FMCW radar signal recognition method and device

Abstract

The present application provides a FMCW radar signal recognition method and device, wherein the FMCW radar signal recognition method comprises: adjusting the periodic deviation of the output signal of the target FMCW radar according to a preset periodic deviation rule; collecting the input signal through the target FMCW radar; filtering the input signal according to a preset filtering rule to obtain a filtered signal; performing secondary filtering on the filtered signal to obtain a target signal associated with the output signal. The target FMCW radar can recognize the return wave of the output signal sent by itself, that is, the target signal, to avoid mutual interference after the output signals sent by other FMCW radars are received by the target FMCW radar, so that the target FMCW radar detects false targets.

Description

Technical Field

[0001] The present application relates to the field of radar positioning technology, and in particular to a FMCW radar signal recognition method. The present application also relates to a FMCW radar signal recognition device, a computing device, and a computer-readable storage medium. Background Art

[0002] In recent years, micro-power millimeter-wave radar products have surged and have penetrated into all walks of life, with the most widely used fields including smart home and office automation. With the widespread use of micro-power millimeter-wave radar products, the number of scenarios where products are densely deployed and installed has increased, such as workstation detection, office energy-saving control, smart desk lamps and other application scenarios, which all require the deployment of multiple devices in the same space, resulting in increasingly serious mutual interference between radar products.

[0003] Traditional CW radars can solve the problem of mutual interference between products by setting them to work at different frequencies. However, CW radars cannot achieve ranging functions and are easily affected by other moving objects outside the detection range. They cannot measure micro-movements or stationary objects. Therefore, FMCW radars can only be deployed in many usage scenarios. However, the FMCW system uses a large bandwidth. In order to obtain better distance resolution, the entire compliance bandwidth is usually used, which makes it impossible to work at different frequencies like CW, and thus cannot solve the problem of mutual interference between products. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a FMCW radar signal recognition method to solve the technical defects existing in the prior art. The embodiment of the present application also provides a FMCW radar signal recognition device, a computing device, and a computer-readable storage medium.

[0005] According to a first aspect of an embodiment of the present application, a FMCW radar signal recognition method is provided, including:

[0006] According to a preset periodic deviation rule, the periodic deviation of the output signal of the target FMCW radar is adjusted;

[0007] The input signal is collected by the target FMCW radar;

[0008] Filtering the input signal according to a preset filtering rule to obtain a filtered signal;

[0009] The filtered signal is filtered twice to obtain a target signal associated with the output signal.

[0010] Optionally, adjusting the period deviation of the output signal of the target FMCW radar according to a preset period deviation rule includes:

[0011] Determining a crystal oscillator error contained in the target FMCW radar;

[0012] Selecting a target period deviation according to the crystal oscillator error, wherein the target period deviation is much larger than the crystal oscillator error;

[0013] The period deviation of the output signal is adjusted according to the target period deviation.

[0014] Optionally, filtering the input signal according to a preset filtering rule to obtain a filtered signal includes:

[0015] Determine, according to the input signal, a distance of a reflector associated with the input signal, and determine a signal strength of the input signal;

[0016] Determining whether the input signal is an abnormal signal according to the distance of the reflector and the signal strength;

[0017] If not, performing the step of performing secondary filtering on the filtered signal to obtain a target signal associated with the output signal;

[0018] If so, calibrate the input signal and filter the calibrated abnormal signal.

[0019] Optionally, determining, according to the input signal, a distance of a reflector associated with the input signal includes:

[0020] Determining intermediate frequency information according to the output signal and the input signal;

[0021] The distance of the reflecting object is determined according to the intermediate frequency information.

[0022] Optionally, performing secondary filtering on the filtered signal to obtain a target signal associated with the output signal includes:

[0023] determining a reflected wave in the input signal that is associated with the output signal;

[0024] The input signal is pulse filtered to obtain a reflected wave only associated with the output signal as the target signal.

[0025] According to a second aspect of an embodiment of the present application, there is provided a FMCW radar signal recognition device, including:

[0026] An adjustment module is configured to adjust the period deviation of the output signal of the target FMCW radar according to a preset period deviation rule;

[0027] A collection module is configured to collect input signals through the target FMCW radar;

[0028] A first filtering module is configured to filter the input signal according to a preset filtering rule to obtain a filtered signal;

[0029] The second filtering module is configured to perform secondary filtering on the filtered signal to obtain a target signal associated with the output signal.

