WO2020258065A1

WO2020258065A1 - Millimeter wave radar-based weather sensing method, millimeter wave radar, and mobile platform

Info

Publication number: WO2020258065A1
Application number: PCT/CN2019/092912
Authority: WO
Inventors: 鲁洪昊; 饶雄斌; 林立
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2020-12-30
Also published as: CN111699409A; CN111699409B

Abstract

A millimeter wave radar (12, 101)-based weather sensing method, a millimeter wave radar (12, 101), and a mobile platform (11). Said method comprises: acquiring global observation information of a surrounding environment, the global observation information including at least one of the following: a global observation speed, a global observation distance, and global observation energy (S101); determining feature information of the surrounding environment by means of the global observation information (S102); and determining a weather state by means of the feature information of the surrounding environment (S103). The present invention can accurately determine a weather state, improving the working performance of a sensor system in abnormal weather such as rain or snow.

Description

Method for weather detection of millimeter wave radar, millimeter wave radar and movable platform

Technical field

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

Background technique

In recent years, assisted driving and autonomous driving have become research hotspots in the automotive industry. The sensor system is a necessary device for realizing assisted driving and automatic driving. Among them, the sensor in the sensor system can be millimeter wave radar, lidar, ultrasonic radar or camera.

Weather is an important factor that affects the performance of the sensor system. Among them, the performance of the sensor system will decrease in abnormal weather such as rain and snow. For example, the video or image captured by the camera on a rainy day is due to the presence of rain, so that some objects in the video or image cannot be detected by the sensor system. Therefore, how to determine the current weather state so as to ensure the performance of the sensor system in abnormal weather such as rain and snow is a technical problem to be solved urgently.

Summary of the invention

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

In a first aspect, an embodiment of the present application provides a method for detecting millimeter-wave radar weather. The method includes: acquiring global observation information of the surrounding environment, where the global observation information includes at least one of the following: global observation speed, global Observation distance or global observation energy; through the global observation information, determine the characteristic information of the surrounding environment; through the characteristic information, determine the weather state.

With reference to the first aspect, in a possible implementation of the first aspect, the determining feature information of the surrounding environment through the global observation information includes: acquiring the fast Fourier transform through the global observation information FFT atlas; through the FFT atlas, the characteristic information of the surrounding environment is determined.

With reference to the first aspect, in a possible implementation 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 map includes: The FFT spectrum is processed to obtain a processed FFT spectrum, and the observation speed corresponding to the processed FFT spectrum is a value within a first preset range; the processed FFT spectrum is used to determine the Characteristic information of the surrounding environment.

With reference to the first aspect, in a possible implementation of the first aspect, there is a zero observation speed in the first preset range.

With reference to the first aspect, in a possible implementation of the first aspect, the processing the FFT spectrum to obtain the processed FFT spectrum includes: removing the first part of the FFT spectrum to obtain the processed FFT spectrum 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 map to obtain the processed FFT map includes: performing enhancement processing on the FFT map to obtain an enhanced FFT map; The first part of the enhanced FFT spectrum is removed to obtain the processed FFT spectrum, and 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 enhancement processing is binarization processing.

With reference to the first aspect, in a possible implementation 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 includes: The value of the spectrum greater than the preset threshold energy is updated to the first value, and the value of the FFT spectrum less than the preset threshold energy is updated to the second value to obtain the enhanced FFT spectrum.

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

With reference to the first aspect, in a possible implementation of the first aspect, the preset threshold energy is any energy with an intensity of 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 the processed FFT spectrum includes: removing the first part of the FFT spectrum to obtain the first FFT spectrum The value of the observation speed corresponding to the first part is a value outside the first preset range; the first FFT spectrum is enhanced to obtain the processed FFT spectrum.

With reference to the first aspect, in a possible implementation of the first aspect, the global observation information includes the global observation energy; the enhancement processing is performed on the first FFT spectrum to obtain a processed FFT spectrum, The method includes: updating the value of the first FFT spectrum greater than a preset threshold energy to a first value, and updating the value of the first FFT spectrum less than the preset threshold energy to a second value to obtain the processed FFT spectrum.

With reference to the first aspect, in a possible implementation of the first aspect, the global observation information includes the global observation distance; the characteristic information of the surrounding environment is determined through the processed FFT spectrum, The method includes: clustering the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, and one data point in the FFT spectrum corresponds to the One piece of observation information in the global observation information; acquiring point cluster information of a point cluster in the at least one point cluster, where 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 acquiring first point cluster information of the first point cluster in the at least one point cluster includes: acquiring the location of the first point cluster Corresponding to the difference between the value of the maximum observation distance and the value of the minimum observation distance, the first point cluster information includes the difference.

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

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

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

With reference to the first aspect, in a possible implementation of the first aspect, the acquiring global observation information of the surrounding environment includes: sampling echo signals corresponding to the surrounding environment to obtain multiple sample data; Fast Fourier Transform FFT is performed on the multiple sample 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: a millimeter-wave radar for acquiring global observation information of the surrounding environment; wherein the millimeter-wave radar is mounted on the movable platform, and the global observation The information includes at least one of the following: global observation speed, global observation distance, or global observation energy; a processor, which is in communication connection with the millimeter wave radar, and is configured to perform the following operations: determine the status of the surrounding environment through the global observation information Characteristic information; through the characteristic information, the weather state is determined.

