Interference handling method and apparatus

Abstract

The application discloses an interference processing method and device, relates to the technical field of sensors, and can effectively detect interference, thereby improving the target detection rate. The method comprises the following steps: firstly, a first signal comprising a plurality of time domain signals is acquired. Then, based on the power values of N sampling points included in each of the plurality of time domain signals, it is determined that there is cross-slope interference in M first time domain signals. Then, based on the first power values of each of P second time domain signals, it is determined that there is same-slope interference in Q third time domain signals. Each of the plurality of time domain signals comprises N sampling points. The plurality of time domain signals comprises the M first time domain signals. The P second time domain signals comprise time domain signals other than the M first time domain signals in the plurality of time domain signals, and the P second time domain signals comprise the Q third time domain signals.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to interference processing methods and apparatus. Background Technology

[0002] With social development and technological advancements, intelligent vehicles are gradually entering people's daily lives. Sensors play a crucial role in autonomous or intelligent driving systems. Radar (such as lidar and millimeter-wave radar), as a key sensor in autonomous or intelligent driving, is widely used for precision and distance detection during the process.

[0003] However, in practical applications, the detection signals emitted by different detection devices may interfere with each other.

[0004] Therefore, there is a need to provide an interference processing method that can effectively detect interference, thereby improving the target detection rate. Summary of the Invention

[0005] This application provides an interference processing method and apparatus that can effectively detect interference, thereby improving the target detection rate.

[0006] In a first aspect, this application provides an interference processing method, which includes: firstly acquiring a first signal comprising multiple time-domain signals; then, determining, based on the power values ​​of N sampling points included in each of the multiple time-domain signals, that cross-slope interference exists in M ​​of the first time-domain signals; subsequently, determining, based on the first power values ​​of each of P of the second time-domain signals, that same-slope interference exists in Q of the third time-domain signals. Wherein, each of the multiple time-domain signals comprises N sampling points, where N is an integer greater than 0. The multiple time-domain signals include the M first time-domain signals, where M is an integer greater than or equal to 0. The P second time-domain signals include time-domain signals other than the M first time-domain signals, and the P second time-domain signals include the Q third time-domain signals. The first power value of each second time-domain signal is determined based on the power values ​​of the N sampling points included in each second time-domain signal, where P and Q are both integers greater than or equal to 0.

[0007] In other words, the interference processing method provided in this application performs interference detection on the first signal along the fast-time dimension, which can identify the cross-slope interference present in the first signal, and performs interference detection on the first signal along the slow-time dimension, which can identify the same-slope interference present in the first signal.

[0008] As can be seen, the interference processing method provided in this application can determine the cross-slope interference and the same-slope interference in the first signal by performing interference detection along the fast-time dimension and the slow-time dimension in the time domain, thereby improving the target detection rate.

[0009] Optionally, the first power value can be the power value of the sampling point with the largest power value among the N sampling points or the average of the sum of the power values ​​of the N sampling points.

[0010] In one possible implementation, determining the presence of cross-slope interference in the M first time-domain signals based on the power values ​​of the N sampling points included in each time-domain signal includes: determining the presence of the cross-slope interference in the M first time-domain signals based on the power values ​​of the N sampling points included in each time-domain signal and a preset first threshold value.

[0011] In one possible implementation, determining the presence of same-slope interference among Q third time-domain signals based on the first power value of each of the P second time-domain signals includes: determining the presence of the same-slope interference among the Q third time-domain signals based on the first power value of each second time-domain signal and a preset second threshold value.

[0012] Optionally, when M is greater than 0, the method may further include: determining the periodicity characteristics of the cross-slope interference present in the M first time-domain signals based on the M first time-domain signals, wherein the periodicity characteristics include periodic interference or aperiodic interference. This allows for the identification of the periodicity characteristics of the cross-slope interference present in the first signals, providing a stronger basis for subsequent anti-interference procedures. This facilitates targeted interference suppression or avoidance by the radar system at the transmitting end, further improving the user experience.

[0013] In one possible implementation, determining the periodicity of the cross-slope interference present in the M first time-domain signals based on the M first time-domain signals includes: if the intervals of the M first time-domain signals are the same, and the target sampling points for the cross-slope interference in the M first time-domain signals are the same, then the cross-slope interference is determined to be periodic interference; or, if the intervals of the M first time-domain signals are different, or the target sampling points for the cross-slope interference in the M first time-domain signals are different, then the cross-slope interference is determined to be non-periodic interference.

[0014] Optionally, when Q is greater than 0, the method may further include: determining the periodicity characteristics of the same-slope interference present in the Q third time-domain signals based on the Q third time-domain signals, wherein the periodicity characteristics include periodic interference or aperiodic interference. This allows for the identification of the periodicity characteristics of the same-slope interference present in the first signal, providing a stronger basis for subsequent anti-interference procedures. This facilitates targeted interference suppression or avoidance by the radar system at the transmitting end, further improving the user experience.

[0015] In one possible implementation, determining the periodicity of the same-slope interference based on the Q third time-domain signals includes: if the Q third time-domain signals have the same interval, determining that the same-slope interference is periodic interference; or, if the Q third time-domain signals have different intervals, determining that the same-slope interference is non-periodic interference.

[0016] Optionally, the method may further include: performing anti-interference processing based on interference information and / or interference parameters of the first signal. The interference information includes the interference type present in the first signal, the periodicity characteristics of the interference, and / or the period of the interference; the interference type includes cross-slope interference and / or same-slope interference; and the interference parameters include the proportion of the time-domain signal containing the interference in the first signal and / or the proportion of target sampling points. This allows for targeted anti-interference processing based on the interference information and / or interference parameters of the first signal, enabling the detection signals transmitted by the subsequent radar system's transmitting antenna unit to avoid interference, thereby improving the accuracy of target detection and further enhancing the user experience.