[0030] According to a third aspect of an embodiment of the present application, a computing device is provided, including:

[0031] Memory and processor;

[0032] The memory is used to store computer executable instructions, and the processor implements the steps of the FMCW radar signal recognition method when executing the computer executable instructions.

[0033] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the FMCW radar signal recognition method are implemented.

[0034] According to a fifth aspect of the embodiments of the present application, a chip is provided, which stores a computer program, and when the computer program is executed by the chip, the steps of the FMCW radar signal recognition method are implemented.

[0035] The FMCW radar signal recognition method provided by the present application adjusts the periodic deviation of the output signal of the target FMCW radar according to a preset periodic deviation rule; collects the input signal through the target FMCW radar; filters the input signal according to a preset filtering rule to obtain a filtered signal; and performs secondary filtering on the filtered signal to obtain a target signal associated with the output signal. The target FMCW radar can recognize the return wave of the output signal sent by itself, that is, the target signal, to avoid mutual interference after the output signals sent by other FMCW radars are received by the target FMCW radar, so that the target FMCW radar detects false targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 is a flow chart of a FMCW radar signal recognition method provided by an embodiment of the present application;

[0038] Figure 2It is a structural schematic diagram of a FMCW radar signal recognition device provided by an embodiment of the present application;

[0039] Figure 3 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0041] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0042] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0043] First, the terms involved in one or more embodiments of the present invention are explained.

[0044] Linear frequency modulation signal: A signal whose frequency changes continuously and linearly during its duration. It is a commonly used radar signal.

[0045] Beat: The periodic change phenomenon formed when two wave signals of different frequencies interact with each other.

[0046] Chirp signal: A frequency modulated signal whose frequency changes linearly with time. The characteristic of this signal is that the instantaneous frequency changes with time.

[0047] In the present application, a FMCW radar signal recognition method is provided. The present application also relates to an FMCW radar signal recognition device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0048] Figure 1A flow chart of a FMCW radar signal recognition method provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0049] Step S102: adjusting the period deviation of the output signal of the target FMCW radar according to a preset period deviation rule;

[0050] Step S104: collecting input signals through the target FMCW radar;

[0051] Step S106: filtering the input signal according to a preset filtering rule to obtain a filtered signal;

[0052] Step S108: performing secondary filtering on the filtered signal to obtain a target signal associated with the output signal.

[0053] Among them, the FMCW radar sends a linear frequency modulation signal, namely the chirp signal, which is reflected after contacting the target object, and the FMCW radar receives the reflected echo. At this time, there is a delay between the reflected echo received by the FMCW radar and the chirp signal being transmitted, so that there is a beat difference between the reflected echo and the chirp signal being transmitted. The FMCW radar locates the target object according to the beat difference, such as determining the distance between the target object and the FMCW radar through the beat frequency, namely the intermediate frequency, determining the strength of the target object's reflected energy according to the strength of the beat signal, determining the movement or micro-motion of the target object according to the beat phase and amplitude changes, and determining the movement direction of the target object according to the direction of the beat phase change.

[0054] Based on this, in actual usage scenarios, there are multiple FMCW radar products of the same model installed in the same space environment. In this case, because the parameters of each FMCW radar product are exactly the same, when the time when the two devices output chirp signals is relatively close, the signal sent by one device will be received by the other device, forming a beat signal, and when the frequency of the beat signal is within the beat frequency range formed by the reflected echo of the target object within the detection range, the device may mistakenly identify the signal sent by the other device as the target object within the detection range, thereby causing the problem of false interference target.

[0055] Therefore, for multiple identical FMCW radar products installed in the same space environment, for any one of the FMCW radars, the periodic deviation of its output signal can be randomly assigned in the initial stage. In addition, for any FMCW radar, such as the target FMCW radar, the periodic deviation of its output signal can be adjusted through a reserved configuration interface; thereafter, the target FMCW radar works normally and sends an output signal to the outside, and the target FMCW radar receives the reflected echo of the output signal and the output signal of other FMCW radars as input signals; through the preset filtering rules and periodic deviation, two filterings are performed to obtain the reflected echo of the output signal of the target FMCW radar, that is, the target signal.

