Interference processing method and device for millimeter wave vehicle-mounted radar, equipment and medium

Abstract

The embodiment of the invention discloses an interference processing method and device for a millimeter wave vehicle-mounted radar, equipment and a medium. The method comprises the following steps: acquiring a current echo signal frame of the millimeter wave vehicle-mounted radar; wherein the millimeter wave vehicle-mounted radar transmits waves in a frequency hopping wave transmission mode; performing interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold to obtain an interference signal set; and filtering the interference signal set to obtain a target echo signal frame. According to the technical scheme, the interference signal is determined by setting the time domain threshold value and the frequency domain threshold value for screening twice, so that the algorithm complexity is reduced, the interference detection rate is improved, and the detection of an effective target is ensured.

Description

Technical Field

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

[0002] With the development of radar technology, vehicle-mounted radars are being applied to more and more vehicles. Linear frequency modulation continuous waves are widely used in vehicle-mounted millimeter-wave radars due to their advantages such as large time-bandwidth product, high resolution, and simple basic processing flow. However, simple linear frequency modulation continuous waves may be interfered by the same waveform. When interference occurs, it will have a serious adverse effect on subsequent target detection.

[0003] The commonly used interference detection method for existing linear frequency modulation is to detect the time domain interference signal through time domain threshold detection. The key lies in the determination of the time domain threshold. If the time domain threshold is a fixed threshold, it cannot adapt to different scenarios. If the threshold is too high, the interference signal pass rate is high. If the threshold is too low, it will affect the useful signal. If it is an adaptive threshold, the algorithm complexity is high, thereby increasing the frame processing time, which is not conducive to the adaptation of low-performance hardware. Summary of the invention

[0004] The present invention provides an interference processing method, device, equipment and medium for millimeter-wave vehicle-mounted radar. By setting a time domain threshold and a frequency domain threshold to perform two screenings to determine the interference signal, the algorithm complexity is reduced, the interference detection rate is improved, and the detection of effective targets is guaranteed.

[0005] According to one aspect of the present invention, a method for processing interference of a millimeter-wave vehicle-mounted radar is provided, comprising:

[0006] Obtaining a current echo signal frame of a millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping;

[0007] Perform interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold respectively to obtain an interference signal set;

[0008] The interference signal set is filtered out to obtain a target echo signal frame.

[0009] Optionally, after obtaining the interference signal set, the method further includes:

[0010] Determine the attribute information of the interference signal set, and adjust the transmission time of the next echo signal frame according to the attribute information;

[0011] The attribute information includes the position corresponding to the maximum interference signal and the total number of signals in the current echo signal frame where the interference signal set is located.

[0012] Optionally, interference screening is performed on the current echo signal frame based on a time domain threshold and a frequency domain threshold respectively to obtain an interference signal set, including:

[0013] Performing interference screening on the current echo signal frame according to the time domain threshold to obtain a first interference signal and a first echo signal frame; wherein the first echo signal frame is a signal frame that does not contain the first interference signal;

[0014] Performing Fourier transform on the first echo signal frame to obtain a second echo signal frame;

[0015] Performing interference screening on the second echo signal frame based on the frequency domain threshold to obtain a second interference signal;

[0016] A set of interference signals is determined based on the first interference signal and the second interference signal.

[0017] Optionally, performing interference screening on the current echo signal frame according to the time domain threshold to obtain a first interference signal includes:

[0018] Determining a time domain threshold of the current echo signal frame;

[0019] The current echo signal frame is compared with the time domain threshold, and a signal in the current echo signal frame that is greater than the time domain threshold is determined as a first interference signal.

[0020] Optionally, performing interference screening on the second echo signal frame based on the frequency domain threshold to obtain a second interference signal includes:

[0021] Determining a frequency domain threshold of the current echo signal frame;

[0022] The echo signal in the second echo signal frame is compared with the frequency domain threshold, and a signal whose echo signal is greater than the frequency domain threshold is determined as a second interference signal.

