Millimeter wave radar interference suppression method and device, computer device and storage medium

Abstract

The application relates to a millimeter wave radar interference suppression method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring sampling data of frequency-modulated continuous waves, generating a detection matrix in the distance dimension and the Doppler dimension based on the sampling data; determining a target distance region of the detection matrix based on the number of frequency-modulated continuous waves; calculating a noise floor value of the target distance region, judging whether the radar is interfered at the current moment based on the noise floor value; and if so, performing radar interference suppression. The method can realize the interference state judgment of the millimeter wave radar, reduce the reaction time of radar interference suppression, and improve the target detection accuracy.

Description

Technical Field

[0001] This application relates to the field of millimeter-wave radar technology, and in particular to a millimeter-wave radar interference suppression method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of millimeter-wave radar technology, millimeter-wave radar has been widely used in various fields such as medicine, sports, education, and transportation. However, when multiple millimeter-wave radars emit electromagnetic waves in the same frequency band, or when their emission frequencies overlap, or when they are subjected to broadband signal interference, the radar's signal-to-noise ratio will be affected, thereby weakening the radar's monitoring performance. For example, this can lead to problems such as a shortened radar detection range and a reduced ability to detect smaller targets.

[0003] For interference suppression of millimeter-wave radar, traditional techniques involve dividing the sampled data of frequency-modulated continuous wave radar into blocks, sequentially detecting the interference status of each block, and calculating and suppressing interference if any block is found to be interfering. However, this method only performs noise reduction on the sampled data. When the noise floor is high, it cannot identify small targets through data noise reduction, resulting in poor radar anti-interference capability.

[0004] It is evident that existing millimeter-wave radar technologies still suffer from low accuracy in judging radar interference and low target detection rates. Summary of the Invention

[0005] Therefore, it is necessary to provide a millimeter-wave radar interference suppression method, apparatus, computer equipment, and computer-readable storage medium that can improve the accuracy of radar interference status judgment in response to the above-mentioned technical problems.

[0006] Firstly, this embodiment provides a millimeter-wave radar interference suppression method, the method comprising:

[0007] Acquire sampling data of frequency-modulated continuous wave, and generate a range-Doppler detection matrix based on the sampling data;

[0008] The target distance region of the detection matrix is ​​determined based on the number of frequency-modulated continuous waves.

[0009] Calculate the noise floor value of the target range region, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, perform radar interference suppression.

[0010] In one embodiment, the sampling data includes multiple sampling points, and the step of generating the distance-Doppler detection matrix based on the sampling data further includes:

[0011] Detect whether the amplitude values ​​of each sampling point in the sampled data are within a preset range;

[0012] If the amplitude value exceeds the preset range, the amplitude value exceeding the preset range will be set to zero.

[0013] In one embodiment, the step of detecting whether the amplitude values ​​of each sampling point in the sampled data are within a preset range includes:

[0014] Obtain undisturbed sampling data samples of frequency-modulated continuous wave, and determine a first average value based on the amplitude values ​​of each sampling point in the sampling data samples;

[0015] A second average value is determined based on the amplitude values ​​of each sampling point of the sampled data;

[0016] The preset range is determined based on the first average value and the second average value.

[0017] In one embodiment, generating the distance-Doppler detection matrix based on the sampled data includes:

[0018] The amplitude values ​​of the range dimension and Doppler dimension of the frequency-modulated continuous wave are calculated based on the sampled data;

[0019] The range-Doppler detection matrix is ​​generated based on the amplitude values ​​of the range dimension and the Doppler dimension.

[0020] In one embodiment, the step of generating the range-Doppler detection matrix based on the amplitude values ​​of the range dimension and the Doppler dimension further includes:

[0021] Based on the amplitude value of the Doppler effect, noncoherent accumulation and logarithmic calculation are performed to obtain the processed amplitude value of the Doppler effect.