[0056] Furthermore, in actual use scenarios, for two FMCW radars without period deviation setting, their period deviation mainly comes from the crystal oscillator error between their respective crystal oscillators, and the error is usually less than 10ppm. In this case, if interference occurs between the two FMCW radars, the interference will last for a long time, which makes it difficult to filter the misidentified signals. In order to filter the output signals of other FMCW radars, in this embodiment, the specific implementation method is as follows:

[0057] Determine a crystal oscillator error included in the target FMCW radar; select a target period deviation according to the crystal oscillator error, wherein the target period deviation is much larger than the crystal oscillator error; and adjust the period deviation of the output signal according to the target period deviation.

[0058] Among them, for the two FMCW radars without period deviation setting, the period deviation from the crystal oscillator error is small. In this case, the signal with a longer interference time is difficult to distinguish and filter. Therefore, the period deviation can be set manually, and the target period deviation value for period deviation setting should be much larger than the crystal oscillator error, so that the duration of interference between the two FMCW radars is shortened, the filtering difficulty is reduced, and the output signals of other FMCW radars are filtered out from the input signal collected by the target FMCW radar to avoid misidentification and the emergence of false interference targets.

[0059] It should be noted that the maximum measurement distance of FMCW radar is relatively limited, generally not exceeding 10 meters, and the time it takes for the signal received and sent by FMCW radar to transmit 15 meters in the air is about 0.1us, and the period of the chirp signal sent by FMCW radar is much larger than 0.1us. In this case, as long as the target period deviation does not exceed one thousandth, the normal operation of FMCW radar can be guaranteed.

[0060] Furthermore, the process of filtering the input signal according to the preset filtering rule to obtain the filtered signal is specifically implemented as follows in this embodiment:

[0061] According to the input signal, determine the distance of the reflector associated with the input signal, and determine the signal strength of the input signal; according to the distance of the reflector and the signal strength, judge whether the input signal is an abnormal signal; if not, perform the step of secondary filtering the filtered signal to obtain the target signal associated with the output signal; if so, calibrate the input signal, and filter the calibrated abnormal signal.

[0062] Furthermore, the process of determining the distance of the reflector associated with the input signal according to the input signal is specifically implemented as follows in this embodiment:

[0063] According to the output signal and the input signal, intermediate frequency information is determined; and according to the intermediate frequency information, the distance of the reflecting object is determined.

[0064] Among them, in actual usage scenarios, the receiving and transmitting distance of the FMCW radar often does not exceed 30 meters. If the intermediate frequency information is determined based on the input signal and the output signal, and the distance of the reflector is determined based on the intermediate frequency signal, that is, the distance between the FMCW radar and the target object exceeds 100 meters, the signal can be marked as an abnormal signal.

[0065] In addition, when the time base deviation between the two FMCW radars is not large, if interference occurs, the interference will first produce a higher frequency intermediate frequency, which will gradually decrease over time and then gradually increase. Since the strength of the reflected echo of the FMCW radar output signal is inversely proportional to the fourth power of the distance, and inversely proportional to the square of the distance for non-point target models, when the target object is detected from far to near, but the signal strength of the beat does not change, the signal is marked as an abnormal signal.

[0066] Based on this, the target object identified by the abnormal signal is considered to be a false interference target, and the target FMCW radar ignores it. The above preset filtering rules filter out the signals in the input signal that do not conform to the actual usage, thereby avoiding the false alarm of the target FMCW radar. It should be noted that the interference generated by two FMCW radars with large time base differences can also be filtered out by setting a pulse filter, such as a median filter, to further avoid the risk of false alarms.

[0067] Furthermore, the process of performing secondary filtering on the filtered signal to obtain the target signal associated with the output signal is specifically implemented as follows in this embodiment:

[0068] Determine the reflected wave associated with the output signal in the input signal; perform pulse filtering on the input signal to obtain only the reflected wave associated with the output signal as the target signal.

[0069] Among them, when the period deviation of the target FMCW radar is greater than or equal to the period of the chirp signal emitted by the target FMCW radar, the duration of each interference is only one or two periods of the chirp signal. In this case, the interference signal can be filtered out by pulse filtering to obtain the target information.