[0023] Optionally, determining a frequency domain threshold of the current echo signal frame includes:

[0024] Performing air negative noise detection operation by using the millimeter wave vehicle-mounted radar;

[0025] The maximum value of the negative frequency power of the air negative background noise is determined as the frequency domain threshold of the current echo signal frame.

[0026] Optionally, filtering the interference signal set to obtain a target echo signal frame includes:

[0027] The values ​​of the interference signals included in the interference signal set are set to set values ​​to obtain a target echo signal frame.

[0028] According to another aspect of the present invention, there is provided an interference processing device for a millimeter-wave vehicle-mounted radar, comprising:

[0029] A signal frame acquisition module, used to acquire the current echo signal frame of the millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping;

[0030] An interference screening module, used to perform interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold respectively, to obtain an interference signal set;

[0031] The interference filtering module is used to filter the interference signal set to obtain a target echo signal frame.

[0032] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0033] at least one processor; and

[0034] a memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the interference processing method of the millimeter-wave vehicle-mounted radar described in any embodiment of the present invention.

[0036] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the interference processing method for the millimeter-wave vehicle-mounted radar described in any embodiment of the present invention when executed.

[0037] The technical solution of the embodiment of the present invention is to obtain the current echo signal frame of the millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping; based on the time domain threshold and the frequency domain threshold, the current echo signal frame is respectively subjected to interference screening to obtain an interference signal set; the interference signal set is filtered out to obtain a target echo signal frame. This technical solution determines the interference signal by screening twice by setting the time domain threshold and the frequency domain threshold, which reduces the complexity of the algorithm, improves the interference detection rate, and ensures the detection of effective targets.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0040] Figure 1 is a flowchart of an interference processing method for a millimeter-wave vehicle-mounted radar provided according to Embodiment 1 of the present invention;

[0041] Figure 2 is a flowchart of an interference processing method for a millimeter-wave vehicle-mounted radar provided according to Embodiment 2 of the present invention;

[0042] Figure 3 2 is a schematic diagram of the structure of an interference processing device for a millimeter-wave vehicle-mounted radar provided according to Embodiment 3 of the present invention;

[0043] Figure 4 It is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second" and "target" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Embodiment 1

[0047] Figure 1This is a flowchart of a method for processing interference of a millimeter-wave vehicle-mounted radar according to the first embodiment of the present invention. This embodiment is applicable to the case of processing interference of a millimeter-wave vehicle-mounted radar. The method can be executed by an interference processing device for a millimeter-wave vehicle-mounted radar. The interference processing device for a millimeter-wave vehicle-mounted radar can be implemented in the form of hardware and / or software. The interference processing device for a millimeter-wave vehicle-mounted radar can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0048] S110: Acquire a current echo signal frame of the millimeter-wave vehicle-mounted radar.

[0049] Among them, the millimeter-wave vehicle-mounted radar transmits waves by means of frequency hopping. The frequency hopping transmission method can be understood as a transmission method that uses a pseudo-random code sequence for frequency shift keying to make the carrier frequency continuously jump and expand the spectrum. The current echo signal frame can be understood as the target reflection signal received by the millimeter-wave vehicle-mounted radar after sending a signal by means of frequency hopping transmission at the current moment. In this embodiment, the millimeter-wave vehicle-mounted radar usually uses a frequency modulated continuous wave (FMCW) or a similar waveform as a transmitting signal through a frequency hopping transmission method to obtain a corresponding echo signal. In this embodiment, the current echo signal frame may include multiple frequency modulation cycles (also called Chirp), and the frequency of the signal in each Chirp cycle will change according to a certain rule.

[0050] Specifically, in this embodiment, under the frequency hopping transmission system of the millimeter wave vehicle-mounted radar, the carrier frequency of the mth chirp is as shown in Formula 1, where f0 is the carrier frequency of the initial chirp, f step is the step frequency, m is the current chirp number, and the signal expression of the mth chirp is shown in Formula 2; where, is the initial phase of the signal. In addition, the cross-interference intermediate frequency of the received signal after mixing is shown in Formula 3; is the carrier frequency of cross interference, K difslope is the cross-interference slope, K slope is the local oscillator slope, t′ is shown in Formula 4, where R difslope is the one-way distance of the target emitted by the cross interference. Similarly, the intermediate frequency of the parallel interference is shown in Formula 5, where is the parallel interference carrier frequency, t″ is shown in Formula 6; where f if_pass The formula for the low-pass cutoff frequency is shown in Formula 7, where fs is the sampling frequency.

