Interference signal detection method and device

Abstract

The invention discloses an interference signal detection method and device, and the method comprises the steps: obtaining a first superposed signal with a signal intensity peak value not smaller than a detection threshold value from a first accumulation result, and enabling the first accumulation result to be obtained through the superposition of N return signal measurement results, the first accumulation result comprises signal intensity distribution of at least one superposed signal at a plurality of time positions, and N is a positive integer; and determining whether the first superposed signal is an interference signal. By implementing the application, the interference signal can be detected, and the detection efficiency of the interference signal and the detection performance of the sensor can be improved.

Description

Interference signal detection method and device Technical Field

[0001] The present application relates to the field of radar interference detection, and in particular to a method and device for detecting interference signals. Background Art

[0002] LiDAR is widely used in autonomous driving positioning, object detection, roadside / drivable area detection, and lane marking detection. LiDAR determines the target's location by emitting a detection signal (e.g., a laser pulse) and measuring the time delay between the received signal reflected from the target (e.g., the target echo).

[0003] Lidar A may be interfered with during operation, for example, by sunlight, direct interference from Lidar B, or scattered interference, causing interference signals to appear in the return signal measured by Lidar A. These interference signals may cause false detection and affect the detection accuracy of the Lidar.

[0004] Summary of the Invention

[0005] The present application discloses an interference signal detection method and device, which can improve the efficiency of identifying interference signals and enhance the detection performance of sensors.

[0006] In the first aspect, the present application provides an interference signal detection method, the method comprising: obtaining a first superimposed signal from a first cumulative result, the first cumulative result being obtained by superimposing N return signal measurement results, the first cumulative result including the signal strength distribution of at least one superimposed signal at multiple time positions, wherein the signal energy of the first superimposed signal is not less than a detection threshold, and N is a positive integer; determining whether the first superimposed signal is an interference signal.

[0007] The method can be applied to a detection device, wherein the detection device can be, for example, one or more of a microcontroller unit (MCU), an electronic control unit (ECU), or a multi-domain controller (MDC) in a vehicle. The detection device can also be a laser radar sensor, a millimeter-wave radar sensor, an ultrasonic sensor, or other sensors that calculate the target distance based on the measured return signal, or a microcontroller unit (MCU), an electronic control unit (ECU), etc. in the sensor. The detection device can also be a component in the MCU or a component in the ECU, wherein the component can be, for example, a chip, an integrated circuit, etc.

[0008] Here, the interference signal can be understood as a real interference signal that interferes with the sensor, or as a suspected interference signal with a low confidence level or a potential suspicious signal to be further determined, which is not specifically limited here.

[0009] Among the N return signal measurements, some return signal measurement results may include the signal strength distribution of at least one return signal at the above multiple time positions, or may not include any return signal, which is not specifically limited here.

[0010] Exemplarily, the return signal may be, for example, a received optical signal, ultrasonic signal, or millimeter wave signal.

[0011] For example, the return signal measurement result may be a time of flight (TOF) measurement result. TOF measurement can be broadly understood as a method of measuring the distance from a target object to a receiver by measuring the time it takes for an object, particle, light, or wave to travel a certain distance in a fixed medium. For more details, please refer to the definition and explanation in the prior art.

[0012] Exemplarily, because the first cumulative result is obtained by superimposing N return signal measurement results, the signal strength corresponding to any time position in the first cumulative result may be the sum of the signal strengths corresponding to that time position in the N return signal measurement results. The signal strength corresponding to any time position in the first cumulative result is greater than or equal to 0.

[0013] It can be understood that the first superposition signal is included in at least one superposition signal in the first accumulation result.

[0014] Exemplarily, the signal energy of the first superimposed signal may be the maximum signal strength of the first superimposed signal, or may be the sum of the signal strengths of the first superimposed signal, the average value of the signal strengths, or other statistical values.

[0015] Here, the detection threshold is used to obtain the first superimposed signal from at least one superimposed signal in the first cumulative result. The detection threshold may be pre-set by a manufacturer (e.g., the manufacturer of the lidar sensor) or may be obtained by the detection device based on the signal strengths of the superimposed signals in the first cumulative result. For example, the detection threshold may be obtained by summing, averaging, or performing other computational processing on the signal strengths of the superimposed signals in the first cumulative result.

[0016] It is understood that different calculation methods for the signal energy of the first superimposed signal result in different corresponding detection thresholds. For example, when the signal energy of the first superimposed signal is the maximum signal strength of the first superimposed signal, the detection threshold is the first detection threshold; when the signal energy of the first superimposed signal is the sum of the signal strengths of the first superimposed signal, the detection threshold is the second detection threshold, wherein the first detection threshold and the second detection threshold are not equal.

[0017] By implementing the above method, interference detection is performed on superimposed signals whose signal strength is not less than the detection threshold in the superposition results of multiple return signal measurement results, which can improve the recognition efficiency of interference signals and is conducive to improving the detection performance of the sensor.

[0018] Optionally, the first superimposed signal corresponds to a first time range; and determining whether the first superimposed signal is an interference signal includes: determining whether the first superimposed signal is an interference signal according to the first time range.

[0019] The first time range includes a continuous part or all of the multiple time positions mentioned above.

[0020] Exemplarily, the first time range includes each time position between a start time position corresponding to the first superimposed signal and an end time position corresponding to the first superimposed signal. For example, the start time position corresponding to the first superimposed signal may be the beginning time of a rising edge of the first superimposed signal, and the end time position corresponding to the first superimposed signal may be the end time of a falling edge of the first superimposed signal.

[0021] Exemplarily, the first time range includes the complete set of consecutive time positions between the first time position corresponding to a signal strength greater than or equal to a target threshold in the first superimposed signal and the last time position corresponding to a signal strength greater than or equal to the target threshold (including the first time position and the last time position themselves). It will be understood that the time period consisting of the first time position and the last time position is included in the time period consisting of the starting time position corresponding to the first superimposed signal and the ending time position corresponding to the first superimposed signal. Optionally, the first time range includes a continuous portion of time positions between the first time position and the last time position.

[0022] Here, the target threshold can be used to determine the first time range corresponding to the first superimposed signal. The target threshold can be pre-set or obtained by the detection device based on the signal strength of each superimposed signal in the first cumulative result. For example, the target threshold can be obtained by median, average, or other calculation processing of the signal strength of each superimposed signal in the first cumulative result. The target threshold is greater than 0 and less than the peak signal strength of the first superimposed signal.

[0023] In the above implementation, since the multiple return signal measurement results corresponding to the same time range are correlated, the first time range can be used to detect whether the first superimposed signal is an interference signal, which is beneficial to improving the detection efficiency of interference signals.

[0024] Optionally, the method also includes: performing difference processing on the N return signal measurement results to obtain a difference result, the difference result including the signal strength distribution of multiple first difference points at the multiple time positions; determining whether the first superimposed signal is an interference signal based on the first time range, including: when the signal strength of the first difference point corresponding to the first time range in the difference result is not less than a first threshold, determining that the first superimposed signal is an interference signal.

[0025] Here, the first threshold may be preset by the manufacturer, or obtained by the detection device based on the signal strength of the first superimposed signal, or obtained by the detection device based on the signal strength of each superimposed signal in the first accumulation result.

[0026] Each of the multiple first difference points corresponds to a time position among the multiple time positions, and the signal strength of the first difference point at the time position is obtained by performing the above-mentioned difference processing based on the signal strength corresponding to the time position in the N return signal measurement results. It will be understood that the number of first difference points in the difference result is equal to the number of time positions.

[0027] The fact that the signal strength of the first difference point corresponding to the first time range is not less than the first threshold means that there is at least one time position in the first time range at which the signal strength of the first difference point is not less than the first threshold.

[0028] By implementing the above implementation method, the differences between multiple return signal measurement results can be compared through difference processing. Based on the signal strength of the first difference point corresponding to the first time range, it can be effectively identified whether the first superimposed signal is an interference signal, which is conducive to improving the detection efficiency of interference signals.

[0029] Optionally, the N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results of the N return signal measurement results, Q and K are positive integers less than N; the difference result is obtained based on performing the difference processing on the K superposition results, and the K superposition results are obtained based on performing superposition processing on each group of measurement results in the K groups of measurement results.

[0030] The possible grouping methods of the N return signal measurement results are illustrated by taking four TOF measurement results as an example, where the four TOF measurement results are TOF_1, TOF_2, TOF_3, and TOF_4.

[0031] In one grouping manner, two adjacent groups of measurement results may contain the same return signal measurement result.

[0032] For example, K=3 and Q=2, that is, the return signal measurement results are divided into 3 groups and each group contains 2. The three groups are: Group 1 includes TOF_1 and TOF_2, Group 2 includes TOF_2 and TOF_3, and Group 3 includes TOF_3 and TOF_4.

[0033] For another example, K=2 and Q=3, that is, the return signal measurement results are divided into 2 groups and each group contains 3. The two groups are: Group 1 includes TOF_1, TOF_2 and TOF_3, and Group 2 includes TOF_2, TOF_3 and TOF_4.

[0034] In another grouping manner, two adjacent groups of measurement results do not contain the same return signal measurement results.

[0035] For example, K=2 and Q=2, that is, the return signal measurement results are divided into 2 groups and each group contains 2 return signal measurement results. The two groups are: group 1 includes TOF_1 and TOF_2, and group 2 includes TOF_3 and TOF_4.

[0036] In another implementation, the number of return signal measurement results included in each group of measurement results after grouping may not be limited.

[0037] For example, K=3, that is, divided into three groups, the three groups are group 1 including TOF_1, group 2 including TOF_2 and TOF_3, and group 3 including TOF_3 and TOF_4. In this case, when superimposing each group, the group containing a smaller number of return signal measurement results can be multiplied so that its number is the same as the number of return signal measurement results contained in other groups.

[0038] By implementing the above implementation method, the above difference result is obtained by first grouping and superimposing the N return signal measurement results and then performing difference processing on the multiple superimposed results. This can effectively reduce the randomness of interference in the N return signal measurement results and reduce the missed detection rate of interference signals.

[0039] Optionally, the N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results of the N return signal measurement results, Q and K are positive integers less than N; the difference result is obtained based on statistics of the K initial difference results, and the K initial difference results are obtained based on performing the difference processing on each group of measurement results in the K groups of measurement results.

[0040] Here, the statistical method includes but is not limited to summing, averaging, or taking the maximum value.

[0041] By implementing the above implementation method, the K groups of measurement results are first grouped and difference processed separately, and then the multiple initial difference results are statistically obtained to obtain the above difference results. This can effectively reduce the randomness of interference in the N return signal measurement results and reduce the missed detection rate of interference signals.

[0042] Optionally, the second time position is any one of the multiple time positions, and the signal strength of the first difference point corresponding to the second time position in the difference result is any one of the following:

[0043] a difference between a maximum value of the signal strength corresponding to the second time position and a minimum value of the signal strength corresponding to the second time position in the N return signal measurement results;

[0044] the maximum value of the difference in signal strength corresponding to the second time position in each adjacent pair of return signal measurement results in the N return signal measurement results; or

[0045] The variance or standard deviation of the signal strength corresponding to the second time position in the N return signal measurement results.

[0046] The implementation of the above-mentioned implementation provides multiple feasible difference calculation methods for directly performing difference processing on the N return signal measurement results, increases the diversity of difference processing, and provides a basis for subsequent detection of interference signals.

[0047] Optionally, the method further includes: superimposing each group of measurement results in the K groups of measurement results to obtain K superposition results, each superposition result in the K superposition results including the signal strength distribution of at least one second superposition signal at the multiple time positions, and each group of measurement results in the K groups of measurement results including adjacent Q return signal measurement results in the N return signal measurement results, where Q and K are both positive integers less than N; determining whether the first superposition signal is an interference signal based on the first time range includes: determining a first statistical number of superposition results in which the signal energy of the second superposition signal corresponding to the first time range in the K superposition results exceeds a second threshold; when the first statistical number is less than a third threshold, determining that the first superposition signal is an interference signal.

[0048] Here, the first statistical number can be understood as the statistical value of the number of superposition results that meet the threshold detection condition among the K superposition results, that is, the number of successful threshold detections. The superposition result meeting the threshold detection condition means that the signal energy of the second superposition signal corresponding to the first time range in the superposition result exceeds the second threshold.

