CN113302511B - Interference processing method and device - Google Patents
Interference processing method and device Download PDFInfo
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- CN113302511B CN113302511B CN202180001605.0A CN202180001605A CN113302511B CN 113302511 B CN113302511 B CN 113302511B CN 202180001605 A CN202180001605 A CN 202180001605A CN 113302511 B CN113302511 B CN 113302511B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The interference processing method and the device can process interference, so that the target detection rate is improved. The method can comprise the following steps: acquiring a first signal, wherein the first signal comprises a plurality of sampling points; determining a variance of the first signal based on the energy value of each of the plurality of sampling points; determining that interference exists in the first signal based on the variance of the first signal and a preset first threshold.
Description
Technical Field
The present application relates to the field of sensor technologies, and more particularly, to an interference processing method and apparatus.
Background
With the development of society and the progress of science and technology, smart cars are gradually entering the daily lives of people. The sensor plays an important role in the unmanned driving or intelligent driving of the intelligent automobile, and the radar (such as laser radar, millimeter wave radar and the like) is widely used for precision detection and distance detection in the unmanned driving or intelligent driving process as a key sensor in the unmanned driving or intelligent driving.
However, in practical applications, mutual interference may occur between the detection signals transmitted by different detection devices.
Therefore, it is desirable to provide an interference processing method capable of effectively detecting interference, thereby improving the target detection rate.
Disclosure of Invention
The embodiment of the application provides an interference processing method and device, which can effectively detect interference, so that the target detection rate is improved.
In a first aspect, an embodiment of the present application provides an interference processing method, which may include: the method comprises the steps that an interference processing device acquires a first signal, wherein the first signal comprises a plurality of sampling points; the interference processing apparatus determines a variance of the first signal based on an energy value of each of the plurality of sampling points; the interference processing device determines that interference exists in the first signal based on the variance of the first signal and a preset first threshold.
Therefore, by adopting the interference processing method provided by the embodiment of the application, the variance can describe the fluctuation condition of the signal and better depict the interference signal, so that the interference signal in the first signal can be detected through the variance of the signal and the preset first threshold, and the target detection rate is improved.
Optionally, the sampling values of the sampling points described in this application may also be amplitude values, the sampling values of the sampling points in the embodiment of this application are energy values only as examples, and the application does not limit the physical quantities of the sampling values of the sampling points.
Optionally, the method or apparatus provided herein is used for detection devices or sensors, e.g., for millimeter wave radar, lidar, ultrasonic radar, etc.
Optionally, the detection device described herein may be applied to a terminal. For example, the terminal may be a vehicle or a smart device, for example, the terminal may be a motor vehicle (e.g., an unmanned vehicle, a smart car, an electric vehicle, a digital car, etc.), a drone, a rail car, a bicycle, a traffic light, etc. Another example is: the terminal can be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, augmented reality equipment, virtual reality, wearable equipment, a vehicle-mounted terminal and the like.
Optionally, the interference processing method or apparatus provided by the embodiment of the application may be applied to a scene in which target detection is performed by using a detection device in application scenes such as unmanned driving, automatic driving, intelligent driving, internet connection driving, and the like.
In a possible implementation manner, the first signal described in this embodiment of the present application is a digital signal obtained by performing analog-to-digital conversion on a received signal of the detection device, for example, the received signal is a digital signal obtained by processing (amplifying, down-converting, and analog-to-digital converting) the detection device, and the first signal may include an echo signal, and/or an interference signal, and/or a clutter signal of the detection device.
The echo signal mentioned in the present application refers to a reflected signal of a detection signal transmitted by the detection device after being reflected by a target detection object, the interference signal includes a detection signal transmitted by other detection devices or a reflected signal of a detection signal of other detection devices, and the clutter signal refers to a reflected signal generated after a detection signal transmitted by the detection device is transmitted by a non-target detection object, for example, the clutter signal may be a ground reflected signal.
Alternatively, the detection signal may be a plurality of different types of signals, which is not limited in this application.
In one possible implementation, the detection signal may be a radar signal, such as a frequency modulated continuous wave radar signal, and the first signal may be a digital signal within a chirp.
In a possible implementation manner, the interference processing device may perform normalization processing on the energy value of each sampling point; and determining the variance of the first signal based on the normalized energy value of each sampling point.
Therefore, by adopting the normalization processing provided by the embodiment of the application, the first threshold or the second threshold can be preset, so that the time for calculating the decision threshold in real time is saved, the interference detection and processing efficiency is improved, and the engineering realization is facilitated. When the interference processing method or apparatus is used for a detection apparatus, the design of the first threshold or the second threshold may be independent of the number of receiving channels, the number of antennas, and the like of the detection device.
