CN111699409A

CN111699409A - Millimeter wave radar weather detection method, millimeter wave radar and movable platform

Info

Publication number: CN111699409A
Application number: CN201980012181.0A
Authority: CN
Inventors: 鲁洪昊; 饶雄斌; 林立
Original assignee: SZ DJI Technology Co Ltd
Current assignee: Shenzhen Zhuoyu Technology Co ltd
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2020-09-22
Anticipated expiration: 2039-06-26
Also published as: WO2020258065A1; CN111699409B

Abstract

A method of weather detection by a millimeter wave radar (12, 101), a millimeter wave radar (12, 101) and a movable platform (11), the method comprising: obtaining global observation information of a surrounding environment, wherein the global observation information comprises at least one of the following items: a global observation speed, a global observation distance, or a global observation energy (S101); determining feature information of the surrounding environment through the global observation information (S102); the weather state is determined by the characteristic information of the surrounding environment (S103). The weather state can be accurately determined, and the working performance of the sensor system in abnormal weather such as rain, snow and the like is improved.

Description

Millimeter wave radar weather detection method, millimeter wave radar and movable platform

Technical Field

The application relates to computer technology, in particular to a millimeter wave radar weather detection method, a millimeter wave radar and a movable platform.

Background

In recent years, driving assistance and automatic driving have become hot spots of research in the automobile industry. The sensor system is a necessary device for realizing auxiliary driving and automatic driving, wherein a sensor in the sensor system can be a millimeter wave radar, a laser radar, an ultrasonic radar or a camera.

Weather is an important factor affecting the performance of the sensor system, wherein the performance of the sensor system is degraded in abnormal weather such as rain and snow. For example, a video or an image shot by a camera in a rainy day has a part of objects in the video or the image which cannot be detected by the sensor system due to the existence of rain. Therefore, how to determine the current weather state so as to ensure the working performance of the sensor system under abnormal weather such as rain and snow is an urgent technical problem to be solved.

Disclosure of Invention

The embodiment of the application provides a method for weather detection of a millimeter wave radar, the millimeter wave radar and a movable platform, which can determine the current weather state and improve the working performance of a sensor system in abnormal weather such as rain, snow and the like.

In a first aspect, an embodiment of the present application provides a method for weather detection by a millimeter wave radar, where the method includes: obtaining global observation information of a surrounding environment, wherein the global observation information comprises at least one of the following items: global observation speed, global observation distance, or global observation energy; determining feature information of the surrounding environment through the global observation information; and determining the weather state through the characteristic information.

With reference to the first aspect, in a possible implementation manner of the first aspect, the determining, through the global observation information, the feature information of the surrounding environment includes: acquiring a Fast Fourier Transform (FFT) map according to the global observation information; and determining the characteristic information of the surrounding environment through the FFT map.

With reference to the first aspect, in a possible implementation manner of the first aspect, the global observation information includes the global observation speed; the determining the characteristic information of the surrounding environment through the FFT atlas comprises: processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value in a first preset range; and determining the characteristic information of the surrounding environment through the processed FFT atlas.

With reference to the first aspect, in a possible implementation manner of the first aspect, zero observation speed exists within the first preset range.

With reference to the first aspect, in a possible implementation manner of the first aspect, the processing the FFT spectrum to obtain a processed FFT spectrum includes: and removing a first part of the FFT map to obtain the processed FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range.

With reference to the first aspect, in a possible implementation manner of the first aspect, the processing the FFT spectrum to obtain a processed FFT spectrum includes: performing enhancement processing on the FFT map to obtain an enhanced FFT map; and removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

With reference to the first aspect, in a possible implementation manner of the first aspect, the enhancement processing is binarization processing.

With reference to the first aspect, in a possible implementation manner of the first aspect, the global observation information includes the global observation energy; performing enhancement processing on the FFT map to obtain an enhanced FFT map, wherein the enhancement processing comprises the following steps: and updating the value of the FFT map with energy larger than a preset threshold to be a first value, and updating the value of the FFT map with energy smaller than the preset threshold to be a second value to obtain the enhanced FFT map.

With reference to the first aspect, in a possible implementation manner of the first aspect, the preset threshold energy is determined based on a global observation information energy statistical distribution.

With reference to the first aspect, in a possible implementation manner of the first aspect, the preset threshold energy is any energy at which the intensity is 8% to 15% in the energy statistical distribution of the global observation information.

With reference to the first aspect, in a possible implementation manner of the first aspect, the processing the FFT spectrum to obtain a processed FFT spectrum includes: removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range; and performing enhancement processing on the first FFT map to obtain the processed FFT map.

With reference to the first aspect, in a possible implementation manner of the first aspect, the global observation information includes the global observation energy; the enhancing processing of the first FFT spectrum to obtain a processed FFT spectrum includes: and updating the value of the first FFT map which is larger than the preset threshold energy into a first value, and updating the value of the first FFT map which is smaller than the preset threshold energy into a second value to obtain the processed FFT map.

With reference to the first aspect, in a possible implementation manner of the first aspect, the global observation information includes the global observation distance; the determining the characteristic information of the surrounding environment through the processed FFT atlas includes: clustering data points in the processed FFT atlas to obtain at least one point cluster; the data points included in the point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information; and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is characteristic information of the surrounding environment.

