Anti-interference processing method, system and platform suitable for millimeter wave radar detection

Abstract

The invention discloses an anti-interference processing method, system and platform suitable for millimeter wave radar detection, and the method comprises the steps: generating and obtaining first data corresponding to a target object to be detected by a millimeter wave radar, and generating corresponding second data according to the first data; the second data is distance spectrum signal data of a detection area; performing anti-interference elimination processing on the second data, and generating third data corresponding to the second data; according to the method, the system and the platform corresponding to the method, the detection precision can be improved, two-stage interference detection is used, whether interference exists in the environment to be detected or not is recognized, different algorithms can be selected subsequently according to different interferences, the detection precision and the detection efficiency are improved, continuous micro-motion interference signals can be recognized, the probability of missing detection and false detection is reduced, and the detection efficiency is improved. And the detection result is more accurate.

Description

Technical Field

[0001] The present invention belongs to the technical field of millimeter wave radar detection and processing, and specifically relates to an anti-interference processing method, system and platform suitable for millimeter wave radar detection. Background Art

[0002] Millimeter-wave radar can be used in outdoor scenes for autonomous driving, safety protection, environmental safety and other fields. In recent years, millimeter-wave radar has been used more and more widely in outdoor scenes, and complex outdoor scenes affect the detection results to varying degrees. For example, green belts, flower bushes, rainy environments, and woods are common in outdoor scenes. These environments will cause continuous interference when it is windy or rainy, which can easily cause the radar to miss detection or misdetect, resulting in a decrease in the radar's detection performance.

[0003] Therefore, in view of the technical problems and defects of the above continuous interference affecting radar detection performance, it is urgent to design and develop an anti-interference processing method, system and platform suitable for millimeter-wave radar detection. Summary of the invention

[0004] In order to overcome the shortcomings and difficulties of the above-mentioned prior art, the purpose of the present invention is to propose an anti-interference processing method, system and platform suitable for millimeter-wave radar detection, which detects interference and identifies whether the current environment is in an interference environment, and then enters subsequent target detection, thereby improving the detection accuracy of the radar.

[0005] The first purpose of the present invention is to provide an anti-interference processing method suitable for millimeter-wave radar detection; the second purpose of the present invention is to provide an anti-interference processing system suitable for millimeter-wave radar detection; the third purpose of the present invention is to provide an anti-interference processing platform suitable for millimeter-wave radar detection.

[0006] The first object of the present invention is achieved in that the method comprises the following steps:

[0007] Generate and obtain first data corresponding to the target object to be detected by the millimeter wave radar, and generate corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; and the second data is the range spectrum signal data of the detection area;

[0008] The second data is processed by anti-interference elimination, and third data corresponding to the second data is generated; wherein the third data is target object detection data after anti-interference elimination processing.

[0009] Further, the generating and acquiring first data corresponding to the target object to be detected by the millimeter wave radar, and generating corresponding second data according to the first data, also includes:

[0010] The first data is acquired, and the first data is processed by mixing, sampling and range FFT in sequence.

[0011] Further, the anti-interference elimination processes the second data and generates third data corresponding to the second data, and also includes:

[0012] Generate and obtain fourth data corresponding to the current area to be detected, and identify and determine whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected;

[0013] The fourth data is divided into at least four distance units, and the fourth data is preprocessed based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and elimination of interference data corresponding to the current area to be detected;

[0014] Calculate and generate fifth data and sixth data corresponding to the four distance units after preprocessing respectively; wherein the fifth data is signal mean data; and the sixth data is variance data;

[0015] Based on the fifth data and the sixth data, seventh data and eighth data corresponding to the fourth data are respectively generated by segmented calculation; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

[0016] Further, the anti-interference elimination processes the second data and generates third data corresponding to the second data, and also includes:

[0017] Acquire the second data, perform cancellation processing on the second data within the frame, and generate corresponding ninth data at the same time; wherein, the processing includes eliminating stationary objects; the ninth data is the data after the cancellation processing on the second data;

[0018] The ninth data is processed by two-dimensional FFT and a range Doppler heat map corresponding to the second data is generated.