[0017] Secondly, this application also provides an interference processing apparatus, comprising a processor configured to: acquire a first signal, the first signal comprising a plurality of time-domain signals, each of the plurality of time-domain signals comprising N sampling points, where N is an integer greater than 0; determine, based on the power values ​​of the N sampling points included in each time-domain signal, that cross-slope interference exists in M ​​first time-domain signals, the plurality of time-domain signals comprising the M first time-domain signals, where M is an integer greater than or equal to 0; and determine, based on the first power values ​​of each of P second time-domain signals, that same-slope interference exists in Q third time-domain signals, the P second time-domain signals comprising time-domain signals other than the M first time-domain signals, and the P second time-domain signals comprising the Q third time-domain signals, wherein the first power value of each second time-domain signal is determined based on the power values ​​of the N sampling points included in each second time-domain signal, where P and Q are both integers greater than or equal to 0.

[0018] Optionally, the first power value can be the power value of the sampling point with the largest power value among the N sampling points or the average of the sum of the power values ​​of the N sampling points.

[0019] In one possible implementation, the processor is specifically configured to: determine, based on the power values ​​of the N sampling points included in each time-domain signal and a preset first threshold value, that the cross slope interference exists in the M first time-domain signals.

[0020] In one possible implementation, the processor is specifically configured to: determine, based on a first power value of each second time-domain signal and a preset second threshold value, that the same-slope interference exists in the Q third time-domain signals.

[0021] Optionally, when M is greater than 0, the processor can also be used to: determine the periodicity characteristics of the cross slope interference present in the M first time domain signals based on the M first time domain signals, wherein the periodicity characteristics include periodic interference or non-periodic interference.

[0022] In one possible implementation, the processor is specifically configured to: determine that the cross-slope interference is periodic interference if the M first time-domain signals have the same interval and the target sampling points of the cross-slope interference in the M first time-domain signals are the same; or, determine that the cross-slope interference is non-periodic interference if the M first time-domain signals have different intervals or the target sampling points of the cross-slope interference in the M first time-domain signals are different.

[0023] Optionally, when Q is greater than 0, the processor can also be used to: determine the periodicity characteristics of the same-slope interference present in the Q third time-domain signals based on the Q third time-domain signals, wherein the periodicity characteristics include periodic interference or non-periodic interference.

[0024] In one possible implementation, the processor is specifically configured to: determine that the interference with the same slope is periodic interference if the intervals of the Q third time-domain signals are the same; or, determine that the interference with the same slope is non-periodic interference if the intervals of the Q third time-domain signals are different.

[0025] Optionally, the processor can also be used to: perform anti-interference processing based on interference information and / or interference parameters of the first signal. The interference information includes the interference type present in the first signal, the periodicity characteristics of the interference, and / or the period of the interference; the interference type includes cross-slope interference and / or same-slope interference; and the interference parameters include the proportion of the time-domain signal containing the interference in the first signal and / or the proportion of target sampling points.

[0026] Thirdly, embodiments of this application also provide an interference processing apparatus, which includes: at least one processor, which, when the at least one processor executes program code or instructions, implements the method described in the first aspect or any possible implementation thereof.

[0027] Optionally, the interference processing device may further include at least one memory for storing the program code or instructions.

[0028] Fourthly, embodiments of this application also provide a chip, including: an input interface, an output interface, and at least one processor. Optionally, the chip further includes a memory. The at least one processor is used to execute code in the memory, and when the at least one processor executes the code, the chip implements the method described in the first aspect or any possible implementation thereof.

[0029] Alternatively, the chip described above can also be an integrated circuit.

[0030] Fifthly, embodiments of this application also provide a detection device, including a transmitting antenna unit, a receiving antenna unit, and the interference processing device described in the second or third aspect above, or the chip described in the fourth aspect above.

[0031] Sixthly, embodiments of this application also provide a terminal, which includes the detection device described in the fifth aspect above. For example, the terminal is a vehicle.

[0032] In a seventh aspect, this application also provides a computer-readable storage medium for storing a computer program that includes methods for implementing the first aspect or any possible implementation thereof.

[0033] Eighthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to implement the method described in the first aspect or any possible implementation thereof.

[0034] The interference processing method, interference processing device, computer storage medium, computer program product, chip, and terminal provided in this embodiment are all used to execute the interference processing method provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the interference processing method provided above, and will not be repeated here. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram illustrating the fast and slow time dimensions provided for embodiments of this application;

[0037] Figure 2 This is a schematic diagram illustrating an application scenario provided in the embodiments of this application;

[0038] Figure 3 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application;

[0039] Figure 4 A flowchart illustrating an interference processing method provided in an embodiment of this application;

[0040] Figure 5 A flowchart illustrating another interference processing method provided in an embodiment of this application;

[0041] Figure 6 A flowchart illustrating another interference processing method provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the structure of an interference processing device provided in an embodiment of this application;

[0043] Figure 8 This is a schematic diagram of another interference processing device provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0047] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0048] Furthermore, the terms “comprising” and “having”, and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0049] It should be noted that in the description of the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0050] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0051] First, some of the terms used in this application will be explained to facilitate understanding by those skilled in the art.

[0052] 1. Mean value of the signal:

[0053] The mean of the signal can be calculated using the following formula (1):

[0054]

[0055] in, x represents the mean of the signal. i Let N represent the energy value of the i-th sampling point, and N represent the number of sampling points.

[0056] 2. Signal variance:

[0057] The variance of the signal can be calculated using the following formula (2):

[0058]

[0059] Where, σ 2 Represents the variance of the signal. x represents the mean of the signal. i Let N represent the energy value of the i-th sampling point, and N represent the number of sampling points.

[0060] Optionally, the sampled value of the sampling point described in this application can also be an amplitude value. For example, the amplitude value of the sampling point can be converted into an energy value using the following formulas 3 and 4. This application does not limit the physical quantity of the sampled value of the sampling point.

[0061] 3. Power value (energy value) at the sampling point:

[0062] The power value (energy value) of the sampling point in the time domain signal can be calculated using the following formula (3):

[0063] E i =(A i ) 2 Formula 3

[0064] Among them, E i A represents the power (energy) value at the i-th sampling point. i This represents the amplitude value of the i-th sampling point.

[0065] 4. Fast-time and slow-time dimensions:

[0066] For example, as Figure 1 Taking the first signal shown as an example, this first signal includes K time-domain (chirp) signals, such as... Figure 1 The first signal consists of time-domain signals 1, 2, ..., K. Each time-domain signal in the first signal includes N sampling points, where K and N are both integers greater than 1.

