CN115542264A - Radar anti-interference method and device and storage medium - Google Patents
Radar anti-interference method and device and storage medium Download PDFInfo
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- CN115542264A CN115542264A CN202211267673.4A CN202211267673A CN115542264A CN 115542264 A CN115542264 A CN 115542264A CN 202211267673 A CN202211267673 A CN 202211267673A CN 115542264 A CN115542264 A CN 115542264A
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- G01—MEASURING; TESTING
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- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The application discloses a radar anti-interference method and device and electronic equipment. The method includes determining a plurality of first pilots corresponding to first operating parameters of a plurality of radars. And determining a second working parameter of the target radar according to the first pilot information, so that the interference degree of the plurality of radars is lower than a preset interference threshold value. And then, according to the second working parameter, second pilot information corresponding to the target radar is determined, the target radar pulse signal is integrally modulated by the second pilot information, and the integrally modulated signal is transmitted. Therefore, the pilot information with strong interference resistance is determined through the working parameters of the target radar with strong interference resistance, and the millimeter wave radar and the pilot information are integrated to form an integrated signal with strong interference resistance. The millimeter wave radar system utilizes integrated information transmission, and the interference of the multi-user millimeter wave radar in the transmission process is reduced.
Description
Technical Field
The present application relates to the field of traffic, and in particular, to a radar anti-interference method, apparatus, and storage medium.
Background
The radar, especially the millimeter wave radar, is influenced by natural environment, and can work all day long and all weather, and the like, so that the radar is more and more widely applied to the intelligent traffic fields such as automatic driving and the like. For example, the millimeter wave radar can provide front vehicle anti-collision warning, lane change assistance, adaptive cruise control, blind spot detection and the like for automatic driving.
However, with the wide application of millimeter wave radars, the problem of mutual interference among multi-user millimeter wave radars is becoming more and more serious, which makes the millimeter wave radars difficult to transmit, resulting in the limitation of functions of vehicles such as automatic driving based on millimeter wave radars, for example, the vehicle target is misjudged to cause braking. Therefore, how to reduce the interference problem of the multi-user millimeter wave radar in the transmission process becomes a technical problem to be solved urgently.
Disclosure of Invention
In view of this, the present application provides a radar anti-interference method, apparatus and storage medium, and aims to obtain radar working parameters under the condition of minimum multi-user radar interference degree, obtain pilot information by using the radar working parameters, and reduce interference in the transmission process of a millimeter wave radar by integrally modulating a millimeter wave radar pulse signal and the pilot information.
In a first aspect, the present application provides a radar anti-interference method, applied to a transmitting end, where the method includes:
determining a plurality of first pilot signals corresponding to first operating parameters of a plurality of radars, the first operating parameter of one of the radars corresponding to one of the first pilot information; the plurality of radars includes a target radar;
determining second working parameters of the target radar according to the first pilot signals, and enabling the interference degrees of the radars to be lower than a preset interference threshold value; determining second pilot information corresponding to the target radar according to the second working parameter of the target radar;
integrally modulating a pulse signal of the target radar by using the second pilot information; and the transmitting end transmits the pulse signal subjected to the integrated modulation.
Optionally, the determining a second operating parameter of the target radar according to the multiple first pilot signals includes:
determining a plurality of time-frequency graphs corresponding to the plurality of first pilot signals, wherein one first pilot signal corresponds to one time-frequency graph;
determining a second working parameter of the target radar in response to the cross-correlation values of the time-frequency graphs being lower than a preset correlation threshold value; the cross-correlation value is used for representing the interference degree of the time frequency graphs.
Optionally, before the response that the cross-correlation value of the multiple time-frequency graphs is lower than a preset correlation threshold, the method further includes:
obtaining a cost function; the cost function comprises a cross-correlation function of the plurality of time-frequency graphs;
determining a second working parameter of the target radar in response to the cross-correlation values of the time-frequency graphs being lower than a preset correlation threshold, wherein the determining comprises:
and acquiring the cross-correlation values of the time-frequency graphs which are lower than a preset threshold value and second working parameters of the target radar according to the cost function and a preset algorithm.
