and the space position of the static target based on the radial velocity vector of the radar.
Specifically, the theoretical angle of the static target can be calculated by referring to the following formula:
wherein θ represents a theoretical angle of the static target; vt represents a radial velocity of the static target relative to the radar; vc denotes the velocity of the radar relative to the ground. For example, as shown in fig. 3, assuming that the radar is installed right in front of the vehicle, the speed of the radar relative to the ground is equal to the vehicle speed, and when the static target is located on the radar axis in front of the vehicle, and the radial speed of the static target relative to the radar is equal to the vehicle speed at this time, that is, Vt ═ Vc, the theoretical angle θ is calculated to be 0 °; when the static target is located on the side of the vehicle and is at the same level as the radar, and the radial velocity Vt of the static target relative to the radar is 0, the theoretical angle θ is calculated to be 90 °.
S109: an error angle distribution graph is generated based on the error angles of the static targets under the multi-frame radar echo signals, and main error angles and main lobe widths are determined from the error angle distribution graph.
S111: and generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under the multi-frame radar echo signals, and determining the target point proportion lower than the preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph.
S113: and judging whether the target proportion in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion or not and whether the main lobe width in the error angle distribution graph is larger than or equal to a preset main lobe width or not. If yes, determining that the radar is shielded; otherwise, step S115 is performed.
In the embodiment of the application, an error angle distribution map is generated based on the error angle of a static target under multi-frame radar echo signals; meanwhile, generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under multi-frame radar echo signals, and respectively determining the main lobe width from the error angle distribution graph, wherein the main lobe width refers to the number of peak values located in 3dB amplitude values near the maximum peak value, namely the number of peak values with amplitude values larger than the maximum amplitude value 1/2; and determining the proportion of a target point lower than the preset main-side lobe ratio from the main-side lobe ratio cumulative distribution graph, comparing the target point with the preset main lobe width and the preset proportion, and judging whether the radar is shielded or not according to a comparison result. The larger the width of the main lobe is, the larger the influence on the radar angle measurement is; the smaller the proportion of the target point with the preset main-side lobe ratio is, the more inaccurate the radar angle measurement result is, and even the result that the angle measurement result of the target cannot be trusted is achieved. At this time, it is indicated that the shielding of the radar has a serious influence on the detection performance of the radar, and a driver needs to be reminded to clear the shielding before the radar; note that the error angle distribution map and the main-side lobe ratio accumulation distribution map in steps S109 and S111 are accumulated based on the error angles and the main-side lobe ratios of all target points in the multi-frame radar echo signal.
The following describes the above steps S109 to S113 by a specific example. Take the case where the radar is covered with splashed mud during the running of the vehicle. When the radar is not shielded and works normally, the detected target position can be displayed normally, various targets can be tracked correctly by using a track tracking algorithm, and the radar works normally. However, after the radar is covered by the splashed soil, the angle measurement capability of the point trace is greatly reduced, so that the position of the target point trace in the radar field of view jumps randomly, normal track information cannot be tracked, the target track cannot be detected, and the detection performance of the radar is basically lost. The distribution diagram of the error angles of the radar after being shielded by soil and the radar without being shielded is shown in fig. 4, and it can be obviously found that the error angles of the radar after being shielded by soil are obviously distributed between-70 degrees and 0 degrees, and the error angle at the maximum peak is-45 degrees; as can be seen from the figure, the main lobe width is a width of 3dB near the maximum peak value, that is, the peak values with amplitudes greater than the maximum amplitude 1/2(0.12/2 is 0.06) are (i), (ii) and (iii), so the main lobe width is 3; when the main lobe is not shielded, the obvious error angle is concentrated on 0 degree, the error angle at the maximum peak value is 0 degree, the main lobe width is the peak values with the amplitude larger than the maximum amplitude 1/2(0.34/2 is 0.17), namely the peak values are the value of (r) and (g), and therefore the main lobe width is 2. Taking the main lobe width when the main lobe is not shielded as the preset main lobe width, and judging that the main lobe width is greater than or equal to the preset main lobe width at the moment; as shown in fig. 5, the accumulated distribution of the main-side lobe ratio between shielded and unshielded states also has a significant difference, and the preset main-side lobe ratio can refer to a ratio of the amplitude of the point B with the second peak value to the amplitude of the point a with the first peak value in fig. 2, which is about 0.3, so that as shown in fig. 5, when the radar is unshielded, the proportion of a target point lower than the preset main-side lobe ratio by 0.3 occupies about 90%, and after being shielded by soil, the proportion thereof is suddenly reduced to 12%, the proportion when the radar is unshielded is taken as the preset proportion, and at this time, the static target proportion is judged to be less than or equal to the preset proportion. As can be seen from the results of fig. 4 and 5, the radar is occluded. In addition, as can be seen from fig. 5, after being shielded by soil, the angle measurement main-side lobe ratio is basically random, and the angle measurement result is also random in this case, and the correctness of the angle measurement error of fig. 4 is proved from another angle. Through the characteristic quantities of the two angle measurements, whether the radar is shielded or not can be distinguished.