[0051]

[0052] Due to the existence of the low-pass filter, as shown in Formula 8, the number of pulse chirps with interference under frequency hopping transmission is Much smaller than the number of chirps with interference in non-FH transmission Therefore, frequency hopping can effectively reduce the probability of parallel interference from non-similar radars entering the passband and appearing in continuous chirps, thereby reducing the probability of false interference. Similarly, frequency hopping can also effectively reduce the probability of cross-interference from non-similar radars entering the passband and reduce the elevation of the two-dimensional background noise caused by cross-interference.

[0053] S120 , performing interference screening on the current echo signal frame based on the time domain threshold and the frequency domain threshold respectively to obtain an interference signal set.

[0054] Among them, the time domain threshold can be a threshold determined based on the power of the current echo signal frame. The frequency domain threshold can be a threshold determined based on the air detection of the millimeter-wave vehicle-mounted radar. The interference signal can be understood as a signal obtained by identifying the interference pulse in the current echo signal frame through the delay threshold or the frequency domain threshold. The interference signal includes interference information on the signal of the vehicle-mounted radar. The interference signal set can be all interference pulse signals obtained by interference screening the signal in the current echo signal frame.

[0055] In this embodiment, the specific method of performing interference screening on the current echo signal frame based on the time domain threshold and the frequency domain threshold respectively is to first perform a preliminary interference screening on the time domain of the current echo signal frame through the time domain threshold, and then perform Fourier transform on the echo signal frame obtained by the preliminary screening to obtain a frequency domain signal frame, and then screen the obtained frequency domain signal frame again through the frequency domain threshold, and form an interference signal set with all the interference pulse signals obtained by the screening.

[0056] In this embodiment, optionally, after obtaining the interference signal set, the method further includes: determining attribute information of the interference signal set, and adjusting the transmission time of the next echo signal frame according to the attribute information.

[0057] Among them, the attribute information includes the position corresponding to the maximum interference signal and the total number of signals in the current echo signal frame where the interference signal set is located. In this embodiment, in the current echo signal frame, each chirp signal is arranged in the order of pulse sequence numbers, and all chirp signals corresponding to the detected interference can be determined as the interference signal set. The position corresponding to the maximum interference signal can be understood as the maximum sequence number corresponding to the interference pulse signal appearing in the current echo signal frame. The total number of signals in the current echo signal frame where the interference signal set is located can be understood as the total number of chirp signals contained in the current echo signal frame currently undergoing interference screening. The next echo signal frame can be understood as the next frame adjacent to the current echo signal frame. The wave transmission time can be understood as the wave transmission period corresponding to the next echo signal frame.

[0058] In this embodiment, the total number of the entire frame of the current echo signal frame can be counted and the maximum number corresponding to the detected interference pulse signal can be obtained, and the maximum number of the interference chirp m can be used as the jam_lastcid The ratio of the number of chirps M in the entire frame of the current echo signal frame is used as the weight to adjust the transmission period of the next echo signal frame.

[0059] Specifically, in this embodiment, the maximum sequence number m of the chirp that appears can be jam_lastcid Subtract half of the number of chirps in the current echo signal frame M to determine whether the maximum number of interference pulse signals currently detected appears in the front or rear position of the current echo signal frame; it can be understood that the front position can be a position within the first half of the signal range of the whole frame; the rear position can be a position within the second half of the signal range of the whole frame. Exemplarily, if the total number of chirps in the current echo signal frame M is 100, then the maximum number of interference chirps m is determined. jam_lastcid In the first 50 signals out of 100 signals, or in the last 50 signals; the specific determination method can be:

[0060]

[0061] Where M is the total number of chirps in the current echo signal frame; m jam_lastcid is the maximum number of interference chirps. symbol is a symbol identifier, which is used to indicate whether the maximum number of the current maximum interference chirp is at the front or back position in the entire frame signal of the current echo signal frame. When symbol=+1, it can be understood that the maximum number of chirps with the current maximum interference is at the front position in the entire frame signal of the current echo signal frame; if When symbol = -1, it can be understood that the maximum number of the chirp where the current maximum interference occurs is at a later position in the entire frame signal of the current echo signal frame.

