CN117930166A - Millimeter wave radar shielding detection method based on multiple radars - Google Patents
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Abstract
The invention relates to the technical field of radars, in particular to a millimeter wave radar shielding detection method based on multiple radars, which comprises the following steps: receiving a non-shielding signal; receiving a shielding signal; constructing a first amplitude matrix without a shielding object and a second amplitude matrix with a shielding object; determining a change rate threshold matrix for judging whether the radar is shielded; constructing a third amplitude matrix actually received at present; according to the third amplitude matrix and the first amplitude matrix, calculating to obtain an amplitude change rate matrix, and comparing the amplitude change rate matrix with a change rate threshold value matrix to judge whether the radar is shielded; if the radar is shielded, judging the shielded radar. The invention can judge whether the radar is shielded or not in an open environment such as (desert) or in a stationary state of the vehicle; whether the radar is partially or completely shielded can be judged, so that the reliability of radar output data at the moment can be conveniently estimated; so that the advanced assisted driving ADAS makes a more reliable judgment.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a millimeter wave radar shielding detection method based on multiple radars.
Background
The millimeter wave radar is not affected by weather, has all-weather and all-day working characteristics, is an indispensable sensor in an advanced driving assistance system ADAS, but when the radar sensor is nearby, the following occurs: when shielding objects such as sludge, snow, ice and the like; the performance of radar sensors, i.e. the ability to detect obstacles, is affected as follows: the object reflected signal farther from the radar sensor cannot be detected; at the moment, the radar sensor is required to detect the working state of the radar sensor in real time, so that the reliability of output data is ensured;
The traditional method is to carry out statistical analysis on an original target point output by the radar to infer whether the radar is blocked, but the method can only detect very serious blocking due to various and very complex working scenes of the radar; when the device is in an open environment, the device cannot be judged correctly; another disadvantage is that the vehicle needs to reach a certain speed to be able to detect if the radar is blocked; therefore, the reliability, scene applicability and the performance of detecting the shielding object are insufficient.
Furthermore, other methods of radar occlusion detection are known, but these methods either have insufficient reliability or are of high complexity or have very limited scenes that can be detected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a millimeter wave radar shielding detection method based on multiple radars. And judging whether the shielding exists or not by comparing the amplitude change of the received signal according to the characteristic that the signal generates attenuation when encountering a shielding object. This method at least partially compensates for the above-mentioned disadvantages.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
a millimeter wave radar shielding detection method based on multiple radars comprises the following steps:
step S1: receiving, by a multi-channel receiver of the first radar, an unobstructed signal transmitted by the second radar to the first radar without obstruction;
Step S2: receiving, by a multi-channel receiver of the first radar, an occlusion signal transmitted by the second radar to the first radar in the presence of an occlusion;
step S3: constructing a first amplitude matrix without a shielding object and a second amplitude matrix with a shielding object;
step S4: determining a change rate threshold matrix for judging whether the radar is shielded;
step S5: constructing a third amplitude matrix actually received at present;
step S6: according to the third amplitude matrix and the first amplitude matrix, calculating to obtain an amplitude change rate matrix, and comparing the amplitude change rate matrix with a change rate threshold value matrix to judge whether the radar is shielded;
Step S7: if the radar is shielded, judging the shielded radar.
Preferably, the construction process of the first amplitude matrix in step S3 is as follows:
Mixing the non-shielding signal with the local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast Fourier transform on the intermediate frequency signal, extracting amplitude spectrum peaks of all channels, and constructing a first amplitude matrix.
Preferably, the construction process of the second amplitude matrix in step S3 is as follows:
Mixing the shielding signal with the local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast Fourier transform on the intermediate frequency signal, extracting amplitude spectrum peak values of all channels, and constructing a second amplitude matrix.
Preferably, the determination process of the change rate threshold matrix in step S4 is as follows:
Calculating an amplitude difference value between the first amplitude matrix and the second amplitude matrix to obtain an amplitude change matrix, normalizing the amplitude change matrix to obtain an amplitude change rate matrix, and determining a change rate threshold matrix for judging whether the radar is shielded or not according to the statistical characteristics of the amplitude change rate matrix.
