Millimeter wave radar interference prediction method and interference prediction device

Abstract

The present application relates to the technical field of millimeter wave radar, and more particularly to a millimeter wave radar interference prediction method and an interference prediction device. The millimeter wave radar interference prediction method comprises the following steps: first, obtaining a radar interference signal; then, obtaining interference parameters of the radar interference signal; and finally, inputting the interference parameters into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal. The interference probability prediction model is obtained based on analysis of multiple interference factors affecting the interference probability. Therefore, the interference probability prediction model is obtained based on analysis of multiple interference factors affecting the interference probability, and the interference probability obtained based on the interference probability prediction model is more accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of millimeter wave radar, in particular to a millimeter wave radar interference prediction method and an interference prediction device. BACKGROUND

[0002] With the rapid development and wide application of automatic driving technology, millimeter wave radars are deployed on a large number of automatic driving vehicles for real-time perception of the surrounding road environment. In the face of limited frequency spectrum resources and complex electromagnetic environment, the safety problem induced by millimeter wave radar interference is increasingly prominent. At the same time, interference may lead to a decrease in radar detection probability or an increase in false alarm rate, which is prone to cause automatic driving safety hazards. Therefore, the development of a millimeter wave radar interference prediction system is urgent.

[0003] At present, the interference research on millimeter wave radars mainly includes interference influence analysis and interference probability calculation. In the prior art, in the aspect of interference probability calculation, in the face of complex road scenes and actual radar transmission waveforms, the interference probability calculation method in the prior art lacks comprehensive consideration of various interference influencing factors, and therefore the interference probability obtained has low precision. SUMMARY

[0004] The present application provides a millimeter wave radar interference prediction method to solve the technical defect that the interference probability obtained in the prior art has low precision.

[0005] In one aspect, the present application provides a millimeter wave radar interference prediction method, comprising:

[0006] obtaining a radar interference signal;

[0007] obtaining an interference parameter of the radar interference signal;

[0008] inputting the interference parameter into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is obtained according to analysis of a plurality of interference factors influencing the interference probability.

[0009] According to the millimeter wave radar interference prediction method provided by the present application, the radar interference signal is obtained, comprising:

[0010] obtaining a radar mixed signal;

[0011] inputting the radar mixed signal into a signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and an interference type of the radar interference signal.

[0012] According to the millimeter wave radar interference prediction method provided by the present application, the interference parameter of the radar interference signal is obtained, comprising:

[0013] determine a corresponding interference parameter extractor according to the interference type of the radar interference signal;

[0014] input the radar interference signal into the interference parameter extractor to obtain the interference parameter of the radar interference signal.

[0015] According to the millimeter wave radar interference prediction method provided by the application, the signal extraction classifier includes an interference signal extraction unit and an interference signal classification unit.

[0016] The radar mixed signal is input into the signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal, which includes:

[0017] The radar mixed signal is input into the interference signal extraction unit to obtain the radar interference signal included in the radar mixed signal.

[0018] The radar interference signal is input into the interference signal classification unit, and the interference signal classification unit determines the interference type of the radar interference signal according to the chirp slope of the radar interference signal, the chirp slope of the transmitted signal and the occurrence position of the interference signal chirp.

[0019] The interference type of the radar interference signal includes cross interference and parallel interference.

[0020] According to the millimeter wave radar interference prediction method provided by the application, the multiple interference factors affecting the interference probability include radar setting parameters, radar quantity and vehicle distribution parameters.

[0021] The radar setting parameters include idle time between chirp signals, slope, bandwidth and period of transmitted signal.

[0022] The vehicle distribution parameters include traffic flow, vehicle distance and vehicle speed.

[0023] According to the millimeter wave radar interference prediction method provided by the application, the interference parameter is input into the trained interference probability prediction model to obtain the corresponding interference probability of the radar interference signal, which includes:

[0024] When it is determined that the interference type of the radar interference signal is cross interference, the interference probability is determined by the following formula:

[0025] P c =T c / (2T c +T idletime -T transmit )

[0026] In the above formula, Pc is the interference probability, T c represents the duration of a chirp, T idletime represents the idle time between chirp signals, T transmit represents the period of the transmitted signal.

[0027] When it is determined that the interference type of the radar interference signal is parallel interference, the following formula (1) is used to determine the interference probability.