[0067] Fast time dimension refers to using each sampling point included in each time domain signal as the sampling time granularity.

[0068] For example, interference detection along the fast-time dimension of the first signal may include determining, based on the power values ​​of sampling points 1, 2, ..., N in time-domain signal 1, the power values ​​of sampling points 1, 2, ..., N in time-domain signal 2, ..., the power values ​​of sampling points 1, 2, ..., N in time-domain signal K, that at least one time-domain signal in the first signal has cross-slope interference and the target sampling point in the at least one time-domain signal where the cross-slope interference exists.

[0069] The slow time dimension refers to the time granularity of sampling for each time-domain signal included in the first signal.

[0070] For example, interference detection along the slow-time dimension of the first signal may include determining that at least one time-domain signal with the same slope interference exists in the first signal based on the first power value 1 corresponding to time-domain signal 1, the first power value 2 corresponding to time-domain signal 2, ..., the first power value K corresponding to time-domain signal K. The first power value corresponding to the time-domain signal is determined based on the power values ​​of at least one sampling point included in the time-domain signal; for example, the first power value is the maximum value among the power values ​​of the at least one sampling point.

[0071] Optionally, the interference processing method or apparatus provided in this application can be applied to scenarios where target detection is performed by detection equipment through detection signals in application scenarios such as unmanned driving, autonomous driving, intelligent driving, and connected driving.

[0072] Optionally, the method or apparatus provided in this application can be used for detection devices or sensors, such as millimeter-wave radar, lidar, ultrasonic radar, etc.

[0073] Optionally, the detection device described in this application can be applied to a terminal.

[0074] For example, the terminal described in this application can be a transportation vehicle or a smart device. The terminal can be a motor vehicle (such as an unmanned vehicle, a smart car, an electric vehicle, a digital car, etc.), a drone, a rail vehicle, a bicycle, a traffic light, etc. The terminal can be a mobile phone, tablet computer, laptop computer, personal digital assistant, point-of-sale terminal, in-vehicle computer, augmented reality device, virtual reality device, wearable device, in-vehicle terminal, etc.

[0075] The received signal of the detection device described in this application may include an echo signal and / or an interference signal. Optionally, the received signal of the detection device may also include clutter signals.

[0076] The echo signal mentioned in this application refers to the reflected signal of the detection signal emitted by the detection device after being reflected by the target object. The interference signal includes the detection signal emitted by other detection devices or the reflected signal of the detection signal of other detection devices. The clutter signal refers to the reflected signal generated after the detection signal emitted by the detection device is emitted by a non-target object, such as the ground reflection signal.

[0077] Figure 2 The illustration shows an application scenario provided by an embodiment of this application, such as... Figure 2 As shown, when detection device 1 performs target detection using detection signal 1, detection device 2 performs target detection using detection signal 2. Thus, the received signal 1 of detection device 1 may include not only the echo signal 1 but also an interference signal 1, where the echo signal 1 corresponds to the target object 1 of detection device 1, and the interference signal 1 may include the detection signal 2 of detection device 2. Correspondingly, the received signal 2 of detection device 2 may also include not only the echo signal 2 but also an interference signal 2, where the echo signal 2 corresponds to the target object 2 of detection device 2, and the interference signal 2 includes the detection signal 1 of detection device 1. Optionally, the received signal 1 or received signal 2 may also include clutter signals. If target detection is performed directly based on the received signal 1, it may result in a low target detection rate and a high false alarm rate.

[0078] Therefore, embodiments of this application propose an interference processing method and apparatus that can effectively detect interference signals in the received signal 1, thereby improving the target detection rate.

[0079] Figure 3 A schematic block diagram of the detection device provided in an embodiment of this application is shown, such as... Figure 3 As shown, the detection device 300 may include a transmitting antenna unit 301, a receiving antenna unit 302, and an interference processing device 303, wherein the transmitting antenna unit 301 and the receiving antenna unit 302 are respectively coupled to the interference processing device 303 (including direct coupling or indirect coupling).

[0080] The transmitting antenna unit 301 is used to transmit detection signals.

[0081] The receiving antenna unit 302 is used to receive signals. For example, the received signal is a digital signal after analog-to-digital conversion processing by the detection device, which is a first signal. The first signal may include multiple sampling points. The first signal is sent to the interference processing device 303.

[0082] In one possible implementation, the transmitting antenna unit 301 may include at least one first array element, wherein when the number of the at least one first array element is multiple, the multiple first array elements may be arranged in an array.

[0083] In one possible implementation, the receiving antenna unit 302 may include at least one second array element, a low-noise amplifier, a descrambling circuit, and an analog-to-digital conversion circuit, wherein when the number of the at least one second array element is multiple, the multiple second array elements may be arranged in an array.

[0084] In this embodiment of the application, the first signal can be understood as the digital signal received and processed by the receiving antenna unit 302. The first signal may include the echo signal and / or the interference signal.

[0085] Optionally, the first signal may also include clutter signals.

[0086] The interference processing device 303 is used to determine the interference present in the first signal and the type of interference based on the interference processing method provided in the embodiments of this application. The interference type includes cross-slope interference and same-slope interference.

[0087] Optionally, if interference exists in the first signal, the interference processing device 303 is further configured to determine the periodicity characteristics of the interference in the first signal, the periodicity characteristics including periodic interference with the same period as the first signal or periodic interference with a different period than the first signal.

[0088] Optionally, the interference processing device 303 is further configured to perform anti-interference processing (e.g., interference avoidance or interference suppression) on the first signal based on the type and periodicity characteristics of the interference present in the first signal.

[0089] Figure 4 This illustration shows a schematic flowchart of an interference processing method provided in an embodiment of this application, which can be applied to, for example... Figure 2 The application scenarios shown can be applied to, for example... Figure 3 The detection device 300 shown is used, and the interference processing device 303 within the detection device 300 performs the operation. For example... Figure 4 As shown, the method includes:

[0090] S401, The interference processing device acquires the first signal.