[0019] Further, the anti-interference elimination processes the second data and generates third data corresponding to the second data, and also includes:

[0020] Generate and obtain eighth data, and determine to create a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data;

[0021] Based on the first corresponding relationship, updating and processing the threshold value data corresponding to the distance unit, and detecting the target in the current to-be-detected area in real time according to the threshold value data;

[0022] Or, based on the first corresponding relationship and combined with the benchmark threshold data, the target in the current area to be detected is detected in real time, and the tenth data and the eleventh data corresponding to the fourth data are calculated and generated in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data.

[0023] Furthermore, based on the first corresponding relationship, in combination with the reference threshold data, the target in the current to-be-detected area is detected in real time, and tenth data and eleventh data corresponding to the fourth data are calculated and generated in segments, and further include:

[0024] Generate and obtain reference threshold data corresponding to the distance unit, and based on the reference threshold data, detect and process whether the eleventh data exists in each distance unit; if so, execute the next step;

[0025] The threshold value data corresponding to the distance unit and after the update processing is obtained, and the target in the current detection area is detected and determined in real time according to the threshold value data whether it is a true target.

[0026] The second object of the present invention is achieved in this way: the system is used to implement the anti-interference processing method suitable for millimeter wave radar detection, and the system includes:

[0027] A data acquisition and generation unit, used to generate and acquire first data corresponding to a target object to be detected by the millimeter wave radar, and generate corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; and the second data is the range spectrum signal data of the detection area;

[0028] The data processing and generating unit is used for anti-interference elimination processing of the second data and generating third data corresponding to the second data; wherein the third data is the target object detection data after anti-interference elimination processing.

[0029] Furthermore, the data acquisition generation unit further includes:

[0030] A first processing module, used for acquiring the first data, and sequentially mixing, sampling and range FFT processing the first data;

[0031] And / or, the data processing and generating unit further includes:

[0032] A first determination module is used to generate and obtain fourth data corresponding to the current area to be detected, and to identify and determine whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected;

[0033] A second processing module, used for dividing the fourth data into at least four distance units, and preprocessing the fourth data based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and elimination of interference data corresponding to the current area to be detected;

[0034] A first calculation module, used for respectively calculating and generating fifth data and sixth data corresponding to the four distance units after preprocessing; wherein the fifth data is signal mean data; and the sixth data is variance data;

[0035] The second calculation module is used to calculate and generate seventh data and eighth data corresponding to the fourth data in segments based on the fifth data and the sixth data; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

[0036] Furthermore, the data processing and generating unit further includes:

[0037] A third processing module is used to obtain the second data, cancel the second data in a frame, and generate corresponding ninth data; wherein, the processing includes eliminating stationary objects; the ninth data is the data after the cancellation of the second data;

[0038] a fourth processing module, configured to process the ninth data by two-dimensional FFT and generate a range Doppler heat map corresponding to the second data;

[0039] A second determination module is used to generate and obtain eighth data, and determine to establish a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data;

[0040] A fifth processing module, configured to update and process the threshold value data corresponding to the distance unit based on the first corresponding relationship, and detect the target in the current to-be-detected area in real time according to the threshold value data;

[0041] A third calculation module is used to detect the target in the current to-be-detected area in real time based on the first corresponding relationship and in combination with the reference threshold data, and to calculate and generate tenth data and eleventh data corresponding to the fourth data in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data;

[0042] And / or, the third calculation module further includes:

[0043] A first generating module is used to generate and obtain reference threshold data corresponding to the distance unit, and based on the reference threshold data, detect whether the eleventh data exists in each distance unit segment;

[0044] The third determination module is used to obtain the threshold value data corresponding to the distance unit and after the update processing, and detect and determine in real time whether the target in the current detection area is a true target according to the threshold value data.

[0045] The third object of the present invention is achieved as follows: it includes a processor, a memory and an anti-interference processing platform control program suitable for millimeter-wave radar detection; wherein the anti-interference processing platform control program suitable for millimeter-wave radar detection is executed in the processor, the anti-interference processing platform control program suitable for millimeter-wave radar detection is stored in the memory, and the anti-interference processing platform control program suitable for millimeter-wave radar detection implements the anti-interference processing method suitable for millimeter-wave radar detection.