[0028]

[0029] In the above formula (1), P c is the interference probability, T c represents the duration of a chirp, T s represents the sampling time interval, B represents the bandwidth of the transmitted signal, T idletime represents the idle time between chirp signals.

[0030] According to the millimeter wave radar interference prediction method provided by the present application, after the interference probability of the radar interference signal is obtained, the method further comprises:

[0031] The composite probability of the multi-vehicle model being interfered is determined according to the following formula (2):

[0032] P m = 1-(1-P c ) m (2)

[0033] In the above formula (2), P m represents the composite probability of the multi-vehicle model being interfered, and m represents the number of interfered radars.

[0034] On the other hand, the present application also provides a millimeter wave radar interference prediction device, comprising:

[0035] A first acquisition unit is configured to acquire a radar interference signal.

[0036] A second acquisition unit is configured to acquire interference parameters of the radar interference signal.

[0037] A prediction unit is configured to input the interference parameters into an interference probability prediction model to obtain the interference probability corresponding to the radar interference signal, wherein the interference probability prediction model is obtained according to analysis of a plurality of interference factors affecting the interference probability.

[0038] On the other hand, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the millimeter wave radar interference prediction method according to any one of the above.

[0039] In another aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the millimeter wave radar interference prediction method according to any one of the above.

[0040] The millimeter wave radar interference prediction method provided by the present application comprises the following steps: first, obtaining a radar interference signal; then, obtaining interference parameters of the radar interference signal; finally, inputting the interference parameters into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is obtained according to analysis of multiple interference factors affecting the interference probability. It can be seen that the interference probability prediction model is obtained according to analysis of multiple interference factors affecting the interference probability in the present application, and the interference probability obtained according to the interference probability prediction model is more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0042] Figure 1 The flowchart of the millimeter wave radar interference prediction method provided by the present application is shown in the figure;

[0043] Figure 2 The radar interference type diagram provided by the embodiment of the present application is shown in the figure;

[0044] Figure 3 The interference prediction result diagram when parallel interference occurs provided by the embodiment of the present application is shown in the figure;

[0045] Figure 4 The interference prediction result diagram when cross interference occurs provided by the embodiment of the present application is shown in the figure;

[0046] Figure 5 The structure diagram of the millimeter wave radar interference prediction device provided by the embodiment of the present application is shown in the figure;

[0047] Figure 6 The physical structure diagram of an electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0048] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be combined with the drawings in the present application to clearly and completely describe the technical solutions in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0049] In the embodiments of the present application, "at least one" refers to one or more, and "multiple" refers to two or more. The association relationship of the associated objects is described, which means that there can be three relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, wherein A and B can be singular or plural. In the description of the present application, the character " / " generally represents an "or" relationship between the front and rear associated objects.

[0050] At present, millimeter wave radar is widely used in the field of automatic driving of automobiles, so studying radar jamming signals of millimeter wave radar is of great significance to the collection of radar signals, and also has important guiding significance for the control of the traffic system.

[0051] In the prior art, when predicting radar jamming signals, only single parameter conditions such as traffic flow distribution are generally considered, so that the interference probability prediction result obtained has certain limitations, resulting in that the interference probability prediction result is not accurate enough and is difficult to adapt to the existing complex automatic driving environment of automobiles.

[0052] In order to overcome the technical problem of low accuracy of interference probability prediction in the prior art, the present application provides a millimeter wave radar interference prediction method, which obtains an interference probability prediction model through comprehensive analysis of multiple interference factors affecting the interference probability, and the interference probability prediction model can accurately predict the interference parameters of the radar jamming signal.

[0053] Further, when determining the multiple interference factors affecting the interference probability, the present application not only considers the chirp signal slope or traffic flow distribution information, but also includes the interference factors such as waveform, signal transmission gap, frequency and bandwidth of the millimeter wave radar signal actually used. And the present application finds through research that when the chirp slopes of multiple automobile radars working in the same frequency band are the same, the radar signals may produce parallel interference, resulting in the phenomenon of false target, and further causing the problem of target signal false detection; when the chirp slopes of multiple automobile radars working in the same frequency band are different, the radar signals between them will produce cross interference, resulting in the phenomenon of lifting of the bottom noise in the frequency domain, and further causing the problem of target signal missing detection.