Optionally, the interference processing apparatus may determine whether there is interference in the first signal based on the variance of the first signal and a preset first threshold.
In one possible implementation, if the variance of the first signal is greater than the first threshold, the interference processing apparatus may determine that the interference is present in the first signal; alternatively, the interference processing apparatus may determine that the interference is not present in the first signal if the variance of the first signal is less than or equal to the first threshold.
Optionally, the interference processing apparatus may obtain the first threshold in various ways, which is not limited in this embodiment of the present application.
In one possible implementation, the interference processing apparatus may pre-configure the first threshold.
In another possible implementation, the interference processing apparatus may receive the first threshold from a second apparatus, where the second apparatus has a capability of determining the first threshold.
In yet another possible implementation manner, the interference processing apparatus may receive indication information from a user or a third apparatus, where the indication information is used for indicating the first threshold.
Optionally, the method may further include: the interference processing device determines a target sampling point with interference based on a first difference value of each sampling point and a preset second threshold, wherein the first difference value of each sampling point is a square value of a first modulus, and the first modulus is an absolute value of a difference value between an energy value of each sampling point and an energy mean value of the first signal. The energy mean value of the first signal refers to an average value of energy values of all or part of sampling points in the first signal. Optionally, the interference processing apparatus determines a target sampling point where interference exists based on the first modulus value of each sampling point and a preset third threshold.
Optionally, the number of the target sampling points may be one or more, and the plurality of sampling points in the first signal includes one or more target sampling points, that is, interference exists in one or more sampling points in the first signal, which is not limited in this embodiment of the present application.
In one possible implementation manner, the interference processing apparatus may determine, as the target sample point, a sample point of the plurality of sample points whose first difference is greater than the second threshold. The determined target sampling point refers to a position corresponding to the sampling point with the interference, or an index corresponding to the sampling point with the interference.
That is, taking a first sampling point of the plurality of sampling points as an example, if the first difference of the first sampling point is greater than the second threshold, the interference processing apparatus may determine that there is interference in the first sampling point, that is, the target sampling point includes the first sampling point; the interference processing apparatus may determine that there is no interference at the first sampling point if the first difference of the first sampling point is less than or equal to the second threshold. Optionally, if the first difference of the first sampling point is greater than or equal to the second threshold, the interference processing apparatus may determine that interference exists in the first sampling point.
Therefore, by adopting the interference processing method provided by the embodiment of the application, the target sampling point with interference is further judged by comparing the first difference value of each sampling point with the preset second threshold, and the judgment granularity of interference processing can be improved, so that the accuracy of the interference processing is improved.
Optionally, the method may further include: the interference processing device carries out anti-interference processing on the first signal based on the target sampling point.
In a possible implementation manner, the interference processing device may locate the at least one target sampling point based on the index of the target sampling point, and modify the interference value of the target sampling point from the first signal to perform the anti-interference processing.
For example: the interference processing device can adopt the sampling values corresponding to part or all of the sampling points without interference to reconstruct the sampling values of the target sampling points so as to realize the anti-interference processing of the target sampling points.
Therefore, by adopting the interference processing method provided by the embodiment of the application, the anti-interference processing is performed on the target sampling point in the first signal, and the sampling value of the target sampling point in the first signal can be corrected, so that the interference is reduced as much as possible to improve the detection reliability.
Optionally, the first signal may be a time domain signal or a frequency domain signal, which is not limited in this embodiment of the application.
In a possible implementation manner, when the first signal is a time domain signal, the cross slope interference may be suppressed based on the interference processing method. The cross slope interference in the present application means that the change rate of the echo signal frequency with time in the first signal is different from the change rate of the interference signal frequency with time.
In another possible implementation manner, when the first signal is a frequency domain signal, the co-slope interference may be suppressed based on the interference processing method. The co-slope interference in the present application means that the change rate of the frequency of the echo signal in the first signal with time is the same as the change rate of the frequency of the interference signal with time.
In yet another possible implementation manner, the first signal suppresses cross slope interference in the time domain based on the interference processing method; and then converting the interference into a frequency domain to inhibit the co-slope interference based on the interference processing method.
It should be noted that, in the embodiment of the present application, the first signal may be converted from a time-domain signal to a frequency-domain signal by fast fourier transform.
Optionally, the method may further include performing subsequent processing based on the interference-immune processed received signal.
In one possible implementation, the interference processing device performs target detection based on the received signal after the interference rejection processing.