[0046] The present invention generates and obtains first data corresponding to the target object to be detected by the millimeter wave radar, and generates corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; the second data is the distance spectrum signal data of the detection area; the second data is processed by anti-interference elimination, and third data corresponding to the second data is generated; wherein the third data is the target object detection data after anti-interference elimination processing, as well as the system and platform corresponding to the method, can improve the detection accuracy, use two-level interference detection, identify whether there is interference in the environment to be detected, and subsequently select different algorithms for different interferences to improve the detection accuracy and detection efficiency, avoid missed detection and false detection due to interference, and can improve user satisfaction, thereby enhancing product competitiveness.

[0047] In addition, it also reduces the probability of false alarms in continuous interference environments and improves the accuracy of detection. The two-level interference detection can not only detect strong interference scenes such as woods and rainstorms, but also can well identify micro-motion interference caused by light rain and low grass, thereby reducing the probability of false detection of the product and improving the accuracy of the product. It can also intelligently identify the environmental status, without the need to preset a non-interference environment as a control, simplifying the product use process and improving the applicability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic diagram of the process steps of an anti-interference processing method suitable for millimeter wave radar detection according to the present invention;

[0050] Figure 2 It is a schematic diagram of an embodiment of an anti-interference processing method suitable for millimeter wave radar detection of the present invention;

[0051] Figure 3 This is a schematic diagram of an anti-interference processing system architecture suitable for millimeter wave radar detection according to the present invention;

[0052] Figure 4 The present invention is a schematic diagram of an anti-interference processing platform architecture suitable for millimeter wave radar detection. DETAILED DESCRIPTION

[0053] In order to better understand the purpose, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0054] The present invention may also be implemented or applied through other different specific examples, and the details in this specification may also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0055] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. Secondly, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] Preferably, the anti-interference processing method suitable for millimeter wave radar detection of the present invention is applied in one or more terminals or servers. The terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASIC), programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

[0058] The terminal can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal can interact with the client through a keyboard, a mouse, a remote control, a touch pad, or a voice control device.

[0059] The present invention is to realize an anti-interference processing method, system, platform and storage medium suitable for millimeter wave radar detection.

[0060] like Figure 1 , which is a flow chart of an anti-interference processing method suitable for millimeter-wave radar detection provided by an embodiment of the present invention.

[0061] In this embodiment, the anti-interference processing method suitable for millimeter-wave radar detection can be applied to a terminal with a display function or a fixed terminal. The terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0062] The anti-interference processing method suitable for millimeter-wave radar detection can also be applied to a hardware environment composed of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: a wide area network, a metropolitan area network or a local area network. The anti-interference processing method suitable for millimeter-wave radar detection in an embodiment of the present invention can be executed by a server, can be executed by a terminal, or can be executed by a server and a terminal together.

[0063] For example, for a terminal that needs to perform anti-interference processing suitable for millimeter-wave radar detection, the anti-interference processing function suitable for millimeter-wave radar detection provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. For another example, the method provided by the present invention can also be run on a server or other device in the form of a software development kit (SDK), and an interface for the anti-interference processing function suitable for millimeter-wave radar detection is provided in the form of SDK. The terminal or other device can implement the anti-interference processing function suitable for millimeter-wave radar detection through the provided interface. The present invention is further described below in conjunction with the accompanying drawings.

[0064] like Figure 1 As shown, the present invention provides an anti-interference processing method suitable for millimeter wave radar detection, and the method comprises the following steps:

[0065] S01, generating and acquiring first data corresponding to a target object to be detected by a millimeter wave radar, and generating corresponding second data according to the first data; wherein the first data is reflection signal data of the target object in space; and the second data is range spectrum signal data of a detection area;

[0066] S02. Anti-interference elimination is performed on the second data to generate third data corresponding to the second data; wherein the third data is target object detection data after anti-interference elimination is performed.

