An FMCW Radar Interference Detection and Suppression Method and System

Abstract

The present invention discloses a method and system for FMCW radar interference detection and suppression, belonging to the field of radar signal processing. The method includes: mixing the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar; after sampling the mixed signal, performing 1D FFT processing in the fast time dimension to obtain the 1D FFT result of the intermediate frequency signal; performing peak detection and first threshold selection on the 1D FFT result in the fast time dimension to obtain a suspicious target matrix; detecting each column of the suspicious target matrix to obtain the position of the interference signal; traversing the positions of the interference signals in sequence to reconstruct the time-domain interference signal; sequentially removing the interference signals within each pulse period in the time domain to obtain the interference-suppressed time-domain mixed signal, and performing 2D FFT processing on it to identify the target. The interference detection and suppression method of the present invention can reduce the complexity of FMCW radar interference detection and suppression and the hardware implementation complexity.

Description

Technical Field

[0001] The present invention belongs to the field of radar signal processing, and more specifically, relates to a method and system for FMCW radar interference detection and suppression. Background Art

[0002] Frequency Modulated Continuous Wave (FMCW) radar has been widely used in many fields due to its advantages such as easy implementation, relatively simple structure, small size, light weight, and low cost. FMCW radar identifies targets mainly by mixing the signal reflected from the target with the transmitted signal, and determines whether there is a target according to the intermediate frequency signal after mixing.

[0003] With the increasing number of radars and the limited spectrum resources, the problem of mutual interference between radars has become more prominent. When multiple radars work simultaneously in the same frequency band or in a certain part of the same frequency band, the receiving antenna of one radar will receive the transmitted signal of another radar, causing mutual interference between FMCW radars. If direct 2DFFT processing is performed and target detection is carried out according to the 2DFFT result, it will bring effects such as increased local noise or generation of false targets.

[0004] Currently, the methods for solving the interference of frequency modulated continuous wave radar can be mainly divided into two types. One is to change the radar working mode or the style of the transmitted signal at the transmitting end, such as bipolar phase code, random sub-band spectrum, etc. These methods have high complexity and are difficult to implement. The other method is to directly adopt the result of 2DFFT combined with algorithms or strategies, such as fast orthogonal matching pursuit algorithm, machine learning, etc. These methods have large computational amounts and high hardware implementation complexity. Summary of the Invention

[0005] Aiming at the defects and improvement requirements of the existing technology, the present invention provides a method and system for FMCW radar interference detection and suppression, aiming to reduce the complexity of FMCW radar interference detection and suppression and the hardware implementation complexity.

[0006] To achieve the above object, according to one aspect of the present invention, a method for FMCW radar interference detection and suppression is provided, including:

[0007] Step S1: Mix the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar, wherein the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar;

[0008] Step S2: After sampling the mixed signal, perform 1DFFT processing in the fast time dimension to obtain the 1DFFT result of the mixed signal;

[0009] Step S3: Perform peak detection and first threshold selection on the 1DFFT result in the fast time dimension to obtain a suspicious target matrix;

[0010] Step S4: Detect each column of the suspicious target matrix to obtain the position of the interference signal.

[0011] Further, in step S4, if the number of targets in the current column is less than the set second threshold, determine that the current column is an interference column, and obtain the position of the interference signal after column-by-column detection.

[0012] Further, for the current column of the suspicious target matrix, traverse and sum in the slow time dimension to obtain the number of targets in the current column.

[0013] Further, in step S3, the suspicious target matrix B(m,n′) is:

[0014]

[0015] where, when |X(m,n′)| satisfies the following conditions, it is a suspicious target:

[0016]

[0017] In the formula, |X(m,n′)| is the amplitude of the 1DFFT result X(m,n′) of the mixed-frequency signal, m = 0, 1, … M-1, n’ = 0, 1, N-1, M×N is the number of sampling points, and G is the first threshold.

[0018] Further, in step S1, there is one or more interference signals, and there is one or more reflected signals of the target.

[0019] Further, it further includes:

[0020] Step S5: Traverse the positions of the interference signals in sequence, and reconstruct the interference signal in the time domain according to the 1DFFT result of the fast time dimension of the pulse period where the interference signal is located;

[0021] Step S6: Remove the interference signals in each pulse period in the time domain in sequence to obtain the mixed-frequency signal after interference suppression.

