Linear Frequency Modulation Sequence Interference Simulation Modeling Method, System, Medium and Radar

Abstract

The present invention provides a linear frequency modulation sequence interference simulation modeling method, system, medium, and radar, which are applied to an environmental perception network including a first radar and at least two second radars that interfere with the first radar; at least two detection targets exist in the environmental perception network; the linear frequency modulation sequence interference simulation modeling method includes: after the first radar transmits a linear frequency modulation sequence signal, receiving an extended echo sequence signal; performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal; sampling the mixed signal at a preset sampling rate to obtain the spectrum of the mixed signal, and performing interference analysis on the mixed signal; wherein the spectrum of the mixed signal is used to characterize the variation pattern of the interference sequence signal; and the result of the interference analysis corresponds to the spectrum of the mixed signal. The present invention solves the problem that interference simulation can only be performed in a single FMCW signal in previous simulations, but not in a chirp sequence.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent perception technology and relates to a modeling method, in particular to a linear frequency modulation sequence interference simulation modeling method, system, medium and radar. Background Art

[0002] Traditional radar systems often transmit continuous wave (CW) and triangular frequency modulated continuous wave (FMCW) signals to measure target range or velocity. Radar interference analysis is also limited to CW signals or single FMCW signals, resulting in relatively simple analysis. In recent years, with the advancement of millimeter-wave radar chip technology, an increasing number of radar systems are using frame signals composed of multiple fast-scanning linear frequency modulated continuous wave (LFMCW) signals to detect target range and velocity. However, during simulation and modeling, interference simulation can only be performed on a single FMCW signal, not on a chirp sequence.

[0003] Therefore, how to provide a linear frequency modulation sequence interference simulation modeling method, system, medium and radar to solve the defects of the existing technology that interference simulation can only be performed in a single FMCW signal but not in a chirp sequence has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the object of the present invention is to provide a linear frequency modulation sequence interference simulation modeling method, system, medium and radar, which are used to solve the problem that the prior art can only perform interference simulation in a single FMCW signal but cannot perform interference simulation in a chirp sequence.

[0005] To achieve the above-mentioned objectives and other related objectives, the present invention, on the one hand, provides a linear frequency modulation sequence interference simulation modeling method, which is applied to an environmental perception network including a first radar and at least two second radars that interfere with the first radar; there are at least two detection targets in the environmental perception network; the linear frequency modulation sequence interference simulation modeling method includes: after the first radar transmits a linear frequency modulation sequence signal, receiving an extended echo sequence signal; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars to the first radar; de-skewing the extended echo sequence signal to obtain a mixed signal; sampling the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal, and performing interference analysis on the mixed signal; wherein the spectrum of the mixed signal is used to characterize the changing law of the interference sequence signal; and the result of the interference analysis corresponds to the spectrum of the mixed signal.

[0006] In one embodiment of the present invention, the linear frequency modulation sequence signal transmitted by the first radar includes linear frequency modulation signals transmitted at different times and the time interval between each linear frequency modulation signal; the detection target signal generated by the target detection includes the detection target signals generated at different times and the time interval between each detection target signal; and the interference sequence signal generated by the second radar to the first radar includes the interference signals generated at different times and the time interval between each interference signal.

[0007] In one embodiment of the present invention, the step of performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal includes: conjugating a linear frequency modulation sequence signal emitted by the first radar; and multiplying the echo sequence signal by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal.

[0008] In one embodiment of the present invention, the step of sampling the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal includes: obtaining a bandwidth of a linear frequency modulation sequence signal and a bandwidth of an interference sequence signal transmitted by the first radar; selecting a maximum bandwidth from the bandwidth of the linear frequency modulation sequence signal and the bandwidth of the interference sequence signal; sampling the mixed signal based on a sampling frequency formed by the maximum bandwidth, and performing a time-frequency transform on the mixed signal to obtain a spectrum of the mixed signal.

[0009] In one embodiment of the present invention, the mixed signal is sampled at a sampling frequency twice the maximum bandwidth; and the mixed signal is subjected to time-frequency transformation by performing short-time Fourier transform on the mixed signal.

[0010] In one embodiment of the present invention, the step of performing interference analysis on the mixed signal includes: performing anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; wherein the preset stopband is less than twice the maximum bandwidth; performing a range FFT on the baseband signal in a fast time and a Doppler FFT on the baseband signal in a slow time to obtain range-Doppler information of the baseband signal.