[0067] The generating and acquiring first data corresponding to the target object to be detected by the millimeter wave radar, and generating corresponding second data according to the first data, further includes:

[0068] S011. Acquire the first data, and process the first data by mixing, sampling, and range FFT in sequence.

[0069] The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes:

[0070] S021, generating and acquiring fourth data corresponding to the current area to be detected, and identifying and determining whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected;

[0071] S022, dividing the fourth data into at least four distance units, and preprocessing the fourth data based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and eliminating interference data corresponding to the current area to be detected;

[0072] S023, respectively calculating and generating fifth data and sixth data corresponding to the four distance units after preprocessing; wherein the fifth data is signal mean data; and the sixth data is variance data;

[0073] S024. Based on the fifth data and the sixth data, respectively generate seventh data and eighth data corresponding to the fourth data by segmented calculation; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

[0074] The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes:

[0075] S025, acquiring the second data, and performing cancellation processing on the second data within the frame, and generating corresponding ninth data at the same time; wherein the processing includes removing stationary objects; the ninth data is the data after the cancellation processing on the second data;

[0076] S026. Process the ninth data using two-dimensional FFT, and generate a range Doppler heat map corresponding to the second data.

[0077] The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes:

[0078] S027, generating and acquiring eighth data, and determining to establish a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data;

[0079] S028. Based on the first corresponding relationship, update and process the threshold value data corresponding to the distance unit, and detect the target in the current to-be-detected area in real time according to the threshold value data;

[0080] S029, or, based on the first corresponding relationship and combined with the benchmark threshold data, the target in the current area to be detected is detected in real time, and the tenth data and the eleventh data corresponding to the fourth data are calculated and generated in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data.

[0081] Based on the first corresponding relationship, the target in the current to-be-detected area is detected in real time in combination with the reference threshold data, and tenth data and eleventh data corresponding to the fourth data are respectively calculated and generated in segments, and further include:

[0082] S0291, generating and acquiring reference threshold data corresponding to the distance unit, and based on the reference threshold data, detecting and processing whether the eleventh data exists in each distance unit; if so, executing the next step;

[0083] S0292. Acquire threshold value data corresponding to the distance unit and after being updated, and detect and determine in real time whether the target in the current area to be detected is a true target based on the threshold value data.

[0084] Specifically, in an embodiment of the present invention, a millimeter wave radar-based anti-interference method is provided, and the method comprises the following steps:

[0085] S1. The millimeter-wave radar transmits a signal and receives the reflected signal of the target in space. The reflected signal is mixed, sampled, and processed by range FFT to obtain the range spectrum signal of the detection area.

[0086] S2. Enter the first level interference detection.

[0087] S21. First, preprocess the distance spectrum signal. The first-level interference detection is to extract the environmental signal in the current detection area and identify whether there is continuous interference in the environment. Since there may be targets to be detected in the test environment, such as pedestrians and vehicles, the radar receiving signal will contain the reflected signal and environmental signal of the target to be detected. It is necessary to preprocess the distance spectrum signal to eliminate the influence of strong targets.

[0088] According to the radar equation, the radar signal strength decreases with increasing distance. All distance units are divided into four segments, each with a length of N1 to N4. CFAR (constant false alarm) detection is performed on the distance spectrum signal to eliminate the distance unit that can pass the constant false alarm detection threshold and one distance unit to its left and right. The remaining distance unit lengths of the four segments after preprocessing are N1′ to N4′.

[0089] S22, calculate the signal mean for the four distance units N1′~N4′ after preprocessing j and variance var j , where j = 1, 2, 3, 4 represent the 4 segments respectively, and the environmental information calculation formula is:

[0090] E j =α1*mean j +β1*var j (1)

[0091] Among them, α1 represents the first-level interference mean coefficient, and β1 represents the first-level interference variance coefficient. Each segment sets the first-level interference threshold A1~A4 respectively, and the mean of each segment is divided by its corresponding threshold E j And round down to get the first-level interference flags k1 to k4. Therefore, if it exceeds the threshold, the first-level interference flag of the segment is an integer greater than 0, and if it does not exceed the threshold, the first-level interference flag of the segment is set to 0.