Therefore, by adopting the interference processing method provided by the embodiment of the application, the target detection is carried out based on the first signal after the anti-interference processing, and the target detection rate is favorably improved.
In a second aspect, an embodiment of the present application further provides an interference processing apparatus, configured to execute the method in the first aspect or any possible implementation manner thereof. In particular, the interference handling means may comprise means for performing the method described in the first aspect above or any possible implementation thereof.
In a third aspect, an embodiment of the present application further provides an interference processing apparatus, where the apparatus includes: at least one processor configured to implement the method of the first aspect or any possible implementation thereof when the at least one processor executes program code or instructions.
Optionally, the interference processing apparatus may further comprise at least one memory for storing the program code or instructions.
In a fourth aspect, an embodiment of the present application further provides a chip, including: input interface, output interface, at least one processor. Optionally, the chip further comprises a memory. The at least one processor is configured to execute the code in the memory, and when the at least one processor executes the code, the chip implements the method described in the above first aspect or any possible implementation manner thereof.
Optionally, the chip may also be an integrated circuit.
In a fifth aspect, an embodiment of the present application further provides a detection device, which includes a transmitting antenna unit, a receiving antenna unit, and the interference processing apparatus in the second aspect or the third aspect or the chip in the fourth aspect.
In a sixth aspect, an embodiment of the present application further provides a terminal, where the terminal includes the detection device described in the fifth aspect. Illustratively, the terminal is a vehicle.
In a seventh aspect, the present application further provides a computer-readable storage medium for storing a computer program, where the computer program includes instructions for implementing the method described in the first aspect or any possible implementation manner thereof.
In an eighth aspect, embodiments of the present application further provide a computer program product containing instructions, which when executed on a computer, enable the computer to implement the method described in the above first aspect or any possible implementation manner thereof.
The interference processing method, the interference processing apparatus, the computer storage medium, the computer program product, the chip, and the terminal provided in this embodiment are all configured to execute the interference processing method provided above, and therefore, the beneficial effects achieved by the method may refer to the beneficial effects in the interference processing method provided above, and are not described herein again.
Drawings
FIG. 1 provides a schematic diagram of an application scenario of an embodiment of the present application;
FIG. 2 provides a schematic block diagram of a probing apparatus 200 according to an embodiment of the present application;
fig. 3 provides a schematic flow chart diagram of an interference handling method 300 of an embodiment of the present application;
fig. 4 provides a schematic flow chart of an interference handling method 400 of an embodiment of the present application;
fig. 5 provides a schematic block diagram of an interference processing apparatus 500 according to an embodiment of the present application;
fig. 6 provides a schematic block diagram of an interference handling apparatus 600 of an embodiment of the present application;
fig. 7 provides a schematic block diagram of a chip 700 of an embodiment of the present application.
Detailed Description
The technical solutions provided by the embodiments of the present application will be described below with reference to the drawings provided by the embodiments of the present application.
For clarity, some of the terminology mentioned in the embodiments of the present application will be introduced first.
1. Mean value of signal
The mean value of the signal can be calculated by the following equation (1):
wherein, the first and the second end of the pipe are connected with each other,
representing the mean value, x, of the signaliThe energy value of the ith sample point is represented, and N represents the number of sample points.
2. Variance of signal
The variance of the signal can be calculated by the following equation (2):
wherein σ2Which represents the variance of the signal(s),
representing the mean value, x, of the signaliRepresents the energy value of the ith sample point and N represents the number of sample points.
Optionally, the sampling value of the sampling point described in the present application may also be an amplitude value, for example, the amplitude value of the sampling point may be converted into an energy value by the following formula 3 and formula 4, and the present application does not limit the physical quantity of the sampling value of the sampling point.
3. Energy value of sampling point
The energy value of the sampling point in the time domain signal can be calculated by the following formula (3):
Ei＝(Ai)2equation 3
Wherein E isiRepresents the energy value of the ith sample point, AiRepresenting the magnitude value of the ith sample point.
The energy value of the sampling point in the frequency domain signal can be calculated by the following formula (4):
Ei＝Ii 2+Ri 2equation 4
Wherein E isiRepresenting the energy value, R, of the ith sample pointiRepresenting the real part of the amplitude value corresponding to the ith sample point, IiAnd represents the imaginary part of the amplitude value corresponding to the ith sampling point.
Optionally, the interference processing method or apparatus provided by the application may be applied to a scene in which target detection is performed by a detection device through a detection signal in an application scene such as unmanned driving, automatic driving, intelligent driving, internet driving, and the like.
Optionally, the method or apparatus provided herein is used for detection devices or sensors, e.g., for millimeter wave radar, lidar, ultrasonic radar, etc.
