Disclosure of Invention
The application provides a radar same-frequency anti-interference method, a radar same-frequency anti-interference device, radar equipment and a storage medium, which are used for solving the problem of same-frequency signal interference of millimeter wave radar in the related technology.
In a first aspect, the present application provides a radar co-channel anti-interference method, the method comprising:
collecting first original data in a road radar interference scene;
performing one-dimensional Fourier transform on each frame of the first original data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal;
and judging whether second original data in the actual road scene is interfered according to the first threshold value, and performing different inhibition processing according to the interfered degree.
In an embodiment of the present application, the first raw data includes T frames, each frame includes N chirp signals, each chirp signal includes M point sampling points, and t×n×m data, wherein T, N, M are positive integers, and the step of performing one-dimensional fourier transform on each frame of the first raw data to determine a first threshold of an undisturbed chirp signal and an disturbed chirp signal includes:
performing one-dimensional Fourier transform on N chirp signals of each frame in the T frames to obtain distance dimension phase data of all the chirp signals;
and obtaining amplitude values of the distance dimension amplitude-phase data to obtain an amplitude spectrum.
In an embodiment of the present application, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
accumulating M point distance points of N chirp signals of the amplitude spectrum of each frame to obtain an amplitude result after N point accumulation;
according to the amplitude result, the maximum value Kmax and the minimum value Kmin are obtained for the amplitude of N chirp signals of each frame in the T frames;
wherein, under the condition of no interference, the fluctuation range of all chirp signals in a frame between Kmax and Kmin is smaller; whereas in the case of interference, the chirp signal fluctuates over a large range between Kmax and Kmin.
In an embodiment of the present application, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
determining the first threshold K according to the fluctuation range between the maximum value Kmax and the minimum value Kmin;
determining an interfered chirp signal according to the first threshold value K;
wherein the fluctuation range is determined by the difference m between Kmax and Kmin for each frame, and the T frames result in T sets of differences m.
In an embodiment of the present application, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
solving a two-dimensional Fourier of the one-dimensional Fourier result of the T frame and solving an amplitude value to obtain two-dimensional distance-Doppler data of M-N points;
according to the two-dimensional distance-Doppler data, performing background noise calculation on each frame of the T frames to obtain T groups of background noise, and marking the frames with differences between background noise values of each group and background noise values of other groups in the T groups of background noise being larger than a second threshold value as interfered frames;
determining the first threshold K according to the T group difference value m and the interfered frame;
wherein, the difference value m < K of the undisturbed frames in all frames, and the difference value m > K of the disturbed frames in all frames.
In an embodiment of the present application, the step of determining whether the second original data in the actual road scene is interfered according to the first threshold, and performing different suppression processing according to the interfered degree includes:
acquiring second original data in an actual road scene;
performing one-dimensional Fourier transform on each frame of the second original data, and performing accumulation processing on the distance points of each chirp signal to obtain amplitude spectrums of all chirp signals;
obtaining a minimum value s in the amplitude values of all chirp signals in a frame according to the amplitude spectrum, and obtaining a difference between the amplitude value of each chirp signal and the minimum value s;
for all chirp signals, if the difference between the amplitude of the chirp signal and the minimum value s is larger than the first threshold value K, judging that the chirp signal is interfered; otherwise, judging that the chirp signal is not interfered.
In an embodiment of the present application, the step of determining whether the second original data in the actual road scene is interfered according to the first threshold, and performing different suppression processing according to the interfered degree further includes:
counting the interfered chirp signals;
if the number of the chirp signals subjected to interference is larger than a third threshold value, judging that the interference degree is heavy, and switching the center frequency point of the transmitting waveform to avoid the same-frequency interference caused by the next frame;
if the number of the chirp signals subjected to interference is smaller than or equal to a third threshold value, judging that the interference degree is lighter, setting all distance points of a one-dimensional Fourier result corresponding to the chirp signals larger than the first threshold value K to 0, and continuously executing subsequent signal processing.
In a second aspect, the present application also provides a radar co-channel anti-interference device, the device comprising:
the acquisition module is used for acquiring first original data under the road radar interference scene;
a threshold determining module, configured to perform a one-dimensional fourier transform on each frame of the first raw data, so as to determine an undisturbed chirp signal and a first threshold of the disturbed chirp signal;
and the processing module is used for judging whether the second original data in the actual road scene is interfered according to the first threshold value, and carrying out different inhibition processing according to the interfered degree.