Optionally, the cost function is a sum function of a cross-correlation function of the plurality of time-frequency graphs and an autocorrelation function of the plurality of radars.
Optionally, the determining, according to the second working parameter of the target radar, second pilot information corresponding to the target radar includes:
determining second pilot information corresponding to the target radar based on an encoding method according to second working parameters of the target radar; the second pilot information is present as an orthogonal frequency division multiplexing signal, OFDM, signal.
Optionally, the integrally modulating the pulse signal of the target radar by using the second pilot information includes:
and combining the second pilot information with the pulse signal of the target radar based on a constant envelope orthogonal frequency division multiplexing signal CE-OFDM phase modulation mode to realize the integrated modulation of the pulse information of the target radar.
In a second aspect, the present application provides a radar anti-interference method, which is applied to a receiving end, and the method includes:
receiving the integrally modulated target radar pulse signal; the integrally modulated target radar pulse signal is second pilot information, and the integrally modulated target radar pulse signal is determined;
acquiring the second pilot information and the target radar pulse signal before modulation based on a preset time-sharing decoding mode;
the second pilot information is determined for a second working parameter of the target radar; the second working parameters of the target radar are determined according to the first pilot signals, and the interference degrees of the plurality of radars are lower than the preset interference threshold; the one first pilot signal identifies a first operating parameter of one radar; the plurality of radars includes a target radar.
Optionally, the second operating parameter of the target radar is obtained by:
determining a plurality of time-frequency graphs corresponding to the plurality of first pilot signals, wherein one first pilot signal corresponds to one time-frequency graph;
determining a second working parameter of the target radar in response to the cross-correlation values of the time-frequency graphs being lower than a preset correlation threshold value; the cross-correlation value is used for representing the interference degree of the plurality of time-frequency graphs.
Optionally, the determining a second operating parameter of the target radar in response to the cross-correlation value of the time-frequency graphs being lower than a preset correlation threshold includes:
based on a pre-obtained cost function and a preset algorithm, obtaining that the cross-correlation values of the time-frequency graphs are lower than a preset threshold value and second working parameters of the target radar; the cost function includes a cross-correlation function of the plurality of time-frequency graphs.
Optionally, the cost function is a sum function of a cross-correlation function of the plurality of time-frequency graphs and an autocorrelation function of the plurality of radars.
Optionally, the second pilot information is determined by:
determining second pilot information corresponding to the target radar based on an encoding method according to second working parameters of the target radar; the second pilot information is present as an orthogonal frequency division multiplexing signal, OFDM, signal.
Optionally, the integrally modulated target radar pulse signal is obtained by the following method:
and combining the second pilot information with the pulse signal of the target radar based on a constant envelope orthogonal frequency division multiplexing signal CE-OFDM phase modulation mode to realize the integrated modulation of the pulse information of the target radar.
In a third aspect, the present application provides an apparatus for radar anti-interference, which is applied to a transmitting end, and includes:
the first determining unit is used for determining a plurality of first pilot signals corresponding to first working parameters of a plurality of radars, wherein the first working parameter of one radar corresponds to one piece of first pilot information; the plurality of radars includes a target radar;
a second determining unit, configured to determine, according to the first pilot signals, a second operating parameter of the target radar so that interference degrees of the radars are lower than a preset interference threshold; determining second pilot information corresponding to the target radar according to the second working parameter of the target radar;
the transmitting unit is used for integrally modulating a pulse signal of the target radar by using the second pilot information; and the transmitting end transmits the integrally modulated pulse signal.
In a fourth aspect, the present application provides an anti-jamming device for radar, applied to a receiving end, the device includes:
the receiving unit is used for receiving the integrally modulated target radar pulse signal; the integrally modulated target radar pulse signal is second pilot information, and the integrally modulated target radar pulse signal is determined;
the splitting unit is used for acquiring the second pilot information and the target radar pulse signal before modulation based on a preset time-sharing decoding mode from the integrally modulated target radar pulse signal;
the second pilot information is determined for a second working parameter of the target radar; the second working parameters of the target radar are determined according to the first pilot signals, and the interference degree of the plurality of radars is lower than a preset interference threshold value; the one first pilot signal identifies a first operating parameter of one radar; the plurality of radars includes a target radar.