Preferably, the construction process of the third amplitude matrix in step S5 is as follows:
And acquiring a third signal which is actually received by the multichannel receiver of the first radar at the current moment and is sent to the first radar by the transmitter of the second radar, mixing the third signal with the local oscillation signal to obtain an intermediate frequency signal, performing fast Fourier transform on the intermediate frequency signal, extracting amplitude peak spectrum values of all channels, and constructing a third amplitude matrix which is actually received at the current moment.
Preferably, the calculation process of the amplitude change rate matrix in step S6 is as follows:
Calculating an amplitude difference value between the first amplitude matrix and the third amplitude matrix to obtain an amplitude change matrix, and carrying out normalization processing on the amplitude change matrix to obtain an amplitude change rate matrix.
Preferably, the judging process for judging whether the radar is blocked in step S6 is specifically as follows:
The amplitude change rate matrix and the change rate threshold matrix are compared with each other at corresponding positions, if the amplitude change rate matrix is smaller than the change rate threshold matrix, the radar is not shielded, if the amplitude change rate matrix partial value is larger than the change rate threshold matrix, the radar is shielded, and if the amplitude change rate matrix is larger than the change rate threshold matrix, the radar is shielded.
Preferably, the judging process of the blocked radar in step S7 is specifically as follows:
the method comprises the steps of respectively obtaining self-received signals of a first radar and a second radar, performing two-dimensional Fourier transform to obtain two spectrograms, comparing amplitude distribution of the two spectrograms, if the amplitude difference of the two spectrograms is large, the radar corresponding to the lower amplitude is the shielded radar, and if the amplitude difference of the two radar is not obvious, but the number of target points of the two radar is obviously reduced, both the two radars are the shielded radars.
Preferably, comparing the amplitude distribution of the two spectrograms comprises comparing the maximum amplitude of the two spectrograms or comparing the average amplitude of the two spectrograms.
The beneficial effects of the invention are as follows:
the invention provides a millimeter wave radar shielding detection method based on multiple radars, which can judge whether the radar is shielded or not in an open environment such as (desert) or in a stationary state of a vehicle; by utilizing all the receiving and transmitting channels of the two radars, whether the radars are partially or completely shielded can be judged, so that the reliability of the output data of the radars at the moment can be conveniently estimated; so that the advanced assisted driving ADAS makes a more reliable judgment.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the radar signal transceiver of the present invention;
fig. 3 is a schematic diagram of a radar transmit signal according to the present invention.
In the figure: 101. a first radar; 102. a second radar; 103. a shade; 104. a receiving antenna; 105. a transmitting antenna; 106. no shielding signal; 107. a shielding signal is arranged; 201. the detection of the transmitted signal is blocked.
Detailed Description
In order that the manner in which the invention is attained, as well as the features and advantages thereof, will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1,2 and 3, a millimeter wave radar shielding detection method based on multiple radars includes the following steps:
Step S1: with the multi-channel receiver of the first radar 101, an unobstructed signal 106 is received that the second radar 102 transmits to the first radar 101 without obstruction 103. The shielding object 103 may be various kinds of sludge, snow, ice, and the shielding may be the first radar 101 or the second radar 102.
Specifically, the second radar 102 notifies the first radar 101 of the preparation to receive the occlusion detection transmission signal 201 to be transmitted by the second radar 102 through the transmission antenna 105 through the CAN message, and the first radar 101 receives the information and receives the non-occlusion signal 106 through the reception antenna 104.
Step S2: with a multichannel receiver of the first radar 101, an occlusion signal 107 is received which the second radar 102 transmits to the first radar 101 in the presence of an occlusion object 103.
Specifically, the second radar 102 notifies the first radar 101 of the preparation to receive the occlusion detection transmission signal 201 to be transmitted by the second radar 102 via the transmission antenna 105 via the CAN message, and the first radar 101 receives the information and receives the occlusion signal 107 via the reception antenna 104.
Step S3: a first amplitude matrix without the obstruction 103 and a second amplitude matrix with the obstruction 103 are constructed.