[0092] S3, perform intra-frame cancellation processing on the range spectrum signal obtained in S1 to eliminate stationary targets, and then perform two-dimensional FFT processing to obtain a range-Doppler heat map.

[0093] If at least one of the four primary interference flags is greater than 0, the process proceeds to step S4. If all four flags are 0, the process proceeds to step S5.

[0094] S4. Similarly, all distance units are divided into four segments N1 to N4. Assuming that the number of two-dimensional FFT points is N FFT2 , i(i=0,1,2...N FFT2 -1) The reference threshold corresponding to the jth (j=1,2,3,4) segment of the velocity dimension is Thr ij The segment flag k calculated according to S22 j , if k j If it is greater than 0, the threshold value is updated in the interference scenario.

[0095] Thr ij ′=Thr ij g ij k j (2)

[0096] Among them, g ij represents the gain coefficient corresponding to the jth segment of the ith velocity dimension. By configuring different gain coefficients, different threshold detections can be used for different first-level interferences to avoid false detections caused by continuous interference. j For segments equal to 0, the threshold remains unchanged.

[0097] Thr ij ′=Thr ij (3)

[0098] All distance units of all speed dimensions are detected using the updated thresholds respectively, and then the process goes to step S6.

[0099] S5, enter the second level interference detection. For the continuous and large-scale strong interference in the whole environment caused by branches swaying in the wind or heavy rain, the first level interference detection can be used to detect it. However, for scenes such as ordinary rain or low grass, it is sometimes difficult to detect it on the one-dimensional distance spectrum. However, raindrops falling on the ground, puddles or grass swaying in the wind will cause continuous micro-motion interference. This micro-motion interference will affect the final radar detection of the target, so further interference detection is required.

[0100] S51, firstly, all distance units of all speed dimensions are respectively subjected to the corresponding reference threshold Thr ijDetect the target. If the speed gate that does not detect the target does not perform subsequent processing, if the i-th speed dimension j-th segment can detect M targets, save the currently calculated signal energy Mag ijm and threshold value H ijm , where m = 0, 1, 2, ..., M-1 is the target index. The target and one range unit on its left and right are removed from the range gate. The lengths of the remaining range units of the four segments after the target is removed are N i1 ~N i4 .

[0101] S52: Calculate the mean of the four segments respectively j and variance var j , calculate the environmental information according to the formula

[0102] P j =α2*mean j +β2*var j (4)

[0103] Among them, α2 represents the mean coefficient of secondary interference, and β2 represents the variance coefficient of secondary interference. Compared with the corresponding secondary interference thresholds B1 to B4, if none of the four segments exceeds the threshold, it is considered that the targets detected by the speed gate are non-interference targets, the detection is valid, and the detected targets are retained unchanged. If at least one segment exceeds the threshold, it is considered that there is secondary interference, and the targets with secondary interference are processed as follows.

[0104] The target with secondary interference updates the threshold according to the following formula

[0105] H ijm ′=H ijm *f ij (5)

[0106] Among them, f ij It represents the secondary interference gain coefficient corresponding to the jth segment of the i-th velocity dimension.

[0107] The segments that do not exceed the threshold keep the target unchanged. The segments that exceed the threshold update the threshold of each target according to the above formula. If the updated threshold H ijm ′ is greater than the stored energy value Mag ijm , then the target is considered to be caused by continuous micro-motion interference and the interference target is deleted. ijm ' is less than the stored energy value Mag ijm , then the target is considered to be the real target and is retained.

[0108] S6. After the anti-interference detection is completed, the final detection target is used for subsequent tracking, classification and recognition and other data processing.

[0109] To achieve the above object, the present invention also provides an anti-interference processing system suitable for millimeter wave radar detection, such as Figure 3 As shown, the system is used to implement the anti-interference processing method suitable for millimeter wave radar detection, and the system includes:

[0110] A data acquisition and generation unit, used to generate and acquire first data corresponding to a target object to be detected by the millimeter wave radar, and generate corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; and the second data is the range spectrum signal data of the detection area;

[0111] The data processing and generating unit is used for anti-interference elimination processing of the second data and generating third data corresponding to the second data; wherein the third data is the target object detection data after anti-interference elimination processing.

