CN115508789B - Self-adaptive anti-signal mutual interference method and system for automobile radar - Google Patents
Self-adaptive anti-signal mutual interference method and system for automobile radar Download PDFInfo
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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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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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
- 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
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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
- 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
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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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
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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
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Abstract
The present disclosure relates to the technical field of automatic driving of automobiles, and provides an automobile radar self-adaptive signal interference resisting method and system, wherein the signal interference resisting method comprises the following steps: receiving an external interference signal through a radar single receiving mode; comparing the interference signal power spectrum with the theoretical echo signal power spectrum to judge the interference level; when the interference level is judged to exceed the set interference threshold, the short-time Fourier transform is utilized to calculate the initial frequency and the time-frequency slope of the interference signal, so that the optimal parameter switching strategy is determined, and the radar signal parameters are adaptively switched. Under the condition that other radar signals interfere, the automobile radar adopts a passive receiving mode to detect and evaluate the signal environment, and self-adaptively judges and switches signal parameters according to the real-time condition of the interference signals, so that the low false alarm rate and the low false alarm rate are maintained in the radar interference environment, and the stability and the reliability of the automobile radar are improved.
Description
Technical Field
The disclosure relates to the technical field of automobile automatic driving, in particular to an automobile radar self-adaptive signal interference resisting method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Along with the continuous improvement of the requirements of automobiles on active safety, the installation and the use amount of various automobile radars are larger and larger, and the automobile radars are independently selected in terms of parameter use due to the lack of a unified coordination mechanism. Although the radar parameter space capacity is large, similar radar signals in the time domain, the space domain and the frequency domain have mutual interference. As shown in fig. 5, a radar signal propagation schematic diagram is shown, the radar of the vehicle may interfere with the radar of the surrounding vehicle and be interfered by the radar signal of the surrounding vehicle, and the mutual interference may cause serious degradation of the reliability of the radar of the vehicle, thereby causing a driving safety accident of the vehicle.
Disclosure of Invention
In order to solve the above problems, the disclosure provides an adaptive anti-signal mutual interference method and system for an automotive radar, which can solve the problem of mutual interference of automotive radar, and can solve the problem of mutual interference of radar signals caused by lack of a mutual coordination mechanism for the automotive radar in a Frequency Modulation Continuous Wave (FMCW) system, and provides an adaptive radar signal parameter switching method for reducing the effect of mutual interference.
In order to achieve the above purpose, the present disclosure adopts the following technical scheme:
One or more embodiments provide an adaptive anti-signal mutual interference method for an automotive radar, including the steps of:
Receiving an external interference signal through a radar single receiving mode;
comparing the interference signal power spectrum with the theoretical echo signal power spectrum to judge the interference level;
And when the interference level exceeds the set interference threshold, calculating interference parameters by utilizing short-time Fourier transformation, thereby determining an optimal parameter switching strategy and adaptively switching radar signal parameters.
One or more embodiments provide an automotive radar adaptive anti-signal-interaction system, comprising:
the signal acquisition module: configured to receive an external interference signal through a radar single reception mode;
and an interference judging module: is configured to compare the interference signal power spectrum with the theoretical echo signal power spectrum to determine an interference level;
the radar parameter switching module: is configured to calculate interference parameters using a short-time fourier transform when the interference level is determined to exceed a set interference threshold, thereby determining an optimal parameter switching strategy to adaptively switch radar signal parameters.
An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the method described above.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the method described above.
Compared with the prior art, the beneficial effects of the present disclosure are:
According to the anti-mutual interference method, under the condition that the automobile radar is interfered by other radar signals, the signal environment is detected and evaluated in a passive receiving mode, and the signal parameters are judged and switched in a self-adaptive mode according to the real-time condition of the interference signals, so that the false alarm rate and the false alarm rate are kept low under the radar interference environment, and the stability and the reliability of the automobile radar are improved.
The advantages of the present disclosure, as well as those of additional aspects, will be described in detail in the following detailed description of embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain and do not limit the disclosure.