[0011] On the other hand, the present invention provides a linear frequency modulation sequence interference simulation modeling system, which is applied to an environmental perception network including a first radar and at least two second radars that interfere with the first radar; there are at least two detection targets in the environmental perception network; the linear frequency modulation sequence interference simulation modeling system includes: a receiving module, which is used to receive an extended echo sequence signal after the first radar transmits a linear frequency modulation sequence signal; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar; a de-skewing processing module, which is used to de-skew the extended echo sequence signal to obtain a mixed signal; a sampling module, which is used to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal; wherein the spectrum of the mixed signal is used to characterize the changing law of the interference sequence signal; and an analysis module, which is used to perform interference analysis on the mixed signal; wherein the result of the interference analysis corresponds to the spectrum of the mixed signal.

[0012] Yet another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the linear frequency modulation sequence interference simulation modeling method when executed by a processor.

[0013] The last aspect of the present invention provides a radar, comprising: a receiving antenna, configured to receive an extended echo sequence signal after a transmitting antenna transmits a linear frequency modulation sequence signal; the extended echo sequence signal comprising detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar; a demodulator, configured to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal; an analog-to-digital converter, configured to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal; wherein the spectrum of the mixed signal is used to characterize a variation pattern of the interference sequence signal; and a processor, configured to perform interference analysis on the mixed signal; wherein a result of the interference analysis corresponds to the spectrum of the mixed signal.

[0014] In one embodiment of the present invention, the processor performs anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; and performs a range FFT on the baseband signal in a fast time and a Doppler FFT in a slow time to obtain the range-Doppler information of the baseband signal. The preset stopband is less than twice the maximum bandwidth.

[0015] As described above, the linear frequency modulation sequence interference simulation modeling method, system, medium, and radar of the present invention have the following beneficial effects:

[0016] First, the present invention can be implemented in the field of vehicle-mounted millimeter-wave radar jamming;

[0017] Second, the present invention constructs the fast-scan chirp sequences in the transmitting radar and the jamming radar under a unified framework through parameter design and time-frequency analysis, which can simulate and model various types of radar jamming situations.

[0018] Third, the present invention solves the problem that in previous simulations, interference simulation can only be performed in a single FMCW signal, but cannot be performed in a chirp sequence.

[0019] Fourth, the present invention is simple, convenient, and easy to model and implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Shown is a schematic diagram of the structure of the environment perception network used in the present invention.

[0021] Figure 2 FIG. 1 is a flow chart of a linear frequency modulation sequence interference simulation modeling method according to an embodiment of the present invention.

[0022] Figure 3 It is a schematic flow chart of S23 of the present invention.

[0023] Figure 4 It shows a schematic diagram of data processing using short-time Fourier transform in the present invention.

[0024] Figure 5 Shown is a schematic diagram of the time-frequency spectrum of the transmission signal and the interference signal of the present invention.

[0025] Figure 6 Shown is a schematic diagram of the cascade filter used in the present invention.

[0026] Figure 7 Shown is a schematic diagram of the time-frequency spectrum simulation of the transmitted signal and the interference signal for scenario 1.

[0027] Figure 8 Shown is a schematic diagram of the time-frequency spectrum simulation of the transmitted signal and the interference signal for scenario 1.

[0028] Figure 9 Shown is a schematic diagram of the time domain signal simulation of the interfered signal for scenario 1.

[0029] Figure 10 Shown is a schematic diagram of the time domain signal simulation of the interfered signal for scenario 1.

[0030] Figure 11 Shown is a schematic diagram of the time-frequency spectrum simulation of the transmitted signal and the interference signal in case two.

[0031] Figure 12 Shown is a schematic diagram of the time-frequency spectrum simulation of the transmitted signal and the interference signal in case two.

[0032] Figure 13 Shown is a schematic diagram of the time domain signal simulation of the interfered signal for scenario 2.

[0033] Figure 14 A schematic diagram showing the principle structure of a linear frequency modulation sequence interference simulation modeling system in one embodiment of the present invention.

