Vehicle-mounted millimeter-wave radar anti-interference method, device, equipment and storage medium

Abstract

The present invention discloses an anti-interference method, device, equipment and storage medium for a vehicle-mounted millimeter-wave radar. The method includes: transmitting a basic waveform through a vehicle-mounted millimeter-wave radar, and performing echo processing on the basic waveform to obtain the signal-to-noise ratio and the number of targets of the echo; determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets; when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar transmits a target waveform with inter-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm; and the target waveform is used as a reference signal for echo decoding. Since the present invention determines the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets of the echo, when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar transmits a target waveform with inter-pulse phase coding. Compared with the prior art, the present invention uses the signal-to-noise ratio of the echo and the number of targets to adaptively change the waveform, thereby improving the anti-interference ability of the vehicle-mounted millimeter-wave radar.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to an anti-interference method, device, equipment and storage medium for a vehicle-mounted millimeter-wave radar. Background Art

[0002] In the application of millimeter-wave radar in traffic scenarios, the interference identification and interference avoidance of vehicle-mounted radar can reduce the safety risks of vehicle driving. Typical vehicle driving scenarios such as following a vehicle, meeting a vehicle, reversing, changing lanes, and intersections will bring harmful radio interference to the operation of automotive radars in the same frequency band. In addition to these active interferences, strongly reflective targets, complex environments, and bad weather will bring strong passive interference. Interference to vehicle-mounted radars will cause false signals and increased noise floors. If interference cannot be effectively suppressed, it is very easy to cause false alarms, missed alarms, inaccurate ranging and speed measurements, and other problems.

[0003] The anti-interference work of vehicle-mounted millimeter-wave radar is mostly concentrated in post-processing, such as increasing the CFAR threshold, adding window smoothing, and zeroing the interfered sampling data. In addition to the post-processing mentioned above, anti-interference also includes methods such as dividing different frequency bands, repairing the interfered waveform, and using digital beamforming to eliminate the signal component in a given direction. In the field of waveform design, although mainstream radar solution providers have reserved waveform modulation interfaces, they have not given specific implementation methods and applications. On the other hand, phase-coded radar signals are often used to improve the resolution of range images in orthogonal frequency division multiplexing radar systems, but are less used in vehicle-mounted radars because the higher Doppler sidelobes of the coded waveform limit its speed measurement performance in most scenarios. For vehicle-mounted millimeter-wave radars, the inter-pulse phase waveform is suitable for complex environments and strong interference environments, while for normal driving scenarios, the advantages of the inter-pulse phase coded waveform are not prominent. Especially in terms of speed measurement performance, the Doppler sidelobes of the waveform with phase offset will be higher than those of the conventional waveform, resulting in weak targets being masked by strong targets. This also leads to the fact that the coded waveform is not as widely used in vehicle-mounted radars as other system waveforms.

[0004] Therefore, there is an urgent need for an anti-interference method for vehicle-mounted millimeter-wave radar, which can effectively improve the anti-interference capability of vehicle-mounted millimeter-wave radar, thereby expanding the application scenarios of vehicle-mounted millimeter-wave radar and improving the credibility of vehicle-mounted radar perception results in complex environments. Summary of the invention

[0005] The main purpose of the present invention is to provide a vehicle-mounted millimeter-wave radar anti-interference method, device, equipment and storage medium, aiming to solve the technical problem of unstable anti-interference ability of vehicle-mounted millimeter-wave radar in the prior art.

[0006] To achieve the above object, the present invention provides a vehicle-mounted millimeter-wave radar anti-interference method, the method comprising the following steps:

[0007] The vehicle-mounted millimeter-wave radar transmits a basic waveform, and performs echo processing on the basic waveform to obtain a signal-to-noise ratio and a target number of the echo;

[0008] Determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets;

[0009] When the interference degree is strong interference, the vehicle-mounted millimeter-wave radar transmits a target waveform with pulse-to-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm;

[0010] The target waveform is used as a reference signal for echo decoding.

[0011] Optionally, before the step of transmitting a basic waveform by the vehicle-mounted millimeter wave radar and performing echo processing on the basic waveform to obtain a signal-to-noise ratio of the echo and the number of targets, the method further includes:

[0012] According to relevant parameters of the vehicle-mounted millimeter-wave radar, a code element sequence corresponding to the vehicle-mounted millimeter-wave radar is optimized by using a genetic algorithm to obtain a coding sequence;

[0013] Modulating the coded sequence onto the Chirp phase of each frame;

[0014] Chirps within a frame are combined into a target waveform with pulse phase encoding.

[0015] Optionally, before the step of optimizing the symbol sequence corresponding to the vehicle-mounted millimeter-wave radar by using a genetic algorithm according to relevant parameters of the vehicle-mounted millimeter-wave radar to obtain the coding sequence, the step further includes:

[0016] Obtaining a code element sequence of a vehicle-mounted millimeter-wave radar, and determining a sequence length of the code element sequence;

[0017] Determining whether the length of the sequence exceeds a preset length threshold, and determining a fitness function of the genetic algorithm according to the determination result;

[0018] The termination condition of the genetic algorithm is adjusted according to the fitness function and relevant parameters of the onboard millimeter-wave radar.

[0019] Optionally, the step of judging whether the sequence length exceeds a preset length threshold and determining a fitness function of a genetic algorithm according to the judgment result comprises:

[0020] Determine whether the length of the sequence exceeds a preset length threshold, and obtain a determination result;

[0021] When the judgment result indicates that the length of the sequence exceeds a preset length threshold, determining a fitness function of a genetic algorithm based on the autocorrelation and cross-correlation of the symbol sequence;

[0022] When the judgment result indicates that the sequence length does not exceed the preset length threshold, the fuzzy function of the transmitter in the vehicle-mounted millimeter-wave radar is used as the fitness function of the genetic algorithm.

