CN117826084A - Detection method for judging whether millimeter wave radar is shielded or not based on target distance and angle - Google Patents
Detection method for judging whether millimeter wave radar is shielded or not based on target distance and angle Download PDFInfo
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- CN117826084A CN117826084A CN202410031756.6A CN202410031756A CN117826084A CN 117826084 A CN117826084 A CN 117826084A CN 202410031756 A CN202410031756 A CN 202410031756A CN 117826084 A CN117826084 A CN 117826084A
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- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 17
- 238000002474 experimental method Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
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- 239000011159 matrix material Substances 0.000 claims description 2
- 238000013139 quantization Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 4
- 238000007619 statistical method Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
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- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a detection method for judging whether a millimeter wave radar is shielded or not based on a target distance and an angle. It comprises the following steps of: acquiring original ADC data of the millimeter wave radar directly covered by the foreign matter, performing standard radar signal processing to obtain a target distance and angle value, and counting the distance and angle value distribution of the target corresponding to the shielding object to obtain a maximum distance value and a maximum angle value; step 2: performing multiple times of quantization on the step 1 to obtain a distance average value and an angle average value of each experimental value, and setting a distance threshold value and an angle threshold value; step 3: acquiring original ADC data of the millimeter wave radar at the current moment, and performing standard radar signal processing on the ADC data to obtain a current target distance value and an angle value; step 4: judging whether a target with a distance smaller than a distance threshold value is detected at the current moment of the radar, and if not, judging that the target is not shielded; if the distance value is smaller than the distance threshold value and the angle is smaller than the angle threshold value, the target is considered to be a shielding object, and the radar is judged to be shielded.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a method for determining a shielding object based on a target distance and an angle value detected by a radar and judging whether the radar is shielded.
Background
Millimeter wave radar is widely used as one of the sensors for sensing the environment of the intelligent driving automobile due to the unique advantages of all weather, all-day time, low cost, real-time speed measurement capability and the like. In practical application, the millimeter wave radar is generally installed in a bumper of an automobile, and the bumper covering the radar is generally specially designed in material selection, surface treatment and installation angle to ensure good permeability of radar electromagnetic waves, and reduce attenuation of electromagnetic wave energy and beam distortion as much as possible. However, in the long-term use process of the vehicle, wet snow, sludge or other shielding objects may cover the surface of the bumper facing the radar, so that the radar can influence the perception of the radar on the external environment of the vehicle, and even the radar can lose the detection capability on the surrounding environment targets when the radar is seriously shielded.
The method is to analyze foreign matter shielding situations and foreign matter shielding situations at a bumper right in front of a millimeter wave radar respectively by utilizing the detectable distance between the millimeter wave radar and an absolute stationary reflector of the ground reflection and environment based on the speed information of the vehicle.
A vehicle-mounted millimeter wave radar shielding detection method based on amplitude change rate analysis is disclosed by Desai Siwei intelligent transportation technology institute, huizhou, which is used for respectively obtaining the amplitude change characteristic statistical analysis of FFT of the time domain echo signals of a plurality of channels of the millimeter wave radar under the condition of direct foreign matter coverage and under the condition of direct foreign matter coverage, and judging whether the millimeter wave radar is shielded or not according to the amplitude change characteristic statistical analysis result of the FFT and the FFT amplitude change characteristic statistical analysis result of the time domain echo signals of the millimeter wave radar at the current moment.
The two methods are mainly used for judging whether the radar is shielded or not based on the difference of detection results when the radar is shielded, but the methods have the possibility of misjudgment in some special scenes, such as when a vehicle is in an open environment, because the number of targets in the environment is small at the moment, the method is similar to the situation when the radar is shielded, and the misjudgment can be caused by judging based on the number of targets only at the moment. The patent proposes a method for directly detecting a shielding object based on distance and angle so as to judge whether a radar is shielded or not.