[0091] The first signal comprises multiple time-domain (chirp) signals, each of which includes N sample points, where N is an integer greater than 0. For example, the first signal may include 8 time-domain signals, each of which may include 10 sample points.

[0092] It should be noted that the first signal can be understood as the digital signal received and processed by the detection device, and the first signal may include echo signals and interference signals. Optionally, the first signal may also include clutter signals.

[0093] Optionally, the first signal can be of various different types, and this application embodiment does not limit this.

[0094] In one possible implementation, the first signal can be a radar signal. For example, a frequency-modulated continuous wave (FMCW) radar signal; alternatively, the first signal can be a digital signal within a single frame.

[0095] S402. The interference processing device determines that there is cross slope interference in M ​​first time domain signals based on the power values ​​of N sampling points included in each of the multiple time domain signals of the first signal.

[0096] The first signal comprises M time-domain signals, where M is an integer greater than or equal to 0. For example, the first signal may have 3 time-domain signals out of its 8 time-domain signals.

[0097] In other words, S402 can be understood as performing cross-slope interference detection on each of the multiple time-domain signals along the fast time dimension.

[0098] It should be noted that the interference processing device can also determine the presence of cross-slope interference in the M first time-domain signals based on other parameters (e.g., magnitude, variance, etc.) of the N sampling points included in each of the multiple time-domain signals of the first signal. This application does not limit this.

[0099] In one possible implementation, the interference processing device can determine that cross-slope interference exists in the M first time-domain signals based on the power values ​​of N sampling points included in each of the multiple time-domain signals of the first signal and a preset first threshold value.

[0100] For example, the presence of cross-slope interference in the M first time-domain signals can be determined based on the average power value (which can be simply referred to as the power average) of the N sampling points included in each of the multiple time-domain signals of the first signal and a preset first threshold value. That is, for each of the multiple time-domain signals of the first signal, if the average power value of the N sampling points in that time-domain signal is greater than the preset first threshold value, then cross-slope interference exists in that time-domain signal. Conversely, if the average power value of the N sampling points in that time-domain signal is less than or equal to the preset first threshold value, then cross-slope interference does not exist in that time-domain signal.

[0101] Taking the first signal as an example, which includes three time-domain signals, each of which includes three sampling points: time-domain signal 1, time-domain signal 2, and time-domain signal 3, Table 1 shows the average power value of the sampling points of each time-domain signal.

[0102] Table 1

[0103]

[0104] As shown in Table 1, the average power of the sampling points of time-domain signal 1 is greater than the first threshold, while the average power of the sampling points of time-domain signals 2 and 3 is less than the first threshold. Therefore, there is cross-slope interference in time-domain signal 1.

[0105] For example, the presence of cross-slope interference in the M first time-domain signals can be determined based on the relationship between the power values ​​of the N sampling points in each of the multiple time-domain signals of the first signal and a preset first threshold value. For instance, for each of the multiple time-domain signals of the first signal, if there is a sampling point among the N sampling points with a power value greater than the preset first threshold value, then cross-slope interference exists in the time-domain signal, and this sampling point is the target sampling point (i.e., the sampling point with cross-slope interference). Conversely, if the power values ​​of all N sampling points in the time-domain signal are less than the first threshold value, then cross-slope interference does not exist in the time-domain signal.

[0106] For example, consider a first signal comprising three time-domain signals, each with three sampling points: time-domain signal 1, time-domain signal 2, and time-domain signal 3. The power values ​​of the five sampling points for each time-domain signal are shown in Table 2 below. Referring to Table 2, it can be seen that the power values ​​of all three sampling points for time-domain signal 1 are greater than the first threshold, while the power values ​​of the three sampling points for time-domain signals 2 and 3 are less than the first threshold. Therefore, cross-slope interference exists in time-domain signal 1.

[0107] Table 2

[0108]

[0109] In another possible implementation, the interference processing device can input the power values ​​of N sampling points included in each of the multiple time-domain signals of the first signal into the cross-slope interference detection model, and output a detection result. This detection result is used to indicate the presence of cross-slope interference in the M first time-domain signals. The cross-slope interference detection model is trained based on the power values ​​of multiple sampling points and cross-slope interference training parameters, which are used to indicate whether cross-slope interference exists in each of the multiple sampling points.

[0110] S403. The interference processing device determines, based on the first power value of each of the P second time-domain signals of the first signal, that there is interference with the same slope in the Q third time-domain signals.

[0111] The P second time-domain signals include all time-domain signals other than the M first time-domain signals in the first signal, and the P second time-domain signals include Q third time-domain signals, where P and Q are both integers greater than or equal to 0. For example, the first signal may include 4 second time-domain signals, and these 4 second time-domain signals may include 3 third time-domain signals.

[0112] In other words, S403 can be understood as performing same-slope interference detection on the first power value of each of the plurality of second time-domain signals along the slow time dimension.

[0113] Optionally, the first power value of each of the P second time-domain signals is determined based on the power values ​​of the N sampling points included in each of the P second time-domain signals. The specific method for determining the first power value is not limited in the embodiments of this application.

[0114] In one possible implementation, the first power value can be the power value of the sampling point with the largest power value among the N sampling points of each of the P second time-domain signals. For example, if the first second time-domain signal among the P second time-domain signals includes 3 sampling points with power values ​​of 20, 30, and 50 respectively, then the first power value is 50.

[0115] In another possible implementation, the first power value can be the average of the sum of the power values ​​of the N sampling points of each of the P second time-domain signals. For example, if the first second time-domain signal among the P second time-domain signals includes 3 sampling points with power values ​​of 20, 50, and 50 respectively, then the first power value is (20+50+50) / 3 = 40.

[0116] In another possible implementation, the aforementioned first power value can be a power value obtained by sorting the power values ​​of the N sampling points of each of the P second time-domain signals (e.g., sorting using the Ordered Statistical Constant False Alarm Rate Algorithm (OS-CFAR)). For example, for each second time-domain signal, the first power value of that second time-domain signal can be the third power value obtained by sorting the power values ​​of the N sampling points of that second time-domain signal from largest to smallest.