[0054] In order to overcome the above technical defects, the present application further determines a plurality of interference factors affecting the interference probability, including radar setting parameters, radar quantity and vehicle distribution parameters. Among them, the radar setting parameters include: idle time between chirp signals, slope, bandwidth, period of transmitted signals and radar scattering cross section area; the vehicle distribution parameters include: traffic flow, vehicle distance and vehicle speed. And after testing, the interference probability corresponding to the radar interference signal predicted by the method provided by the present application is more accurate, which plays an important role in data support for traffic control (such as control of unmanned vehicles) and the like.

[0055] The technical solutions of the present application will be described below. Figures 1-6 The millimeter wave radar interference prediction method provided by the present application will be described in detail through the following specific examples. It can be understood that the following specific examples can be combined with each other, and the same or similar concepts or processes may not be described in some examples.

[0056] Figure 1 For the millimeter wave radar interference prediction method provided by the present application, please refer to Figure 1 The millimeter wave radar interference prediction method can be executed by software and / or hardware device, and the millimeter wave radar interference prediction method comprises:

[0057] S10, obtaining a radar interference signal.

[0058] In one embodiment, the radar interference signal is obtained, specifically comprising:

[0059] Obtaining a radar mixed signal;

[0060] Inputting the radar mixed signal into a signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal.

[0061] Because there are many interference parameters affecting the calculation result of the radar interference probability at present, and part of the interference parameters is not easy to obtain in a specific scene, it is difficult and the workload is huge to extract and analyze all the interference parameters for different types of interference forms.

[0062] In order to solve the technical problem of large workload in this embodiment, a signal extraction classifier is provided, which comprises an interference signal extraction unit and an interference signal classification unit. The interference signal extraction unit is used for extracting the radar interference signal from the radar mixed signal; the interference signal classification unit is used for determining the interference type of the radar interference signal.

[0063] Specifically, in one embodiment, the radar mixed signal is input into the signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal, specifically comprising:

[0064] The radar mixed signal is input into the interference signal extraction unit to obtain a radar interference signal included in the radar mixed signal;

[0065] The radar interference signal is input into the interference signal classification unit, and the interference signal classification unit determines the interference type of the radar interference signal according to the chirp slope of the radar interference signal and the chirp slope of the transmitted signal.

[0066] In an embodiment, the interference type of the radar interference signal includes cross interference and parallel interference.

[0067] In an embodiment, the interference type of the radar interference signal is determined according to the chirp slope of the radar interference signal and the chirp slope of the transmitted signal, and specifically includes:

[0068] If it is determined that the chirp slope of the radar interference signal and the chirp slope of the transmitted signal are different, the interference type of the interference signal is determined as cross interference.

[0069] If it is determined that the chirp slope of the radar interference signal and the chirp slope of the transmitted signal are the same, the interference type of the interference signal is determined as parallel interference.

[0070] In the present embodiment, "chirp" is a kind of coded pulse technology, also known as chirp, which specifically means that when the pulse is coded, the carrier wavelength is linearly shortened within the pulse duration. Figure 2 The radar interference type diagram provided in the embodiment of the present application is shown in Figure 2 When the influence of the setting of parameters such as idle time, slope, and bandwidth between chirp signals on the interference probability is fully considered, the signal interference between radars can be divided into parallel interference and cross interference.

[0071] Specifically, when the chirp slope of the transmitted signal and the chirp slope of the interference signal are the same, a false target condition occurs when the radar signal is received, and at this time, the interference type is determined as parallel interference. When the transmitted signal and the interference signal slopes are different, the chirp of the transmitted signal and the chirp of the interference signal cross each other, and when the radar signal is received, a frequency domain bottom noise rise or even a target submerged condition occurs, and at this time, the interference type is determined as cross interference.

[0072] S11, obtaining an interference parameter of a radar interference signal.

[0073] In order to solve the technical problem that the workload is huge due to extraction and analysis of all interference parameters, the embodiment further determines the interference type of the interference signal after the interference signal is acquired. In this way, when the interference parameters of the radar interference signal are acquired, the corresponding interference parameter extractor can be determined according to the interference type of the radar interference signal; and the radar interference signal is input into the corresponding interference parameter extractor to obtain the interference parameters of the radar interference signal.