[0023] Optionally, the step of determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets includes:

[0024] Determine whether the signal-to-noise ratio and the target number change of the current frame exceed a preset change threshold;

[0025] If the preset change threshold is exceeded, a basic waveform signal of a first preset frame is emitted by the vehicle-mounted millimeter-wave radar;

[0026] If the echo change corresponding to the basic waveform signal in the first preset frame exceeds the preset change threshold, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is strong interference;

[0027] If the echo change corresponding to the basic waveform signal in the second preset frame does not exceed the preset change threshold, it means that the interference degree of the vehicle-mounted millimeter-wave radar is weak interference, and the second preset frame is greater than the first preset frame.

[0028] Optionally, the preset change threshold value includes a signal-to-noise ratio change threshold value and a target number change threshold value, and the step of determining whether the change amount of the signal-to-noise ratio and the target number of the current frame exceeds the preset change threshold value includes:

[0029] Determine whether the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold;

[0030] Determine whether the change in the number of targets in the current frame exceeds the target number change threshold;

[0031] Correspondingly, if the preset change threshold is exceeded, the step of transmitting a basic waveform signal of a first preset frame through the vehicle-mounted millimeter-wave radar includes:

[0032] If the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold and the change in the number of targets of the current frame exceeds the target number change threshold, a basic waveform signal of a first preset frame is emitted by the vehicle-mounted millimeter-wave radar.

[0033] Optionally, after the step of determining whether the signal-to-noise ratio of the current frame and the change amount of the target number exceed a preset change threshold, the step further includes:

[0034] If the change in the signal-to-noise ratio of the current frame does not exceed the signal-to-noise ratio change threshold or the change in the number of targets of the current frame does not exceed the target number change threshold, returning to execute the step of transmitting the basic waveform by the vehicle-mounted millimeter-wave radar;

[0035] Accordingly, the step of determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets further includes:

[0036] When the interference level is weak interference, the process returns to executing the step of transmitting the basic waveform through the vehicle-mounted millimeter-wave radar.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle-mounted millimeter-wave radar anti-interference device, the device comprising:

[0038] A waveform transmitting module, used to transmit a basic waveform through a vehicle-mounted millimeter-wave radar, and perform echo processing on the basic waveform to obtain a signal-to-noise ratio and a target number of the echo;

[0039] An interference judgment module, used to determine the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets;

[0040] A waveform switching module, used for causing the vehicle-mounted millimeter-wave radar to transmit a target waveform with pulse-to-pulse phase coding when the interference level is strong interference, wherein the target waveform is a coding waveform optimized by a genetic algorithm;

[0041] The echo decoding module is used to perform echo decoding using the target waveform as a reference signal.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle-mounted millimeter-wave radar anti-interference device, which includes: a memory, a processor, and a vehicle-mounted millimeter-wave radar anti-interference program stored in the memory and executable on the processor, and the vehicle-mounted millimeter-wave radar anti-interference program is configured to implement the steps of the vehicle-mounted millimeter-wave radar anti-interference method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle-mounted millimeter-wave radar anti-interference program is stored. When the vehicle-mounted millimeter-wave radar anti-interference program is executed by a processor, the steps of the vehicle-mounted millimeter-wave radar anti-interference method described above are implemented.

[0044] The present invention discloses that a basic waveform is emitted by a vehicle-mounted millimeter-wave radar, and the basic waveform is echo-processed to obtain the signal-to-noise ratio and the number of targets of the echo; the interference degree of the vehicle-mounted millimeter-wave radar is determined based on the signal-to-noise ratio and the number of targets; when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar is caused to emit a target waveform with inter-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm; the target waveform is used as a reference signal for echo decoding. Since the present invention determines the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets of the echo, and then when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar is caused to emit a target waveform with inter-pulse phase coding, and the target waveform is used as a reference signal for echo decoding. Compared with the prior art, the present invention utilizes the signal-to-noise ratio of the echo and the waveform of the number of targets to adaptively change, effectively improving the anti-interference ability of the vehicle-mounted millimeter-wave radar, thereby expanding the application scenarios of the vehicle-mounted millimeter-wave radar, and improving the credibility of the perception results of the vehicle-mounted radar in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of the first embodiment of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention;

[0046] Figure 2 It is a flow chart of the second embodiment of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention;

[0047] Figure 3 It is a schematic diagram of the process of optimizing radar waveform coding by using a genetic algorithm in the vehicle-mounted millimeter-wave radar anti-interference method of the present invention;

[0048] Figure 4 A schematic diagram of the autocorrelation and cross-correlation of a waveform code in the vehicle-mounted millimeter wave radar anti-interference method of the present invention;

[0049] Figure 5 It is a distance Doppler ambiguity map in the anti-interference method of the vehicle-mounted millimeter-wave radar of the present invention;

[0050] Figure 6 It is a schematic diagram of the ranging result of adding interference from a radar transmitter in the same frequency band in the anti-interference method of the vehicle-mounted millimeter-wave radar of the present invention;

[0051] Figure 7 It is a schematic diagram of the speed measurement result when adding interference from a radar transmitter in the same frequency band in the anti-interference method of the vehicle-mounted millimeter-wave radar of the present invention;

[0052] Figure 8 It is a schematic diagram of the test results of the target before the cut wave in the anti-interference method of the vehicle-mounted millimeter-wave radar of the present invention;

[0053] Fig. 9It is a schematic diagram of the target test results after wave cutting in the vehicle-mounted millimeter-wave radar anti-interference method of the present invention;

[0054] Fig.10 A schematic diagram of a flow chart of a third embodiment of a vehicle-mounted millimeter-wave radar anti-interference method according to the present invention;

[0055] Fig.11 It is an overall logic diagram of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention;

[0056] Fig.12 It is a structural block diagram of the first embodiment of the vehicle-mounted millimeter-wave radar anti-interference device of the present invention;

[0057] Fig.13 It is a structural schematic diagram of a vehicle-mounted millimeter-wave radar anti-interference device in a hardware operating environment involved in an embodiment of the present invention.