[0117] In one possible implementation, the presence of same-slope interference among the Q third time-domain signals in the first signal can be determined based on a first power value of each second time-domain signal in the first signal and a preset second threshold value. For example, for each second time-domain signal in the first signal, if the first power value of the second time-domain signal is greater than the preset second threshold value, then same-slope interference exists in the second time-domain signal. Conversely, if the first power value of the second time-domain signal is less than or equal to the preset second threshold value, then same-slope interference does not exist in the second time-domain signal.

[0118] As can be seen from the above S401-S403, the interference processing method provided in this application embodiment can determine the cross-slope interference and same-slope interference in the first signal by performing interference detection along the fast-time dimension and slow-time dimension in the time domain, thereby improving the target detection rate.

[0119] Optionally, refer to Figure 4 ,like Figure 5 As shown, the method may further include:

[0120] S404. When M is greater than 0, the interference processing device determines the periodic characteristics of the cross slope interference present in the M first time domain signals based on the M first time domain signals.

[0121] The aforementioned periodic characteristics include periodic interference or non-periodic interference.

[0122] It should be noted that M greater than 0 indicates the presence of cross-slope interference in multiple time-domain signals of the first signal. Therefore, the periodicity of the existing cross-slope interference can be further determined to provide a basis for subsequent anti-interference procedures. Conversely, M less than or equal to 0 indicates the absence of cross-slope interference in multiple time-domain signals of the first signal, thus eliminating the need to determine the periodicity of the cross-slope interference.

[0123] In one possible implementation, if the M first time-domain signals have the same interval and the target sampling points of the cross-slope interference in the M first time-domain signals are the same, the cross-slope interference is determined to be periodic interference.

[0124] In another possible implementation, if the M first time-domain signals have different intervals, the cross slope interference is determined to be aperiodic interference.

[0125] In another possible implementation, if the target sampling points of the cross-slope interference in the M first time-domain signals are not the same, the cross-slope interference is determined to be non-periodic interference.

[0126] Optionally, the intervals of the M first time-domain signals can be determined based on the index value of the first time-domain signal.

[0127] For example, the first signal includes 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10, wherein time-domain signal 1, time-domain signal 2, time-domain signal 3, and time-domain signal 4 among the 10 time-domain signals have cross-slope interference (i.e., M is 4). Table 3 shows the indices corresponding to time-domain signal 1, time-domain signal 2, time-domain signal 3, and time-domain signal 4.

[0128] Table 3

[0129] Index 1 2 3 4

[0130] Referring to Table 3, we can see that the index corresponding to time domain signal 1 is 1, the index corresponding to time domain signal 2 is 2, the index corresponding to time domain signal 3 is 3, and the index corresponding to time domain signal 4 is 4. Since index 1, index 2, index 3, and index 4 are consecutive, we can determine that time domain signals 1, 2, 3, and 4 are adjacent.

[0131] For example, consider a first signal comprising 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10, wherein time-domain signals 1, 3, 5, and 7 contain cross-slope interference (i.e., M is 4). Referring to Table 4, we know that the index 1 for time-domain signal 1, the index 3 for time-domain signal 3, the index 5 for time-domain signal 5, and the index 7 for time-domain signal 7 are all 7. Since index 1, index 3, index 5, and index 7 are arranged in an arithmetic sequence, meaning the difference between the indexes of two adjacent first time-domain signals is the same, we can determine that the intervals between time-domain signals 1, 3, 5, and 7 are the same.

[0132] Table 4

[0133] Index 1 3 5 7

[0134] It should be noted that the adjacent cases described in the embodiments of this application refer to the special case of having the same interval, that is, an interval of 0 can be considered as adjacent.

[0135] For example, consider a first signal comprising 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10, wherein time-domain signal 1, time-domain signal 2, time-domain signal 3, and time-domain signal 4 contain cross-slope interference (i.e., M is 4). Since the intervals between time-domain signals 1, 2, 3, and 4 are the same, if the target sampling points of the cross-slope interference in time-domain signals 1, 2, 3, and 4 are all the same, then the cross-slope interference is determined to be periodic interference; conversely, if the target sampling points of the cross-slope interference in time-domain signals 1, 2, 3, and 4 are not completely identical (including completely different or partially identical), then the cross-slope interference is determined to be non-periodic interference.

[0136] It should be noted that, taking the first signal as an example, which includes 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10. If the first signal includes only 2 first time-domain signals (i.e., M is 2), and the target sampling points of the cross-slope interference in these 2 first time-domain signals are the same, then the interval between these 2 first time-domain signals is also considered to be the same (for example, the cross-slope interference source only lasts for these 2 cycles and then terminates, or the first signal has not yet accumulated to the next cycle of the cross-slope interference source). In other words, the cross-slope interference is periodic interference.

[0137] For example, consider a first signal comprising 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10, wherein time-domain signal 1, time-domain signal 5, and time-domain signal 8 contain cross-slope interference (i.e., M is 3). Since the intervals between time-domain signal 1, time-domain signal 5, and time-domain signal 8 are different, the cross-slope interference is determined to be aperiodic interference.

[0138] Optionally, the target sampling points in the first time domain signal that have cross-slope interference can be determined to be the same based on the Sample index of the sampling points in the first time domain signal that have cross-slope interference.

[0139] For example, consider a first signal comprising 10 time-domain signals, namely time-domain signal 1, time-domain signal 2, ..., time-domain signal 10, wherein time-domain signals 1, 2, and 3 contain cross-slope interference (i.e., M is 3). Referring to Table 5, the sample indices of the target sampling points containing cross-slope interference in time-domain signal 1 are 2, 3, and 4; in time-domain signal 2, they are 2, 3, and 4; and in time-domain signal 3, they are 2 and 6. It can be seen that the sample indices of the target sampling points containing cross-slope interference in the first and second time-domain signals of this first signal are the same, both being 2, 3, and 4. Therefore, it can be determined that the target sampling points containing cross-slope interference in the first and second time-domain signals of this first signal are identical.

[0140] Table 5

[0141] Sample index of target sample point 2, 3 and 4 2, 3 and 4 2 and 6

[0142] S405. When Q is greater than 0, the interference processing device determines the periodicity characteristics of the same slope interference existing in the Q third time domain signals based on the Q third time domain signals.

