A method, device, electronic device and vehicle for suppressing interference signals

Abstract

A method, apparatus, electronic device, and vehicle for suppressing interference signals disclosed in an embodiment of the present application include determining a set of signals to be processed from echo signals; the echo signals are signals received by a vehicle-mounted millimeter-wave radar, determining an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed, and determining a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude, determining an amplitude to be suppressed from the amplitude of each signal to be processed according to the first reference amplitude and the second reference amplitude, and performing suppression processing on the signal to be processed corresponding to the amplitude to be suppressed to obtain a target echo signal. Based on the embodiment of the present application, by determining the median value and the interference detection threshold value through the amplitude distribution histogram, the accuracy of detecting interference signals can be improved, and the effect of interference suppression can be improved.

Description

Technical Field

[0001] The present invention relates to the field of millimeter-wave radars, and particularly to a method, device, electronic device, and vehicle for suppressing interference signals. Background Art

[0002] While in-vehicle millimeter-wave radars are widely used, the interference problem is becoming increasingly serious. Interference will increase the noise floor, reduce the detection accuracy rate, and even generate false targets, greatly affecting the performance of in-vehicle millimeter-wave radars.

[0003] In practical applications, in-vehicle millimeter-wave radars are mainly interfered by the same type of in-vehicle millimeter-wave radars with similar frequency bands. Generally, the interference source adopts Linear Frequency Modulated Continuous Wave (LFMCW), but its waveform parameters are different from those of the interfered object. According to the relationship between the LFMCW waveform slopes of the interference source and the interfered object, the interference source can be divided into two types. One is the co-frequency interference with the same slope, and the other is the non-co-frequency interference with different slopes. For co-frequency interference, the sampled data of the interfered object will contain a fixed frequency component. After processing by two-dimensional Fast Fourier Transform (FFT), it can be displayed as a spike on the two-dimensional frequency spectrum diagram. In the subsequent recognition process, this spike will be recognized as a false target. Compared with co-frequency interference, non-co-frequency interference has a greater impact on the performance of in-vehicle millimeter-wave radars and appears more commonly. Non-co-frequency interference will cause small segments of the sampled sequence corresponding to the LFMCW waveform to have abnormally large amplitudes. Usually, multiple interferences correspond to multiple amplitude abnormal segments. After two-dimensional FFT processing, the background noise of the two-dimensional frequency spectrum diagram will be elevated, resulting in a decrease in detection accuracy, but no spikes will be generated.

[0004] The false targets detected for co-frequency interference will be deleted in the subsequent tracking process. However, for non-co-frequency interference, the existing mainstream processing method is to, after receiving a chirp signal, first obtain the amplitude values of the sampled data of all receiving channels, then determine all the sampled data greater than the threshold value by setting a fixed interference detection threshold value, and repair the sampled data greater than the threshold value by means of zeroing, interpolation, or data regeneration. However, the interference detection of this method is inaccurate and the interference suppression is not thorough. Summary of the Invention

[0005] Embodiments of the present application provide a method, device, electronic device, and vehicle for suppressing interference signals, which can improve the accuracy of detecting interference signals and can improve the effect of interference suppression.

[0006] Embodiments of the present application provide a method for suppressing interference signals, including:

[0007] Determine a set of signals to be processed from the echo signals; the echo signals are the signals received by the vehicle-mounted millimeter-wave radar;

[0008] Determine an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed;

[0009] Determine a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude;

[0010] Determine an amplitude to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude;

[0011] Perform suppression processing on the signals to be processed corresponding to the amplitudes to be suppressed to obtain target echo signals.

[0012] Further, determining the first reference amplitude from the amplitude distribution histogram includes:

[0013] Determine a set of candidate amplitudes based on the number of signals to be processed corresponding to each amplitude in the amplitude distribution histogram; the ratio of the number of signals to be processed corresponding to the set of candidate amplitudes to the number of signals to be processed in the set of signals to be processed is greater than or equal to a preset ratio threshold;

[0014] Determine the first reference amplitude according to the set of candidate amplitudes.

[0015] Further, determining the amplitude to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude includes:

[0016] If the ratio of the first reference amplitude to the second reference amplitude is less than a first preset ratio threshold, determine a target reference amplitude according to the first reference amplitude;

[0017] Determine the amplitudes in the amplitudes of each signal to be processed whose ratio to the target reference amplitude is greater than a second preset ratio threshold as the amplitudes to be suppressed; the first preset ratio threshold is less than the second preset ratio threshold.