[0049] Exemplarily, the signal energy of the second superimposed signal corresponding to the first time range can specifically be: the maximum signal strength of the second superimposed signal corresponding to the first time range, or the signal strength statistical value of the second superimposed signal corresponding to the first time range, wherein the signal strength statistical value of the second superimposed signal can be the sum, average, etc. of the individual signal strengths of the second superimposed signal.

[0050] Here, the second threshold value may be pre-set by the manufacturer or dynamically set by the detection device based on the superposition results. Different superposition results may correspond to the same or different second threshold values. For example, taking any one of the K superposition results, such as superposition result 1, as an example, the second threshold value corresponding to superposition result 1 may be the average of the signal strengths of the second superposition signals in superposition result 1, or may be obtained by taking a weighted sum of the signal strengths of the second superposition signals in superposition result 1.

[0051] The third threshold may be preset by the manufacturer or obtained by the detection device based on the statistical sum of the number of second superposition signals in the K superposition results whose signal energy exceeds the second threshold.

[0052] By implementing the above implementation, by counting the number of superposition results that meet the threshold detection condition among the K superposition results obtained based on the N return signal measurement results, it is possible to effectively identify whether the first superposition signal is an interference signal, which is conducive to improving the detection efficiency of interference signals.

[0053] Optionally, the N return signal measurement results correspond to a first spatial position, and the method further includes: obtaining M return signal measurement results in a second spatial position adjacent to the first spatial position, where M is a positive integer less than or equal to N; determining whether the first superimposed signal is an interference signal based on the first time range includes: determining whether the first superimposed signal is an interference signal based on the first time range and the M return signal measurement results.

[0054] Here, the N return signal measurement results corresponding to the first spatial position means that the N return signal measurement results are obtained by measurement within the first spatial position.

[0055] Exemplarily, the first spatial position and the second spatial position may be two adjacent angles in the horizontal direction, or two adjacent angles in the vertical direction, or two adjacent angles in other directions, which are not specifically limited here.

[0056] Among the M return signal measurement results, some return signal measurement results may include the signal strength distribution of at least one return signal at the above multiple time positions, or may not include any return signal, which is not specifically limited here.

[0057] By implementing the above implementation method, based on the correlation degree of multiple return signal measurement results in adjacent spatial positions within the same time range, it is possible to effectively identify whether the first superimposed signal is an interference signal, which makes it possible to detect interference signals from a spatial dimension.

[0058] Optionally, determining whether the first superimposed signal is an interference signal based on the first time range and the M return signal measurement results includes: grouping the M return signal measurement results and superimposing the grouped return signal measurement results to obtain P superimposed results, each of the P superimposed results including the signal strength distribution of at least one third superimposed signal at the multiple time positions, where P is a positive integer less than M; determining a second statistical number of superimposed results in which the signal energy of the third superimposed signal corresponding to the first time range in the P superimposed results exceeds a fourth threshold; and determining that the first superimposed signal is an interference signal when the second statistical number is less than a fifth threshold.

[0059] Here, the second statistical number can be understood as the statistical value of the number of superposition results that meet the second threshold detection condition among the P superposition results, that is, the number of successful threshold detections. The superposition result meeting the second threshold detection condition means that the signal energy of the third superposition signal corresponding to the first time range in the superposition result exceeds the fourth threshold.

[0060] Exemplarily, the signal energy of the third superimposed signal corresponding to the first time range can specifically be: the maximum signal strength of the third superimposed signal corresponding to the first time range, or the signal strength statistical value of the third superimposed signal corresponding to the first time range, wherein the signal strength statistical value of the third superimposed signal can be the sum, average value, etc. of each signal strength of the third superimposed signal, which is not specifically limited here.

[0061] Here, the fourth threshold value may be pre-set by the manufacturer or dynamically set by the detection device based on the superposition results. Different superposition results may have the same or different corresponding fourth threshold values. For example, taking superposition result 2 among the P superposition results as an example, the fourth threshold value corresponding to superposition result 2 may be the average of the signal strengths of the third superposition signals in superposition result 2, or may be obtained by taking a weighted sum of the signal strengths of the third superposition signals in superposition result 2, etc.

[0062] The fifth threshold may be preset by the manufacturer or obtained by the detection device based on the statistical sum of the number of third superposition signals in the P superposition results whose signal energy exceeds the fourth threshold.

[0063] By implementing the above implementation method, by counting the number of superposition results that meet the threshold detection conditions among the P superposition results obtained based on the M return signal measurement results in adjacent spatial positions, it is possible to effectively identify whether the first superposition signal is an interference signal, which is beneficial to improving the detection efficiency of interference signals.

[0064] Optionally, when the second statistical number is a first value, the confidence that the first superimposed signal is an interference signal is a first probability; when the second statistical number is a second value, the confidence that the first superimposed signal is an interference signal is a second probability; wherein, the first value is less than the second value, the second value is less than the fifth threshold, and the first probability is greater than the second probability.

[0065] That is, the smaller the second statistical number is, the higher the confidence level that the first superimposed signal is an interference signal is.

[0066] Exemplarily, a range judgment may be performed on the second statistical number to determine the confidence level. For example, when the second statistical number is less than or equal to a first preset threshold, the confidence level that the first superimposed signal is an interference signal is a first probability; when the second statistical number is greater than the first preset threshold and less than a second preset threshold, the confidence level that the first superimposed signal is an interference signal is a second probability.

[0067] It can be understood that the first probability and the second probability here are only exemplary examples of two values ​​of confidence, but the present application does not limit the confidence to only two values.

[0068] By implementing the above implementation, confidence information can be obtained based on the second statistical number, thereby providing a reference for back-end processing and helping to improve the processing efficiency of back-end data.

[0069] Optionally, determining whether the first superimposed signal is an interference signal based on the first time range and the M return signal measurement results includes: superimposing the M return signal measurement results to obtain a second cumulative result, the second cumulative result including the signal strength distribution of at least one fourth superimposed signal at the multiple time positions; when the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result is less than a sixth threshold, determining that the first superimposed signal is an interference signal.

[0070] Here, the sixth threshold may be preset by the manufacturer, or obtained by the detection device based on the signal energy of each fourth superimposed signal in the second accumulation result, or based on the signal energy of each superimposed signal in the first accumulation result.

[0071] Here, the signal energy of the fourth superimposed signal corresponding to the first time range may be the maximum signal strength of the fourth superimposed signal, or may be the sum of the signal strengths of the fourth superimposed signal, an average of the signal strengths, or other statistical value. It will be appreciated that different calculation methods for the signal energy of the fourth superimposed signal will result in different corresponding sixth thresholds.

[0072] By implementing the above-mentioned implementation method, based on the signal energy of the superimposed signal corresponding to the first time range in the superposition result of multiple return signal measurement results in adjacent spatial positions, it is possible to effectively identify whether the first superimposed signal is an interference signal, thereby providing the possibility of detecting interference signals from a spatial dimension.

[0073] Optionally, the method further includes: obtaining confidence information, where the confidence information is obtained based on the signal energy of the first superimposed signal and the signal energy of a fourth superimposed signal corresponding to the first time range.

[0074] For example, the confidence level may be a weighted difference between the signal energy of the first superimposed signal and the signal energy of the fourth superimposed signal corresponding to the first time range.

[0075] By implementing the above implementation, the possibility of the first superimposed signal being an interference signal is characterized by the confidence information, which can provide a reference for back-end processing and is beneficial to the processing efficiency of back-end data.

[0076] Optionally, after determining that the first superimposed signal is an interference signal, the method further includes: outputting a detection result, the detection result including the first time range and / or an interference mark, and the interference mark indicates that the first superimposed signal is an interference signal.

[0077] By implementing the above implementation, the backend can be prompted to ignore the signal corresponding to the first time range when processing the corresponding data, thereby reducing the data processing pressure on the backend.

[0078] Optionally, the detection result further includes confidence information, where the confidence information indicates the confidence that the first superimposed signal is an interference signal.

[0079] By implementing the above implementation method, the confidence information can provide a reference for back-end processing, which is conducive to improving data processing efficiency.

[0080] In second aspect, the present application provides an interference signal detection device, which includes: an acquisition unit for acquiring a first superimposed signal from a first cumulative result, wherein the first cumulative result is obtained by superimposing N return signal measurement results, and the first cumulative result includes the signal strength distribution of at least one superimposed signal at multiple time positions, wherein the signal energy of the first superimposed signal is not less than a detection threshold, and N is a positive integer; a detection unit for determining whether the first superimposed signal is an interference signal.

[0081] Optionally, the first superimposed signal corresponds to a first time range; and the detection unit is specifically configured to determine whether the first superimposed signal is an interference signal based on the first time range.

[0082] Optionally, the detection unit is also used to perform difference processing on the N return signal measurement results to obtain a difference result, and the difference result includes the signal strength distribution of multiple first difference points at the multiple time positions; the detection unit is specifically used to: when the signal strength of the first difference point corresponding to the first time range in the difference result is not less than a first threshold, determine that the first superimposed signal is an interference signal.

[0083] Optionally, the N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results of the N return signal measurement results, Q and K are positive integers less than N; the difference result is obtained based on performing the difference processing on the K superposition results, and the K superposition results are obtained based on performing superposition processing on each group of measurement results in the K groups of measurement results.

[0084] Optionally, the N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results of the N return signal measurement results, Q and K are positive integers less than N; the difference result is obtained based on statistics of the K initial difference results, and the K initial difference results are obtained based on performing the difference processing on each group of measurement results in the K groups of measurement results.

[0085] Optionally, the second time position is any one of the multiple time positions, and the signal strength of the first difference point corresponding to the second time position in the difference result is any one of the following:

[0086] a difference between a maximum value of the signal strength corresponding to the second time position and a minimum value of the signal strength corresponding to the second time position in the N return signal measurement results;

[0087] the maximum value of the difference in signal strength corresponding to the second time position in each adjacent pair of return signal measurement results in the N return signal measurement results; or

[0088] The variance or standard deviation of the signal strength corresponding to the second time position in the N return signal measurement results.

[0089] Optionally, the detection unit is also used to: superimpose each group of measurement results in the K groups of measurement results to obtain K superposition results, each superposition result in the K superposition results includes the signal strength distribution of at least one second superposition signal at the multiple time positions, and each group of measurement results in the K groups of measurement results includes Q adjacent return signal measurement results in the N return signal measurement results, where Q and K are both positive integers less than N; the detection unit is specifically used to: determine a first statistical number of superposition results in which the signal energy of the second superposition signal corresponding to the first time range in the K superposition results exceeds a second threshold; when the first statistical number is less than a third threshold, determine that the first superposition signal is an interference signal.

[0090] Optionally, the N return signal measurement results correspond to a first spatial position, and the acquisition unit is further used to: obtain M return signal measurement results in a second spatial position adjacent to the first spatial position, where M is a positive integer less than or equal to N; the detection unit is specifically used to: determine whether the first superimposed signal is an interference signal based on the first time range and the M return signal measurement results.

[0091] Optionally, the detection unit is specifically used to: group the M return signal measurement results and perform superposition processing on the grouped return signal measurement results to obtain P superposition results, each of the P superposition results including the signal strength distribution of at least one third superposition signal at the multiple time positions, where P is a positive integer less than M; determine a second statistical number of superposition results in which the signal energy of the third superposition signal corresponding to the first time range in the P superposition results exceeds a fourth threshold; and when the second statistical number is less than a fifth threshold, determine that the first superposition signal is an interference signal.

[0092] Optionally, when the second statistical number is a first value, the confidence that the first superimposed signal is an interference signal is a first probability; when the second statistical number is a second value, the confidence that the first superimposed signal is an interference signal is a second probability; wherein, the first value is less than the second value, the second value is less than the fifth threshold, and the first probability is greater than the second probability.

[0093] Optionally, the detection unit is specifically used to: superimpose the M return signal measurement results to obtain a second cumulative result, the second cumulative result including the signal strength distribution of at least one fourth superimposed signal at the multiple time positions; when the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result is less than a sixth threshold, determine that the first superimposed signal is an interference signal.

[0094] Optionally, the detection unit is further configured to obtain confidence information, where the confidence information is obtained based on signal energy of the first superimposed signal and signal energy of a fourth superimposed signal corresponding to the first time range.

[0095] Optionally, the device further includes an output unit, configured to output a detection result, where the detection result includes the first time range and / or an interference mark, where the interference mark indicates that the first superimposed signal is an interference signal.

[0096] Optionally, the detection result further includes confidence information, where the confidence information indicates the confidence that the first superimposed signal is an interference signal.