[0022] In one embodiment, calculating the noise floor value of the target distance region includes:

[0023] Calculate the median value of the amplitude values ​​in the target distance region;

[0024] The noise floor value is determined based on the median value.

[0025] In one embodiment, the sampling data includes frame data from the current moment and multiple historical moments, and determining whether the radar is being interfered with at the current moment based on the noise floor value includes:

[0026] The radar interference situation of the frame data at the current time and multiple historical times is determined based on the noise floor value and a preset threshold.

[0027] Determine whether the number of radar interference frames in the current time and multiple historical time frame data meets the preset number;

[0028] If so, then it is determined that the radar is currently being interfered with;

[0029] Conversely, it is determined that the radar is not being interfered with at the current moment.

[0030] Secondly, this embodiment provides a millimeter-wave radar interference suppression device, the device comprising:

[0031] The generation module is used to acquire sampling data of frequency-modulated continuous wave and generate a range-Doppler detection matrix based on the sampling data;

[0032] The determination module is used to determine the target distance region of the detection matrix based on the number of frequency-modulated continuous waves;

[0033] The judgment module is used to calculate the noise floor value of the target distance area, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, radar interference suppression is performed.

[0034] Thirdly, this embodiment provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0035] Fourthly, this embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0036] The aforementioned millimeter-wave radar interference suppression method, device, computer equipment, and storage medium determine whether the radar is interfered with by identifying the target range region in the range-Doppler detection matrix and determining the noise floor value based on the target range region. By characterizing the noise floor level of the entire detection matrix through specific range segment data, the interference status judgment of the millimeter-wave radar is realized, reducing the reaction time for radar interference suppression and achieving the effect of improving the target detection accuracy. Attached Figure Description

[0037] Figure 1 This is an application environment diagram of a millimeter-wave radar interference suppression method in one embodiment;

[0038] Figure 2 This is a flowchart illustrating a millimeter-wave radar interference suppression method in one embodiment;

[0039] Figure 3 This is a flowchart illustrating a millimeter-wave radar interference suppression method in another embodiment;

[0040] Figure 4 This is a flowchart illustrating a millimeter-wave radar interference suppression method in another embodiment;

[0041] Figure 5 This is a flowchart illustrating a millimeter-wave radar interference suppression method in another embodiment;

[0042] Figure 6 This is a spectrum of sampled data from a single frequency-modulated continuous wave in one embodiment;

[0043] Figure 7 A distance-Doppler spectrum diagram in another embodiment;

[0044] Figure 8 This is a distance-dimensional spectrum diagram in another embodiment;

[0045] Figure 9 The spectrum diagram of the distance dimension-Doppler dimension in another embodiment;

[0046] Figure 10 This is a distance-dimensional spectrum diagram in another embodiment;

[0047] Figure 11 A distance-Doppler spectrum diagram in another embodiment;

[0048] Figure 12 This is a distance-dimensional spectrum diagram in another embodiment;

[0049] Figure 13 This is a structural block diagram of a millimeter-wave radar interference suppression device in one embodiment;

[0050] Figure 14 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] The millimeter-wave radar interference suppression method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on a cloud or other network server. Terminal 102 acquires sampled data of frequency-modulated continuous waves (FM continuous waves), generates a range-Doppler detection matrix based on the sampled data, determines the target range region of the detection matrix based on the number of FM continuous waves, calculates the noise floor value of the target range region, and determines whether the radar is currently interfered with based on the noise floor value. If so, radar interference suppression is performed. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster composed of multiple servers.

[0053] In one embodiment, such as Figure 2 As shown, a millimeter-wave radar interference suppression method is provided, which is applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps:

[0054] Step S100: Obtain sampling data of frequency-modulated continuous wave, and generate a range-Doppler detection matrix based on the sampling data.