[0034] Component number description

[0035] 1 Linear frequency modulation sequence interference simulation modeling system

[0036] 11. Receiver Module

[0037] 12 Deskewing Module

[0038] 13 Sampling Module

[0039] 14 Analysis Module

[0040] 10. Environmental Perception Network

[0041] 101 First Radar

[0042] 102 Second Radar

[0043] 103 Detection Target

[0044] Steps S21 to S24 DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0046] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0047] Example 1

[0048] This embodiment provides a linear frequency modulation sequence interference simulation modeling method, characterized by being applied to an environment sensing network including a first radar and at least two second radars that interfere with the first radar; at least two detection targets exist in the environment sensing network; the linear frequency modulation sequence interference simulation modeling method includes:

[0049] After the first radar transmits a linear frequency modulation sequence signal, an extended echo sequence signal is received; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar;

[0050] performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal;

[0051] The mixed signal is sampled at a preset sampling rate to obtain a spectrum of the mixed signal, and interference analysis is performed on the mixed signal; wherein the spectrum of the mixed signal is used to characterize the change pattern of the interference sequence signal; and the result of the interference analysis corresponds to the spectrum of the mixed signal.

[0052] The linear frequency modulation sequence interference simulation modeling method provided by this embodiment will be described in detail below with reference to the figures. The linear frequency modulation sequence interference simulation modeling method described in this embodiment is applied to Figure 1 In the environment sensing network 10 shown, the environment sensing network 10 includes a first radar 101 (also called the interfered radar) and at least two second radars 102 (also called the interfering radars) that interfere with the first radar 101. There is at least one detection target 103 in the environment sensing network 10.

[0053] See also Figure 2 , which is a flow chart of a linear frequency modulation sequence interference simulation modeling method in one embodiment. Figure 2 As shown, the linear frequency modulation sequence interference simulation modeling method specifically includes the following steps:

[0054] S21: After the first radar transmits a linear frequency modulation sequence signal, it receives an extended echo sequence signal, wherein the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars to the first radar.

[0055] In this embodiment, it is necessary to consider that when the target distance from the radar is R and the moving speed is v, the delay of the nth chirp signal can be expressed as: T is the signal frequency, c is the speed of light, and the delay vector generated by detecting the target signal is: τ=[τ0,τ1,...,τ N ].

[0056] In this embodiment, when the interfering radar is R away from the victim radar i When the movement speed is vi, the echo delay of the mth chirp can be expressed as:

[0057] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T The extended echo sequence signal is represented by S. The detection target signal generated by at least two detection targets is represented by S R The interference sequence signals generated by at least two second radars to the first radar are represented by S I Indicates that S=S R +S I .

[0058] For example, the extended echo sequence signal includes detection target signals generated by three detection targets. Interference sequence signals generated by the two second radars on the first radar

[0059] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T Including linear frequency modulation signals transmitted at different times i And the time interval IDLE between two linear frequency modulation signals.

[0060] Specifically, The serial value of idle time can be set to 0.

[0061] The detection target signal S generated by the detection target R Including the detection target signal generated at different time i And the time interval IDLE between two detection target signals.

[0062] Specifically, P r is the echo power during free space propagation, and τ=2R / c.

[0063] The second radar generates an interference sequence signal S to the first radar I Including the interference signals generated at different times i And the time interval IDLE' between the two interference signals.

[0064] Specifically, Assume that the detection radar is at a distance R i When there is an interference radar with the same carrier frequency, the interference signal received by the detection radar can be expressed as: where k i is the modulation frequency of the interference signal, P i is the interference signal power, and: τ i =2R i / c.

[0065] S22, performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal. S22 specifically includes the following steps:

[0066] S221: Conjugate the linear frequency modulation sequence signal transmitted by the first radar.

[0067] Specifically, the linear frequency modulation sequence signal S transmitted by the first radar T Conjugation to form S T * .

[0068] S222, multiply the call-back sequence signal by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal. In this embodiment, the mixed signal is represented by MIXED. By extending the case of a single chirp signal being interfered with to the case of multiple chirp sequences, the system parameters such as bandwidth, chirp duration, chirp interval, distance and speed of moving targets can be changed arbitrarily.

[0069] For example,

[0070] S23: Sampling the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal, wherein the spectrum of the mixed signal is used to characterize a variation pattern of the interference sequence signal.