[0097] In a third aspect, the present application provides a device comprising at least one processor and a communication interface, wherein the communication interface is configured to provide information input and / or output to the at least one processor. The device may be a chip or an integrated circuit, or may be the device described in the second aspect, configured to implement the method described in the first aspect or any possible embodiment of the first aspect.

[0098] In a fourth aspect, the present application provides a terminal, which includes the device as described in the second aspect or any possible embodiment of the second aspect, or includes the device as described in the third aspect.

[0099] Exemplarily, the terminal may be a vehicle, a robot, a drone, or other terminal that calculates the target distance using the measured return signal.

[0100] In a fifth aspect, the present application provides a computer-readable storage medium comprising computer instructions, which, when executed by a processor, implement the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0101] In a sixth aspect, the present application provides a computer program product that, when executed by a processor, implements the method described in the first aspect or any possible embodiment of the first aspect. The computer program product, for example, may be a software installation package. When the method provided in any possible design of the first aspect is required, the computer program product may be downloaded and executed on a processor to implement the method described in the first aspect or any possible embodiment of the first aspect.

[0102] The technical effects of the second to sixth aspects are the same as those of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] FIG1 is a schematic diagram of an interference signal detection method according to an embodiment of the present application;

[0104] FIG2 is a schematic diagram of a system architecture provided in an embodiment of the present application;

[0105] FIG3 is a flow chart of an interference signal detection method provided in an embodiment of the present application;

[0106] FIG4 is a schematic diagram of a first accumulation result provided in an embodiment of the present application;

[0107] FIG5A is a schematic diagram of a difference processing provided by an embodiment of the present application;

[0108] FIG5B is a schematic diagram of another difference processing provided by an embodiment of the present application;

[0109] FIG5C is a schematic diagram of another difference processing provided by an embodiment of the present application;

[0110] FIG6 is a schematic diagram of a threshold detection method according to an embodiment of the present application;

[0111] FIG7 is a schematic diagram of a measurement of a return signal provided in an embodiment of the present application;

[0112] FIG8A is a schematic diagram of detecting return signal measurement results in adjacent spatial positions provided by an embodiment of the present application;

[0113] FIG8B is a schematic diagram of detecting return signal measurement results in adjacent spatial positions provided by another embodiment of the present application;

[0114] FIG9 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0115] FIG10 is a schematic structural diagram of an interference detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0116] It should be noted that the prefixes such as "first" and "second" used in this application are only for distinguishing different description objects, and do not have any limiting effect on the position, order, priority, quantity or content of the described objects. For example, if the described object is a "field", then the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the described object is a "level", then the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of described objects is not limited by the prefix and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the described object is a "device," then the "first device" and the "second device" can be the same device, the same type of device, or different types of devices. For another example, if the described object is "information," then the "first information" and the "second information" can be information of the same content or information of different contents. In short, the use of prefixes to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. For the description of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0117] It should be noted that the descriptions used in the embodiments of the present application, such as "at least one of a1, a2, ..., or an" include any one of a1, a2, ..., or an existing alone, and any combination of any multiple of a1, a2, ..., or an, each of which can exist alone. For example, the description "at least one of a, b, or c" includes a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of a, b, and c.

[0118] To facilitate understanding, the following first introduces relevant terms that may be involved in the embodiments of this application.

[0119] Signal strength refers to the amplitude of a signal. For example, the amplitude of a signal at a certain time position is called the signal strength of the signal at that time position.

[0120] Signal strength distribution refers to the distribution of signal strength at different time locations.

[0121] Signal energy: obtained based on the signal strength of the signal. For example, the signal energy of a signal can be the maximum value among the various signal strengths of the signal (or called the signal strength peak of the signal), or it can be obtained based on statistics of the various signal strengths of the signal, such as summation or averaging.

[0122] Laser radar, also known as light detection and ranging (LiDAR or LADAR), can measure distance by measuring the time delay (also known as the time of flight) between the emission of a laser pulse and the detection of the reflected echo pulse.

[0123] LiDAR is susceptible to interference from ambient light, other LiDARs operating in the same frequency band, etc. To detect interference to LiDAR, a measurement method based on time-correlated single-photon counting (TCSPC) is proposed. Specifically:

[0124] Referring to Figure 1, Step 1: Initiate multiple time of flight (TOF) measurements to the same location to obtain multiple TOF measurement results, where each TOF measurement can also be called a microscopic event measurement; Step 2: Superimpose (or accumulate) these multiple TOF measurement results to obtain a superposition histogram (it can be understood that a histogram is a form of cumulative result or superposition result); Step 3: Perform threshold detection on the superposition histogram to determine that the superposition signal with a signal strength greater than the detection threshold in the superposition histogram is the target signal. It can be seen that this detection method has a certain recognition ability for weak noise or weak interference, but for strong interference, strong interference will also generate a superposition signal with a signal strength exceeding the detection threshold in the superposition histogram after the superposition of multiple TOF measurement results, such as superposition signal 2 in Figure 1, which is mistakenly regarded as the target signal corresponding to the target object, resulting in false detection of the target signal and seriously affecting the detection accuracy of the lidar.

[0125] For example, strong interference may be direct interference from other laser radars, that is, laser radar A receives laser pulses emitted by laser radar C; strong interference may be emission interference from other laser radars, that is, laser radar A receives laser pulses reflected from the target object and hit by laser radar B on the target object.

[0126] To address the above problems, an embodiment of the present application proposes an interference signal detection method, which can improve the efficiency of identifying interference signals and enhance the detection performance of radar sensors.

[0127] The technical solution in this application will be described below with reference to the accompanying drawings.

[0128] Referring to Figure 2, a communication system architecture diagram is provided. This system is used to detect interference signals. As shown in Figure 2, the system includes at least a detection device and a detection device, wherein the detection device and the detection device can communicate in a wired or wireless manner.

[0129] The detection device can receive return signals (such as light, millimeter waves, ultrasonic waves, etc.). For example, the detection device can initiate a time of flight (TOF) measurement to receive the return signal. Optionally, a TOF measurement result can also be obtained based on the return signal, wherein the TOF measurement result includes the signal intensity distribution of at least one return signal on the time axis (or multiple time positions). According to the working band of the detection device, the detection device can be divided into a laser detection device, a millimeter wave detection device, an ultrasonic detection device, etc. In some scenarios, the detection device includes multiple detectors, and the multiple detectors can operate in different bands, that is, the detection device can also be a fusion detection device, such as a detection device that integrates a laser detector and a camera.

[0130] Optionally, the detection device may include a detector, or a pulse receiver, etc. As a possible implementation method, the function of the detector is specifically implemented by a detection element, and the detection element includes but is not limited to an avalanche photo detector (APD), a single-photon avalanche diode (SPAD), or an electron multiplying charge-coupled device (EMCCD), etc. Optionally, the detection elements in the detector can be arranged in an array, for example, an array of specifications such as a 1×2 array, a 2×3 array, a 3×3 array, etc., which is not limited in this application.

[0131] It should be noted that the detection device may include a transmitter, or the detection device may correspond to a transmitter. The transmitter can transmit a signal, and the return signal received by the detection device includes a signal corresponding to the transmitted signal. Of course, the return signal may also include ambient light signals or signals transmitted by other detection devices.

[0132] Exemplarily, the detection device may perform multiple detections to obtain multiple return signal measurement results.

[0133] The detection device has data processing capabilities. For example, the detection device may include one or more of the following modules: a central processing unit (CPU), an application processor (AP), a time-to-digital converter (TDC), a microcontroller unit (MCU), an electronic control unit (ECU), a filter, a graphics processing unit (GPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), an image signal processor (ISP), a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the central processing unit in completing corresponding processing and applications), a microcontroller unit (MCU), and / or a neural-network processing unit (NPU).

[0134] The detection device is capable of processing the measurement result of the return signal (hereinafter referred to as the return signal measurement result).

[0135] The detection device can also process the cumulative result of the return signal measurement results. The cumulative result is obtained by superimposing multiple return signal measurement results. Optionally, the device performing the superposition operation can be a detection device, a detection device, or a third-party device, which is not specifically limited here.

[0136] For example, after receiving the return signal, the detection device provides the obtained electrical signal to the detection device, which processes the electrical signal to obtain the return signal measurement result. The detection device superimposes multiple return signal measurement results to obtain the aforementioned cumulative result.

[0137] For another example, after receiving the return signal, the detection device processes it to obtain a return signal measurement result, which is then provided to the detection device. As a possible solution, the detector in the detection device also has a data processing function, capable of preprocessing the electrical signal obtained by receiving the return signal. This preprocessing may include, but is not limited to, one or more of analog-to-digital conversion, time-of-flight (TOF) resolution, and filtering. For example, the detector may perform analog-to-digital conversion and time-of-flight (TOF) resolution on the electrical signal, and output the return signal measurement result to the detection device. The detection device then superimposes multiple return signal measurement results to obtain the aforementioned cumulative result.

[0138] For another example, the detection device performs analog-to-digital conversion on the electrical signal obtained by receiving the return signal and outputs an analog signal, which is further processed to obtain an accumulation result of the return signal measurement result. The further processing can be performed by the detection device or by other equipment.

[0139] In one implementation, the detection device can obtain multiple return signal measurement results and superimpose the multiple return signal measurement results to obtain a first cumulative result, wherein the first cumulative result includes the signal strength distribution of at least one superimposed signal at multiple time positions, obtain a first superimposed signal from the at least one superimposed signal and determine whether the first superimposed signal is an interference signal, wherein the signal strength peak value of the first superimposed signal is not less than a detection threshold. In summary, the detection device can perform interference detection on superimposed signals whose signal strength is not less than the detection threshold in the superimposed result of multiple return signal measurement results, thereby improving the efficiency of identifying interference signals and facilitating the improvement of the detection performance of the sensor.

[0140] It should be noted that the detection device and the detection device can be independently provided, or can be coupled together, or some modules of the two can be coupled together and some modules can be independently provided.

[0141] Taking the coupling of the two as an example, the detection device can be a detector in a laser radar (or millimeter wave radar, or ultrasonic radar, etc.), and the detection device can also be located in the laser radar (or millimeter wave radar, or ultrasonic radar, etc.). For another example, the detection device can be integrated into the detector as a chip.

[0142] Taking the example of the two being independently configured, the detection device can be a laser radar (or millimeter wave radar, or ultrasonic radar, etc.), and the detection device can be one or more of a microcontroller unit (MCU), an electronic control unit (ECU), or a multi-domain controller (MDC) in the vehicle. Optionally, when the detection device and the detection device are independently configured, communication can be supported between the two. The communication link can be in the form of a wired link, a wireless link, or a combination of wired and wireless links, and the communication form is not limited here.

[0143] It should be noted that Figure 2 is only an exemplary architecture diagram and does not limit the number of network elements included in the system shown in Figure 2. Although not shown in Figure 2, Figure 2 may also include other functional entities in addition to the functional entities shown in Figure 2. In addition, the method provided in the embodiment of the present application can be applied to the communication system shown in Figure 2. Of course, the method provided in the embodiment of the present application can also be applied to other communication systems, and the embodiment of the present application is not limited in this regard.

[0144] Referring to FIG3 , FIG3 is a flowchart of an interference signal detection method provided by an embodiment of the present application, which can be applied to the detection device in FIG2 above. The method includes but is not limited to the following steps:

[0145] S301: Obtain a first superposition signal from a first accumulation result.

[0146] The first cumulative result is obtained by superimposing N return signal measurement results, where N is a positive integer.

[0147] In some possible embodiments, the return signal measurement result may also be referred to as a micro-event measurement result.

[0148] Exemplarily, the return signal measurement result may be a time-of-flight TOF measurement result, where TOF measurement can be broadly understood as a measurement method of obtaining the distance from the target object to the receiving end by measuring the time it takes for an object, particle, light or wave to fly a certain distance in a fixed medium.

[0149] The measurement result may be obtained based on N return signal measurements initiated toward the target object at the same spatial position (eg, horizontal angle or vertical angle), that is, one return signal measurement result is obtained from one return signal measurement.

[0150] Illustratively, among the N return signal measurement results, some return signal measurement results may include the signal strength distribution of at least one return signal at the above-mentioned multiple time positions, or may not include any return signal, which is not specifically limited here.

[0151] The return signal may be, for example, an optical signal, an ultrasonic signal, or a millimeter wave signal.