[0055] Frequency-modulated continuous wave (FM-CVT) can be an electromagnetic wave whose modulated frequency changes over time. FM-CVT can be linear, meaning it changes linearly with time. This linear change typically occurs within one transmission cycle. The waveform of an FM-CVT can be a sine wave, a sawtooth wave, or a triangular wave, or other waveforms; this paper does not limit this.

[0056] The sampling data for frequency-modulated continuous wave (FM continuous wave) can be a digital signal determined by digitally sampling the echo signal, or it can be an intermediate frequency (IF) signal generated by mixing the transmitted signal and the echo signal. The mixing of the IF signal can be done in the millimeter-wave radar device or in the terminal 102.

[0057] The echo signal can include the signal that returns after the transmitted signal reaches the target, or it can include signals from the environment received during the process of receiving the return signal.

[0058] The detection matrix in the range-Doppler dimension, generated based on the sampled data, can be obtained by performing a second Fast Fourier Transform (FFT) on the intermediate frequency (IF) signal. This includes performing a range-dimensional FFT on a single IF signal and a Doppler-dimensional FFT on multiple IF signals. Each point in the generated detection matrix has a different coordinate position and amplitude.

[0059] Step S200: Determine the target distance region of the detection matrix based on the number of frequency-modulated continuous waves.

[0060] The target distance region refers to the matrix region mapped within the target value range in the range-Doppler detection matrix, i.e., the detection matrix region within the target distance range. The target value range can be preset or determined based on the frequency of the detection matrix, indicating a region with a typical noise floor.

[0061] The target distance region of the detection matrix can be determined based on the number of frequency-modulated continuous waves, which can be achieved when the number of frequency-modulated continuous waves reaches a preset value.

[0062] Step S300: Calculate the noise floor value of the target range region, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, perform radar interference suppression.

[0063] The calculation of the noise floor value of the target range area, and the determination of whether the radar is being interfered with at the current moment based on the noise floor value, can be achieved by using the amplitude of each coordinate point in the target range area as the noise floor value, comparing the amplitude of each coordinate point with a preset threshold to obtain the number of coordinate points exceeding the preset threshold, and if the number of coordinate points meets the preset range, then the radar is being interfered with at the current moment; alternatively, the amplitude of each coordinate point in the target range area can be obtained, the noise floor value can be determined based on multiple amplitudes, and it can be determined whether the noise floor value is greater than a preset threshold, thereby determining whether the radar is being interfered with at the current moment.

[0064] To determine whether there is interference at the current moment, one can make a judgment based on the noise floor value obtained from the sampling data at the current moment, or based on the noise floor value of the sampling data at historical moments, or based on a combination of the sampling data at the current moment and historical moments.

[0065] Radar jamming suppression can be achieved from multiple perspectives, including waveform, spatial, and frequency. Waveform-based jamming suppression can be implemented through methods such as noise-modulated frequency interference (FM) suppression, range- or velocity-deception jamming, and passive interference suppression. Spatial-based jamming suppression can utilize low-sidelobe and ultra-low-sidelobe antenna technology, spatial filtering, sidelobe blanking, and polarization filtering. Frequency-based jamming suppression can employ methods such as frequency agility and frequency diversity. Other active or passive radar anti-jamming techniques can also be employed, but this paper does not limit the specific approaches.

[0066] This embodiment provides a millimeter-wave radar interference suppression method. By determining the target range region in the range-Doppler detection matrix and determining the noise floor value based on the target range region, it is possible to determine whether the radar is interfered with. By characterizing the noise floor level of the entire detection matrix through data from a specific range segment, the interference status of the millimeter-wave radar can be determined, reducing the reaction time for radar interference suppression and improving the target detection accuracy.

[0067] In one embodiment, the sampling data includes multiple sampling points, and the step of generating the distance-Doppler detection matrix based on the sampling data further includes:

[0068] Detect whether the amplitude values ​​of each sampling point in the sampled data are within a preset range;

[0069] If the amplitude value exceeds the preset range, the amplitude value exceeding the preset range will be set to zero.