[0062] In this embodiment, different adjustment methods may be respectively corresponded according to whether the maximum serial number of the chirp where the current maximum interference appears is at a front position or a rear position in the entire frame signal of the current echo signal frame. Specifically, if the maximum serial number of the chirp where the current maximum interference appears is at a front position in the entire frame signal of the current echo signal frame, it may be adjusted backward in the transmission period of the next echo signal frame; if the maximum serial number of the chirp where the current maximum interference appears is at a rear position in the entire frame signal of the current echo signal frame, it may be adjusted forward in the transmission period of the next echo signal frame; the corresponding different determination methods may be:

[0063]

[0064] Among them, T frame is the current frame period; t change It can be understood as the adjusted wave cycle.

[0065] Through such a setting in this embodiment, the transmission period of the next echo signal frame can be adjusted according to the attribute information of the interference signal, which can effectively reduce the probability of the interference signal of the next echo signal frame entering the passband. At the same time, for parallel interference of the same type of radar that can still enter the passband, the adjustment of the delay can prevent the formation of false target tracks.

[0066] S130: Filter out the interference signal set to obtain a target echo signal frame.

[0067] The filtering process can be understood as the operation of setting the detected interference pulse signal to 0. The target echo signal frame can be understood as a signal frame obtained by filtering all detected interference signals, that is, a signal frame obtained by setting the interference chirp signal detected by the target echo signal frame to 0.

[0068] In this embodiment, all interference pulse signals obtained by performing interference screening on the signals in the current echo signal frame may be set to 0, so as to filter out the interference signals and obtain the target echo signal frame.

[0069] In this embodiment, optionally, filtering the interference signal set to obtain the target echo signal frame includes: setting the value of the interference signal included in the interference signal set to a set value to obtain the target echo signal frame.

[0070] The set value may be 0. In this embodiment, the detected interference chirp signal included in the interference signal set may be set to 0, so as to obtain a target echo signal frame obtained by removing the interference signal.

[0071] Through such a setting in this embodiment, the interference signal set obtained by interference screening through the time domain threshold and the frequency domain threshold can be zeroed out, thereby ensuring the detection of the target object and reducing the complexity of the algorithm.

[0072] The technical solution of the embodiment of the present invention is to obtain the current echo signal frame of the millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping; based on the time domain threshold and the frequency domain threshold, the current echo signal frame is respectively screened for interference to obtain an interference signal set; the interference signal set is filtered out to obtain a target echo signal frame. This technical solution determines the interference signal by screening twice by setting the time domain threshold and the frequency domain threshold, which reduces the complexity of the algorithm, improves the interference detection rate, and ensures the detection of effective targets.

[0073] Embodiment 2

[0074] Figure 2 This is a flow chart of an interference processing method for a millimeter-wave vehicle-mounted radar provided according to the second embodiment of the present invention, and this embodiment is optimized based on the above embodiment. The specific optimization is: based on the time domain threshold and the frequency domain threshold, the current echo signal frame is respectively screened for interference to obtain an interference signal set, including: based on the time domain threshold, the current echo signal frame is screened for interference to obtain a first interference signal and a first echo signal frame; wherein the first echo signal frame is a signal frame that does not contain the first interference signal; the first echo signal frame is Fourier transformed to obtain a second echo signal frame; based on the frequency domain threshold, the second echo signal frame is screened for interference to obtain a second interference signal; and the interference signal set is determined based on the first interference signal and the second interference signal. Figure 2 As shown, the method includes:

[0075] S210: Acquire a current echo signal frame of the millimeter-wave vehicle-mounted radar.

[0076] Among them, the millimeter-wave vehicle-mounted radar transmits waves through frequency hopping.