[0152] For example, referring to Figure 1, the return signal measurement results take the TOF measurement results as an example. Figure 1 shows n TOF measurement results, namely TOF_1, TOF_2,..., TOF_n. Taking TOF_1 as an example, it can be seen that TOF_1 includes the signal intensity distribution of three return signals at multiple time positions, that is, a small gray triangle in TOF_1 is a return signal, but the embodiment of the present application does not limit the return signal to be only in the form shown by the small gray triangle in TOF_1.

[0153] For example, the interval between the start times of any two adjacent return signal measurements in the N return signal measurements may be equal or different, which is not specifically limited here. The measurement duration corresponding to each return signal measurement may be equal or different, which is not specifically limited here.

[0154] For example, before performing return signal measurement, the pulse transmission time and signal reception time are synchronized, i.e., the pulse transmission time is set to 0. In this case, each time position can be represented as an offset from the corresponding pulse transmission time, i.e., this offset is a relative value. The interval between any two adjacent time positions in the above multiple time positions is equal.

[0155] For example, the number of time positions is related to the sensor's time measurement resolution and the duration of a return signal measurement. For example, assuming the duration of a return signal measurement is 2 microseconds (µs) and the lidar sensor's time measurement resolution is 1 nanosecond (ns), there are 2,000 time positions.

[0156] It is understood that the measurement duration corresponding to each return signal measurement includes the aforementioned multiple time positions, and the return signal measurement result includes the signal strengths detected at these multiple time positions.

[0157] In one implementation, the N return signal measurement results can be directly obtained by the detection device (when the detection device is coupled with the detection device shown in Figure 2), and the N return signal measurement results can also be obtained by the detection device from the detection device shown in Figure 2, wherein the sensor can be an ultrasonic sensor, a lidar sensor, a millimeter-wave radar sensor or other sensor that calculates the target distance based on the measured return signal, and is not specifically limited here.

[0158] For example, the signal strength corresponding to any time position in the first cumulative result may be the sum of the signal strengths corresponding to that time position in the N return signal measurement results. The signal strength corresponding to any time position in the first cumulative result is greater than or equal to 0. For example, the cumulative result may be statistically analyzed or displayed using a histogram.

[0159] Here, the first cumulative result includes the signal strength distribution of at least one superimposed signal at multiple time positions. Optionally, the division method of the superimposed signal can be related to the waveform characteristics of the signal, or related to the time position. Taking the division of superimposed signals according to the waveform characteristics of the signal as an example, a superimposed signal can be a pulse signal, a peak signal, or a rising edge signal, etc. Among them, a pulse signal is a short-term fluctuating signal like a pulse signal; a peak signal is a signal with a maximum signal strength within a period of time; a rising edge signal is a signal with a continuous increase in signal strength within a period of time. Taking the division of superimposed signals according to the time of the signal as an example, a superimposed signal can be a signal within a period of time. For example, according to the time axis, the signal within each preset time range is a superimposed signal.

[0160] The signal energy of the first superimposed signal is not less than the detection threshold. It is understood that the first superimposed signal is included in at least one superimposed signal in the first cumulative result. The signal strength of the first superimposed signal at a certain time position may be the sum of the signal strengths corresponding to that time position in the N return signal measurement results.

[0161] For example, referring to Figure 1, the superposition histogram is a representation of the first cumulative result. The detection threshold takes the detection threshold in Figure 1 as an example. It can be seen from Figure 1 that the superposition histogram includes 6 superposition signals, among which there are two superposition signals whose signal strength exceeds the detection threshold, namely superposition signal 1 and superposition signal 2, that is, the first superposition signal can be superposition signal 1 or superposition signal 2 in Figure 1.

[0162] Here, the detection threshold is used to obtain the first superimposed signal from at least one superimposed signal in the first cumulative result. The detection threshold may be pre-set by a manufacturer (e.g., the manufacturer of the lidar sensor) or may be obtained by the detection device based on the signal strengths of the superimposed signals in the first cumulative result. For example, the detection threshold may be obtained by summing, averaging, or performing other computational processing on the signal strengths of the superimposed signals in the first cumulative result.

[0163] Exemplarily, the signal energy of the first superimposed signal may be the maximum signal strength of the first superimposed signal (or referred to as the signal strength peak), or the sum of the signal strengths of the first superimposed signal, the average value of the signal strengths, or other statistical values.

[0164] It is understood that different calculation methods for the signal energy of the first superimposed signal result in different corresponding detection thresholds. For example, when the signal energy of the first superimposed signal is the maximum signal strength of the first superimposed signal, the detection threshold is the first detection threshold; when the signal energy of the first superimposed signal is the sum of the signal strengths of the first superimposed signal, the detection threshold is the second detection threshold, wherein the first detection threshold and the second detection threshold are not equal.

[0165] S302: Determine whether the first superimposed signal is an interference signal.

[0166] In the embodiment of the present application, the first superimposed signal corresponds to the first time range, and determining whether the first superimposed signal is an interference signal is specifically: determining whether the first superimposed signal is an interference signal according to the first time range.

[0167] Here, the interference signal may be understood as, for example, a real interference signal that interferes with the sensor, or a suspected interference signal with a low confidence level, or a potential suspicious signal to be further determined, which is not specifically limited here.

[0168] The first time range includes a continuous part or all of the multiple time positions mentioned above.

[0169] Exemplarily, the first time range includes a plurality of time positions between a start time position corresponding to the first superimposed signal and an end time position corresponding to the first superimposed signal. Exemplarily, the start time position corresponding to the first superimposed signal may be the beginning time of a rising edge of the first superimposed signal, and the end time position corresponding to the first superimposed signal may be the end time of a falling edge of the first superimposed signal.

[0170] For example, the first time range is further explained in conjunction with FIG4 . As can be seen from FIG4 , the first cumulative result includes 7 superimposed signals. Taking whether the signal strength peak value of the superimposed signal is greater than or equal to the detection threshold as an example to obtain the first superimposed signal, it can be seen that among the 7 superimposed signals, there are two superimposed signals whose signal strength peak value exceeds the detection threshold, namely wave 1 and wave 2. That is, the above-mentioned first superimposed signal can be wave 1 or wave 2 in FIG4 . Taking the first superimposed signal as wave 2 as an example to describe the first time range, the starting time position corresponding to the first superimposed signal is t in FIG4 . s Position, the end time position corresponding to the first superimposed signal is t in Figure 4 e Position, the first time range includes t s Position to t e Position The time positions within this time period.

[0171] Exemplarily, the first time range includes the full set of time positions between the first time position corresponding to a signal strength greater than or equal to a target threshold in the first superimposed signal and the last time position corresponding to a signal strength greater than or equal to the target threshold (including the first time position and the last time position themselves). It will be understood that the time period consisting of the first time position and the last time position is included in the time period consisting of the starting time position corresponding to the first superimposed signal and the ending time position corresponding to the first superimposed signal. Optionally, the first time range includes a continuous portion of time positions between the first time position and the last time position.

[0172] The target threshold can be used to determine the first time range corresponding to the first superimposed signal. The target threshold can be pre-set or obtained by the detection device based on the signal strength of each superimposed signal in the first cumulative result. For example, the target threshold can be obtained by median, average, or other calculation processing of the signal strength of each superimposed signal in the first cumulative result. The target threshold is greater than 0 and less than the peak signal strength of the first superimposed signal.

[0173] In an embodiment of the present application, based on the time coincidence characteristic and the space coincidence characteristic of the return signal measurement, the similarity or consistency of multiple return signal measurement results can be measured from the time dimension or the space dimension, thereby realizing the detection of interference signals. Among them, the time coincidence characteristic means that when the position change between the measured target and the sensor is extremely small or basically unchanged within a preset time interval, the change in the time range corresponding to the target return signal (corresponding to the target object) in the multiple return signal measurement results within the preset time interval is extremely small or basically unchanged. The space coincidence characteristic means that when multiple return signal measurements are performed on the target object in adjacent spatial positions, part or all of the light spots corresponding to the multiple return signal measurement results obtained in adjacent spatial positions are located on the target object, and the light spots corresponding to the adjacent return signal measurement results may also partially overlap, which means that the multiple return signal measurement results in adjacent spatial positions are related.

[0174] The following describes the specific implementation of determining whether a signal is an interference signal:

[0175] Case 1: Determined based on the time dimension

[0176] Specifically, the N return signal measurement results are located in the same spatial position, for example, within a horizontal angle or a vertical angle. In the time dimension, two methods can be used to determine whether the first superimposed signal is an interference signal by difference processing or counting the number of successful threshold detection. The following describes these two methods in detail:

[0177] (1) Difference processing

[0178] In an implementation of the present application, difference processing may be first performed on the N return signal measurement results to obtain a difference result, wherein the difference result includes a signal strength distribution of multiple first difference points at the multiple time positions. Determining whether the first superimposed signal is an interference signal based on the first time range includes: determining that the first superimposed signal is an interference signal when the signal strength of the first difference point corresponding to the first time range in the difference result is not less than a first threshold.

[0179] Each of the multiple first difference points corresponds to a time position among the multiple time positions, and the signal strength of the first difference point at the time position is obtained by performing the above-mentioned difference processing based on the signal strength corresponding to the time position in the N return signal measurement results. It will be understood that the number of first difference points in the difference result is equal to the number of time positions.

[0180] Here, the first threshold may be preset by the manufacturer based on experience, or may be obtained by the detection device based on the signal strength of the first superimposed signal, or may be obtained by the detection device based on the signal strength of each superimposed signal in the first cumulative result.

[0181] Exemplarily, the signal strength of the first difference point corresponding to the first time range in the difference result is not less than the first threshold, which means that there is at least one time position in the first time range, and at this at least one time position, the signal strength of the first difference point is not less than the first threshold.

[0182] In some possible embodiments, when the signal strength of the first difference points corresponding to each time position in the first time range in the difference result is less than the first threshold, it can be considered that the first superimposed signal is not an interference signal or the probability that the first superimposed signal is an interference signal is low.

[0183] Here, there are multiple ways to process the difference, please refer to the following methods 1 to 3 for details:

[0184] Method 1: Direct difference processing

[0185] Taking the second time position as an example, where the second time position is any one of the multiple time positions, the signal strength of the first difference point corresponding to the second time position in the difference result is one of the following:

[0186] (1) the difference between the maximum value of the signal strength corresponding to the second time position and the minimum value of the signal strength corresponding to the second time position in the N return signal measurement results;

[0187] (2) the maximum value of the difference in signal strength corresponding to the second time position in each adjacent pair of return signal measurement results in the N return signal measurement results; or

[0188] (3) The variance or standard deviation of the signal strength corresponding to the second time position in the N return signal measurement results.

[0189] For example, the signal strength of the first difference point corresponding to the second time position in the difference result is further explained in conjunction with FIG5A. In FIG5A, the return signal measurement takes TOF measurement as an example. Assuming N is 5, the N return signal measurement results are 5 TOF measurement results, namely TOF_1, TOF_2, TOF_3, TOF_4 and TOF_5 in FIG5A. t2 in FIG5A represents the second time position. The signal strength corresponding to position t2 in TOF_1 is recorded as F1(t2), the signal strength corresponding to position t2 in TOF_2 is recorded as F2(t2), the signal strength corresponding to position t2 in TOF_3 is recorded as F3(t2), the signal strength corresponding to position t2 in TOF_4 is recorded as F4(t2), and the signal strength corresponding to position t2 in TOF_5 is recorded as F5(t2). As can be seen from FIG5A, F2(t2)=F3(t2)=F4(t2)=F5(t2)=0.

[0190] For example, when the difference processing is to find the range, in Figure 5A, the signal strength of the first difference point corresponding to the position t2 in the difference result is the difference between the maximum and minimum values ​​in the set {F1(t2), F2(t2), F3(t2), F4(t2), F5(t2)}, that is, F1(t2).

[0191] For example, when the difference processing is to find the maximum value of the difference between adjacent TOFs, in FIG5A , the difference values ​​of the signal strength corresponding to the position t2 in each adjacent pair of TOF measurement results include: F1(t2)-F2(t2), F2(t2)-F3(t2), F3(t2)-F4(t2) and F4(t2)-F5(t2). Therefore, the signal strength of the first difference point corresponding to the position t2 in the difference result is the maximum value in the set {F1(t2)-F2(t2), F2(t2)-F3(t2), F3(t2)-F4(t2), F4(t2)-F5(t2)}, which is recorded as F max (t2). In some possible embodiments, the difference in signal strength corresponding to position t2 in each adjacent pair of TOF measurement results includes F2(t2)-F1(t2), F3(t2)-F2(t2), F4(t2)-F3(t2), and F5(t2)-F4(t2), which are not specifically limited herein. It will be understood that after obtaining the difference in signal strength corresponding to position t2 in each adjacent pair of TOF measurement results, absolute value processing can be performed first.