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0060] The embodiment of the present invention provides a vehicle-mounted millimeter wave radar anti-interference method, referring to Figure 1 , Figure 1 The figure is a flow chart of the first embodiment of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention.

[0061] In this embodiment, the vehicle-mounted millimeter-wave radar anti-interference method includes the following steps:

[0062] Step S10: transmitting a basic waveform through the vehicle-mounted millimeter-wave radar, and performing echo processing on the basic waveform to obtain the signal-to-noise ratio and the number of targets of the echo.

[0063] It should be noted that the execution subject of this embodiment can be a computer server device with data processing, network communication and program running functions used in traffic scenarios, such as a vehicle control unit (VCU), a computer, a smart watch, etc., or an electronic device capable of realizing the above functions, a vehicle-mounted millimeter-wave radar anti-interference device, etc. The following takes a system including a vehicle-mounted millimeter-wave radar anti-interference device as an example to illustrate this embodiment and the following embodiments.

[0064] It should be understood that the above-mentioned vehicle-mounted millimeter-wave radar calculates the target's distance, relative speed, azimuth and other parameters by emitting electromagnetic waves of a specific modulation frequency generated by a high-frequency circuit and receiving the signal reflected back by the target. Its working principle is similar to that of sonar, but it uses electromagnetic waves instead of sound waves.

[0065] It should be explained that the above-mentioned basic waveform may be a conventional system waveform such as DDM (Doppler division multiplexing) and TDM (time division multiplexing).

[0066] It is understood that echo processing includes two-dimensional FFT (Fast Fourier Transform) and angle estimation, and statistical echo SNR (Signal-to-Noise Ratio) and target number. Two-dimensional FFT can be performed on the slow time axis (i.e., the time between different pulses) to estimate the speed of the target. A two-dimensional FFT result is formed, one dimension of which is the distance and the other dimension is the speed (or Doppler frequency). Angle estimation is usually achieved through beamforming technology (such as digital beamforming DBF) or more advanced technologies (such as super-resolution algorithms), which use the phase difference between the signals received by the radar antenna array to estimate the angle of arrival (AOA) of the target.

[0067] Step S20: Determine the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets.

[0068] In a specific implementation, a signal-to-noise ratio change threshold value and a target number change threshold value can be set. If the changes in the signal-to-noise ratio and the target number in the current frame exceed the signal-to-noise ratio change threshold value and the target number change threshold value, the interference degree of the vehicle-mounted millimeter-wave radar is determined to be strong interference, otherwise, it is weak interference.

[0069] Step S30: When the interference level is strong interference, the vehicle-mounted millimeter-wave radar transmits a target waveform with pulse-to-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm.

[0070] It should be noted that the pulse-to-pulse phase-coded radar waveform refers to the encoding by changing the phase of the carrier between each pulse in the pulse sequence emitted by the radar. This waveform design makes the radar signal have certain characteristics in both the time domain and the frequency domain, thereby improving the performance of the radar.

[0071] It should be understood that the genetic algorithm (GA) is a computational model of biological evolution that simulates the natural selection and genetic mechanism of Darwin's theory of biological evolution. It searches for the optimal solution by simulating the natural evolution process. The main features of genetic algorithms include direct operation on structural objects, no restrictions on derivatives and function continuity; inherent implicit parallelism and better global optimization capabilities; the use of probabilistic optimization methods, which can automatically obtain and guide the optimized search space without the need for certain rules, and adaptively adjust the search direction.

[0072] It should be explained that when the interference level is weak interference, the process returns to the step of transmitting the basic waveform through the vehicle-mounted millimeter-wave radar.

[0073] Step S40: using the target waveform as a reference signal to perform echo decoding.

[0074] It should be noted that this method uses the signal-to-noise ratio of the echo and the number of detected targets to adaptively change the waveform. When in a complex scene with strong interference (that is, when the interference level is strong), the radar transmits a target waveform with inter-pulse phase coding. In general scenarios (that is, when the interference level is weak), the radar transmits basic waveforms such as DDM and TDM. It not only ensures that the performance of the vehicle-mounted millimeter-wave radar will not be reduced during normal driving, but also maximizes the performance of the anti-interference waveform. The two sets of waveforms that are adaptively switched can share most of the signal processing links, and only need to modify some processing parameters. Compared with a single waveform, the switching of waveforms does not take up more echo storage and signal processing memory.

[0075] This embodiment discloses that a basic waveform is emitted by a vehicle-mounted millimeter-wave radar, and the basic waveform is echo-processed to obtain the signal-to-noise ratio and the number of targets of the echo; the interference degree of the vehicle-mounted millimeter-wave radar is determined based on the signal-to-noise ratio and the number of targets; when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar emits a target waveform with inter-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm; the target waveform is used as a reference signal for echo decoding. Since this embodiment determines the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets of the echo, and then when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar emits a target waveform with inter-pulse phase coding, and the target waveform is used as a reference signal for echo decoding. Compared with the prior art, this embodiment uses the signal-to-noise ratio of the echo and the number of targets to adaptively change the waveform, which effectively improves the anti-interference ability of the vehicle-mounted millimeter-wave radar, thereby expanding the application scenarios of the vehicle-mounted millimeter-wave radar and improving the credibility of the perception results of the vehicle-mounted radar in complex environments.

[0076] refer to Figure 2 , Figure 2 It is a flow chart of the second embodiment of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention.

[0077] Based on the above first embodiment, in this embodiment, step S40 includes:

[0078] Step S01: According to relevant parameters of the vehicle-mounted millimeter-wave radar, a genetic algorithm is used to optimize a symbol sequence corresponding to the vehicle-mounted millimeter-wave radar to obtain a coding sequence.