[0070] The preset range can be set based on prior knowledge or determined based on sampled data. For example, it can be obtained by multiplying the average or median value of the amplitude values ​​of the sampled data by a preset coefficient, or it can be determined based on historical sampled data to identify the real target and then determine the preset range based on the amplitude values ​​outside the real target.

[0071] If the amplitude value of a sampling point exceeds the preset range, the amplitude value of that sampling point may be affected by environmental interference. Setting the affected amplitude value to zero can achieve preprocessing of the sampling data.

[0072] This embodiment provides a millimeter-wave radar interference suppression method. By detecting whether the amplitude values ​​of each sampling point in the sampled data are within a preset range, and setting the amplitude values ​​of sampling points that exceed the preset range to zero, the amplitude values ​​of frequency-modulated continuous waves can be suppressed in advance in the time domain, thereby improving the accuracy of judging the interference state of millimeter-wave radar.

[0073] In one embodiment, the step of detecting whether the amplitude values ​​of each sampling point in the sampled data are within a preset range includes:

[0074] Obtain undisturbed sampling data samples of frequency-modulated continuous wave, and determine a first average value based on the amplitude values ​​of each sampling point in the sampling data samples;

[0075] A second average value is determined based on the amplitude values ​​of each sampling point of the sampled data;

[0076] The preset range is determined based on the first average value and the second average value.

[0077] The uninterrupted sampling data of the frequency-modulated continuous wave can be generated based on simulation, sampling data from a millimeter-wave radar under experimental conditions, or other methods for generating sampling data; this paper does not limit this. A second average value is determined based on the amplitude values ​​of each sampling point of the sampling data. This sampling data can be sampling data from the millimeter-wave radar at the current or historical moment, or other sampling data under interference.

[0078] Determining a preset range based on the first average value and the second average value can be achieved by determining the amplitude difference based on the first average value and the second average value, determining an adjustment coefficient based on the amplitude difference, determining a maximum threshold based on the first average value and the adjustment coefficient, and determining the preset range based on the maximum threshold.

[0079] This embodiment provides a millimeter-wave radar interference suppression method that determines a preset range based on the average amplitude of sampled data and the average amplitude of sample data. This allows the radar to adjust the interference suppression range based on the current environmental interference, achieving adaptive adjustment of the time-domain interference suppression sensitivity and improving the accuracy of judging the interference state of the millimeter-wave radar.

[0080] In one embodiment, generating the distance-Doppler detection matrix based on the sampled data includes:

[0081] The amplitude values ​​of the range dimension and Doppler dimension of the frequency-modulated continuous wave are calculated based on the sampled data;

[0082] The range-Doppler detection matrix is ​​generated based on the amplitude values ​​of the range dimension and Doppler dimension.

[0083] Calculating the amplitude value of the frequency-modulated continuous wave in the range dimension based on sampled data can be achieved by performing a Fourier transform on the intermediate frequency signal to obtain the frequency domain signal in the range dimension. The peak value of the obtained amplitude value within a certain range can indicate the presence of a target within that range.

[0084] Calculating the Doppler amplitude of a frequency-modulated continuous wave (FM continuous wave) based on sampled data can be achieved by performing a Doppler Fourier transform on multiple FM continuous wave signals after accumulating a certain number of sampled data points, thus obtaining the frequency domain signal in the Doppler dimension. The peak value of the obtained amplitude within a certain Doppler range can indicate the presence of a target within that Doppler range.

[0085] This embodiment provides a millimeter-wave radar interference suppression method that can generate a range-Doppler detection matrix by calculating the amplitude values ​​of the range dimension and Doppler dimension based on sampled data.

[0086] In one embodiment, the step of generating the range-Doppler detection matrix based on the amplitude values ​​of the range dimension and the Doppler dimension further includes:

[0087] Based on the amplitude value of the Doppler effect, noncoherent accumulation and logarithmic calculation are performed to obtain the processed amplitude value of the Doppler effect.