[0077] S220: Perform interference screening on the current echo signal frame according to the time domain threshold to obtain a first interference signal and a first echo signal frame.

[0078] The first echo signal frame is a signal frame that does not contain the first interference signal; it can be understood that the first echo signal frame is a signal frame obtained after filtering the first interference signal. The first interference signal can be understood as an interference pulse signal obtained by performing interference screening on the current echo signal frame through a time domain threshold.

[0079] The specific method of performing interference screening on the current echo signal frame according to the time domain threshold in this embodiment can be to first determine the time domain threshold by the echo power of the current echo signal frame, and then compare the time domain threshold with the signal in the current echo signal frame, so as to perform the interference screening operation. It can be understood that the received current echo signal frame is a signal in the time domain range, and can be directly compared with each signal through the time domain threshold. In this embodiment, the first interference signal can be determined according to the comparison result, and then the detected first interference signal is set to zero and removed to obtain the first callback signal frame.

[0080] In this embodiment, optionally, the current echo signal frame is screened for interference based on a time domain threshold to obtain a first interference signal, including: determining the time domain threshold of the current echo signal frame; comparing the current echo signal frame with the time domain threshold, and determining a signal in the current echo signal frame that is greater than the time domain threshold as the first interference signal.

[0081] In this embodiment, the specific method of determining the time domain threshold of the current echo signal frame is to calculate the power change according to the current measured data of the millimeter-wave laser radar, determine the maximum amplitude according to the power change, and add the maximum amplitude to the set data to determine the time domain threshold; wherein the setting data can be set according to actual needs. For example, the setting data of this embodiment can be 3dB.

[0082] Specifically, in this embodiment, according to the power of the current echo signal of the millimeter wave laser radar, that is, the radar equation signal target echo power is P if_tgt Specifically:

[0083]

[0084] Among them, G t is the antenna transmission gain, G r is the antenna receiving gain, P t is the transmitting power, λ is the wavelength, and R is the distance from the target to the radar.

[0085] In this embodiment, if the interference signal is a one-way signal, the echo power of the one-way signal is P if_jam Can be:

[0086]

[0087] Among them, G t-jam is the interference antenna transmission gain, R jam To interfere with the target distance.

[0088] From the above equation, the formula for determining the target echo power and the formula for determining the echo power of the one-way signal, it can be seen that when the distance is the same, P if_tgt The air loss relative to P if_jam The loss is 10*log10(R 2 ), therefore, in the time domain signal dimension, the time domain threshold can be set to 3dB above the highest amplitude of the radar signal road test data for interference detection, and the current echo signal frame can be preliminarily screened for interference in the time domain and the interference signal obtained by the screening can be set to zero and removed.

[0089] In this embodiment, the determined time domain threshold can be compared with each signal in the current echo signal frame. If the signal in the current echo signal frame is greater than the time domain threshold, the signal in the current echo signal frame that is greater than the time domain threshold is determined as the first interference signal; if the signal in the current echo signal frame is less than the time domain threshold, the signal in the current echo signal frame that is less than the time domain threshold is determined as the target signal, that is, a valid target signal.

[0090] In this embodiment, since too many zeros will cause the loss of useful information of the spectrum, the current echo signal frame is firstly subjected to preliminary interference filtering in the time domain. In this embodiment, through such a setting, a time domain threshold can be determined according to the measured data of the vehicle-mounted radar for the first interference filtering, thereby ensuring the detection of the interference signal.

[0091] S230. Perform Fourier transform on the first echo signal frame to obtain a second echo signal frame.

[0092] Among them, Fourier transform can be used to convert the echo signal frame from the time domain to the frequency domain signal. The second echo signal frame can be understood as a frequency domain signal obtained by Fourier transform. In this embodiment, the first echo signal frame can be processed by one-dimensional Fourier transform to convert the time domain signal of the first echo signal frame into a frequency domain signal, i.e., the second echo signal frame.

[0093] S240: Perform interference screening on the second echo signal frame based on the frequency domain threshold to obtain a second interference signal.