In a third aspect, the present application also provides a radar apparatus, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the radar same frequency anti-interference method according to the first aspect when executing the program.
In a fourth aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the radar co-channel anti-interference method according to any of the first aspects.
According to the radar same-frequency anti-interference method, the radar device, the radar equipment and the storage medium, first original data in a road radar interference scene are collected, one-dimensional Fourier transform is carried out on each frame of the first original data to determine an undisturbed chirp signal and a first threshold value of the disturbed chirp signal, whether second original data in an actual road scene are disturbed or not is judged according to the first threshold value, and different suppression treatments are carried out according to the disturbed degree. That is, the present application determines the first threshold by collecting the first original data that is interfered, and then detects the second original data in the actual application scene according to the first threshold, so as to perform different suppression processes according to the interfered degree.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein.
Technical terms related to the present application are described as follows:
the co-channel interference of the radar refers to the phenomenon that when the radar works, as the frequencies of signals transmitted by other radar or signal source equipment and the like are the same as or very close to those of signals transmitted by the radar, the signals and radar echo signals are mixed together, and errors or misjudgment occur when the radar detects targets. The co-channel interference is a common interference form in the radar working process, and has adverse effects on the performance and accuracy of the radar.
In order to solve the problem of co-frequency signal interference of a millimeter wave radar in the related art, the application provides a radar co-frequency anti-interference method, a radar device, radar equipment and a storage medium.
That is, the present application determines the first threshold by collecting the first original data that is interfered, and then detects the second original data in the actual application scene according to the first threshold, so as to perform different suppression processes according to the interfered degree.
The radar same-frequency anti-interference method, the radar device, the radar equipment and the storage medium are described below with reference to fig. 1 to 12.
Referring to fig. 1, fig. 1 is a schematic flow chart of the method for radar co-frequency interference suppression provided by the application. A radar co-channel anti-interference method, the method comprising:
step 101, collecting first original data in a road radar interference scene.
Step 102, performing a one-dimensional fourier transform on each frame of the first raw data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal.
And step 103, judging whether second original data in the actual road scene is interfered according to the first threshold value, and carrying out different inhibition processing according to the interfered degree.
The steps 101 to 103 are specifically described below.
In some embodiments of the application, the road radar interference scenario is as follows:
referring to fig. 2, fig. 2 is a schematic diagram of a road radar interference scenario provided in an embodiment of the application. Fig. 2 shows that the interfering radar is installed right in front of the vehicle a, the host vehicle radar is installed right in front of the vehicle B, the vehicle a is parked in the first lane, and the vehicle B is driven from far to near to the vehicle a in the adjacent lane.
Referring to fig. 3, fig. 3 is a schematic diagram of a road radar interference scene according to an embodiment of the application. Fig. 3 shows that the interfering radar is installed right in front of the vehicle a, the host vehicle radar is installed right in front of the vehicle B, the vehicle a is parked in the first lane, and the vehicle B is driven from far to near to the vehicle a in the same lane.
Referring to fig. 4, fig. 4 is a third schematic diagram of a road radar interference scenario provided in an embodiment of the present application. Fig. 4 shows that the interfering radar is installed right in front of the vehicle a, the host vehicle radar is installed right in front of the vehicle B, the vehicle a is parked at the roadside, and the vehicle B is driven toward the vehicle a from far to near.
It should be noted that the method for same-frequency anti-interference of the radar of the present application is not limited to the road radar interference scenario shown in fig. 2 to 4, and other scenarios with same-frequency interference are also suitable.
In some embodiments of the present application, the present application collects ADC (Analog-to-Digital Converter ) original data of a frequency modulated continuous wave in a scene where a radar of a host vehicle is interfered by the same frequency, and because a part of sampling points of a chirp signal in a time domain exist in the original data of the collected intermediate frequency signal under the influence of the same frequency interference, an abnormal frequency point is generated in a frequency domain by a corresponding chirp signal, and by using the characteristic, an undisturbed chirp signal and a first threshold value of the interfered chirp signal in the interference scene are obtained through one-dimensional fourier transform, and the original data in the actual road scene is detected according to the first threshold value and the influence of the same frequency interference on the radar signal is eliminated.