[0071] See also Figure 3 , which is a flow chart of S23. Figure 3 As shown, the S23 specifically includes the following steps:

[0072] S231, obtaining the bandwidth B of the linear frequency modulation sequence signal transmitted by the first radar T and the bandwidth B of the interference sequence signal I .

[0073] S232, select the maximum bandwidth B=max(B T ,BI ).

[0074] S233 : Sampling the mixed signal based on a sampling frequency formed by the maximum bandwidth, and performing a time-frequency transform on the mixed signal to obtain a frequency spectrum of the mixed signal.

[0075] In this embodiment, the sampling frequency f is twice the maximum bandwidth. s ≥2×B, sampling the mixed signal; and performing time-frequency transformation on the mixed signal by performing short-time Fourier transform on the mixed signal.

[0076] The short-time Fourier transform (STFT) is defined as follows:

[0077]

[0078] Where x[n] is the discrete radar signal in the time domain, w[nm] is the window function of length N, n is the index of the time domain signal sample, k is the index of the frequency domain component, and m is the window step index. In order to obtain a detailed short-time Fourier spectrum, the data of length N in the original data is Fourier transformed. The next slide is N / 4 length, and the data of length N is continued to be Fourier transformed. At this time, the data of each FFT will overlap 75% with the previous data. The signal processing diagram is shown below. Figure 4 shown.

[0079] In practical applications, if the duration of the transmitted signal chirp is 20μs, the duration of the interference chirp signal is 30μs, and the sweep bandwidth is 1GHz, the time-frequency spectrum of the transmitted signal and the interference signal is as follows: Figure 5 As shown in . Then use the formula Dechirp the sequence signal, and the time-frequency spectrum obtained by mixing the interference signal and the transmitted signal is as follows: Figure 5 As shown in the figure, the law of interference signal change can be clearly seen from the figure.

[0080] S24: Perform interference analysis on the mixed signal, wherein the result of the interference analysis corresponds to the frequency spectrum of the mixed signal.

[0081] In this embodiment, the S24 includes:

[0082] S241, performing anti-aliasing filtering on the mixed signal using a preset stop band to extract a baseband signal based on the anti-aliasing filtering; wherein the preset stop band f L Less than twice the maximum bandwidth f s .

[0083] In this embodiment, after de-chirping, the mixed signal enters a low-pass filter to filter out high-frequency signals and obtain a baseband signal. The low-pass filter can be defined as: Assume f s / f L =1024, then use Figure 6 The cascaded filter implementation is shown in .

[0084] S242 , performing range FFT on the baseband signal at a fast time and Doppler FFT on the baseband signal at a slow time to obtain range-Doppler information of the baseband signal.

[0085] Assume that there are three moving targets, whose distances from the radar are [12m, 18m, 25m] respectively, and whose moving speeds are [-10m / s, 10m / s, 5m / s] respectively. The interference radar is 10m away from the detection radar. 128 chirp signals are composed into a frame signal. The linear frequency modulation sequence interference simulation modeling method described in this embodiment is used to simulate the following two situations:

[0086] Case 1: The parameters of the transmitted signal and the interference signal are defined as shown in Table 1:

[0087] Table 1: Transmitted signal and interference signal parameter definitions for scenario 1

[0088] Transmitted signal parameters Interference signal parameters Center frequency 77GHz 77GHz bandwidth 1GHz 1GHz Frequency modulation 50MHz / μs 100MHz / μs Chirp duration 20μs 30μs Chirp interval time 30μs 30μs Number of chirps per frame 128 128 Radar movement speed 0m / s 0m / s

[0089] The lowest common multiple of 50μs and 60μs is 300μs, so the interference time spectrum repeats every 300μs. The simulation results are as follows Figures 7 to 10 shown.

[0090] Case 2: The parameters of the transmitted signal and the interference signal are defined as shown in Table 2:

[0091] Table 2: Transmitted signal and interference signal parameter definitions for scenario 2

[0092] Transmitted signal parameters Interference signal parameters Center frequency 77GHz 77GHz bandwidth 1GHz 1GHz Chirp duration 20μs 30μs Chirp interval time 10μs 11μs Number of chirps per frame 128 128 Radar movement speed 0m / s 0m / s

[0093] The lowest common multiple of 30μs and 41μs is 1230μs, so the interference time spectrum repeats once every 1230μs. The simulation results are as follows Figures 11 to 13 As shown in .