[0143] In one possible implementation, if the Q third time-domain signals are spaced at the same interval, the interference with the same slope is determined to be periodic interference.

[0144] In another possible implementation, if the Q third time-domain signals have different intervals, the interference with the same slope is determined to be aperiodic interference.

[0145] S406. The interference processing device performs anti-interference processing based on the interference information and / or interference parameters of the first signal.

[0146] The interference information includes the type of interference, periodicity characteristics, and / or period of the interference present in the first signal. The interference type includes cross-slope interference and / or same-slope interference.

[0147] The interference parameters include the proportion of the time-domain signal containing interference and / or the proportion of target sampling points in the first signal. For example, if the first signal contains 8 time-domain signals, and interference exists in 4 of them, then the proportion of the time-domain signal containing interference in the first signal is 4 / 8 * 100% = 50%. As another example, if the first signal contains 8 time-domain signals, and each time-domain signal has 10 sampling points (a total of 80 sampling points), and 20 of these sampling points contain interference, then the proportion of target sampling points containing interference in the first signal is 20 / 80 * 100% = 25%.

[0148] Optionally, anti-interference processing includes, but is not limited to, interference suppression and interference avoidance, and the embodiments of this application do not limit this.

[0149] For example, when there is interference with the same slope and period as the first signal in the first signal, the interference processing device can avoid the interference by adjusting the transmission time of the detection signal sent by the transmitting antenna unit 301 of the detection device 300 (such as microsecond-level adjustment).

[0150] For example, when there is interference with the same slope but a different period than the first signal in the first signal, if there is a degree-of-freedom interference processing device in the frequency domain, the starting frequency of the detection signal transmitted by the transmitting antenna unit 301 of the detection device 300 can be adjusted in the frequency domain to avoid the interference. Conversely, if there is no degree-of-freedom interference processing device in the frequency domain, the interference can be suppressed by scrambling the phase of the detection signal transmitted by the transmitting antenna unit 301 of the detection device 300.

[0151] It is worth mentioning that the anti-interference processing process for cross-slope interference can refer to the description of the anti-interference processing process for same-slope interference mentioned above, and will not be repeated here.

[0152] It should be noted that the interference processing device performs anti-interference processing (interference avoidance, interference suppression, etc.) based on the periodic characteristics of the same slope interference and the same slope interference present in the first signal. This can enable the detection signals subsequently transmitted by the transmitting antenna unit 301 of the detection device 300 to avoid interference, which is beneficial to improving the accuracy of target detection.

[0153] Furthermore, when there is no interference in the first signal, a one-dimensional (1st) Fast Fourier Transform (FFT) and a two-dimensional (2nd) FFT can be performed on the first signal to facilitate subsequent processing. For example, target detection can be performed on the first signal transformed by the 1st FFT and the 2nd FFT.

[0154] Figure 6 The present application illustrates an interference processing method provided in an embodiment, such as... Figure 6 As shown, this method can be applied to, for example... Figure 2 The application scenarios shown can be applied to, for example... Figure 3 The detection device 300 shown is executed by the interference processing device 303 in the detection device 300, such as... Figure 6 As shown, the method may include:

[0155] S601, acquire the first signal.

[0156] The first signal is the digital signal obtained by analog-to-digital conversion of the received signal from the detection device; for example, the first signal is a digital signal within one frame. The first signal includes K time-domain (chirp) signals. Each time-domain signal includes N sampling points. K and N are both integers greater than 0.

[0157] S602. Determine whether there is cross slope interference in the i-th time-domain signal of the first signal. If yes, proceed to S603; otherwise, proceed to S605.

[0158] The initial value of i is 1.

[0159] S603, Mark the i-th time-domain signal as the first time-domain signal.

[0160] Among them, there is cross slope interference in the first time domain signal.

[0161] S604. Determine if i ≥ K. If yes, execute S606; otherwise, execute i = i + 1, then execute S602.

[0162] S605, mark the i-th time-domain signal as the second time-domain signal, and then execute S604.

[0163] In particular, there is no cross slope interference in the second time domain signal.

[0164] S606. Determine if P > 0. If yes, execute S607; otherwise, execute S611.

[0165] Where P is the number of signals in the second time domain.

[0166] S607. Determine the first power value of the f-th second time-domain signal in the second time-domain signal.

[0167] The initial value of f is 1.

[0168] Optionally, the first power value of each of the P second time-domain signals is determined based on the power values ​​of the N sampling points included in each of the P second time-domain signals. The specific method for determining the first power value is not limited in the embodiments of this application.

[0169] S608. Determine whether the first power value of the f-th second time-domain signal is greater than the preset second threshold value. If yes, execute S609; if no, execute j = j + 1 and then execute S607.

[0170] S609, Mark the f-th second time-domain signal as the third time-domain signal.

[0171] Among them, there is interference with the same slope in the third time domain signal.

[0172] S610. If f≥P, execute S611; otherwise, execute j=j+1 and then execute S608.

[0173] S611. Determine if M > 0. If yes, execute S612; otherwise, execute S616.

[0174] Where M is the number of first time-domain signals in the first signal.

[0175] S612. Determine if the intervals of the M first time-domain signals are the same. If yes, proceed to S613; otherwise, proceed to S615.

[0176] S613. Determine whether the target sampling points with cross slope interference in the M first time domain signals are the same. If yes, execute S614; if no, execute S615.

[0177] S614. Mark the cross slope interference as periodic interference, and then execute S616.

[0178] S615, mark the cross slope interference as a non-periodic interference, and then execute S616.

[0179] S616. Determine if Q > 0. If yes, execute S619; otherwise, execute S620.

[0180] Q represents the number of the third cycle in the first signal.

[0181] S617. Determine if the intervals of the Q third time-domain signals are the same. If yes, proceed to S618; otherwise, proceed to S619.

[0182] S618, Mark the interference with the same slope as periodic interference, and then execute S620.

[0183] S619. Mark the interference with the same slope as a non-periodic interference, and then execute S620.