With reference to the second aspect, in a possible implementation of the second aspect, when the processor is configured to perform the operation of determining the characteristic information of the surrounding environment through the global observation information, it is specifically configured to: The global observation information obtains a fast Fourier transform FFT spectrum; the FFT spectrum is used to determine the characteristic information of the surrounding environment.

With reference to the second aspect, in a possible implementation of the second aspect, the global observation information includes the global observation speed; the processor is configured to perform the determination of the surrounding environment through the FFT atlas During the operation of the characteristic information, it is specifically used to: process the FFT map to obtain a processed FFT map, and the value of the observation speed corresponding to the processed FFT map is a value within the first preset range; The processed FFT spectrum determines the characteristic information of the surrounding environment.

With reference to the second aspect, in a possible implementation of the second aspect, there is a zero observation speed in the first preset range.

With reference to the second aspect, in a possible implementation of the second aspect, when the processor is configured to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: remove the The first part of the FFT atlas is to obtain the processed FFT atlas, and 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 process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: FFT atlas is enhanced to obtain an enhanced FFT atlas; the first part of the enhanced FFT atlas is removed to obtain the processed FFT atlas, the observation speed corresponding to the first part is taken as the first preset range Outside value.

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 of the second aspect, the global observation information includes the global observation energy; the processor is used to perform enhancement processing on the FFT spectrum to obtain an enhanced FFT During the operation of the map, it is specifically used to: update the value of the FFT map greater than the preset threshold energy to the first value, and update the value of the FFT map less than the preset threshold energy to the second value to obtain the Enhanced FFT spectrum.

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

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

With reference to the second aspect, in a possible implementation of the second aspect, when the processor is configured to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: remove the The first part of the FFT atlas is to obtain the first FFT atlas. The value of the observation speed corresponding to the first part is outside the first preset range; the first FFT atlas is enhanced to obtain the Describe the processed FFT spectrum.

With reference to the second aspect, in a possible implementation of the second aspect, the global observation information includes the global observation energy; the processor is configured to perform enhancement processing on the first FFT spectrum to obtain During the operation of the processed FFT spectrum, it is specifically used to: update the value of the first FFT spectrum greater than the preset threshold energy to the first value, and update the value of the first FFT spectrum less than the preset threshold energy Is the second value to obtain the processed FFT spectrum.

With reference to the second aspect, in a possible implementation of the second aspect, the global observation information includes the global observation distance; the processor is configured to execute the processed FFT spectrum to determine the During the operation of the feature information of the surrounding environment, it is specifically used to: cluster the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, so One data point in the FFT map corresponds to one observation information in the global observation information; acquiring point cluster information of a point cluster in the at least one point cluster, where the point cluster information is characteristic information of the surrounding environment.

With reference to the second aspect, in a possible implementation of the second aspect, when the processor is configured to perform the operation of acquiring the first point cluster information of the first point cluster in the at least one point cluster, specifically It is used to obtain the difference between the maximum observation distance and the minimum observation distance corresponding to the first point cluster, and the first point cluster information includes the difference.

With reference to the second aspect, in a possible implementation of the second aspect, when the processor is configured to perform an operation of determining the weather state through the characteristic information of the surrounding environment, it is specifically configured to: If there is target information in the cluster information, it is determined that the weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold; if there is no target information in the point cluster information, It is determined that the weather state is a normal state.

With reference to the second aspect, in a possible implementation of the second aspect, the processor is configured to determine the characteristic information of the surrounding environment through the global observation information, and determine the weather through the characteristic information. During the operation of the state, it is specifically used to periodically determine 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 to determine the characteristic information of the surrounding environment corresponding to the corresponding period through the corresponding period Information to determine the weather state corresponding to the corresponding period.

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

With reference to the second aspect, in a possible implementation of the second aspect, when the millimeter-wave radar is used to obtain global observation information of the surrounding environment, it is specifically used to: perform an operation on the echo signal corresponding to the surrounding environment. Sampling to obtain multiple sample data; performing fast Fourier transform FFT on the multiple sample 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 in communication connection with the processor; the memory is used for storing program commands; the processor is used for When the program command is executed, the method described in any one of claims 1-19 is realized.

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

In the fifth aspect, an embodiment of the present application provides a computer-readable storage medium, including a program or instruction. When the program or instruction runs on a computer, the first aspect and any possible manner of the first aspect The method is executed.

In a sixth aspect, an embodiment of the present invention provides a computer program, when the computer program is executed by a computer, it is used to execute the above-mentioned first aspect and the method described in any possible manner of the first aspect. The program may be stored in whole or in part on a storage medium that is packaged with the processor, and may also be stored in part or all in a storage medium that is not packaged with the processor. The storage medium is, for example, a memory.