[0079] It should be understood that before using the genetic algorithm to optimize the symbol sequence corresponding to the vehicle-mounted millimeter-wave radar to obtain the coding sequence, it is also necessary to determine the fitness function and termination condition of the genetic algorithm.

[0080] In a specific implementation, the codeword sequence of the vehicle-mounted millimeter-wave radar can be obtained, and the sequence length of the codeword sequence can be determined; it is judged whether the sequence length exceeds a preset length threshold, and the fitness function of the genetic algorithm is determined according to the judgment result; and the termination condition of the genetic algorithm is adjusted according to the fitness function and relevant parameters of the vehicle-mounted millimeter-wave radar.

[0081] Among them, the step of judging whether the sequence length exceeds a preset length threshold and determining the fitness function of the genetic algorithm according to the judgment result includes: judging whether the sequence length exceeds the preset length threshold to obtain a judgment result; when the judgment result indicates that the sequence length exceeds the preset length threshold, determining the fitness function of the genetic algorithm based on the autocorrelation and cross-correlation of the codeword sequence; when the judgment result indicates that the sequence length does not exceed the preset length threshold, using the fuzzy function of the transmitter in the on-board millimeter-wave radar as the fitness function of the genetic algorithm.

[0082] It is understandable that the above-mentioned preset length threshold may be a custom setting, and this embodiment does not impose any limitation on this.

[0083] It should be explained that when the judgment result indicates that the sequence length exceeds the preset length threshold, that is, for long sequences, in order to reduce the complexity, the fitness function of the genetic algorithm can be expressed as the autocorrelation of the code element sequence. and cross-correlation Instead, as in formula (1) and formula (2):

[0084] ; (1)

[0085] ; (2)

[0086] The final fitness function can be written as formula (3):

[0087] ; (3)

[0088] in, is the weighting coefficient, The higher the value, the higher the requirement for waveform cross-correlation.

[0089] When the judgment result indicates that the sequence length does not exceed the preset length threshold, that is, for a short sequence, the fuzzy function of the transmitter in the vehicle-mounted millimeter-wave radar can be directly used as the fitness function of the genetic algorithm, where the fuzzy function of the mth transmitter can be written as formula (4):

[0090] ; (4)

[0091] in, is the echo delay, is the Doppler frequency, is the radar pulse index of the transmitted signal, is the pulse repetition period, and t is the time. Using the fuzzy function as the fitness function can reflect the correlation characteristics of the waveform in two dimensions, distance and speed. In order to facilitate quantification, the ratio of the peak value of the fuzzy function to the surrounding unit values ​​is taken as the fitness function. The larger the ratio, the better the correlation performance of the waveform. Similarly, the peak value can be compared with the two-dimensional sidelobes respectively, and the proportion of the waveform in speed measurement and distance measurement can be emphasized by weighting. Generally, in vehicle-mounted millimeter-wave radars, more emphasis is placed on the correlation characteristics of the waveform in the Doppler dimension. The formula mainly reflects the autocorrelation of the waveform, and the cross-correlation is the correlation between a certain transmitting waveform and other transmitting waveforms. In order to simplify the optimization complexity, only the autocorrelation performance is considered in the genetic algorithm. After obtaining multiple groups of sequences, the sequences that do not meet the requirements are eliminated by calculating the waveform cross-correlation.

[0092] For example, reference Figure 3 , the relevant parameters of the vehicle-borne millimeter-wave radar (i.e., the vehicle-borne radar waveform setting parameters) are added to the traditional genetic algorithm training code element sequence. First, the corresponding relationship between the population and the phase is determined according to the configuration flexibility of the radar, and the binary code corresponding phase is selected. The fitness function can be set to the waveform autocorrelation and cross-correlation function or the fuzzy function of the transmitter according to the sequence length; the termination condition of the genetic algorithm is adjusted according to the fitness function and the relevant parameters of the vehicle-borne millimeter-wave radar.

[0093] Step S02: modulate the coding sequence onto the Chirp phase of each frame.

[0094] Step S03: Chirps within a frame are combined into a target waveform with pulse-to-pulse phase coding.

[0095] The coded sequence is modulated onto the chirp phase of each frame, and all the chirps in a frame are combined into a set of codes. Each transmitter corresponds to a set of codes and transmits the coded frames cyclically. Assume The transmitting channels simultaneously transmit mutually orthogonal pulse-to-pulse phase-coded waveforms. The transmission waveform of a transmission channel can be written as formula (5):

[0096] (5)

[0097] in, , , , , They are the radar pulse index, pulse repetition period, amplitude, carrier frequency and frequency modulation slope of the transmitted signal. is the coding phase given by the designed coding sequence C, which is given by equation (6):

[0098] (6)

[0099] The echo of the nth receiver is recorded as: , where r is the target distance and c is the speed of light. In the echo decoding process, each set of codes corresponds to a matched filter , can be written as formula (7):

[0100] (7)

[0101] By using M groups of decoding filters and N receiver echoes for matched filtering, M*N virtual channel signals can be obtained, and then signal processing and data processing are performed on the virtual channel signals.