[0094] The second interference signal may be an interference signal obtained by performing interference detection on the second echo signal frame through a time domain threshold. In this embodiment, the frequency domain threshold of the current echo signal frame may be determined by air detection according to the millimeter-wave vehicle-mounted radar, and the second echo signal frame may be subjected to interference screening through the frequency domain threshold to obtain the second interference signal.

[0095] In this embodiment, optionally, the second echo signal frame is subjected to interference screening based on a frequency domain threshold to obtain a second interference signal, including: determining the frequency domain threshold of the current echo signal frame; comparing the echo signal in the second echo signal frame with the frequency domain threshold, and determining the signal whose echo signal is greater than the frequency domain threshold as the second interference signal.

[0096] In this embodiment, the specific method of determining the frequency domain threshold of the current echo signal frame can be to detect the negative background noise of the air through the vehicle-mounted radar to obtain the negative frequency power, and determine the frequency domain threshold according to the detected negative frequency power. In this embodiment, the determined frequency domain threshold can be compared with each echo signal in the second echo signal frame. If an echo signal in the second echo signal frame is greater than the time domain threshold, the echo signal in the second echo signal frame that is greater than the frequency domain threshold is determined as the second interference signal; if the echo signal in the second echo signal frame is less than the frequency domain threshold, the echo signal in the second echo signal frame that is less than the frequency domain threshold is determined as the target signal, that is, a valid target signal.

[0097] Specifically, in this embodiment, due to the fluctuation of the RCS of the target object, using a fixed higher threshold for time domain threshold detection can only filter out part of the interference. In order to further detect the remaining interference, the determined frequency domain threshold f if_neg_sky Threshold detection is performed in the frequency domain. When the negative frequency amplitude fif_neg There is a value greater than the frequency domain threshold f if_neg_sky When the value is , the signal corresponding to the negative frequency amplitude greater than the frequency domain threshold is determined to have an interference chirp, which can be specifically:

[0098]

[0099] Among them, RCS fluctuation, that is, the fluctuation of the radar target scattering cross section (RCS), refers to the impact of the irregularity of the radar target surface shape on its RCS.

[0100] Through such a setting in this embodiment, the signal in the negative frequency range in the second echo signal frame can be screened for interference for the second time through the frequency domain threshold, thereby improving the detection rate of interference signals and ensuring the detection of the target object.

[0101] In this embodiment, optionally, determining the frequency domain threshold of the current echo signal frame includes: performing an air negative background noise detection operation through a millimeter-wave vehicle-mounted radar; and determining the maximum negative frequency power of the air negative background noise as the frequency domain threshold of the current echo signal frame.

[0102] Among them, the negative background noise detection operation in the air can be performed by collecting real signals in the air through millimeter-wave vehicle-mounted radar, and then the real signal (time domain signal) is converted into a complex signal for processing to obtain the negative background noise operation.

[0103] Specifically, in this embodiment, a real signal is obtained by collecting air signals through a millimeter-wave vehicle-mounted radar. Since the spectrum of the real signal is symmetrical, the spectrum of the complex signal obtained through orthogonal modulation is asymmetric. Therefore, in this embodiment, on the basis of filtering out part of the parallel interference and part of the cross interference through pulse-to-pulse frequency hopping, a complex signal is used and the low-pass filter cutoff frequency is set to fs / 2 to ensure that no effective target enters the fs / 2-fs frequency band, which can be used to detect whether there is an interference signal. Due to the constant positive characteristic of the target difference frequency, the interference pulse is identified by the negative frequency amplitude. Therefore, in this embodiment, the maximum negative frequency amplitude of the air background noise can be used as the frequency domain threshold of the current echo signal frame for frequency domain interference detection.

[0104] Through such a setting in this embodiment, the frequency domain threshold is determined through the millimeter-wave vehicle-mounted radar's air load background noise detection operation, which can ensure the reliability and accuracy of the interference signal detection.

[0105] S250: Determine an interference signal set based on the first interference signal and the second interference signal.

[0106] In this embodiment, the first interference signal detected from the current echo signal frame and the second interference signal detected from the second echo signal frame may be statistically summarized as an interference signal set, so as to facilitate filtering and processing operations on all interference signals.