In addition, in the embodiment of the application, a complex scene is selected as an example, a large number of trees and leaves exist in the scene, and the radar occlusion detection method is used for testing by taking the metal tin foil paper as an occlusion object of the radar, so that the error angle distribution diagram and the main-side lobe ratio cumulative distribution diagram shown in fig. 6 and 7 can be obtained.
S115: and determining the radar shielding condition according to the main error angle.
S117: and judging whether the absolute value of the main error angle is larger than or equal to a preset angle or not. If yes, determining that the radar is shielded; otherwise, determining that the radar is not occluded.
In the embodiment of the application, the error angle corresponding to the maximum value in the main error angle distribution diagram. In order to ensure the accuracy of radar shielding condition detection, when the target ratio in the main-side lobe ratio accumulation distribution diagram is smaller than or equal to a preset ratio, or the main lobe width is larger than or equal to a preset main lobe width, the radar shielding condition needs to be determined according to a main error angle, and if the absolute value of the main error angle is larger than or equal to a preset angle, the radar is determined to be shielded; otherwise, determining that the radar is not occluded.
In an alternative embodiment, radar occlusion warning may be performed based on the degree of occlusion. For example, outputting a judgment result of whether the radar is shielded for 1 time every N frames of radar echo signals; and counting K groups of data, and if the number of times that the radar is shielded is judged to be more than M times, outputting an alarm that the radar is shielded, and reminding a driver to clear the shielding object in front of the radar.
The embodiment of the present application further provides a radar blocking detection device, and fig. 8 is a schematic structural diagram of the radar blocking detection device provided in the embodiment of the present application, and as shown in fig. 8, the device includes:
a first obtaining module 801, configured to obtain angle spectrums of all target points; the angular spectrum is determined based on each frame of radar echo signals of each channel in the obtained multiple channels;
a first determining module 802, configured to determine detection angles and main-side lobe ratios of all target points based on the angle spectrum; the main-side lobe ratio is determined according to a first peak value and a second peak value in the angular spectrum;
a second obtaining module 803, configured to obtain theoretical angles of static targets in all target points;
a second determining module 804, configured to determine an error angle of the static target according to the detected angle and the theoretical angle of the static target;
a third determining module 805, configured to generate an error angle distribution graph based on an error angle of a static target under a multi-frame radar echo signal, and determine a main lobe width from the error angle distribution graph;
a fourth determining module 806, configured to generate a master-to-sidelobe ratio cumulative distribution map based on master-to-sidelobe ratios of all target points in the multi-frame radar echo signal, and determine a target point ratio lower than a preset master-to-sidelobe ratio from the master-to-sidelobe ratio cumulative distribution map;
a fifth determining module 807, configured to determine that the radar is blocked if the target ratio in the main-side lobe ratio cumulative distribution graph is smaller than or equal to the preset ratio and the main lobe width in the error angle distribution graph is greater than or equal to the preset main lobe width.
Optionally, the first obtaining module 801 is further configured to: acquiring each frame of radar echo signal of each channel in multiple channels; performing range-velocity dimension fast Fourier transform on each frame of radar echo signal of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel; carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises complex amplitude values of all target points positioned in each channel; and carrying out fast Fourier transform on the characteristic values to obtain angle frequency spectrums of all target points.