[0018] Further, determining the second reference amplitude from the amplitude distribution histogram includes:

[0019] Determine the maximum amplitude in the amplitude distribution histogram as the second reference amplitude.

[0020] Correspondingly, an embodiment of the present application provides an interference signal suppression device, including:

[0021] A first determination module, configured to determine a set of signals to be processed from the echo signals; the echo signals are the signals received by the vehicle-mounted millimeter-wave radar;

[0022] A second determination module, configured to determine an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed;

[0023] A third determination module, configured to determine a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude;

[0024] A fourth determination module, configured to determine an amplitude to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude;

[0025] A suppression module, configured to perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed to obtain a target echo signal.

[0026] Further, the third determination module includes:

[0027] A first determination sub-module, configured to determine a candidate amplitude set based on the number of signals to be processed corresponding to each amplitude in the amplitude distribution histogram; the ratio of the number of signals to be processed corresponding to the candidate amplitude set to the number of signals to be processed in the set of signals to be processed is greater than or equal to a preset ratio threshold;

[0028] A second determination sub-module, configured to determine the first reference amplitude according to the candidate amplitude set.

[0029] Further, the fourth determination module includes:

[0030] A third determination sub-module, configured to determine a target reference amplitude according to the first reference amplitude if the ratio of the first reference amplitude to the second reference amplitude is less than a first preset ratio threshold;

[0031] A fourth determination sub-module, configured to determine the amplitude whose ratio to the target reference amplitude in the amplitude of each signal to be processed is greater than a second preset ratio threshold as the amplitude to be suppressed; the first preset ratio threshold is less than the second preset ratio threshold.

[0032] Further, the third determination module includes:

[0033] A fifth determination sub-module, configured to determine the maximum amplitude in the amplitude distribution histogram as the second reference amplitude.

[0034] Correspondingly, an embodiment of the present application further provides an electronic device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned interference signal suppression method.

[0035] Accordingly, an embodiment of the present application further provides a vehicle, which includes a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the above method for suppressing interference signals.

[0036] The embodiment of the present application has the following beneficial effects:

[0037] A method, device, electronic device, and vehicle for suppressing interference signals disclosed in an embodiment of the present application include determining a set of signals to be processed from echo signals; the echo signals are signals received by a vehicle-mounted millimeter-wave radar, determining an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed, and determining a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude, determining an amplitude to be suppressed from the amplitude of each signal to be processed according to the first reference amplitude and the second reference amplitude, and performing suppression processing on the signal to be processed corresponding to the amplitude to be suppressed to obtain a target echo signal. Based on the embodiment of the present application, by determining the median value and the interference detection threshold value through the amplitude distribution histogram, the accuracy of detecting interference signals can be improved, and the effect of interference suppression can be improved. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0040] Figure 2 is a schematic flowchart of a method for suppressing interference signals provided by an embodiment of the present application;

[0041] Figure 3 is a schematic diagram of an amplitude distribution histogram provided by an embodiment of the present application;

[0042] Figure 4 is a schematic diagram of a target echo signal provided by an embodiment of the present application;

[0043] Figure 5 is a schematic structural diagram of a device for suppressing interference signals provided by an embodiment of the present application. Detailed Embodiments

[0044] To make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only one embodiment of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0045] As used herein, an "embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of such features. Moreover, the terms "first", "second", "third", and "fourth", etc. are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include", "have", and "be", and any variations thereof, are intended to cover non-exclusive inclusion.

[0046] Please refer to Figure 1 , which shows a schematic diagram of an application environment provided by an embodiment of the present application, including a vehicle 100. A radar processor 101 is provided on the vehicle. The radar processor can receive the chirp echo signal sent by the radar transmitting antenna from the radar receiving antenna and perform sampling processing on it to obtain a set of signals to be processed. Then, according to the amplitude of each signal to be processed in the set of signals to be processed, an amplitude distribution histogram can be determined, and a first reference amplitude and a second reference amplitude can be determined from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude. According to the first reference amplitude and the second reference amplitude, the amplitude to be suppressed can be determined from the amplitude of each signal to be processed, and the signal to be processed corresponding to the amplitude to be suppressed is suppressed to obtain a target echo signal.

[0047] In the embodiments of the present application, the median value and the interference detection threshold value are determined through the amplitude distribution histogram, which can improve the accuracy of detecting interference signals and the effect of interference suppression.

