Apparatus and method for detecting and correcting for blockage of an automotive radar sensor

• US 10,042,041 B2
• Filed: 04/28/2015
• Issued: 08/07/2018
• Est. Priority Date: 04/28/2015
• Status: Active Grant

• Current Assignee: Arriver Software LLC
• Original Assignee: Veoneer US Inc. (SSW Partners LP)
• Inventors: Preussner, Jonathan
• Primary Examiner(s): McGue, Frank J
• Application Number:
  US14/697,865
• Publication Number:
  US 20160320471A1
• Time in Patent Office: 1,197 Days
• Field of Search: 342 70
• CPC Class Codes: G01S 13/524 based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
• CPC Class Codes: G01S 13/536 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
• CPC Class Codes: G01S 13/582 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating

Abstract

A radar system and method in a host system include a radar detector detecting reflected radar signals and converting the reflected radar signals into digital data signals. A motion detector detects motion of the host system and indicates velocity of the host system. A processor receives the digital data signals and processes the digital data signals to categorize the digital data signals into target categories, one of the target categories being an environmental clutter category, the processor associating each of a plurality of processed groups of the digital data signals with a velocity, one of the groups of digital data being associated with a first preselected velocity. When the velocity of the host system changes, if the velocity associated with the one of the groups of digital data of the environmental clutter category has not changed, then the processor indicates that the radar detector is at least partially blocked.

Claims

1. A radar system in a movable host system, the radar system comprising:

a radar detector for detecting reflected radar signals and converting the reflected radar signals into digital data signals;

a motion detector for detecting motion of the host system and generating a signal indicative of velocity of the host system, the signal indicative of velocity of the host system identifying a present motion state of the host system, the present motion state being one of a first host-stationary motion state in which the host system is stationary and a second host-moving motion state in which the host system is moving; and

a processor for receiving the digital data signals and processing the digital data signals to categorize the digital data signals into one or more target categories, one of the target categories being an environmental clutter category, the processor associating each of a plurality of processed groups of the digital data signals with a respective one of the one or more target categories and a respective associated velocity, the group of digital data associated with the environmental clutter category being associated with a current environmental clutter velocity;

wherein, when the signal indicative of velocity of the host system indicates that the motion state of the host system has changed between the first host-stationary motion state and the second host-moving motion state, if the velocity associated with the environmental clutter category has not changed from the current environmental clutter velocity, then the processor generates a signal which indicates that the radar detector is at least partially blocked.

2. The radar system of claim 1, wherein the processor performs a Fast Fourier Transform (FFT) on the digital data signals.

3. The radar system of claim 2, wherein the processed groups of digital data are associated with data range bins generated by the FFT.

4. The radar system of claim 3, wherein each data range bin generated by the FFT is associated with a Doppler velocity.

5. The radar system of claim 4, wherein the current environmental clutter velocity is associated with a zero-Doppler-velocity range bin generated by the FFT.

6. The radar system of claim 1, wherein the current environmental clutter velocity associated with the environmental clutter category has a zero value.

7. The radar system of claim 1, wherein the reflected radar signals comprise a radar signal transmitted by the radar system and reflected from a scene.

8. The radar system of claim 1, wherein the radar system is an automotive radar system, the movable host system being an automobile.

9. The radar system of claim 8, wherein the environmental clutter category includes radar collective return from a surface of a road on which the automobile is located, the radar collective return being distributed within the beam of the radar detector.

10. The radar system of claim 8, wherein the reflected radar signals comprise a radar signal transmitted by the radar system and reflected from a scene.

11. The radar system of claim 10, wherein the scene includes a surface of a road on which the automobile is located.

12. A method of processing in a movable radar system, the method comprising:

detecting reflected radar signals with a radar detector and converting the reflected radar signals into digital data signals, the signal indicative of velocity of the host system identifying a present motion state of the host system, the present motion state being one of a first host-stationary motion state in which the host system is stationary and a second host-moving motion state in which the host system is moving;

detecting motion of the radar system and generating a signal indicative of velocity of the radar system;

processing the digital data signals to categorize the digital data signals into one or more target categories, one of the target categories being an environmental clutter category, the processing including associating each of a plurality of processed groups of the digital data signals with a respective one of the one or more target categories and a respective associated velocity, the group of digital data associated with the environmental clutter category being associated with a current environmental clutter velocity; and

generating a signal which indicates that the radar detector is at least partially blocked when, if the signal indicative of velocity of the radar system indicates that the motion state of the host system has changed between the first host-stationary motion state and the second host-moving motion state, the velocity associated with the environmental clutter category has not changed from the current environmental clutter velocity.

13. The method of claim 12, wherein the processing comprises performing a Fast Fourier Transform (FFT) on the digital data signals.

14. The method of claim 13, wherein the processed groups of digital data are associated with data range bins generated by the FFT.

15. The method of claim 14, wherein each data range bin generated by the FFT is associated with a Doppler velocity.

16. The method of claim 15, wherein the current environmental clutter velocity is associated with a zero-Doppler-velocity range bin generated by the FFT.

17. The method of claim 12, wherein the current environmental clutter velocity associated with the environmental clutter category has a zero value.

18. The method of claim 12, wherein the reflected radar signals comprise a radar signal transmitted by the radar system and reflected from a scene.

19. The method of claim 12, wherein the radar system is an automotive radar system, the movable radar system being disposed in an automobile.

20. The method of claim 19, wherein the environmental clutter category includes radar collective return from a surface of a road on which the automobile is located, the radar collective return being distributed within the beam of the radar detector.

21. The method of claim 19, wherein the reflected radar signals comprise a radar signal transmitted by the radar system and reflected from a scene.

22. The method of claim 21, wherein the scene includes a surface of a road on which the automobile is located.