[0088] Noncoherent accumulation, also known as post-detection accumulation, involves accumulating the intermediate frequency echo signal after detection. The accumulated signal does not include phase characteristics, which can improve the detection performance of weak targets. Noncoherent accumulation can be the accumulation of Doppler amplitude values ​​formed by multiple frequency-modulated continuous waves. By taking the logarithm of the Doppler amplitude values, it is possible to balance the amplitude values ​​of salient and weak targets while scaling the data, thus optimizing the identification of weak targets.

[0089] This embodiment provides a millimeter-wave radar interference suppression method that reduces the storage space of radar sampling data and the computational load of interference state detection by performing non-coherent accumulation and logarithmic processing on the amplitude values ​​of Doppler values. It can also optimize the identification of weak targets.

[0090] In one embodiment, calculating the noise floor value of the target distance region includes:

[0091] Calculate the median value of the amplitude values ​​in the target distance region;

[0092] The noise floor value is determined based on the median value.

[0093] In this context, adjacent coordinate points in the target distance region are distributed at intervals of distance cells and / or Doppler cells, and the median value of the amplitude values ​​of the target distance region can be the median value of the amplitude values ​​of the coordinate points in the target distance region.

[0094] Determining the noise floor based on the median value can be done by using the median as the noise floor value itself, or by using the median value and a preset adjustment coefficient to determine the final noise floor value. The preset adjustment coefficient can be determined based on prior knowledge, or it can be adaptively adjusted based on the user's desired level of interference suppression.

[0095] This embodiment provides a millimeter-wave radar interference suppression method. By calculating the median value of the amplitude values ​​in the target range region and determining the noise floor value based on the median value, the noise floor value in the target range region can be determined, thereby improving the accuracy of interference suppression judgment.

[0096] In one embodiment, the sampling data includes frame data from the current moment and multiple historical moments, and determining whether the radar is being interfered with at the current moment based on the noise floor value includes:

[0097] The radar interference situation of the frame data at the current time and multiple historical times is determined based on the noise floor value and a preset threshold.

[0098] Determine whether the number of radar interference frames in the current time and multiple historical time frame data meets the preset number;

[0099] If so, then it is determined that the radar is currently being interfered with;

[0100] Conversely, it is determined that the radar is not being interfered with at the current moment.

[0101] Among them, determining the radar interference situation of frame data based on the noise floor value and the preset threshold can be based on whether the noise floor value of the target distance area exceeds the preset threshold.

[0102] The number of frames for historical moments is preset, and the determination of radar jamming status can be made after the number of frames for a historical moment meets the preset number. The preset number of frames for radar jamming can be based on prior knowledge or it can be obtained by multiplying the preset number of frames for a historical moment by a preset ratio.

[0103] After determining whether the radar is currently being interfered with or not, the flag indicating the radar's interference status can be updated, and the interference suppression module can determine whether to enable interference suppression based on the flag.

[0104] This embodiment provides a millimeter-wave radar interference suppression method that determines the radar's interference status based on multi-frame radar sampling data, thereby preventing false alarms and improving the accuracy of radar interference status judgment.

[0105] To more clearly explain the technical solution of this application, a detailed embodiment is also provided, such as... Figure 3As shown, in this embodiment, the method includes:

[0106] S1. Acquire ADC sampling data of real-time multi-channel echo signals.

[0107] The process involves real-time acquisition of the time-domain sampling data of the current channel for the current frame and current echo. After step S6, this step is sequentially iterated through other channels to iterate through the ADC sampling data of a single chirp for each channel. Here, chirp refers to frequency-modulated continuous wave, and ADC sampling data refers to the sampling data obtained after converting the acquired analog signal into a digital signal.

[0108] S2. Perform temporal interference suppression on multi-channel ADC sampling data. This includes: determining whether interference suppression is needed for the current frame based on the radar interference status; if interference suppression is needed, then proceeding to the interference suppression module.