Optionally, the detection device described herein may be applied to a terminal.
For example, the terminal described herein may be a vehicle or a smart device. The terminal can be a motor vehicle (such as an unmanned vehicle, an intelligent vehicle, an electric vehicle, a digital automobile and the like), an unmanned aerial vehicle, a rail vehicle, a bicycle, a traffic light and the like. The terminal can be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, augmented reality equipment, virtual reality, wearable equipment, a vehicle-mounted terminal and the like.
The received signal of the detection device described herein may include an echo signal, and/or an interference signal. Optionally, the received signal of the detection device may also include a clutter signal.
The echo signal refers to a reflected signal of a detection signal transmitted by the detection device after being reflected by a target detection object, the interference signal includes a detection signal transmitted by other detection devices or a reflected signal of a detection signal of other detection devices, and the clutter signal refers to a reflected signal generated after the detection signal transmitted by the detection device is transmitted by a non-target detection object, for example, the clutter signal may be a ground reflected signal.
Fig. 1 shows a schematic view of an application scenario provided in an embodiment of the present application, and as shown in fig. 1, when a detection device 1 performs target detection through a detection signal 1, a detection device 2 performs target detection through a detection signal 2. In this way, the received signal 1 of the detecting device 1 may include an interfering signal 1 in addition to the echo signal 1, where the echo signal 1 corresponds to the target object 1 of the detecting device 1, and the interfering signal 1 may include the detecting signal 2 of the detecting device 2; accordingly, the received signal 2 of the detection device 2 may include an interference signal 2 in addition to the echo signal 2, where the echo signal 2 corresponds to the target detection object 2 of the detection device 2, and the interference signal 2 includes the detection signal 1 of the detection device 1. Optionally, the received signal 1 or the received signal 2 may further include a clutter signal.
Taking the detecting device 1 as an example, since the received signal 1 of the detecting device 1 includes the interference signal 1 in addition to the echo signal 1 corresponding to the target detecting object 1, if the target detection is directly performed based on the received signal 1, the target detection rate may be low, and the false alarm rate may be high. Therefore, it is necessary to remove the interference signal 1 from the received signal 1 and then perform target detection, so that the target detection rate can be increased and the false alarm rate can be reduced.
In a possible implementation manner, taking the received signal 1 as an example, the prior art usually calculates the energy mean value of the received signal 1 in the time domain and the frequency domain in sequence; setting a detection threshold based on the energy mean value, for example, setting the product of the energy mean value and a preset threshold coefficient as the detection threshold; judging whether each sampling point in the received signal 1 has interference or not based on the interference processing threshold; based on the determination result, the interference rejection processing is performed on the received signal 1.
The embodiment of the application provides an interference processing method and device, which can detect interference in a received signal, so that the target detection rate is improved.
Fig. 2 shows a schematic block diagram of a detection device 200 provided in an embodiment of the present application, and as shown in fig. 2, the detection device 200 may include a transmitting antenna unit 210, a receiving antenna unit 220, and an interference processing apparatus 230, where the transmitting antenna unit 210 and the receiving antenna unit 220 are respectively coupled (including directly coupled or indirectly coupled) with the interference processing apparatus 230.
The transmitting antenna unit 210 is used to transmit a sounding signal.
The receiving antenna unit 220 is configured to receive a signal, for example, a digital signal obtained by performing analog-to-digital conversion on the received signal by the detecting device is a first signal, where the first signal may include a plurality of sampling points; the first signal is sent to the interference processing device 230.
In a possible implementation manner, the transmitting antenna unit 210 may include at least one first array element, where when the number of the at least one first array element is multiple, the multiple first array elements may be in an array layout.
In a possible implementation manner, the receiving antenna unit 220 may include at least one second array element, a low noise amplifier, a deskewing circuit, and an analog-to-digital conversion circuit, wherein when the number of the at least one second array element is multiple, the multiple second array elements may be in an array layout.
In the embodiment of the present application, the first signal may be understood as a received and processed digital signal of the receiving antenna unit 220, and the first signal may include the echo signal and/or the interference signal.
Optionally, the first signal may also include a spur signal.
The interference processing apparatus 230 is configured to perform interference processing on the first signal based on the interference processing method provided in the embodiment of the present application to determine whether there is interference in the first signal.
Optionally, if there is interference in the first signal, the interference processing device 230 is further configured to perform interference rejection processing on the first signal; and target detection is carried out based on the first signal after the anti-interference processing. Therefore, the influence of interference on the target detection result can be reduced, the target detection rate is improved, and the false alarm rate is reduced.