In a fifth aspect, the present application provides an electronic device, comprising:
a memory and a processor, the memory coupled with the processor;
the memory stores program instructions that, when executed by the processor, cause the electronic device to perform the method of any of the preceding second and first aspects.
In a sixth aspect, the present application provides a computer storage medium having code stored therein, wherein when the code is executed, an apparatus for executing the code realizes the method of any one of the second aspect and the first aspect.
The application discloses a radar anti-interference method and device and electronic equipment. In performing the method: first, a plurality of first pilot information corresponding to first operating parameters of a plurality of radars is determined. And then, according to the plurality of first pilot information, determining second working parameters of the target radar, so that the interference degree of the plurality of radars is lower than a preset interference threshold value. And according to the second working parameter, determining second pilot information corresponding to the target radar, integrally modulating a target radar pulse signal by using the second pilot information, and transmitting the integrally modulated signal. Therefore, the pilot information with strong interference resistance is determined through the working parameters of the target radar with strong interference resistance, and the millimeter wave radar and the pilot information are integrated to form an integrated signal with strong interference resistance. The millimeter wave radar system utilizes integrated information transmission, and the interference of the multi-user millimeter wave radar in the transmission process is reduced.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and features are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of an application system of an anti-interference method for a radar according to an embodiment of the present application;
fig. 2 is a flowchart of a method for radar anti-interference according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another radar anti-interference method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a radar anti-interference apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of another radar anti-interference apparatus according to an embodiment of the present application.
Detailed Description
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary and not limiting unless the context clearly indicates otherwise.
As described above, with the wide application of millimeter wave radars, the problem of mutual interference among multi-user millimeter wave radars is becoming more and more serious, which makes the millimeter wave radars difficult to transmit, resulting in the limitation of functions of vehicles such as automatic driving based on millimeter wave radars, for example, the vehicle target misjudgment results in braking. Therefore, how to reduce the interference problem of the multi-user millimeter wave radar in the transmission process becomes a technical problem to be solved urgently.
The application provides an anti-interference method for a radar, which aims to determine pilot information with strong anti-interference capability by determining target radar working parameters with strong anti-interference capability, and integrate a millimeter wave radar with the pilot information to form an integrated signal with strong anti-interference capability. The millimeter wave radar system utilizes integrated information transmission, and the interference of the multi-user millimeter wave radar in the transmission process is reduced.
In order to make those skilled in the art better understand the power generation method in the embodiment of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
First, an application system of the radar anti-interference method provided in the embodiment of the present application is introduced. Referring to fig. 1, a schematic diagram of an application system of an anti-interference method for a radar according to an embodiment of the present application is provided.
The working parameters of the radar are encoded by the encoder 101 to obtain the pilot information. The pilot information is used for representing the working parameters of the radar. The pilot information is integrated with the millimeter wave radar pulse signal by the integrated waveform integrator 102 to obtain an integrated signal.
The integrated signal passes through a waveform generator 103 and a power amplifier 104, and a pulse signal satisfying the transmission requirement is obtained. And transmits the pulse signal through the transmit antenna array 105. The returned pulse signal is passed through the receive antenna array 106 and the integrated signal is separated by the filter 107. Wherein the filter 107 may be a kalman filter. For millimeter radar signals acquired after separation through the filter 107, the automatic driving warning state is avoided, and the automatic driving warning state can be used for distance, speed, angle measurement and the like, so that the brake and the like caused by misjudgment of vehicle targets in the automatic driving process are reduced.
The radar anti-interference method provided by the embodiment of the present application is described in detail below. Referring to fig. 2, a flowchart of a method for radar anti-jamming according to an embodiment of the present application is applied to a transmitting end (i.e., the transmitting antenna array 105 shown in fig. 1). The method comprises the following steps:
s201: a plurality of first pilot signals corresponding to first operating parameters of a plurality of radars is determined.
