CN114755637B - Interference identification method and device - Google Patents

Interference identification method and device Download PDF

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Publication number
CN114755637B
CN114755637B CN202210294360.1A CN202210294360A CN114755637B CN 114755637 B CN114755637 B CN 114755637B CN 202210294360 A CN202210294360 A CN 202210294360A CN 114755637 B CN114755637 B CN 114755637B
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radar
time domain
pulse signal
signal
pilot
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CN114755637A (en
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张军
陶征
王原正
程伟
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Nanjing Hurys Intelligent Technology Co Ltd
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Nanjing Hurys Intelligent Technology Co Ltd
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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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The application provides an interference identification method and device, wherein the method comprises the steps of obtaining working parameters of a radar and compiling the working parameters into first pilot information; processing the first pilot information to obtain a first time domain diagram; dividing the frequency of the pulse signals according to preset frequency, and determining a first signal in the pulse signals, wherein the pulse signals are acquired by a millimeter wave radar antenna array; processing the second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; when no interference exists between the signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram, converting the first pilot information to generate a corresponding pilot pulse signal; and transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.

Description

Interference identification method and device
Technical Field
The application relates to the technical field of radar anti-interference, in particular to an interference identification method and device.
Background
With the wide use of automotive radars, intelligent automobiles can realize obstacle discovery, collision prediction and adaptive cruise control; the millimeter wave radar is little influenced by natural environment and can work all day and night, so that the millimeter wave radar can be used for detecting the distance and providing functions of anti-collision early warning, lane changing assistance, self-adaptive cruise control, blind spot monitoring and the like for the vehicle.
At present, with the wider use of 77GHz vehicle millimeter wave radar, the use quantity of the radar is too high, so that the condition that signals among the radars of various automobiles are easy to interfere with each other is caused.
Disclosure of Invention
In view of the above, the embodiments of the present application provide an interference recognition method and apparatus, so as to solve the problem in the prior art that signals between radars of respective automobiles are easy to interfere with each other.
In order to achieve the above object, the embodiment of the present application provides the following technical solutions:
a first aspect of an embodiment of the present application shows an interference identification method, where the method includes:
acquiring working parameters of a radar, and compiling the working parameters into first pilot information;
processing the first pilot information to obtain a first time domain diagram;
dividing the frequency of a pulse signal according to a preset frequency, and determining a first signal in the pulse signal, wherein the pulse signal is acquired by a millimeter wave radar antenna array;
processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal;
converting the first pilot information to generate a corresponding pilot pulse signal when no interference exists between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram;
and transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
Optionally, the step of dividing the pulse signal according to a preset frequency to determine a first signal in the pulse signal includes:
receiving pulse signals acquired by a millimeter wave radar antenna array;
judging whether signals with frequency smaller than a preset frequency exist in the pulse signals or not;
if the signal is present, a signal with a frequency smaller than a preset frequency in the pulse signal is used as a first signal.
Optionally, the method comprises the following steps:
and when the interference between the signals of the first pilot information and the second pilot information is determined based on the first time domain diagram and the second time domain diagram, adjusting the first pilot information, and executing the step of processing the first pilot information to obtain a first time domain diagram.
Optionally, the transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array simultaneously includes:
combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar;
and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
Optionally, the method further comprises:
judging whether the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram;
if the same wave band does not exist between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that no interference exists between the signals of the first pilot information and the second pilot information;
and if the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that interference exists between signals of the first pilot information and the second pilot information.
A second aspect of an embodiment of the present application shows an interference recognition apparatus, the apparatus comprising:
the radar acquisition unit is used for acquiring working parameters of the radar and compiling the working parameters into first guide information;
the first processing unit is used for processing the first pilot information to obtain a first time domain diagram;
the frequency division filtering unit is used for dividing the frequency of the pulse signals according to preset frequency to determine a first signal in the pulse signals, wherein the pulse signals are acquired by the millimeter wave radar antenna array;
the second processing unit is used for processing the second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal;
a conversion unit, configured to convert the first pilot information to generate a corresponding pilot pulse signal when it is determined that there is no interference between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram;
and the transmitting unit is used for transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
Optionally, the frequency division filtering unit is specifically configured to: receiving pulse signals acquired by a millimeter wave radar antenna array; judging whether signals with frequency smaller than a preset frequency exist in the pulse signals or not; if the signal is present, a signal with a frequency smaller than a preset frequency in the pulse signal is used as a first signal.