[0048] The following introduces a specific embodiment of a method for suppressing interference signals in the present application. Figure 2It is a schematic flowchart of a method for suppressing interference signals provided by an embodiment of the present application. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on routine or non-creative labor, it may include more or fewer operation steps. The step sequences listed in the embodiments are only one of many execution sequences and do not represent the only execution sequence. During actual execution, the method sequence shown in the embodiments or the drawings can be executed sequentially or in parallel (for example, in an environment of parallel processors or multi-threaded processing).

[0049] Specifically, as Figure 2 shown, the suppression method may include:

[0050] S201: Determine a set of signals to be processed from the echo signals; the echo signals are the signals received by the vehicle-mounted millimeter-wave radar.

[0051] In an embodiment of the present application, the radar processor may receive the chirp echo signals sent by the radar transmitting antenna from the radar receiving antenna and perform sampling processing on them to obtain a set of signals to be processed.

[0052] S203: Determine an amplitude distribution histogram according to the amplitudes of each signal to be processed in the set of signals to be processed.

[0053] In an embodiment of the present application, the chirp echo signals may be complex-sampled to obtain a set of signals to be processed. Or the chirp echo signals may be real-sampled to obtain a set of signals to be processed. When the chirp signals are complex-sampled, the radar processor may convert the sampling data corresponding to an input chirp echo signal into an amplitude sequence to obtain the amplitudes of each signal to be processed in the set of signals to be processed, and then convert the amplitude sequence into a histogram. Figure 3 It is a schematic diagram of an amplitude distribution histogram provided by an embodiment of the present application, where the abscissa is the amplitude and the ordinate is the number of sampling points. By reasonably setting the amplitude intervals corresponding to the abscissa values of the histogram, the efficiency and accuracy of the histogram in terms of storage occupancy and median estimation can be balanced.

[0054] S205: Determine a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude.

[0055] In an embodiment of the present application, the radar processor may determine a set of candidate amplitudes based on the number of signals to be processed corresponding to each amplitude in the amplitude distribution histogram, that is, the number of sampling points corresponding to each amplitude interval. Among them, the ratio of the number of signals to be processed corresponding to the set of candidate amplitudes to the number of signals to be processed in the set of signals to be processed is greater than or equal to a preset ratio threshold. Then the first reference amplitude may be determined according to the set of candidate amplitudes.

[0056] In an alternative embodiment, the preset ratio threshold can be 1 / 2, 2 / 5, 3 / 5, or other values, which are not specifically limited in the embodiments of the present application. During the implementation, starting from the starting position of the abscissa of the histogram, the number of sampling points corresponding to the ordinate can be accumulated in sequence. Each time an accumulation is performed, it is determined whether the cumulative value of the condition is greater than or equal to half of the total number of sampling points. If the determination result is yes, the amplitude represented by the current abscissa can be used as the estimated median value A median , that is, the first reference amplitude.

[0057] In the embodiments of the present application, the radar processor can determine the maximum amplitude in the amplitude distribution histogram as the second reference amplitude, and at the same time, can determine the position P of the maximum amplitude in the amplitude sequence max . The radar processor can also determine the second largest amplitude in the amplitude distribution histogram as the second reference amplitude, that is, after determining the maximum amplitude, the largest amplitude in the amplitude distribution histogram except the maximum amplitude is determined again and used as the second reference amplitude.

[0058] In an alternative embodiment, the radar processor can search the amplitude sequence to obtain the maximum amplitude A max , as the second reference amplitude.

[0059] S207: Determine the amplitude to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude.

[0060] In the embodiments of the present application, the radar processor can determine the interference detection threshold according to the first reference amplitude and the second reference amplitude, and determine the amplitude to be suppressed from the amplitudes of each signal to be processed according to the interference detection threshold. During the implementation, a first preset ratio threshold and a second ratio threshold can be preset, such that the first preset ratio threshold is less than the second preset ratio threshold. Then, the ratio of the first reference amplitude to the second reference amplitude is compared with the first preset ratio threshold. If the ratio of the first reference amplitude to the second reference amplitude is less than the first preset ratio threshold, the target reference amplitude can be determined according to the first reference amplitude. Then, the amplitude of each signal to be processed is compared with the target reference amplitude, and the amplitude whose ratio to the target reference amplitude in the amplitude of each signal to be processed is greater than the second preset ratio threshold is determined as the amplitude to be suppressed.