Fig. 1 is a flow chart of an adaptive anti-signal mutual interference method of embodiment 1 of the present disclosure;
fig. 2 is a diagram showing a comparison of a radar "single-reception mode" frame and a normal frame reception signal according to embodiment 1 of the present disclosure:
Wherein fig. 2 (a) is a time-frequency diagram of a radar transmission signal of embodiment 1 of the present disclosure;
fig. 2 (b) is a time-frequency diagram of a radar radio frequency reception signal of embodiment 1 of the present disclosure;
fig. 2 (c) is a time-frequency diagram of a radar intermediate frequency reception signal of embodiment 1 of the present disclosure;
FIG. 3 is a schematic diagram of a distance-power spectrum comparison of an interference signal and a theoretical estimated radar-like signal of embodiment 1 of the present disclosure;
fig. 4 is a schematic diagram of four interference conditions and radar signal parameter switching strategies according to embodiment 1 of the present disclosure;
Fig. 5 is a schematic diagram of automotive radar cross-interference in accordance with an embodiment of the present disclosure.
Detailed Description
The disclosure is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present disclosure. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof. It should be noted that, without conflict, the various embodiments and features of the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
Example 1
In one or more embodiments, as shown in fig. 1 to fig. 4, an adaptive anti-signal mutual interference method for an automotive radar includes the following steps:
Step 1, receiving an external interference signal through a radar single-receiving mode;
step 2, comparing the interference signal power spectrum with the theoretical echo signal power spectrum to judge the interference level;
And step 3, calculating the initial frequency and the time-frequency slope of the signal by utilizing short-time Fourier transform when the interference level exceeds the set interference threshold, thereby determining an optimal parameter switching strategy and adaptively switching radar signal parameters.
In this embodiment, an external interference signal that does not include a target echo is obtained through a single-reception mode, and a power spectrum of the external interference is calculated by using fourier transform, so as to determine whether the radar is currently interfered. If the radar signal is judged to be interfered, parameters of the interference signal are calculated by utilizing short-time Fourier transformation, radar signal parameters are switched in a targeted manner, so that the radar can "escape" from an interfered area in a parameter space, the self-adaptive anti-mutual interference of the radar is realized, and the safety of vehicle driving is improved.
In step 1, the single-receiving mode is to control the power amplifier of the transmitting circuit to be periodically turned off in the working process of the automotive radar, and simultaneously control the receiving circuit to be kept on and receive external radio frequency signals.
Further, in the single-reception mode, if the receiving circuit of the radar is connected with an image rejection filter, the image rejection filter is bypassed.
By the single-receiving mode, the received signal does not comprise target echo, the main energy of the target echo is from external interference, and the filtering operation is not carried out on the interference signal, so that the accuracy of receiving the interference signal can be maintained.
In the working process of the radar, a time frame is periodically selected, a power amplifier in a radar transmitting circuit is closed, and only a receiving circuit works normally, so that signals received by the frame are all external interference signals and do not contain target echoes. As shown in fig. 2, fig. 2 (a) is a time-frequency diagram of a radar transmission signal, T represents a transmission period, τ represents a sampling duration, and a dashed line in the diagram represents a transmission signal being turned off; fig. 2 (b) is a time-frequency diagram of a radar radio frequency received signal, wherein a solid line represents a normal echo, and a broken line represents an interference signal; fig. 2 (c) is a time-frequency diagram of a radar intermediate frequency received signal, the solid line represents a normal echo, and the broken line represents an interference signal. The time axes of the three diagrams in fig. 2 are the same, i.e. the sampling period τ in fig. 2 (b) and 2 (c) corresponds up and down to fig. 2 (a).
In step 2, optionally, the method for determining the interference signal power spectrum is as follows:
step 21, preprocessing an interference signal;
Optionally, the preprocessing includes sequentially performing radio frequency amplification, matched filtering, low-pass filtering and analog-to-digital conversion processing;
step 22, calculating the power spectrum of the received interference signal by using the fast Fourier transform;
Step 23, according to the principle of the frequency modulation continuous wave radar, performing equivalent conversion on a frequency axis and a distance axis of a signal power spectrum to obtain a distance-power spectrum of an interference signal, wherein the distance-power spectrum is recorded as P In (R), R is E (0, R), and R represents the maximum unambiguous detection distance of the radar;
In some embodiments, the method for determining the power spectrum of the theoretical echo signal can be obtained by estimating, according to a radar equation, the power of the radar echo at different distances to obtain a distance-power spectrum of the radar target echo, denoted as P Th (r), r e (0, r).