[0102] For example, three sets of two-phase code waveforms (i.e., target waveforms) with a code length of 225 designed by the method of this embodiment are given. The autocorrelation and cross-correlation of the set of codes (code element sequences) are as follows: Figure 4 As shown:

[0103] ①:π,0,0,π,0,π,0,π,π,0,0,π,π,π,0,0,π,0,0,π,0,π,π,0,π,0,0,0,π,π,0,0,0,0,π,π,π,π,π,0,0,0,π,π,π,0,0,0,0,π,0,π,π,π,0,π ,π,π,0,0,π,π,π,0,0,π,0,π,π,0,0,π,0,π,0,0,π,π,π,π,0,π,π,π,0,π,π,π,π,0,π,π,π,0,0,0,π,0,π,π,0,π,π,0,0,π,0,0,π,π,0,0, 0,π,π,0,π,0,0,π,π,0,0,0,π,0,π,0,π,π,0,π,π,0,0,0,π,π,π,π,π,π,π,π,π,π,π,0,π,π,π,π,π,0,0,π,π,0,π,0,π,0,π,0,π,0,0,0,0 ,0,π,π,0,π,0,π,0,0,π,π,π,π,π,π,0,0,0,0,0,0,0,π,0,0,π,π,π,π,0,0,0,0,0,0,0,0,π,π,π,0,π,π,0,π,0,π,π,π,π,0,0,0,0,π,π;

[0104] ②:π,π,0,π,π,0,π,0,π,0,π,π,0,0,0,0,π,π,π,π,0 π,π,0,π,0,π,π,0,0,π,0,π,0,π,0,π,0,π,0,π,0,π,0,0,0,0,π,0,0,0,0,π,0,0,0,0,π,0,0,0,π,π,0,0,0,π,π,π,0,0,0,0,π,π,π,0,0,0,π,π,0,π,π,0,π,π,π,π,π,0π,0,π,π,π,0,π,π,π,0,π,π,π,0,π,π,π,0,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,π,

[0105] ③:0,π,0,π,0,0,0,π,π,0,π,π,0,π,π,0,π,0,0,0,0,0,π,0,π,π,π,π,0,0,0,0,π 0,0,π,π,0,π,π,π,0,0,π,0,0,π,π,π,0,0,0,0,0,0,π

[0106] The relevant properties of the target waveform can be obtained from the fuzzy figure, Figure 5 A fuzzy map of the target waveform is given, Figure 5 It is verified that the radar receiving channel can separate the transmitted signal in the coding dimension, suppress radar interference and cross-correlation energy, and the symmetrical pin-shaped fuzzy graph shows that the waveform does not have the problem of Doppler distance coupling. The correlation performance and anti-interference ability of the waveform can be further improved by increasing the sequence or expanding the number of phases.

[0107] For another example, if the distance is set to 40m and the speed is 20m / s, and the radar transmitter interference of the same frequency band is added, the distance measurement and speed measurement results are as follows: Figure 6 and Figure 7 As shown. Figure 6 and Figure 7 As shown in the figure, the proposed waveform does not have false detection or missed detection when interfered by a radar transmitter in the same frequency band, and maintains a relatively high main sidelobe level. Figure 6 The horizontal axis represents distance, and the vertical axis represents gain. The main lobe is the 0 gain peak point at 40m. (X=38.98, Y=-13.25) and (X=40.86, Y=-13.41) represent the two side lobes of the main lobe. The main-side lobe ratio is 0 minus -13.25 and 0 minus -13.41. However, the engineering will choose the worst main-side lobe ratio as the main-side lobe ratio. Therefore, Figure 6 The main-sidelobe ratio is 13.25; similarly Figure 7 In the figure, the horizontal axis represents speed, the vertical axis represents gain, the main lobe is the 0 gain peak point at 20m / s, (X=19.55, Y=-11.84) and (X=20.55, Y=-10.34) represent the two side lobes of the main lobe. Figure 7 The main-sidelobe ratio is 10.34; Figure 6 and Figure 7 The higher the main-sidelobe ratio, the lower the probability of false detection and missed detection. In addition to the design of the target waveform, it is also necessary to verify the effectiveness of the switching waveform logic. The test uses a static single target with an RCS of 20dBsm, a distance of 80m, and a speed of 10m / s. The interference is generated by a signal generator with a carrier frequency of 76.5GHz and an interference power of 4dBm. The target test results before and after the wave cutting are as follows: Figure 8 and Fig. 9 As shown, the error detection is Figure 8 Multiple targets will be detected, and missed detection is Fig. 9 The target will not be detected. Figure 8 and Fig. 9 The test results show that the radar generates a large number of ghost points after being interfered. After the waveform switching of the present invention is executed, the target points and the track return to stability. After stopping sending the interference signal, the waveform switches back to the basic waveform. The measured results verify the practicality and effectiveness of the proposed waveform switching.

[0108] It should be added that in addition to using a fitness function that is more suitable for the parameters of the vehicle-mounted millimeter-wave radar, there are also the following optimized inputs for vehicle-mounted millimeter-wave radar: (1) The generated code element phase value is an integer multiple of 5.625°, and the phase constant is a factor of 64. Too high a phase constant will increase the optimization complexity and modulation complexity, so two-phase code and four-phase code are generally used. (2) Expand the population and mutation probability to avoid premature algorithm maturation. Increase the maximum number of iterations to ensure the correlation performance of the sequence. (3) Generate large batches of sequences. Based on the application requirements of vehicle-mounted radar, the number of sequence groups generated may reach thousands.

[0109] This embodiment discloses obtaining a symbol sequence of a vehicle-mounted millimeter-wave radar, and determining the sequence length of the symbol sequence; judging whether the sequence length exceeds a preset length threshold, and determining the fitness function of a genetic algorithm according to the judgment result; adjusting the termination condition of the genetic algorithm according to the fitness function and the relevant parameters of the vehicle-mounted millimeter-wave radar; optimizing the symbol sequence corresponding to the vehicle-mounted millimeter-wave radar using a genetic algorithm according to the relevant parameters of the vehicle-mounted millimeter-wave radar to obtain a coding sequence; modulating the coding sequence to the Chirp phase of each frame; and forming a target waveform with inter-pulse phase coding by forming the Chirps within a frame. Since this embodiment determines the fitness function of the genetic algorithm according to the sequence length, and then optimizes the symbol sequence corresponding to the vehicle-mounted millimeter-wave radar using a genetic algorithm according to the relevant parameters of the vehicle-mounted millimeter-wave radar, compared with the prior art, this embodiment uses a genetic algorithm to optimize waveform coding, so that the generated coding sequence has a variable length, unlimited number of coding groups, high robustness and high orthogonality.