[0074] Different interference parameter extractors are obtained by training the interference parameters corresponding to interference signals of different interference types, so that different interference parameter extractors can quickly extract different interference parameters. In the embodiment, the corresponding interference parameter extractor is determined according to the interference type of the radar interference signal; and the interference parameter extractor is used to extract the interference parameters of the radar interference signal, which can improve the extraction efficiency of the interference parameters.

[0075] S12, input the interference parameters into the interference probability prediction model to obtain the interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is obtained by analyzing a plurality of interference factors affecting the interference probability.

[0076] In the design of the interference probability prediction model, the actual radar transmission signal with chirp discontinuity is analyzed, and the influence of the parameters such as the idle time between chirp signals, the slope, the bandwidth and the like on the interference probability is considered, and the model for analyzing the interference mechanism between multiple radar signals and predicting the interference probability in the embodiment is established.

[0077] In one embodiment, in order to as accurately as possible extract the interference factors affecting the calculation of the interference probability, the interference factors affecting the calculation of the interference probability are analyzed in depth, and the plurality of interference factors affecting the interference probability include radar setting parameters, the number of radars and vehicle distribution parameters. According to the specific interference type, the corresponding interference parameter extractor is selected to extract the parameter information corresponding to the above interference factors.

[0078] The radar setting parameters include the idle time between chirp signals, the slope, the bandwidth, the period of the transmission signal, the radar scattering cross section and the like; and the vehicle distribution parameters include the traffic flow, the vehicle distance and the vehicle speed and the like.

[0079] The embodiment analyzes the actual radar transmission signal with chirp discontinuity, and for the two interference modes of parallel interference and cross interference, the interference parameters affecting the calculation of the interference probability in the radar parameter setting are the idle time between chirp signals, the slope, the bandwidth, the radar scattering cross section and the like. When the interference signal is generated in the idle time period, it will not affect the normal operation of the radar. Therefore, the length and distribution of the idle time have an important influence on the radar target detection in the interference condition.

[0080] When the slope of the transmitted signal is different from the slope of the interference signal, the two chirps cross each other, and the noise floor is raised, the target signal is submerged, and the missed detection occurs. The fault duration (τ) depends on the bandwidth (B) of the transmitted signal, the slope (K t ) of the transmitted signal, and the slope (K r ) of the target signal, as shown in the following formula.

[0081]

[0082] In an embodiment, the interference parameter is input into the interference probability prediction model to obtain the interference probability corresponding to the radar interference signal, specifically including:

[0083] The probability (P c ) of the cross interference occurring within a single chirp depends on the duration (T c ) of a chirp, the idle time period (T idletime ), and the transmitted signal period (T transmit ). When the interference type of the radar interference signal is determined to be cross interference, the following formula is used to determine the interference probability.

[0084] P c =T c / (2T c +T idletime -T transmit )

[0085] In the above formula, P c is the interference probability, T c represents the duration of a chirp, T idletime represents the idle time between chirp signals, and T transmit represents the period of the transmitted signal.

[0086] When the chirp of the transmitted signal and the chirp of the interference signal have the same slope, the starting time between the chirp of the transmitted signal and the chirp of the interference signal is very close, so that the chirp of the interference signal is within the bandwidth of the chirp of the transmitted signal. At this time, the interference type is determined to be parallel interference. The probability (P c ) of the parallel interference occurring between two radars within a single chirp depends on the round-trip time (T c ) of a chirp without considering the spatial time period, the duration (T s ) of a chirp, the sampling interval (T idletime ) of the transmitted signal, the idle time period (T max ), and the maximum detection distance (d c ) of the radar.

[0087] Specifically, when it is determined that the interference type of the radar interference signal is parallel interference, the following formula (1) is used to determine the interference probability.

[0088]

[0089] The above formula (1) can also be expressed as:

[0090]

[0091] In the above formula (1), P c is the interference probability, T c represents the duration of a chirp, T s represents the sampling time interval, B represents the bandwidth of the transmitted signal, and T idletime represents the idle time between chirp signals.

[0092] Since the distribution of vehicles also has a relatively large impact on the interference probability, in the embodiment, it is determined through research that traffic volume, vehicle distance, and vehicle speed have a relatively large impact on the interference probability. Therefore, when determining the final interference probability of the interference signal, the composite probability of interference of the multi-vehicle model is also calculated, and the composite probability of interference of the multi-vehicle model and the above interference probability are determined as the final interference probability, for example, the sum of the composite probability of interference of the multi-vehicle model and the above interference probability is the final interference probability.