In the embodiment of the present application, the operating parameter refers to an emission parameter of a radar for emitting a radar pulse signal, and includes information such as a radar identity ID, a radar operating frequency, an operating bandwidth, an emission frequency, a modulation waveform pulse width, a beam shape, a gain, and a scanning mode. The first working parameter is a parameter set when the radar transmits radar pulse signals. In one possible implementation, the first operating parameter may be considered as a starting parameter of the radar transmission pulse signal.
Based on the first operating parameter, a first pilot may be determined. The first operating parameter of a radar corresponds to a first pilot message. In a possible implementation manner, the first operating parameter may be encoded by an encoding manner to obtain the first pilot information. In a possible implementation manner, the first operating parameter may be encoded in an orthogonal frequency division multiplexing, OFDM, manner to obtain the first pilot information, so that the first pilot information exists in the form of an OFDM signal, for example
Wherein a (u) represents a modulation symbol carried by the u-th subcarrier, and a (u) belongs to { - (M-1) { - (M-3) }; (ii) a (ii) a And (M-3) and (M-1), wherein M represents a modulation system number, the value is 2 positive integer power, T represents radar signal transmitting time, and T represents a radar pulse signal transmitting period.
S202: and determining a second working parameter of the target radar according to the plurality of first pilot signals. And determining second pilot information corresponding to the target radar according to the second working parameter of the target radar.
In the embodiment of the application, when millimeter wave radar transmission is performed by using the first operating parameter, interference of multiple users may exist. According to the embodiment of the application, the working parameters of the target radar with extremely low multi-user interference capability, namely the second working parameters of the target radar, can be obtained in a preset mode according to the plurality of first pilot information. In the embodiment of the present application, the second parameter of the target radar means that the interference degree of the plurality of radars is lower than a preset interference threshold, for example, the preset interference threshold is 0.001. And when the acquired interference degree is 0.01 and is greater than a preset interference threshold, the working parameter corresponding to the target radar does not belong to the second working parameter. And when the interference degree is 0.0001 and is smaller than a preset interference threshold, the working parameter corresponding to the target radar belongs to the second working parameter.
In the embodiment of the present application, the preset manner may be: and determining a time-frequency diagram corresponding to the millimeter wave radar pilot information by means of short-time Fourier transform (STFT) and the like. For millimeter wave radar, the pilot information is radar working parameters, such as radar identity ID, radar working frequency, working bandwidth, emission frequency, modulation waveform pulse width, beam shape, gain, scanning mode, etc., and a time-frequency diagram obtained by transforming the pilot information through STFT, etc., can represent millimeter wave radar signals. For the multi-user millimeter wave radar, the information of each millimeter wave radar is orthogonal, and the interference among the multi-user radars is less. The cross-correlation value between the millimeter-wave radars is used to indicate the degree of orthogonality between the millimeter-wave radars. When the cross correlation value is smaller, the more mutually orthogonal the plurality of millimeter wave radars are, and the interference degree of the target radar is smaller. In the embodiment of the application, when the cross-correlation values of the multiple time-frequency graphs are lower than the preset correlation threshold, the working parameter corresponding to the target radar is the second working parameter.
In the embodiment of the application, the cross-correlation values of the multiple time-frequency graphs which are lower than the preset threshold value and the second working parameters of the target radar can be obtained through a cost function containing the cross-correlation functions of the multiple time-frequency graphs and a preset algorithm. In the embodiment of the present application, a sum function of a cross-correlation function of a plurality of time-frequency graphs and an autocorrelation function of the plurality of radars may be selected as the cost function.
An exemplary illustration is as follows: the cost function is as follows:
wherein, the middle lambda is a weighting coefficient, L is the number of users for transmitting the millimeter wave radar, S l Is the encoded signal, τ is the radar pulse width, A (S) l τ) is the code signal s l (t) autocorrelation function, C(s) p ,s q τ) is the code signal s p (t) and s q (t) cross correlation function. The p, q distributions represent the p-th and q-th pilot signals.