[0094] The linear frequency modulation sequence interference simulation modeling method described in this embodiment has the following beneficial effects:

[0095] First, the linear frequency modulation sequence interference simulation modeling method described in this embodiment can be constructed in the field of vehicle-mounted millimeter wave radar interference;

[0096] Second, the linear frequency modulation sequence interference simulation modeling method described in this embodiment constructs the fast-scan chirp sequences in the transmitting radar and the jamming radar under a unified framework through parameter design and time-frequency analysis, and can simulate and model various types of radar interference situations.

[0097] Third, the linear frequency modulation sequence interference simulation modeling method described in this embodiment solves the problem that in previous simulations, interference simulation can only be performed in a single FMCW signal, but not in a chirp sequence.

[0098] Fourthly, the linear frequency modulation sequence interference simulation modeling method described in this embodiment is simple, convenient, and easy to model and implement.

[0099] This embodiment further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the above-mentioned linear frequency modulation sequence interference simulation modeling method is implemented.

[0100] At any possible level of technical detail combination, the present application may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0101] Computer-readable storage media can be a tangible device that can hold and store the instructions used by the instruction execution device. Computer-readable storage media can be, for example, (but not limited to) an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof. Computer-readable storage media used herein is not interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagated by waveguides or other transmission media (for example, light pulses by fiber optic cables), or electrical signals transmitted by wires.

[0102] The computer-readable program described herein can be downloaded to each computing / processing device from a computer-readable storage medium, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device. The computer program instructions for performing the operation of this application can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, and procedural programming languages such as "C" language or similar programming languages. Computer readable program instructions can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partly on the user's computer, partly on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., utilizing an Internet service provider to connect through the Internet). In certain embodiments, personalized electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are customized by utilizing the state information of computer readable program instructions, which electronic circuits can execute computer readable program instructions, thereby realizing various aspects of the present application.

[0103] Example 2

[0104] This embodiment provides a linear frequency modulation sequence interference simulation modeling system, which is applied to an environment perception network including a first radar and at least two second radars that interfere with the first radar; the environment perception network includes at least two detection targets; the linear frequency modulation sequence interference simulation modeling system includes:

[0105] a receiving module, configured to receive an extended echo sequence signal after the first radar transmits a linear frequency modulation sequence signal; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar;

[0106] a de-skewing processing module, configured to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal;

[0107] A sampling module, configured to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal; wherein the spectrum of the mixed signal is used to characterize a change pattern of the interference sequence signal;

[0108] The analysis module is configured to perform interference analysis on the mixed signal; wherein the result of the interference analysis corresponds to the frequency spectrum of the mixed signal.

[0109] The linear frequency modulation sequence interference simulation modeling system provided by this embodiment will be described in detail below with reference to the figures. Figure 14 , which is a schematic diagram showing the principle structure of a linear frequency modulation sequence interference simulation modeling system in one embodiment. Figure 14 As shown, the linear frequency modulation sequence interference simulation modeling system 1 includes a receiving module 11 , a de-skewing processing module 12 , a sampling module 13 and an analyzing module 14 .

[0110] After the first radar transmits the linear frequency modulation sequence signal, the receiving module 11 is used to receive an extended echo sequence signal including detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars to the first radar.

[0111] In this embodiment, it is necessary to consider that when the target distance from the radar is R and the moving speed is v, the delay of the nth chirp signal can be expressed as: T is the signal frequency, c is the speed of light, and the delay vector generated by detecting the target signal is: τ=[τ0,τ1,...,τ N ].

[0112] In this embodiment, when the interfering radar is R away from the victim radar i When the movement speed is vi, the echo delay of the mth chirp can be expressed as:

[0113] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T The extended echo sequence signal is represented by S. The detection target signal generated by at least two detection targets is represented by S R The interference sequence signals generated by at least two second radars to the first radar are represented by S I Indicates that S=S R +S I .

[0114] For example, the extended echo sequence signal includes detection target signals generated by three detection targets. Interference sequence signals generated by the two second radars on the first radar

[0115] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T Including linear frequency modulation signals transmitted at different times i And the time interval IDLE between two linear frequency modulation signals.

[0116] Specifically, The idle time can be set to 0.