Optionally, the method further comprises:
and an adjusting unit configured to adjust the first pilot information when it is determined that there is interference between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram.
Optionally, the transmitting unit is specifically configured to: combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar;
and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
Optionally, the method further comprises:
a determining unit, configured to determine whether the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram; if the same wave band does not exist between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that no interference exists between the signals of the first pilot information and the second pilot information; and if the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that interference exists between signals of the first pilot information and the second pilot information.
Based on the above method and device for identifying interference provided by the embodiment of the application, the method comprises the following steps: acquiring working parameters of a radar, and compiling the working parameters into first pilot information; processing the first pilot information to obtain a first time domain diagram; dividing the frequency of a pulse signal according to a preset frequency, and determining a first signal in the pulse signal, wherein the pulse signal is acquired by a millimeter wave radar antenna array; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; converting the first pilot information to generate a corresponding pilot pulse signal when no interference exists between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram; and transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time. In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a radar system according to an embodiment of the present application;
fig. 2 is a flow chart of an interference identification method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a frequency division filtering architecture according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an interference identification architecture according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an interference recognition device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of another interference recognition device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but 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," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects 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. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
In the present disclosure, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Referring to fig. 1, which is a schematic diagram of the architecture of a radar system according to an embodiment of the present application, the radar system 10 includes a millimeter wave radar antenna array 20 and a processor 30.
Millimeter-wave radar antenna array 20 is coupled to processor 30.
The millimeter wave radar antenna array 20 is used for receiving the pilot information emitted by the millimeter wave radar of other vehicles and converting the pilot information into a pilot pulse signal for emission; and transmitting radar pulse signals according to a preset period, and receiving radar pulse signals reflected by the barrier based on the transmitted radar pulse signals.
It should be noted that the preset period is set empirically or through multiple experiments.
The radar system shown based on the embodiment of the application specifically realizes the interference recognition process as follows:
the processor 30 acquires the working parameters of each radar in the radar antenna array 20 and compiles the working parameters into first pilot information; processing the first pilot information to obtain a first time domain diagram; dividing the frequency of a pulse signal according to a preset frequency, and determining a first signal in the pulse signal, wherein the pulse signal is acquired by a millimeter wave radar antenna array; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; converting the first pilot information to generate a corresponding pilot pulse signal when no interference exists between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram; the pilot pulse signal and the radar pulse signal of the radar are transmitted simultaneously through the millimeter wave radar antenna array 20.
The first preamble information and the second preamble information refer to millimeter wave radar parameter information, and specifically include frequency information, phase information, bandwidth information, and the like of the millimeter wave radar. The interference between radars can be effectively avoided through the first pilot information and the second pilot information, and the purpose of mutually identifying the respective parameters of the millimeter wave radars is achieved.
In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Based on the radar system shown in the above embodiment of the present application, the embodiment of the present application correspondingly discloses an interference identification method, where the method is applied to the radar system, as shown in fig. 2, and is a schematic flow diagram of an interference identification method shown in the embodiment of the present application, and the method includes:
step S201: and acquiring the working parameters of the radar, and compiling the working parameters into first guide information.
In the specific implementation process of step S201, working parameters of the radar are acquired, and the working parameters are subjected to information coding and channel coding to compile corresponding first pilot information
Step S202: and processing the first pilot information to obtain a first time domain diagram.
It should be noted that, the specific implementation step S202 processes the first pilot information to obtain a first time domain diagram, and includes the following steps:
step S11: and demodulating the first pilot information to obtain a corresponding first parameter.
In the specific implementation process of step S11, digital demodulation is performed on the first preamble, and channel decoding and source decoding are performed on the demodulated first preamble, so as to obtain a first parameter.
The first parameter includes a window function and a function of the signal in a time domain.
Step S12: and carrying out Fourier transform (STFT) on the basis of the first parameter to obtain a first frequency domain function.
In the specific implementation process of step S12, the window function and the function of the signal in the time domain are substituted into the formula (1) to perform short-time fourier transform, so as to obtain a first frequency domain function, that is, the fourier transform is performed by continuously moving the window function, and finally, a result of the short-time fourier transform is obtained.