With reference to the first aspect, in a possible implementation manner of the first aspect, the obtaining first point cluster information of a first point cluster of the at least one point cluster includes: and acquiring a difference value between a value of the maximum observation distance and a value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

With reference to the first aspect, in a possible implementation manner of the first aspect, the determining a weather state through the feature information of the surrounding environment includes: determining that the weather state is an abnormal state under the condition that target information exists in the point cluster information, wherein the difference value included in the target information is greater than or equal to a preset threshold value; and under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

With reference to the first aspect, in a possible implementation manner of the first aspect, the determining, through the global observation information, feature information of the surrounding environment, and determining, through the feature information, a weather state includes: periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

With reference to the first aspect, in a possible implementation manner of the first aspect, the period of the weather state is determined to be any value between 1 s and 5 s.

With reference to the first aspect, in a possible implementation manner of the first aspect, the acquiring global observation information of a surrounding environment includes: sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data; and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain the global observation information of the surrounding environment.

In a second aspect, an embodiment of the present application provides a movable platform, including: the millimeter wave radar is used for acquiring global observation information of the surrounding environment; the millimeter wave radar is carried on the movable platform, and the global observation information comprises at least one of the following items: global observation speed, global observation distance, or global observation energy; a processor, communicatively coupled to the millimeter wave radar, configured to: determining feature information of the surrounding environment through the global observation information; and determining the weather state through the characteristic information.

With reference to the second aspect, in a possible implementation manner of the second aspect, the processor, when configured to perform the operation of determining the feature information of the surrounding environment through the global observation information, is specifically configured to: acquiring a Fast Fourier Transform (FFT) map according to the global observation information; and determining the characteristic information of the surrounding environment through the FFT map.

With reference to the second aspect, in a possible implementation manner of the second aspect, the global observation information includes the global observation speed; when the processor is configured to perform the operation of determining the feature information of the surrounding environment through the FFT spectrum, the processor is specifically configured to: processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value in a first preset range; and determining the characteristic information of the surrounding environment through the processed FFT atlas.

With reference to the second aspect, in a possible implementation manner of the second aspect, zero observation speed exists within the first preset range.

With reference to the second aspect, in a possible implementation manner of the second aspect, when the processor is configured to perform the operation of processing the FFT map to obtain a processed FFT map, the processor is specifically configured to: and removing a first part of the FFT map to obtain the processed FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range.

With reference to the second aspect, in a possible implementation manner of the second aspect, when the processor is configured to perform the operation of processing the FFT map to obtain a processed FFT map, the processor is specifically configured to: performing enhancement processing on the FFT map to obtain an enhanced FFT map; and removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

With reference to the second aspect, in a possible implementation manner of the second aspect, the enhancement processing is binarization processing.

With reference to the second aspect, in a possible implementation manner of the second aspect, the global observation information includes the global observation energy; when the processor is configured to perform an operation of performing enhancement processing on the FFT map to obtain an enhanced FFT map, the processor is specifically configured to: and updating the value of the FFT map with energy larger than a preset threshold to be a first value, and updating the value of the FFT map with energy smaller than the preset threshold to be a second value to obtain the enhanced FFT map.

With reference to the second aspect, in a possible implementation manner of the second aspect, the preset threshold energy is determined based on a global observation information energy statistical distribution.

With reference to the second aspect, in a possible implementation manner of the second aspect, the preset threshold energy is any energy at which the intensity is 8% to 15% in the energy statistical distribution of the global observation information.

With reference to the second aspect, in a possible implementation manner of the second aspect, when the processor is configured to perform the operation of processing the FFT map to obtain a processed FFT map, the processor is specifically configured to: removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range; and performing enhancement processing on the first FFT map to obtain the processed FFT map.

With reference to the second aspect, in a possible implementation manner of the second aspect, the global observation information includes the global observation energy; when the processor is configured to perform an operation of performing enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum, the processor is specifically configured to: and updating the value of the first FFT map which is larger than the preset threshold energy into a first value, and updating the value of the first FFT map which is smaller than the preset threshold energy into a second value to obtain the processed FFT map.

With reference to the second aspect, in a possible implementation manner of the second aspect, the global observation information includes the global observation distance; when the processor is configured to perform the operation of determining the feature information of the ambient environment through the processed FFT atlas, the processor is specifically configured to: clustering data points in the processed FFT atlas to obtain at least one point cluster; the data points included in the point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information; and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is characteristic information of the surrounding environment.

With reference to the second aspect, in a possible implementation manner of the second aspect, when the processor is configured to perform the operation of obtaining first point cluster information of a first point cluster in the at least one point cluster, the processor is specifically configured to: and acquiring a difference value between a value of the maximum observation distance and a value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

With reference to the second aspect, in a possible implementation manner of the second aspect, the processor, when configured to perform the operation of determining the weather state through the feature information of the surrounding environment, is specifically configured to: determining that the weather state is an abnormal state under the condition that target information exists in the point cluster information, wherein the difference value included in the target information is greater than or equal to a preset threshold value; and under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

With reference to the second aspect, in a possible implementation manner of the second aspect, the processor, when configured to perform the operation of determining the characteristic information of the surrounding environment through the global observation information, and determining the weather state through the characteristic information, is specifically configured to: periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

With reference to the second aspect, in a possible implementation manner of the second aspect, the period of the weather state is determined to be any value between 1 s and 5 s.

With reference to the second aspect, in a possible implementation manner of the second aspect, when the millimeter wave radar is configured to obtain global observation information of a surrounding environment, the millimeter wave radar is specifically configured to: sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data; and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain the global observation information of the surrounding environment.

In a third aspect, an embodiment of the present application provides a millimeter wave radar, including: a memory and a processor; the memory is communicatively coupled to the processor; the memory is used for storing program commands; the processor, configured to implement the method of any one of claims 1-19 when the program instructions are executed.

In a fourth aspect, an embodiment of the present application provides a movable platform, where the millimeter wave radar of the third aspect is mounted on the movable platform.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method described in the first aspect and any possible manner of the first aspect is performed.

