Obstacle detection method and system of mmwave radar and vehicle

An obstacle detection system, comprising:

• a mm Wave radar module, configured for transmitting electromagnetic wave signals and capturing reflected waves;
• a detection module, configured for detecting at least one second target which is in a direct line of sight of the mm-Wave radar and at least one first target which is in front of or beside the second target and is in an invisible line of sight of the mm-Wave radar according to the reflected waves;
• and
• a display module, at least configured for presenting a position of the first target;
• wherein the detection module comprises:
• a simulation unit, configured for obtaining echo signals according to echo signal models which are stored therein and the reflected waves, the echo signals being from the at least one second target and the first target;
• and
• a calculation unit, configured for generating an original range profile X according to the echo signals, separating a first range profile Xhuman of the first target from the original range profile X, obtaining the position of the first target according to the first range profile Xhuman;
• wherein the calculation unit separates the first range profile Xhuman of the first target from the original range profile X by:
• de-averaging the original range profile X to obtain a de-averaged matrix X;
• calculating a covariance matrix D of the de-averaged matrix X;
• performing eigenvalue decomposition to the covariance matrix D and arranging eigenvalues in a descending order;
• selecting eigenvectors corresponding to the first k eigenvalues as a mapping matrix for dimensionality reduction to obtain a matrix Xfront which contains principal component information of the second target;
• and
• calculating the first range profile Xhuman of the first target according to the original range profile X and the matrix Xfront.

A vehicle, comprising:

• a display;
• at least one mm Wave radar, configured for transmitting electromagnetic wave signals and capturing reflected waves;
• a computer readable storage, configured for storing echo signal models and a computer program;
• and
• one or more processors, configured for executing the computer program to implement an obstacle detection method to obtain a position of a first target and display the position of the first target on the display;
• wherein the obstacle detection method comprises:
• obtaining echo signals according to the reflected waves and the echo signal models, the echo signals being from at least one second target which is in a direct line of sight of the mm Wave radar and at least one first target which is in front of or beside the second target and is in an invisible line of sight of the mm Wave radar;
• generating an original range profile according to the echo signals;
• separating a first range profile of the first target from the original range profile;
• and
• obtaining the position of the first target according to the first range profile;
• wherein the calculation unit separates the first range profile Xhuman of the first target from the original range profile X by:
• de-averaging the original range profile X to obtain a de-averaged matrix X;
• calculating a covariance matrix D of the de-averaged matrix X;
• performing eigenvalue decomposition to the covariance matrix D and arranging eigenvalues in a descending order;
• selecting eigenvectors corresponding to the first k eigenvalues as a mapping matrix for dimensionality reduction to obtain a matrix Xfront which contains principal component information of the second target;
• and
• calculating the first range profile Xhuman of the first target according to the original range profile X and the matrix Xfront.