In this application, through the global observation information of the surrounding environment, the characteristic information of the surrounding environment is obtained, and then the weather state is obtained according to the characteristic information of the surrounding environment, and the weather state can be accurately determined, thereby ensuring the sensors in the assisted driving or automatic driving system The performance of the system in abnormal weather such as rain and snow.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the application;

2 is a flowchart of a method for detecting weather by millimeter wave radar provided by an embodiment of the application;

Fig. 3 is a schematic diagram of an FFT spectrum corresponding to weather in a normal state;

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

Fig. 5 is a schematic diagram of the FFT spectrum shown in Fig. 3 after enhancement processing;

Fig. 6 is a schematic diagram of the FFT spectrum shown in Fig. 4 after enhancement processing;

FIG. 7 is a schematic diagram after cropping the enhanced FFT spectrum shown in FIG. 5;

Figure 8 is a schematic diagram of the enhanced FFT spectrum shown in Figure 6 after cropping

FIG. 9 is a schematic structural diagram of a millimeter wave radar provided by an embodiment of the application;

FIG. 10 is a schematic structural diagram of another movable platform provided by an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

The embodiments of the present application will be described below in conjunction with the drawings.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the application. 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 the front of the vehicle can be used to detect the situation in front of the vehicle and realize functions such as car following and early warning. Car instructions and other functions. The millimeter wave radar 12 is used to obtain the global observation information of the surrounding environment. It should be understood that the global observation information refers to the observation information in the entire range that the millimeter wave radar 12 can detect, and does not directly refer to the observation of all environments around the vehicle Information; if the detection range of the millimeter-wave radar 12 can cover all environments around the vehicle, the global observation information can also be observation information of all environments around the vehicle.

Among them, the movable platform may be a vehicle. When the millimeter wave radar obtains the global observation information of the surrounding environment, the movable platform may be in a stationary state or in a moving state, which is not limited in the embodiment of the present application. The millimeter wave radar can specifically be a frequency modulated continuous wave (FMCW) millimeter wave radar, that is, a millimeter wave radar that transmits signals of continuously changing frequency waveforms to the outside and measures the relationship between the transmitted signal and the echo signal. .

First, a specific embodiment is used to describe the method of the millimeter wave radar weather detection of the present application. Fig. 2 is a flowchart of a method for detecting millimeter-wave radar weather according to an embodiment of the application. Referring to Fig. 2, the method of this embodiment includes:

Step S101: Obtain global observation information of the surrounding environment, where the global observation information includes at least one of the following: global observation speed, global observation distance, or global observation energy.

Wherein, the global observation information of the surrounding environment acquired in this embodiment is the global observation information of the surrounding environment collected by the millimeter wave radar. It can be understood that the surrounding environment in this embodiment may be the surrounding environment within the detection range of the millimeter wave radar.

In one method, obtaining global observation information of the surrounding environment includes: sampling the echo signal corresponding to the surrounding environment to obtain multiple sampled data; performing fast Fourier transform (FFT) on the multiple sampled data ) To get the global observation information of the surrounding environment. In the frequency modulated continuous wave millimeter wave radar, two-dimensional FFT processing can be performed on the transmitted signal and the echo signal to obtain a two-dimensional FFT spectrum. The two directions in the two-dimensional FFT spectrum represent the observation speed and the observation distance, and each The color depth of each unit represents the observed energy. The global observation information of the surrounding environment may be the information of all processed two-dimensional FFT spectra within the entire detection range of the millimeter wave radar. Among them, the echo signal corresponding to the surrounding environment is the echo signal generated by the reflection of the millimeter wave by the objects in the surrounding environment; the multiple sampling data may be AD sampling data.

The following describes the global observation information.

For the global observation speed: the global observation speed can include the observation speed of objects in the surrounding environment. The observation speed of an object in the surrounding environment is the speed of the object relative to the millimeter wave radar. Since there is at least one area that reflects millimeter waves on an object in the surrounding environment, each area that reflects millimeter waves corresponds to an observation speed (that is, the speed of the area relative to the millimeter wave radar). Therefore, an area of the surrounding environment The object corresponds to one or more observation speeds. Specifically, it is related to the resolution of the millimeter-wave radar. When the resolution of the millimeter-wave radar is high, there may be more reflection areas on an object, resulting in more observation speed results.

For the global observation distance: the global observation distance may include the observation distance of each object in the surrounding environment, and the observation distance of the object in the surrounding environment is the distance between the object and the millimeter wave radar. Since there is at least one area that reflects millimeter waves on an object in the surrounding environment, each area that reflects millimeter waves corresponds to an observation distance (that is, the distance between the area and the millimeter wave radar). Therefore, the surrounding environment An object corresponds to one or more observation distances. Specifically, it is related to the resolution of the millimeter-wave radar. When the resolution of the millimeter-wave radar is high, there may be more reflection areas on an object, resulting in more observation distance results.

For the global observation energy: the global observation energy may include the observation energy of each object in the surrounding environment, and the observation energy of the object in the surrounding environment is the reflection intensity of the object to the millimeter wave. Since there is at least one area that reflects millimeter waves on an object in the surrounding environment, each area that reflects millimeter waves corresponds to an observation energy (that is, the reflection intensity of the area to millimeter waves). Therefore, an object in the surrounding environment Corresponds to one or more observation energies. Specifically, it is related to the resolution of the millimeter-wave radar. When the resolution of the millimeter-wave radar is high, there may be more reflection areas on an object, so there are more observation energy results.

Step S102: Determine characteristic information of the surrounding environment through the global observation information of the surrounding environment.