In some embodiments of the present application, in step 101, the first original data includes T frames, each frame includes N chirp signals, each chirp signal includes M point sampling points, and t×n×m data are all positive integers, where T, N, M is a positive integer.
In some embodiments of the present application, in step 102, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine the undisturbed chirp signal and a first threshold for the disturbed chirp signal comprises:
in step 1021, a one-dimensional fourier transform is performed on N chirp signals of each of the T frames to obtain distance dimension data of all chirp signals.
Step 1022, calculating the amplitude value of the distance dimension amplitude-phase data to obtain an amplitude spectrum.
The one-dimensional fourier transform is a signal processing method, and can convert a time domain signal into a frequency domain signal. In radar signal processing, a one-dimensional fourier transform is often used to convert echo signals received by the radar into frequency domain data for subsequent signal analysis and processing. Where the frequency domain data obtained by one-dimensional fourier transform typically includes both amplitude and phase components. The amplitude-phase data is a combined version of the two parts of data that contains the amplitude and phase information of the frequency domain signal. Amplitude refers to the magnitude of the amplitude of the frequency domain signal at a frequency and is used to represent the intensity of the radar echo signal. The magnitude spectrum refers to a curve of the magnitude of the frequency domain signal obtained after one-dimensional fourier transform along with the frequency. It reflects the amplitude of the signal at different frequencies for analysis of the frequency domain characteristics of the signal.
Referring to fig. 5 and 6, fig. 5 is a schematic diagram of an amplitude spectrum of an interfered chirp signal provided by an embodiment of the present application, and fig. 6 is a schematic diagram of an amplitude spectrum of an undisturbed chirp signal provided by an embodiment of the present application. During the radar operation, due to co-channel interference and other reasons, part of chirp signals are affected by interference in the time domain, so that the signals in the whole distance dimension are abnormal. These anomaly signals may appear in the frequency domain as an amplitude increase in the amplitude of the affected chirp signal over the entire distance dimension, i.e., an amplitude gain may occur. This is because the influence of external factors such as co-channel interference on the signal may cause distortion or deformation of the signal, so that the originally normal signal becomes abnormal, thereby representing a change in the amplitude of the signal in the frequency domain. It is noted that the presence of anomalies in the affected chirp signals does not necessarily mean that they are completely unusable, from which useful information can still be extracted by certain signal processing and analysis.
In some embodiments of the present application, in step 102, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine the undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
step 1023, accumulating M points of distance points of N chirp signals of the amplitude spectrum of each frame to obtain an amplitude result after N points are accumulated.
Referring to fig. 7 and 8, fig. 7 is a schematic diagram of the amplitude of an interfered chirp signal provided by an embodiment of the present application, and fig. 8 is a schematic diagram of the amplitude of an undisturbed chirp signal provided by an embodiment of the present application. During radar operation, due to co-channel interference, some chirp signals are affected by interference, so that their amplitude in the frequency domain is much higher than that of other normal chirp signals.
At the same time, the undisturbed chirp signal fluctuates in amplitude over a relatively small range, i.e. the amplitude does not change much. This is because the influence of external factors such as co-channel interference on the signal may cause distortion or deformation of the signal, so that the amplitude of the interfered chirp signal in the frequency domain is significantly increased, while the undisturbed chirp signal maintains a relatively stable amplitude. By comparing the amplitudes of the interfered chirp signal and the undisturbed chirp signal, the influence of co-channel interference can be effectively detected and eliminated.
Step 1024, according to the amplitude result, obtaining a maximum value Kmax and a minimum value Kmin for the amplitude of the N chirp signals of each frame in the T frames.
Because of the difference in target signal strength from frame to frame, the maximum Kmax and minimum Kmin need to be found for the N chirp magnitudes for each of all frames acquired.
In some embodiments of the present application, in step 102, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine the undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
step 1025, determining the first threshold K according to the fluctuation range between the maximum value Kmax and the minimum value Kmin.
Wherein the fluctuation range is determined by the difference m between Kmax and Kmin for each frame, and the T frames result in T sets of differences m.
Step 1026, determining an interfered chirp signal according to the first threshold K.
