A 60GHz millimeter wave barrier anti-smashing radar signal processing method and device

Abstract

The present invention discloses a 60GHz millimeter wave barrier anti-smashing radar signal processing method and device, and relates to the field of radar and barrier anti-smashing technology. The 60GHz millimeter wave barrier anti-smashing radar signal processing method comprises the following steps: obtaining radial velocity information; obtaining point cloud data; obtaining target detection index. The present invention obtains the target distance information in the radar detection area and performs velocity dimension FFT processing to extract radial velocity information, then generates a range-Doppler detection matrix and performs azimuth and elevation FFT processing to obtain point cloud data, and finally performs clutter processing and anti-smashing logic processing on the point cloud data and obtains the target detection index in combination with the echo signal, and at the same time, determines whether to output the anti-smashing signal according to the target detection index and the target detection threshold, thereby achieving the effect of improving the safety of the barrier anti-smashing radar signal processing process, and solves the problem of low safety in the barrier anti-smashing radar signal processing process in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of radar and barrier gate anti-smashing, and in particular to a 60GHz millimeter wave barrier gate anti-smashing radar signal processing method and device. Background Art

[0002] With the development of traffic safety technology, parking systems are becoming more intelligent, which has led to the emergence of barrier anti-smashing radars. By setting up a barrier drop control gate, it is possible to avoid the situation where the pole falls before the vehicle leaves the detection area, causing a "car smashing" situation. In addition to the frequency band of 77-81GHz, the 24GHz barrier anti-smashing radars currently available on the market have problems such as large size and insufficient detection accuracy. Traditional barrier systems mostly use ground sensing coils, infrared or laser technologies for vehicle detection, but these technologies have certain limitations in practical applications, such as being susceptible to environmental interference, complex installation and maintenance, and high costs. Therefore, it is necessary to consider the application of other frequency bands for barrier anti-smashing radars, such as 60GHz. In barrier anti-smashing applications, 60GHz millimeter-wave radars can sense the dynamic information of vehicles and pedestrians in real time, effectively avoid misjudgments and missed judgments, and improve the safety and traffic efficiency of barrier systems.

[0003] In the prior art, a frequency modulated continuous wave is formed by receiving a frequency modulated pulse signal, and at the same time, the radar receives an echo signal reflected by a preset target. The frequency modulated continuous wave and the echo signal are mixed and then signal processing is performed to obtain target data. The target data is then fused to determine whether there is a risky object in the gate area and generate a corresponding control signal, thereby achieving effective anti-smashing control of the target object.

[0004] For example, the invention patent with announcement number: CN111830508B announces a gate anti-smashing system and method using millimeter-wave radar, including: receiving radar echoes for accumulation, and performing FFT calculation in the fast time dimension; using digital beamforming technology for spatial filtering to obtain echo angle information; performing CFAR target detection on distance and angle data; performing slow-time FFT on the detected target points to obtain target Doppler; calculating the distance, angle, and speed of the target point, and converting polar coordinates to rectangular coordinates; and eliminating false target points.

[0005] For example, a 77GHz millimeter-wave barrier anti-smashing radar signal processing device is disclosed in a patent application with the publication number CN109633571B, including: generating a linear frequency modulation pulse, and capturing the reflected linear frequency modulation pulse generated by reflection; merging the linear frequency modulation pulse and the reflected linear frequency modulation pulse to generate an intermediate frequency signal; performing frequency domain analysis and constant false alarm detection on the intermediate frequency signal, comparing the detected information with the threshold, and outputting the required target, at which time the barrier gate arm is opened; receiving target information and identifying the target, interacting with the PC through decision information, and when the target disappears from the barrier gate detection area, the barrier gate arm is closed.

[0006] In the prior art, the limitation of algorithm complexity leads to signal processing delay, which reduces the reaction speed to risky objects. Secondly, the rod dropping operation is performed directly after receiving the signal, ignoring the distance between the non-straight rod and the target in the anti-smashing detection area, thereby increasing the risk of accidental smashing of the gate. There is a problem of low safety in the signal processing of the gate anti-smashing radar. Summary of the invention

[0007] The embodiment of the present application solves the problem of low security in the barrier gate anti-smashing radar signal processing process in the prior art by providing a 60GHz millimeter-wave barrier gate anti-smashing radar signal processing method and device, thereby improving the security in the barrier gate anti-smashing radar signal processing process.

[0008] The embodiment of the present application provides a 60GHz millimeter-wave barrier anti-smashing radar signal processing method, comprising the following steps: S1, obtaining target distance information within a radar detection area, and performing velocity-dimensional FFT processing on the target distance information to extract radial velocity information; S2, generating a range-Doppler detection matrix according to the radial velocity information, and performing azimuth FFT processing and elevation FFT processing on the target to be measured in the range-Doppler detection matrix to obtain two-dimensional angle information of the target to be measured, thereby obtaining point cloud data, the range-Doppler detection matrix is ​​used to visualize the echo signal of the target to be measured in the radar detection area, the two-dimensional angle information includes azimuth and elevation, the azimuth and elevation are used to determine whether the target to be measured is directly facing the barrier, and the point cloud data includes distance data, speed data and angle data of the target to be measured; S3, performing clutter processing and anti-smashing logic processing on the point cloud data and combining the echo signal to obtain a target detection index, and judging whether to output an anti-smashing signal according to the target detection index and the target detection threshold, the target detection index is used to measure the accuracy of the detection of the target to be measured in the radar detection area.

[0009] Furthermore, the range-Doppler detection matrix is ​​generated according to the radial velocity information, and then the dimension detection of the range-Doppler detection matrix is ​​also included, the horizontal axis and the vertical axis of the range-Doppler detection matrix are respectively the distance of the target to be measured and the Doppler frequency, and the Doppler frequency is the radial velocity information of the target to be measured relative to the radar; the dimension detection includes range dimension detection and Doppler dimension detection; the range dimension detection increases the detection rate of the target to be measured by interpolating the peak position of the range dimension; the Doppler dimension detection increases the detection rate of the target to be measured by interpolating the peak position of the Doppler dimension.