[0093] The probability of interference of the multi-vehicle model depends on the probability of interference of a single chirp (P c ) and the number of interfering radars P c . For example, after the interference probability of the interference signal is determined, the composite probability of interference of the multi-vehicle model is determined according to the following formula (2):

[0094] P m = 1-(1-P c ) m (2)

[0095] In the above formula (2), P m represents the composite probability of interference of the multi-vehicle model, and m represents the number of interfering radars.

[0096] For parallel interference and cross interference, preferably, the traffic volume data acquisition method is: obtaining the traffic volume of the main road cross section according to the actual traffic volume data; or observing the actual road section and counting the actual traffic volume passing through in a unit time. The traffic flow in the non-peak period (i.e. in the non-traffic jam state) can be modeled by a Poisson distribution, and the traffic flow in the peak period can be modeled by a uniform distribution.

[0097] In one embodiment, in order to more accurately obtain the impact of interference factors on radar signals under actual road conditions, an interference probability prediction model can be established by means of a composite probability model to take into account the impact of parameters such as radar transmission power and environmental noise.

[0098] Among them, the composite probability model is based on the original probability model. By adopting Bayes' theorem, it adds posterior probability, corrects the probability model, and improves the model accuracy, thereby establishing an interference probability prediction model for radar interference signals that is applicable to actual complex traffic environments.

[0099] The millimeter-wave radar interference prediction method provided in this embodiment can accurately obtain millimeter-wave radar interference prediction results in complex traffic environments, greatly improving the calculation accuracy and applicability of the current millimeter-wave radar probability distribution model. It can better analyze the impact of millimeter-wave radar interference, reduce unnecessary waste of manpower, financial resources, materials and time, and improve the work efficiency of radio management.

[0100] For example, the average traffic flow of a certain main street entering the city during peak hours (7-9 am) is 5448 vehicles. Given that the main street has 3 lanes in the inbound direction, the average traffic flow per lane is 1816 vehicles. During this peak period, the time interval between two vehicles is 3.96 seconds. Assuming a vehicle speed of 20 km / h, the relative distance between two vehicles is 22 meters.

[0101] The front radar needs to cover a maximum angle of 180°. Based on the horizontal (H-plane) beamwidth of the Texas Instruments millimeter-wave radar development board AWR1243 of 65°, each vehicle is equipped with 3 radars at the front and 2 radars at the rear.

[0102] The Texas Instruments AWR1243 millimeter-wave radar development board has a maximum RF bandwidth of 4 GHz and a minimum transmit signal bandwidth (B) of 160 MHz. Therefore, the number of radars that can operate independently without interfering with each other at the same time is n = 4 GHz / 160 MHz = 25.

[0103] Set the maximum detection distance d of the Texas Instruments AWR1243 millimeter-wave radar development board. max If the distance is 200m, then there are 9 rows of vehicles in front of the experimental vehicle equipped with the receiving radar, totaling 54 vehicles. Similarly, there are 54 vehicles behind the experimental vehicle, for a total of 108 vehicles.

[0104] Therefore, the number of radars at the front of the experimental vehicle is 2*54=108, and the number of radars at the rear of the experimental vehicle is 3*54=162, for a total of 270 radar signals. Thus, within the bandwidth (B) of one transmitted signal, there are m=[270 / 25]=10 radar interferences.

[0105] In this embodiment, the idle time period (T) of the Texas Instruments millimeter-wave radar development board AWR1243 idletime The duration of a chirp is 3us-177us (T). c =10us), the round-trip time of a chirp, disregarding spatial time intervals, is

[0106] Figure 3 This is a schematic diagram of the interference prediction result when parallel interference occurs, provided in an embodiment of the present invention. In the above scenario, using the millimeter-wave radar interference prediction method provided in this embodiment, according to formulas (1) and (2), the interference probability predicted by the interference probability prediction model of this embodiment when parallel interference occurs is as follows: Figure 3 As shown.

[0107] Figure 4 This is a schematic diagram of the interference prediction result when cross-interference occurs, provided by an embodiment of the present invention. In the above scenario, according to formulas (1) and (2), when cross-interference occurs, the interference probability predicted by the interference probability prediction model of this embodiment is as follows: Figure 4 As shown.