Specifically, the first amplitude matrix construction process is as follows:
Mixing the non-shielding signal 106 with the local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast Fourier transform on the intermediate frequency signal to generate a spectrogram, respectively finding the maximum amplitude value in each frequency spectrum, namely extracting the amplitude spectrum peak value of each channel, and constructing a first amplitude matrix, wherein the first amplitude matrix is the product of the number n of all receiving channels of the first radar 101 and the number m of all transmitting channels of the second radar 102, namely the first amplitude matrix with the size of n x m.
Specifically, the second amplitude matrix construction process is as follows:
mixing the shielding signal 107 with the local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast fourier transform on the intermediate frequency signal to generate a spectrogram, respectively finding the maximum amplitude value in each spectrum, namely extracting the amplitude spectrum peak value of each channel, and constructing a first amplitude matrix, wherein the first amplitude matrix is the product of the number n of all receiving channels of the first radar 101 and the number m of all transmitting channels of the second radar 102, namely the first amplitude matrix with the size of n x m.
Step S4: a rate of change threshold matrix is determined for discriminating whether the radar is occluded.
Calculating an amplitude difference value between the first amplitude matrix and the second amplitude matrix to obtain an amplitude change matrix, normalizing the amplitude change matrix to obtain an amplitude change rate matrix, and determining a change rate threshold matrix for judging whether the radar is shielded or not according to the statistical characteristics of the amplitude change rate matrix.
Specifically, the difference value of the corresponding position of each channel is obtained, and the difference value of each channel is normalized, so that the change rate threshold matrix is not changed even if the radar is replaced or parameters are changed.
Step S5: a third amplitude matrix is constructed for the current actually received occlusion-free case.
The method comprises the steps of obtaining a third signal which is actually received by a multichannel receiver of a first radar 101 at the current moment and is sent to the first radar 101 by a transmitter of a second radar 102, mixing the third signal with a local oscillator signal to obtain an intermediate frequency signal, performing fast Fourier transform on the intermediate frequency signal, extracting amplitude peak spectrum values of all channels, performing uncorrelated accumulation in a period of time, and averaging to construct a third amplitude matrix under the condition of no shielding.
Specifically, the second radar 102 at the current time informs the first radar 101 through the CAN message that the second radar 102 is ready to receive the occlusion detection transmitting signal 201 to be sent by the transmitting antenna 105, the first radar 101 receives the information, the receiving antenna 104 receives the signal, and the size of the third amplitude matrix is also n×m.
Step S6: and according to the third amplitude matrix and the first amplitude matrix, calculating to obtain an amplitude change rate matrix, and comparing the amplitude change rate matrix with a change rate threshold value matrix to judge whether the radar is shielded.
Specifically, an amplitude difference value between the first amplitude matrix and the third amplitude matrix is calculated to obtain an amplitude change matrix, and the amplitude change matrix is normalized to obtain an amplitude change rate matrix.
The amplitude change rate matrix and the change rate threshold matrix are compared with each other at corresponding positions, if the amplitude change rate matrix is smaller than the change rate threshold matrix, the radar is not shielded, if the amplitude change rate matrix partial value is larger than the change rate threshold matrix, the radar is shielded, and if the amplitude change rate matrix is larger than the change rate threshold matrix, the radar is shielded.
Step S7: if the radar is shielded, judging the shielded radar.
Specifically, the self-received signals of the first radar 101 and the second radar 102 are respectively acquired, two frequency spectrograms are obtained through two-dimensional fourier transformation, the amplitude distribution of the two frequency spectrograms is compared, if the amplitude difference between the two frequency spectrograms is large, the radar corresponding to the lower amplitude is the blocked radar, and if the amplitude difference between the two radar is not obvious, but the number of target points of the two radar is obviously reduced, the two radar is the blocked radar.