[0010] Furthermore, the specific steps of interpolating the peak position of the distance dimension are: correcting and modifying the distance peak index in the distance dimension through the distance score correction item to obtain a distance peak index correction value, the distance score correction item is used to fine-tune the initial distance peak index in the distance dimension, and the distance peak index is used to reflect the estimated value between the distances of the targets to be measured.

[0011] Furthermore, the specific steps of performing interpolation operation on the peak position of the Doppler dimension are: correcting and modifying the Doppler peak index in the Doppler dimension through the Doppler fraction correction term to obtain a Doppler peak index correction value, wherein the Doppler fraction correction term is used to fine-tune the initial Doppler peak index in the Doppler dimension, and the Doppler peak index is used to reflect the initial value of the radial velocity of the target to be measured.

[0012] Furthermore, the step of acquiring point cloud data further includes: performing coordinate calculation according to target distance information, radial velocity information and two-dimensional angle information, and generating a point cloud list according to the result of the coordinate calculation, wherein the point cloud list represents a list generated by converting the target to be measured from a polar coordinate system to a Cartesian coordinate system.

[0013] Furthermore, the coordinate calculation includes azimuth peak index correction value calculation and coordinate value calculation, the azimuth peak index correction value is the sum of the azimuth peak index and the Doppler fraction correction term, and the azimuth peak index is used to reflect the estimated value between the azimuth angles of the target to be measured.

[0014] Furthermore, the coordinate values ​​include x-dimensional coordinate values, z-dimensional coordinate values, and y-dimensional coordinate values ​​in a Cartesian coordinate system; the calculation expression of the coordinate values ​​is:

[0015] ;

[0016] ;

[0017] ;

[0018] Where ZHI is the coordinate value, x is the x-dimensional coordinate value in the Cartesian coordinate system, z is the z-dimensional coordinate value in the Cartesian coordinate system, and y is the y-dimensional coordinate value in the Cartesian coordinate system. is the distance of the target to be measured, is the phase increment between adjacent antenna elements in the x-dimensional antenna array, is the echo signal wavelength, is the azimuth peak index correction value, is the spacing between adjacent antenna elements in the virtual antenna array, is the number of samples of the azimuth FFT, is the phase increment between adjacent antenna elements in the z-dimensional antenna array, is the pitch peak index, is the number of samples of the elevation angle FFT.

[0019] Furthermore, the specific process of judging whether to output an anti-smashing signal based on the target detection index and the target detection threshold is as follows: judging whether the target detection index is within the target detection threshold range; if so, it indicates that there is a target to be detected in the radar detection area and outputs an anti-smashing signal to the barrier control system to perform a barrier bar lowering operation; otherwise, the barrier bar lowering operation is not performed and the barrier detection parameters are adjusted to re-acquire the target detection index until the target detection index is within the target detection threshold range, and the barrier detection parameters include the radar detection angle and distance.

[0020] Furthermore, the anti-smashing logic processing includes straight rod processing and non-straight rod processing; the steps of the straight rod processing are: determine whether there is a target to be measured in the radar detection area, if so, control the barrier rod not to fall, otherwise execute the barrier rod dropping operation; the steps of the non-straight rod processing are: determine whether there is a rod or a target to be measured in the rod area according to the result of coordinate calculation, if there is a rod, control the barrier rod not to fall, if there is a target to be measured, execute the barrier rod dropping operation.

[0021] The embodiment of the present application provides a device for applying a 60GHz millimeter-wave barrier anti-smashing radar signal processing method as described above, comprising: a radio frequency module, a hardware accelerator module, an ARM processor module, a serial communication module and a power supply module; wherein the radio frequency module comprises a transmitting antenna, a receiving antenna, a synthesizer and a mixer, the linear frequency modulation signal in the synthesizer is transmitted by the transmitting antenna and then received by the receiving antenna to obtain a transmitting linear frequency modulation signal, the mixer is used to combine the linear frequency modulation signal with the transmitting linear frequency modulation signal to generate an intermediate frequency signal; the hardware accelerator module is used to perform speed dimension FFT processing, azimuth FFT processing and pitch FFT processing on the intermediate frequency signal; the ARM processor module is used to interpolate the peak positions of the distance dimension and the Doppler dimension The system performs calculations to obtain point cloud data, and at the same time sends a high-level signal to the barrier gate control end according to the point cloud data and performs decision processing on the target to be measured. The high-level signal is used to maintain the open state of the barrier gate to ensure that the barrier gate does not fall when there is a target to be measured in the radar detection area. The decision processing is used to identify the target to be measured; the serial port communication module is used to output decision information corresponding to the decision processing and interact with the PC end. When the target to be measured is not in the target detection area, the barrier gate in the target detection area is controlled to fall according to the low-level signal sent by the ARM processor module to the barrier gate control end. The decision information is the control instruction for the barrier gate to fall; the power supply module is used to provide power to the RF module, the hardware accelerator module and the ARM processor module during the working process.

[0022] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0023] 1. By obtaining the target distance information in the radar detection area and performing speed dimension FFT processing to extract radial velocity information, then generating a distance-Doppler detection matrix according to the radial velocity information and performing azimuth FFT processing and elevation FFT processing to obtain point cloud data, finally performing clutter processing and anti-smashing logic processing on the point cloud data and combining the echo signal to obtain the target detection index, and at the same time judging whether to output the anti-smashing signal according to the target detection index and the target detection threshold, thereby achieving the improvement of the accuracy of clutter processing and anti-smashing logic processing, and then achieving the improvement of the safety in the process of gate anti-smashing radar signal processing, and effectively solving the problem of low safety in the process of gate anti-smashing radar signal processing in the prior art;

[0024] 2. Generate a range-Doppler detection matrix based on radial velocity information, and increase the detection rate of the target to be measured by interpolating the peak position of the range dimension, and increase the detection rate of the target to be measured by interpolating the peak position of the Doppler dimension, thereby improving the accuracy and real-time performance of the detection rate of the target to be measured, and further improving the reliability of the range-Doppler detection matrix;