[0192] For example, when the difference processing is to calculate the standard deviation of the signal strength, in FIG5A , the signal strength of the first difference point corresponding to the position t2 in the difference result can be obtained by calculating the standard deviation of each value in the set {F1(t2), F2(t2), F3(t2), F4(t2), F5(t2)}, and the obtained standard deviation is recorded as F std (t2).

[0193] For example, when the difference processing is to calculate the variance of the signal strength, in FIG5A , the signal strength of the first difference point corresponding to the position t2 in the difference result can be obtained by calculating the variance of each value in the set {F1(t2), F2(t2), F2(t2), F2(t2), F5(t2)}, and the obtained variance is recorded as F var (t2).

[0194] In some possible embodiments, the signal strength of the first difference point corresponding to the second time position in the difference result may also be the ratio of the difference statistic corresponding to the second time position to the signal energy of the superimposed signal corresponding to the second time position in the first cumulative result (when there is a corresponding superimposed signal at the second time position in the first cumulative result). It will be understood that when there is no corresponding superimposed signal at the second time position in the first cumulative result, this ratio may be recorded as 0.

[0195] Exemplarily, the signal energy of the superimposed signal corresponding to the second time position in the first cumulative result may be the signal strength corresponding to the second time position in the first cumulative result, or the sum or average of the signal strengths of the superimposed signals corresponding to the second time position in the first cumulative result.

[0196] The statistical value of the difference corresponding to the second time position may be the maximum value of the difference corresponding to the second time position, for example, max (t2) can also be the standard deviation of the signal strength corresponding to the second time position, such as the F std (t2) can also be the variance of the signal strength corresponding to the second time position, such as the above F var (t2) is not specifically limited here.

[0197] It should be noted that in addition to the above-mentioned methods of calculating the range, calculating the maximum value of the difference in signal strength corresponding to adjacent time positions, calculating the standard deviation of the signal strength, and calculating the variance of the signal strength, the difference calculation method can also be other methods that can be used to calculate the differences corresponding to multiple return signal measurement results, which are not specifically limited here.

[0198] For example, referring to FIG5A , the first superposition signal may be wave 1 or wave 2 in FIG5A . It can be seen that wave 1 is the target superposition signal corresponding to the target object, but wave 2 is an interference signal that may be mistakenly detected as the target superposition signal. In FIG5A , assuming that the first superposition signal obtained based on the first accumulation result is wave 2, the first time range is the same as t in FIG5A . s Position to t e The first time range includes t in FIG5A. s Position to t e It can be seen that in the difference result shown in FIG5A , the signal strength of the first difference point corresponding to a certain time position in the first time range exceeds the first threshold, so wave 1 is determined to be an interference signal, thereby identifying the interference signal.

[0199] Method 2: Group and superimpose first and then perform difference processing

[0200] In an embodiment of the present application, N return signal measurement results may be first grouped to obtain K groups of measurement results, where each group of the K groups of measurement results includes Q adjacent return signal measurement results of the above-mentioned N return signal measurement results, where Q and K are positive integers less than N; each return signal measurement result in each group of the K groups of measurement results is superimposed to obtain K superposition results; and the K superposition results are differenced to obtain the above-mentioned difference result.

[0201] That is, each group of measurement results in the K groups of measurement results includes the same number of return signal measurement results, and the return signal measurement results included in each group of measurement results are adjacent.

[0202] Here, the process of performing difference processing on the K superposition results can refer to the description of the difference processing in the above method 1. The difference is that the operation object of the difference processing is not the N return signal measurement results in method 1 but the K superposition results here.

[0203] Referring to Figure 5B, the return signal measurement takes TOF measurement as an example. Assuming that N is 5, the N return signal measurement results are 5 TOF measurement results, namely TOF_1, TOF_2, TOF_3, TOF_4 and TOF_5 in Figure 5B. In Figure 5B, the 5 TOF measurement results are divided into two groups and the number of TOF measurement results contained in each group is 3, wherein the first group includes TOF_1, TOF_2 and TOF_3, and the second group includes TOF_3, TOF_4 and TOF_5. The TOF measurement results in the first group are superimposed to obtain superposition result 1, and the TOF measurement results in the second group are superimposed to obtain superposition result 2. Finally, the superposition result 1 and the superposition result 2 are difference processed to obtain the difference result.

[0204] It should be noted that FIG5B only exemplifies a grouping method, and the embodiment of the present application does not limit the grouping method to the form shown in FIG5B.

[0205] For example, the five TOF measurement results shown in FIG5B can also be grouped in the following three ways, see grouping ways 1-3:

[0206] Grouping mode 1: K=4 and Q=2, i.e., divided into 4 groups and each group contains 2 TOF measurement results. Specifically, group 1 includes TOF_1 and TOF_2, group 2 includes TOF_2 and TOF_3, group 3 includes TOF_3 and TOF_4, and group 4 includes TOF_4 and TOF_5.

[0207] Grouping mode 2: K=3 and Q=3, that is, divided into 3 groups and the number of TOF measurement results contained in each group is 3. Specifically, group 1 includes TOF_1, TOF_2 and TOF_3, group 2 includes TOF_2, TOF_3 and TOF_4, and group 3 includes TOF_3, TOF_4 and TOF_5.

[0208] Grouping mode 3: K=2 and Q=4, that is, divided into 2 groups and the number of TOF measurement results contained in each group is 4. Specifically, group 1 includes TOF_1, TOF_2, TOF_3 and TOF_4, and group 2 includes TOF_2, TOF_3, TOF_4 and TOF_5.

[0209] It can be seen that in the above grouping method, two adjacent groups contain the same TOF measurement results. In some possible embodiments, after grouping, two adjacent groups may not contain the same TOF measurement results. For example, when N is an even number, such as N=4, assuming that the four TOF measurement results are TOF_1, TOF_2, TOF_3, and TOF_4, these four TOF measurement results can also be divided into two groups, where Group 1 includes TOF_1 and TOF_2, and Group 2 includes TOF_3 and TOF_4.

[0210] In some possible embodiments, each of the K groups of measurement results may not be limited to containing the same number of return signal measurement results. For example, the five TOF measurement results shown in FIG5B are divided into three groups, where Group 1 includes only TOF_1, Group 2 includes TOF_2 and TOF_3, and Group 3 includes TOF_4 and TOF_5. In this case, to ensure the accuracy of the degree of difference, the number of TOF measurement results within each group can be unified. Since the number of TOF measurement results included in Groups 2 and 3 is 2, and the number of TOF measurement results in Group 1 is 1, the superposition processing of TOF_1 in Group 1 is to multiply the signal strength corresponding to each time position in TOF_1 by 2.

[0211] Method 3: First group and perform difference processing and then count

[0212] In an embodiment of the present application, N return signal measurement results may be first grouped to obtain K groups of measurement results, where each group of the K groups of measurement results includes Q adjacent return signal measurement results of the above-mentioned N return signal measurement results, where Q and K are positive integers less than N; difference processing is performed on each group of measurement results in the K groups of measurement results to obtain K initial difference results; and statistics are performed on the K initial difference results to obtain the above-mentioned difference results.

[0213] For example, statistical processing includes but is not limited to summing, averaging, or maximizing.

[0214] Here, performing difference processing on each set of measurement results refers to performing difference processing on the Q return signal measurement results in each set of measurement results. The difference processing process can refer to the description of the difference processing in the above-mentioned method 1. The difference is that the operation object of the difference processing is not the N return signal measurement results in method 1 but the Q return signal measurement results here.

[0215] Referring to Figure 5C, the return signal measurement takes TOF measurement as an example. Assuming that N is 5, the N return signal measurement results are 5 TOF measurement results, namely TOF_1, TOF_2, TOF_3, TOF_4 and TOF_5 in Figure 5C. In Figure 5C, the 5 TOF measurement results are divided into two groups and the number of TOF measurement results contained in each group is 3, where the first group includes TOF_1, TOF_2 and TOF_3, and the second group includes TOF_3, TOF_4 and TOF_5. The TOF measurement results in the first group are subjected to difference processing to obtain the initial difference result 1, and the TOF measurement results in the second group are subjected to difference processing to obtain the initial difference result 2. Finally, the initial difference result 1 and the initial difference result 2 are statistically processed to obtain the above-mentioned difference result.

[0216] In FIG5C , taking any one of the multiple time positions, for example, the second time position, as an example, the signal strength of the difference point corresponding to the second time position in the initial difference result 1 is recorded as f1, and the signal strength of the difference point corresponding to the second time position in the initial difference result 2 is recorded as f2. If the above statistical processing is summation, the signal strength of the first difference point corresponding to the second time position in the difference result in FIG5C is (f1+f2); if the above statistical processing is averaging, the signal strength of the first difference point corresponding to the second time position in the difference result in FIG5C is If the statistical processing is to find the maximum value, the signal strength of the first difference point corresponding to the second time position in the difference result in FIG5C is {f1, f2}max .

[0217] It should be noted that FIG5C is only an exemplary grouping method, and the present embodiment is not limited to the grouping method shown in FIG5C. In some possible embodiments, there may be other grouping methods. For details, please refer to the relevant description of the grouping method in the above method 2, which will not be repeated here.

[0218] In the above-mentioned difference processing method, the difference result obtained by performing difference processing on the N return signal measurement results includes the signal strength distribution of multiple first difference points at all time positions. However, since the embodiments of the present application mainly focus on the signal strength of the first difference point corresponding to the first time range, in some possible embodiments, when performing difference processing, it is also possible to perform difference processing only on the signal strength of the return signal corresponding to the first time range in the N return signal measurement results (the calculation method for difference processing can refer to the description of difference processing in the above-mentioned method 1) to directly obtain the signal strength of the first difference point corresponding to the first time range, instead of obtaining the signal strength of the first difference point corresponding to the first time range by searching from the difference result. In this way, not only the amount of data involved in the difference processing is greatly reduced, but also the data processing efficiency is improved, which is conducive to improving the detection efficiency of interference signals.

[0219] It should be understood that the above-mentioned methods 1 to 3 are exemplary descriptions made for ease of understanding, and the specific implementation process may also include more methods, which are not listed here one by one. The above-mentioned situations can also be combined when they are not mutually exclusive, and the combined situations are not repeated here.

[0220] (2) Statistics of successful threshold detection times

[0221] In an embodiment of the present application, each group of measurement results in K groups of measurement results is superimposed to obtain K superposition results, each superposition result in the K superposition results including a signal strength distribution of at least one second superposition signal at the above-mentioned multiple time positions, wherein each group of measurement results in the K groups of measurement results includes Q adjacent return signal measurement results in the above-mentioned N return signal measurement results, and Q and K are both positive integers less than N; determining whether the first superposition signal is an interference signal based on the first time range includes: determining a first statistical number of superposition results in which the signal energy of the second superposition signal corresponding to the first time range in the K superposition results exceeds a second threshold; and determining that the first superposition signal is an interference signal when the first statistical number is less than a third threshold.

[0222] That is, each of the K groups of measurement results includes the same number of return signal measurement results, and the return signal measurement results included in each group of measurement results are adjacent. In some possible embodiments, the number of return signal measurement results included in each group of measurement results is not limited to being the same. For the specific grouping method, refer to the description of the grouping method in the above-mentioned method 2, and will not be repeated here.

[0223] Here, the second threshold value may be pre-set or dynamically set by the detection device based on the superposition result. Different superposition results may have the same or different corresponding second threshold values. For example, taking superposition result 1 among the K superposition results as an example, the second threshold value corresponding to superposition result 1 may be the average of the signal strengths of the second superposition signals in superposition result 1, or may be obtained by taking a weighted sum of the signal strengths of the second superposition signals in superposition result 1, etc.

[0224] Accordingly, the third threshold value can be pre-set by the manufacturer, or can be obtained by the detection device based on the statistical sum of the number of second superposition signals in the K superposition results whose signal energy exceeds the second threshold value. The third threshold value is less than or equal to K. Exemplarily, the first statistical number can be understood as the statistical value of the number of superposition results that meet the first threshold detection condition among the K superposition results, that is, the number of successful threshold detections. The superposition result meeting the first threshold detection condition means that the signal energy of the second superposition signal corresponding to the first time range in the superposition result exceeds the second threshold value.