[0061] Specifically, the first preset ratio threshold can be preset to 1 / 3, and the second preset ratio threshold can be preset to 2. If the ratio of the first reference amplitude to the second reference amplitude is less than the first preset ratio threshold, that is, the median value A median is less than 1 / 3 times the maximum amplitude A max , A median <1 / 3A max , 3 times the median value A can be used medianThat is, the target amplitude is used as the interference detection threshold value. That is, the maximum amplitude A max is used as the interference detection threshold value, and the position P of the maximum amplitude A max in the amplitude sequence max is determined. If there is interference. The 2.8 times median value A median can also be used as the interference detection threshold value. If the ratio of the amplitude of the signal to be processed to the first reference amplitude is greater than the second preset ratio threshold, that is, the amplitude An of the signal to be processed is greater than 2 times the median value A median , An > 2A median , the left and right boundaries of the interference, that is, the amplitude to be suppressed, can be determined.

[0062] S209: Perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed to obtain the target echo signal.

[0063] Figure 4 is a schematic diagram of a target echo signal provided by an embodiment of the present application. In the embodiment of the present application, after determining the left and right boundaries, that is, the amplitude to be suppressed, the radar processor can perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed. For example, perform zeroing processing on the corresponding amplitude points in the amplitude sequence, so that the amplitudes within the left and right boundaries are zeroed to obtain the target echo signal. It is also possible to use interpolation methods to perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed, or use data regeneration methods to perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed. The embodiment of the present application does not make specific limitations.

[0064] By using the interference signal suppression method provided by the embodiment of the present application, the median value and the interference detection threshold value are determined through the amplitude distribution histogram, which can improve the accuracy of detecting interference signals and the effect of interference suppression.

[0065] An interference signal suppression device provided by an embodiment of the present application Figure 5 is a schematic structural diagram of an interference signal suppression device provided by an embodiment of the present application, as Figure 5 shown. The device may include:

[0066] The first determination module 501 is used to determine a set of signals to be processed from the echo signal; the echo signal is the signal received by the vehicle-mounted millimeter-wave radar;

[0067] The second determination module 503 is used to determine the amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed;

[0068] The third determination module 505 is used to determine the first reference amplitude and the second reference amplitude from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude;

[0069] The fourth determination module 507 is configured to determine the amplitude to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude;

[0070] The suppression module 509 is configured to perform suppression processing on the signal to be processed corresponding to the amplitude to be suppressed to obtain a target echo signal.

[0071] In the embodiment of the present application, the third determination module includes:

[0072] The first determination sub-module is configured to determine a candidate amplitude set based on the number of signals to be processed corresponding to each amplitude in the amplitude distribution histogram; the ratio of the number of signals to be processed corresponding to the candidate amplitude set to the number of signals to be processed in the signal set to be processed is greater than or equal to a preset ratio threshold;

[0073] The second determination sub-module is configured to determine the first reference amplitude according to the candidate amplitude set.

[0074] In the embodiment of the present application, the fourth determination module includes:

[0075] The third determination sub-module is configured to, if the ratio of the first reference amplitude to the second reference amplitude is less than the first preset ratio threshold, determine a target reference amplitude according to the first reference amplitude;

[0076] The fourth determination sub-module is configured to determine the amplitude whose ratio to the target reference amplitude in the amplitude of each signal to be processed is greater than the second preset ratio threshold as the amplitude to be suppressed; the first preset ratio threshold is less than the second preset ratio threshold.

[0077] In the embodiment of the present application, the third determination module includes:

[0078] The fifth determination sub-module is configured to determine the maximum amplitude in the amplitude distribution histogram as the second reference amplitude.

[0079] The device in the embodiment of the present application and the method embodiment are based on the same application concept.

[0080] By using the interference signal suppression device provided in the embodiment of the present application, the median value and the interference detection threshold value are determined through the amplitude distribution histogram, which can improve the accuracy of detecting interference signals and the effect of interference suppression.

[0081] The embodiment of the present application further provides an electronic device, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to implementing an interference signal suppression method in the method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the memory to implement the above-mentioned interference signal suppression method.

[0082] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a method for suppressing an interference signal in a method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned method for suppressing an interference signal.

[0083] Optionally, in this embodiment, the above storage medium may be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to, various media that can store program codes, such as USB flash drives, read-only memories (ROMs), mobile hard disks, magnetic disks, or optical discs.