[0025] 3. By judging whether there is a target to be detected in the radar detection area, if so, the barrier rod is controlled not to fall, otherwise the barrier rod drop operation is performed. At the same time, according to the result of coordinate calculation, it is judged whether there is a rod or a target to be detected in the rod area. If there is a rod, the barrier rod is controlled not to fall, if there is a target to be detected, the barrier rod drop operation is performed, thereby achieving a more accurate judgment of the target to be detected, and then realizing the improvement of the accuracy and reliability of anti-smashing logic processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A flowchart of a 60GHz millimeter-wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application;

[0027] Figure 2 A schematic diagram of an antenna array provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a virtual antenna array provided in an embodiment of the present application;

[0029] Figure 4 A three-dimensional coordinate analysis diagram of target detection indicators provided in the embodiment of the present application;

[0030] Figure 5 A schematic diagram of the structure of a device for a 60 GHz millimeter wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The embodiment of the present application solves the problem of low safety in the barrier gate anti-smashing radar signal processing process in the prior art by providing a 60GHz millimeter-wave barrier gate anti-smashing radar signal processing method and device. The method obtains target distance information in the radar detection area, performs velocity-dimensional FFT processing on the target distance information to extract radial velocity information, and then generates a range-Doppler detection matrix according to the radial velocity information. At the same time, azimuth FFT processing and elevation FFT processing are performed on the target to be measured in the range-Doppler detection matrix to obtain the azimuth and elevation angle of the target to be measured, and point cloud data is obtained accordingly. Finally, clutter processing and anti-smashing logic processing are performed on the point cloud data, and the target detection index is obtained in combination with the echo signal. At the same time, it is determined whether to output the anti-smashing signal according to the target detection index and the target detection threshold, thereby improving the safety in the barrier gate anti-smashing radar signal processing process.

[0032] The technical solution in the embodiment of the present application is to solve the problem of low security in the signal processing of the above-mentioned barrier anti-smashing radar, and the overall idea is as follows:

[0033] The range-Doppler detection matrix is ​​generated by extracting radial velocity information, and azimuth FFT processing and pitch FFT processing are performed to obtain point cloud data. Then, clutter processing and anti-smashing logic processing are performed on the point cloud data and the target detection index is obtained in combination with the echo signal. Finally, whether to output the anti-smashing signal is determined based on the target detection index and the target detection threshold, thereby achieving the effect of improving the safety of the barrier gate anti-smashing radar signal processing process.

[0034] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] like Figure 1 As shown, it is a flow chart of a 60GHz millimeter-wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application. A 60GHz millimeter-wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application includes the following steps: S1, obtaining target distance information within a radar detection area, and performing speed-dimensional FFT processing on the target distance information to extract radial velocity information, the radar detection area includes a target detection area and a non-target detection area, the target detection area includes a rod area and a non-rod area, the target distance information is used to locate the position of the target to be measured in the radar detection area, the target to be measured includes a person and a vehicle, the speed-dimensional FFT processing is used to convert the time domain signal in the target distance information into a distance domain signal, and the radial velocity information is used to describe the real-time motion state of the target to be measured in the radar detection area; S2, generating a range-Doppler detection matrix according to the radial velocity information, and performing azimuth FFT processing and elevation FFT processing on the target to be measured in the range-Doppler detection matrix to obtain two-dimensional angle information of the target to be measured, thereby obtaining point cloud data , the range-Doppler detection matrix is ​​used to visualize the echo signal of the target to be measured in the radar detection area, the azimuth FFT processing is used to determine the azimuth of the target to be measured relative to the radar, and the elevation FFT processing is used to determine the elevation of the target to be measured relative to the radar. The two-dimensional angle information includes the azimuth and elevation. The azimuth and elevation are used to determine whether the target to be measured is directly facing the gate. The azimuth is the angle between the target to be measured on the horizontal plane of the radar detection area and the radar detection direction. The elevation refers to the angle between the direction of the target projection on the vertical plane of the radar antenna and the reference line pointed by the radar antenna. The point cloud data includes the distance data, speed data and angle data of the target to be measured; S3, clutter processing and anti-smashing logic processing are performed on the point cloud data and the target detection index is obtained in combination with the echo signal. At the same time, it is determined whether to output the anti-smashing signal according to the target detection index and the target detection threshold. The clutter processing is used to remove the electromagnetic noise signal in the echo signal, the anti-smashing logic processing is used to control the action of the gate rod dropping, and the target detection index is used to measure the accuracy of the detection of the target to be measured in the radar detection area.

[0036] In this embodiment, in the echo signal processing, the signal in the time domain is usually converted into a signal in the range domain or frequency domain by Fourier transform (FT) or its fast algorithm (FFT). For the FFT processing of the velocity dimension, it is actually processing a signal that changes with time, and the round-trip time of the echo signal is represented by the FFT processing frequency of the velocity dimension obtained in real time; in the range-Doppler detection matrix, the row represents the distance unit and the column represents the Doppler (velocity) unit, and the value in the matrix represents the echo signal strength corresponding to the combination of the distance and the speed. For the target to be measured in the range-Doppler matrix, the echo signal in the azimuth dimension (usually the horizontal direction) and the elevation dimension (vertical direction) is subjected to FFT processing, and the peak position of the target to be measured in the azimuth dimension and the elevation dimension is converted into the azimuth angle and the elevation angle corresponding to the target to be measured; The two-dimensional angle information (azimuth and elevation angle) of the target to be measured is compared with the preset direction of the gate. If the azimuth and elevation angle of the target to be measured are consistent with the preset direction of the gate, it can be determined that the target is directly facing the gate, wherein the preset direction of the gate is the initial direction when the millimeter-wave radar just starts detecting; at the same time, visualization tools (such as MATLAB) are used to visualize the range-Doppler detection matrix and point cloud data, so as to intuitively view the target distribution and status in the radar detection area, thereby achieving a more accurate judgment of the position of the target to be measured, thereby achieving a more accurate control of the gate rod falling and anti-smashing, and effectively solving the problem of low safety in the signal processing process of the gate anti-smashing radar in the prior art.