[0070] It should be noted that, for multiple FMCW radars in the same use environment, the number of different period deviations that can be set for any FMCW radar is related to the period of the chirp signal. The larger the period of the chirp signal, the more different period deviations that can be set. Therefore, it is only necessary to set different period deviations for multiple FMCW radars in the same use environment to avoid mutual interference. According to the measured results, taking only two FMCW radars in the same space as an example, the two FMCW radars that were not processed in the control group would have a false alarm every 15 minutes; the four FMCW radars that were not processed in the control group would have a false alarm every 2-5 minutes; the experimental group of two FMCW radars and four FMCW radars using the FMCW radar signal recognition method of this embodiment worked continuously for 72 hours without false alarms.

[0071] Corresponding to the above method embodiment, the present application also provides an FMCW radar signal recognition device embodiment, Figure 2 FIG. 2 shows a schematic diagram of the structure of a FMCW radar signal recognition device provided by an embodiment of the present application. Figure 2 As shown, the device comprises:

[0072] The adjustment module 202 is configured to adjust the period deviation of the output signal of the target FMCW radar according to a preset period deviation rule;

[0073] The acquisition module 204 is configured to acquire input signals through the target FMCW radar;

[0074] The first filtering module 206 is configured to filter the input signal according to a preset filtering rule to obtain a filtered signal;

[0075] The second filtering module 208 is configured to perform secondary filtering on the filtered signal to obtain a target signal associated with the output signal.

[0076] In an optional embodiment, the adjustment module 202 is further configured to:

[0077] Determine a crystal oscillator error included in the target FMCW radar; select a target period deviation according to the crystal oscillator error, wherein the target period deviation is much larger than the crystal oscillator error; and adjust the period deviation of the output signal according to the target period deviation.

[0078] In an optional embodiment, the first filtering module 206 is further configured to:

[0079] According to the input signal, determine the distance of the reflector associated with the input signal, and determine the signal strength of the input signal; according to the distance of the reflector and the signal strength, determine whether the input signal is an abnormal signal; if not, call the second filtering module 208; if so, calibrate the input signal, and filter the calibrated abnormal signal.

[0080] In an optional embodiment, the first filtering module 206 is further configured to:

[0081] According to the output signal and the input signal, intermediate frequency information is determined; and according to the intermediate frequency information, the distance of the reflecting object is determined.

[0082] In an optional embodiment, the second filtering module 208 is further configured to:

[0083] Determine the reflected wave associated with the output signal in the input signal; perform pulse filtering on the input signal to obtain only the reflected wave associated with the output signal as the target signal.

[0084] The FMCW radar signal recognition device provided by the present application adjusts the periodic deviation of the output signal of the target FMCW radar according to a preset periodic deviation rule; collects the input signal through the target FMCW radar; filters the input signal according to a preset filtering rule to obtain a filtered signal; and performs secondary filtering on the filtered signal to obtain a target signal associated with the output signal. The target FMCW radar can recognize the return wave of the output signal sent by itself, that is, the target signal, to avoid mutual interference after the output signals sent by other FMCW radars are received by the target FMCW radar, so that the target FMCW radar detects false targets.

[0085] The above is a schematic scheme of a FMCW radar signal recognition device of this embodiment. It should be noted that the technical scheme of the FMCW radar signal recognition device and the technical scheme of the FMCW radar signal recognition method mentioned above belong to the same concept. For details not described in detail in the technical scheme of the FMCW radar signal recognition device, please refer to the description of the technical scheme of the FMCW radar signal recognition method mentioned above. In addition, each component in the device embodiment should be understood as a functional module that must be established to implement each step of the program flow or each step of the method, and each functional module is not an actual functional division or separation definition. The device claim defined by such a group of functional modules should be understood as a functional module architecture that mainly implements the solution through a computer program recorded in the specification, and should not be understood as a physical device that mainly implements the solution through hardware.

[0086] Figure 3 The block diagram of a computing device 300 provided according to an embodiment of the present application is shown. The components of the computing device 300 include but are not limited to a memory 310 and a processor 320. The processor 320 is connected to the memory 310 via a bus 330, and the database 350 is used to store data.

[0087] The computing device 300 also includes an access device 340 that enables the computing device 300 to communicate via one or more networks 360. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 340 may include one or more of any type of network interface (e.g., a network interface card (NIC)) whether wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a World Wide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0088] In one embodiment of the present application, the above components of the computing device 300 and Figure 3 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 3 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0089] The computing device 300 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or PC. The computing device 300 may also be a mobile or stationary server.