When the autocorrelation coefficient A(s) of the pilot information l τ), and a cross-correlation function C(s) p ,s q Tau) is also as small as possible, and the multi-user radar can meet the requirement of stronger anti-interference performance. Therefore, in order to meet the requirement that the interference degree of the multi-user radar is lower than a preset threshold value, the autocorrelation coefficient and the cross-correlation coefficient are all as low as possible, and therefore, the method can be regarded as using a cost function to find the optimal solution of the anti-interference combination problem. For example, the cost function may be processed through a genetic algorithm, such as an ant colony algorithm, and the calculation is terminated when the value of the cost function is lower than a preset target value, so as to obtain a second working parameter meeting the requirement.
In the embodiment of the application, the optimal solution problem of the cross-correlation function of the multiple time-frequency graphs meeting the requirements is found by combining the cross-correlation value among the millimeter-wave radars and the cost function of the cross-correlation function containing the multiple time-frequency graphs, so that the anti-interference problem of the multi-user radar is further realized.
In the embodiment of the application, for the obtained second operating parameter of the target radar, in the same manner as that for obtaining the first pilot information, the second pilot information corresponding to the target radar can be obtained.
S203: and integrally modulating the pulse signal of the target radar by using the second pilot information.
In the embodiment of the present application, the acquired second pilot information may be modulated integrally with a pulse signal of the target radar.
An exemplary illustration is as follows: suppose the pilot information is
The pulse signal of the target radar is
Wherein a (u) represents a modulation symbol carried by the u-th subcarrier, and a (u) belongs to { - (M-1), - (M-3), -; (ii) a (ii) a And (M-3) and (M-1), wherein M represents a modulation system number, the value is 2 positive integer power, T represents radar signal transmitting time, and T represents a radar pulse signal transmitting period. U represents the number of subcarriers included in the OFDM signal. V represents the number of subcarriers included in the millimeter wave radar signal. b (v) indicates that the v-th carrier contains a group of fixed sequences, which can be designed according to different scenes to realize different radar fuzzy functions.
The method is characterized in that the pilot information and the pulse information of the target radar are modulated integrally in the following mode:
wherein p is / A weighting coefficient representing the pilot information.
For modulated signals
By phase modulation, as follows:
wherein f is c Representing the carrier frequency of the signal.
S204: and transmitting the integrally modulated pulse signal.
In the embodiment of the present application, the integrally modulated pulse signal is transmitted through the waveform generator, the power amplifier and the transmitting terminal shown in fig. 1. The transmitting end may be a transmitting antenna array.
The embodiment of the application provides a radar anti-interference method. And then, according to the plurality of first pilot information, determining second working parameters of the target radar, so that the interference degree of the plurality of radars is lower than a preset interference threshold value. And according to the second working parameter, determining second pilot information corresponding to the target radar, integrally modulating a target radar pulse signal by using the second pilot information, and transmitting the integrally modulated signal. Therefore, the pilot information with strong interference resistance is determined through the working parameters of the target radar with strong interference resistance, and the millimeter wave radar and the pilot information are integrated to form an integrated signal with strong interference resistance. The millimeter wave radar system utilizes integrated information transmission, and the interference of the multi-user millimeter wave radar in the transmission process is reduced.
Referring to fig. 3, a flowchart of another radar anti-jamming method according to an embodiment of the present invention is provided, where the method is applied to a receiving end (i.e., the receiving antenna array 106 shown in fig. 1). The method comprises the following steps:
s301: and receiving the integrally modulated target radar pulse signal.
In the embodiment of the application, the target radar pulse signal received by the receiving antenna array after being subjected to integrated modulation is obtained by integrally modulating the second pilot information of the target radar and the target radar pulse signal. The specific integrated modulation method is as described in steps S201 to S203. And will not be discussed further herein.
S302: and acquiring the target radar pulse signal and second pilot information from the integrally modulated target radar pulse signal based on a preset time-sharing decoding mode.