[0037] Specifically, the limiting expression for clutter processing of point cloud data is:

[0038] ;

[0039] In the formula, is the number of the point cloud data, , N is the total number of point cloud data, m is the number of segments of the longitudinal distance, , M is the total number of segments of the longitudinal distance, then the corresponding limit value of each segment is , Indicates the maximum horizontal distance of the point cloud data in the x-axis direction. Indicates the horizontal distance of the i-th point cloud data in the x-axis direction, Indicates the longitudinal distance of the i-th point cloud data in the y-axis direction, is the minimum non-detection distance of the point cloud data in the y-axis direction, is the maximum detection distance of the point cloud data in the y-axis direction, Indicates the maximum limit of the longitudinal distance of the point cloud data in the y-axis direction. It represents the maximum allowable limit value of the longitudinal distance of the i-th point cloud data in the y-axis direction; when the point cloud data after clutter processing meets the above restriction expression, the echo signal is retained, otherwise it is considered to be an electromagnetic noise signal and the corresponding echo signal is removed.

[0040] In this embodiment, as the longitudinal distance increases, the target reflected energy decreases. , by segmenting the longitudinal distance, the point cloud data within different distance ranges can be processed more flexibly, so as to determine whether the point cloud data should be retained; secondly, by setting the limits of the lateral distance and longitudinal distance, the noise can be removed more effectively, the accuracy and reliability of the point cloud data can be improved, and the safety of the target to be measured during the gate drop operation can be improved.

[0041] Furthermore, a range-Doppler detection matrix is ​​generated according to the radial velocity information, and then dimension detection is performed on the range-Doppler detection matrix. The horizontal axis and vertical axis of the range-Doppler detection matrix are respectively the distance of the target to be measured and the Doppler frequency, and the Doppler frequency is the radial velocity information of the target to be measured relative to the radar; the dimension detection includes range dimension detection and Doppler dimension detection; the range dimension detection increases the detection rate of the target to be measured by interpolating the peak position of the range dimension; the Doppler dimension detection increases the detection rate of the target to be measured by interpolating the peak position of the Doppler dimension.

[0042] In this embodiment, the interpolation operation not only improves the accuracy, but also increases the density of the echo signal, so that the target to be measured that may have been sparse due to the echo signal can be detected, thereby improving the detection rate of the target to be measured, especially in the scene with dense targets; through the combination of distance dimension and Doppler dimension detection, the millimeter wave radar can simultaneously screen and identify the target to be measured from the two dimensions of distance and speed. This multi-dimensional detection method effectively reduces the false alarm rate and missed alarm rate; whether it is a stationary target or a moving target, whether it is a single target or multiple targets, the embodiment of the present application can effectively detect it through the distance-Doppler detection matrix, thanks to its multi-dimensional detection mechanism and the flexibility of the interpolation operation, which realizes the improvement of the detection efficiency and real-time performance of the target to be measured.

[0043] Furthermore, the specific steps of interpolating the peak position of the distance dimension are: correcting and modifying the distance peak index in the distance dimension through the distance score correction item to obtain the distance peak index correction value, the distance score correction item is used to fine-tune the initial distance peak index in the distance dimension, and the distance peak index is used to reflect the estimated value between the distances of the targets to be measured.

[0044] In this embodiment, the distance peak index correction value is calculated by the following formula:

[0045] ;

[0046] ;

[0047] Where P is the minimum height threshold in the process of distance peak detection, , is the energy value of the distance peak index, is the distance peak index correction value, k is the distance peak index, is the distance score correction term, Represents the distance peak index after calibration and correction, Represents the distance peak index before calibration and correction;

[0048] Among them, when When , is the initial distance peak index, the minimum height threshold (such as the height of the gate rod) is used to determine the peak height of the target to be measured. Only when the peak height of the target to be measured is greater than or equal to the minimum height threshold, the anti-smashing of the corresponding target to be measured needs to be considered; the distance peak index represents the peak position of the target to be measured in the distance dimension. It should be noted that the value range of the distance peak index k usually depends on the distance resolution and maximum detection distance of the millimeter wave radar. For example, if the distance resolution of the millimeter wave radar is 1 meter and the maximum detection distance is 1000 meters, the value range of k may be from 0 to 999 (assuming that counting starts from 0); the distance score correction term, as a fine-tuning mechanism, can fine-tune the initial distance peak index based on the energy value of the distance peak index. This fine-tuning can reduce the distance estimation deviation caused by noise or system error, thereby improving the accuracy of the distance estimation. Then, the correction result of the distance score correction term is corrected in combination with the distance peak index, which helps to improve the accuracy of obtaining the distance peak index correction value. This dynamic adjustment capability enhances the flexibility and robustness of the entire detection process, and improves the accuracy and adaptability of the distance dimension peak position interpolation operation.

[0049] Specifically, an interpolation operation is performed on the peak position of the distance dimension, and then the target distance cell to be measured is converted in combination with the target distance to be measured to obtain a conversion expression. The calculation formula for the target distance to be measured is:

[0050] ;

[0051] The conversion expression is:

[0052] ;

[0053] In the formula, is the distance of the target to be measured, is the target distance cell to be measured, is the speed of light, is the sampling frequency of target distance information, is the modulation frequency for interpolation of the peak position in the distance dimension, is the sampling number of echo signal;

[0054] Among them, the target distance cell represents the quantized value of the target distance at the radar detection distance resolution; since the propagation speed of the electromagnetic wave emitted by the millimeter wave radar in the air is close to the speed of light, the speed of light (approximately equal to ) is used instead; the echo signal sampling number represents the total number of sampling points in the echo signal received by the millimeter-wave radar; this embodiment provides a sampling frequency, a modulation frequency and an echo signal sampling number that take into account the distance of the target to be measured, so that the millimeter-wave radar can flexibly cope with different working environments and targets to be measured, thereby achieving more accurate acquisition of the distance of the target to be measured.

[0055] Furthermore, the specific steps of interpolating the peak position of the Doppler dimension are as follows: the Doppler peak index in the Doppler dimension is corrected and modified by the Doppler fraction correction term to obtain a Doppler peak index correction value, the Doppler fraction correction term is used to fine-tune the initial Doppler peak index in the Doppler dimension, and the Doppler peak index is used to reflect the initial value of the radial velocity of the target to be measured.