[0107] S260: Filter out the interference signal set to obtain a target echo signal frame.

[0108] In addition, in this embodiment, subsequent processing operations such as 2DFFT operation, clustering and angle detection may be performed on the target echo signal frame.

[0109] In this embodiment, firstly, frequency hopping is performed to reduce the probability of interference signals falling into the passband. Secondly, a higher time domain threshold is determined to perform preliminary interference detection and removal on the time domain data of the current echo signal frame. Then, through filter design, only interference signals are kept in the negative frequency domain signal. The negative frequency power of the empty detection is used as the frequency domain threshold, and the interference signals in the second echo signal frame are screened for the second time. The interference signals are filtered out by setting the chirp of the interference signals to zero. Finally, the transmission period of the next echo signal frame is adjusted with reference to the attribute information of the interference signal set of the current echo signal frame, thereby reducing the probability of sub-frame interference, thereby reducing the background noise enhancement caused by strong interference signals and ensuring the detection of the target.

[0110] The technical solution of the embodiment of the present invention is to obtain the current echo signal frame of the millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping;: perform interference screening on the current echo signal frame according to the time domain threshold to obtain the first interference signal and the first echo signal frame; wherein the first echo signal frame is a signal frame that does not contain the first interference signal; perform Fourier transform on the first echo signal frame to obtain the second echo signal frame; perform interference screening on the second echo signal frame based on the frequency domain threshold to obtain the second interference signal; determine the interference signal set based on the first interference signal and the second interference signal; filter the interference signal set to obtain the target echo signal frame. This technical solution determines the interference signal by screening twice by setting the time domain threshold and the frequency domain threshold, which reduces the complexity of the algorithm while improving the interference detection rate and ensuring the detection of effective targets.

[0111] Embodiment 3

[0112] Figure 3 FIG. 1 is a schematic diagram of the structure of an interference processing device for a millimeter-wave vehicle-mounted radar according to Embodiment 3 of the present invention. Figure 3 As shown, the device comprises:

[0113] The signal frame acquisition module 310 is used to acquire the current echo signal frame of the millimeter wave vehicle-mounted radar; wherein the millimeter wave vehicle-mounted radar transmits waves by frequency hopping;

[0114] An interference screening module 320 is used to perform interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold to obtain an interference signal set;

[0115] The interference filtering module 330 is used to filter the interference signal set to obtain a target echo signal frame.

[0116] Optionally, the device further comprises:

[0117] The transmission time adjustment module is used to determine the attribute information of the interference signal set after obtaining the interference signal set, and adjust the transmission time of the next echo signal frame according to the attribute information; wherein the attribute information includes the position corresponding to the maximum interference signal and the total number of signals in the current echo signal frame where the interference signal set is located.

[0118] Optionally, the interference screening module 320 includes:

[0119] A first interference screening unit, configured to perform interference screening on a current echo signal frame according to a time domain threshold value to obtain a first interference signal and a first echo signal frame; wherein the first echo signal frame is a signal frame that does not contain the first interference signal;

[0120] A transform unit, configured to perform Fourier transform on the first echo signal frame to obtain a second echo signal frame;

[0121] A second interference screening unit, configured to perform interference screening on the second echo signal frame based on a frequency domain threshold to obtain a second interference signal;

[0122] The interference signal set determining unit is configured to determine an interference signal set based on the first interference signal and the second interference signal.

[0123] Optionally, the first interference screening unit is specifically used to determine the time domain threshold of the current echo signal frame; compare the current echo signal frame with the time domain threshold, and determine the signal in the current echo signal frame that is greater than the time domain threshold as the first interference signal.

[0124] Optionally, the second interference screening unit is specifically used to

[0125] A frequency domain threshold determination subunit, used to determine the frequency domain threshold of the current echo signal frame;

[0126] The comparison subunit is used to compare the echo signal in the second echo signal frame with the frequency domain threshold, and determine the signal whose echo signal is greater than the frequency domain threshold as the second interference signal.