Fig. 3 illustrates an interference processing method 300 provided in the embodiment of the present application, where the method 300 may be applied to the application scenario illustrated in fig. 1, may be applied to the detection device 200 illustrated in fig. 2, and is executed by the interference processing apparatus 230 in the system 200. As shown in FIG. 3, the method 300 may include the following steps S310-S330.
S310, the interference processing apparatus obtains a first signal, where the first signal includes a plurality of sampling points.
It should be noted that the first signal may be understood as a digital signal received and processed by the detection device, and the first signal may include an echo signal and an interference signal. Optionally, the first signal may also include a spur signal.
Alternatively, the detection signal may be a plurality of different types of signals, which is not limited in this application.
In one possible implementation, the probe signal may be a radar signal. For example: a Frequency Modulated Continuous Wave (FMCW) signal, for example, the first signal may be a digital signal within a chirp.
S320, the interference processing apparatus determines a variance of the first signal based on the energy value of each of the plurality of sampling points.
Optionally, before S320, the interference processing apparatus may perform normalization on the energy value of each sampling point; accordingly, S320 may be: the interference processing device determines the variance of the first signal based on the normalized energy value of each sampling point.
S330, the interference processing apparatus determines that there is interference in the first signal based on the variance of the first signal and a preset first threshold.
Optionally, the interference processing apparatus may determine whether there is interference in the first signal based on the variance of the first signal and a preset first threshold.
In one possible implementation, if the variance of the first signal is greater than the first threshold, the interference processing apparatus may determine that the interference is present in the first signal; alternatively, the interference processing apparatus may determine that the interference is not present in the first signal if the variance of the first signal is less than or equal to the first threshold.
Optionally, the interference processing apparatus may obtain the first threshold in various ways, which is not limited in this embodiment of the present application.
In one possible implementation, the interference processing apparatus may pre-configure the first threshold.
In another possible implementation, the interference processing apparatus may receive the first threshold from a second apparatus, where the second apparatus has a capability of determining the first threshold.
In yet another possible implementation manner, the interference processing apparatus may receive indication information from a user or a third apparatus, where the indication information is used for indicating the first threshold.
By adopting the interference processing method provided by the embodiment of the application, the variance can describe the fluctuation condition of the signal, so that the interference existing in the first signal can be detected through the variance of the signal and the preset first threshold, and the target detection rate is improved.
Optionally, after S330, the method 300 may further include S340.
S340, the interference processing apparatus determines a target sampling point where the interference exists based on the first difference value of each sampling point and a preset second threshold, where the first difference value of each sampling point is a square value of a first modulus, and the first modulus is a difference value between an energy value of each sampling point and an energy mean value of the first signal.
In a possible implementation manner, the determining the target sampling point in S340 may include determining a position and/or an index corresponding to the target sampling point.
For example: the first signal comprises 10 sampling points, and corresponding indexes of the 10 sampling points are respectively as follows: sample point 1, sample point 2 … …, sample point 10, and thus each sample point can be located based on its corresponding index.
Optionally, the number of the target sampling points may be one or more, and the plurality of sampling points in the first signal includes one or more target sampling points, which is not limited in this embodiment of the application.
In one possible implementation, the interference processing apparatus may determine the energy mean of the first signal based on the above equation 1.
In a possible implementation manner, the interference processing apparatus may determine, as the target sampling point, a sampling point of the plurality of sampling points whose first difference is greater than the second threshold.
That is, taking a first sampling point of the plurality of sampling points as an example, if the first difference of the first sampling point is greater than the second threshold, the interference processing apparatus may determine that there is interference at the first sampling point, that is, the target sampling point includes the first sampling point; the interference processing apparatus may determine that there is no interference at the first sampling point if the first difference of the first sampling point is less than or equal to the second threshold. Optionally, if the first difference of the first sampling point is greater than or equal to the second threshold, the interference processing apparatus may determine that interference exists in the first sampling point.
For example: taking as an example that the first difference between the sampling points included in the first signal and each sampling point is shown in the following table, as can be seen from the table, sampling point 4, sampling point 5, and sampling point 6 are target sampling points.
It should be noted that, the first signal is only schematically shown in the table one to include 10 sampling points, i.e., sampling point 1 to sampling point 10, and the first difference value at each sampling point, but the embodiment of the present application is not limited thereto, and during the actual use, the target sampling point may be determined according to the actual value and referring to the manner shown in the table one.
By adopting the interference processing method provided by the embodiment of the application, the target sampling point with interference is further judged by comparing the first difference value of each sampling point with the preset second threshold, so that the judgment granularity of interference processing can be improved, and the accuracy of the interference processing is improved.