[0090] The processor 320 is used to execute computer executable instructions of each step of the FMCW radar signal recognition method.

[0091] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the FMCW radar signal recognition method described above are of the same concept, and the details not described in detail in the technical scheme of the computing device can be found in the description of the technical scheme of the FMCW radar signal recognition method described above.

[0092] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which are used to execute the steps of the FMCW radar signal recognition method when executed by a processor.

[0093] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned FMCW radar signal recognition method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned FMCW radar signal recognition method.

[0094] An embodiment of the present application further provides a chip storing a computer program, which implements the steps of the FMCW radar signal recognition method when executed by the chip.

[0095] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0096] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0097] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0098] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0099] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A FMCW radar signal recognition method, characterized in that: include: According to a preset periodic deviation rule, the periodic deviation of the output signal of the target FMCW radar is adjusted. Specifically, the crystal oscillator error contained in the target FMCW radar is determined, the periodic deviation of the output signal is randomly assigned in the initial stage, and the periodic deviation of the output signal is adjusted according to the target periodic deviation, wherein the target periodic deviation is much larger than the crystal oscillator error, and the target periodic deviation does not exceed one thousandth of the period of the output signal, and the target FMCW radar is any one of a plurality of FMCW radar products of the same type installed in the same space environment, and the maximum measurement distance of the FMCW radar does not exceed 10 meters; The input signal is collected by the target FMCW radar; According to a preset filtering rule, the input signal is filtered to obtain a filtered signal. Specifically, according to the input signal, a distance of a reflector associated with the input signal is determined, and a signal strength of the input signal is determined. According to the distance of the reflector and the signal strength, it is determined whether the input signal is an abnormal signal. If not, a secondary filtering is performed on the filtered signal to obtain a target signal associated with the output signal. If yes, the input signal is calibrated, and the calibrated abnormal signal is filtered. The filtered signal is subjected to secondary filtering to obtain a target signal associated with the output signal. Specifically, a reflected wave associated with the output signal in the input signal is determined, and the input signal is pulse filtered to obtain a reflected wave only associated with the output signal as the target signal.

2. The FMCW radar signal recognition method according to claim 1, characterized in that: The step of determining the distance of a reflector associated with the input signal according to the input signal includes: Determining intermediate frequency information according to the output signal and the input signal; The distance of the reflecting object is determined according to the intermediate frequency information.

3. A FMCW radar signal recognition device, characterized in that: include: An adjustment module is configured to adjust the period deviation of the output signal of the target FMCW radar according to a preset period deviation rule, specifically, determine the crystal oscillator error contained in the target FMCW radar, randomly assign the period deviation of the output signal thereof in an initial stage, and adjust the period deviation of the output signal according to the target period deviation, wherein the target period deviation is much larger than the crystal oscillator error, and the target period deviation does not exceed one thousandth of the period of the output signal, the target FMCW radar is any one of a plurality of FMCW radar products of the same type installed in the same space environment, and the maximum measurement distance of the FMCW radar does not exceed 10 meters; A collection module is configured to collect input signals through the target FMCW radar; The first filtering module is configured to filter the input signal according to a preset filtering rule to obtain a filtered signal. Specifically, according to the input signal, determine the distance of the reflector associated with the input signal and determine the signal strength of the input signal. According to the distance of the reflector and the signal strength, determine whether the input signal is an abnormal signal. If not, perform a secondary filtering on the filtered signal to obtain a target signal associated with the output signal. If yes, calibrate the input signal and filter the calibrated abnormal signal. The second filtering module is configured to perform secondary filtering on the filtered signal to obtain a target signal associated with the output signal. Specifically, the reflected wave associated with the output signal in the input signal is determined, and pulse filtering is performed on the input signal to obtain a reflected wave that only contains the reflected wave associated with the output signal as the target signal.

4. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to implement the steps of the FMCW radar signal recognition method according to any one of claims 1 to 2.

5. A computer-readable storage medium storing computer instructions, characterized in that: When the instruction is executed by the processor, the steps of the FMCW radar signal recognition method according to any one of claims 1 to 2 are implemented.

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