[0225] In one implementation, that the signal energy of the second superimposed signal corresponding to the first time range in the superposition result exceeds the second threshold may be: the maximum signal strength of the second superimposed signal corresponding to the first time range in the superposition result exceeds the second threshold.

[0226] In one implementation, the signal energy of the second superimposed signal corresponding to the first time range in the superposition result exceeds the second threshold value, which can be: the signal strength statistic of the second superimposed signal corresponding to the first time range in the superposition result exceeds the second threshold value, wherein the signal strength statistic of the second superimposed signal can be the sum or average of the individual signal strengths of the second superimposed signal.

[0227] In some possible embodiments, the superposition result meeting the first threshold detection condition may also be: the number of time positions corresponding to the signal intensity exceeding the preset intensity threshold on the second superposition signal corresponding to the first time range in the superposition result exceeds the second threshold.

[0228] Exemplarily, the first statistical number may also be understood as the number of second superimposed signals whose signal energy corresponding to the first time range in the K superimposed results exceeds the second threshold.

[0229] In some possible embodiments, when the first statistical number is greater than or equal to the third threshold, it can be considered that the first superimposed signal is not an interference signal or the probability that the first superimposed signal is an interference signal is low.

[0230] The following specifically describes the process of determining that the first superimposed signal is an interference signal based on the number of successful threshold detections based on FIG6 :

[0231] In FIG6 , the return signal measurement takes TOF measurement as an example. Assuming that N is 6, the N return signal measurement results are 6 TOF measurement results, namely TOF_1, TOF_2, TOF_3, TOF_4, TOF_5, and TOF_6 in FIG6 .

[0232] On the one hand, the six TOF measurement results are superimposed to obtain a first cumulative result. Based on the detection threshold, it can be determined that the first superimposed signal can be wave 1 or wave 2 in the first cumulative result shown in Figure 6. Taking wave 2 as an example, the first time range is t s Position to t e Location this time period.

[0233] On the other hand, the six TOF measurement results are grouped and then superimposed separately. For example, they are divided into three groups, and the number of TOF measurement results contained in each group is 2, where group 1 includes TOF_1 and TOF_2, group 2 includes TOF_3 and TOF_4, and group 3 includes TOF_5 and TOF_6. TOF_1 and TOF_2 in group 1 are superimposed to obtain superposition result 1. Correspondingly, group 2 is superimposed to obtain superposition result 2, and group 3 is superimposed to obtain superposition result 3.

[0234] The superposition result satisfies the first threshold detection condition by taking the maximum signal strength of the superposition signal corresponding to the first time range in the superposition result as greater than the second threshold as an example. Here, the second threshold in superposition result 1 may be threshold 1 shown in FIG6 (for example, threshold 1 may be obtained based on superposition result 1), the second threshold in superposition result 2 may be threshold 2 shown in FIG6 (for example, threshold 2 may be obtained based on superposition result 2), and the second threshold in superposition result 3 may be threshold 3 shown in FIG6 (for example, threshold 3 may be obtained based on superposition result 3). It can be seen that the first time range in superposition result 1 does not correspond to a superposition signal, the first time range in superposition result 2 does not correspond to a superposition signal, and the maximum signal strength of the superposition signal corresponding to the first time range in superposition result 3 exceeds threshold 3. That is, for the first time range, both superposition result 1 and superposition result 2 fail the threshold detection, while superposition result 3 succeeds in the threshold detection. Therefore, the first statistical number is 1. As can be seen from FIG6, the first statistical number is less than the third threshold, so it is determined that wave 2 (the first superposition signal) is an interference signal.

[0235] It should be noted that the grouping method described in the embodiment of FIG6 is only an example, and the grouping method is not limited to the form shown in FIG6 .

[0236] In some possible embodiments, confidence information may also be obtained based on the first statistical number, where the confidence information indicates a confidence level that the first superimposed signal is an interference signal.

[0237] For example, when the first statistical number is a first value, the confidence level that the first superimposed signal is an interference signal is a first probability; when the first statistical number is a second value, the confidence level that the first superimposed signal is an interference signal is a second probability, wherein the first value and the second value are both less than the third threshold.

[0238] Furthermore, if the first value is smaller than the second value, the first probability is greater than the second probability; if the first value is greater than the second value, the first probability is less than the second probability. It can be understood that the smaller the first statistical number, the greater the probability that the first superimposed signal is an interference signal.

[0239] That is, when the first superimposed signal is detected as an interference signal, a corresponding confidence level can also be provided, for example, a first probability and a second probability. Here, only two examples of confidence level values ​​are provided, and the embodiments of the present application do not limit the number of confidence level values. It can be understood that characterizing the probability that the first superimposed signal is a potential interference signal through the confidence level provides a reference for the backend, which is conducive to improving the efficiency of backend data processing.

[0240] In some possible embodiments, the confidence level can also be defined by range. For example, when the first statistical number is less than or equal to a first preset threshold, the confidence level that the first superimposed signal is an interference signal is a first probability; when the first statistical number is greater than the first preset threshold and the first statistical number is less than a second preset threshold, the confidence level that the first superimposed signal is an interference signal is a second probability.

[0241] Case 2: Determined based on spatial dimensions

[0242] Taking lidar as an example, when measuring return signals, lidar can perform measurements in the horizontal, vertical, or other angular directions. The horizontal detection angle is called the horizontal angle, and the vertical detection angle is called the vertical angle. A horizontal angle or a vertical angle is also called a spatial position or an angular position. At least one time-of-flight (TOF) measurement can be initiated within a spatial position to obtain at least one TOF measurement result.

[0243] Refer to Figure 7, which is a measurement diagram of a return signal provided in an embodiment of the present application. It can be seen that three TOF measurements are performed within one horizontal angle in Figure 7 (this application does not limit the number of TOF measurements performed within one horizontal angle), and the light spots corresponding to the three horizontal angles are partially or completely located on the target shown in Figure 7. The light spots corresponding to adjacent TOF measurements overlap to a certain extent, and the light spots corresponding to adjacent horizontal angles also partially overlap, among which horizontal angle 1 is adjacent to horizontal angle 2, and horizontal angle 2 is adjacent to horizontal angle 3.

[0244] Since part or all of the light spots corresponding to adjacent spatial positions are located on the same target object, and the light spots corresponding to adjacent spatial positions may also partially overlap, that is, the TOF measurement results in adjacent spatial positions are also correlated. Therefore, the TOF measurement results in adjacent positions can be processed from the spatial dimension to realize the detection of interference signals.

[0245] In some possible embodiments, the above-mentioned N return signal measurement results correspond to the first spatial position, and M return signal measurement results in a second spatial position adjacent to the first spatial position can also be obtained, where M is a positive integer less than or equal to N. Then, based on the first time range, determining whether the first superimposed signal is an interference signal includes: determining whether the first superimposed signal is an interference signal based on the first time range and the M return signal measurement results.

[0246] Here, the N return signal measurement results corresponding to the first spatial position means that the N return signal measurement results are obtained by measurement within the first spatial position.

[0247] Exemplarily, the first spatial position and the second spatial position being adjacent can be understood as: the first spatial position and the second spatial position can be two adjacent angles in the horizontal direction, or two adjacent angles in the vertical direction, or two adjacent angles in other directions, which are not specifically limited here.

[0248] FIG7 further illustrates the second spatial position being adjacent to the first spatial position. For example, when the first spatial position is horizontal angle 2 as shown in FIG7 , the second spatial position may be the previous adjacent angle of the first spatial position, such as horizontal angle 1. The second spatial position may also be the next adjacent angle of the first spatial position, such as horizontal angle 3. The embodiments of the present application do not limit the first spatial position and the second spatial position to being only horizontal angles. In some possible embodiments, the first spatial position and the second spatial position may be adjacent vertical angles or other angles.

[0249] Here, the M return signal measurement results within the second spatial location may be selected from the N return signal measurement results within the second spatial location based on a preset angle threshold. For example, the M return signal measurement results may be obtained from the second spatial location within a range of a preset angle threshold from the first spatial location.

[0250] For example, referring to Figure 7 above, the first spatial position takes horizontal angle 2 as an example, and the second spatial position takes horizontal angle 1 as an example. It can be seen that there are 3 TOF measurements in the second spatial position, and the TOF measurement results corresponding to the 2 TOF measurements closer to horizontal angle 2 can be selected, that is, two TOF measurement results are obtained from horizontal angle 1.

[0251] In one implementation, interference signal detection can be implemented based on the number of successful threshold detections, that is, determining whether the first superimposed signal is an interference signal based on the first time range and M return signal measurement results, including: grouping the M return signal measurement results and superimposing the grouped return signal measurement results to obtain P superimposed results, each of the P superimposed results including the signal strength distribution of at least one third superimposed signal at the above-mentioned multiple time positions, where P is a positive integer less than M; determining a second statistical number of superimposed results in which the signal energy of the third superimposed signal corresponding to the first time range in the P superimposed results exceeds a fourth threshold; and determining that the first superimposed signal is an interference signal when the second statistical number is less than a fifth threshold.

[0252] Exemplarily, the M return signal measurement results correspond to P groups, where each group of measurement results in the P groups includes L adjacent return signal measurement results from the M return signal measurement results, where L and P are both positive integers less than or equal to M. The P superposition results are obtained by superimposing each group of measurement results in the P groups. In some possible embodiments, the number of return signal measurement results included in each group of measurement results is not limited to being the same. The specific grouping method for the M return signal measurement results can be referred to the description of the grouping method in Method 2 above and will not be repeated here.

[0253] Here, the fourth threshold value may be pre-set by the manufacturer or dynamically set by the detection device based on the superposition results. Different superposition results may have the same or different corresponding fourth threshold values. For example, taking superposition result 2 among the P superposition results as an example, the fourth threshold value corresponding to superposition result 2 may be the average of the signal strengths of the third superposition signals in superposition result 2, or may be obtained by taking a weighted sum of the signal strengths of the third superposition signals in superposition result 2, etc.

[0254] The fifth threshold may be preset by the manufacturer or obtained by the detection device based on the statistical sum of the number of third superposition signals in the P superposition results whose signal energy exceeds the fourth threshold.

[0255] Exemplarily, the second statistical number can be understood as the statistical value of the number of superposition results that meet the second threshold detection condition among the P superposition results, that is, the number of successful threshold detections. The superposition result meeting the second threshold detection condition means that the signal energy of the third superposition signal corresponding to the first time range in the superposition result exceeds the fourth threshold.

[0256] In one implementation, that the signal energy of the third superimposed signal corresponding to the first time range in the superposition result exceeds the fourth threshold may be: the maximum signal strength of the third superimposed signal corresponding to the first time range in the superposition result exceeds the fourth threshold.

[0257] In one implementation, the signal energy of the third superimposed signal corresponding to the first time range in the superposition result exceeds the fourth threshold value, which can be: the signal strength statistic of the third superimposed signal corresponding to the first time range in the superposition result exceeds the fourth threshold value, wherein the signal strength statistic of the third superimposed signal can be the sum or average value of each signal strength of the third superimposed signal, etc., which is not specifically limited here.

[0258] In some possible embodiments, the superposition result may satisfy the second threshold detection condition if: the number of time positions corresponding to the signal intensity exceeding the preset intensity threshold on the third superposition signal corresponding to the first time range in the superposition result exceeds the fourth threshold.

[0259] Exemplarily, the second statistical number may also be understood as the number of third superimposed signals in the P superimposed results whose signal energy of the third superimposed signals corresponding to the first time range exceeds the fourth threshold.

[0260] In some possible embodiments, when the second statistical number is greater than or equal to the fifth threshold, it can be considered that the first superimposed signal is not an interference signal or the probability that the first superimposed signal is an interference signal is low.

[0261] The following specifically describes the process of determining that the first superimposed signal is an interference signal based on the number of successful threshold detections from the perspective of adjacent spatial positions with reference to FIG. 8A :

[0262] In FIG8A , the return signal measurement takes TOF measurement as an example, wherein N TOF measurement results are taken from a first spatial position, and 4 TOF measurement results (i.e., M=4) are taken from a second spatial position adjacent to the first spatial position, which are TOF_11, TOF_12, TOF_13, and TOF_14. The N TOF measurement results in the first spatial position are superimposed to obtain a first cumulative result. Based on the detection threshold, it can be determined that the first superimposed signal can be wave 1 or wave 2 in the first cumulative result shown in FIG8A . Taking wave 2 as an example, the first time range is t s Position to t e The four TOF measurement results within the second spatial position are grouped and superimposed to count the number of successful threshold detections corresponding to the first time range. For example, the four TOF measurement results are divided into groups, where group 1 includes TOF_11 and TOF_12, and group 2 includes TOF_13 and TOF_14. TOF_11 and TOF_12 in group 1 are superimposed to obtain superposition result 1 shown in FIG8A . Correspondingly, group 2 is superimposed to obtain superposition result 2 shown in FIG8A .