Optionally, after S340, the method 300 may further include S350.
S350, the interference processing apparatus performs interference rejection processing on the first signal based on the target sampling point.
In a possible implementation manner, the interference processing device may locate the at least one target sampling point based on the index of the target sampling point, and modify the interference value of the target sampling point from the first signal to perform the anti-interference processing.
For example: the interference processing device can adopt the sampling values corresponding to part or all of the sampling points without interference to reconstruct the sampling values of the target sampling points so as to realize the anti-interference processing of the target sampling points.
Therefore, by adopting the interference processing method provided by the embodiment of the application, the anti-interference processing is performed on the target sampling point in the first signal, and the sampling value of the target sampling point in the first signal can be reconstructed, so that the interference is reduced as much as possible, and the reliability of detection is improved.
Optionally, the first signal may be a time domain signal or a frequency domain signal, which is not limited in this embodiment of the application.
In a possible implementation manner, when the first signal is a time domain signal, cross slope interference can be suppressed based on the above-mentioned S310 to S350.
In another possible implementation manner, when the first signal is a frequency domain signal, the co-slope interference may be suppressed based on the above S310 to S350.
In yet another possible implementation manner, the first signal suppresses cross slope interference in the time domain based on the above S310 to S350; and then converted to the frequency domain to suppress the co-slope interference based on the above-mentioned S310 to S350.
It should be noted that, in the embodiment of the present application, the first signal may be converted from a time-domain signal to a frequency-domain signal by a (one-dimensional) Fast Fourier Transform (FFT) conversion.
Optionally, after S350, the method 300 may further include performing subsequent processing based on the interference-immune processed first signal.
In one possible implementation manner, the interference processing device performs target detection based on the first signal after the interference resistance processing.
By adopting the interference processing method provided by the embodiment of the application, the target detection is carried out based on the first signal after the anti-interference processing, and the target detection rate is favorably improved.
Fig. 4 shows an interference processing method 400 provided in the embodiment of the present application, and as shown in fig. 4, the method 400 may be applied to the application scenario shown in fig. 1, may be applied to the detection device 200 shown in fig. 2, and is executed by the interference processing apparatus 230 in the system 200. Illustratively, the detection device is an FMCW radar, as shown in FIG. 4, the method 400 may include the following steps S401 to S411.
S401, a j signal is obtained, wherein the j signal comprises N sampling points, and N is an integer larger than 1. The jth signal is a signal in the jth period (chirp) of the first digital signal. The first digital signal is a digital signal obtained by performing analog-to-digital conversion on a received signal of the detection device, and is, for example, a frame digital signal. The first digital signal comprises M periodic (chirp) signals which respectively correspond to the jth signal, wherein j is more than or equal to 1 and less than or equal to M.
S402, normalizing the energy value of each of the N sampling points.
And S403, determining the energy value variance of the j signal after the energy value normalization processing.
S404, determine whether the variance of the energy value is greater than a preset threshold 1? If yes, go to S405; if not, after j is executed to j +1, S401 is executed.
S405, calculating a square value of a first modulus corresponding to the ith sampling point in the N sampling points, wherein the first modulus is an absolute value of a difference value between an energy value of the ith sampling point in the N sampling points and an energy mean value of the jth signal.
S406, is the square greater than a preset threshold of 2? If yes, executing S407; if not, go to step S408.
And S407, marking the ith sampling point as a sampling point with interference.
S408, judging that i is more than or equal to N? If yes, executing S409; if not, after i is executed to i +1, S405 is executed.
And S409, performing anti-interference processing on all sampling points marked as interference, and finishing the interference processing of the current jth signal.
S410, judging j to be more than or equal to M? If so, interfering with all flow results; if not, after j is executed to j +1, S401 is executed.
It should be noted that S403 to S410 may be performed only in the time domain; alternatively, only in the frequency domain; or, the processing is performed in the time domain first and then in the frequency domain, which is not limited in the embodiment of the present application.
The interference processing method provided by the embodiment of the present application is described with reference to fig. 3 and 4, and an interference processing apparatus for performing the interference processing method described above will be described with reference to fig. 5 and 6.
It should be noted that the interference processing apparatus may be the interference processing apparatus described in the embodiment of the method 300, and may be capable of executing the method executed by the interference processing apparatus in the method 300; alternatively, the interference processing apparatus may be the interference processing apparatus described in the embodiment of the method 400, and may be capable of executing the method executed by the interference processing apparatus in the method 400.