[0056] In this embodiment, the Doppler peak index correction value is calculated by the following formula:

[0057] ;

[0058] ;

[0059] In the formula, is the Doppler peak index correction value, is the Doppler peak index, is the Doppler fraction correction term;

[0060] Among them, the Doppler peak index is the peak position detected during the Doppler processing, which corresponds to an initial estimate of the radial velocity of the target to be measured. It should be noted that the value range of the Doppler peak index usually depends on the Doppler resolution and the maximum detectable velocity of the millimeter-wave radar. For example, when the target to be measured is stationary, assuming that the Doppler resolution of the millimeter-wave radar is 1Hz and the maximum detectable velocity is ±100m / s, then the corresponding Doppler peak index may range from a negative integer (such as -100, corresponding to -100m / s) to a positive integer (such as 100, corresponding to 100m / s), including 0 in the middle; the Doppler fractional correction term is a value used to fine-tune the initial Doppler peak index to improve the accuracy of the Doppler peak index. If the initial Doppler peak index after fine-tuning is not within the value range corresponding to the Doppler resolution and the maximum detectable velocity, the initial Doppler peak index needs to be corrected according to the Doppler fractional correction term (that is, the result after fine-tuning is corrected) to more accurately estimate the radial velocity of the target.

[0061] Furthermore, point cloud data is obtained, which then includes: performing coordinate calculation according to target distance information, radial velocity information and two-dimensional angle information, and generating a point cloud list according to the result of the coordinate calculation, wherein the point cloud list represents a list generated by converting the target to be measured from a polar coordinate system to a Cartesian coordinate system.

[0062] In this embodiment, the point cloud data in the Cartesian coordinate system is more intuitive than the polar coordinate system data, and is easier to display and analyze through visualization tools, which helps engineers to more intuitively understand the distribution of point cloud data. In the Cartesian coordinate system, the position of the target to be measured is directly represented by X, Y, and Z coordinates, which are compatible with common map and image coordinate systems, and are easy to apply in fields such as geographic information systems (GIS), computer vision, and robot navigation.

[0063] The coordinate calculation includes the calculation of the azimuth peak index correction value and the coordinate value. The azimuth peak index correction value is the sum of the azimuth peak index and the Doppler fraction correction term. The azimuth peak index is used to reflect the estimated value between the azimuth angles of the target to be measured.

[0064] Specifically, the azimuth peak index is calculated using the following formula:

[0065] ;

[0066] ;

[0067] In the formula, is the energy value of the distance peak index, is the azimuth peak index correction value, is the azimuth peak index, is the azimuth fraction correction term.

[0068] Specifically, in the millimeter-wave radar detection process, the azimuth peak index usually corresponds to the discretization of the azimuth resolution, that is, each index represents an azimuth range. Assume that an echo signal is detected at a position with a range peak index of 10, and the peak of the echo signal in azimuth is located at the 25th azimuth unit (that is, the index is 24, because the index usually starts from 0). By combining the range peak index and the azimuth peak index, the millimeter-wave radar can accurately determine the position of the target to be measured in the Cartesian coordinate system, and achieve more accurate tracking of the motion trajectory of the target to be measured.

[0069] Furthermore, the coordinate value includes an x-dimensional coordinate value, a z-dimensional coordinate value, and a y-dimensional coordinate value in a Cartesian coordinate system; the calculation expression of the coordinate value is:

[0070] ;

[0071] ;

[0072] ;

[0073] Where ZHI is the coordinate value, x is the x-dimensional coordinate value in the Cartesian coordinate system, z is the z-dimensional coordinate value in the Cartesian coordinate system, and y is the y-dimensional coordinate value in the Cartesian coordinate system. is the phase increment between adjacent antenna elements in the x-dimensional antenna array, is the echo signal wavelength, is the azimuth peak index correction value, is the spacing between adjacent antenna elements in the virtual antenna array, usually , is the number of samples of the azimuth FFT, is the phase increment between adjacent antenna elements in the z-dimensional antenna array, is the pitch peak index, is the number of samples of the elevation angle FFT.

[0074] In this embodiment, the antenna array is a combination of echo signals generated by the millimeter wave radar during the detection process, such as Figure 2 As shown, it is a schematic diagram of the antenna array provided in the embodiment of the present application, such as Figure 3 As shown, it is a schematic diagram of a virtual antenna array provided in an embodiment of the present application, which is composed of Figure 2 It can be seen that the distance between two adjacent antennas is ,Depend on Figure 3 It can be seen that the dark gray antenna and the light gray antenna correspond to Figure 2Antenna TX1 and antenna TX2, virtual antennas Ant1, Ant4, Ant3 and Ant6 are virtual antennas of azimuth dimension, and the azimuth angle is calculated based on these virtual antennas; similarly, virtual antennas Ant2 and Ant6 are virtual antennas of elevation dimension, and the elevation angle can also be obtained based on virtual antennas Ant5 and Ant3.

[0075] When the millimeter-wave radar detects the target to be measured, its azimuth peak index corresponds to , the pitch angle peak index corresponds to , these values ​​can be substituted into the above formula to calculate the x and z coordinate values ​​of the target to be measured, and then the y coordinate value can be obtained. By precisely controlling the phase increment of the antenna array and the number of samples of the elevation angle FFT, accurate angle measurement can be achieved, and accurate three-dimensional coordinates can be obtained, which helps to locate and track multiple targets, thereby improving the safety of the barrier gate anti-smashing radar signal processing process, and effectively solving the problem of low safety in the barrier gate anti-smashing radar signal processing process in the prior art.

[0076] Further, it is determined whether the target detection index is within the target detection threshold range. If so, it indicates that there is a target to be detected in the radar detection area and an anti-smashing signal is output to the barrier control system to perform the barrier drop operation. Otherwise, the barrier drop operation is not performed and the barrier detection parameters are adjusted to re-acquire the target detection index until the target detection index is within the target detection threshold range. The barrier detection parameters include the radar detection angle and distance.

[0077] In this embodiment, the target detection index is obtained, which also includes: performing an error recognition rate detection on the point cloud data, and the error recognition rate detection is used to detect the target to be detected in the radar detection area according to the error recognition rate. The error recognition rate indicates the probability of erroneously detecting the target to be detected when there is no target to be detected in the radar detection area.