[0108] From the above Figure 3 and Figure 4 As can be seen, the millimeter-wave radar interference prediction method of this embodiment can accurately and quickly obtain the interference probability corresponding to the radar interference signal.

[0109] The millimeter-wave radar interference prediction device provided by the present invention is described below. The millimeter-wave radar interference prediction device described below can be referred to in correspondence with the millimeter-wave radar interference prediction method described above.

[0110] Figure 5 This is a schematic diagram of the millimeter-wave radar interference prediction device provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the millimeter-wave radar interference prediction device 50 includes:

[0111] The first acquisition unit 501 is used to acquire radar interference signals.

[0112] The second acquisition unit 502 is used to acquire the interference parameters of the radar interference signal.

[0113] The prediction unit 503 is used to input the interference parameters into the interference probability prediction model to obtain the interference probability corresponding to the radar interference signal; wherein, the interference probability prediction model is obtained by analyzing multiple interference factors that affect the interference probability.

[0114] Optionally, the first acquisition unit 501 is specifically used for:

[0115] Acquire mixed radar signals;

[0116] inputting the radar mixed signal into the signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal.

[0117] Optionally, the second acquisition unit 502 is specifically configured to:

[0118] determine a corresponding interference parameter extractor according to the interference type of the radar interference signal;

[0119] input the radar interference signal into the interference parameter extractor to obtain the interference parameter of the radar interference signal.

[0120] Optionally, the extraction classifier includes an interference signal extraction unit and an interference signal classification unit.

[0121] Optionally, the first acquisition unit 501 is specifically configured to:

[0122] input the radar mixed signal into the signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal, including:

[0123] input the radar mixed signal into the interference signal extraction unit to obtain the radar interference signal included in the radar mixed signal;

[0124] input the radar interference signal into the interference signal classification unit, and the interference signal classification unit determines the interference type of the radar interference signal according to the chirp slope of the radar interference signal and the chirp slope of the transmitted signal;

[0125] The interference type of the radar interference signal includes cross interference and parallel interference.

[0126] Specifically, the plurality of interference factors affecting the interference probability include radar setting parameters, radar quantity, and vehicle distribution parameters.

[0127] The radar setting parameters include idle time between chirp signals, slope, bandwidth, period of transmitted signals, and radar scattering cross section.

[0128] The vehicle distribution parameters include traffic flow, vehicle distance, and vehicle speed.

[0129] Optionally, the prediction unit 503 is specifically configured to:

[0130] when the interference type of the radar interference signal is determined as cross interference, the interference probability is determined by using the following formula:

[0131] P c =T c / (2T c +T idletime -T transmit)

[0132] In the above formula, P c is the interference probability, T c represents the duration of a chirp, T idletime represents the idle time between chirp signals, and T transmit represents the period of the transmitted signal.

[0133] When it is determined that the interference type of the radar interference signal is parallel interference, the following formula (1) is used to determine the interference probability.

[0134]

[0135] In the above formula (1), P c is the interference probability, T c represents the duration of a chirp, T s represents the sampling time interval, B represents the bandwidth of the transmitted signal, and T idletime represents the idle time between chirp signals.

[0136] Optionally, the prediction unit 503 is specifically configured to: after obtaining the interference probability of the radar interference signal, determine the compound probability of the multi-vehicle model being interfered according to the following formula (2):

[0137] P m = 1-(1-P c ) m (2)

[0138] In the above formula (2), P m represents the compound probability of the multi-vehicle model being interfered, and m represents the number of interfered radars.

[0139] Figure 6 An entity structure diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 6. Figure 6 As shown in FIG. 6, the electronic device can include a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 complete mutual communication through the communications bus 640. The processor 610 can invoke a logical instruction in the memory 630 to execute a millimeter wave radar interference prediction method, which includes: acquiring a radar interference signal; acquiring an interference parameter of the radar interference signal; inputting the interference parameter into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is acquired according to analysis of multiple interference factors affecting the interference probability.

[0140] In addition, the logic instructions in the memory 630 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the millimeter wave radar interference prediction method provided by the above-mentioned methods, the millimeter wave radar interference prediction method comprises: acquiring a radar interference signal; acquiring interference parameters of the radar interference signal; inputting the interference parameters into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is obtained according to analysis of a plurality of interference factors affecting the interference probability.