Formula (1):
where w (t- τ) is a window function centered at t=τ. x (t) is a function of the signal in the time domain, w (t- τ) is expressed as t=The window function with τ as the center (for small-to-small analysis of x (t)), the time domain x (t) within the window function is preserved, the others are discarded, and the preserved x (t) is fourier transformed to change the function of the time domain into the frequency domain. S (ω, τ) is a first frequency domain function,is a common formula for fourier transforms.
The equation is a short-time fourier transform, and is slightly different from the fourier transform, i.e., the window function w (t—τ) is increased.
Step S13: and converting the first frequency domain function to generate a first time domain diagram corresponding to the first pilot information.
In the specific implementation process of step S13, the first frequency domain function obtained in the above formula (1) is converted into a first time domain diagram.
It should be noted that the first time domain diagram is used to record the change of the signal with the change of time.
Step S203: dividing the frequency of the pulse signals according to a preset frequency to determine a first signal in the pulse signals.
In step S203, the pulse signal is acquired by a millimeter wave radar antenna array.
It should be noted that, the process of implementing step S203 specifically includes the following steps:
step S21: and receiving pulse signals acquired by the millimeter wave radar antenna array.
In the specific implementation process of step S21, the digital signal obtained by the millimeter wave radar antenna array is received through a receiving channel, and the digital signal is converted into an analog signal, so as to obtain a pulse signal.
Step S22: judging whether signals smaller than a preset frequency exist in the pulse signals, if yes, executing step S23, and if yes, executing step S24.
In the specific implementation of step S22, the pulse signal is subjected to frequency division filtering by a preset frequency, that is, low-pass filtering and high-pass filtering are performed on the pulse signal, if it is determined that a signal smaller than the preset frequency exists, step S23 is performed, and if it is determined that a signal greater than or equal to the preset frequency exists, step S24 is performed.
It should be noted that the preset frequency is set according to multiple experiences or experiments, for example, may be set to 30GHZ.
Step S23: and taking the signal with the frequency smaller than the preset frequency in the pulse signal as a first signal.
In the specific implementation of step S23, the pulse signal with the frequency smaller than the preset frequency is extracted as the first signal, that is, the pulse signal with the frequency smaller than the preset frequency is determined as the first signal by low-pass filtering the pulse signal, as shown in fig. 3.
Step S24: and taking a signal with the frequency larger than or equal to a preset frequency in the pulse signals as a radar signal.
In the specific implementation of step S24, the pulse information with the frequency greater than or equal to the preset frequency is extracted as the radar signal, that is, the pulse signal with the frequency greater than or equal to the preset frequency is determined as the radar signal by performing high-pass filtering on the pulse signal, as shown in fig. 3.
As shown in fig. 3, an architecture diagram of the low-pass filtering and the high-pass filtering of the pulse signal to obtain the first signal and the radar signal is shown.
Optionally, after the signal with the frequency greater than or equal to the preset frequency in the pulse signal is used as the radar signal, the method further includes:
the processor carries out digital beam DBF processing on the received radar pulse signals, then detects pulse pressure processing, carries out Fourier transform FFT on the processed signals to obtain corresponding frequency domain functions, carries out constant false alarm processing, and determines the distance between the obstacle and the vehicle, the speed of the vehicle and the angle between the vehicle and the obstacle.
And carrying out data caching, MTD processing, amplitude calculation, non-coherent accumulation and original point trace extraction on the reflected radar pulse signals so as to determine the distance between the obstacle and the vehicle, the speed of the vehicle and the angle between the vehicle and the obstacle.
Step S204: and processing the second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal.
It should be noted that, specifically implementing step S204 to process the second pilot information in the first signal, a process of obtaining a second time domain diagram corresponding to the first signal includes:
step S31: and demodulating the second pilot information in the first signal to obtain a corresponding second parameter.
Step S32: and carrying out Fourier transform (STFT) based on the second parameter to obtain a second frequency domain function.
Step S33: and converting the second frequency domain function to generate a second time domain diagram corresponding to the second pilot information.
It should be noted that the implementation procedure of step S31 to step S33 is the same as the specific implementation procedure of step S11 to step S13, and can be seen from each other.
The first time domain map and the second time domain map may be converted not only into a time domain map but also into a time-frequency map, a frequency domain map, and the like.