[0112] Furthermore, the data acquisition generation unit further includes:

[0113] A first processing module, used for acquiring the first data, and sequentially mixing, sampling and range FFT processing the first data;

[0114] And / or, the data processing and generating unit further includes:

[0115] A first determination module is used to generate and obtain fourth data corresponding to the current area to be detected, and to identify and determine whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected;

[0116] A second processing module, used for dividing the fourth data into at least four distance units, and preprocessing the fourth data based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and elimination of interference data corresponding to the current area to be detected;

[0117] A first calculation module, used for respectively calculating and generating fifth data and sixth data corresponding to the four distance units after preprocessing; wherein the fifth data is signal mean data; and the sixth data is variance data;

[0118] The second calculation module is used to calculate and generate seventh data and eighth data corresponding to the fourth data in segments based on the fifth data and the sixth data; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

[0119] Furthermore, the data processing and generating unit further includes:

[0120] A third processing module is used to obtain the second data, cancel the second data in a frame, and generate corresponding ninth data; wherein, the processing includes eliminating stationary objects; the ninth data is the data after the cancellation of the second data;

[0121] a fourth processing module, configured to process the ninth data by two-dimensional FFT and generate a range Doppler heat map corresponding to the second data;

[0122] A second determination module is used to generate and obtain eighth data, and determine to establish a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data;

[0123] A fifth processing module, configured to update and process the threshold value data corresponding to the distance unit based on the first corresponding relationship, and detect the target in the current to-be-detected area in real time according to the threshold value data;

[0124] A third calculation module is used to detect the target in the current to-be-detected area in real time based on the first corresponding relationship and in combination with the reference threshold data, and to calculate and generate tenth data and eleventh data corresponding to the fourth data in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data;

[0125] And / or, the third calculation module further includes:

[0126] A first generating module is used to generate and obtain reference threshold data corresponding to the distance unit, and based on the reference threshold data, detect whether the eleventh data exists in each distance unit segment;

[0127] The third determination module is used to obtain the threshold value data corresponding to the distance unit and after the update processing, and detect and determine in real time whether the target in the current detection area is a true target according to the threshold value data.

[0128] In the system solution embodiment of the present invention, the method steps involved in the anti-interference processing suitable for millimeter wave radar detection have been described above in detail, that is, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be repeated here.

[0129] To achieve the above object, the present invention also provides an anti-interference processing platform suitable for millimeter wave radar detection, such as Figure 4As shown, it includes a processor, a memory, and an anti-interference processing platform control program suitable for millimeter-wave radar detection; wherein, the processor executes the anti-interference processing platform control program suitable for millimeter-wave radar detection, the anti-interference processing platform control program suitable for millimeter-wave radar detection is stored in the memory, and the anti-interference processing platform control program suitable for millimeter-wave radar detection implements the anti-interference processing method steps suitable for millimeter-wave radar detection. For example:

[0130] S01, generating and acquiring first data corresponding to a target object to be detected by a millimeter wave radar, and generating corresponding second data according to the first data; wherein the first data is reflection signal data of the target object in space; and the second data is range spectrum signal data of a detection area;

[0131] S02. Anti-interference elimination is performed on the second data to generate third data corresponding to the second data; wherein the third data is target object detection data after anti-interference elimination is performed.

[0132] The specific details of the steps have been explained above and will not be repeated here.

[0133] In the embodiment of the present invention, the built-in processor of the anti-interference processing platform suitable for millimeter-wave radar detection can be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of integrated circuits with the same or different functions, including one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor uses various interfaces and lines to connect various components, and executes or executes programs or units stored in the memory, and calls data stored in the memory to perform various functions of anti-interference processing suitable for millimeter-wave radar detection and process data;

[0134] The memory is used to store program codes and various data. It is installed in an anti-interference processing platform suitable for millimeter-wave radar detection, and realizes high-speed and automatic access to programs or data during operation.

[0135] The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable programmable read-only memory (EEPROM), 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.