[0142] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the millimeter wave radar interference prediction method provided by the above-mentioned methods, the millimeter wave radar interference prediction method comprises: acquiring a radar interference signal; acquiring interference parameters of the radar interference signal; inputting the interference parameters into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is obtained according to analysis of a plurality of interference factors affecting the interference probability.

[0143] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0144] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A millimeter wave radar jamming prediction method, characterized by, The method comprises: acquiring a radar interference signal; acquiring interference parameters of the radar interference signal; inputting the interference parameters into an interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; wherein the interference probability prediction model is acquired according to analysis of multiple interference factors affecting the interference probability; the multiple interference factors affecting the interference probability include radar setting parameters, radar quantity and vehicle distribution parameters; the radar setting parameters include idle time between chirp signals, slope, bandwidth and period of transmitted signals; the vehicle distribution parameters include traffic flow, vehicle distance and vehicle speed; the interference type of the radar interference signal includes cross interference and parallel interference; inputting the interference parameters into the trained interference probability prediction model to obtain the interference probability corresponding to the radar interference signal, comprising: when it is determined that the interference type of the radar interference signal is parallel interference, the interference probability is determined by using the following formula (1); In the above equation (1), P c is the probability of interference, T c represents the duration of a chirp, T s represents the sampling time interval, B represents the bandwidth of the transmitted signal, and T idletime represents the idle time between chirp signals.

2. The millimeter wave radar jamming prediction method of claim 1, wherein, The method comprises: acquiring a radar mixed signal; inputting the radar mixed signal into a signal extraction classifier to obtain the radar interference signal included in the radar mixed signal and the interference type of the radar interference signal.

3. The millimeter wave radar jamming prediction method of claim 2, wherein, The method comprises: determining a corresponding interference parameter extractor according to the interference type of the radar interference signal; inputting the radar interference signal into the interference parameter extractor to obtain the interference parameters of the radar interference signal.

4. The millimeter wave radar jamming prediction method of claim 1, wherein, The signal extraction classifier comprises an interference signal extraction unit and an interference signal classification unit; The method comprises: inputting the radar mixed signal into the interference signal extraction unit to obtain the radar interference signal included in the radar mixed signal; inputting the radar interference signal into the interference signal classification unit, and the interference signal classification unit determines the interference type of the radar interference signal according to the chirp slope of the radar interference signal, the chirp slope of the transmitted signal and the occurrence position of the interference signal chirp.

5. The millimeter wave radar jamming prediction method of claim 1, wherein, After obtaining the interference probability of the radar interference signal, the method further comprises: determining a composite probability of interference occurring in a multi-vehicle model according to the following formula (2): P m = 1-(1-P c ) m (2) In the above equation (2), P m represents the compound probability of the multi-vehicle model being disturbed, and m represents the number of disturbing radars.

6. A millimeter wave radar interference prediction apparatus characterized by comprising: The method comprises: a first acquisition unit configured to acquire a radar interference signal; a second acquisition unit configured to acquire interference parameters of the radar interference signal; The prediction unit is configured to input the interference parameter into a trained interference probability prediction model to obtain an interference probability corresponding to the radar interference signal; the interference probability prediction model is obtained by training according to a plurality of interference factors affecting the interference probability; the plurality of interference factors affecting the interference probability include radar setting parameters, a number of radars, and vehicle distribution parameters; the radar setting parameters include idle time between chirp signals, a slope, a bandwidth, and a period of transmitting signals; the vehicle distribution parameters include traffic volume, a vehicle distance, and a vehicle speed; the interference type of the radar interference signal includes cross interference and parallel interference; the inputting of the interference parameter into the trained interference probability prediction model to obtain the interference probability corresponding to the radar interference signal includes: when it is determined that the interference type of the radar interference signal is parallel interference, the interference probability is determined by using the following formula (1); In the above equation (1), P c is the probability of interference, T c represents the duration of a chirp, T s represents the sampling time interval, B represents the bandwidth of the transmitted signal, and T idletime represents the idle time between chirp signals.

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the millimeter wave radar interference prediction method according to any one of claims 1 to 5.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the millimeter wave radar interference prediction method according to any one of claims 1 to 5.

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