Disclosure of Invention
In view of this, the present application provides a method of determining whether a millimeter wave radar is occluded based on a target distance and angle.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a method for judging whether millimeter wave radar is shielded or not based on target distance and angle comprises the following steps:
step 1: the method comprises the steps of obtaining original ADC data of a millimeter wave radar directly covered by foreign matters, performing standard radar signal processing to obtain distance and angle values of all targets, and counting the distribution of the distance and angle values of the targets corresponding to the shielding objects to obtain a maximum distance value and a maximum angle value of the shielding objects;
step 2: performing multiple times of quantization on the step 1 to calculate a distance average value and an angle average value of each experimental value, and setting a distance threshold value and an angle threshold value;
step 3: acquiring original ADC data of a millimeter wave radar at the current moment, and performing standard radar signal processing on the ADC data to obtain a target distance value and an angle value in the current environment;
step 4: judging whether a target with a distance smaller than a distance threshold value is detected at the current moment of the radar, and if not, judging that the target is not shielded; if the distance value is smaller than the distance threshold value and the angle is smaller than the angle threshold value, the target is considered to be a shielding object, and the radar is judged to be shielded;
the specific content of the step 1 is as follows: under the receiving and transmitting of a radar frame, the original ADC data of each channel acquired by a receiving antenna is subjected to 2D-FFT to complete the compression of the distance and the speed dimension, then incoherent accumulation is carried out in the channel dimension, the accumulated data matrix is detected by a Constant False Alarm (CFAR) algorithm to detect the targets, the distance and the speed information of each target can be obtained at the moment, and then the targets are subjected to angle estimation (DOA) to complete the distance, the speed and the angle measurement of the targets.
The specific content of the step 2 is as follows: when the radar is shielded, the shielding object is positioned close to the automobile safety cover, the target distance corresponding to the shielding object is necessarily small, and the detected target is positioned right in front of the radarThe angle value should be close to 0 0 . The target distance and angle statistical values obtained by multiple groups of experiments are set to a maximum distance value threshold R0 and a maximum angle value threshold alpha 0, and the setting of the two thresholds can be equal to or slightly larger than the average value Rmean and alpha mean counted under multiple experiments.
According to the method, the target distance and the angle value detected by the radar are subjected to statistical analysis, so that the shielding condition of the millimeter wave radar is judged, the shielding condition detection of the vehicle-mounted millimeter wave radar is effectively realized, the method is simple and effective, the calculation force requirement is low, the environment perception capability of a vehicle-mounted millimeter wave radar system is ensured, and the requirement of application instantaneity is met.
Drawings
FIG. 1 is a flow chart of the scheme of the present patent
FIG. 2 is a flow chart of data preprocessing
FIG. 3 is a signal processing flow chart
FIG. 4 is a schematic diagram of measurement
Detailed description of the preferred embodiments
A method for judging that a millimeter wave radar is shielded based on a target distance and an angle comprises the steps of detecting a detectable distance and an angle value of a shielding object by utilizing the millimeter wave radar, respectively analyzing the shielding condition of foreign matters and shielding condition without foreign matters at a bumper right in front of the millimeter wave radar, presetting a distance and an angle threshold value by a distance and an angle statistical rule of the shielding object during shielding, which are obtained in advance based on experimental statistical results, and comparing the actual distance and the angle value in a real-time shielding detection process based on the threshold value, thereby confirming the detection method of the result. The method is simple and effective, has low calculation force requirement, ensures the perception capability of the vehicle-mounted millimeter wave radar system to the environment, and meets the requirement of application instantaneity.
The detection method of the shielding state of the vehicle millimeter wave radar comprises the following steps:
step one, after an automobile is started, under the condition that the millimeter wave radar is shielded by foreign matters, obtaining a distance value and an angle value which can be detected by the millimeter wave radar in a corresponding speed dimension under the current shielding condition; the step is used as quantitative analysis, and the purpose of the step is to acquire a corresponding algorithm threshold value by analyzing the condition that foreign matter is blocked. The distribution of the distance and angle values of the object corresponding to the shielding object is counted to obtain a maximum distance value Ri and an angle value alpha i of the object, specifically speaking, the transmitting signal data and the receiving signal data of the radar can be subjected to frequency mixing processing to obtain a frequency mixing signal, and the frequency mixing signal is subjected to distance dimension Fourier transform and angle Fourier transform to obtain a distance data value and an angle data value.