[0117] The detection target signal S generated by the detection target R Including the detection target signal generated at different time i And the time interval IDLE between two detection target signals.

[0118] Specifically, P r is the echo power during free space propagation, and τ=2R / c.

[0119] The second radar generates an interference sequence signal S to the first radar I Including the interference signals generated at different times i And the time interval IDLE' between the two interference signals.

[0120] Specifically, Assume that the detection radar is at a distance R i When there is an interference radar with the same carrier frequency, the interference signal received by the detection radar can be expressed as: where k i is the modulation frequency of the interference signal, P i is the interference signal power, and: τ i =2R i / c.

[0121] The de-skewing processing module 12 is used to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal.

[0122] Specifically, the de-skewing processing module 12 conjugates the linear frequency modulation sequence signal emitted by the first radar. The dial-back sequence signal is multiplied by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal. In this embodiment, the mixed signal is represented by MIXED.

[0123] The sampling module 13 is used to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal, wherein the spectrum of the mixed signal is used to characterize a variation pattern of the interference sequence signal.

[0124] Specifically, the sampling module 13 obtains the bandwidth B of the linear frequency modulation sequence signal emitted by the first radar T and the bandwidth B of the interference sequence signal I The maximum bandwidth B=max(B T ,B I ). Based on the sampling frequency formed by the maximum bandwidth, the mixed signal is sampled, and the mixed signal is subjected to time-frequency transformation to obtain the frequency spectrum of the mixed signal.

[0125] In this embodiment, the sampling module 13 uses twice the maximum bandwidth as the sampling frequency f s =2×B, sampling the mixed signal; and performing time-frequency transformation on the mixed signal by performing short-time Fourier transform on the mixed signal.

[0126] The analysis module 14 is configured to perform interference analysis on the mixed signal, wherein the result of the interference analysis corresponds to the frequency spectrum of the mixed signal.

[0127] In this embodiment, the analysis module 14 performs anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; performs range FFT on the baseband signal in fast time and Doppler FFT on the baseband signal in slow time to obtain range-Doppler information of the baseband signal. L Less than twice the maximum bandwidth f s =2×B.

[0128] It should be understood that the division of the various modules in the above system is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity or physically separated. Furthermore, these modules may be implemented entirely in software called by a processing element, entirely in hardware, or partially in software called by a processing element, while others may be implemented in hardware. For example, module x may be a separate processing element or integrated into a single chip in the above system. Furthermore, module x may be stored in the form of program code in the memory of the above system, called by a processing element in the system to perform the functions of module x. The implementation of other modules is similar. These modules may be fully or partially integrated or implemented independently. The processing element described herein may be an integrated circuit with signal processing capabilities. During implementation, the steps of the above method or the above modules may be performed by hardware integrated logic circuits in the processor element or by software instructions. The above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), one or more field programmable gate arrays (FPGAs), etc. When a module is implemented by scheduling program code through a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. These modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0129] Example 3

[0130] This embodiment provides a radar, which includes a receiving antenna, a demodulator, an analog-to-digital converter, and a processor.

[0131] After the first radar transmits a linear frequency modulation sequence signal, the receiving antenna is used to receive an extended echo sequence signal. The extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars to the first radar.

[0132] In this embodiment, it is necessary to consider that when the target distance from the radar is R and the moving speed is v, the delay of the nth chirp signal can be expressed as: T is the signal frequency, c is the speed of light, and the delay vector generated by detecting the target signal is: τ=[τ0,τ1,...,τ N ].

[0133] In this embodiment, when the interfering radar is R away from the victim radar i When the movement speed is vi, the echo delay of the mth chirp can be expressed as:

[0134] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T The extended echo sequence signal is represented by S. The detection target signal generated by at least two detection targets is represented by S R The interference sequence signals generated by at least two second radars to the first radar are represented by S I Indicates that S=S R +S I .

[0135] For example, the extended echo sequence signal includes detection target signals generated by three detection targets. Interference sequence signals generated by the two second radars on the first radar

[0136] In this embodiment, the first radar transmits a linear frequency modulation sequence signal S T Including linear frequency modulation signals transmitted at different times i And the time interval IDLE between two linear frequency modulation signals.

[0137] Specifically, The idle time can be set to 0.