In a sixth aspect, an embodiment of the present invention provides a computer program, which, when executed by a computer, is configured to perform the method described in the first aspect and any possible manner of the first aspect. The program may be stored in whole or in part on a storage medium packaged with the processor, or in part or in whole on a storage medium not packaged with the processor. The storage medium is, for example, a memory.

In the application, the characteristic information of the surrounding environment is obtained through the global observation information of the surrounding environment, and then the weather state is obtained according to the characteristic information of the surrounding environment, so that the weather state can be accurately determined, and the working performance of a sensor system in systems for assisting driving or automatic driving and the like under abnormal weather such as rain, snow and the like can be ensured.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 2 is a flowchart of a method for weather detection by a millimeter wave radar according to an embodiment of the present disclosure;

FIG. 3 is a diagram of an FFT map corresponding to a normal weather condition;

FIG. 4 is a diagram of an FFT map corresponding to weather in an abnormal state;

FIG. 5 is a schematic diagram of the FFT atlas of FIG. 3 after enhancement processing;

FIG. 6 is a schematic diagram of the FFT atlas of FIG. 4 after enhancement processing;

FIG. 7 is a schematic diagram of the enhanced FFT atlas of FIG. 5 after being cropped;

FIG. 8 is a schematic diagram of the enhanced FFT atlas of FIG. 6 after being cropped;

fig. 9 is a schematic structural diagram of a millimeter wave radar provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of another movable platform according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The following describes embodiments of the present application with reference to the drawings.

Fig. 1 is a schematic view of an application scenario provided in the embodiment of the present application, and referring to fig. 1, one or more millimeter wave radars 12 are mounted on a movable platform 11. For example, the millimeter wave radar 12 installed in front of the vehicle may be used to detect the situation in front of the vehicle, and implement functions such as following the vehicle and warning, and the millimeter wave radar 12 installed behind the vehicle may be used to detect the situation behind the vehicle, and implement functions such as backing up and parking indication. The millimeter wave radar 12 is configured to obtain global observation information of the surrounding environment, and it should be understood that the global observation information refers to observation information in the entire range that can be detected by the millimeter wave radar 12, and does not directly refer to observation information of all the environments around the vehicle; the global observation information may also be observation information of all the environments around the vehicle if the detection range of the millimeter wave radar 12 can cover all the environments around the vehicle.

Wherein the movable platform may be a vehicle. When the millimeter wave radar acquires global observation information of the surrounding environment, the movable platform can be in a static state or a moving state, which is not limited in the embodiment of the application. The millimeter Wave radar may specifically be a Frequency Modulated Continuous Wave (FMCW) millimeter Wave radar, that is, a millimeter Wave radar that measures a signal of an externally transmitted continuously varying Frequency waveform by a relationship between a transmission signal and an echo signal.

First, a method for weather detection by a millimeter wave radar according to the present application will be described with reference to specific embodiments. Fig. 2 is a flowchart of a method for weather detection by a millimeter wave radar according to an embodiment of the present disclosure. Referring to fig. 2, the method of the present embodiment includes:

step Si01, obtaining global observation information of the surrounding environment, where the global observation information includes at least one of: global observation speed, global observation distance, or global observation energy.

The global observation information of the surrounding environment acquired in this embodiment is global observation information of the surrounding environment acquired by the millimeter wave radar. It is to be understood that the surrounding environment in the present embodiment may be a surrounding environment within the detection range of the millimeter wave radar.

In one approach, obtaining global observation information for a surrounding environment includes: sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data; and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain global observation information of the surrounding environment. In the frequency modulation continuous wave millimeter wave radar, two-dimensional FFT processing can be carried out on a transmitting signal and an echo signal so as to obtain a two-dimensional FFT map, two directions in the two-dimensional FFT map respectively represent an observation speed and an observation distance, and the color depth of each unit represents observation energy. The global observation information of the surrounding environment may be information of all two-dimensional FFT maps that have passed through processing in all detection ranges of the millimeter wave radar. The echo signal corresponding to the surrounding environment is an echo signal generated by reflecting millimeter waves to an object in the surrounding environment; the plurality of sample data may be AD sample data.

The following explains the global observation information.

For global observation speed: the global observed velocity may include an observed velocity of each object in the surrounding environment. The observed speed of an object in the surrounding environment is the speed of the object relative to the millimeter wave radar. Since at least one millimeter wave-reflected region exists on an object in the surrounding environment, each millimeter wave-reflected region corresponds to one observation speed (i.e., the speed of the region relative to the millimeter wave radar), and thus, one object in the surrounding environment corresponds to one or more observation speeds. Particularly, in relation to the resolution of the millimeter wave radar, when the resolution of the millimeter wave radar is high, more reflection areas may exist on one object, and thus, more observation speed results are obtained.

For global observation distance: the global observation distance may include an observation distance of each object in the surrounding environment, the observation distance of the object in the surrounding environment being a distance between the object and the millimeter wave radar. Since at least one region reflecting millimeter waves exists on one object of the surrounding environment, each region reflecting millimeter waves corresponds to one observation distance (i.e., the distance between the region and the millimeter wave radar), and thus, one object of the surrounding environment corresponds to one or more observation distances. Particularly, in relation to the resolution of the millimeter-wave radar, when the resolution of the millimeter-wave radar is high, more reflection areas may exist on one object, and thus, more observation distance results are obtained.