[0184] S620. Based on the interference information and / or interference parameters of the first signal, perform anti-interference processing, and then end the interference processing process.

[0185] The interference information includes the type and / or periodicity of interference present in the first signal. Interference types include cross-slope interference and / or same-slope interference. Interference parameters include the proportion of the time-domain signal of interference present in the first signal and / or the proportion of the target sampling points.

[0186] Combination Figure 4 , Figure 5 and Figure 6 The interference processing method provided in the embodiments of this application is introduced below. Figure 7 and Figure 8 An interference processing apparatus for performing the above-described interference processing method is introduced.

[0187] It should be noted that the interference processing device can be the interference processing device described in the above method embodiments, and can execute the method performed by the interference processing device in the above method.

[0188] It is understood that, in order to achieve the above-mentioned functions, the interference processing device includes hardware and / or software modules that perform the respective functions. Based on the algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in conjunction with the embodiments, but such implementation should not be considered beyond the scope of this application.

[0189] This application embodiment can divide the interference processing device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0190] When dividing each function into modules according to its corresponding function. Figure 7A schematic diagram of a possible composition of the interference processing device involved in the above embodiments is shown, such as... Figure 7 As shown, the device 700 may include an acquisition unit 701 and a processing unit 702. The acquisition unit 701 is used to acquire the first signal in the above method embodiment, and the processing unit 702 can implement the method performed by the interference processing device in the above method embodiment, and / or other processes used in the technology described herein.

[0191] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0192] When using integrated units, device 700 may include a processing unit, a storage unit, and a communication unit. The processing unit can be used to control and manage the operation of device 700, for example, to support device 700 in executing the steps performed by the aforementioned units. The storage unit can be used to support device 700 in executing stored program code and / or data. The communication unit can be used to support communication between device 700 and other devices.

[0193] The processing unit can be a processor or a controller. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage unit can be a memory. The communication unit can specifically be a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, or other devices that interact with other electronic devices.

[0194] In one possible implementation, the interference processing device involved in the embodiments of this application can be a device having Figure 8 The device 800 shown includes a processor 801. Figure 7 The related functions implemented by the acquisition unit 701 and the processing unit 702 can be implemented by the processor 801.

[0195] Optionally, the device 800 may also include a memory 802, and the processor 801 and the memory 802 communicate with each other through an internal connection path. Figure 7 The relevant functions implemented by the storage unit in the memory can be implemented by the memory 802.

[0196] This application also provides a computer storage medium storing computer instructions. When the computer instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to implement the interference processing method in the above embodiments.

[0197] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the interference processing method described in the above embodiments.

[0198] This application also provides an interference device, which may specifically be a chip, integrated circuit, component, or module. Specifically, the device may include a connected processor and a memory for storing instructions, or the device may include at least one processor for fetching instructions from external memory. When the device is running, the processor can execute instructions to cause the chip to perform the interference processing methods in the above-described method embodiments.

[0199] Figure 9 A schematic diagram of a chip 900 is shown. The chip 900 includes one or more processors 901 and interface circuitry 902. Optionally, the chip 900 may also include a bus 903.

[0200] The processor 901 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method 200 can be completed by the integrated logic circuitry in the processor 901 or by software instructions.

[0201] Optionally, the processor 901 described above can be a general-purpose processor, 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, or discrete hardware components. It can implement or execute the methods and steps disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0202] The interface circuit 902 can be used to send or receive data, instructions or information. The processor 901 can use the data, instructions or other information received by the interface circuit 902 to process the data, instructions or other information, and can send the processed information out through the interface circuit 902.

[0203] Optionally, the chip may also include memory, which may include read-only memory and random access memory, and provide operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).

[0204] Optionally, the memory stores executable software modules or data structures, and the processor can execute corresponding operations by calling the operation instructions stored in the memory (which may be stored in the operating system).

[0205] Optionally, the chip can be used in the interference processing apparatus, detection device, or terminal involved in the embodiments of this application. Optionally, the interface circuit 902 can be used to output the execution result of the processor 901. For interference processing methods provided by one or more embodiments of this application, please refer to the foregoing embodiments, which will not be repeated here.

[0206] It should be noted that the functions of the processor 901 and the interface circuit 902 can be implemented through hardware design, software design, or a combination of hardware and software; no restrictions are imposed here.

[0207] This application embodiment also provides a detection device, which may include a transmitting antenna unit, a receiving antenna unit, and an interference processing device provided in this application embodiment (as described above). Figure 7 The device 700 described herein or Figure 8 The device 800 described herein or Figure 9 The device 700 described herein).

[0208] This application also provides a terminal, which can be a transportation vehicle or a smart device, and the transportation vehicle or smart device includes the above-mentioned detection device.

[0209] In one possible implementation, the terminal is a vehicle that contains the aforementioned detection equipment.

[0210] In this embodiment, the interference processing device, computer storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0211] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0212] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0213] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0214] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0215] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0216] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0217] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0218] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An interference processing method, characterized in that, include: Acquire a first signal, the first signal comprising multiple time-domain signals, each of the multiple time-domain signals comprising N sampling points, where N is an integer greater than 0; Based on the power values ​​of the N sampling points included in each time-domain signal, it is determined that there is cross slope interference in the M first time-domain signals, wherein the multiple time-domain signals include the M first time-domain signals, and M is an integer greater than or equal to 0; Based on the first power value of each of the P second time-domain signals, it is determined that there is same-slope interference in the Q third time-domain signals. The P second time-domain signals include time-domain signals other than the M first time-domain signals, and the P second time-domain signals include the Q third time-domain signals. The first power value of each second time-domain signal is determined based on the power values ​​of the N sampling points included in each second time-domain signal, where P and Q are both integers greater than or equal to 0.

2. The method according to claim 1, characterized in that, When M is greater than 0, the method further includes: Based on the M first time-domain signals, the periodic characteristics of the cross slope interference present in the M first time-domain signals are determined, and the periodic characteristics include periodic interference or non-periodic interference.