[0022] Further, it further includes:

[0023] Step S7: Perform 2DFFT processing on the mixed-frequency signal after interference suppression to identify the target.

[0024] According to the second aspect of the present invention, there is provided an FMCW radar interference detection and suppression system, including:

[0025] The mixing processing unit is used to mix the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar, wherein the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar;

[0026] The 1DFFT processing unit is used to perform 1DFFT processing in the fast time dimension on the sampled mixing signal to obtain the 1DFFT result of the mixing signal;

[0027] The suspicious target matrix construction unit is used to perform peak detection and first threshold selection on the 1DFFT result in the fast time dimension to obtain a suspicious target matrix;

[0028] The interference signal judgment unit is used to detect each column of the suspicious target matrix to obtain the position of the interference signal.

[0029] Furthermore, it further includes:

[0030] The interference signal reconstruction unit is used to sequentially traverse the positions of the interference signals and reconstruct the interference signals in the time domain according to the 1DFFT results in the fast time dimension of the pulse periods where the interference signals are located;

[0031] The time-domain mixing signal reconstruction unit is used to sequentially remove the interference signals in each pulse period in the time domain to obtain a mixing signal after interference suppression.

[0032] According to the third aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, it implements the FMCW radar interference detection and suppression method as described in any one of the first aspects.

[0033] Generally speaking, through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0034] (1) The interference detection and suppression method of the present invention innovatively directly performs 1DFFT processing on the signal after mixing processing in the fast time dimension, utilizes the delay of the transmitted signal of the interfering radar reaching the interfered radar and the differences generated by time drift between pulse periods, and through peak detection and first threshold selection, detects the 1DFFT result in the fast time dimension to obtain a suspicious target matrix, and detects each column of the suspicious target matrix to obtain all the signals transmitted by the interfering radar that are the same as the transmitted signal of the interfered radar, thereby determining the position of the interference signal. This detection method of the present invention does not need to change the working mode of the radar, does not require complex transmitted signal patterns, and does not need to combine other algorithms subsequently, greatly reducing the complexity of interference detection.

[0035] (2) The present invention realizes the time-domain reconstruction of the interference signal by directly using the fast-time dimension 1DFFT result to obtain the time-domain parameters of the interference signal, and performs interference suppression in the time domain, reducing the hardware implementation complexity.

[0036] In summary, the present invention innovatively utilizes the fast-time dimension 1DFFT result, provides a simple and effective interference solution, completes interference suppression in the time domain by using the reconstructed interference signal, reduces the hardware implementation complexity, and provides a simple and convenient method for FMCW radar interference detection and suppression. Brief Description of the Drawings

[0037] Figure 1 is the flowchart of FMCW radar interference detection provided by an embodiment of the present invention;

[0038] Figure 2 is the block diagram of the FMCW radar interference detection and suppression method provided by an embodiment of the present invention;

[0039] Figure 3 is the flowchart of the FMCW radar interference detection and suppression method provided by an embodiment of the present invention;

[0040] Figure 4 is the schematic diagram of the transmitted signal and received signal of the interfered radar;

[0041] Figure 5 is the 2DFFT result diagram of the interference signal and target signal received by the interfered radar;

[0042] Figure 6 is the fast-time dimension 1DFFT result diagram of the interference signal and target signal received by the interfered radar;

[0043] Figure 7 is the suspicious target detection result diagram of the interference signal and target signal received by the interfered radar;

[0044] Figure 8 is the 2DFFT result diagram of the received signal of the interfered radar after interference suppression. Detailed Embodiments

[0045] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0046] In the present invention, terms such as "first" and "second" in the present invention and the drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0047] As Figures 1 - 3 shown, a method for FMCW radar interference detection and suppression provided by the present invention mainly includes the following steps:

[0048] Step S1: Mix the interference signal received by the interfered radar, the reflected signal of the transmitted signal of the interfered radar encountering the target, and the transmitted signal of the interfered radar to obtain an intermediate-frequency signal after mixing processing; wherein, the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar;

[0049] Step S2: After the intermediate-frequency signal after mixing processing is sampled by ADC, perform 1DFFT processing in the fast time dimension to obtain the 1DFFT result of the intermediate-frequency signal;

[0050] Step S3: Perform peak detection and first threshold selection on the 1DFFT result in the fast time dimension to obtain a suspicious target matrix;

[0051] Step S4: Perform column-by-column detection on the suspicious target matrix. If the number of targets in the current column is less than the set second threshold, determine that this column is an interference column, and obtain the positions of all interference signals after column-by-column detection.