[0109] S3, Distance Dimension Signal Processing.

[0110] S4. After accumulating a fixed number of chirps, Doppler signal processing is performed to obtain a two-dimensional frequency domain amplitude detection matrix. Specifically, when the received chirp data accumulates to a set number, the radar performs Doppler FFT calculation to obtain two-dimensional frequency domain data, calculates the amplitude value of the two-dimensional frequency domain data, performs non-coherent accumulation between channels, takes the logarithm of the accumulated amplitude data, and performs appropriate data scaling to obtain a two-dimensional frequency amplitude detection matrix.

[0111] S5. Determine whether the radar in the current frame is being interfered with based on the noise floor statistics, and update the inter-frame statistical count based on the inter-frame judgment results. This includes calculating the noise floor level of the frame data based on the calculated two-dimensional frequency amplitude detection matrix.

[0112] S6. Radar jamming flag update. This includes updating the jamming flag, calculating the jamming confidence level, and outputting it externally via the port.

[0113] like Figure 4 As shown, the workflow of the interference suppression module includes:

[0114] S21. Sequentially extract the ADC sampling data of a single chirp signal.

[0115] S22. Calculate and store the amplitude value of each sampling point. This includes calculating and storing the amplitude values ​​of all N sampling points of the chirp signal based on the real and imaginary parts of the ADC sampling data.

[0116] S23. Sequentially retrieve amplitude values, and set the sampled data corresponding to amplitude values ​​greater than a set threshold to 0. For example... Figure 6As shown, the amplitude values ​​of all sampled points of the chirp signal stored in the database are iterated and compared with a set amplitude threshold in turn. If the amplitude exceeds the set threshold, the I and Q channels of the corresponding ADC data for that sampled point are set to 0. The interference threshold is set based on prior data, by calculating the average amplitude of the ADC sampled data under interference-free conditions and the average amplitude of the ADC sampled data under interference conditions. The difference between these two values ​​is obtained by multiplying the average amplitude of the ADC sampled data under interference-free conditions by a corresponding coefficient.

[0117] S24. Determine whether the amplitude values ​​of the chirp signal have been traversed. If the amplitude values ​​of all sampling points of the chirp signal have not been traversed, proceed to step S23 to continue the traversal operation; otherwise, proceed to step S25.

[0118] S25. Determine if all channels have been traversed. If the chirp signal ADC sampling data of all data channels has been completed, proceed to step S26; otherwise, proceed to step S21 to continue traversing.

[0119] S26, End.

[0120] like Figure 5 As shown, the noise floor level of this frame of data is statistically analyzed based on the calculated two-dimensional frequency amplitude detection matrix, including:

[0121] S51. Obtain the two-dimensional frequency domain amplitude detection matrix of the frame data.

[0122] S52. Calculate the noise floor value corresponding to a single distance cell in the set noise floor statistical region. This includes counting the noise floor value of the Doppler data corresponding to a fixed number of distance cells in a specific distance region (from distance cell a to distance cell b), and comparing this noise floor value with a set threshold.

[0123] S53. The noise floor value of each distance unit is compared with a set threshold, and the number of distance units whose noise floor exceeds the threshold is recorded to determine whether the frame data is interfered with. This includes recording the number of distance units whose noise floor values ​​exceed the set threshold. When the number of noise floor values ​​exceeds the set interference judgment threshold, the frame data is judged to be interfered with.

[0124] S54. Update the inter-frame interference count. Based on whether the radar is interfered with in the current frame, update the inter-frame interference count. The inter-frame interference count calculates the radar interference situation in the current frame and historical frames, totaling P frames. The interference suppression module is triggered if and only if at least Q frames of data in the total P frames are interfered with. The interference suppression module performs interference suppression starting from the next frame after the current frame. If the number of interfered frames is less than Q, the radar does not perform interference suppression.