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

In one way, through the global observation information of the surrounding environment, the characteristic information of the surrounding environment can be determined by the following a1~a2:

a1. Obtain the FFT spectrum through the global observation information of the surrounding environment.

When the global observation information includes the global observation distance, the global observation speed and the global observation energy, the two-dimensional FFT spectrum can be obtained through the global observation information of the surrounding environment. The two directions in the two-dimensional FFT spectrum represent the observation speed respectively The distance to the observation, and the color depth of each cell represents the observation energy. For example, the observation distance corresponding to area a on object A in the surrounding environment is S, and the observation speed corresponding to area a is V, then the color depth at the data point on the FFT spectrum determined by S and V is the observation corresponding to area a The energy is certain.

a2. Determine the characteristic information of the surrounding environment through the FFT spectrum.

Before describing the determination of the characteristic information of the surrounding environment through the FFT spectrum, the principle that the FFT spectrum can be used to determine the characteristic information of the surrounding environment is first explained.

Fig. 3 is a schematic diagram of an FFT spectrum corresponding to weather in a normal state. Normal weather means that there is no solid fluid corresponding to the weather in the surrounding environment, such as sunny, cloudy, and cloudy days. In normal weather, there are some discrete objects in the surrounding environment of millimeter wave radar, such as some moving vehicles. According to the observation speed, observation distance and observation energy of these discrete objects, there will be some discrete point clusters on the FFT graph, as shown in Figure 3 (for ease of understanding, some of the discrete point clusters Circled in Figure 3).

Continuing to refer to Fig. 3, the horizontal horizontal line 31 in Fig. 3 is the reference line where the radar relative to the ground speed is zero. If under normal weather conditions, the radar moves relative to the ground when the radar collects data, then the baseline of the radar relative to the ground with a speed of 0 will shift downward or upward from the center of the FFT spectrum. The horizontal line 31 in FIG. 3 is not located in the center of the FFT spectrum, indicating that the radar is moving.

It is understandable that if the radar moves in the forward direction (when it is on), it is defined that the speed above the baseline of the radar relative to the ground speed of 0 is a positive value, then the radar will move downward relative to the baseline of the ground speed of 0; If the radar moves in the reverse direction (open backwards), the speed above the base line where the radar relative to the ground speed is 0 is defined as a positive value, and the radar relative to the base line where the ground speed is 0 will move upward.

Fig. 4 is a schematic diagram of an FFT spectrum corresponding to an abnormal weather.

Abnormal weather refers to the existence of solid fluids corresponding to the weather in the surrounding environment, such as rain or snow, rain or snow, hail or sandstorm. Take rainy days as an example. In rainy days, there are a lot of raindrops in the surrounding environment of millimeter wave radar, and these raindrops are often continuous. According to the observation speed, observation distance and observation energy of these continuous raindrops, there will be some continuously distributed point clusters on the FFT map, as shown in Figure 4 (for ease of understanding, the continuous distribution of point clusters are circled in Figure 4 ).

Continuing to refer to FIG. 4, the horizontal line 41 in FIG. 4 is a reference line with respect to the ground speed of 0. The horizontal line 41 is at the central horizontal position of the FFT spectrum, indicating that FIG. 4 shows the corresponding FFT spectrum when the radar is at a standstill under abnormal weather.

In summary, due to the different characteristics of the surrounding environment corresponding to the normal weather and the abnormal weather, the FFT spectrum characteristics of the normal weather and the FFT spectrum characteristics of the abnormal weather are very different. That is to say, the characteristics of the surrounding environment are different, and the characteristics of the corresponding FFT spectrum are different. Therefore, the characteristic information of the surrounding environment can be determined according to the FFT spectrum.

Based on the above-mentioned principle, "determine the characteristic information of the surrounding environment through the FFT spectrum" is described below. Through the FFT spectrum, determining the characteristic information of the surrounding environment can be achieved through steps b1 to b2:

b1. Process the FFT spectrum to obtain a processed FFT spectrum, and the value of the observation speed corresponding to the processed FFT spectrum is a value within the first preset range.

It is understandable that the FFT spectrum here is the FFT spectrum obtained in step a1.

The determination of the first preset range may be determined according to the velocity of the fluid corresponding to the weather to be detected.

For example: it is necessary to detect whether the current weather is weather with the following characteristics: the speed of the fluid corresponding to the weather is relatively small relative to the speed of the millimeter wave radar. At this time, the absolute value of the maximum observation speed corresponding to the first preset range Can be relatively small. The weather with the above characteristics may be rainy, snowy, or sleet weather, for example. At this time, there may be a zero observation speed in the first preset range.

For another example: at least it is necessary to detect whether the current weather is weather with the following characteristics: the velocity of the fluid corresponding to the weather is relatively large relative to the velocity of the millimeter wave radar. At this time, the absolute value of the maximum observation velocity corresponding to the first preset range is The absolute value of the value can be relatively large. The weather having the above characteristics may be sandstorm weather, for example. At this time, there may or may not be zero observation speed in the first preset range.

Since the determination of the first preset range can be determined according to the velocity 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, so the characteristic information in the surrounding environment is The corresponding observation speed in the FFT spectrum is part of the FFT spectrum information with values within the first preset range.

