Detection of blocked radar sensor
A method for detecting blockage of a radar sensor ( 105 ) by processing a radar signal ( 115, 116, 117 ) received by the radar sensor ( 105 ). The method includes obtaining (S 1 ) the radar signal ( 115, 116, 117 ), determining (S 2 ) a range-Doppler representation ( 300 ) of the radar signal such that received radar signal energy ( 311 ) is represented as a function of distance (d 0 -d 13 ) and relative velocity (v 0 -v 7 ), determining (S 4 ) predetermined azimuth angles (θ 1 , θ 2 , θ 3 ) for the radar sensor ( 105 ) and calculating (S 31 ) a relative velocity (v 0 , v 3 , v 5 ) for each predetermined azimuth angle (θ 1 , θ 2 , θ 3 ). The method further includes obtaining (S 5 ) a first distribution ( 301 ) and at least one other distribution ( 302, 303 ) of received energy ( 311 ) over distance in the range-Doppler representation ( 300 ) for a first azimuth angle (θ 1 ) and at least one other azimuth angle (θ 2 , θ 3 ), generating (S 7 ) a measure of similarity for the distributions, and detecting (S 8 ) blockage of the radar sensor ( 105 ) if the measure of similarity satisfies a similarity criterion.
1 . A radar system for a vehicle, comprising:
a radar transceiver unit including a radar sensor; and
an electronic control unit configured to receive, from the radar transceiver unit, a signal representing the radar signal, wherein the electronic control unit is further configured to:
determine, based on the signal representing the radar signal, a range-Doppler representation of the radar signal by processing the signal representing the radar signal such that received radar signal energy is represented as a function of distance and relative velocity;
determine a plurality of predetermined azimuth angles for the radar sensor, where each predetermined azimuth angle of the plurality of predetermined azimuth angles corresponds to a respective relative velocity;
calculate a relative velocity for each predetermined azimuth angle of the plurality of predetermined azimuth angles;
integrate at least part of the range-Doppler representation of the radar signal over time to obtain each of: a first distribution of detected energy over distance for a first azimuth angle of the plurality of predetermined azimuth angles, and at least one other distribution of detected energy over distance for at least one other azimuth angle of the plurality of predetermined azimuth angles, different from the first azimuth angle;
compare the first distribution of detected energy over distance to the at least one other distribution of detected energy over distance to generate a measure of similarity; and
determine if the measure of similarity satisfies a similarity criterion, to thereby distinguish between a blockage of the radar sensor and a case where there are no objects within a field of view of the radar sensor.
2 . The radar system according to claim 1 , wherein integrating the at least part of the range-Doppler representation of the radar signal over time includes integrating the at least part of the range-Doppler representation of the radar signal over a period of 10 seconds.
3 . The radar system according to claim 1 , wherein each of the first distribution of detected energy over distance and the at least one other distribution of detected energy over distance represents an averaged signal magnitude versus range bin.
4 . The radar system according to claim 1 , wherein the range-Doppler representation is a matrix comprising matrix indices, where each matrix index corresponds to a distance and a relative velocity.
5 . The radar system according to claim 1 , wherein the first azimuth angle corresponds to a first velocity that is a zero relative velocity.
6 . The radar system according to claim 1 , wherein the measure of similarity comprises any of:
differences between means;
differences between variances;
Bhattacharyya distance;
Kullback-Leibler divergence; or
a Mahalanobis vector distance.
7 . The radar system according to claim 1 , wherein the similarity criterion comprises a pre-determined threshold value.
8 . The radar system according to claim 1 , wherein the electronic control unit is further adapted to determine each azimuth angle of the plurality of predetermined azimuth angles relative to a reference line and an azimuth bearing.
9 . The radar system according to claim 1 , wherein the electronic control unit is further adapted to adjust the first velocity or the at least one other velocity based on a yaw rate or on a vehicle velocity over time, or between radar sensor scans.
10 . The radar system according to claim 1 , wherein each of the first velocity and the at least one other velocity relates to a relative motion of the radar sensor with respect to an object in a field of view of the radar sensor.