For global observed energy: the global observed energy may include an observed energy of each object in the surrounding environment, where the observed energy of an object in the surrounding environment is a reflected intensity of a millimeter wave by the object. Since at least one region reflecting millimeter waves exists on one object in the surrounding environment, each region reflecting millimeter waves corresponds to one observation energy (i.e., the reflection intensity of the millimeter waves by the region), and thus one object in the surrounding environment corresponds to one or more observation energies. Particularly, in relation to the resolution of the millimeter wave radar, when the resolution of the millimeter wave radar is high, more reflection areas may exist on one object, and thus, more observation energy results are obtained.

And S102, determining the characteristic information of the surrounding environment through the global observation information of the surrounding environment.

The characteristic information of the surrounding environment may be characteristic partial two-dimensional FFT spectrum information in the entire two-dimensional FFT spectrum, or characteristic partial target point information in the entire two-dimensional FFT spectrum.

In one mode, through the global observation information of the surrounding environment, the characteristic information of the surrounding environment can be determined through the following a 1-a 2:

a1, obtaining an FFT map through the global observation information of the surrounding environment.

Under the condition that the global observation information comprises a global observation distance, a global observation speed and a global observation energy, a two-dimensional FFT (fast Fourier transform) map can be obtained through the global observation information of the surrounding environment, the two directions in the two-dimensional FFT map respectively represent the observation speed and the observation distance, and the color depth of each unit represents the observation energy. For example, the observation distance corresponding to the region a on the object a in the surrounding environment is S, and the observation speed corresponding to the region a is V, then the color depth at the data point on the FFT map determined by S and V is determined by the observation energy corresponding to the region a.

and a2, determining the characteristic information of the surrounding environment through an FFT map.

Before explaining the determination of the characteristic information of the surrounding environment by the FFT map, a principle of being able to determine the characteristic information of the surrounding environment using the FFT map will be explained first.

Fig. 3 is a schematic diagram of an FFT map corresponding to weather in a normal state. Normal state weather refers to the absence of solid fluid corresponding to the weather in the surrounding environment, such as sunny weather, cloudy days. In normal weather, there are some discretely distributed objects, such as some moving vehicles, present in the surroundings of the millimeter wave radar. There may be some discretely distributed point clusters on the FFT image obtained from the observed velocity, the observed distance, and the observed energy of these discretely distributed objects, as shown in fig. 3 (for ease of understanding, some of the discretely distributed point clusters are circled in fig. 3).

With continued reference to fig. 3, the horizontal transverse line 31 in fig. 3 is a reference line for a radar with respect to ground speed of 0. If the radar moves relative to the ground when the radar collects data in normal weather, the datum line with the speed of 0 relative to the ground translates downwards or upwards from the central position of the FFT spectrogram. The horizontal line 31 in fig. 3 is not located in the center of the FFT spectrogram, indicating that the radar is moving.

It is understood that if the radar moves forward (is on), defining that the velocity of the radar above the baseline with respect to the ground velocity of 0 is positive, then the radar will translate downward with respect to the baseline with the ground velocity of 0; if the radar moves in the reverse direction (falls open), defining that the velocity of the radar above the base line with the ground velocity of 0 is a positive value, the radar will translate upward with respect to the base line with the ground velocity of 0.

Fig. 4 is a schematic diagram of an FFT map corresponding to weather in an abnormal state.

Abnormal weather refers to the presence of a solid fluid in the surrounding environment corresponding to the weather, such as rain or snow or hail or sand storm. Taking a rainy day as an example, in the rainy day, a large amount of raindrops exist in the surrounding environment of the millimeter wave radar, and the raindrops are often continuous. There may be some continuously distributed point clusters on the FFT graph obtained from the observed speed, the observed distance, and the observed energy of these continuous raindrops, as shown in fig. 4 (for ease of understanding, the continuously distributed point clusters are circled in fig. 4).

With continued reference to fig. 4, the horizontal cross-line 41 in fig. 4 is a reference line with respect to ground speed of 0. The horizontal line 41 is at the central horizontal position of the FFT spectrum, and illustrates the corresponding FFT spectrum shown in fig. 4 when the radar is in a stationary state in abnormal weather.

In summary, because the characteristics of the surrounding environment corresponding to the normal weather and the abnormal weather are different, the FFT spectrum in the normal weather and the FFT spectrum in the abnormal weather have great differences. That is to say, the characteristics of the surrounding environment are different, and the characteristics of the corresponding FFT maps are different, so that the characteristic information of the surrounding environment can be determined according to the FFT maps.

Based on the above principle, the following explains "determining the characteristic information of the surrounding environment by the FFT map". Through the FFT map, the characteristic information of the surrounding environment can be determined through the steps b 1-b 2:

b1, processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value within a first preset range.

It is understood that the FFT map here is the FFT map acquired in step a 1.

The first preset range can be determined according to the speed of the fluid corresponding to the weather needing to be detected.

For example: whether the current weather is the weather with the following characteristics needs to be detected: the speed of the fluid corresponding to the weather is smaller than that of the millimeter wave radar, and at the moment, the absolute value of the maximum observation speed corresponding to the first preset range can be smaller. The weather having the above-described characteristics may be, for example, rainy or snowy or rainy or snowy weather. At this time, there may be zero observation speed within the first preset range.

Another example is: whether the current weather is the weather with the following characteristics needs to be detected at least: the speed of the fluid corresponding to the weather is larger than that of the millimeter wave radar, and at this time, the absolute value of the absolute value of the maximum observation speed corresponding to the first preset range may be larger. The weather having the above-described characteristics may be, for example, a sand storm weather. At this time, zero observation speed may exist or may not exist within the first preset range.

Since the first preset range can be determined according to the speed of the fluid corresponding to the weather to be detected, that is, the first preset range is determined according to the characteristics of the surrounding environment, the characteristic information in the surrounding environment is the information of the partial FFT spectrum in which the observation speed corresponding to the FFT spectrum takes a value within the first preset range.