3. The method according to claim 2, characterized in that, The step of determining the periodic characteristics of the cross slope interference present in the M first time-domain signals based on the M first time-domain signals includes: If the M first time-domain signals have the same interval, and the target sampling points of the cross-slope interference in the M first time-domain signals are the same, then the cross-slope interference is determined to be periodic interference; or, If the intervals of the M first time-domain signals are different or the target sampling points of the cross slope interference in the M first time-domain signals are different, the cross slope interference is determined to be aperiodic interference.

4. The method according to any one of claims 1 to 3, characterized in that, If Q is greater than 0, the method further includes: Based on the Q third time-domain signals, the periodicity characteristics of the same-slope interference present in the Q third time-domain signals are determined, and the periodicity characteristics include periodic interference or non-periodic interference.

5. The method according to claim 4, characterized in that, The step of determining the periodicity characteristics of the same-slope interference present in the Q third time-domain signals based on the Q third time-domain signals includes: If the Q third time-domain signals have the same interval, the interference with the same slope is determined to be periodic interference; or, If the intervals of the Q third time-domain signals are different, the interference with the same slope is determined to be aperiodic interference.

6. The method according to any one of claims 2 to 5, characterized in that, The method further includes: Based on the interference information and / or interference parameters of the first signal, anti-interference processing is performed. The interference information includes the interference type of the interference present in the first signal, the periodicity characteristics of the interference and / or the period of the interference. The interference type includes cross-slope interference and / or same-slope interference. The interference parameters include the proportion of the time-domain signal containing the interference in the first signal and / or the proportion of the target sampling points.

7. The method according to any one of claims 1 to 6, characterized in that, The first power value is the power value of the sampling point with the largest power value among the N sampling points, or the average of the sum of the power values ​​of the N sampling points.

8. The method according to any one of claims 1 to 7, characterized in that, The determination of cross-slope interference in the M first time-domain signals based on the power values ​​of the N sampling points included in each time-domain signal includes: Based on the power values ​​of the N sampling points included in each time-domain signal and the preset first threshold value, it is determined that the cross slope interference exists in the M first time-domain signals.

9. The method according to any one of claims 1 to 8, characterized in that, The determination of the presence of same-slope interference among Q third time-domain signals based on the first power value of each of the P second time-domain signals includes: Based on the first power value of each second time-domain signal and the preset second threshold value, it is determined that the same slope interference exists in the Q third time-domain signals.

10. An interference processing device, characterized in that, Includes a processor, the processor being used for: Acquire a first signal, the first signal comprising multiple time-domain signals, each of the multiple time-domain signals comprising N sampling points, where N is an integer greater than 0; Based on the power values ​​of the N sampling points included in each time-domain signal, it is determined that there is cross slope interference in the M first time-domain signals, wherein the multiple time-domain signals include the M first time-domain signals, and M is an integer greater than or equal to 0; Based on the first power value of each of the P second time-domain signals, it is determined that there is same-slope interference in the Q third time-domain signals. The P second time-domain signals include time-domain signals other than the M first time-domain signals, and the P second time-domain signals include the Q third time-domain signals. The first power value of each second time-domain signal is determined based on the power values ​​of the N sampling points included in each second time-domain signal, where P and Q are both integers greater than or equal to 0.

11. The apparatus according to claim 10, characterized in that, When M is greater than 0, the processor is further configured to: Based on the M first time-domain signals, the periodic characteristics of the cross slope interference present in the M first time-domain signals are determined, and the periodic characteristics include periodic interference or non-periodic interference.

12. The apparatus according to claim 11, characterized in that, The processor is specifically used for: If the M first time-domain signals have the same interval and the target sampling points of the cross slope interference in the M first time-domain signals are the same, the cross slope interference is determined to be periodic interference. or, If the intervals of the M first time-domain signals are different or the target sampling points of the cross slope interference in the M first time-domain signals are different, the cross slope interference is determined to be aperiodic interference.

13. The apparatus according to any one of claims 10 to 12, characterized in that, Q is greater than 0, and the processor is further configured to: Based on the Q third time-domain signals, the periodicity characteristics of the same-slope interference present in the Q third time-domain signals are determined, and the periodicity characteristics include periodic interference or non-periodic interference.

14. The apparatus according to claim 13, characterized in that, The processor is specifically used for: If the Q third time-domain signals have the same interval, the interference with the same slope is determined to be periodic interference; or, If the intervals of the Q third time-domain signals are different, the interference with the same slope is determined to be aperiodic interference.

15. The apparatus according to any one of claims 11 to 14, characterized in that, The processor is also used for: Based on the interference information and / or interference parameters of the first signal, anti-interference processing is performed. The interference information includes the interference type of the interference present in the first signal, the periodicity characteristics of the interference and / or the period of the interference. The interference type includes cross-slope interference and / or same-slope interference. The interference parameters include the proportion of the time-domain signal containing the interference in the first signal and / or the proportion of the target sampling points.

16. The apparatus according to any one of claims 10 to 15, characterized in that, The first power value is the power value of the sampling point with the largest power value among the N sampling points, or the average of the sum of the power values ​​of the N sampling points.

17. The apparatus according to any one of claims 10 to 16, characterized in that, The processor is specifically used for: Based on the power values ​​of the N sampling points included in each time-domain signal and the preset first threshold value, it is determined that the cross slope interference exists in the M first time-domain signals.

18. The apparatus according to any one of claims 10 to 17, characterized in that, The processor is specifically used for: Based on the first power value of each second time-domain signal and the preset second threshold value, it is determined that the same slope interference exists in the Q third time-domain signals.

19. A chip device comprising at least one processor and an interface circuit, wherein the at least one processor transmits signals through the interface circuit, characterized in that, When the at least one processor executes program code or instructions, it implements the method of any one of claims 1 to 9.

20. A terminal, characterized in that, The terminal includes an interference processing device as described in any one of claims 10 to 18 or a chip device as described in claim 19.

21. The terminal according to claim 20, characterized in that, The terminal is a vehicle.

22. A computer-readable storage medium for storing a computer program, characterized in that, The computer program includes instructions for implementing the method according to any one of claims 1 to 9.

23. A computer program product, the computer program product comprising instructions, characterized in that, When the instructions are executed on a computer or processor, the computer or processor causes the computer or processor to perform the method of any one of claims 1 to 9.

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