[0084] As can be seen from the embodiments of the interference signal suppression method, device, electronic device, or vehicle provided by the present application, the suppression method in the present application includes determining a set of signals to be processed from echo signals; the echo signals are signals received by a vehicle-mounted millimeter-wave radar. According to the amplitude of each signal to be processed in the set of signals to be processed, an amplitude distribution histogram is determined, and a first reference amplitude and a second reference amplitude are determined from the amplitude distribution histogram; the first reference amplitude is less than the second reference amplitude. According to the first reference amplitude and the second reference amplitude, an amplitude to be suppressed is determined from the amplitude of each signal to be processed, and the signal to be processed corresponding to the amplitude to be suppressed is suppressed to obtain a target echo signal. Based on the embodiments of the present application, by determining the median value and the interference detection threshold value through the amplitude distribution histogram, the accuracy of detecting interference signals can be improved, and the effect of interference suppression can be improved.

[0085] In the present invention, unless otherwise clearly defined and limited, terms such as "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the connection inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] It should be noted that: the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. In addition, the present specification describes specific embodiments, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in the order of different embodiments and can achieve the expected results. Additionally, the processes depicted in the drawings do not necessarily require a specific order or connection order to achieve the desired results. In certain embodiments, multi-task parallel processing is also possible or may be advantageous.

[0087] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, since it is based on a method similar to the method embodiment, the description is relatively simple. For the relevant parts, reference can be made to the description of the method embodiment.

[0088] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in the technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for suppressing interference signals, characterized in that, Comprising: Determining a set of signals to be processed from the echo signals; The echo signals are the signals received by the vehicle-mounted millimeter-wave radar; Determining an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed; Determining a candidate amplitude set based on the number of signals to be processed corresponding to each amplitude interval in the amplitude distribution histogram; the ratio of the number of signals to be processed corresponding to the candidate amplitude set to the number of signals to be processed in the set of signals to be processed is greater than or equal to a preset ratio threshold; Determining a first reference amplitude according to the candidate amplitude set; Determining the maximum amplitude or the second maximum amplitude in the amplitude distribution histogram as the second reference amplitude; The first reference amplitude is less than the second reference amplitude; If the ratio of the first reference amplitude to the second reference amplitude is less than a first preset ratio threshold, determining a target reference amplitude according to the first reference amplitude; Determining the amplitudes in the amplitudes of each signal to be processed whose ratio to the target reference amplitude is greater than a second preset ratio threshold as the amplitudes to be suppressed; the first preset ratio threshold is less than the second preset ratio threshold; Performing suppression processing on the signals to be processed corresponding to the amplitudes to be suppressed to obtain target echo signals.

2. A device for suppressing interference signals, characterized in that, Comprising: A first determination module, configured to determine a set of signals to be processed from the echo signals; The echo signals are the signals received by the vehicle-mounted millimeter-wave radar; A second determination module, configured to determine an amplitude distribution histogram according to the amplitude of each signal to be processed in the set of signals to be processed; A third determination module, configured to determine a first reference amplitude and a second reference amplitude from the amplitude distribution histogram; The first reference amplitude is less than the second reference amplitude; Wherein, the third determination module includes: a first determination sub-module, configured to determine a candidate amplitude set based on the number of signals to be processed corresponding to each amplitude interval in the amplitude distribution histogram; the ratio of the number of signals to be processed corresponding to the candidate amplitude set to the number of signals to be processed in the set of signals to be processed is greater than or equal to a preset ratio threshold; A second determination sub-module, configured to determine the first reference amplitude according to the candidate amplitude set; A fifth determination sub-module, determining the maximum amplitude or the second maximum amplitude in the amplitude distribution histogram as the second reference amplitude; A fourth determination module, configured to determine the amplitudes to be suppressed from the amplitudes of each signal to be processed according to the first reference amplitude and the second reference amplitude; Wherein, the fourth determination module includes: a third determination sub-module, configured to, if the ratio of the first reference amplitude to the second reference amplitude is less than a first preset ratio threshold, determine a target reference amplitude according to the first reference amplitude; A fourth determination sub-module, configured to determine the amplitudes in the amplitudes of each signal to be processed whose ratio to the target reference amplitude is greater than a second preset ratio threshold as the amplitudes to be suppressed; the first preset ratio threshold is less than the second preset ratio threshold; A suppression module, configured to perform suppression processing on the signals to be processed corresponding to the amplitudes to be suppressed to obtain target echo signals.

3. An electronic device, characterized in that, The electronic device includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the interference signal suppression method described in claim 1.

4. A vehicle, characterized in that, The vehicle includes a computer-readable storage medium, and at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the interference signal suppression method as described in claim 1.

Images