The method comprises the steps of processing the FFT map, enabling the observation speed value corresponding to the processed FFT map to be a value within a first preset range, reducing power consumption of equipment for determining the weather state, and avoiding influence of objects except fluid corresponding to the weather on the weather state.

Optionally, the range of the observation speed corresponding to the processed FFT map may also be the same as the range of the observation speed corresponding to the FFT map obtained in step a 1.

The following describes a specific process for acquiring the processed FFT map.

The FFT map is processed to obtain a processed FFT map, which can be implemented by, but not limited to, the following three embodiments.

The first embodiment: processing the FFT map to obtain a processed FFT map, comprising:

b11, removing the first part of the FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

Namely, cutting off the part of the FFT map, the observation speed of which is out of the first preset range, to obtain the processed FFT map, wherein the value of the observation speed of which is in the first preset range is the value of which.

The second embodiment: processing the FFT map to obtain a processed FFT map, comprising:

and b121, performing enhancement processing on the FFT map to obtain an enhanced FFT map.

Wherein, the enhancement processing to the FFT map can be binarization processing.

The method comprises the following steps of performing enhancement processing on the FFT map to obtain an enhanced FFT map, and specifically comprises the following steps: and updating the value of the FFT map which is more than or equal to the preset threshold energy into a first value, and updating the value of the FFT map which is less than the preset threshold energy into a second value to obtain the enhanced FFT map. Wherein the first value may be 1 and the second value may be 0.

The preset threshold energy is determined based on observation energy statistical distribution in the global observation information. For example, the preset threshold energy is any energy with intensity at 8% -15% in the statistical distribution of the observation energy in the global observation information energy.

The FFT map is subjected to enhancement processing, so that the comparison between a region with larger observation energy and a region with small observation energy in the FFT map is more obvious, and the region with large observation energy in the FFT map is more clearly displayed on the FFT map. Due to the fact that observation energy corresponding to raindrops or snow blocks in the weather in abnormal states such as rain and snow is generally large, the FFT spectrums are subjected to enhancement processing, the characteristics of the FFT spectrums in the weather in the abnormal states such as rain and snow can be more obvious, and accuracy of determining the weather state is improved.

Fig. 5 is a schematic diagram of the FFT size enhancement shown in fig. 3, and fig. 6 is a schematic diagram of the FFT size enhancement shown in fig. 4.

Referring to fig. 5 and 6, it can be seen that the baseline with a ground speed of 0 and the corresponding region with large observation energy in the FFT map after the enhancement processing can be more clearly presented.

And b121, removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value out of a first preset range.

Namely, cutting off the part of the enhanced FFT map, the value of which is the value outside the first preset range, of the corresponding observation speed to obtain the processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is the value within the first preset range.

Fig. 7 is a schematic diagram of the enhanced FFT map shown in fig. 5 after being clipped, and fig. 8 is a schematic diagram of the enhanced FFT map shown in fig. 6 after being clipped.

Third embodiment: processing the FFT map to obtain a processed FFT map, comprising:

b131, removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside a first preset range.

The specific implementation of this step is described in c1, and is not described herein.

And b131, performing enhancement processing on the first FFT map to obtain a processed FFT map.

Wherein, the enhancement processing performed on the first FFT map may be binarization processing.

The process of enhancing the first FFT map to obtain the enhanced FFT map may refer to the process of enhancing the FFT map in d1 to obtain the enhanced FFT map, which is not described herein again.

b2, determining the characteristic information of the surrounding environment through the processed FFT atlas.

Determining the characteristic information of the surrounding environment through the processed FFT atlas, wherein the characteristic information comprises the following steps:

b21, clustering data points in the processed FFT map to obtain at least one point cluster; the data points included in each point cluster in the at least one point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information.

b22, acquiring the point cluster information of the point cluster in at least one point cluster, wherein the point cluster information is the characteristic information of the surrounding environment.

The point cluster information is the information of a part of target points with characteristics in the obtained FFT map or the information of a part of FFT map with characteristics in the obtained FFT map, namely the characteristic information of the surrounding environment.

The acquiring first point cluster information of a first point cluster in at least one point cluster includes: and acquiring a difference value between the value of the maximum observation distance and the value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

And step S103, determining the weather state through the characteristic information of the surrounding environment.

After the characteristic information of the surrounding environment is obtained, the weather state can be determined through the characteristic information of the surrounding environment.

Wherein, under the condition that the point cluster information of a point cluster is the difference between the value of the maximum observation distance and the value of the minimum observation distance corresponding to the point cluster, the weather state is determined through the characteristic information of the surrounding environment, and the method comprises the following steps:

(1) and under the condition that target information exists in the point cluster information, determining that the weather state is an abnormal state, wherein the difference value included in the target information is greater than or equal to a preset threshold value.

For the target information: as described above, the point cluster information of a certain point cluster includes a difference between a maximum observation distance and a minimum observation distance corresponding to a data point included in the point cluster, and if the difference is greater than or equal to a preset threshold, the difference is target information.

It is understood that the weather state can be determined to be an abnormal state by including the target information in the point cluster information in which one point cluster exists in at least one point cluster.

(2) And under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

In this embodiment, the characteristic information of the surrounding environment is obtained through the global observation information of the surrounding environment, and then the weather state is obtained according to the characteristic information of the surrounding environment, so that the weather state can be accurately determined, and the method is simple and easy to implement.