Optionally, the second obtaining module 803 is further configured to: acquiring the radial speed of a static target relative to a radar and the speed of the radar relative to the ground; the theoretical angle of the static target is determined from the radial velocity and the velocity of the radar relative to the ground.
Optionally, the fifth determining module 807 is further configured to: if the target proportion in the main-side lobe ratio cumulative distribution graph is smaller than or equal to a preset proportion, or the main lobe width in the main-side lobe ratio cumulative distribution graph is larger than or equal to a preset main lobe width, determining the radar shielding condition according to the main error angle;
the fifth determining module 807 is further configured to: and if the absolute value of the main error angle is larger than or equal to the preset angle, determining that the radar is shielded.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the example of running on a server, fig. 9 is a hardware structure block diagram of the server of the radar occlusion detection method provided in the embodiment of the present application. As shown in fig. 9, the server 900 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 99 (the processors 99 may include but are not limited to a Processing device such as a microprocessor NCU or a programmable logic device FPGA, etc.), a memory 930 for storing data, and one or more storage media 920 (e.g., one or more mass storage devices) for storing applications 923 or data 922. Memory 930 and storage media 920 may be, among other things, transient or persistent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations in a server. Still further, the central processor 99 may be configured to communicate with the storage medium 920, and execute a series of instruction operations in the storage medium 920 on the server 900. The server 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input-output interfaces 940, and/or one or more operating systems 921, such as Windows, Mac OS, Unix, Linux, FreeBSD, etc.
The input/output interface 940 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 900. In one example, the input/output Interface 940 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the input/output interface 940 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 9 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 900 may also include more or fewer components than shown in FIG. 9, or have a different configuration than shown in FIG. 9.
Embodiments of the present application further provide a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a radar occlusion detection method in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded and executed by the processor to implement the radar occlusion detection method.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the embodiments of the radar occlusion detection method, apparatus, device, or storage medium provided in the present application, the angular frequency spectrums of all target points are obtained; the angular spectrum is determined based on the acquired radar echo signals of each channel in the multiple channels; determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the main-side lobe ratio is determined according to a first peak value and a second peak value in the angular spectrum; acquiring theoretical angles of static targets in all target points; determining an error angle of the static target according to the detection angle and the theoretical angle of the static target; generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signal, and determining a main error angle and a main lobe width from the error angle distribution diagram; generating a main-side lobe ratio accumulation distribution graph based on the main-side lobe ratios of all target points under a multi-frame radar echo signal, and determining a target point proportion lower than a preset main-side lobe ratio from the main-side lobe ratio accumulation distribution graph; and if the proportion of the target points in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion, and the width of the main lobe in the error angle distribution graph is larger than or equal to a preset main lobe width, determining that the radar is shielded. Therefore, the sensitivity of detecting the shielding object can be improved, the calculation force is less, and the detection efficiency can be improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A radar occlusion detection method, comprising:
acquiring angle frequency spectrums of all target points; the angle spectrum is determined based on the acquired radar echo signals of all the channels in the multiple channels;
determining detection angles and main-side lobe ratios of all target points based on the angle spectrum; the dominant-sidelobe ratio is determined from a first peak and a second peak in the angular spectrum;
acquiring theoretical angles of static targets in all target points;
determining an error angle of the static target according to the detection angle and the theoretical angle of the static target;
generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signal, and determining a main error angle and a main lobe width from the error angle distribution diagram;
generating a master-to-sidelobe ratio accumulation distribution graph based on the master-to-sidelobe ratios of all target points under the multi-frame radar echo signals, and determining a target point ratio lower than a preset master-to-sidelobe ratio from the master-to-sidelobe ratio accumulation distribution graph;
and if the proportion of the target point in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion, and the width of the main lobe in the error angle distribution graph is larger than or equal to a preset width of the main lobe, determining that the radar is shielded.