Among them, the FFT spectrum is processed so that the observation speed corresponding to the processed FFT spectrum is a value within the first preset range. First, it can reduce the power consumption of the equipment for determining the weather state, and second, it can avoid the addition of weather. The influence of objects other than the corresponding fluid on determining weather conditions.

Optionally, the range of the observation speed corresponding to the processed FFT spectrum may also be the same as the range of the observation speed corresponding to the FFT spectrum obtained in step a1.

The specific acquisition process of the processed FFT spectrum will be described below.

The processing of the FFT spectrum to obtain the processed FFT spectrum can be implemented through but not limited to the following three implementation manners.

The first implementation manner: processing the FFT spectrum to obtain the processed FFT spectrum, including:

b11. Remove the first part of the FFT spectrum to obtain a processed FFT spectrum. The value of the observation speed corresponding to the first part is a value outside the first preset range.

That is, the part of the FFT spectrum that corresponds to the observation speed value outside the first preset range is cut out, and the processed FFT spectrum is obtained, and the observation speed value corresponding to the processed FFT spectrum is the first A value within the preset range.

The second implementation mode: processing the FFT spectrum to obtain the processed FFT spectrum, including:

b121. Perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum.

Among them, the enhancement processing performed on the FFT spectrum may be binarization processing.

Perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum, which can be specifically: update the value of the FFT spectrum greater than or equal to the preset threshold energy to the first value, and update the value of the FFT spectrum less than the preset threshold energy to the second value Value to get the enhanced FFT spectrum. Among them, the first value can be 1, and the second value can be 0.

Among them, the preset threshold energy is determined based on the observation energy statistical distribution in the global observation information. For example, the preset threshold energy is any energy whose intensity lies at 8% to 15% in the statistical distribution of observation energy in the global observation information energy.

Enhancement processing of the FFT spectrum can make the comparison between the regions with larger observation energy and the corresponding regions with lower observation energy in the FFT spectrum more obvious, which can make the corresponding regions with larger observation energy in the FFT spectrum appear more clearly. On the FFT spectrum. Since the observation energy corresponding to raindrops or snow blocks in abnormal weather such as rain and snow is generally larger, after the FFT spectrum is enhanced, the characteristics of the FFT spectrum of abnormal weather such as rain and snow can be more obvious. Improve the accuracy of determining weather conditions.

5 is a schematic diagram of the FFT spectrum shown in FIG. 3 after the enhancement processing, and FIG. 6 is a schematic diagram of the FFT spectrum shown in FIG. 4 after the enhancement processing.

Referring to Fig. 5 and Fig. 6, it can be seen that the baseline with respect to the ground speed of 0 and the corresponding area with large observed energy in the enhanced FFT spectrum can be presented more clearly.

b121. Remove the first part of the enhanced FFT spectrum to obtain a processed FFT spectrum. The observation speed corresponding to the first part is a value outside the first preset range.

That is, the part where the value of the observation speed corresponding to the enhanced FFT spectrum is outside the first preset range is cropped to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the processed FFT spectrum is the first A value within a preset range.

FIG. 7 is a schematic diagram of the enhanced FFT spectrum shown in FIG. 5 after clipping, and FIG. 8 is a schematic diagram of the enhanced FFT spectrum shown in FIG. 6 after clipping.

The third implementation mode: processing the FFT spectrum to obtain the processed FFT spectrum, including:

b131. Remove the first part of the FFT spectrum to obtain the first FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.

For the specific implementation of this step, please refer to the description in c1, which will not be repeated here.

b131. Perform enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum.

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

The process of performing enhancement processing on the first FFT spectrum to obtain the enhanced FFT spectrum can refer to the process of performing enhancement processing on the FFT spectrum in d1 to obtain the process of obtaining the enhanced FFT spectrum, which will not be repeated here.

b2. Determine the characteristic information of the surrounding environment through the processed FFT spectrum.

Among them, the characteristic information of the surrounding environment is determined through the processed FFT spectrum, including:

b21. Cluster the data points in the processed FFT spectrum to obtain at least one point cluster; wherein, the data points included in each point cluster in the at least one point cluster belong to the same category, and one data point in the FFT spectrum corresponds to One observation information in the global observation information.

b22. Obtain point cluster information of a point cluster in at least one point cluster, where the point cluster information is characteristic information of the surrounding environment.

The point cluster information is the characteristic partial target point information in the FFT spectrum obtained above or the characteristic partial FFT spectrum information in the FFT spectrum obtained above, that is, the characteristic information of the surrounding environment.

Wherein, obtaining the first point cluster information of the first point cluster in the at least one point cluster includes: obtaining the difference between the value of the maximum observation distance and the value of the minimum observation distance corresponding to the first point cluster. One point of cluster information includes the difference.

Step S103: Determine the weather state through the feature information of the surrounding environment.

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

Wherein, when the point cluster information of the 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, including:

(1) When there is target information in the point cluster information, it is determined that the weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold.

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

It is understandable that if the target information is included in the point cluster information in which one point cluster exists in at least one point cluster, it can be determined that the weather state is an abnormal state.

(2) When there is no target information in the point cluster information, it is determined that the weather state is normal.

In this embodiment, the feature 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 feature information of the surrounding environment, which can accurately determine the weather state and is simple and easy to implement.