Further, if the determined weather state is an abnormal state, a detection threshold and a method of a constant false alarm rate (CFAR for short) may be adjusted according to the abnormal weather state, so that the detection threshold and the method are adapted to the abnormal weather state, and the reliability of target identification in the abnormal weather state is ensured; the method can also be used for adjusting the track life and death threshold of the tracking (tracking) so as to enable the track life and death threshold of the tracking (tracking) to be suitable for the weather in the abnormal state and ensure the reliability of target tracking in the weather in the abnormal state; the method can be used for adjusting the weight of the detection results of the plurality of sensors during fusion under the condition of a plurality of sensors, so that the weight of the detection results of the plurality of sensors during fusion is adaptive to the weather in an abnormal state, and the reliability of the detection target is ensured. For example, when it is detected that the weather is in special weather such as rain and snow, the fusion weight of the vision sensor or the laser radar in the sensor system can be reduced, and the fusion weight of the millimeter wave radar can be increased, so that the stability of the millimeter wave radar in abnormal weather can be better utilized, and the influence of interference on the fusion of the vision sensor or the laser radar in the abnormal weather can be reduced. That is, the accurately determined weather conditions can ensure the working performance of the sensor system in the system for driving assistance or automatic driving under abnormal weather such as rain and snow.

In addition, in order to ensure the performance of the sensor system in the fields of automatic driving and the like in real time, the method for determining the characteristic information of the surrounding environment through the global observation information and determining the weather state through the characteristic information of the surrounding environment may include: periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

That is, the weather state is determined once every preset time interval, and the preset time interval is a period for determining the weather state. The period for determining the weather state can be any value between 1 and 5 seconds.

The method of the embodiment can accurately determine the weather state, and is simple and easy to implement, so that the working performance of the sensor system in the systems for assisting driving or automatic driving and the like under abnormal weather such as rain, snow and the like can be ensured.

The foregoing describes a method for weather detection by a millimeter wave radar provided in this embodiment, and the following describes an apparatus provided in this embodiment.

Fig. 9 is a schematic structural diagram of a millimeter wave radar provided in an embodiment of the present application, and as shown in fig. 9, the millimeter wave radar includes: a processor 91 and a memory 92, the memory 92 storing instructions, the processor 91 being configured to call the instructions to perform the following operations: acquiring global observation information of the surrounding environment; the global observation information includes at least one of: global observation speed, global observation distance, or global observation energy; determining feature information of the surrounding environment through the global observation information; and determining the weather state through the characteristic information.

Optionally, when the processor 91 is configured to perform the operation of determining the feature information of the surrounding environment through the global observation information, specifically, to: acquiring a Fast Fourier Transform (FFT) map according to the global observation information; and determining the characteristic information of the surrounding environment through the FFT map.

Optionally, the global observation information includes the global observation speed; the processor 91, when configured to perform the operation of determining the feature information of the surrounding environment through the FFT map, is specifically configured to: processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value in a first preset range; and determining the characteristic information of the surrounding environment through the processed FFT atlas.

Optionally, there is a zero observed velocity within the first preset range.

Optionally, when the processor 91 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: and removing a first part of the FFT map to obtain the processed FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range.

Optionally, when the processor 91 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: performing enhancement processing on the FFT map to obtain an enhanced FFT map; and removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information comprises the global observation energy; when the processor 91 is configured to perform an operation of performing enhancement processing on the FFT map to obtain an enhanced FFT map, the processor is specifically configured to: and updating the value of the FFT map with energy larger than a preset threshold to be a first value, and updating the value of the FFT map with energy smaller than the preset threshold to be a second value to obtain the enhanced FFT map.

Optionally, the preset threshold energy is determined based on a global observation information energy statistical distribution.

Optionally, the preset threshold energy is any energy with intensity of 8% to 15% in the energy statistical distribution of the global observation information.

Optionally, when the processor 91 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range; and performing enhancement processing on the first FFT map to obtain the processed FFT map.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information comprises the global observation energy; when the processor 91 is configured to perform an operation of performing enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum, the processor is specifically configured to: and updating the value of the first FFT map which is larger than the preset threshold energy into a first value, and updating the value of the first FFT map which is smaller than the preset threshold energy into a second value to obtain the processed FFT map.

Optionally, the global observation information includes the global observation distance; the processor 91, when configured to perform the operation of determining the feature information of the surrounding environment through the processed FFT atlas, is specifically configured to: clustering data points in the processed FFT atlas to obtain at least one point cluster; the data points included in the point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information; and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is characteristic information of the surrounding environment.

Optionally, when the processor 91 is configured to execute an operation of obtaining first point cluster information of a first point cluster in the at least one point cluster, specifically, the processor is configured to: and acquiring a difference value between a value of the maximum observation distance and a value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

Optionally, when the processor 91 is configured to perform the operation of determining the weather state through the characteristic information of the surrounding environment, specifically, to: determining that the weather state is an abnormal state under the condition that target information exists in the point cluster information, wherein the difference value included in the target information is greater than or equal to a preset threshold value; and under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

Optionally, when the processor 91 is configured to perform an operation of determining the feature information of the surrounding environment through the global observation information, and determining the weather state through the feature information, the processor is specifically configured to: periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

Optionally, the period of the weather state is determined to be any value between 1 and 5 s.

Optionally, when the processor 91 is configured to obtain global observation information of a surrounding environment, specifically, the processor is configured to: sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data; and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain the global observation information of the surrounding environment.

The millimeter wave radar of this embodiment may be configured to implement the technical solutions in the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

The embodiment of the application further provides a movable platform, and the millimeter-wave radar in the embodiment shown in fig. 9 is mounted on the movable platform.