2. The method of claim 1, wherein the obtaining the angular spectrum of all target points comprises:
acquiring each frame of radar echo signal of each channel in multiple channels;
performing range-velocity dimension fast Fourier transform on each frame of radar echo signals of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel;
carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises a complex amplitude value of all the target points positioned in each channel;
and carrying out fast Fourier transform on the characteristic values to obtain the angle frequency spectrums of all the target points.
3. The method of claim 1, wherein the obtaining the theoretical angle of the static target of all the target points comprises:
acquiring the radial speed of a static target relative to the radar and the speed of the radar relative to the ground in all the target points;
and determining the theoretical angle of the static target according to the radial speed and the speed of the radar relative to the ground.
4. The method of claim 1, wherein the dominant error angle is the error angle corresponding to the largest value in the error angle profile; the method further comprises the following steps:
if the width of a main lobe in the error angle distribution diagram is smaller than the preset width of the main lobe, or the proportion of a target point in the main-side lobe ratio accumulation distribution diagram is larger than the preset proportion, determining the radar shielding condition according to the main error angle;
the determining the radar shielding situation according to the main error angle comprises the following steps: and if the absolute value of the main error angle is larger than or equal to a preset angle, determining that the radar is shielded.
5. A radar occlusion detection device, comprising:
the first acquisition module is used for acquiring angle spectrums of all target points; the angular spectrum is determined based on the acquired radar echo signals of each of the multiple channels;
a first determining module, configured to determine detection angles and main-side lobe ratios of all the target points based on the angle spectrum; the dominant-sidelobe ratio is determined from a first peak and a second peak in the angular spectrum;
the second acquisition module is used for acquiring theoretical angles of the static targets in all the target points;
the second determination module is used for determining an error angle of the static target according to the detection angle of the static target and the theoretical angle;
the third determining module is used for generating an error angle distribution diagram based on the error angle of the static target under the multi-frame radar echo signals, and determining a main error angle and a main lobe width from the error angle distribution diagram;
a fourth determining module, configured to generate a master-to-sidelobe ratio cumulative distribution map based on the master-to-sidelobe ratios of all target points under the multi-frame radar echo signal, and determine a target point ratio lower than a preset master-to-sidelobe ratio from the master-to-sidelobe ratio cumulative distribution map;
and the fifth determining module is used for determining that the radar is shielded if the proportion of the target point in the main-side lobe ratio accumulation distribution graph is smaller than or equal to a preset proportion and the width of the main lobe in the error angle distribution graph is larger than or equal to a preset main lobe width.
6. The apparatus of claim 5,
the first obtaining module is further configured to: acquiring each frame of radar echo signal of each channel in multiple channels; performing range-velocity dimension fast Fourier transform on each frame of radar echo signals of each channel to obtain a detection matrix; the detection matrix comprises a distance speed matrix of each channel; carrying out target detection on the detection matrix to obtain all target points and characteristic values of all the target points; the characteristic value comprises a complex amplitude value of all the target points positioned in each channel; and carrying out fast Fourier transform on the characteristic values to obtain the angle frequency spectrums of all the target points.
7. The apparatus of claim 5,
the second obtaining module is further configured to: acquiring the radial speed of the static target relative to the radar and the speed of the radar relative to the ground; and determining the theoretical angle of the static target according to the radial speed and the speed of the radar relative to the ground.
8. The apparatus of claim 5, wherein the dominant error angle is the error angle corresponding to the largest value in the error angle profile;
the fifth determining module is further configured to: if the width of a main lobe in the error angle distribution diagram is smaller than the preset width of the main lobe, or the proportion of a target point in the main-side lobe ratio accumulation distribution diagram is larger than the preset proportion, determining the radar shielding condition according to the main error angle;
the fifth determining module is further configured to: and if the absolute value of the main error angle is larger than or equal to a preset angle, determining that the radar is shielded.
9. An apparatus comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and wherein the at least one instruction or the at least one program is loaded by the processor and executes the radar occlusion detection method of any of claims 1-4.
10. A computer storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the radar occlusion detection method of any of claims 1-4.
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| CN117148308A (en) * | 2023-10-30 | 2023-12-01 | 南京航空航天大学 | Method and system for detecting shielding of vital sign radar in cabin |
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