Automotive radar sensor blockage detection using adaptive overlapping visibility
A blockage detection system and methods for use in a radar sensor such as a side object detection (SOD) sensor in an automotive radar system are described. The blockage detection system and method operate in systems including two or more radar sensors having overlapping field-of-views (FOVs). The blockage detection system includes a storage in a first radar sensor having stored therein a tracked object list including detections/tracks for one or more targets made by a second radar sensor and a processor for adjusting an overlap zone associated with the first radar sensor based upon an estimated mounting angle of the first radar sensor. The system further includes a processor coupled to the storage and processor configured to identify one or more relevant detections/tracks from the tracked object list using the adjusted overlap zone and a blockage detection processor configured to receive the relevant detections/tracks from said processor and configured to compare the relevant detections/tracks to detections/tracks for one or more targets made by the first radar sensor.
1. A method for detecting blockages in an automotive radar system having two or more radar sensors with overlapping field-of-views (FOVs), the method comprising:
receiving, at a first radar sensor, a synchronized, filtered, raw object list including detections for one or more targets made by a second radar sensor;
determining an estimated mounting angle of the first radar sensor using an auto-alignment process;
adjusting an overlap zone associated with the first radar sensor based on the estimated mounting angle of the first radar sensor;
generating an overlap zone filtered track object list using detections for one or more targets by the first radar sensor;
comparing the overlap zone filtered track object list of the first sensor with the synchronized filtered raw object lists from the second sensor; and
changing the size of an overlap zone in response to the compare step.
2. The method of claim 1 wherein changing the size of an overlap zone in response to the compare step comprises reducing the size of the overlap zone in response to the compare step.
3. The method of claim 1 wherein changing the size of an overlap zone comprises adaptively changing the size of the overlap zone in response to repeated comparisons of overlap zone filtered track object lists of the first sensor with the synchronized filtered raw object lists from the second sensor.
4. The method of claim 1 further comprising attempting to associate each relevant object in the synchronized, filtered, raw object list from the second sensor with a corresponding entry in the overlap zone filtered track object list of the first sensor.
5. The method of claim 1 wherein attempting to associate each relevant object from the second sensor with a corresponding entry in the overlap zone filtered track object list of the first sensor comprises associating each relevant object from the synchronized, filtered, raw object list of the second sensor with a corresponding entry in the overlap zone filtered track object list of the first sensor based on one or more of: detection time, azimuth angle, and/or range.
6. The method of claim 4 wherein the synchronized, filtered, raw object list of the second sensor is synchronized by transforming detections/tracks from a first coordinate system to a second coordinate system.
7. The method of claim 4 wherein the synchronized, filtered, raw object list of the second sensor is synchronized by at least one of azimuth angle, and/or range.
8. The method of claim 1 wherein adjusting the overlap zone includes adjusting one or more lateral borders associated with the overlap zone based on the estimated mounting angle of the first radar sensor.
9. The method of claim 1 wherein identifying one or more relevant detections/tracks from the raw object list includes identifying detections/tracks from the raw object list that have azimuth angles and ranges associated with the overlap zone.
10. The method of claim 1 wherein performing blockage detection includes performing blockage detection only if the estimated mounting angle of the first radar sensor is greater than a threshold value.
11. The method of claim 1 wherein performing blockage detection includes calculating a detection rate based on the number of relevant detections/tracks from the second radar sensor that are associated with detections/tracks for made by the first radar sensor.
12. The method of claim 11 wherein performing blockage detection further includes:
activating a blockage alert in the first radar sensor if the detection rate is less than a first threshold value; and
deactivating the blockage alert in the first radar sensor if the detection rate is greater than a second threshold value.