Step S205: determining whether there is interference between the signals of the first and second pilot information based on the first and second time domain maps, performing steps S206 to S207 when it is determined that there is no interference between the signals of the first and second pilot information based on the first and second time domain maps, and performing step S208 when it is determined that there is interference between the signals of the first and second pilot information based on the first and second time domain maps.
In the specific implementation process of step S205, it is determined whether the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram; if the waveforms of the first time domain diagram and the waveforms of the second time domain diagram do not have the same wave bands, determining that no interference exists between the signals of the first pilot information and the second pilot information, that is, no interference exists between the millimeter wave radar antenna array of the radar system and the millimeter wave radar antenna arrays of other radar systems, and executing step S206 to step S207; if the same wave band exists between the waveforms of the first time domain diagram and the waveforms of the second time domain diagram, it is determined that interference exists between the signals of the first preamble information and the second preamble information, that is, interference exists between the millimeter wave radar antenna array of the radar system and the millimeter wave radar antenna arrays of other radar systems, and step S208 is performed.
Step S206: and converting the first pilot information to generate a corresponding pilot pulse signal.
In the specific implementation process of step S206, the first pilot information is subjected to information encoding and channel encoding, and then is subjected to digital modulation to obtain a corresponding pilot pulse signal.
Step S207: and transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
It should be noted that, the process of transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array in step S207 is specifically implemented, and the method includes the following steps:
step S41: and combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar.
In the specific implementation of step S41, since the frequencies of the pilot pulse signal and the radar pulse signal are different, the pilot pulse signal and the radar pulse signal of the radar are combined according to the corresponding frequency band based on the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar.
Step S42: and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
In the specific implementation process of step S42, the combined pilot pulse signal and the radar pulse signal of the radar are transmitted to the millimeter wave radar antenna array through a transmitting channel, so as to be transmitted to radar systems of other vehicles through the millimeter wave radar antenna array.
Step S208: and adjusting the first pilot information.
In the specific implementation process of step S208, the signal frequency in the first pilot information is adjusted, that is, the first pilot information is subjected to pulse modulation, and processing is performed based on the adjusted pilot information, that is, the step S208 is executed in a return manner.
Optionally, another way of adjusting the pilot information is further included, specifically: and optimizing parameters of the first pilot information according to a preset cost function to obtain optimized first pilot information.
Correspondingly, based on the interference recognition method shown in the embodiment of the application, the application also correspondingly shows an application structure diagram of the interference recognition, as shown in fig. 4.
In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Corresponding to the interference recognition method shown in the above embodiment of the present application, the embodiment of the present application also correspondingly shows an interference recognition device, as shown in fig. 5, which is a schematic structural diagram of an interference recognition device shown in the embodiment of the present application, where the device includes:
the acquiring unit 501 is configured to acquire an operating parameter of the radar, and compile the operating parameter into first pilot information.
The first processing unit 502 is configured to process the first preamble information to obtain a first time domain diagram.
The frequency division filtering unit 503 is configured to divide the pulse signals according to a preset frequency, and determine a first signal in the pulse signals, where the pulse signals are acquired by the millimeter wave radar antenna array.
And a second processing unit 504, configured to process the second pilot information in the first signal, and obtain a second time domain diagram corresponding to the first signal.
A converting unit 505, configured to convert the first pilot information to generate a corresponding pilot pulse signal when it is determined that there is no interference between the signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram.
And a transmitting unit 506, configured to transmit the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
It should be noted that, the specific principle and the implementation process of each unit in the interference recognition device disclosed in the above embodiment of the present application are the same as those of the interference recognition method shown in the above embodiment of the present application, and reference may be made to corresponding parts in the interference recognition method disclosed in the above embodiment of the present application, and no redundant description is given here.
In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Optionally, based on the interference recognition device shown in the foregoing embodiment of the present application, the frequency division filtering unit 503 is specifically configured to: receiving pulse signals acquired by a millimeter wave radar antenna array; judging whether signals with frequency smaller than a preset frequency exist in the pulse signals or not; if the signal is present, a signal with a frequency smaller than a preset frequency in the pulse signal is used as a first signal.
Optionally, based on the interference recognition device shown in the foregoing embodiment of the present application, referring to fig. 6 in conjunction with fig. 5, the interference recognition device further includes:
an adjusting unit 507, configured to adjust the first pilot information when it is determined that there is interference between the signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram.