[0078] Specifically, the target detection index is calculated by the following formula:

[0079] ;

[0080] ;

[0081] ;

[0082] Where y is the number of the radar detection area, , Y is the total number of radar detection areas, n is the number of false recognition rate detection times, , N is the total number of false recognition rate detection times, e is a natural constant, It represents the target detection index of the target to be detected in the y-th radar detection area during the error recognition rate detection process, It represents the error recognition rate of the target to be detected in the y-th radar detection area corresponding to the n-th error recognition rate detection, represents the error function, represents the target detection threshold, It represents the noise variance of the nth false recognition rate detection corresponding to the echo signal of the target to be detected in the yth radar detection area, It represents the time delay of the echo signal of the target to be detected in the yth radar detection area corresponding to the nth false recognition rate detection, represents the reference time delay, represents the time delay reference deviation, It represents the detection rate of the target to be detected in the yth radar detection area corresponding to the nth error recognition rate detection, It indicates the echo signal strength of the target to be detected in the yth radar detection area corresponding to the nth false recognition rate detection. It represents the power ratio of echo signal to noise. It indicates the noise intensity of the nth false recognition rate detection corresponding to the echo signal of the target to be detected in the yth radar detection area.

[0083] Among them, the error function (erf) is a mathematical function, which is often used in statistics and probability theory, especially in normal distribution, to evaluate the accuracy of the detection results of the target to be measured; the target detection threshold represents the difference between the maximum and minimum values ​​of the historical target detection indicators in the preset database; the time delay (the time delay in the error recognition rate detection process corresponding to the echo signal) is the time when the radar transmitter receives the echo signal. The echo signal is the signal reflected by the target to be measured by the radar after emitting electromagnetic waves and receiving it. The reference time delay (the reference time delay in the error recognition rate detection process corresponding to the echo signal) is obtained by summing the historical time delays in the preset database. The averaged result indicates that the time delay reference deviation (the time delay reference deviation in the detection process of the error recognition rate corresponding to the echo signal) is the absolute value of the difference between the historical time delay and the reference time delay in the preset database; the detection rate of the target to be measured is the ratio of the number of times the target to be measured is correctly detected in the radar detection area to the total number of times; the echo signal strength is measured in real time by the signal sensor installed on the millimeter wave radar; the power ratio of the echo signal to the noise is the ratio of the echo signal power (measured in real time by the signal power sensor) to the noise power (measured in real time by the noise power sensor); the noise intensity is measured in real time by the noise sensor installed on the millimeter wave radar.

[0084] To simplify the analysis, define:

[0085] , ,

[0086] In the formula, It represents the echo signal influence coefficient of the target to be detected in the yth radar detection area during the error recognition rate detection process, It represents the average detection rate of the target to be detected in the yth radar detection area during the error recognition rate detection process of the echo signal of the target to be detected. The simplified calculation formula of the target detection index is: ,like Figure 4 As shown, it is a three-dimensional coordinate analysis diagram of the target detection index provided in the embodiment of the present application. It can be seen from the figure that the target detection index decreases with the increase of the echo signal influence coefficient, and increases with the increase of the detection rate of the target to be measured; it should be understood that the target detection index decreases with the increase of the error recognition rate and the time delay, and increases with the increase of the detection rate of the target to be measured.

[0087] It should be noted that the false recognition rate and time delay also indirectly affect the value of the detection rate of the target to be measured. When the false recognition rate increases, it indicates that the number of times the target to be measured is erroneously detected when there is no target to be measured in the radar detection area increases, thereby causing the detection rate of the target to be measured to decrease; when the time delay increases, the system may not be able to obtain the latest position information of the target to be measured in time, resulting in the system being unable to accurately detect the target to be measured. Secondly, the increase in time delay may cause the Doppler effect of the signal to be more obvious, thereby increasing the difficulty of signal processing. In summary, compared with the prior art, the embodiment of the present application improves the accuracy and reliability of the detection of the target to be measured through the comprehensive calculation of the false recognition rate detection and the target detection index, realizes the accurate detection of the target to be measured in the radar detection area and the timely output of the anti-smashing signal, thereby realizing the improvement of the safety of the barrier gate anti-smashing radar signal processing process, and effectively solves the problem of low safety in the barrier gate anti-smashing radar signal processing process in the prior art.

[0088] Furthermore, the anti-smashing logic processing includes straight rod processing and non-straight rod processing; the steps of straight rod processing are: determine whether there is a target to be measured in the radar detection area, if so, control the barrier rod not to fall, otherwise execute the barrier rod dropping operation; the steps of non-straight rod processing are: determine whether there is a rod or a target to be measured in the rod area according to the result of coordinate calculation, if there is a rod, control the barrier rod not to fall, if there is a target to be measured, execute the barrier rod dropping operation, and the rod area cannot be detected by the radar.

[0089] In this embodiment, a barrier gate lowering operation is performed, and then the following steps are further included: real-time monitoring of the execution process of the barrier gate lowering operation to obtain a safety distance warning score, and judging whether to execute a safety distance warning based on the safety distance warning score and a safety distance threshold. The safety distance warning score is used to reflect the safety status of the target to be measured during the barrier gate lowering operation. The safety distance warning indicates that a warning signal is sent when the target to be measured enters the safety distance. The safety distance indicates the distance between the target to be measured and the next target to be measured during the barrier gate lowering operation.

[0090] The safety distance threshold represents the difference between the maximum and minimum historical safety distances in the preset database. The infrared sensor installed on the barrier is used to monitor the safety distance between the targets to be measured in real time. The safety distance warning score (the ratio of the safety distance to the minimum allowable safety distance) is obtained in combination with the minimum allowable safety distance. The minimum allowable safety distance is represented by the sum and average of the minimum safety distances between the historical targets to be measured within the historical time period in the preset database.

[0091] The specific process of judging whether to execute the safety distance warning based on the safety distance warning score and the safety distance threshold is as follows: compare the obtained safety distance warning score with the safety distance threshold. When the safety distance warning score is not within the safety distance threshold range, it is judged that the current situation is safe and the safety distance warning is not executed; when the safety distance warning score is within the safety distance threshold range, it is judged that there is a safety hazard in the current situation, and a safety distance warning is executed and a warning signal feedback is performed. The warning signal feedback is used to feed back the warning information corresponding to the warning signal to the gate control system to send a command to pause the gate drop. The warning information includes the time, location, value of the safety distance warning score and identification information of the target to be measured. The identification information of the target to be measured is used to be stored in a preset database.