[0052] After detecting the positions of all interference signals based on the above steps S1 - S4, further suppress the interference, specifically including the following steps S5 - S6:

[0053] Step S5: Traverse the positions of all interference signals in turn, and reconstruct the interference signal in the time domain according to the 1DFFT result of the fast time dimension of the pulse period where the interference signal is located;

[0054] Step S6: In the time domain, sequentially eliminate the interference signals in each pulse period to obtain a time-domain mixed-frequency signal after interference suppression.

[0055] Based on the above time-domain mixed-frequency signal after interference suppression, further perform step S7 to perform target detection:

[0056] Step S7: Perform 2DFFT on the time-domain mixed-frequency signal to identify the target signal.

[0057] Generally, a radar may be interfered by multiple radars. When the interfering radar and the interfered radar have the same parameters (i.e., the transmitted signals are the same), the detection result after performing 2DFFT on the mixed-frequency signal of the interfering radar signal and the transmitted signal of the interfered radar is consistent with the target, generating false targets and making it difficult to distinguish the real target. The present invention performs interference detection by using the clock difference and time drift of the transmitted signal of the interfering radar reaching the interfered radar, so that there are differences between the transmitted signal of the interfering radar and the reflected signal of the real target in the pulse period.

[0058] Specifically, as Figure 4 shown, in this embodiment, the interfered radar A transmits a sawtooth wave signal with 128 signal repetition periods T c = 70 μs in one frame, one pulse period T c = 70 μs, and one frame time T f = 50 ms. The interference radar B has a delay time τ = 2T c = 140 μs, and a time drift rate Δt = 0.1 μs / s. The time-domain parameters (amplitude, frequency, and phase) of the interference signal are obtained through the fast-time dimension 1DFFT result to achieve the time-domain reconstruction of the interference signal, and then interference suppression is performed in the time domain.

[0059] In step S1, there is at least one transmitted signal of the interference radar and at least one reflected signal of the target. In this embodiment, one interference signal s′ B (t) is selected. This interference signal comes from the transmitted signal s B (t) of the interference radar B, and the reflected signals s′ A1 (t), s′ A2 (t) of two targets. s′ A1 (t), s′ A2 (t), s′ B (t) and the transmitted signal s A (t) of the interfered radar A are subjected to mixing processing. Among them, the transmitted signal s B (t) of the interference radar B is the same as the transmitted signal s A (t) of the interfered radar A. In this embodiment, the radar transmits a sawtooth wave signal with 128 signal repetition periods T c = 70 μs in one frame.

[0060] In the embodiment, the expression x c of the transmitted signal of the interfered radar A within one pulse period T A is

[0061]

[0062] where f0 is the starting frequency of the transmitted signal of the interfered radar A, which is 77 GHz in this embodiment, S is the slope of the frequency-modulated signal (i.e., the modulation slope), which is 15 MHz / μs in this embodiment, is the starting phase of the interfered radar A, which is 0° in this embodiment.

[0063] Therefore, the expression s A (t) of the transmitted signal of the interfered radar A within one frame is:

[0064]

[0065] Among them, M is the number of pulse periods within one frame, which is 128 in this embodiment, and m is the number of pulse periods.

[0066] The reflected signal s′ is generated after the transmitted signal of the interfered radar A encounters the target A (t) is

[0067]

[0068] Among them, the reflection delay of the real target In this embodiment, two real targets are selected. The distance of real target 1 from the interfered radar is R1 = 30m, the speed V1 = 0m / s, the distance of real target 2 from the interfered radar is R2 = 10m, the speed V2 = 10m / s, the speed of light c = 3×10 8 m / s, α is the attenuation coefficient of the target echo signal. In this embodiment, the attenuation coefficient of target 1 is α1 = 0.95, the attenuation coefficient of target 2 is α2 = 0.98, and the reflected signal of target 1 is s′ A1 (t), and the reflected signal of target 2 is s′ A2 (t).