[0138] The detection target signal S generated by the detection target R Including the detection target signal generated at different time i And the time interval IDLE between two detection target signals.

[0139] Specifically, P r is the echo power during free space propagation, and τ=2R / c.

[0140] The second radar generates an interference sequence signal S to the first radar I Including the interference signals generated at different times i And the time interval IDLE' between the two interference signals.

[0141] Specifically, Assume that the detection radar is at a distance R iWhen there is an interference radar with the same carrier frequency, the interference signal received by the detection radar can be expressed as: where k i is the modulation frequency of the interference signal, P i is the interference signal power, and: τ i =2R i / c.

[0142] The demodulator is used to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal.

[0143] Specifically, the demodulator conjugates the linear frequency modulation sequence signal emitted by the first radar. The callback sequence signal is multiplied by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal. In this embodiment, the mixed signal is represented by MIXED.

[0144] The analog-to-digital converter is used to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal, wherein the spectrum of the mixed signal is used to characterize a change pattern of the interference sequence signal.

[0145] Specifically, the analog-to-digital converter obtains the bandwidth B of the linear frequency modulation sequence signal emitted by the first radar T and the bandwidth B of the interference sequence signal I The maximum bandwidth B=max(B T ,B I ). Based on the sampling frequency formed by the maximum bandwidth, the mixed signal is sampled, and the mixed signal is subjected to time-frequency transformation to obtain the frequency spectrum of the mixed signal.

[0146] In this embodiment, the analog-to-digital converter uses twice the maximum bandwidth as the sampling frequency f s =2×B, sampling the mixed signal; and performing time-frequency transformation on the mixed signal by performing short-time Fourier transform on the mixed signal.

[0147] The processor is configured to perform interference analysis on the mixed signal, wherein a result of the interference analysis corresponds to a frequency spectrum of the mixed signal.

[0148] In this embodiment, the processor performs anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; performs range FFT on the baseband signal in fast time and Doppler FFT on the baseband signal in slow time to obtain range-Doppler information of the baseband signal. L Less than twice the maximum bandwidth f s =2×B.

[0149] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0150] The protection scope of the linear frequency modulation sequence interference simulation modeling method described in the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing, or replacing steps in the prior art based on the principles of the present invention are included in the protection scope of the present invention.

[0151] The present invention also provides a linear frequency modulation sequence interference simulation modeling system, which can implement the linear frequency modulation sequence interference simulation modeling method described in the present invention. However, the implementation device of the linear frequency modulation sequence interference simulation modeling method described in the present invention includes but is not limited to the structure of the linear frequency modulation sequence interference simulation modeling system listed in this embodiment. All structural deformations and replacements of the existing technology made according to the principles of the present invention are included in the protection scope of the present invention.

[0152] In summary, the linear frequency modulation sequence interference simulation modeling method, system, medium, and radar of the present invention have the following beneficial effects:

[0153] First, the present invention can be implemented in the field of vehicle-mounted millimeter-wave radar jamming;

[0154] Second, the present invention constructs the fast-scan chirp sequences in the transmitting radar and the jamming radar under a unified framework through parameter design and time-frequency analysis, which can simulate and model various types of radar jamming situations.

[0155] Third, the present invention solves the problem that in previous simulations, interference simulation can only be performed in a single FMCW signal, but cannot be performed in a chirp sequence.

[0156] Fourth, the present invention is simple, convenient, easy to model and implement, and effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0157] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A linear frequency modulation sequence interference simulation modeling method, characterized in that: Applicable to an environment perception network comprising a first radar and at least two second radars that interfere with the first radar; There are at least two detection targets in the environment perception network; The linear frequency modulation sequence interference simulation modeling method comprises: After the first radar transmits a linear frequency modulation sequence signal, an extended echo sequence signal is received; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar; performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal; Sampling the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal, and performing interference analysis on the mixed signal; wherein the spectrum of the mixed signal is used to characterize a change pattern of the interference sequence signal; and the result of the interference analysis corresponds to the spectrum of the mixed signal; The step of performing de-skewing processing on the extended echo sequence signal to obtain a mixed signal includes: conjugating the linear frequency modulation sequence signal emitted by the first radar; multiplying the echo sequence signal by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal; The interference analysis of the mixed signal includes: performing anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; wherein the preset stopband is less than twice the maximum bandwidth; performing a range FFT on the baseband signal in a fast time and a Doppler FFT on a slow time to obtain range-Doppler information of the baseband signal.