[0136] The present invention generates and obtains first data corresponding to the target object to be detected by the millimeter wave radar, and generates corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; the second data is the distance spectrum signal data of the detection area; the second data is processed by anti-interference elimination, and third data corresponding to the second data is generated; wherein the third data is the target object detection data after anti-interference elimination processing, as well as the system and platform corresponding to the method, can improve the detection accuracy, use two-level interference detection, identify whether there is interference in the environment to be detected, and subsequently select different algorithms for different interferences to improve the detection accuracy and detection efficiency, avoid missed detection and false detection due to interference, and can improve user satisfaction, thereby enhancing product competitiveness.

[0137] In addition, it also reduces the probability of false alarms in continuous interference environments and improves the accuracy of detection. The two-level interference detection can not only detect strong interference scenes such as woods and rainstorms, but also can well identify micro-motion interference caused by light rain and low grass, thereby reducing the probability of false detection of the product and improving the accuracy of the product. It can also intelligently identify the environmental status, without the need to preset a non-interference environment as a control, simplifying the product use process and improving the applicability of the product.

[0138] In other words, the present invention uses two-level interference detection, which can intelligently identify whether there is interference in the environment, thereby avoiding false detection and missed detection in the interference environment and improving the detection accuracy. Moreover, the micro-motion interference signal is detected in the range spectrum and the range-Doppler spectrum respectively, which can not only identify strong interference signals, but also identify continuous micro-motion interference signals, reducing the probability of missed detection and false detection, and making the detection result more accurate.

[0139] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An anti-interference processing method suitable for millimeter wave radar detection, characterized in that: The method comprises the steps of: Generate and obtain first data corresponding to the target object to be detected by the millimeter wave radar, and generate corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; and the second data is the range spectrum signal data of the detection area; The second data is processed by anti-interference elimination, and third data corresponding to the second data is generated; wherein the third data is target object detection data after anti-interference elimination processing.

2. The anti-interference processing method suitable for millimeter wave radar detection according to claim 1, characterized in that: The generating and acquiring first data corresponding to the target object to be detected by the millimeter wave radar, and generating corresponding second data according to the first data, further includes: The first data is acquired, and the first data is processed by mixing, sampling and range FFT in sequence.

3. The anti-interference processing method suitable for millimeter wave radar detection according to claim 1, characterized in that: The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes: Generate and obtain fourth data corresponding to the current area to be detected, and identify and determine whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected; The fourth data is divided into at least four distance units, and the fourth data is preprocessed based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and elimination of interference data corresponding to the current area to be detected; Calculate and generate fifth data and sixth data corresponding to the four distance units after preprocessing respectively; wherein the fifth data is signal mean data; and the sixth data is variance data; Based on the fifth data and the sixth data, seventh data and eighth data corresponding to the fourth data are respectively generated by segmented calculation; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

4. The anti-interference processing method suitable for millimeter wave radar detection according to claim 1 or 3, characterized in that: The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes: Acquire the second data, perform cancellation processing on the second data within the frame, and generate corresponding ninth data at the same time; wherein, the processing includes eliminating stationary objects; the ninth data is the data after the cancellation processing on the second data; The ninth data is processed by two-dimensional FFT and a range Doppler heat map corresponding to the second data is generated.

5. The anti-interference processing method suitable for millimeter wave radar detection according to claim 1 or 3, characterized in that: The anti-interference elimination processes the second data and generates third data corresponding to the second data, and further includes: Generate and obtain eighth data, and determine to create a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data; Based on the first corresponding relationship, updating and processing the threshold value data corresponding to the distance unit, and detecting the target in the current to-be-detected area in real time according to the threshold value data; Or, based on the first corresponding relationship and combined with the benchmark threshold data, the target in the current area to be detected is detected in real time, and the tenth data and the eleventh data corresponding to the fourth data are calculated and generated in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data.