[0125] like Figure 7 and Figure 8 As shown, when the radar is not interfered with, the noise floor in the two-dimensional frequency domain within a fixed range segment is approximately 68.6 dB, and the signal-to-noise ratio of the target is approximately 32.1 dB.

[0126] like Figure 9 and Figure 10 As shown, when the radar is jammed, the noise floor in the two-dimensional frequency domain within a fixed range segment is approximately 95.6 dB, and the target is obscured.

[0127] like Figure 11 and Figure 12 As shown, when the radar performs interference suppression, the noise floor level is significantly reduced compared to when interference suppression is not performed. The noise floor value within a fixed range segment is approximately 79.6 dB, and the target signal-to-noise ratio is approximately 20.7 dB.

[0128] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0129] Based on the same inventive concept, this application also provides a millimeter-wave radar interference suppression device for implementing the millimeter-wave radar interference suppression method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more millimeter-wave radar interference suppression device embodiments provided below can be found in the limitations of the millimeter-wave radar interference suppression method described above, and will not be repeated here.

[0130] In one embodiment, such as Figure 13 As shown, a millimeter-wave radar interference suppression device is provided, comprising: a generation module 100, a determination module 200, and a judgment module 300, wherein:

[0131] The generation module 100 is used to acquire sampling data of frequency-modulated continuous wave and generate a range-Doppler detection matrix based on the sampling data;

[0132] Determining module 200 is used to determine the target distance region of the detection matrix based on the number of frequency-modulated continuous waves;

[0133] The judgment module 300 is used to calculate the noise floor value of the target distance area, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, radar interference suppression is performed.

[0134] In one embodiment, the sampling data includes multiple sampling points, and the generation module 100 is further configured to: detect whether the amplitude value of each sampling point in the sampling data is within a preset range; if it exceeds the preset range, then set the amplitude value exceeding the preset range to zero.

[0135] In one embodiment, the generation module 100 is further configured to: acquire undisturbed sampling data samples of frequency-modulated continuous wave; determine a first average value based on the amplitude values ​​of each sampling point in the sampling data samples; determine a second average value based on the amplitude values ​​of each sampling point in the sampling data; and determine the preset range based on the first average value and the second average value.

[0136] In one embodiment, the generation module 100 is further configured to: calculate the amplitude values ​​of the range dimension and Doppler dimension of the frequency-modulated continuous wave based on the sampled data; and generate the range-Doppler dimension detection matrix based on the amplitude values ​​of the range dimension and Doppler dimension.

[0137] In one embodiment, the generation module 100 is further configured to: perform non-coherent accumulation and logarithm taking based on the Doppler amplitude value to obtain the processed Doppler amplitude value.

[0138] In one embodiment, the determination module 300 is further configured to: calculate the median value of the amplitude value of the target distance region; and determine the noise floor value based on the median value.

[0139] In one embodiment, the sampling data includes frame data from the current moment and multiple historical moments. The judgment module 300 is further configured to: determine the radar interference status of the frame data from the current moment and multiple historical moments based on the noise floor value and a preset threshold; determine whether the number of radar interference frames in the frame data from the current moment and multiple historical moments meets a preset number; if so, determine that the radar at the current moment is interfered with; otherwise, determine that the radar at the current moment is not interfered with.

[0140] Each module in the aforementioned millimeter-wave radar interference suppression device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0141] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 14 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a millimeter-wave radar interference suppression method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0142] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0143] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0144] Acquire sampling data of frequency-modulated continuous wave, and generate a range-Doppler detection matrix based on the sampling data;

[0145] The target distance region of the detection matrix is ​​determined based on the number of frequency-modulated continuous waves.

[0146] Calculate the noise floor value of the target range region, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, perform radar interference suppression.

[0147] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0148] Acquire sampling data of frequency-modulated continuous wave, and generate a range-Doppler detection matrix based on the sampling data;

[0149] The target distance region of the detection matrix is ​​determined based on the number of frequency-modulated continuous waves.