Specifically, according to the radar receiving and transmitting antenna gain, the radar signal wavelength, the filtering gain and the target equivalent scattering area parameter, the power of radar echoes at different distances is estimated according to a radar equation. Wherein, the radar equation is:
Where P t denotes radar transmit power, G t＝Gr denotes antenna gain, λ denotes signal wavelength, σ denotes target equivalent scattering cross-sectional area (rcs), and G I denotes receive channel gain.
In some embodiments, the method for determining the interference level is specifically:
Step 2-1, calculating a difference spectrum at the distance according to an interference signal power spectrum and a theoretical echo signal power spectrum at the same distance;
Step 2-2, when the difference spectrum is larger than zero, judging that the interference area is an interference area, setting an interference threshold, and when the proportion of the interference area in the spectrum exceeds the interference threshold, judging that the interference area is serious interference;
Alternatively, the interference decision threshold may be set to be adjustable between 30% -70%.
The formula for calculating the difference spectrum is:
ΔP(r)＝PIn(r)-PTh(r),r∈(0,R)。
when Δp (r) >0, an interference region is defined, as shown in fig. 3, the interference region is a region where the interference signal power spectrum is greater than the echo power spectrum.
In step 3, when the "severe interference" state is determined, the method for determining the optimal parameter switching strategy includes the following steps:
And 31, performing short-time Fourier transform on the received interference signals, extracting spectrum peak points of each section of interference signals, and calculating corresponding time-frequency slopes.
The short-time Fourier transform method is that interference signals are uniformly truncated into N sections (N is more than or equal to 3) according to time sequence, frequency spectrums of the interference signals are calculated for each section of signals, and frequency points f n corresponding to frequency spectrum peaks of each section are determined, wherein n=1, 2. ;
Specifically, in step 3, the noise parameters of the interference signal include: the signal start frequency is denoted as f 1 and the interference signal time-frequency slope is denoted as sp.
And step 32, performing linear fitting on the peak frequency point sequence { f n, n=1, 2..N } by adopting a least square method to obtain an interference signal time-frequency slope, recording as sp, and determining the radar signal parameters after switching according to the frequency f 1 corresponding to the first section of spectrum peak value and the time-frequency slope sp of the interference signal.
Specifically, when the radar is in a state of being severely interfered, short-time fourier transformation is performed on the received signal, namely, the signal is uniformly divided into N sections (N is more than or equal to 3), the frequency spectrums of the sections are calculated respectively, and the frequency corresponding to the frequency spectrum peak value of each section in an interference area is recorded as f n, n=1, 2.
The method for adaptively switching radar parameters includes the steps of performing linear fitting on a peak frequency point sequence { f n, n=1, 2..N } by using a least square method to obtain an interference signal time-frequency slope sp, and as shown in FIG. 4, the method is as follows:
1) When the frequency f 1 corresponding to the first section of spectrum peak value of the interference signal is not less than zero, and the time-frequency slope sp of the interference signal is not less than zero, the initial frequency of the switched radar signal is reduced by 1 time of intermediate frequency bandwidth B, and the slope of the switched radar signal is as follows: dividing the radar signal propagation speed by the product of twice the radar signal transmission pulse width and the minimum resolvable distance of the radar;
2) When the frequency f 1 corresponding to the first section of spectrum peak value of the interference signal is smaller than zero, and the time-frequency slope sp of the interference signal is not smaller than zero, the initial frequency of the switched radar signal is reduced by 2 times of intermediate frequency bandwidth B, and the slope of the switched radar signal is as follows: dividing the radar signal propagation speed by the product of twice the radar signal transmission pulse width and the minimum resolvable distance of the radar;
3) When the frequency f 1 corresponding to the first section of spectrum peak value of the interference signal is not less than zero, and the time-frequency slope sp of the interference signal is less than zero, the starting frequency of the switched radar signal is increased by 2 times of the intermediate frequency bandwidth B, and the slope of the switched radar signal is as follows: the product of the radar signal propagation speed multiplied by the signal sampling rate is divided by twice the radar detection maximum unambiguous distance;