Fig. 10 is a schematic structural diagram of another movable platform provided in the embodiment of the present application, and as shown in fig. 10, the movable platform includes: the millimeter wave radar 101 is used for acquiring global observation information of the surrounding environment; the millimeter wave radar is carried on the movable platform, and the global observation information comprises at least one of the following items: global observation speed, global observation distance, or global observation energy; a processor 102, communicatively coupled to the millimeter wave radar, configured to: determining feature information of the surrounding environment through the global observation information; and determining the weather state through the characteristic information.

Optionally, when the processor 102 is configured to perform the operation of determining the feature information of the surrounding environment through the global observation information, specifically, to: acquiring a Fast Fourier Transform (FFT) map according to the global observation information; and determining the characteristic information of the surrounding environment through the FFT map.

Optionally, the global observation information includes the global observation speed; the processor 102, when configured to perform the operation of determining the feature information of the surrounding environment through the FFT spectrum, is specifically configured to: processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value in a first preset range; and determining the characteristic information of the surrounding environment through the processed FFT atlas.

Optionally, there is a zero observed velocity within the first preset range.

Optionally, when the processor 102 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: and removing a first part of the FFT map to obtain the processed FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range.

Optionally, when the processor 102 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: performing enhancement processing on the FFT map to obtain an enhanced FFT map; and removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information comprises the global observation energy; when the processor 102 is configured to perform an operation of performing enhancement processing on the FFT map to obtain an enhanced FFT map, the processor is specifically configured to: and updating the value of the FFT map with energy larger than a preset threshold to be a first value, and updating the value of the FFT map with energy smaller than the preset threshold to be a second value to obtain the enhanced FFT map.

Optionally, when the processor 102 is configured to perform the FFT map processing to obtain a processed FFT map, the processor is specifically configured to: removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range; and performing enhancement processing on the first FFT map to obtain the processed FFT map.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information comprises the global observation energy; when the processor 102 is configured to perform an operation of performing enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum, the processor is specifically configured to: and updating the value of the first FFT map which is larger than the preset threshold energy into a first value, and updating the value of the first FFT map which is smaller than the preset threshold energy into a second value to obtain the processed FFT map.

Optionally, the global observation information includes the global observation distance; the processor 102, when configured to perform the operation of determining the feature information of the surrounding environment through the processed FFT atlas, is specifically configured to: clustering data points in the processed FFT atlas to obtain at least one point cluster; the data points included in the point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information; and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is characteristic information of the surrounding environment.

Optionally, when the processor 102 is configured to execute an operation of obtaining first point cluster information of a first point cluster of the at least one point cluster, specifically, to: and acquiring a difference value between a value of the maximum observation distance and a value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

Optionally, when the processor 102 is configured to perform the operation of determining the weather state through the characteristic information of the surrounding environment, specifically, to: determining that the weather state is an abnormal state under the condition that target information exists in the point cluster information, wherein the difference value included in the target information is greater than or equal to a preset threshold value; and under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

Optionally, when the processor 102 is configured to perform an operation of determining the characteristic information of the surrounding environment through the global observation information, and determining the weather state through the characteristic information, the processor is specifically configured to: periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

Optionally, when the millimeter wave radar is configured to obtain global observation information of a surrounding environment, the millimeter wave radar is specifically configured to: sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data; and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain the global observation information of the surrounding environment.

The movable platform of this embodiment may be used to implement the technical solutions in the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of millimeter wave radar weather detection, the method comprising:

obtaining global observation information of a surrounding environment, wherein the global observation information comprises at least one of the following items: global observation speed, global observation distance, or global observation energy;

determining feature information of the surrounding environment through the global observation information;

and determining the weather state through the characteristic information.

2. The method of claim 1, wherein the determining the characteristic information of the surrounding environment through the global observation information comprises:

acquiring a Fast Fourier Transform (FFT) map according to the global observation information;

and determining the characteristic information of the surrounding environment through the FFT map.

3. The method of claim 2, wherein the global observation information comprises the global observation speed; the determining the characteristic information of the surrounding environment through the FFT atlas comprises:

processing the FFT map to obtain a processed FFT map, wherein the value of the observation speed corresponding to the processed FFT map is a value in a first preset range;

and determining the characteristic information of the surrounding environment through the processed FFT atlas.

4. The method of claim 3, wherein there is zero observed velocity within the first predetermined range.

5. The method according to claim 3, wherein the processing the FFT map to obtain a processed FFT map comprises:

and removing a first part of the FFT map to obtain the processed FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range.

6. The method according to claim 3, wherein the processing the FFT map to obtain a processed FFT map comprises:

performing enhancement processing on the FFT map to obtain an enhanced FFT map;

and removing a first part of the enhanced FFT map to obtain the processed FFT map, wherein the observation speed corresponding to the first part takes a value outside the first preset range.

7. The method according to claim 6, characterized in that the enhancement processing is binarization processing.

8. The method of claim 6 or 7, wherein the global observation information comprises the global observation energy; performing enhancement processing on the FFT map to obtain an enhanced FFT map, wherein the enhancement processing comprises the following steps:

and updating the value of the FFT map with energy larger than a preset threshold to be a first value, and updating the value of the FFT map with energy smaller than the preset threshold to be a second value to obtain the enhanced FFT map.

9. The method of claim 8, wherein the predetermined threshold energy is determined based on a global statistical distribution of observed information energies.

10. The method according to claim 9, wherein the preset threshold energy is any energy with an intensity of 8% to 15% in the energy statistical distribution of the global observation information.

11. The method according to claim 3, wherein the processing the FFT map to obtain a processed FFT map comprises:

removing a first part of the FFT map to obtain a first FFT map, wherein the value of the observation speed corresponding to the first part is a value outside the first preset range;

and performing enhancement processing on the first FFT map to obtain the processed FFT map.