As can be seen from fig. 7 and 8, the fluctuation range of all chirp signals in a frame between Kmax and Kmin is small under the condition of no interference; whereas in the case of interference, the chirp signal fluctuates over a large range between Kmax and Kmin. A first threshold value K can be determined from the fluctuation range between Kmax and Kmin, by which it is determined which chirp signals are disturbed.
In some embodiments of the present application, in step 102, the step of performing a one-dimensional fourier transform on each frame of the first raw data to determine the undisturbed chirp signal and a first threshold for the disturbed chirp signal further comprises:
step 1027, two-dimensional fourier is obtained and amplitude is obtained for the one-dimensional fourier result of the T frame, so as to obtain two-dimensional distance-doppler data of m×n points.
And 1028, according to the two-dimensional distance-Doppler data, performing a background noise calculation on each frame of the T frames to obtain T groups of background noise, and recording the frames with differences between each group of background noise values and other groups of background noise values larger than a second threshold value in the T groups of background noise as the interfered frames.
For example, a total of 1/3 distance points (M/3) x N points after two-dimensional range-doppler data for each frame are averaged to obtain a set of background noise, and then T frames together obtain a T set of background noise.
Background noise refers to background noise caused by various causes (e.g., system noise, environmental interference, etc.) when radar detects an object. In practical applications, in order to detect the target signal more accurately, the background noise value may be removed from the original data first, so as to extract the effective signal better. The background noise value can be obtained by carrying out statistical analysis on the acquired multi-frame data, and common methods can comprise mean value filtering, median value filtering, gaussian filtering and the like.
Step 1029, determining the first threshold K according to the T-group difference m and the interfered frame.
Wherein, the difference value m < K of the undisturbed frames in all frames, and the difference value m > K of the disturbed frames in all frames.
It should be noted that, the first threshold K is used in the subsequent actual road scene test as a criterion for determining whether interference is caused.
In some embodiments of the present application, in step 103, the step of determining whether the second original data in the actual road scene is interfered according to the first threshold, and performing different suppression processing according to the interfered degree includes:
step 1031, obtaining second original data in the actual road scene.
Step 1032, performing one-dimensional fourier transform on each frame of the second original data, and performing accumulation processing on the distance points of each chirp signal, so as to obtain the amplitude spectrums of all chirp signals.
Step 1033, obtaining the minimum value s in the amplitudes of all chirp signals in a frame according to the amplitude spectrum, and obtaining the difference between the amplitude of each chirp signal and the minimum value s.
Step 1034, for all chirp signals, if there is a difference between the amplitude of the chirp signal and the minimum value s being greater than the first threshold K, determining that the chirp signal is interfered; otherwise, judging that the chirp signal is not interfered.
In some embodiments of the present application, in step 103, the step of determining whether the second original data in the actual road scene is interfered according to the first threshold, and performing different suppression processing according to the interfered degree further includes:
step 1035, counting the interfered chirp signals.
Step 1036, if the number of the chirp signals that are interfered is greater than the third threshold, determining that the degree of interference is heavy, and switching the center frequency point of the transmit waveform to avoid the same frequency interference caused by the next frame.
That is, when the vehicle-mounted radar detects that the number of chirp signals subjected to interference exceeds the third threshold, it is necessary to switch the center frequency point of the transmission waveform. This is to avoid co-channel interference that continues to occur in the next frame, i.e., the radar signal and the interfering signal are no longer at the same frequency by changing the center frequency point of the transmit waveform, so that the impact of interference can be reduced.
Step 1037, if the number of the chirp signals subjected to interference is smaller than or equal to the third threshold, determining that the interference degree is light, setting all distance points of the one-dimensional fourier result corresponding to the chirp signal larger than the first threshold K to 0, and continuing to execute subsequent signal processing.
The distance points refer to distance positions corresponding to different target objects in echo signals received by the radar. In one-dimensional fourier transform, distance information of a target object can be obtained by calculating amplitude or amplitude-phase data at different distance points.
Specifically, all data points with distance point amplitudes greater than K in the one-dimensional fourier result corresponding to the chirp signals that are disturbed and are determined to be less disturbed are set to 0. Therefore, the abnormal amplitude of the interfered chirp signal in the distance dimension can be effectively eliminated, and the interference to the detection and analysis of the target signal is avoided. After processing these disturbed chirp signals, subsequent signal processing may continue to be performed to extract valid information of the target signal.
It should be noted that the third threshold may be set according to practical situations, which is not limited by the present application.