Further, if the determined weather state is an abnormal state, the constant false alarm rate (CFAR) detection threshold and method can be adjusted according to the abnormal weather state, so that the detection threshold and method can be adapted to the non-normal weather state. Normal weather ensures the reliability of target recognition under abnormal weather; it can also be used to adjust the tracking birth and death threshold to adapt the tracking birth and death threshold to abnormal The state of the weather ensures the reliability of target tracking under abnormal weather; it can also be used to adjust the weight of the detection results of multiple sensors in the fusion when there are multiple sensors, so that multiple sensors The weight of the detection results in the fusion is adapted to the abnormal weather, ensuring the reliability of the detection target. For example, when the weather is detected in special weather such as rain and snow, the fusion weight of the vision sensor or lidar in the sensor system can be reduced to increase the fusion weight of the millimeter wave radar, so that the millimeter wave radar can be better used in abnormal weather. Under the stability, reduce the influence of the interference of the vision sensor or lidar under abnormal weather on the sensor fusion. In other words, accurately determining weather conditions can ensure the performance of sensor systems in systems such as assisted driving or automatic driving under abnormal weather such as rain and snow.

In addition, in order to be able to ensure the performance of sensor systems in areas such as automatic driving in real time, the feature information of the surrounding environment is determined through global observation information, and the weather status can be determined through the feature information of the surrounding environment, which may include: periodically passing the corresponding period The global observation information of the surrounding environment determines the characteristic information of the surrounding environment corresponding to the corresponding period, and determines the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period.

That is to say, the weather state is determined once every preset time period, and the preset time period is the period for determining the weather state. Among them, the period for determining the weather state can be any value between 1 and 5s.

The method of this embodiment can accurately determine the weather state, and is simple and easy to implement, thereby ensuring the working performance of the sensor system in systems such as assisted driving or automatic driving under abnormal weather such as rain and snow.

The method for detecting millimeter wave radar weather provided by the embodiment of the present application is described above, and the device provided by the embodiment of the present application is described below.

Fig. 9 is a schematic structural diagram of a millimeter wave radar provided by an embodiment of the application. As shown in Fig. 9, the millimeter wave radar includes a processor 91 and a memory 92. The memory 92 stores instructions, and the processor 91 is configured to Call the instruction to perform the following operations: obtain global observation information of the surrounding environment; the global observation information includes at least one of the following: global observation speed, global observation distance, or global observation energy; The feature information of the surrounding environment; through the feature information, the weather state is determined.

Optionally, when the processor 91 is configured to perform the operation of determining the characteristic information of the surrounding environment through the global observation information, it is specifically configured to: acquire the fast Fourier transform FFT spectrum through the global observation information ; Through the FFT spectrum, determine the characteristic information of the surrounding environment.

Optionally, the global observation information includes the global observation speed; when the processor 91 is configured to perform the operation of determining the characteristic information of the surrounding environment through the FFT map, it is specifically configured to: Processing to obtain a processed FFT spectrum, the value of the observation speed corresponding to the processed FFT spectrum is a value within a first preset range; the characteristics of the surrounding environment are determined through the processed FFT spectrum information.

Optionally, there is a zero observation speed in the first preset range.

Optionally, when the processor 91 is configured to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: remove the first part of the FFT spectrum to obtain the processed FFT spectrum. In the graph, 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 operation of processing the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum; The first part of the enhanced FFT spectrum is used to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information includes the global observation energy; when the processor 91 is configured to perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum, it is specifically configured to: The value of the spectrum greater than the preset threshold energy is updated to the first value, and the value of the FFT spectrum less than the preset threshold energy is updated to the second value to obtain the enhanced FFT spectrum.

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

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

Optionally, when the processor 91 is configured to perform the operation of processing the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: remove the first part of the FFT spectrum to obtain the first FFT spectrum, so The value of the observation speed corresponding to the first part is a value outside the first preset range; enhancement processing is performed on the first FFT spectrum to obtain the processed FFT spectrum.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information includes the global observation energy; when the processor 91 is configured to perform an enhancement process on the first FFT spectrum to obtain a processed FFT spectrum, it is specifically configured to: The value of the first FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the first FFT spectrum less than the preset threshold energy is updated to the second value to obtain the processed FFT spectrum .

Optionally, the global observation information includes the global observation distance; when the processor 91 is configured to perform the operation of determining the characteristic information of the surrounding environment through the processed FFT spectrum, it is specifically configured to: Clustering the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, and one data point in the FFT spectrum corresponds to the global observation Observation information in the information; acquiring point cluster information of a point cluster in the at least one point cluster, where the point cluster information is characteristic information of the surrounding environment.

Optionally, when the processor 91 is configured to perform the operation of acquiring the first point cluster information of the first point cluster in the at least one point cluster, it is specifically configured to: acquire the information corresponding to the first point cluster. The difference between the value of the maximum observation distance and the value of the minimum observation distance, and the first point cluster information includes the difference.

Optionally, when the processor 91 is configured to perform the operation of determining the weather state through the feature information of the surrounding environment, it is specifically configured to determine that the point cluster information includes target information. The weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold; in the case that there is no target information in the point cluster information, it is determined that the weather state is a normal state.