4) When the frequency f 1 corresponding to the first section of spectrum peak value of the interference signal is smaller than zero, and the time-frequency slope sp of the interference signal is smaller than zero, the initial frequency of the switched radar signal is increased by 1 time of the intermediate frequency bandwidth B, and the slope of the switched radar signal is as follows: the product of the radar signal propagation speed multiplied by the signal sampling rate is divided by twice the radar detection maximum unambiguous distance;
the parameter switching is as follows:
f' 0＝F0 -B if F 1 is not less than 0 and sp is not less than 0,
If F 1 <0, sp > 0, F' 0＝F0 -2B,
If F 1 is greater than or equal to 0, sp <0, F' 0＝F0 +2B,
If F 1 <0, sp <0, then F' 0＝F0 +B,
Wherein, F 0 represents the initial frequency of the radar signal before switching, F '0 represents the initial frequency after switching the radar parameters, B represents the intermediate frequency bandwidth of the receiving channel, k' represents the slope of the radar signal after switching, c represents the signal propagation speed, T represents the pulse width of the radar signal emission, F s represents the signal sampling rate, Δr represents the minimum resolvable distance of the radar, and R max represents the maximum unambiguous distance of radar detection.
Example 2
Based on embodiment 1, in this embodiment, an adaptive anti-signal mutual interference system for an automotive radar is provided, including:
the signal acquisition module: configured to receive an external interference signal through a radar single reception mode;
and an interference judging module: is configured to compare the interference signal power spectrum with the theoretical echo signal power spectrum to determine an interference level;
the radar parameter switching module: is configured to calculate interference parameters using a short-time fourier transform when the interference level is determined to exceed a set interference threshold, thereby determining an optimal parameter switching strategy to adaptively switch radar signal parameters.
Here, the modules in this embodiment are in one-to-one correspondence with the steps in embodiment 1, and the implementation process is the same, which is not described here.
Example 3
The present embodiment provides an electronic device comprising a memory and a processor, and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps recited in the method of embodiment 1.
Example 4
The present embodiment provides a computer readable storage medium storing computer instructions that, when executed by a processor, perform the steps of the method of embodiment 1.
The foregoing description of the preferred embodiments of the present disclosure is provided only and not intended to limit the disclosure so that various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
While the specific embodiments of the present disclosure have been described above with reference to the drawings, it should be understood that the present disclosure is not limited to the embodiments, and that various modifications and changes can be made by one skilled in the art without inventive effort on the basis of the technical solutions of the present disclosure while remaining within the scope of the present disclosure.
Claims (9)
1. An adaptive anti-signal mutual interference method for an automotive radar is characterized by comprising the following steps:
Receiving an external interference signal through a radar single receiving mode;
comparing the interference signal power spectrum with the theoretical echo signal power spectrum to judge the interference level;
When the interference level is judged to exceed the set interference threshold, calculating the initial frequency and the time-frequency slope of the interference signal by utilizing short-time Fourier transform, thereby determining an optimal parameter switching strategy and adaptively switching radar signal parameters;
the method for determining the power spectrum of the theoretical echo signal is obtained through estimation, and according to a radar equation, the power of radar echoes at different distances is estimated theoretically to obtain the distance-power spectrum of the radar target echo;
The method for judging the interference level comprises the following steps:
calculating a difference spectrum at the distance according to the interference signal power spectrum and the theoretical echo signal power spectrum at the same distance;
when the difference spectrum is larger than zero, determining that the interference area is an interference area, setting an interference threshold, and when the proportion of the interference area in the spectrum exceeds the interference threshold, determining that the interference area is serious interference;
The method for determining the optimal parameter switching strategy comprises the following steps:
Performing short-time Fourier transform on the received interference signal, uniformly dividing the interference signal into N sections, respectively calculating the frequency spectrum of each section for each section, and determining the frequency corresponding to the frequency spectrum peak value of each section;
and carrying out linear fitting on the frequency corresponding to each section of spectrum peak value by adopting a least square method to obtain the time-frequency slope of the interference signal, and determining radar signal parameters according to the frequency corresponding to the first section of spectrum peak value and the time-frequency slope of the interference signal.