Fig. 9 and fig. 10 show two-dimensional fourier transforms and amplitude values of the interfered data after the step 1037 is performed, where fig. 9 is a schematic diagram before the interfered data is suppressed according to the embodiment of the present application, and fig. 10 is a schematic diagram after the interfered data is suppressed according to the embodiment of the present application. As can be seen from fig. 9 and 10, the processed one-dimensional fourier data is subjected to two-dimensional fourier transform, and the noise floor is significantly improved.
In summary, the present application performs one-dimensional fourier transform on the acquired interfered ADC raw data, because part of the chirp signals are affected by interference, and the interfered chirp signals are raised at all distance points, so the first threshold K is determined according to the result of the one-dimensional fourier transform. All chirp signals of the one-dimensional fourier transform result are then compared with said first threshold K in an actual scenario. After the interference is judged, if the interference is light, setting 0 to an interfered chirp signal in a one-dimensional Fourier transform result; if the interference is heavy, the center frequency point of the transmission waveform is directly switched.
Therefore, the application carries out interference judgment based on the one-dimensional Fourier transform result and carries out different inhibition treatments according to the interference degree. The advantages are that: the vehicle-mounted radar chip has limitation in wave generation instantaneity and processor memory, so that the original data are difficult to analyze one by one chirp signal. In contrast, the method is more convenient to analyze the one-dimensional Fourier transform result, and the calculation energy consumption of the chip is reduced. In addition, the application also distinguishes serious interference and non-serious interference aiming at the one-dimensional Fourier transform result and carries out different treatments. Therefore, the method and the device detect and eliminate the interference on the frequency domain through the one-dimensional Fourier transform result of the original data, and avoid direct processing of the original data.
The same-frequency anti-interference method of the radar is described in the following through an embodiment.
Referring to fig. 11, fig. 11 is a flowchart of a radar co-frequency anti-interference method according to an embodiment of the application. A radar co-channel anti-interference method, the method comprising:
step 1101, collecting first original data in a road radar interference scene.
In step 1102, a one-dimensional fourier transform is performed on each frame of the first raw data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal.
Step 1103, obtaining second original data in the actual road scene.
Step 1104, performing one-dimensional fourier transform on each frame of the second original data.
Step 1105, determining whether a difference between the amplitude of a chirp signal and the minimum value s in a frame is greater than the first threshold K according to the one-dimensional fourier transform result.
In step 1106, if there is no difference between the amplitude of a chirp signal and the minimum value s is greater than the first threshold K, it is determined that the chirp signal is not interfered.
In step 1107, if there is a difference between the amplitude of a chirp signal and the minimum value s that is greater than the first threshold K, it is determined that the chirp signal is interfered.
Step 1108, count the number of chirp signals that are subject to interference.
In step 1109, it is determined whether the number of interfered chirp signals is greater than a third threshold.
If the number of the chirp signals that are interfered is greater than the third threshold, step 1110 determines that the degree of interference is greater, and switches the center frequency point of the transmit waveform to avoid the same frequency interference caused by the next frame.
And 1111, if the number of the chirp signals subjected to interference is less than or equal to the third threshold, determining that the degree of interference is light, setting all distance points of the one-dimensional fourier result corresponding to the chirp signal greater than the first threshold K to 0, and continuing to execute subsequent signal processing.
The radar same-frequency anti-interference device provided by the application is described below, and the radar same-frequency anti-interference device described below and the radar same-frequency anti-interference method described above can be correspondingly referred to each other.
Referring to fig. 12, fig. 12 is a schematic structural diagram of a radar co-frequency anti-interference device provided by the present application. A radar co-channel anti-interference device 1200, which comprises an acquisition module 1201, a threshold determination module 1202 and a processing module 1203.
The acquisition module 1201 is for acquiring first raw data in a road radar interference scene.
Illustratively, the threshold determination module 1202 is configured to perform a one-dimensional fourier transform on each frame of the first raw data to determine the undisturbed chirp signal and a first threshold for the disturbed chirp signal.
The processing module 1203 is configured to determine whether the second original data in the actual road scene is interfered according to the first threshold, and perform different suppression processing according to the interfered degree.
Illustratively, the first raw data comprises T frames, each frame comprising N chirp signals, each chirp signal comprising M point samples, a total of t×n×m data.