A determining unit 508, configured to determine whether the same band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram; if the same wave band does not exist between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that no interference exists between the signals of the first pilot information and the second pilot information; and if the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that interference exists between signals of the first pilot information and the second pilot information.
In the embodiment of the application, the pulse signals are divided according to the preset frequency, and the first signal in the pulse signals is determined; processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal; processing a piece of pilot information corresponding to the working parameters of the device to obtain a first time domain diagram; and judging whether interference exists between the radars or not by the two time-frequency diagrams, if so, adjusting the first pilot information and reprocessing. The method can avoid the problem of mutual interference of the radars, so that the millimeter wave radars of multiple users can be kept in an optimal state, and the working efficiency is improved.
Optionally, based on the interference recognition device shown in the foregoing embodiment of the present application, the transmitting unit 506 is specifically configured to: combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar;
and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system 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.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software 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, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A method of interference identification, the method comprising:
acquiring working parameters of a radar, and compiling the working parameters into first pilot information;
processing the first pilot information to obtain a first time domain diagram;
dividing the frequency of a pulse signal according to a preset frequency, and determining a first signal in the pulse signal, wherein the pulse signal is acquired by a millimeter wave radar antenna array;
processing second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal;
judging whether interference exists between signals of the first pilot information and the second pilot information or not based on the first time domain diagram and the second time domain diagram;
if interference exists, the first pilot information is adjusted, and the first pilot information is returned to be processed, so that a first time domain diagram is obtained;
if no interference exists, converting the first pilot information to generate a corresponding pilot pulse signal;
and transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
2. The method of claim 1, wherein dividing the pulse signal by a predetermined frequency to determine a first signal of the pulse signal comprises:
receiving pulse signals acquired by a millimeter wave radar antenna array;
judging whether signals with frequency smaller than a preset frequency exist in the pulse signals or not;
if the signal is present, a signal with a frequency smaller than a preset frequency in the pulse signal is used as a first signal.
3. The method of claim 1, wherein the transmitting the pilot pulse signal and the radar pulse signal of the radar simultaneously through the millimeter wave radar antenna array comprises:
combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar;
and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
4. The method as recited in claim 1, further comprising:
judging whether the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram;
if the same wave band does not exist between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that no interference exists between the signals of the first pilot information and the second pilot information;
and if the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that interference exists between signals of the first pilot information and the second pilot information.
5. An interference identification device, the device comprising:
the radar acquisition unit is used for acquiring working parameters of the radar and compiling the working parameters into first guide information;
the first processing unit is used for processing the first pilot information to obtain a first time domain diagram;
the frequency division filtering unit is used for dividing the frequency of the pulse signals according to preset frequency to determine a first signal in the pulse signals, wherein the pulse signals are acquired by the millimeter wave radar antenna array;
the second processing unit is used for processing the second pilot information in the first signal to obtain a second time domain diagram corresponding to the first signal;
an adjusting unit, configured to adjust the first pilot information when it is determined that there is interference between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram, and return to trigger the first processing unit;
a conversion unit, configured to convert the first pilot information to generate a corresponding pilot pulse signal when it is determined that there is no interference between signals of the first pilot information and the second pilot information based on the first time domain diagram and the second time domain diagram;
and the transmitting unit is used for transmitting the pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array at the same time.
6. The apparatus of claim 5, wherein the frequency division filtering unit is specifically configured to: receiving pulse signals acquired by a millimeter wave radar antenna array; judging whether signals with frequency smaller than a preset frequency exist in the pulse signals or not; if the signal is present, a signal with a frequency smaller than a preset frequency in the pulse signal is used as a first signal.
7. The apparatus according to claim 5, wherein the transmitting unit is specifically configured to: combining the pilot pulse signal and the radar pulse signal of the radar according to the frequency of the pilot pulse signal and the frequency of the radar pulse signal of the radar;
and transmitting the combined pilot pulse signal and the radar pulse signal of the radar through the millimeter wave radar antenna array.
8. The apparatus as recited in claim 5, further comprising:
a determining unit, configured to determine whether the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram; if the same wave band does not exist between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that no interference exists between the signals of the first pilot information and the second pilot information; and if the same wave band exists between the waveform of the first time domain diagram and the waveform of the second time domain diagram, determining that interference exists between signals of the first pilot information and the second pilot information.
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