[0263] In FIG8A , the superposition result satisfies the second threshold detection condition by taking the maximum signal strength of the superposition signal corresponding to the first time range in the superposition result as an example, which is greater than the fourth threshold. The fourth threshold in superposition result 1 can be threshold 1 shown in FIG8A (for example, threshold 1 can be obtained based on superposition result 1), and the fourth threshold in superposition result 2 can be threshold 2 shown in FIG8A (for example, threshold 2 can be obtained based on superposition result 2). It can be seen that the maximum signal strength of the superposition signal corresponding to the first time range in superposition result 1 does not exceed threshold 1, and the first time range in superposition result 2 does not correspond to a superposition signal. In other words, for the first time range, both superposition results 1 and 2 fail the threshold detection, that is, the number of successful threshold detections corresponding to the first time range in FIG8A is 0, so the second statistical number is 0. As can be seen from FIG8A , the second statistical number is less than the fifth threshold, so wave 2 (the first superposition signal) is determined to be an interference signal.

[0264] It should be noted that the grouping method shown in the embodiment of FIG. 8A is only an example, and the grouping method is not limited to the form shown in FIG. 8A .

[0265] Furthermore, when it is determined that the first superimposed signal is an interference signal, confidence information may be obtained based on the second statistical number, where the confidence information is used to indicate the confidence level that the first superimposed signal is an interference signal.

[0266] For example, when the second statistical number is a first value, the confidence level that the first superimposed signal is an interference signal is a first probability; when the second statistical number is a second value, the confidence level that the first superimposed signal is an interference signal is a second probability. Wherein, if the first value is less than the second value, and the second value is less than the fifth threshold, the first probability is greater than the second probability. In other words, the smaller the second statistical number, the higher the confidence level that the first superimposed signal is an interference signal.

[0267] It should be noted that the first probability and the second probability are merely exemplary examples of two possible values ​​of confidence, and the present embodiment is not limited to only two values ​​of confidence. It is understood that confidence information can provide a reference for back-end processing, which is conducive to improving the processing efficiency of back-end data.

[0268] In some possible embodiments, a range judgment may be performed on the second statistical number to obtain confidence information. For example, when the second statistical number is less than or equal to a first preset threshold, the confidence level that the first superimposed signal is an interference signal is a first probability; when the second statistical number is greater than the first preset threshold and less than a second preset threshold, the confidence level that the first superimposed signal is an interference signal is a second probability.

[0269] In another implementation method, interference signal detection can be implemented based on signal energy statistics, that is, according to the first time range and M return signal measurement results, determining whether the first superimposed signal is an interference signal includes: superimposing the M return signal measurement results to obtain a second cumulative result, the second cumulative result includes the signal strength distribution of at least one fourth superimposed signal at the above-mentioned multiple time positions; when the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result is less than the sixth threshold, determining that the first superimposed signal is an interference signal.

[0270] Here, the M return signal measurement results may include the signal strength distribution of at least one return signal at the aforementioned multiple time positions, or may not include any return signal, and this is not specifically limited here. For details about the return signal, refer to the description of the return signal in S301 and is not specifically limited here.

[0271] Exemplarily, the signal strength corresponding to any time position in the second cumulative result is the sum of the signal strengths corresponding to that time position in the M return signal measurement results.

[0272] Here, the sixth threshold may be preset by the manufacturer, or obtained by the detection device based on the signal energy of each fourth superimposed signal in the second accumulation result, or based on the signal energy of each superimposed signal in the first accumulation result.

[0273] For example, the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result can be the maximum signal strength of the fourth superimposed signal, or can be the sum of the signal strengths of the fourth superimposed signal, an average signal strength, or other statistical value. It will be appreciated that different calculation methods for the signal energy of the fourth superimposed signal will result in different corresponding sixth thresholds.

[0274] In some possible embodiments, when the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result is greater than or equal to the sixth threshold, it can be considered that the first superimposed signal is not an interference signal or the probability of the first superimposed signal being an interference signal is low.

[0275] The following specifically describes the process of determining that the first superimposed signal is an interference signal based on signal energy statistics from the adjacent spatial position dimension in conjunction with FIG. 8B :

[0276] In FIG8B , the return signal measurement takes TOF measurement as an example, wherein N TOF measurement results are taken from the first spatial position, and 4 TOF measurement results (i.e., M=4) are taken from the second spatial position adjacent to the first spatial position, which are TOF_11, TOF_12, TOF_13, and TOF_14, respectively. As shown in FIG8B , TOF_11 includes the signal intensity distributions of the three return signals at the above-mentioned multiple time positions, while TOF_13 does not include any return signal. The N TOF measurement results in the first spatial position are superimposed to obtain a first cumulative result. Based on the detection threshold, it can be determined that the first superimposed signal can be wave 1 or wave 2 in the first cumulative result shown in FIG8B . Taking wave 2 as an example, the first superimposed signal has a first time range of t s Position to t e The four TOF measurement results within the second spatial position are superimposed to obtain a second cumulative result. As shown in FIG8B , the second cumulative result includes four fourth superimposed signals. The signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result (i.e., wave 3 in FIG8B ) is calculated. If the signal energy is less than the sixth threshold, wave 2 (the first superimposed signal) is determined to be an interference signal.

[0277] Furthermore, confidence information may be obtained based on the signal energy of the fourth superimposed signal corresponding to the first time range in the second accumulation result, where the confidence information is used to indicate the confidence that the first superimposed signal is an interference signal.

[0278] In some possible embodiments, confidence information may also be obtained based on the signal energy of the first superimposed signal and the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result. For example, the confidence information may be a weighted difference between the signal energy of the first superimposed signal and the signal energy of the fourth superimposed signal corresponding to the first time range in the second cumulative result.

[0279] In some possible embodiments, in addition to detecting interference signals through threshold detection success times or signal energy statistics in the spatial dimension, interference signals may also be detected through difference processing.

[0280] For example, based on the first time range and M return signal measurement results, determining whether the first superimposed signal is an interference signal includes: performing difference processing on the M return signal measurement results to obtain a target difference result, the target difference result includes the signal strength distribution of multiple second difference points at the above-mentioned multiple time positions; when the signal strength of the second difference point corresponding to the first time range in the target difference result is not less than the seventh threshold, determining that the first superimposed signal is an interference signal.

[0281] Each of the plurality of second difference points corresponds to a time position among the plurality of time positions, and the signal strength of the second difference point at the time position is obtained by performing the above-mentioned difference processing based on the signal strength corresponding to the time position in the M return signal measurement results. The signal strength of the second difference point at the time position is not less than 0. It will be understood that the number of second difference points in the target difference result is equal to the number of time positions.

[0282] The signal strength of the second difference point corresponding to the first time range is not less than the seventh threshold, for example: there is at least one time position in the first time range, and at this at least one time position, the signal strength of the second difference point is not less than the seventh threshold.

[0283] Here, the seventh threshold may be preset by the manufacturer, or may be obtained by the detection device based on the signal strength statistics of the first superimposed signal, or may be obtained based on the signal strength statistics of each superimposed signal in the above-mentioned first cumulative result.

[0284] Here, there are multiple ways to perform difference processing on the M return signal measurement results. For example, directly performing difference processing on the M return signal measurement results, for details, refer to the relevant description of the above-mentioned method 1; for example, first grouping and superimposing the M return signal measurement results and then performing difference processing, for details, refer to the relevant description of the above-mentioned method 2; for example, first grouping and performing difference processing on the M return signal measurement results and then performing statistics, for details, refer to the relevant description of the above-mentioned method 3. It should be noted that the specific grouping method can be referred to the relevant description of the grouping method in the above-mentioned embodiment, and will not be repeated here.

[0285] In some possible embodiments, when the detection device determines that the first superimposed signal is an interference signal, it may further perform any one of the following processes:

[0286] (1) Eliminate the first superimposed signal (i.e., the interference signal), which can reduce the data processing pressure on the backend;

[0287] (2) The first superimposed signal is not removed, but an interference flag is added to the first superimposed signal, where the interference flag indicates that the first superimposed signal is an interference signal; or

[0288] (3) The first superimposed signal is not eliminated, and confidence information is stored, where the confidence information indicates the confidence that the first superimposed signal is an interference signal.

[0289] Optionally, in some possible embodiments, the following steps may also be performed:

[0290] S303: Output the detection result.

[0291] In the embodiment of the present application, when it is determined that the first superimposed signal is an interference signal, a detection result may be output, where the detection result indicates that the first superimposed signal is an interference signal.

[0292] Exemplarily, outputting the detection result may be: outputting the detection result to a backend.

[0293] In one implementation, the detection result includes a first time range and / or an interference flag, wherein the interference flag indicates that the first superimposed signal is an interference signal. This can prompt the backend to ignore the signal corresponding to the first time range when processing the corresponding data, thereby reducing the data processing pressure on the backend.

[0294] In one implementation, the detection result further includes confidence information indicating the degree of confidence that the first superimposed signal is an interference signal. The confidence information can provide a reference for backend processing, thereby improving data processing efficiency.

[0295] It can be seen that, by implementing the embodiment of the present application, based on the superposition result of multiple return signal measurement results, the signal strength of the superposition signal exceeds the detection threshold, and the adjacent return signal measurement results in the multiple return signal measurement results are subjected to statistical processing such as difference, grouping, superposition, signal energy statistics or threshold detection, so as to realize interference detection of the superposition signal. In addition, it is also proposed that the interference detection of the superposition signal can be realized by performing statistical processing based on the multiple return signal measurement results in adjacent spatial positions. This detection method can effectively improve the efficiency of identifying interference signals, is conducive to improving the detectability of the sensor, and is hardware-friendly.

[0296] 9 is a schematic diagram of the structure of a detection device provided in an embodiment of the present application, wherein the detection device 30 includes an acquisition unit 310 and a detection unit 312. The detection device 30 can be implemented by hardware, software, or a combination of hardware and software.

[0297] Among them, the acquisition unit 310 is used to obtain a first superimposed signal from the first cumulative result, and the first cumulative result is obtained by superimposing N return signal measurement results. The first cumulative result includes the signal strength distribution of at least one superimposed signal at multiple time positions, wherein the signal strength peak value of the first superimposed signal is not less than the detection threshold, and N is a positive integer; the detection unit 312 is used to determine whether the first superimposed signal is an interference signal.

[0298] The detection device 30 may be used to implement the method described in the embodiment of Figure 3. In the embodiment of Figure 3, the acquisition unit 310 may be used to perform S301, and the detection unit 312 may be used to perform S302.

[0299] In some possible embodiments, the detection device 30 further includes an output unit (not shown), which can be used to output the detection result.

[0300] In other embodiments, the acquisition unit 310 can be used to perform any step of the method described in the embodiment of FIG. 3 , the detection unit 312 can also be used to perform any step of the method described in the embodiment of FIG. 3 , and the output unit can also be used to perform any step of the method described in the embodiment of FIG. 3 . Alternatively, the steps that the acquisition unit 310, the detection unit 312, and the output unit are responsible for implementing can be specified as needed. It is understood that the acquisition unit 310, the detection unit 312, and the output unit can each perform different steps of the method shown in FIG. 3 to achieve the full functionality of the detection device 30.

[0301] One or more of the various units in the embodiment shown in FIG9 above may be implemented in software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or codes, and may be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC).

[0302] Referring to Figure 10 , which is a schematic diagram of the structure of an interference detection device provided in an embodiment of the present application, as shown in Figure 10 , interference detection device 40 includes: a processor 401, a communication interface 402, a memory 403, and a bus 404. Processor 401, memory 403, and communication interface 402 communicate with each other via bus 404.

[0303] It should be understood that the present application does not limit the number of processors and memories in the interference detection device 40 .