[0092] Specifically, after the early warning signal is fed back, it also includes: performing parameter tuning according to the result of the early warning signal feedback and monitoring the status of the parameter tuning in real time. When the barrier gate is in a stopped state, it indicates that the command to suspend the barrier gate has been executed and the barrier gate and the corresponding target to be measured are in a safe state. The parameter tuning includes adjusting the detection sensitivity of the millimeter-wave radar and the processing logic of the early warning signal; re-obtaining the safety distance warning score according to the result of the parameter tuning until the safety distance warning score is no longer within the safety distance threshold range.

[0093] Among them, the millimeter-wave radar contains a gain parameter, which is used to adjust the corresponding detection sensitivity of the millimeter-wave radar. The detection distance and sensitivity of the millimeter-wave radar can be increased by increasing the gain parameter (such as from 0.2 to 0.5), and the detection distance and sensitivity of the millimeter-wave radar can be reduced by reducing the gain parameter (such as from 0.7 to 0.5). The processing logic of the early warning signal is used to change the triggering condition of the early warning signal. Assuming that during the process of the gate falling, the system gate control system sends out a warning signal in advance, at this time, the triggering time of the warning signal can be increased by increasing the safety distance threshold to reduce unnecessary warning signals.

[0094] Compared with the prior art, this embodiment monitors the execution process of the barrier gate lowering operation in real time and issues early warning, thereby ensuring precise control and safety early warning of the barrier gate lowering operation, and effectively avoiding accidents of hitting cars or people during the barrier gate lowering process. At the same time, unnecessary early warning signals and misoperations can be reduced through parameter tuning, thereby improving the operating efficiency of the barrier gate control system and realizing intelligent management and optimization of the barrier gate lowering.

[0095] like Figure 5 As shown, it is a structural schematic diagram of a device for a 60GHz millimeter-wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application. The device for a 60GHz millimeter-wave barrier anti-smashing radar signal processing method provided in an embodiment of the present application includes: a radio frequency module, a hardware accelerator module, an ARM processor module, a serial communication module and a power supply module; wherein the radio frequency module includes a transmitting antenna, a receiving antenna, a synthesizer and a mixer, the linear frequency modulation signal in the synthesizer is transmitted by the transmitting antenna and then received by the receiving antenna to obtain a transmitting linear frequency modulation signal, the mixer is used to combine the linear frequency modulation signal with the transmitting linear frequency modulation signal to generate an intermediate frequency signal; the hardware accelerator module is used to perform velocity dimension FFT processing, azimuth FFT processing and elevation FFT processing on the intermediate frequency signal; the ARM processor The detector module is used to perform interpolation operations on the peak positions of the distance dimension and the Doppler dimension to obtain point cloud data. At the same time, a high-level signal is sent to the gate control end according to the point cloud data and decision processing is performed on the target to be measured. The high-level signal is used to maintain the open state of the gate to ensure that the gate does not fall when there is a target to be measured in the radar detection area. The decision processing is used to identify the target to be measured; the serial port communication module is used to output the decision information corresponding to the decision processing and interact with the PC end. When the target to be measured is not in the target detection area, the gate in the target detection area is controlled to fall according to the low-level signal sent by the ARM processor module to the gate control end. The decision information is the control instruction for the gate to fall; the power module is used to provide power to the RF module, the hardware accelerator module and the ARM processor module during the working process.

[0096] In this embodiment, by utilizing the high frequency characteristics of 60GHz millimeter waves, the device can achieve high-precision distance, speed and angle measurement, which helps to more accurately identify the target to be measured in the gate area, such as vehicles or pedestrians, thereby avoiding misjudgment; the received intermediate frequency signal is processed by the hardware accelerator module through fast Fourier transform (FFT), including speed, azimuth and pitch FFT, which significantly improves the real-time performance of signal processing; secondly, through the interaction between the serial communication module and the PC end, the device can output decision information and receive instructions from the PC end. This two-way communication mechanism improves the reliability and flexibility of the system. When the radar detects that there is a target to be measured in the gate area, the ARM processor module will send a high-level signal to the gate control end to maintain the gate in an open state to prevent the falling bar from injuring people or smashing cars. This safety protection mechanism greatly improves the safety of the gate system; in addition, the power module provides a stable power supply for the entire device. At the same time, considering the needs of energy saving and environmental protection, power conversion technology and low power consumption design are usually adopted to reduce the energy consumption of the device. Through the synergy between the RF module, hardware accelerator module, ARM processor module, serial communication module and power module, it helps to improve the safety of the barrier gate anti-smashing radar signal during the processing process, while also providing strong support for the intelligent upgrade of the barrier gate control system.

[0097] To summarize, the embodiment of the present application obtains the target distance information in the radar detection area and performs speed-dimensional FFT processing to extract radial velocity information, then generates a distance-Doppler detection matrix based on the radial velocity information and performs azimuth FFT processing and pitch FFT processing to obtain point cloud data, finally performs clutter processing and anti-smash logic processing on the point cloud data and obtains the target detection index in combination with the echo signal, and at the same time, determines whether to output the anti-smash signal based on the target detection index and the target detection threshold, thereby achieving improved accuracy of clutter processing and anti-smash logic processing, and further achieving improved safety in the process of barrier gate anti-smash radar signal processing, effectively solving the problem of low safety in the process of barrier gate anti-smash radar signal processing in the prior art.