It will be appreciated that the interference handling means comprises corresponding hardware and/or software modules for performing the respective functions in order to implement the above-described functions. The present application is capable of being implemented in hardware or a combination of hardware and computer software in conjunction with the exemplary algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, with the embodiment described in connection with the particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the interference processing apparatus may be divided into the functional modules according to the method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module may be implemented in the form of hardware. It should be noted that the division of the modules in this embodiment is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
In the case of dividing each functional module by corresponding functions, fig. 5 shows a schematic diagram of a possible composition of the interference processing apparatus in the above embodiment, and as shown in fig. 5, the apparatus 500 may include: an obtaining unit 510 and a processing unit 520, where the obtaining unit 510 is configured to obtain the first signal or the jth signal in the above method embodiment, and the processing unit 520 may implement the method performed by the interference processing apparatus in the above method embodiment, and/or other processes for the technology described herein.
It should be noted that all relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again.
In case an integrated unit is employed, the apparatus 500 may comprise a processing unit, a storage unit and a communication unit. The processing unit may be configured to control and manage the operation of the apparatus 500, and for example, may be configured to support the apparatus 500 to execute the steps executed by the above units. The memory unit may be used to support the apparatus 500 for executing stored program codes, and/or data, etc. The communication unit may be used to support the communication of the apparatus 500 with other devices.
Wherein the processing unit may be a processor or a controller. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., a combination of one or more microprocessors, a Digital Signal Processing (DSP) and a microprocessor, or the like. The storage unit may be a memory. The communication unit may specifically be a radio frequency circuit, a bluetooth chip, a Wi-Fi chip, or other devices that interact with other electronic devices.
In a possible implementation manner, the interference processing apparatus according to the embodiment of the present application may be an apparatus 600 having a structure shown in fig. 6, where the apparatus 600 includes a processor 610. The related functions performed by the acquisition unit 510 and the processing unit 520 in fig. 5 may be implemented by the processor 610.
Optionally, the apparatus 600 may further comprise a memory 620, and the processor 610 and the memory 620 communicate with each other through an internal connection path. The associated functions implemented by the memory unit in fig. 5 may be implemented by the memory 620.
The embodiment of the present application further provides a computer storage medium, where a computer instruction is stored in the computer storage medium, and when the computer instruction runs on an electronic device, the electronic device is enabled to execute the relevant method steps to implement the interference processing method in the foregoing embodiment.
The embodiment of the present application further provides a computer program product, which when running on a computer, causes the computer to execute the above related steps to implement the interference processing method in the above embodiment.
The embodiment of the present application further provides an interference apparatus, which may specifically be a chip, an integrated circuit, a component, or a module. In particular, the apparatus may comprise a processor and a memory coupled to store instructions, or the apparatus may comprise at least one processor configured to retrieve instructions from an external memory. When the apparatus is running, the processor may execute the instructions to cause the chip to perform the interference processing method in the above-described embodiments of the methods.
Fig. 7 shows a schematic diagram of a chip 700. Chip 700 includes one or more processors 710 and interface circuits 720. Optionally, the chip 700 may further include a bus 730.
Processor 710 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the method 200 may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 710.
Alternatively, the processor 710 may be a general-purpose processor, a Digital Signal Processing (DSP) device, an integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The methods, steps disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The interface circuit 720 may be used for transmitting or receiving data, instructions or information, and the processor 710 may perform processing by using the data, instructions or other information received by the interface circuit 720, and may transmit the processing completion information through the interface circuit 720.
Optionally, the chip further comprises a memory, which may include read only memory and random access memory, and provides operating instructions and data to the processor. The portion of memory may also include non-volatile random access memory (NVRAM).
Optionally, the memory stores executable software modules or data structures, and the processor may perform corresponding operations by calling the operation instructions stored in the memory (the operation instructions may be stored in an operating system).
Alternatively, the chip may be used in the interference processing apparatus, the detection device, or the terminal according to the embodiment of the present application. Optionally, the interface circuit 720 may be used to output the results of the execution by the processor 710. For the interference processing method provided in one or more embodiments of the present application, reference may be made to the foregoing embodiments, which are not described herein again.
It should be noted that the functions corresponding to the processor 710 and the interface circuit 720 may be implemented by hardware design, software design, or a combination of hardware and software, which is not limited herein.
The embodiment of the present application also provides a detection device, which may include a transmitting antenna unit, a receiving antenna unit, and an interference processing apparatus (such as the apparatus 500 described in fig. 5, the apparatus 600 described in fig. 6, or the apparatus 700 described in fig. 7) provided in the embodiment of the present application.