Comparing the amplitude distribution of two spectrograms includes two methods, one is: comparing the maximum amplitude values of the two spectrograms; the other is: the average of the first twenty maximum magnitudes of the two spectrograms is compared. The two methods can effectively reflect the difference of the signal strengths of the two radars, so as to judge which radar is blocked and the blocking degree. In this embodiment, the amplitude distribution of the two spectrograms is compared by selecting the average value of the first twenty maximum amplitudes of the two spectrograms.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A millimeter wave radar shielding detection method based on multiple radars is characterized in that: the method comprises the following steps:
step S1: receiving, with a multichannel receiver of the first radar (101), an unobstructed signal (106) emitted by the second radar (102) to the first radar (101) without an obstruction (103);
Step S2: receiving, with a multichannel receiver of the first radar (101), an occlusion signal (107) emitted by the second radar (102) to the first radar (101) in the presence of an occlusion (103);
step S3: constructing a first amplitude matrix without an obstruction (103) and a second amplitude matrix with an obstruction (103);
step S4: determining a change rate threshold matrix for judging whether the radar is shielded;
step S5: constructing a third amplitude matrix actually received at present;
step S6: according to the third amplitude matrix and the first amplitude matrix, calculating to obtain an amplitude change rate matrix, and comparing the amplitude change rate matrix with a change rate threshold value matrix to judge whether the radar is shielded;
Step S7: if the radar is shielded, judging the shielded radar.
2. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the construction process of the first amplitude matrix in step S3 is as follows:
mixing the non-shielding signal (106) with a local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast Fourier transform on the intermediate frequency signal, extracting amplitude spectrum peak values of all channels, and constructing a first amplitude matrix.
3. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the construction process of the second amplitude matrix in step S3 is as follows:
mixing the shielding signal (107) with the local oscillation signal to obtain an intermediate frequency signal, performing multi-channel fast Fourier transform on the intermediate frequency signal, extracting amplitude spectrum peak values of all channels, and constructing a second amplitude matrix.
4. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the determination process of the change rate threshold matrix in step S4 is as follows:
Calculating an amplitude difference value between the first amplitude matrix and the second amplitude matrix to obtain an amplitude change matrix, normalizing the amplitude change matrix to obtain an amplitude change rate matrix, and determining a change rate threshold matrix for judging whether the radar is shielded or not according to the statistical characteristics of the amplitude change rate matrix.
5. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the construction process of the third amplitude matrix in step S5 is as follows:
The method comprises the steps of obtaining a third signal which is actually received by a multichannel receiver of a first radar (101) at the current moment and is sent to the first radar (101) by a transmitter of a second radar (102), mixing the third signal with a local oscillation signal to obtain an intermediate frequency signal, performing fast Fourier transform on the intermediate frequency signal, extracting amplitude peak spectrum values of all channels, and constructing a third amplitude matrix which is actually received at present.
6. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the calculation process of the amplitude change rate matrix in step S6 is as follows:
Calculating an amplitude difference value between the first amplitude matrix and the third amplitude matrix to obtain an amplitude change matrix, and carrying out normalization processing on the amplitude change matrix to obtain an amplitude change rate matrix.
7. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the judging process for judging whether the radar is shielded in the step S6 specifically comprises the following steps:
The amplitude change rate matrix and the change rate threshold matrix are compared with each other at corresponding positions, if the amplitude change rate matrix is smaller than the change rate threshold matrix, the radar is not shielded, if the amplitude change rate matrix partial value is larger than the change rate threshold matrix, the radar is shielded, and if the amplitude change rate matrix is larger than the change rate threshold matrix, the radar is shielded.
8. The millimeter wave radar shielding detection method based on multiple radars according to claim 1, wherein: the judging process of the blocked radar in the step S7 specifically includes the following steps:
The method comprises the steps of respectively obtaining self-received signals of a first radar (101) and a second radar (102), performing two-dimensional Fourier transform to obtain two spectrograms, comparing amplitude distribution of the two spectrograms, if the amplitude difference of the two spectrograms is large, the radar corresponding to the lower amplitude is the shielded radar, and if the amplitude difference of the two radar is not obvious, but the number of target points of the two radar is obviously reduced, and the two radar are both shielded radars.
9. The multi-radar-based millimeter wave radar shielding detection method according to claim 8, wherein: comparing the amplitude distribution of the two spectrograms includes comparing the maximum amplitude of the two spectrograms or comparing the amplitude average of the two spectrograms.
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