[0098] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0102] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0103] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A 60GHz millimeter wave barrier anti-smashing radar signal processing method, characterized in that: The following steps are involved: S1, obtaining target distance information within the radar detection area, and performing velocity dimension FFT processing on the target distance information to extract radial velocity information; S2, generating a range-Doppler detection matrix according to the radial velocity information, and performing azimuth FFT processing and elevation FFT processing on the target to be measured in the range-Doppler detection matrix to obtain two-dimensional angle information of the target to be measured, and obtaining point cloud data accordingly, wherein the range-Doppler detection matrix is ​​used to visualize the echo signal of the target to be measured in the radar detection area, and the two-dimensional angle information includes azimuth and elevation angle, and the azimuth and elevation angle are used to determine whether the target to be measured is directly facing the gate, and the point cloud data includes distance data, velocity data and angle data of the target to be measured; S3, performing clutter processing and anti-smashing logic processing on the point cloud data and combining the echo signal to obtain the target detection index, and at the same time judging whether to output the anti-smashing signal according to the target detection index and the target detection threshold. The target detection index is used to measure the accuracy of the detection of the target to be detected in the radar detection area, and the target detection index is obtained by comprehensive analysis of the error recognition rate, time delay and the power ratio of the echo signal to the noise in the error recognition rate detection process.

2. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 1, characterized in that: The step of generating a range-Doppler detection matrix according to the radial velocity information further includes performing dimension detection on the range-Doppler detection matrix, wherein the horizontal axis and the vertical axis of the range-Doppler detection matrix are respectively the range of the target to be measured and the Doppler frequency, and the Doppler frequency is the radial velocity information of the target to be measured relative to the radar; The dimension detection includes distance dimension detection and Doppler dimension detection; The distance dimension detection increases the detection rate of the target to be detected by performing an interpolation operation on the peak position of the distance dimension; The Doppler dimension detection increases the detection rate of the target to be detected by performing an interpolation operation on the peak position of the Doppler dimension.

3. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 2, characterized in that: The specific steps of performing interpolation operation on the peak position of the distance dimension are: The distance peak index in the distance dimension is corrected and modified by the distance score correction term to obtain a distance peak index correction value, wherein the distance score correction term is used to fine-tune the initial distance peak index in the distance dimension, and the distance peak index is used to reflect the estimated value between the distances of the targets to be measured.

4. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 2, characterized in that: The specific steps of performing interpolation operation on the peak position of the Doppler dimension are: The Doppler peak index in the Doppler dimension is corrected and modified by the Doppler fraction correction term to obtain a Doppler peak index correction value, wherein the Doppler fraction correction term is used to fine-tune the initial Doppler peak index in the Doppler dimension, and the Doppler peak index is used to reflect the initial value of the radial velocity of the target to be measured.

5. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 1, characterized in that: The step of acquiring point cloud data further includes: Coordinate calculation is performed according to target distance information, radial velocity information and two-dimensional angle information, and a point cloud list is generated according to the result of coordinate calculation. The point cloud list represents a list generated by converting the target to be measured from a polar coordinate system to a Cartesian coordinate system.

6. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 5, characterized in that: The coordinate calculation includes azimuth peak index correction value calculation and coordinate value calculation, the azimuth peak index correction value is the sum of the azimuth peak index and the Doppler fraction correction term, and the azimuth peak index is used to reflect the estimated value between the azimuth angles of the target to be measured.

7. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 6, characterized in that: The coordinate values ​​include an x-dimensional coordinate value, a z-dimensional coordinate value, and a y-dimensional coordinate value in a Cartesian coordinate system; The calculation expression of the coordinate value is: ； ； ； Where ZHI is the coordinate value, x is the x-dimensional coordinate value in the Cartesian coordinate system, z is the z-dimensional coordinate value in the Cartesian coordinate system, and y is the y-dimensional coordinate value in the Cartesian coordinate system. is the distance of the target to be measured, is the phase increment between adjacent antenna elements in the x-dimensional antenna array, is the echo signal wavelength, is the azimuth peak index correction value, is the spacing between adjacent antenna elements in the virtual antenna array, is the number of samples of the azimuth FFT, is the phase increment between adjacent antenna elements in the z-dimensional antenna array, is the pitch peak index, is the number of samples of the elevation angle FFT.

8. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 1, characterized in that: The specific process of judging whether to output an anti-smashing signal according to the target detection index and the target detection threshold is as follows: Determine whether the target detection index is within the target detection threshold range. If so, it indicates that there is a target to be detected in the radar detection area and an anti-smashing signal is output to the barrier control system to perform the barrier drop operation. Otherwise, the barrier drop operation is not performed and the barrier detection parameters are adjusted to re-acquire the target detection index until the target detection index is within the target detection threshold range. The barrier detection parameters include radar detection angle and distance.

9. A 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in claim 1, characterized in that: The anti-smashing logic processing includes straight rod processing and non-straight rod processing; The steps of straight rod processing are: Determine whether there is a target to be detected in the radar detection area. If so, control the gate rod not to fall down, otherwise, execute the gate rod drop operation; The steps of non-straight rod processing are: According to the result of coordinate calculation, it is judged whether there is a rod or a target to be measured in the rod area. If there is a rod, the gate rod is controlled not to fall down. If there is a target to be measured, the gate rod drop operation is executed.

10. A device using a 60GHz millimeter wave barrier anti-smashing radar signal processing method as claimed in any one of claims 1 to 9, characterized in that: include: RF module, hardware accelerator module, ARM processor module, serial communication module and power module; The radio frequency module includes a transmitting antenna, a receiving antenna, a synthesizer and a mixer. The linear frequency modulation signal in the synthesizer is transmitted by the transmitting antenna and then received by the receiving antenna to obtain a transmitting linear frequency modulation signal. The mixer is used to combine the linear frequency modulation signal with the transmitting linear frequency modulation signal to generate an intermediate frequency signal. The hardware accelerator module is used to perform velocity dimension FFT processing, azimuth FFT processing and elevation FFT processing on the intermediate frequency signal; The ARM processor module is used to perform interpolation operations on the peak positions of the distance dimension and the Doppler dimension to obtain point cloud data, and at the same time send a high-level signal to the gate control end according to the point cloud data and perform decision processing on the target to be measured. The high-level signal is used to maintain the open state of the gate to ensure that the gate does not fall when there is a target to be measured in the radar detection area, and the decision processing is used to identify the target to be measured; The serial communication module is used to output decision information corresponding to the decision processing and interact with the PC end. When the target to be detected is not in the target detection area, the barrier gate in the target detection area is controlled to drop according to the low-level signal sent by the ARM processor module to the barrier gate control end. The decision information is the control instruction for the barrier gate to drop. The power supply module is used to provide power to the radio frequency module, the hardware accelerator module and the ARM processor module during operation.

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