System and method for detecting blockage in an automotive radar

• US 10,162,046 B2
• Filed: 03/17/2016
• Issued: 12/25/2018
• Est. Priority Date: 03/17/2016
• Status: Active Grant

• Current Assignee: Valeo Radar Systems, Inc. (Valeo SE)
• Original Assignee: Valeo Radar Systems, Inc. (Valeo SE)
• Inventors: Millar, Jeffrey, Insana, David
• Primary Examiner(s): Barker, Matthew M
• Application Number:
  US15/072,678
• Publication Number:
  US 20170269196A1
• Time in Patent Office: 1,013 Days
• CPC Class Codes: G01S 13/449 Combined with MTI or Doppler processing circuits
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating

Abstract

A radar sensor for use within a vehicle includes blockage detection functionality. In at least one embodiment, the radar sensor collects information on stationary infrastructure around the vehicle. The infrastructure information may be used to generate a Doppler Monopulse Image (DMI) or other graph for the sensor. A clutter ridge within the DMI or other graph may be analyzed determine a blockage condition of the sensor (i.e., unblocked, partially blocked, or fully blocked).

Claims

1. In a vehicle radar sensor, a method for detecting radar sensor blockage, the method comprising:

collecting sensor data using the radar sensor as the vehicle travels past stationary structures;

generating a plot of normalized Doppler versus monopulse angle using the collected sensor data, wherein the plot includes a clutter ridge comprising points representative of the stationary structures, wherein the plot indicates signal magnitude at different points of normalized Doppler and monopulse angle;

analyzing the plot to detect if the radar sensor is blocked by calculating one or more quality metrics for the clutter ridge, wherein calculating the one or more quality metrics for the clutter ridge comprises at least one of;

calculating an average peak magnitude in azimuth,

calculating an average variance of the clutter ridge in azimuth, and

calculating average stability of peak magnitude in azimuth; and

providing a signal to at least one of;

a Controller Area Network (CAN) in response to detecting a radar sensor blockage, and

a human/machine interface (HMI) in response to detecting the radar sensor blockage.

2. The method of claim 1 wherein generating a plot of normalized Doppler versus monopulse angle comprises generating the plot based on range/Doppler bins associated with the collected sensor data.

3. The method of claim 1 wherein analyzing the plot to detect if the radar sensor is blocked comprises detecting a partial blockage or a full blockage.

4. The method of claim 1 wherein analyzing the plot to detect if the radar sensor is blocked comprises analyzing the plot in azimuth for a plurality normalized Doppler values.

5. The method of claim 1 further comprising:

comparing each of the quality metrics to a respective threshold value to detect if the radar sensor is blocked.

6. A radar detection system for use in a vehicle, the system comprising:

an RF transmitter to generate radio frequency (RF) transmit signals;

a transmit antenna to transmit the RF transmit signals;

one or more antennas to receive return signals representing reflections of the RF transmit signals from objects and structures within a region of interest about the vehicle;

one or more analog-to-digital converters to digitize signals associated with the first and second receive antennas, respectively; and

a blockage detection processor configured to;

collect sensor data using the radar sensor as the vehicle travels past stationary structures;

generate a plot of normalized Doppler versus monopulse angle using the collected sensor data, wherein the plot includes a clutter ridge comprising points representative of the stationary structures, wherein the plot indicates signal magnitude at different points of normalized Doppler and monopulse angle; and

analyze the plot to detect if the radar sensor is blocked calculating one or more quality metrics for the clutter ridge, wherein calculating the one or more quality metrics for the clutter ridge comprises at least one of;

calculating an average peak magnitude in azimuth,

calculating an average variance of the clutter ridge in azimuth, and

calculating average stability of peak magnitude in azimuth.

7. The radar detection system of claim 6 wherein the blockage detection processor is configured to generate the plot based on range/Doppler bins associated with the collected sensor data.

8. The radar detection system of claim 6 wherein the blockage detection processor is configured to detect a partial blockage or a full blockage.

9. The radar detection system of claim 6 wherein the blockage detection processor is configured to analyze the plot in azimuth for a plurality normalized Doppler values.

10. The radar detection system of claim 6 wherein the blockage detection processor is further configured to compare each of the quality metrics to a respective threshold value to detect if the radar sensor is blocked.

11. The radar detection system of claim 6 wherein the vehicle includes a Controller Area Network (CAN), wherein the blockage detection processor is further configured to provide a signal to the CAN in response to detecting a radar sensor blockage.

12. The radar detection system of claim 6 wherein the vehicle includes a human/machine interface (HMI), wherein the blockage detection processor is further configured to provide a signal to the HMI in response to detecting a radar sensor blockage.