[0127] Optionally, a frequency domain threshold determination subunit is specifically used to perform air negative background noise detection operations through millimeter wave vehicle-mounted radar; and determine the maximum negative frequency power of the air negative background noise as the frequency domain threshold of the current echo signal frame.

[0128] Optionally, the interference filtering module 330 is specifically configured to set the value of the interference signal included in the interference signal set to a set value to obtain a target echo signal frame.

[0129] An interference processing device for a millimeter-wave vehicle-mounted radar provided in an embodiment of the present invention can execute an interference processing method for a millimeter-wave vehicle-mounted radar provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0130] Embodiment 4

[0131] Figure 4 1 is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0132] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0133] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0134] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the interference processing method of the millimeter wave vehicle-mounted radar.

[0135] In some embodiments, the interference processing method of the millimeter-wave vehicle-mounted radar may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the interference processing method of the millimeter-wave vehicle-mounted radar described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the interference processing method of the millimeter-wave vehicle-mounted radar in any other appropriate manner (e.g., by means of firmware).

[0136] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0138] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0139] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0140] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0141] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0142] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0143] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for processing interference of a millimeter-wave vehicle-mounted radar, characterized in that: include: Obtaining a current echo signal frame of a millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping; Perform interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold respectively to obtain an interference signal set; The interference signal set is filtered out to obtain a target echo signal frame.

2. The method according to claim 1, characterized in that After obtaining the interference signal set, it also includes: Determine the attribute information of the interference signal set, and adjust the transmission time of the next echo signal frame according to the attribute information; The attribute information includes the position corresponding to the maximum interference signal and the total number of signals in the current echo signal frame where the interference signal set is located.

3. The method according to claim 1, characterized in that Based on the time domain threshold and the frequency domain threshold, the current echo signal frame is respectively subjected to interference screening to obtain an interference signal set, including: Performing interference screening on the current echo signal frame according to the time domain threshold to obtain a first interference signal and a first echo signal frame; wherein the first echo signal frame is a signal frame that does not contain the first interference signal; Performing Fourier transform on the first echo signal frame to obtain a second echo signal frame; Performing interference screening on the second echo signal frame based on the frequency domain threshold to obtain a second interference signal; A set of interference signals is determined based on the first interference signal and the second interference signal.

4. The method according to claim 3, characterized in that Performing interference screening on the current echo signal frame according to the time domain threshold to obtain a first interference signal includes: Determining a time domain threshold of the current echo signal frame; The current echo signal frame is compared with the time domain threshold, and a signal in the current echo signal frame that is greater than the time domain threshold is determined as a first interference signal.

5. The method according to claim 3, characterized in that: Performing interference screening on the second echo signal frame based on the frequency domain threshold to obtain a second interference signal includes: Determining a frequency domain threshold of the current echo signal frame; The echo signal in the second echo signal frame is compared with the frequency domain threshold, and a signal whose echo signal is greater than the frequency domain threshold is determined as a second interference signal.

6. The method according to claim 5, characterized in that Determining a frequency domain threshold of the current echo signal frame includes: Performing air negative noise detection operation by using the millimeter wave vehicle-mounted radar; The maximum value of the negative frequency power of the air negative background noise is determined as the frequency domain threshold of the current echo signal frame.

7. The method according to claim 1, characterized in that The interference signal set is filtered out to obtain a target echo signal frame, including: The values ​​of the interference signals included in the interference signal set are set to set values ​​to obtain a target echo signal frame.

8. An interference processing device for a millimeter-wave vehicle-mounted radar, characterized in that: include: A signal frame acquisition module, used to acquire the current echo signal frame of the millimeter-wave vehicle-mounted radar; wherein the millimeter-wave vehicle-mounted radar transmits waves by frequency hopping; An interference screening module, used to perform interference screening on the current echo signal frame based on a time domain threshold and a frequency domain threshold respectively, to obtain an interference signal set; The interference filtering module is used to filter the interference signal set to obtain a target echo signal frame.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the interference processing method for the millimeter-wave vehicle-mounted radar according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the interference processing method for the millimeter-wave vehicle-mounted radar according to any one of claims 1 to 7 when executed.

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