Optionally, when the processor 91 is 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, it is specifically configured to: periodically pass The global observation information of the surrounding environment corresponding to the corresponding period determines the characteristic information of the surrounding environment corresponding to the corresponding period, and the weather state corresponding to the corresponding period is determined through the characteristic information of the surrounding environment corresponding to the corresponding period.

Optionally, the period for determining the weather state is any value between 1 and 5s.

Optionally, when the processor 91 is used to obtain global observation information of the surrounding environment, it is specifically configured to: sample the echo signal corresponding to the surrounding environment to obtain a plurality of sampling data; The data is subjected to fast Fourier transform FFT to obtain the global observation information of the surrounding environment.

The millimeter wave radar of this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

The embodiment of the present application also provides a movable platform on which the millimeter wave radar in the embodiment shown in FIG. 9 is mounted.

FIG. 10 is a schematic structural diagram of another movable platform provided by an embodiment of the application. As shown in FIG. 10, the movable platform includes: a millimeter wave radar 101, which is used to obtain global observation information of the surrounding environment; The wave radar is mounted on the movable platform, and the global observation information includes at least one of the following: a global observation speed, a global observation distance, or a global observation energy; a processor 102, which is communicatively connected with the millimeter wave radar, is configured to perform the following Operation: determine the characteristic information of the surrounding environment through the global observation information; determine the weather state through the characteristic information.

Optionally, when the processor 102 is configured to perform the operation of determining the characteristic information of the surrounding environment through the global observation information, it is specifically configured to: acquire the fast Fourier transform FFT spectrum through the global observation information ; Through the FFT spectrum, determine the characteristic information of the surrounding environment.

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

Optionally, there is a zero observation speed in the first preset range.

Optionally, when the processor 102 is configured to perform an operation of processing the FFT spectrum to obtain a processed FFT spectrum, it is specifically configured to remove the first part of the FFT spectrum to obtain the processed FFT spectrum. In the graph, 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 an operation of processing the FFT spectrum to obtain a processed FFT spectrum, it is specifically configured to: perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum; The first part of the enhanced FFT spectrum is used to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information includes the global observation energy; when the processor 102 is configured to perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum, it is specifically configured to: The value of the spectrum greater than the preset threshold energy is updated to the first value, and the value of the FFT spectrum less than the preset threshold energy is updated to the second value to obtain the enhanced FFT spectrum.

Optionally, when the processor 102 is configured to perform the operation of processing the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to: remove the first part of the FFT spectrum to obtain the first FFT spectrum, so The value of the observation speed corresponding to the first part is a value outside the first preset range; enhancement processing is performed on the first FFT spectrum to obtain the processed FFT spectrum.

Optionally, the enhancement processing is binarization processing.

Optionally, the global observation information includes the global observation energy; when the processor 102 is configured to perform enhancement processing on the first FFT map to obtain a processed FFT map, it is specifically configured to: The value of the first FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the first FFT spectrum less than the preset threshold energy is updated to the second value to obtain the processed FFT spectrum .

Optionally, the global observation information includes the global observation distance; when the processor 102 is configured to perform the operation of determining the characteristic information of the surrounding environment through the processed FFT spectrum, it is specifically configured to: Clustering the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, and one data point in the FFT spectrum corresponds to the global observation Observation information in the information; acquiring point cluster information of a point cluster in the at least one point cluster, where the point cluster information is characteristic information of the surrounding environment.

Optionally, when the processor 102 is configured to perform the operation of acquiring the first point cluster information of the first point cluster in the at least one point cluster, it is specifically configured to: acquire the information corresponding to the first point cluster. The difference between the value of the maximum observation distance and the value of the minimum observation distance, and the first point cluster information includes the difference.

Optionally, when the processor 102 is configured to perform the operation of determining the weather state through the feature information of the surrounding environment, it is specifically configured to: determine the target information in the point cluster information The weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold; in the case that there is no target information in the point cluster information, it is determined that the weather state is a normal state.

Optionally, when the processor 102 is 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, it is specifically configured to: periodically pass The global observation information of the surrounding environment corresponding to the corresponding period determines the characteristic information of the surrounding environment corresponding to the corresponding period, and the weather state corresponding to the corresponding period is determined through the characteristic information of the surrounding environment corresponding to the corresponding period.

Optionally, when the millimeter wave radar is used to obtain global observation information of the surrounding environment, it is specifically used to: sample the echo signal corresponding to the surrounding environment to obtain multiple sample data; The data is subjected to fast Fourier transform FFT to obtain the global observation information of the surrounding environment.

The movable platform of this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

A person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the application range.