[0110] refer to Fig.10 , Fig.10 It is a flowchart of the third embodiment of the vehicle-mounted millimeter-wave radar anti-interference method of the present invention.

[0111] Based on the above embodiments, in this embodiment, step S20 includes:

[0112] Step S201: Determine whether the change in the signal-to-noise ratio and the target number of the current frame exceeds a preset change threshold.

[0113] It should be noted that the above-mentioned preset change thresholds include a signal-to-noise ratio change threshold and a target number change threshold. The signal-to-noise ratio change threshold and the target number change threshold can be user-defined, which is not limited in this embodiment.

[0114] It should be understood that it is possible to determine whether the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold; and determine whether the change in the number of targets of the current frame exceeds the target number change threshold.

[0115] Step S202: If the preset change threshold is exceeded, a basic waveform signal of a first preset frame is emitted by the vehicle-mounted millimeter-wave radar.

[0116] It should be noted that if the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold and the change in the number of targets in the current frame exceeds the target number change threshold, the basic waveform signal of the first preset frame is emitted by the on-board millimeter-wave radar.

[0117] If the change in the signal-to-noise ratio of the current frame does not exceed the signal-to-noise ratio change threshold or the change in the number of targets in the current frame does not exceed the target number change threshold, return to the step of transmitting the basic waveform through the vehicle-mounted millimeter-wave radar.

[0118] Step S203: If the echo change corresponding to the basic waveform signal in the first preset frame exceeds the preset change threshold, it means that the interference degree of the vehicle-mounted millimeter-wave radar is strong interference.

[0119] Step S204: If the echo change corresponding to the basic waveform signal in the second preset frame does not exceed the preset change threshold, it means that the interference degree of the vehicle-mounted millimeter-wave radar is weak interference, and the second preset frame is greater than the first preset frame.

[0120] For example, refer to Fig.11, in the figure, step 1 first optimizes the coding with a genetic algorithm according to the parameters of the vehicle-mounted millimeter-wave radar, and modulates the coding to the chirp phase of each frame. Step 2: The waveform within a frame constitutes an inter-pulse phase coding waveform to obtain the target waveform (i.e., the coding waveform), which can be used as a reference signal for transmitting signals and echo decoding. Step 3: The basic waveform of the millimeter-wave radar is transmitted while the car is driving. Step 4: Radar echo processing, including two-dimensional FFT and angle estimation, statistics of the SNR and number of targets of the echo, this step is a conventional vehicle-mounted millimeter-wave radar signal processing step, and does not introduce additional calculations. Step 5: Set the SNR change threshold S1 (signal-to-noise ratio change threshold value) and the target number change thresholds P1 and P2 (target number change threshold values) to determine whether the radar is subject to strong interference. It should be noted that these two thresholds quantify the changes in the scene. When the radar is interfered with, the target point trace will disappear or a ghost target will appear. In a strong interference environment, the CFAR threshold is not reduced, and the detectable points will suddenly become less than the normal frame. There may also be phenomena of point trace interruption, drift and large-area noise. Therefore, the present invention takes the normal frame as the benchmark and judges the severity of interference by measuring the SNR change and the target number change. Among them, S1 is used to measure the sudden deterioration of SNR; P1 and P2 are used to measure the sudden decrease or increase of point traces respectively. Only when the SNR change threshold and the target number change threshold are reached at the same time will step six be entered, otherwise step three is executed. Step six: Based on the echo processing result before interference, repeatedly transmit the N1 frame basic waveform signal. If the echo change of the radar signal in the N1 frame continuously exceeds the SNR threshold and the point trace number threshold, step seven is executed. Correspondingly, if the echo change in the N2 frame does not exceed the threshold, return to step three. Among them, N2>N1 (the second preset frame is greater than the first preset frame), which is used as a protection interval. Step seven: Switch the millimeter wave radar coding waveform while the car is driving. Step eight: Decode the transmitted coding waveform as the reference signal and return to step four.

[0121] It should be noted that steps 1 and 2 are independent modules. In the application of vehicle-mounted radar, as long as the coding sequence is designed in advance, the waveform phase can be directly modulated. The coding waveform is written into ARM as an independent module, and there is no need to regenerate the sequence every time the wave is sent. After decoding, the coding waveform and the basic waveform can reuse the echo processing module by setting different threshold parameters to reduce the algorithm complexity and code storage space.

[0122] It is understandable that the discrimination thresholds of steps five and six can be modified according to the actual scenario, or N1 and N2 can be modified to change the interference discrimination function. There are many ways to judge the interference state in steps five and six, including but not limited to changes in target distance, angle, and reflection intensity.

[0123] This embodiment discloses judging whether the change of the signal-to-noise ratio and the number of targets in the current frame exceeds a preset change threshold value; if it exceeds the preset change threshold value, the vehicle-mounted millimeter-wave radar transmits a basic waveform signal of a first preset frame; if the echo change corresponding to the basic waveform signal in the first preset frame exceeds the preset change threshold value, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is strong interference; if the echo change corresponding to the basic waveform signal in the second preset frame does not exceed the preset change threshold value, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is weak interference, and the second preset frame is greater than the first preset frame. Compared with the prior art, this embodiment realizes judging the severity of interference by measuring the change of the signal-to-noise ratio and the change of the number of targets.

[0124] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle-mounted millimeter-wave radar anti-interference program is stored. When the vehicle-mounted millimeter-wave radar anti-interference program is executed by a processor, the steps of the vehicle-mounted millimeter-wave radar anti-interference method described above are implemented.