[0304] In one implementation, the interference detection device 40 may be the detection device in the above-mentioned embodiment. The detection device may be, for example, one or more of a microcontroller unit (MCU), an electronic control unit (ECU), or a multi-domain controller (MDC) in a vehicle. The detection device may also be a laser radar sensor, a millimeter-wave radar sensor, an ultrasonic sensor, or other sensor that calculates the target distance based on the measured return signal. It may also be a microcontroller unit (MCU) or an electronic control unit (ECU) in a sensor. The detection device may also be a component in an MCU or a component in an ECU, wherein the component may be, for example, a chip or an integrated circuit.

[0305] Bus 404 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, among others. Buses may be classified as address buses, data buses, control buses, and the like. For ease of illustration, FIG10 illustrates a single bus line, but this does not imply a single bus or type of bus. Bus 404 may include a path for transmitting information between various components of interference detection device 40 (e.g., memory 403, processor 401, and communication interface 402).

[0306] The processor 401 may include any one or more processors such as a central processing unit (CPU), a microprocessor (MP), or a digital signal processor (DSP).

[0307] Memory 403 is used to provide storage space for storing data such as the operating system and computer programs. Memory 403 can be one or a combination of random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read-only memory (CD-ROM). Memory 403 can exist independently or be integrated into processor 401.

[0308] The communication interface 402 can be used to provide information input or output for the processor 401. Alternatively, the communication interface 402 can be used to receive data transmitted externally and / or transmit data externally. It can be a wired link interface such as an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface 402 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0309] The processor 401 in the interference detection device 40 is configured to read the computer program stored in the memory 403 to execute the aforementioned method, such as the method described in FIG. 3 .

[0310] In one possible design, the interference detection device 40 may be one or more modules in an execution body that executes the method shown in FIG3 . The processor 401 may be configured to read one or more computer programs stored in a memory to perform the following operations:

[0311] Obtaining a first superimposed signal from the first accumulation result by the acquisition unit 310, where the first accumulation result is obtained by superimposing N return signal measurement results, and the first accumulation result includes a signal strength distribution of at least one superimposed signal at multiple time positions, wherein a signal strength peak value of the first superimposed signal is not less than a detection threshold, and N is a positive integer;

[0312] It is determined whether the first superimposed signal is an interference signal.

[0313] The present application also provides a terminal including the detection device 30 described in the embodiment of FIG9 or the interference detection device 40 described in the embodiment of FIG10. The terminal can be used to execute the interference signal detection method described in the embodiment of FIG3.

[0314] In the embodiments described above, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0315] It should be noted that those skilled in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by a program to instruct relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0316] The technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes a number of instructions for enabling a device (which can be a personal computer, a server, or a network device, a robot, a single-chip microcomputer, a chip, a robot, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0317] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the protection scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for detecting an interference signal, characterized in that: The method comprises: Obtaining a first superposition signal from a first accumulation result, where the first accumulation result is obtained by superimposing N return signal measurement results, the first accumulation result including a signal strength distribution of at least one superposition signal at multiple time positions, wherein a signal energy of the first superposition signal is not less than a detection threshold, and N is a positive integer; Determine whether the first superimposed signal is an interference signal.

2. The method according to claim 1, characterized in that The first superimposed signal corresponds to a first time range; The determining whether the first superimposed signal is an interference signal includes: Determine whether the first superimposed signal is an interference signal according to the first time range.

3. The method according to claim 2, characterized in that The method further comprises: performing difference processing on the N return signal measurement results to obtain a difference result, wherein the difference result includes a signal strength distribution of a plurality of first difference points at the plurality of time positions; The determining, according to the first time range, whether the first superimposed signal is an interference signal includes: When the signal strength of the first difference point corresponding to the first time range in the difference result is not less than a first threshold, it is determined that the first superimposed signal is an interference signal.

4. The method according to claim 3, characterized in that The N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results among the N return signal measurement results, where Q and K are positive integers less than N; The difference result is obtained by performing the difference processing on K superposition results, and the K superposition results are obtained by performing superposition processing on each group of measurement results in the K groups of measurement results.

5. The method according to claim 3, characterized in that The N return signal measurement results correspond to K groups of measurement results, each group of measurement results includes Q adjacent return signal measurement results among the N return signal measurement results, where Q and K are positive integers less than N; The difference result is obtained by statistically analyzing K initial difference results, and the K initial difference results are obtained by performing the difference processing on each group of measurement results in the K groups of measurement results.

6. The method according to claim 3, characterized in that The second time position is any one of the multiple time positions, and the signal strength of the first difference point corresponding to the second time position in the difference result is one of the following: a difference between a maximum value of the signal strength corresponding to the second time position and a minimum value of the signal strength corresponding to the second time position in the N return signal measurement results; the maximum value of the difference in signal strength corresponding to the second time position in each adjacent pair of return signal measurement results in the N return signal measurement results; or The variance or standard deviation of the signal strength corresponding to the second time position in the N return signal measurement results.

7. The method according to claim 2, characterized in that The method further comprises: Superimposing each of the K groups of measurement results to obtain K superposition results, each of the K superposition results including a signal strength distribution of at least one second superposition signal at the multiple time positions, and each of the K groups of measurement results including Q adjacent return signal measurement results of the N return signal measurement results, where Q and K are both positive integers less than N; The determining, according to the first time range, whether the first superimposed signal is an interference signal includes: Determine a first statistical number of superposition results in which the signal energy of the second superposition signal corresponding to the first time range exceeds a second threshold among the K superposition results; When the first statistical number is less than a third threshold, it is determined that the first superimposed signal is an interference signal.

8. The method according to claim 2, characterized in that The N return signal measurement results correspond to the first spatial position, and the method further includes: Obtaining M return signal measurement results in a second spatial position adjacent to the first spatial position, where M is a positive integer less than or equal to N; The determining, according to the first time range, whether the first superimposed signal is an interference signal includes: Determine whether the first superimposed signal is an interference signal according to the first time range and the M return signal measurement results.

9. The method according to claim 8, characterized in that The determining, based on the first time range and the M return signal measurement results, whether the first superimposed signal is an interference signal includes: Grouping the M return signal measurement results and performing superposition processing on the grouped return signal measurement results to obtain P superposition results, each of the P superposition results including a signal strength distribution of at least one third superposition signal at the multiple time positions, where P is a positive integer less than M; Determine a second statistical number of superposition results in which the signal energy of the third superposition signal corresponding to the first time range exceeds a fourth threshold among the P superposition results; When the second statistical number is less than a fifth threshold, it is determined that the first superimposed signal is an interference signal.

10. The method according to claim 9, characterized in that When the second statistical number is a first value, the confidence level that the first superimposed signal is an interference signal is a first probability; When the second statistical number is a second value, the confidence that the first superimposed signal is an interference signal is a second probability; The first value is smaller than the second value, the second value is smaller than the fifth threshold, and the first probability is greater than the second probability.

11. The method according to claim 8, characterized in that The determining, based on the first time range and the M return signal measurement results, whether the first superimposed signal is an interference signal includes: Performing a superposition process on the M return signal measurement results to obtain a second cumulative result, where the second cumulative result includes a signal strength distribution of at least one fourth superposition signal at the multiple time positions; When the signal energy of the fourth superimposed signal corresponding to the first time range in the second accumulation result is less than a sixth threshold, it is determined that the first superimposed signal is an interference signal.

12. The method according to claim 11, characterized in that The method further comprises: Confidence information is obtained, where the confidence information is obtained based on signal energy of the first superimposed signal and signal energy of a fourth superimposed signal corresponding to the first time range.

13. The method according to any one of claims 1 to 12, characterized in that After determining that the first superimposed signal is an interference signal, the method further includes: A detection result is output, where the detection result includes the first time range and / or an interference flag, where the interference flag indicates that the first superimposed signal is an interference signal.

14. The method according to claim 13, characterized in that The detection result further includes confidence information, where the confidence information indicates a confidence level that the first superimposed signal is an interference signal.

15. An interference signal detection device, characterized in that: The device comprises: an acquiring unit, configured to acquire a first superimposed signal from a first accumulation result, where the first accumulation result is obtained by superimposing N return signal measurement results, the first accumulation result including a signal strength distribution of at least one superimposed signal at multiple time positions, wherein a signal strength peak value of the first superimposed signal is not less than a detection threshold, and N is a positive integer; A detection unit is used to determine whether the first superimposed signal is an interference signal.

16. The device according to claim 15, characterized in that The first superimposed signal corresponds to a first time range; The detection unit is specifically used for: Determine whether the first superimposed signal is an interference signal according to the first time range.

17. The device according to claim 15 or 16, characterized in that The detection unit is specifically used for: performing difference processing on the N return signal measurement results to obtain a difference result, wherein the difference result includes a signal strength distribution of a plurality of first difference points at the plurality of time positions; When the signal strength of the first difference point corresponding to the first time range in the difference result is not less than a first threshold, it is determined that the first superimposed signal is an interference signal.

18. The device according to claim 17, characterized in that The second time position is any one of the multiple time positions, and the signal strength of the first difference point corresponding to the second time position in the difference result is one of the following: a difference between a maximum value of the signal strength corresponding to the second time position and a minimum value of the signal strength corresponding to the second time position in the N return signal measurement results; the maximum value of the difference in signal strength corresponding to the second time position in each adjacent pair of return signal measurement results in the N return signal measurement results; or The variance or standard deviation of the signal strength corresponding to the second time position in the N return signal measurement results.

19. The device according to claim 16, characterized in that The processing unit is specifically configured to: Superimposing each of the K groups of measurement results to obtain K superposition results, each of the K superposition results including a signal strength distribution of at least one second superposition signal at the multiple time positions, and each of the K groups of measurement results including Q adjacent return signal measurement results of the N return signal measurement results, where Q and K are both positive integers less than N; Determine a first statistical number of superposition results in which the signal energy of the second superposition signal corresponding to the first time range exceeds a second threshold among the K superposition results; When the first statistical number is less than a third threshold, it is determined that the first superimposed signal is an interference signal.

20. The device according to claim 16, wherein The N return signal measurement results correspond to the first spatial position, The acquisition unit is further configured to: acquire M return signal measurement results in a second spatial position adjacent to the first spatial position, where M is a positive integer less than or equal to N; The detection unit is specifically configured to determine whether the first superimposed signal is an interference signal according to the first time range and the M return signal measurement results.

21. The device according to claim 20, characterized in that The detection unit is specifically used for: Grouping the M return signal measurement results and performing superposition processing on the grouped return signal measurement results to obtain P superposition results, each of the P superposition results including a signal strength distribution of at least one third superposition signal at the multiple time positions, where P is a positive integer less than M; Determine a second statistical number of superposition results in which the signal energy of the third superposition signal corresponding to the first time range exceeds a fourth threshold among the P superposition results; When the second statistical number is less than a fifth threshold, it is determined that the first superimposed signal is an interference signal.

22. The device according to claim 21, characterized in that When the second statistical number is a first value, the confidence level that the first superimposed signal is an interference signal is a first probability; When the second statistical number is a second value, the confidence that the first superimposed signal is an interference signal is a second probability; The first value is smaller than the second value, the second value is smaller than the fifth threshold, and the first probability is greater than the second probability.

23. The device according to claim 20, characterized in that The detection unit is specifically used for: Performing a superposition process on the M return signal measurement results to obtain a second cumulative result, where the second cumulative result includes a signal strength distribution of at least one fourth superposition signal at the multiple time positions; When the signal energy of the fourth superimposed signal corresponding to the first time range in the second accumulation result is less than a sixth threshold, it is determined that the first superimposed signal is an interference signal.

24. The device according to claim 23, characterized in that The detection unit is further used for: Confidence information is obtained, where the confidence information is obtained based on signal energy of the first superimposed signal and signal energy of a fourth superimposed signal corresponding to the first time range.

25. The device according to any one of claims 15 to 24, characterized in that The device further includes an output unit configured to output a detection result, where the detection result includes the first time range and / or an interference flag, where the interference flag indicates that the first superimposed signal is an interference signal.

26. The device according to claim 25, characterized in that The detection result further includes confidence information, where the confidence information indicates a confidence level that the first superimposed signal is an interference signal.

27. A chip, characterized in that: The chip includes at least one processor and a communication interface; The communication interface is used to receive and / or send data, and / or, the communication interface is used to provide input and / or output for the processor; and the at least one processor is used to implement the method according to any one of claims 1 to 14.

28. A terminal, characterized in that: The terminal includes the device according to any one of claims 15 to 26, or includes the chip according to claim 16.

29. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor, the method according to any one of claims 1 to 14 is implemented.

30. A computer program product, characterized in that The method comprises computer instructions, which, when executed on a processor, implement the method according to any one of claims 1 to 14.

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