Apparatus and method for detecting and correcting for blockage of an automotive radar sensor
A radar detection system and method include a radar detector for transmitting radar signals over a plurality of sweeps, detecting reflected returning radar signals for the sweeps, and converting the reflected returning radar signals into digital data signals, which are processed to by a time-averaging approach by which data for each of a plurality of range-plus-velocity (RV) bins is analyzed over multiple sweeps to detect a first clutter object at particular RV value and an RV-averaging approach by which data for a plurality of RV values within each sweep are combined to form RV averages for each sweep and the RV averages for a plurality of sweeps are analyzed over multiple sweeps to detect a second clutter object. The processor indicates that the radar detector is not blocked if the time-averaging approach or the RV averaging approach results in at least one of the clutter objects being detected.
1. A radar system in a movable host system, the radar system comprising:
a radar detector for transmitting radar signals into a region over a plurality of sweeps, detecting reflected returning radar signals for each of the plurality of sweeps, and converting the reflected returning radar signals into digital data signals; and
a processor for receiving the digital data signals and processing the digital data signals to detect environmental clutter objects in the region, the processing comprising at least: (i) an immediate detection process by which the digital data signals are compared to a clutter threshold and a first signal indicative of presence of a first clutter object is generated if the digital data signals exceed the clutter threshold, (ii) a time-averaging process by which data for each of a plurality of range-plus-velocity (RV) bins is analyzed over multiple sweeps to generate a second signal indicative of presence of a second clutter object, and (iii) an RV-averaging process independent of the time-averaging process by which data for a plurality of RV values within each sweep are combined to form RV averages for each sweep and the RV averages for a plurality of sweeps are analyzed over multiple sweeps to generate a third signal indicative of presence of a third clutter object; wherein
the processor the processor applies the first, second and third signals to a logical OR process to generate a fourth signal indicating that the radar detector is not blocked if any of the first, second or third clutter objects is present.
2. The radar system of claim 1 , wherein any pair of the first, second and third clutter objects are the same object.
3. The radar system of claim 1 , wherein, if a strength of the reflected returning radar signals rises and falls with time, then a clutter object is detected.
4. The radar system of claim 1 , wherein, if a strength of the reflected returning radar signals rises and falls with RV, then a clutter object is detected.
5. The radar system of claim 1 , wherein, under the time averaging process, RV variations of a set of temporal averaged Doppler measurements from a number of sweeps are compared to an RV variation threshold, and, if the RV variation threshold is exceeded, then the second clutter object is detected.
6. The radar system of claim 1 , wherein, under the RV averaging process, the variations of a set of RV averaged sweeps are compared to a temporal variation threshold and, if the temporal variation threshold is exceeded, then the third clutter object is detected.
7. The radar system of claim 1 , wherein the first, second and third clutter objects are the same object.
8. A radar detection method in a movable host radar detection system, the radar detection method comprising:
transmitting radar signals into a region over a plurality of sweeps;
detecting reflected returning radar signals for each of the plurality of sweeps;
converting the reflected returning radar signals into digital data signals; and
processing the digital data signals to detect environmental clutter objects in the region, the processing comprising:
performing an immediate detection process by which the digital data signals are compared to a clutter threshold and a first signal indicative of presence of a first clutter object is generated if the digital data signals exceed the clutter threshold,
performing a time-averaging process by which data for each of a plurality of range-plus-velocity (RV) bins is analyzed over multiple sweeps to generate a second signal indicative of presence of a second clutter object,
performing an RV-averaging process independent of the time-averaging process by which data for a plurality of RV values within each sweep are combined to form RV averages for each sweep and the RV averages for a plurality of sweeps are analyzed over multiple sweeps to generate a third signal indicative of a third clutter object,
applying the first, second and third signals to a logical OR process to generate a fourth signal indicating that the radar detector is not blocked if any of the first, second or third clutter objects is present.
9. The method of claim 8 , wherein any pair of the first, second and third clutter objects are the same object.
10. The method of claim 8 , wherein, if a strength of the reflected returning radar signals rises and falls with time, then a clutter object is detected.
11. The method of claim 8 , wherein, if a strength of the reflected returning radar signals rises and falls with RV, then a clutter object is detected.
12. The method of claim 8 , wherein, under the time averaging process, RV variations of a set of temporal averaged Doppler measurements from a number of sweeps are compared to an RV variation threshold, and, if the RV variation threshold is exceeded, then the second clutter object is detected.
13. The method of claim 8 , wherein, under the RV averaging process, the variations of a set of RV averaged sweeps are compared to a temporal variation threshold and, if the temporal variation threshold is exceeded, then the third clutter object is detected.
14. The method of claim 8 , wherein the first, second and third clutter objects are the same object.