[0125] Reference Fig.12 , Fig.12 This is a structural block diagram of the first embodiment of the vehicle-mounted millimeter-wave radar anti-interference device of the present invention.

[0126] like Fig.12 As shown, the vehicle-mounted millimeter-wave radar anti-interference device proposed in the embodiment of the present invention includes: a waveform transmission module 401, an interference judgment module 402, a waveform switching module 403 and an echo decoding module 404.

[0127] The waveform transmitting module 401 is used to transmit a basic waveform through a vehicle-mounted millimeter wave radar, and perform echo processing on the basic waveform to obtain a signal-to-noise ratio and a target number of the echo.

[0128] The interference judgment module 402 is used to determine the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets.

[0129] The waveform switching module 403 is used to enable the vehicle-mounted millimeter-wave radar to transmit a target waveform with inter-pulse phase coding when the interference level is strong interference, and the target waveform is a coded waveform optimized by using a genetic algorithm.

[0130] The echo decoding module 404 is used to perform echo decoding using the target waveform as a reference signal.

[0131] The embodiment of the device discloses that a basic waveform is emitted by a vehicle-mounted millimeter-wave radar, and the basic waveform is echo-processed to obtain the signal-to-noise ratio and the number of targets of the echo; the interference degree of the vehicle-mounted millimeter-wave radar is determined based on the signal-to-noise ratio and the number of targets; when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar is caused to emit a target waveform with inter-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm; the target waveform is used as a reference signal for echo decoding. Since the embodiment of the device determines the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets of the echo, and then when the interference degree is strong interference, the vehicle-mounted millimeter-wave radar is caused to emit a target waveform with inter-pulse phase coding, and the target waveform is used as a reference signal for echo decoding. Compared with the prior art, the embodiment of the device uses the signal-to-noise ratio of the echo and the waveform of the number of targets to adaptively change, which effectively improves the anti-interference ability of the vehicle-mounted millimeter-wave radar, thereby expanding the application scenarios of the vehicle-mounted millimeter-wave radar and improving the credibility of the perception results of the vehicle-mounted radar in complex environments.

[0132] Based on the above-mentioned first embodiment of the vehicle-mounted millimeter-wave radar anti-interference device of the present invention, a second embodiment of the vehicle-mounted millimeter-wave radar anti-interference device of the present invention is proposed.

[0133] In this embodiment, the waveform transmission module 401 is also used to optimize the code element sequence corresponding to the vehicle-mounted millimeter-wave radar using a genetic algorithm according to relevant parameters of the vehicle-mounted millimeter-wave radar to obtain a coding sequence; modulate the coding sequence to the Chirp phase of each frame; and organize the Chirps within a frame into a target waveform with inter-pulse phase coding.

[0134] The waveform transmission module 401 is also used to obtain the code element sequence of the vehicle-mounted millimeter-wave radar and determine the sequence length of the code element sequence; determine whether the sequence length exceeds a preset length threshold, and determine the fitness function of the genetic algorithm according to the judgment result; adjust the termination condition of the genetic algorithm according to the fitness function and relevant parameters of the vehicle-mounted millimeter-wave radar.

[0135] Other embodiments or specific implementation methods of the vehicle-mounted millimeter-wave radar anti-interference device of the present invention can refer to the above-mentioned method embodiments and will not be repeated here.

[0136] The present application provides a vehicle-mounted millimeter-wave radar anti-interference device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle-mounted millimeter-wave radar anti-interference method in the above-mentioned embodiment one.

[0137] Reference below Fig.13, which shows a schematic diagram of the structure of a vehicle-mounted millimeter-wave radar anti-interference device suitable for implementing the embodiment of the present application. The vehicle-mounted millimeter-wave radar anti-interference device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.13 The vehicle-mounted millimeter-wave radar anti-interference device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0138] like Fig.13 As shown, the vehicle-mounted millimeter-wave radar anti-interference device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle-mounted millimeter-wave radar anti-interference device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle-mounted millimeter-wave radar anti-interference device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vehicle-mounted millimeter-wave radar anti-interference device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0139] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0140] The vehicle-mounted millimeter-wave radar anti-interference device provided by the present application adopts the vehicle-mounted millimeter-wave radar anti-interference method in the above embodiment, which can solve the technical problem of unstable anti-interference ability of vehicle-mounted millimeter-wave radar in the prior art. Compared with the prior art, the beneficial effects of the vehicle-mounted millimeter-wave radar anti-interference device provided by the present application are the same as the beneficial effects of the vehicle-mounted millimeter-wave radar anti-interference method provided by the above embodiment, and the other technical features in the vehicle-mounted millimeter-wave radar anti-interference device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0141] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0142] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0143] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0144] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0146] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle-mounted millimeter-wave radar anti-interference method, characterized in that: The method comprises: The vehicle-mounted millimeter-wave radar transmits a basic waveform, and performs echo processing on the basic waveform to obtain a signal-to-noise ratio and a target number of the echo; Determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets; When the interference degree is strong interference, the vehicle-mounted millimeter-wave radar transmits a target waveform with pulse-to-pulse phase coding, and the target waveform is a coding waveform optimized by a genetic algorithm; Using the target waveform as a reference signal to perform echo decoding; Wherein, the step of determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets includes: Determine whether the change of the signal-to-noise ratio and the target number of the current frame exceeds a preset change threshold, wherein the preset change threshold includes a signal-to-noise ratio change threshold and a target number change threshold; If the preset change threshold is exceeded, a basic waveform signal of a first preset frame is emitted by the vehicle-mounted millimeter-wave radar; If the echo change corresponding to the basic waveform signal in the first preset frame exceeds the preset change threshold, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is strong interference; If the echo change corresponding to the basic waveform signal in the second preset frame does not exceed the preset change threshold value, it means that the interference degree of the vehicle-mounted millimeter-wave radar is weak interference, and the second preset frame is greater than the first preset frame; The step of determining whether the change in the signal-to-noise ratio and the target number of the current frame exceeds a preset change threshold value includes: Determine whether the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold; Determine whether the change in the number of targets in the current frame exceeds the target number change threshold; Correspondingly, if the preset change threshold is exceeded, the step of transmitting a basic waveform signal of a first preset frame through the vehicle-mounted millimeter-wave radar includes: If the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold and the change in the number of targets of the current frame exceeds the target number change threshold, a basic waveform signal of a first preset frame is emitted by the vehicle-mounted millimeter-wave radar.