In the embodiment of the application, the integrally modulated target radar pulse signal is decoded in a preset time-sharing decoding mode, and the target radar pulse signal and the second pilot information are obtained. An exemplary illustration is as follows:
integrally modulated target radar pulse signal
Wherein the modulated signal
Acquiring the pilot information as
The pulse signal of the target radar is
Each letter represents the same meaning as exemplified in step S203 and will not be discussed here.
And for the separated radar pulse signals, data caching, MTD processing, amplitude calculation, non-coherent accumulation and original point trace extraction are carried out. Further, distance measurement, angle measurement, speed measurement and the like are realized. And the reading of the pilot information and the radar reflected signal processing do not interfere with each other.
The radar anti-interference method provided by the embodiment of the application can be applied to a transmitting end and a receiving end, so that radar pulse signals and pilot information can be accurately read, and the distance, the angle, the speed and the like of a vehicle can be accurately measured.
Meanwhile, an embodiment of the present application further provides an anti-interference device for radar, refer to fig. 4, and a schematic structural diagram of an anti-interference device for radar 400 provided in an embodiment of the present application is applied to a transmitting end, where the device includes:
a first determining unit 401, configured to determine a plurality of first pilot signals corresponding to first operating parameters of a plurality of radars, where the first operating parameter of one radar corresponds to one first pilot information; the plurality of radars includes a target radar.
A second determining unit 402, configured to determine, according to the multiple first pilot signals, a second working parameter of the target radar so that interference degrees of the multiple radars are lower than a preset interference threshold; and determining second pilot information corresponding to the target radar according to the second working parameter of the target radar.
A transmitting unit 403, configured to integrally modulate a pulse signal of the target radar by using the second pilot information; and the transmitting end transmits the integrally modulated pulse signal.
Optionally, the second determining unit 402 is specifically configured to:
determining a plurality of time-frequency graphs corresponding to a plurality of first pilot signals, wherein one first pilot signal corresponds to one time-frequency graph;
determining a second working parameter of the target radar in response to the fact that the cross-correlation values of the time-frequency graphs are lower than a preset correlation threshold value; the cross-correlation value is used for representing the interference degree of the time frequency graphs.
Optionally, before responding that the cross-correlation values of the multiple time-frequency graphs are lower than a preset correlation threshold, the method further includes:
obtaining a cost function; the cost function comprises a cross-correlation function of a plurality of time-frequency graphs;
in response to that the cross-correlation values of the time-frequency graphs are lower than a preset correlation threshold value, determining a second working parameter of the target radar, wherein the second working parameter comprises the following steps:
and acquiring a second working parameter of the target radar and a cross-correlation value of the time-frequency graphs which is lower than a preset threshold value according to the cost function and a preset algorithm.
Optionally, the cost function is a sum function of a cross-correlation function of the plurality of time-frequency graphs and an autocorrelation function of the plurality of radars.
Optionally, the second determining unit 402 is further configured to:
determining second pilot information corresponding to the target radar based on an encoding method according to second working parameters of the target radar; the second pilot information is present as an orthogonal frequency division multiplexing signal OFDM signal.
Optionally, the transmitting unit 403 is further configured to:
and combining the second pilot information with the pulse signal of the target radar based on a constant envelope orthogonal frequency division multiplexing signal CE-OFDM phase modulation mode to realize the integrated modulation of the pulse information of the target radar.
The specific implementation of each module is the same as the radar anti-jamming implementation described above, and is not discussed here.
The embodiment of the application provides an anti-interference device for radar, and a first determining unit 401 determines a plurality of first pilot information corresponding to first operating parameters of a plurality of radars. The second determining unit 402 determines a second operating parameter of the target radar according to the first pilot information, so that the interference degree of the radars is lower than a preset interference threshold. And determining second pilot information corresponding to the target radar according to the second working parameter. The transmitting unit 403 is configured to integrally modulate the target radar pulse signal with the second pilot information, and transmit the integrally modulated signal. Therefore, the pilot information with strong interference resistance is determined through the working parameters of the target radar with strong interference resistance, and the millimeter wave radar and the pilot information are integrated to form an integrated signal with strong interference resistance. The millimeter wave radar system utilizes integrated information transmission, and the interference of the multi-user millimeter wave radar in the transmission process is reduced.