Illustratively, the threshold determination module 1202 is further configured to:
performing one-dimensional Fourier transform on N chirp signals of each frame in the T frames to obtain distance dimension phase data of all the chirp signals;
and obtaining amplitude values of the distance dimension amplitude-phase data to obtain an amplitude spectrum.
Illustratively, the threshold determination module 1202 is further configured to:
accumulating M point distance points of N chirp signals of the amplitude spectrum of each frame to obtain an amplitude result after N point accumulation;
according to the amplitude result, the maximum value Kmax and the minimum value Kmin are obtained for the amplitude of N chirp signals of each frame in the T frames;
wherein, under the condition of no interference, the fluctuation range of all chirp signals in a frame between Kmax and Kmin is smaller; whereas in the case of interference, the chirp signal fluctuates over a large range between Kmax and Kmin.
Illustratively, the threshold determination module 1202 is further configured to:
determining the first threshold K according to the fluctuation range between the maximum value Kmax and the minimum value Kmin;
determining an interfered chirp signal according to the first threshold value K;
wherein the fluctuation range is determined by the difference m between Kmax and Kmin for each frame, and the T frames result in T sets of differences m.
Illustratively, the threshold determination module 1202 is further configured to:
solving a two-dimensional Fourier of the one-dimensional Fourier result of the T frame and solving an amplitude value to obtain two-dimensional distance-Doppler data of M-N points;
according to the two-dimensional distance-Doppler data, performing background noise calculation on each frame of the T frames to obtain T groups of background noise, and marking the frames with differences between background noise values of each group and background noise values of other groups in the T groups of background noise being larger than a second threshold value as interfered frames;
determining the first threshold K according to the T group difference value m and the interfered frame;
wherein, the difference value m < K of the undisturbed frames in all frames, and the difference value m > K of the disturbed frames in all frames.
Illustratively, the processing module 1203 is further to:
acquiring second original data in an actual road scene;
performing one-dimensional Fourier transform on each frame of the second original data, and performing accumulation processing on the distance points of each chirp signal to obtain amplitude spectrums of all chirp signals;
obtaining a minimum value s in the amplitude values of all chirp signals in a frame according to the amplitude spectrum, and obtaining a difference between the amplitude value of each chirp signal and the minimum value s;
for all chirp signals, if the difference between the amplitude of the chirp signal and the minimum value s is larger than the first threshold value K, judging that the chirp signal is interfered; otherwise, judging that the chirp signal is not interfered.
Illustratively, the processing module 1203 is further to:
counting the interfered chirp signals;
if the number of the chirp signals subjected to interference is larger than a third threshold value, judging that the interference degree is heavy, and switching the center frequency point of the transmitting waveform to avoid the same-frequency interference caused by the next frame;
if the number of the chirp signals subjected to interference is smaller than or equal to a third threshold value, judging that the interference degree is lighter, setting all distance points of a one-dimensional Fourier result corresponding to the chirp signals larger than the first threshold value K to 0, and continuously executing subsequent signal processing.
It should be noted that, the radar co-channel anti-interference device provided by the embodiment of the present application can implement all the method steps implemented by the method embodiment and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiment in the embodiment are omitted.
In some embodiments of the present application, the present application also provides a radar apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the radar same-frequency anti-interference method as described above when the processor executes the program.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present application also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the radar co-channel anti-interference method provided by the above methods, the method comprising:
collecting first original data in a road radar interference scene;
performing one-dimensional Fourier transform on each frame of the first original data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal;
and judging whether second original data in the actual road scene is interfered according to the first threshold value, and performing different inhibition processing according to the interfered degree.
In yet another aspect, the present application further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the radar co-channel anti-interference methods provided above, the method comprising:
collecting first original data in a road radar interference scene;
performing one-dimensional Fourier transform on each frame of the first original data to determine an undisturbed chirp signal and a first threshold for the disturbed chirp signal;
and judging whether second original data in the actual road scene is interfered according to the first threshold value, and performing different inhibition processing according to the interfered degree.
The radar apparatus, the computer program product, and the computer readable storage medium stored thereon according to the embodiments of the present application enable a processor to implement all the method steps implemented by the method embodiments and achieve the same technical effects, and detailed descriptions of the same parts and advantages as those of the method embodiments in the present embodiment are omitted herein.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.