2. The vehicle-mounted millimeter-wave radar anti-interference method according to claim 1, characterized in that: Before the step of transmitting a basic waveform by the vehicle-mounted millimeter wave radar and performing echo processing on the basic waveform to obtain the signal-to-noise ratio and the number of targets of the echo, the method further includes: According to relevant parameters of the vehicle-mounted millimeter-wave radar, a code element sequence corresponding to the vehicle-mounted millimeter-wave radar is optimized by using a genetic algorithm to obtain a coding sequence; Modulating the coded sequence onto the Chirp phase of each frame; Chirps within a frame are combined into a target waveform with pulse phase encoding.

3. The vehicle-mounted millimeter-wave radar anti-interference method according to claim 2, characterized in that: Before the step of optimizing the symbol sequence corresponding to the vehicle-mounted millimeter-wave radar by using a genetic algorithm according to the relevant parameters of the vehicle-mounted millimeter-wave radar to obtain the coding sequence, the step further includes: Obtaining a code element sequence of a vehicle-mounted millimeter-wave radar, and determining a sequence length of the code element sequence; Determining whether the length of the sequence exceeds a preset length threshold, and determining a fitness function of the genetic algorithm according to the determination result; The termination condition of the genetic algorithm is adjusted according to the fitness function and relevant parameters of the onboard millimeter-wave radar.

4. The vehicle-mounted millimeter-wave radar anti-interference method according to claim 3, characterized in that: The step of judging whether the sequence length exceeds a preset length threshold and determining the fitness function of the genetic algorithm according to the judgment result comprises: Determine whether the length of the sequence exceeds a preset length threshold, and obtain a determination result; When the judgment result indicates that the length of the sequence exceeds a preset length threshold, determining a fitness function of a genetic algorithm based on the autocorrelation and cross-correlation of the symbol sequence; When the judgment result indicates that the sequence length does not exceed the preset length threshold, the fuzzy function of the transmitter in the vehicle-mounted millimeter-wave radar is used as the fitness function of the genetic algorithm.

5. The vehicle-mounted millimeter-wave radar anti-interference method according to claim 1, characterized in that: After the step of determining whether the signal-to-noise ratio of the current frame and the change amount of the target number exceed the preset change threshold value, the method further includes: If the change in the signal-to-noise ratio of the current frame does not exceed the signal-to-noise ratio change threshold or the change in the number of targets of the current frame does not exceed the target number change threshold, returning to execute the step of transmitting the basic waveform by the vehicle-mounted millimeter-wave radar; Accordingly, after the step of determining the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets, the method further includes: When the interference level is weak interference, the process returns to executing the step of transmitting the basic waveform through the vehicle-mounted millimeter-wave radar.

6. A vehicle-mounted millimeter-wave radar anti-interference device, characterized in that: The device comprises: A waveform transmitting module, used to transmit a basic waveform through a vehicle-mounted millimeter-wave radar, and perform echo processing on the basic waveform to obtain a signal-to-noise ratio and a target number of the echo; An interference judgment module, used to determine the interference degree of the vehicle-mounted millimeter-wave radar based on the signal-to-noise ratio and the number of targets; A waveform switching module, used for causing the vehicle-mounted millimeter-wave radar to transmit a target waveform with pulse-to-pulse phase coding when the interference level is strong interference, wherein the target waveform is a coding waveform optimized by a genetic algorithm; An echo decoding module, used for performing echo decoding using the target waveform as a reference signal; The interference judgment module is further used to judge whether the change amount of the signal-to-noise ratio and the number of targets in the current frame exceeds a preset change threshold value, and the preset change threshold value includes a signal-to-noise ratio change threshold value and a target number change threshold value; if it exceeds the preset change threshold value, the basic waveform signal of the first preset frame is transmitted through the vehicle-mounted millimeter-wave radar; if the echo change corresponding to the basic waveform signal in the first preset frame exceeds the preset change threshold value, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is strong interference; if the echo change corresponding to the basic waveform signal in the second preset frame does not exceed the preset change threshold value, it indicates that the interference degree of the vehicle-mounted millimeter-wave radar is weak interference, and the second preset frame is greater than the first preset frame; The interference judgment module is further used to judge whether the change of the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold value; judge whether the change of the number of targets in the current frame exceeds the target number change threshold value; The interference judgment module is also used to transmit a basic waveform signal of a first preset frame through the vehicle-mounted millimeter-wave radar if the change in the signal-to-noise ratio of the current frame exceeds the signal-to-noise ratio change threshold and the change in the number of targets in the current frame exceeds the target number change threshold.

7. A vehicle-mounted millimeter-wave radar anti-interference device, characterized in that: The device includes: a memory, a processor, and a vehicle-mounted millimeter-wave radar anti-interference program stored in the memory and executable on the processor, wherein the vehicle-mounted millimeter-wave radar anti-interference program is configured to implement the steps of the vehicle-mounted millimeter-wave radar anti-interference method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a vehicle-mounted millimeter-wave radar anti-interference program, and when the vehicle-mounted millimeter-wave radar anti-interference program is executed by the processor, the steps of the vehicle-mounted millimeter-wave radar anti-interference method according to any one of claims 1 to 5 are implemented.

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