[0069] The transmitted signal of the interfering radar B is the same as that of the interfered radar A, that is, the transmitted signal s of the interfering radar B B (t) = s A (t). Considering the delay and time drift when the transmitted signal of the interfering radar B arrives at the interfered radar A, the transmitted signal s′ of the interfering radar B received by the interfered radar A B (t) is

[0070]

[0071] Among them, τ B is the fixed delay of the interfering radar B. In this embodiment, τ B = 2T C , T′ C is the pulse period time after the time drift when s B (t) arrives at the interfered radar A. In this embodiment, T′ c = T c (1 + mΔt), Δt is the time drift rate. In this embodiment, Δt = 0.1μs / s is selected, is the starting phase of the interfering radar B, which is 0° in this embodiment, and β is the attenuation coefficient of the interfering radar signal. In this embodiment, β = 0.97.

[0072] Meanwhile, considering the reflected signals s′ A1 (t), s′ A2 (t) of the two real targets and the interfering target, that is, the transmitted signal s′ of the interfering radar received by the interfered radar AB (t), the intermediate frequency received by the interfered radar A can be expressed as:

[0073] x(t) = s A (t)(s′ A1 (t) + s′ A2 (t) + s′ B (t)) * 0 ≤ t < T f (5)

[0074] where * represents conjugate.

[0075] Directly perform 2DFFT processing on the mixed signal, and its 2DFFT result is as Figure 5 shown. In the Figure 5 2DFFT result, we can see that the interference signal and the echo signal of the target have almost the same manifestation form. For target detection, such false targets are extremely likely to be judged as targets, which is extremely harmful.

[0076] Specifically, in step S2, the intermediate frequency signal x(t) after mixing processing is subjected to 1DFFT processing in the fast time dimension after ADC sampling to obtain the 1DFFT result X(m, n′) corresponding to the intermediate frequency signal x(t);

[0077] Add Gaussian white noise to the intermediate frequency signal to simulate environmental noise, and then sample the intermediate frequency signal containing environmental noise within the time range of [0, MT C at a sampling rate of f s = 10 MHz, and M × N sampling points can be obtained. Here, N = 256, so the sampled signal is x(m, n), where m = 0, 1,... M - 1, n = 0, 1,... N - 1.

[0078] Perform 1DFFT on x(m, n) in the fast time dimension. The expression of the 1DFFT result X(m, n′) in the fast time dimension is as follows:

[0079]

[0080] where m = 0, 1,... M - 1, n′ = 0, 1,... N - 1.

[0081] The 1DFFT result in the fast time dimension is as Figure 6 shown, and it can be seen that there are suspected target signals at indices 27, 40, and 78.

[0082] Specifically, in step S3, the 1DFFT result in the fast time dimension is passed through peak detection and the first threshold selection to obtain a suspicious target matrix, that is, the reflected signals s A ′1(t), s A′2(t) and the transmitted signal s′ of the interfering radar received by the interfered radar A B (t) of the suspicious target matrix B(m,n′).

[0083] After obtaining the frequency-domain signal mixed with noise and suspicious targets through 1D FFT in the fast-time dimension, in order to separate the environmental noise from the suspicious targets, search for targets in each pulse period. For m = 0, 1, … M-1, n’ = 0, 1, N-1, if the formula (7) is satisfied, it means that there is a suspicious target in |X(m,n′)|:

[0084]

[0085] Where, |X(m,n′)| is the amplitude of the 1D FFT result X(m,n′) of the intermediate-frequency signal, G is the first threshold for target detection, and in this embodiment, G = 40dB.

[0086] Then the suspicious target matrix B(m,n′) composed of the reflected signal and the interference signal of the target can be defined as follows:

[0087]

[0088] In this embodiment, the binary detection result is as Figure 7 shown. It can be seen that the suspicious targets at indexes 27 and 78 show as a straight line, and the suspicious target at index 40 shows approximately as a straight line.

[0089] Specifically, in step S4, perform column-by-column detection on the suspicious target matrix. For the current column, if the number of targets detected on this column is less than the set second threshold K, then determine that this column is an interference column, otherwise it is a real target column. After column-by-column detection, all interference columns are obtained, and then the positions of all interference targets are obtained;

[0090] In this embodiment, for each column of B(m,n′), perform traversal summation in the slow-time dimension to obtain the number of targets corresponding to this column, that is, n′ = 0, 1... N-1. If the formula (9) is satisfied, there are interference targets in this column, otherwise there are real targets in this column.

[0091]

[0092] Where K = Mα, α is the confidence level. In this embodiment, 98% is selected, so K = 125 can be obtained.