2. The linear frequency modulation sequence interference simulation modeling method according to claim 1, characterized in that: The first radar transmits a linear frequency modulation sequence signal including linear frequency modulation signals transmitted at different times and a time interval between any two linear frequency modulation signals; The detection target signals generated by the detection target include detection target signals generated at different times and the time intervals between any two detection target signals; The interference sequence signal generated by the second radar to the first radar includes interference signals generated at different times and the time intervals between any two interference signals.

3. The linear frequency modulation sequence interference simulation modeling method according to claim 1 or 2, characterized in that: The step of sampling the mixed signal at a preset sampling rate to obtain a frequency spectrum of the mixed signal includes: Obtaining a bandwidth of a linear frequency modulation sequence signal and a bandwidth of an interference sequence signal transmitted by the first radar; Selecting a maximum bandwidth from the bandwidth of the linear frequency modulation sequence signal and the bandwidth of the interference sequence signal; The mixed signal is sampled based on a sampling frequency formed by the maximum bandwidth, and a time-frequency transform is performed on the mixed signal to obtain a frequency spectrum of the mixed signal.

4. The linear frequency modulation sequence interference simulation modeling method according to claim 1, characterized in that: Sampling the mixed signal at a sampling frequency twice the maximum bandwidth; The time-frequency transformation is performed by performing short-time Fourier transform on the mixed signal.

5. A linear frequency modulation sequence interference simulation modeling system, characterized in that: Applicable to an environment perception network comprising a first radar and at least two second radars that interfere with the first radar; There are at least two detection targets in the environment perception network; The linear frequency modulation sequence interference simulation modeling system includes: a receiving module, configured to receive an extended echo sequence signal after the first radar transmits a linear frequency modulation sequence signal; the extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars on the first radar; a de-skewing processing module, configured to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal; the de-skewing processing module is further configured to: conjugate the linear frequency modulation sequence signal transmitted by the first radar; and multiply the echo sequence signal by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal; A sampling module, configured to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal; wherein the spectrum of the mixed signal is used to characterize a change pattern of the interference sequence signal; An analysis module is configured to perform interference analysis on the mixed signal, wherein the result of the interference analysis corresponds to the frequency spectrum of the mixed signal; the analysis module is further configured to: perform anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; wherein the preset stopband is less than twice the maximum bandwidth; and perform a range FFT on the baseband signal in a fast time and a Doppler FFT in a slow time to obtain range-Doppler information of the baseband signal.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the linear frequency modulation sequence interference simulation modeling method described in any one of claims 1 to 4 is implemented.

7. A radar, characterized in that: include: A receiving antenna, configured to receive an extended echo sequence signal after the transmitting antenna transmits a linear frequency modulation sequence signal; The extended echo sequence signal includes detection target signals generated by at least two detection targets and interference sequence signals generated by at least two second radars to the first radar; a demodulator, configured to perform de-skewing processing on the extended echo sequence signal to obtain a mixed signal; the demodulator is further configured to: conjugate the linear frequency modulation sequence signal emitted by the first radar; multiplying the echo sequence signal by the conjugate of the linear frequency modulation sequence signal to obtain the mixed signal; an analog-to-digital converter, configured to sample the mixed signal at a preset sampling rate to obtain a spectrum of the mixed signal; wherein the spectrum of the mixed signal is used to characterize a variation pattern of the interference sequence signal; A processor is configured to perform interference analysis on the mixed signal, wherein a result of the interference analysis corresponds to a frequency spectrum of the mixed signal; the processor is further configured to: perform anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; wherein the preset stopband is less than twice the maximum bandwidth; and perform a range FFT on the baseband signal in a fast time and a Doppler FFT in a slow time to obtain range-Doppler information of the baseband signal.

8. The radar according to claim 7, characterized in that The processor performs anti-aliasing filtering on the mixed signal using a preset stopband to extract a baseband signal based on the anti-aliasing filtering; performs range FFT on the baseband signal in fast time and Doppler FFT in slow time to obtain the range-Doppler information of the baseband signal. The preset stopband is less than twice the maximum bandwidth.

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