Step two, repeating the step one for quantification for a plurality of times, when the radar is shielded, the shielding object is positioned close to the automobile safety cover, the target distance corresponding to the shielding object is necessarily small, and because the shielding object is positioned right in front of the radar, the detected target angle values are close to 0 o . By collecting the target distances and the statistics rules corresponding to the shielding objects under the shielding condition of the radar, a maximum distance threshold Ro and a maximum angle value threshold alpha o are set, and the setting of the two thresholds can be equal to or slightly larger than the average value Rmean and alpha mean of statistics under multiple experiments.
The implementation manner based on the threshold value confirmation result in the second step is as follows:
after a distance threshold value Ro and an angle threshold value alpha o are obtained, firstly judging whether a radar detects a target with a distance smaller than Ro at the moment, if not, considering that the radar is not shielded, and if the target with the distance smaller than Ro exists, considering that the target is a shielding object and judging that the radar is shielded.
The above embodiments are merely for illustrating the present invention and not for limiting the present invention, and various changes and modifications may be made by one of ordinary skill in the related art without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions are also within the scope of the present invention, which is defined by the claims.
The technical content that is not described in detail in the invention is known in the prior art.
Claims (3)
1. The detection method for judging the shielding state of the millimeter wave radar based on the target distance and the angle is characterized by comprising the following steps:
step 1, original ADC data of a millimeter wave radar covered by foreign matters directly is obtained, standard radar signal processing is carried out, distance and angle values of all targets are obtained, and distribution of the distance and angle values of the targets corresponding to the shielding objects is counted, so that a maximum distance value and a maximum angle value of the shielding objects are obtained;
step 2, quantifying the step 1 for a plurality of times to calculate a distance average value and an angle average value of each experimental value, and setting a distance threshold value and an angle threshold value;
step 3, acquiring original ADC data of the millimeter wave radar at the current moment, and performing standard radar signal processing on the ADC data to obtain a target distance value and an angle value in the current environment;
and 4, judging whether a target with a distance smaller than a distance threshold value is detected at the current moment of the radar, if not, judging that the target is not shielded, and if the distance value is smaller than the distance threshold value and the angle is smaller than the angle threshold value, judging that the target is a shielding object and judging that the radar is shielded.
2. The method according to claim 1, wherein step 1 specifically comprises the sub-steps of:
step 1.1: under the receiving and transmitting of a frame of radar, the original ADC data of each channel acquired by a receiving antenna is subjected to 2D-FFT to complete the compression of the distance and the speed dimension;
step 1.2, performing incoherent accumulation in the channel dimension, detecting the accumulated data matrix by a Constant False Alarm (CFAR) algorithm to obtain the distance and speed information of each target, and performing angle estimation (DOA) on the targets to finish the distance, speed and angle measurement of the targets.
3. The method according to claim 1, wherein step 2 specifically comprises the sub-steps of:
step 2.1, when the radar is shielded, the shielding object is positioned at a position close to the automobile safety cover, and the shielding object is positioned at the position close to the automobile safety coverThe corresponding target distance must be small and because it is directly in front of the radar, the detected target angle value should be close to 0 0 ；
And 2.2, setting a maximum distance value threshold R0 and a maximum angle value threshold alpha 0 according to target distance and angle statistic values obtained by multiple groups of experiments, wherein the setting of the two thresholds can be equal to or slightly larger than average values Rmean and alpha mean counted under multiple experiments.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410031756.6A CN117826084A (en) | 2024-01-09 | 2024-01-09 | Detection method for judging whether millimeter wave radar is shielded or not based on target distance and angle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410031756.6A CN117826084A (en) | 2024-01-09 | 2024-01-09 | Detection method for judging whether millimeter wave radar is shielded or not based on target distance and angle |
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- 2024-01-09 CN CN202410031756.6A patent/CN117826084A/en active Pending
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