[0093] According to the target matrix B(m,n′), the specific positions of all interference points in the interference columns can be obtained, that is, the specific positions of all interference points are obtained.

[0094] After detecting all the positions of the interference points through the above steps, further suppress the interference points, and then detect the target signal. Specifically, in step S5, traverse all the interference points in sequence, and reconstruct the interference signal x in the time domain according to the fast-time 1DFFT result of the pulse period where the interference point is located i (m0,n);

[0095] In this embodiment, use the fast-time dimension 1DFFT results of the interference point and the two points on its left and right in the pulse period to reconstruct the interference frequency f i Assume that the index of the interference point is (m0,n′0), and in this embodiment, n′0 = 40, f i The expression is as shown in Equation (10):

[0096]

[0097] Among them, Δn0′ is the index deviation, and the expression is as shown in Equation (11):

[0098]

[0099] The amplitude A of the interference signal i and the phase can be obtained respectively according to Expression (12) and Expression (13):

[0100]

[0101]

[0102] Among them, Arg represents the argument of the complex number.

[0103] According to the frequency f i 、amplitude A i and the phase reconstruct the interference signal x corresponding to this sampling point in its pulse period i (m0,n), and the expression is:[[]]

[0104]

[0105] Specifically, in step S6, sequentially eliminate the interference signals in each pulse period in the time domain;

[0106] Through step S5, the interference signals x i (m0,n) corresponding to all the interference points in their pulse periods can be obtained. Eliminate the corresponding interference signals according to the pulse periods where the interference signals are located to obtain the time-domain mixed-frequency signal x′(m,n) after interference suppression. The expression of x′(m,n) is:[[]]

[0107]

[0108] where m = 0, 1, ..., M - 1, n = 0, 1, ..., N - 1, and m0 is the slow - time - dimension index number of the interference column.

[0109] Specifically, in step S7, the time - domain mixed - frequency signal after interference suppression is subjected to 2DFFT to obtain a 2D result for identifying real targets.

[0110] The time - domain mixed - frequency signal x′(m, n) after interference suppression is subjected to 2DFFT to obtain the 2DFFT result X′(m′, n′). The 2DFFT formula is as follows:

[0111]

[0112] where m′ = 0, 1, ..., M - 1, n′ = 0, 1, ..., N - 1.

[0113] The specific result of 2DFFT is as Figure 8 shown. Compared with Figure 5 it can be seen from Figure 8 that the interference signal at the 40th sampling point has been suppressed, that is, the transmitted signal s′ B (t) of the interfering radar has been suppressed, and the target signals at the 27th and 78th sampling points have been preserved. During subsequent target detection, they will not be affected by this interference signal, and the goal of suppressing the interference signal is achieved.

[0114] The present invention also provides an FMCW radar interference detection and suppression system to implement the steps of the above - mentioned FMCW radar interference detection and suppression method, specifically including:

[0115] A mixing processing unit for mixing the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar to obtain a mixed - frequency signal. Among them, the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar;

[0116] A 1DFFT processing unit for performing fast - time - dimension 1DFFT processing on the sampled mixed - frequency signal to obtain the 1DFFT result of the mixed - frequency signal;

[0117] A suspicious target matrix construction unit for performing peak detection and first - threshold selection on the 1DFFT result in the fast - time dimension to obtain a suspicious target matrix;

[0118] An interference signal judgment unit for detecting each column of the suspicious target matrix to obtain the position of the interference signal.

[0119] Specifically, the interference signal determination unit performs column-by-column detection on the suspicious target matrix. If the number of targets in the current column is less than the set second threshold, it determines that this column is an interference column. After column-by-column detection, the positions of all interference signals are obtained.

[0120] After detecting the positions of all interference signals, it further includes:

[0121] The interference signal reconstruction unit is used to sequentially traverse the positions of the interference signals and reconstruct the interference signals in the time domain according to the fast-time dimension 1DFFT results of the pulse periods where the interference signals are located;

[0122] The time-domain mixed-frequency signal reconstruction unit is used to sequentially remove the interference signals in each pulse period in the time domain to obtain the time-domain mixed-frequency signal after interference suppression.

[0123] It further includes a target recognition unit, which is used to perform 2DFFT on the time-domain mixed-frequency signal to identify the target signal.

[0124] The present invention also provides a computer-readable storage medium, on which a computer program is stored. The program is characterized in that when it is executed by a processor, it implements the steps of the FMCW radar interference detection and suppression method as described above.