6. The anti-interference processing method suitable for millimeter wave radar detection according to claim 5, characterized in that: Based on the first corresponding relationship, the target in the current to-be-detected area is detected in real time in combination with the reference threshold data, and tenth data and eleventh data corresponding to the fourth data are respectively calculated and generated in segments, and further include: Generate and obtain reference threshold data corresponding to the distance unit, and based on the reference threshold data, detect and process whether the eleventh data exists in each distance unit; if so, execute the next step; The threshold value data corresponding to the distance unit and after the update processing is obtained, and the target in the current detection area is detected and determined in real time according to the threshold value data whether it is a true target.

7. An anti-interference processing system suitable for millimeter wave radar detection, characterized in that: The system is used to implement the anti-interference processing method suitable for millimeter wave radar detection according to any one of claims 1 to 6, and the system includes: A data acquisition and generation unit, used to generate and acquire first data corresponding to a target object to be detected by the millimeter wave radar, and generate corresponding second data according to the first data; wherein the first data is the reflection signal data of the target object in space; and the second data is the range spectrum signal data of the detection area; The data processing and generating unit is used for anti-interference elimination processing of the second data and generating third data corresponding to the second data; wherein the third data is the target object detection data after anti-interference elimination processing.

8. The anti-interference processing system suitable for millimeter wave radar detection according to claim 7, characterized in that: The data acquisition generation unit further includes: A first processing module, used for acquiring the first data, and sequentially mixing, sampling and range FFT processing the first data; And / or, the data processing and generating unit further includes: A first determination module is used to generate and obtain fourth data corresponding to the current area to be detected, and to identify and determine whether there is continuous interference in the fourth data; wherein the fourth data is environmental signal data in the current area to be detected; A second processing module, used for dividing the fourth data into at least four distance units, and preprocessing the fourth data based on the second data; wherein the preprocessing includes constant false alarm detection of the fourth data and elimination of interference data corresponding to the current area to be detected; A first calculation module, used for respectively calculating and generating fifth data and sixth data corresponding to the four distance units after preprocessing; wherein the fifth data is signal mean data; and the sixth data is variance data; The second calculation module is used to calculate and generate seventh data and eighth data corresponding to the fourth data in segments based on the fifth data and the sixth data; wherein the seventh data is environmental information data; and the eighth data is primary interference flag data.

9. An anti-interference processing system suitable for millimeter wave radar detection according to claim 7 or 8, characterized in that: The data processing and generating unit further includes: A third processing module is used to obtain the second data, cancel the second data in a frame, and generate corresponding ninth data; wherein, the processing includes eliminating stationary objects; the ninth data is the data after the cancellation of the second data; a fourth processing module, configured to process the ninth data by two-dimensional FFT and generate a range Doppler heat map corresponding to the second data; A second determination module is used to generate and obtain eighth data, and determine to establish a first corresponding relationship between the eighth data and a zero value; wherein the eighth data is primary interference flag data; A fifth processing module, configured to update and process the threshold value data corresponding to the distance unit based on the first corresponding relationship, and detect the target in the current to-be-detected area in real time according to the threshold value data; A third calculation module is used to detect the target in the current to-be-detected area in real time based on the first corresponding relationship and in combination with the reference threshold data, and to calculate and generate tenth data and eleventh data corresponding to the fourth data in segments; wherein the tenth data is the environmental information data after the first-level interference processing; and the eleventh data is the second-level interference flag data; And / or, the third calculation module further includes: A first generating module is used to generate and obtain reference threshold data corresponding to the distance unit, and based on the reference threshold data, detect whether the eleventh data exists in each distance unit segment; The third determination module is used to obtain the threshold value data corresponding to the distance unit and after the update processing, and detect and determine in real time whether the target in the current detection area is a true target according to the threshold value data.

10. An anti-interference processing platform suitable for millimeter wave radar detection, characterized in that: It includes a processor, a memory, and an anti-interference processing platform control program suitable for millimeter-wave radar detection; wherein, the anti-interference processing platform control program suitable for millimeter-wave radar detection is executed in the processor, and the anti-interference processing platform control program suitable for millimeter-wave radar detection is stored in the memory, and the anti-interference processing platform control program suitable for millimeter-wave radar detection implements the anti-interference processing method suitable for millimeter-wave radar detection as described in any one of claims 1 to 6.

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