The embodiment of the application further provides a terminal, and the terminal can be a transport tool or an intelligent device, and the transport tool or the intelligent device comprises the detection device.
In a possible implementation, the terminal is a vehicle on which the above-mentioned detection device is incorporated.
It should be noted that the interference processing apparatus, the computer storage medium, the computer program product, the chip or the terminal provided in this embodiment are all configured to execute the corresponding methods provided above, and therefore, the beneficial effects that can be achieved by the interference processing apparatus, the computer storage medium, the computer program product, the chip or the terminal may refer to the beneficial effects in the corresponding methods provided above, and are not described herein again.
It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (20)
1. An interference processing method, comprising:
acquiring a first signal, wherein the first signal comprises a plurality of sampling points;
determining a variance of the first signal based on the energy value of each of the plurality of sampling points;
determining that interference exists in the first signal based on the variance of the first signal and a preset first threshold;
wherein, the first signal is a receiving signal of a first detection device;
the method further comprises the following steps:
and determining target sampling points with the interference based on the first difference value of each sampling point and a preset second threshold, wherein the first difference value of each sampling point is a square value of a first modulus, and the first modulus is an absolute value of a difference value between an energy value of each sampling point and an energy mean value of the first signal.
2. The method of claim 1, wherein the determining that interference is present in the first signal based on the variance of the first signal and a preset first threshold comprises:
determining that the interference exists in the first signal if the variance of the first signal is greater than the first threshold.
3. The method according to claim 1 or 2, wherein determining a target sampling point based on the first difference value of each sampling point and a preset second threshold comprises:
and determining the sampling point of the plurality of sampling points, the first difference of which is greater than the second threshold, as the target sampling point.
4. The method of claim 3, wherein the plurality of sampling points comprises a plurality of the target sampling points.
5. The method according to any one of claims 1, 2, 4, further comprising:
and performing anti-interference processing on the first signal based on the target sampling point.
6. The method of claim 5, further comprising:
and carrying out target detection based on the first signal subjected to the anti-interference processing.
7. The method of any one of claims 1, 2, 4, and 6, wherein determining the variance of the first signal based on the energy value of each of the plurality of sample points comprises:
normalizing the energy value of each sampling point;
and determining the variance of the first signal based on the normalized energy value of each sampling point.
8. The method of any one of claims 1, 2, 4, and 6, wherein the first signal is a time domain signal or a frequency domain signal.
9. An interference processing apparatus comprising a processor configured to,
acquiring a first signal, wherein the first signal comprises a plurality of sampling points;
determining a variance of the first signal based on the energy value of each of the plurality of sampling points;
determining that interference exists in the first signal based on the variance of the first signal and a preset first threshold;
wherein, the first signal is a receiving signal of a first detection device;
the processor is further configured to determine a target sampling point where the interference exists based on a first difference value of each sampling point and a preset second threshold, where the first difference value of each sampling point is a square value of a first modulus, and the first modulus is an absolute value of a difference value between an energy value of each sampling point and an energy mean value of the first signal.
10. The apparatus of claim 9, wherein the processor is specifically configured to,
determining that the interference exists in the first signal if the variance of the first signal is greater than the first threshold.
11. The apparatus of claim 9 or 10, wherein the processor is further configured to determine a sample of the plurality of samples for which the first difference is greater than the second threshold as the target sample.
12. The apparatus of claim 11, wherein the plurality of sampling points comprises a plurality of the target sampling points.
13. The apparatus of any of claims 9, 10, 12, wherein the processor is further configured to,
and performing anti-interference processing on the first signal based on the target sampling point.
14. The apparatus of claim 13, wherein the processor is further configured to,
and carrying out target detection based on the first signal subjected to the anti-interference processing.
15. The apparatus according to any of claims 9, 10, 12, 14, the processor being specifically configured to,
normalizing the energy value of each sampling point;
and determining the variance of the first signal based on the normalized energy value of each sampling point.
16. The apparatus of any one of claims 9, 10, 12, and 14, wherein the first signal is a time domain signal or a frequency domain signal.
17. A chip apparatus comprising at least one processor and interface circuitry, the at least one processor transmitting signals through the interface circuitry, wherein the at least one processor when executing program code or instructions implements the method of any of claims 1 to 8.
18. A terminal, characterized in that it comprises an interference handling device according to any of claims 9 to 16 or comprises a chip device according to claim 17.
19. The terminal of claim 18, wherein the terminal is a vehicle.
20. A computer-readable storage medium for storing a computer program, characterized in that the computer program comprises instructions for implementing the method of any of the preceding claims 1 to 8.
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