2. The automotive radar adaptive signal-immunity method of claim 1, wherein: the single-receiving mode is as follows: the method comprises the steps of controlling an automobile radar to periodically turn off a power amplifier of a transmitting circuit in the working process, and simultaneously controlling a receiving circuit to keep on and receive an external radio frequency signal;
in the single-reception mode, if an image rejection filter is arranged in a connection, a receiving circuit of the radar bypasses the image rejection filter.
3. The automotive radar adaptive signal-immunity method of claim 1, wherein:
the method for determining the interference signal power spectrum comprises the following steps:
Preprocessing an interference signal;
Calculating a power spectrum of the received interference signal using a fast fourier transform;
And (3) performing equivalent conversion on a frequency axis and a distance axis of the signal power spectrum according to the frequency modulation continuous wave radar principle to obtain a distance-power spectrum of the interference signal.
4. A method for adaptive signal immunity of automotive radar as defined in claim 3, wherein: the preprocessing of the interference signal comprises the sequential amplification, matched filtering, low-pass filtering and analog-to-digital conversion processing.
5. The automotive radar adaptive signal-immunity method of claim 1, wherein: the interference decision threshold is set to be adjustable between 30% -70%.
6. The automotive radar adaptive signal-immunity method of claim 1, wherein:
the method for adaptively switching the radar parameters comprises the following steps:
when the frequency corresponding to the first section of frequency spectrum peak value of the interference signal is not less than zero, and the time-frequency slope of the interference signal is not less than zero, the starting frequency of the switched radar signal is shifted by-B;
when the frequency corresponding to the first section of frequency spectrum peak value of the interference signal is smaller than zero, and the time-frequency slope of the interference signal is not smaller than zero, the starting frequency of the switched radar signal is shifted by-2B;
When the frequency corresponding to the first section of frequency spectrum peak value of the interference signal is not less than zero, and the time-frequency slope of the interference signal is less than zero, the starting frequency of the switched radar signal is shifted by +2B;
When the frequency corresponding to the first section of frequency spectrum peak value of the interference signal is smaller than zero, and the time-frequency slope of the interference signal is smaller than zero, the starting frequency of the switched radar signal moves +B;
Where B represents the receive channel intermediate frequency bandwidth.
7. An automotive radar adaptive signal immunity system, comprising:
the signal acquisition module: configured to receive an external interference signal through a radar single reception mode;
and an interference judging module: is configured to compare the interference signal power spectrum with the theoretical echo signal power spectrum to determine an interference level;
The radar parameter switching module: the system comprises a radar signal parameter switching module, a parameter switching module and a radar signal switching module, wherein the radar signal switching module is configured to determine an optimal parameter switching strategy by calculating the initial frequency and the time-frequency slope of an interference signal by utilizing short-time Fourier transform when judging that the interference level exceeds a set interference threshold;
the method for determining the power spectrum of the theoretical echo signal is obtained through estimation, and according to a radar equation, the power of radar echoes at different distances is estimated theoretically to obtain the distance-power spectrum of the radar target echo;
The method for judging the interference level comprises the following steps:
calculating a difference spectrum at the distance according to the interference signal power spectrum and the theoretical echo signal power spectrum at the same distance;
when the difference spectrum is larger than zero, determining that the interference area is an interference area, setting an interference threshold, and when the proportion of the interference area in the spectrum exceeds the interference threshold, determining that the interference area is serious interference;
The method for determining the optimal parameter switching strategy comprises the following steps:
Performing short-time Fourier transform on the received interference signal, uniformly dividing the interference signal into N sections, respectively calculating the frequency spectrum of each section for each section, and determining the frequency corresponding to the frequency spectrum peak value of each section;
and carrying out linear fitting on the frequency corresponding to each section of spectrum peak value by adopting a least square method to obtain the time-frequency slope of the interference signal, and determining radar signal parameters according to the frequency corresponding to the first section of spectrum peak value and the time-frequency slope of the interference signal.
8. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of the method of any one of claims 1-6.
9. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the method of any of claims 1-6.
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