[0125] The interference detection and suppression method of the present invention innovatively directly performs fast-time dimension 1DFFT processing on the signal after mixing processing. By using the differences in delay and time drift generated by the transmitted signal of the interfering radar arriving at the interfered radar between pulse periods, through peak detection and first threshold selection, the 1DFFT results are detected in the fast-time dimension to obtain a suspicious target matrix that can represent the reflected signals and interference signals of the targets. Column-by-column detection is performed on the suspicious target matrix to obtain all the signals transmitted by the interfering radars that are the same as the transmitted signal of the interfered radar, thereby determining the positions of the interference signals. This detection method of the present invention does not require changing the working mode of the radar, does not require complex transmitted signal patterns, and does not require combining other algorithms subsequently, greatly reducing the complexity of interference detection.

[0126] At the same time, by directly using the fast-time dimension 1DFFT results to obtain the time-domain parameters of the interference signals to realize the time-domain reconstruction of the interference signals and perform interference suppression in the time domain, the hardware implementation complexity is reduced.

[0127] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An FMCW radar interference detection and suppression method, characterized in that, Including: Step S1: Mix the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar. Among them, the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar; Step S2: After sampling the mixed signal, perform 1D FFT processing in the fast time dimension to obtain the 1D FFT result of the mixed signal; Step S3: Perform peak detection and first threshold selection on the 1D FFT result in the fast time dimension to obtain a suspicious target matrix; Step S4: Detect the suspicious target matrix column by column to obtain the position of the interference signal; In step S3, the suspicious target matrix is as follows: Among them, when is a suspicious target when the following conditions are met: Wherein, is the 1DFFT result of the mixing signal amplitude of, , is the number of sampling points, is the first threshold value.

2. The FMCW radar interference detection and suppression method according to claim 1, wherein In step S4, if the number of targets in the current column is less than the set second threshold, determine that the current column is an interference column, and the position of the interference signal is obtained after column-by-column detection.

3. The FMCW radar interference detection and suppression method according to claim 2, wherein For the current column of the suspicious target matrix, traverse and sum in the slow time dimension to obtain the number of targets in the current column.

4. The FMCW radar interference detection and suppression method according to claim 1, characterized in that In step S1, the interference signal is one or more, and the reflected signal of the target is one or more.

5. The FMCW radar interference detection and suppression method according to any one of claims 1-4, characterized in that, Also including: Step S5: Traverse the positions of the interference signals in sequence, and reconstruct the interference signal in the time domain according to the 1D FFT result of the fast time dimension of the pulse period where the interference signal is located; Step S6: In the time domain, sequentially remove the interference signals in each pulse period to obtain the mixed signal after interference suppression.

6. The FMCW radar interference detection and suppression method according to claim 5, wherein Also including: Step S7: Perform 2D FFT processing on the mixed signal after interference suppression to identify the target.

7. An FMCW radar interference detection and suppression system, characterized in that, Including: A mixing processing unit for mixing the interference signal received by the interfered radar, the reflected signal of the target, and the transmitted signal of the interfered radar. Among them, the interference signal comes from the transmitted signal of the interfering radar, and the transmitted signal of the interfering radar is the same as the transmitted signal of the interfered radar; A 1D FFT processing unit for performing 1D FFT processing in the fast time dimension after sampling the mixed signal to obtain the 1D FFT result of the mixed signal; A suspicious target matrix construction unit for performing peak detection and first threshold selection on the 1D FFT result in the fast time dimension to obtain a suspicious target matrix; An interference signal judgment unit for detecting the suspicious target matrix column by column to obtain the position of the interference signal; Among them, the suspicious target matrix is as follows: Among them, when it is a suspicious target when the following conditions are met: In the formula, is the 1DFFT result of the mixing signal amplitude, , is the number of sampling points, is the first threshold.

8. The FMCW radar interference detection and suppression system according to claim 7, characterized in that, Also including: An interference signal reconstruction unit for traversing the positions of the interference signals in sequence and reconstructing the interference signal in the time domain according to the 1D FFT result of the fast time dimension of the pulse period where the interference signal is located; A time-domain mixed signal reconstruction unit for sequentially removing the interference signals in each pulse period in the time domain to obtain the mixed signal after interference suppression.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the FMCW radar interference detection and suppression method according to any one of claims 1-6.

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