12. The method according to claim 11, characterized in that the enhancement processing is binarization processing.

13. The method of claim 11 or 12, wherein the global observation information comprises the global observation energy; the enhancing processing of the first FFT spectrum to obtain a processed FFT spectrum includes:

and updating the value of the first FFT map which is larger than the preset threshold energy into a first value, and updating the value of the first FFT map which is smaller than the preset threshold energy into a second value to obtain the processed FFT map.

14. The method of claim 3, wherein the global observation information comprises the global observation distance; the determining the characteristic information of the surrounding environment through the processed FFT atlas includes:

clustering data points in the processed FFT atlas to obtain at least one point cluster; the data points included in the point cluster belong to the same class, and one data point in the FFT map corresponds to one piece of observation information in the global observation information;

and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is the characteristic information of the surrounding environment.

15. The method of claim 14, wherein the obtaining first point cluster information of a first point cluster of the at least one point cluster comprises:

and acquiring a difference value between a value of the maximum observation distance and a value of the minimum observation distance corresponding to the first point cluster, wherein the first point cluster information comprises the difference value.

16. The method of claim 15, wherein determining the weather condition from the characteristic information of the surrounding environment comprises:

determining that the weather state is an abnormal state under the condition that target information exists in the point cluster information, wherein the difference value included in the target information is greater than or equal to a preset threshold value;

and under the condition that the target information does not exist in the point cluster information, determining that the weather state is a normal state.

17. The method of claim 1, wherein the determining the characteristic information of the surrounding environment through the global observation information, and the determining the weather state through the characteristic information comprise:

periodically determining the characteristic information of the surrounding environment corresponding to the corresponding period through the global observation information of the surrounding environment corresponding to the corresponding period, and determining the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

18. The method of claim 17, wherein the period for determining the weather condition is any value between 1 and 5 seconds.

19. The method of claim 1, wherein the obtaining global observation information of the surrounding environment comprises:

sampling echo signals corresponding to the surrounding environment to obtain a plurality of sampling data;

and performing Fast Fourier Transform (FFT) on the plurality of sampling data to obtain the global observation information of the surrounding environment.

20. A movable platform, comprising: the millimeter wave radar is used for acquiring global observation information of the surrounding environment; the millimeter wave radar is carried on the movable platform, and the global observation information comprises at least one of the following items: global observation speed, global observation distance, or global observation energy;

a processor, communicatively coupled to the millimeter wave radar, configured to:

and determining the weather state through the characteristic information.

21. The movable platform of claim 20, wherein the processor, when configured to perform the operation of determining the characteristic information of the surrounding environment from the global observation information, is specifically configured to:

22. The movable platform of claim 21, wherein the global observation information includes the global observation velocity; when the processor is configured to perform the operation of determining the feature information of the surrounding environment through the FFT spectrum, the processor is specifically configured to:

23. The movable platform of claim 22, wherein there is zero observed velocity within the first predetermined range.

24. The movable platform of claim 22, wherein the processor, when configured to perform the FFT atlas processing to obtain the processed FFT atlas, is specifically configured to:

25. The movable platform of claim 22, wherein the processor, when configured to perform the FFT atlas processing to obtain the processed FFT atlas, is specifically configured to:

performing enhancement processing on the FFT map to obtain an enhanced FFT map;

26. The movable platform of claim 25, wherein the enhancement process is a binarization process.

27. The movable platform of claim 25 or 26, wherein the global observation information comprises the global observation energy; when the processor is configured to perform an operation of performing enhancement processing on the FFT map to obtain an enhanced FFT map, the processor is specifically configured to:

28. The movable platform of claim 27, wherein the preset threshold energy is determined based on a global observation information energy statistical distribution.

29. The movable platform of claim 28, wherein the predetermined threshold energy is any energy with an intensity of 8% -15% in the statistical distribution of energy of global observation information.

30. The movable platform of claim 22, wherein the processor, when configured to perform the FFT atlas processing to obtain the processed FFT atlas, is specifically configured to:

31. The movable platform of claim 30, wherein the enhancement process is a binarization process.

32. The movable platform of claim 30 or 31, wherein the global observation information comprises the global observation energy; when the processor is configured to perform an operation of performing enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum, the processor is specifically configured to:

33. The movable platform of claim 22, wherein the global observation information includes the global observation distance; when the processor is configured to perform the operation of determining the feature information of the ambient environment through the processed FFT atlas, the processor is specifically configured to:

and acquiring point cluster information of a point cluster in the at least one point cluster, wherein the point cluster information is characteristic information of the surrounding environment.

34. The movable platform of claim 33, wherein the processor, when being configured to perform the operation of obtaining first point cluster information of a first point cluster of the at least one point cluster, is specifically configured to:

35. The movable platform of claim 34, wherein the processor, when configured to perform the operation of determining the weather condition from the characteristic information of the surrounding environment, is specifically configured to:

36. The movable platform of claim 20, wherein the processor, when configured to perform the operation of determining the characteristic information of the surrounding environment from the global observation information, and determining the weather condition from the characteristic information, is specifically configured to:

37. The movable platform of claim 36, wherein the period for determining the weather condition is any value between 1 and 5 seconds.

38. The movable platform of claim 20, wherein the millimeter wave radar, when configured to obtain global observation information of the surrounding environment, is specifically configured to:

39. A millimeter wave radar, comprising: a memory and a processor; the memory is connected with the processor;

the memory is used for storing program commands;

the processor, configured to implement the method of any one of claims 1-19 when the program instructions are executed.

40. A movable platform, characterized in that the millimeter wave radar according to claim 39 is mounted on the movable platform.

41. A computer readable storage medium comprising a program or instructions for performing the method of any of claims 1 to 19 when the program or instructions are run on a computer.