Referring to fig. 5, a schematic structural diagram of another radar anti-interference apparatus 500 provided in the embodiment of the present application is applied to a receiving end. The apparatus 500 comprises:
a receiving unit 501, configured to receive the integrally modulated target radar pulse signal; the integrally modulated target radar pulse signal is second pilot information, and the integrally modulated target radar pulse signal is determined;
a splitting unit 502, configured to obtain the second pilot information and the target radar pulse signal before modulation based on a preset time-sharing decoding manner for the integrally modulated target radar pulse signal;
the second pilot information is determined for a second working parameter of the target radar; the second working parameters of the target radar are determined according to the first pilot signals, and the interference degrees of the plurality of radars are lower than the preset interference threshold; the one first pilot signal identifies a first operating parameter of one radar; the plurality of radars includes a target radar.
For each technical means implementation, the same as the above method embodiment implementation is not discussed here.
The radar anti-interference method provided by the embodiment of the application can be applied to a transmitting end and a receiving end, so that radar pulse signals and pilot information can be accurately read, and the distance, the angle, the speed and the like of a vehicle can be accurately measured.
The embodiment of the application also provides corresponding equipment and a computer readable storage medium, which are used for realizing the scheme provided by the embodiment of the application.
The apparatus includes a memory for storing instructions or code and a processor for executing the instructions or code to cause the apparatus to perform a method for radar immunity according to any of the embodiments of the present application.
In practice, the computer-readable storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A radar anti-interference method is applied to a transmitting end, and comprises the following steps:
determining a plurality of first pilot signals corresponding to first operating parameters of a plurality of radars, the first operating parameter of one of the radars corresponding to one of the first pilot information; the plurality of radars includes a target radar;
determining second working parameters of the target radar according to the first pilot signals, and enabling the interference degrees of the radars to be lower than a preset interference threshold value; determining second pilot information corresponding to the target radar according to the second working parameter of the target radar;
integrally modulating a pulse signal of the target radar by using the second pilot information; and the transmitting end transmits the pulse signal subjected to the integrated modulation.
2. The method of claim 1, wherein determining a second operating parameter of the target radar from the plurality of first pilot signals comprises:
determining a plurality of time-frequency graphs corresponding to the plurality of first pilot signals, wherein one first pilot signal corresponds to one time-frequency graph;
determining a second working parameter of the target radar in response to the fact that the cross-correlation values of the time-frequency graphs are lower than a preset correlation threshold value; the cross-correlation value is used for representing the interference degree of the plurality of time-frequency graphs.
3. The method of claim 2, wherein in response to the cross-correlation value of the plurality of time-frequency graphs being below a preset correlation threshold, the method further comprises:
obtaining a cost function; the cost function comprises a cross-correlation function of the plurality of time-frequency graphs;
in response to that the cross-correlation values of the time-frequency graphs are lower than a preset correlation threshold value, determining a second working parameter of the target radar, wherein the second working parameter comprises:
and acquiring the cross-correlation values of the time-frequency graphs which are lower than a preset threshold value and second working parameters of the target radar according to the cost function and a preset algorithm.
4. The method of claim 3, wherein the cost function is a sum function of a cross-correlation function of the plurality of time-frequency graphs and an autocorrelation function of the plurality of radars.
5. The method according to any one of claims 1 to 4, wherein the determining of the second pilot information corresponding to the target radar according to the second operating parameter of the target radar comprises:
determining second pilot information corresponding to the target radar based on an encoding method according to second working parameters of the target radar; the second pilot information is present as an orthogonal frequency division multiplexing signal, OFDM, signal.
6. The method according to claim 5, wherein the integrally modulating the pulse signal of the target radar by using the second pilot information comprises:
and combining the second pilot information with the pulse signal of the target radar based on a constant envelope orthogonal frequency division multiplexing signal CE-OFDM phase modulation mode to realize the integrated modulation of the pulse information of the target radar.
