Millimeter wave radar modeling-based method for object visibility determination

A millimeter wave radar modeling-based method for object visibility determination, comprising the steps of:

• obtaining information of a target vehicle at a variety of positions and a variety of angles within a detection area of a host vehicle, wherein the target vehicle is detected by the host vehicle, and the information comprises a vehicle type, shape, size, material, position, speed, acceleration, moving direction and reflectivity of the target vehicle, according to vehicle types stored in an intelligent vehicle simulation testing model, and calibrated reflectivities of the vehicle types at a variety of positions within 360 degrees within a millimeter wave radar, and building a linked list for storage;
• performing geometry culling on each target vehicle, discarding completely invisible target vehicles, and calculating visible section information for each target vehicle that has a visible section, the visible section information including a position of the visible section and a corresponding angle;
• categorizing target vehicles into four classes according to their moving directions relative to the host vehicle, including (i) the target vehicle moves in the same direction as the host vehicle;
• (ii) the target vehicle moves in the opposite direction of the host vehicle;
• (iii) the target vehicle moves to the left relative to the host vehicle;
• and (iv) the target vehicle moves to the right relative to the host vehicle;
• and further dividing each class into a plurality of situations according to a positional relationship between the visible section and the host vehicle, and calculating a target vehicle reflection intensity according to the situation;
• wherein the target vehicle reflection intensity calculation further comprises finding a reflectivity of the target vehicle at a corresponding area from the calibrated reflectivities according to the position and angle of the current target vehicle, determining a situation in a class according to the position of the visible section, and obtaining an object reflection intensity of the target vehicle by calculating an integral on an angle interval corresponding to the visible section and multiplying by a height of the target vehicle type;
• and
• analyzing visibility of the target vehicle according to the target vehicle reflection intensity, and outputting information of a visible target vehicle in an expression form of a real millimeter-wave radar sensing an object.