[0150] Calculate the noise floor value of the target range region, and determine whether the radar is being interfered with at the current moment based on the noise floor value; if so, perform radar interference suppression.

[0151] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0153] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A millimeter-wave radar interference suppression method, characterized in that, The method includes: A range-Doppler detection matrix is ​​generated based on sampling data of a frequency-modulated continuous wave (FM continuous wave). The sampling data includes frame data from the current time and multiple historical time points. Generating the range-Doppler detection matrix involves: calculating the range and Doppler amplitude values ​​of the FM continuous wave based on the sampling data; performing non-coherent accumulation and taking the logarithm based on the Doppler amplitude values ​​to obtain processed Doppler amplitude values; and generating the range-Doppler detection matrix based on the range and Doppler amplitude values. The target distance region of the detection matrix is ​​determined based on the number of frequency-modulated continuous waves. The noise floor value of the target range region is calculated, and it is determined whether the radar is being interfered with at the current moment based on whether the noise floor value exceeds a preset threshold; if so, radar interference suppression is performed; the calculation of the noise floor value of the target range region includes: calculating the median value of the amplitude value of the target range region; determining the noise floor value based on the median value; the determination of whether the radar is being interfered with at the current moment based on the noise floor value includes: determining the radar interference status of the frame data of the current moment and multiple historical moments based on the noise floor value and a preset threshold; determining whether the number of frames of the current moment and multiple historical moments where the radar is interfered with meets a preset number; if so, it is determined that the radar is being interfered with at the current moment; otherwise, it is determined that the radar is not being interfered with at the current moment.

2. The method according to claim 1, characterized in that, The sampling data includes multiple sampling points, and before generating the distance-Doppler detection matrix based on the sampling data, the following steps are also included: Detect whether the amplitude values ​​of each sampling point in the sampled data are within a preset range; If the amplitude value exceeds the preset range, the amplitude value exceeding the preset range will be set to zero.

3. The method according to claim 2, characterized in that, Before detecting whether the amplitude value of each sampling point in the sampled data is within a preset range, the following steps are included: Obtain undisturbed sampling data samples of frequency-modulated continuous wave, and determine a first average value based on the amplitude values ​​of each sampling point in the sampling data samples; A second average value is determined based on the amplitude values ​​of each sampling point of the sampled data; The preset range is determined based on the first average value and the second average value.

4. A millimeter-wave radar interference suppression device, characterized in that, The device includes: A generation module is used to acquire sampling data of frequency-modulated continuous waves (FM continuous waves), accumulate a fixed number of FM continuous waves, and generate a range-Doppler detection matrix based on the sampling data. The sampling data includes frame data from the current time and multiple historical time points. Generating the range-Doppler detection matrix based on the sampling data includes: calculating the amplitude values ​​of the range dimension and Doppler dimension of the FM continuous wave based on the sampling data; performing non-coherent accumulation and taking the logarithm based on the amplitude values ​​of the Doppler dimension to obtain the processed amplitude values ​​of the Doppler dimension; and generating the range-Doppler detection matrix based on the amplitude values ​​of the range dimension and Doppler dimension. The determination module is used to determine the target distance region of the detection matrix based on the number of frequency-modulated continuous waves; The judgment module is used to calculate the noise floor value of the target range region, and determine whether the radar is interfered with at the current moment based on whether the noise floor value exceeds a preset threshold; if so, radar interference suppression is performed; the calculation of the noise floor value of the target range region includes: calculating the median value of the amplitude value of the target range region; determining the noise floor value based on the median value; the determination of whether the radar is interfered with at the current moment based on the noise floor value includes: determining the radar interference status of the frame data of the current moment and multiple historical moments based on the noise floor value and the preset threshold; determining whether the number of frames of the current moment and multiple historical moments in the frame data of the radar being interfered with meets a preset number; if so, it is determined that the radar is interfered with at the current moment; otherwise, it is determined that the radar is not interfered with at the current moment.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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