7. A radar anti-interference method is applied to a receiving end, and the method comprises the following steps:
receiving the integrally modulated target radar pulse signal; the integrally modulated target radar pulse signal is second pilot information, and the integrally modulated target radar pulse signal is determined;
acquiring the second pilot information and the target radar pulse signal before modulation based on a preset time-sharing decoding mode;
the second pilot information is determined for a second working parameter of the target radar; the second working parameters of the target radar are determined according to the first pilot signals, and the interference degree of the plurality of radars is lower than a preset interference threshold value; the one first pilot signal identifies a first operating parameter of one radar; the plurality of radars includes a target radar.
8. The method of claim 7, wherein the second operating parameter of the target radar is obtained by:
determining a plurality of time-frequency graphs corresponding to the plurality of first pilot signals, wherein one first pilot signal corresponds to one time-frequency graph;
determining a second working parameter of the target radar in response to the fact that the cross-correlation values of the time-frequency graphs are lower than a preset correlation threshold value; the cross-correlation value is used for representing the interference degree of the plurality of time-frequency graphs.
9. The method of claim 8, wherein the determining a second operating parameter of the target radar in response to the cross-correlation values of the plurality of time-frequency graphs being below a preset correlation threshold comprises:
based on a pre-obtained cost function and a preset algorithm, obtaining that the cross-correlation values of the time-frequency graphs are lower than a preset threshold value and second working parameters of the target radar; the cost function includes a cross-correlation function of the plurality of time-frequency graphs.
10. The method of claim 9, wherein the cost function is a sum function of a cross-correlation function of the plurality of time-frequency plots and an autocorrelation function of the plurality of radars.
11. The method according to any one of claims 7-10, wherein the second pilot information is determined by:
determining second pilot information corresponding to the target radar based on an encoding method according to second working parameters of the target radar; the second pilot information is present as an orthogonal frequency division multiplexing signal, OFDM, signal.
12. The method of claim 11, wherein the integrally modulated target radar pulse signal is obtained by:
and combining the second pilot information with the pulse signal of the target radar based on a constant envelope orthogonal frequency division multiplexing signal CE-OFDM phase modulation mode to realize the integrated modulation of the pulse information of the target radar.
13. An apparatus for radar anti-interference, applied to a transmitting end, the apparatus comprising:
a first determining unit, configured to determine a plurality of first pilot signals corresponding to first operating parameters of a plurality of radars, where a first operating parameter of one of the radars corresponds to one of the first pilot information; the plurality of radars includes a target radar;
a second determining unit, configured to determine, according to the first pilot signals, a second operating parameter of the target radar so that interference degrees of the radars are lower than a preset interference threshold; determining second pilot information corresponding to the target radar according to the second working parameter of the target radar;
the transmitting unit is used for integrally modulating a pulse signal of the target radar by using the second pilot information; and the transmitting end transmits the integrally modulated pulse signal.
14. An anti-interference device for radar, which is applied to a receiving end, the device comprises:
the receiving unit is used for receiving the integrally modulated target radar pulse signal; the integrally modulated target radar pulse signal is second pilot information, and the integrally modulated target radar pulse signal is determined;
the splitting unit is used for acquiring the second pilot information and the target radar pulse signal before modulation based on a preset time-sharing decoding mode from the integrally modulated target radar pulse signal;
the second pilot information is determined for a second working parameter of the target radar; the second working parameters of the target radar are determined according to the first pilot signals, and the interference degrees of the plurality of radars are lower than the preset interference threshold; the one first pilot signal identifies a first operating parameter of one radar; the plurality of radars includes a target radar.
15. An electronic device, characterized in that the electronic device comprises:
a memory and a processor, the memory coupled with the processor;
the memory stores program instructions that, when executed by the processor, cause the electronic device to perform the method of any of claims 1-14.
16. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program for implementing a method of generating electricity, which program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 14.
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