Claims

A method of millimeter wave radar weather detection, characterized in that the method includes:

Obtain global observation information of the surrounding environment, where the global observation information includes at least one of the following: global observation speed, global observation distance, or global observation energy;

Determine the characteristic information of the surrounding environment through the global observation information;

Through the feature information, the weather state is determined.
The method according to claim 1, wherein the determining the characteristic information of the surrounding environment through the global observation information comprises:

Obtaining a fast Fourier transform FFT spectrum through the global observation information;

Through the FFT spectrum, the characteristic information of the surrounding environment is determined.
The method according to claim 2, wherein the global observation information includes the global observation speed; and the determining the characteristic information of the surrounding environment through the FFT map comprises:

Processing the FFT spectrum to obtain a processed FFT spectrum, and the value of the observation speed corresponding to the processed FFT spectrum is a value within a first preset range;

Through the processed FFT spectrum, the characteristic information of the surrounding environment is determined.
The method according to claim 3, wherein there is a zero observation speed in the first preset range.
The method according to claim 3, wherein the processing the FFT spectrum to obtain the processed FFT spectrum comprises:

The first part of the FFT spectrum is removed to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.
The method according to claim 3, wherein the processing the FFT spectrum to obtain the processed FFT spectrum comprises:

Performing enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum;

The first part of the enhanced FFT spectrum is removed to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.
The method according to claim 6, wherein the enhancement processing is binarization processing.
The method according to claim 6 or 7, wherein the global observation information includes the global observation energy; and performing enhancement processing on the FFT map to obtain an enhanced FFT map includes:

The value of the FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the FFT spectrum less than the preset threshold energy is updated to the second value to obtain the enhanced FFT spectrum.
The method according to claim 8, wherein the preset threshold energy is determined based on a statistical distribution of global observation information energy.
The method according to claim 9, wherein the preset threshold energy is any energy at an intensity of 8% to 15% in the energy statistical distribution of the global observation information.
The method according to claim 3, wherein the processing the FFT spectrum to obtain the processed FFT spectrum comprises:

Removing the first part of the FFT spectrum to obtain a first FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range;

The enhancement processing is performed on the first FFT spectrum to obtain the processed FFT spectrum.
The method according to claim 11, wherein the enhancement processing is binarization processing.
The method according to claim 11 or 12, wherein the global observation information includes the global observation energy; and the performing enhancement processing on the first FFT spectrum to obtain a processed FFT spectrum comprises:

The value of the first FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the first FFT spectrum less than the preset threshold energy is updated to the second value to obtain the processed FFT spectrum .
The method according to claim 3, wherein the global observation information includes the global observation distance; and the determining the characteristic information of the surrounding environment through the processed FFT spectrum comprises:

Clustering the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, and one data point in the FFT spectrum corresponds to the global observation One observation in the information;

Acquire point cluster information of a point cluster in the at least one point cluster, where the point cluster information is characteristic information of the surrounding environment.
The method according to claim 14, wherein the acquiring first point cluster information of a first point cluster in the at least one point cluster comprises:

The difference between the value of the maximum observation distance and the value of the minimum observation distance corresponding to the first point cluster is acquired, and the first point cluster information includes the difference value.
The method according to claim 15, wherein the determining the weather state through the characteristic information of the surrounding environment comprises:

In the case that there is target information in the point cluster information, determining that the weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold;

If there is no target information in the point cluster information, it is determined that the weather state is a normal state.
The method according to claim 1, wherein the determining characteristic information of the surrounding environment through the global observation information, and determining the weather state through the characteristic information comprises:

Periodically determine 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 determine the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period .
The method according to claim 17, wherein the period of determining the weather state is any value between 1 and 5s.
The method according to claim 1, wherein said acquiring global observation information of the surrounding environment comprises:

Sampling the echo signal corresponding to the surrounding environment to obtain multiple sampling data;

Fast Fourier transform FFT is performed on the multiple sample data to obtain the global observation information of the surrounding environment.
A movable platform, characterized by comprising: a millimeter wave radar for obtaining global observation information of the surrounding environment; wherein the millimeter wave radar is mounted on the movable platform, and the global observation information includes at least one of the following Item: global observation speed, global observation distance or global observation energy;

The processor is in communication connection with the millimeter wave radar, and is configured to perform the following operations:

Determine the characteristic information of the surrounding environment through the global observation information;

Through the feature information, the weather state is determined.
The mobile platform according to claim 20, wherein when the processor is used to perform the operation of determining the characteristic information of the surrounding environment through the global observation information, it is specifically used to:

Obtaining a fast Fourier transform FFT spectrum through the global observation information;

Through the FFT spectrum, the characteristic information of the surrounding environment is determined.
The mobile platform according to claim 21, wherein the global observation information includes the global observation speed; the processor is configured to perform the determination of the characteristic information of the surrounding environment through the FFT atlas During operation, it is specifically used for:

Processing the FFT spectrum to obtain a processed FFT spectrum, and the value of the observation speed corresponding to the processed FFT spectrum is a value within a first preset range;

Through the processed FFT spectrum, the characteristic information of the surrounding environment is determined.
The movable platform according to claim 22, wherein there is a zero observation speed in the first preset range.
The mobile platform according to claim 22, wherein, when the processor is used to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to:

The first part of the FFT spectrum is removed to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.
The mobile platform according to claim 22, wherein, when the processor is used to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to:

Performing enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum;

The first part of the enhanced FFT spectrum is removed to obtain the processed FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range.
The mobile platform according to claim 25, wherein the enhancement processing is binarization processing.
The mobile platform according to claim 25 or 26, wherein the global observation information includes the global observation energy; the processor is used to perform enhancement processing on the FFT spectrum to obtain an enhanced FFT spectrum When operating, specifically used for:

The value of the FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the FFT spectrum less than the preset threshold energy is updated to the second value to obtain the enhanced FFT spectrum.
The movable platform according to claim 27, wherein the preset threshold energy is determined based on the energy statistical distribution of global observation information.
The mobile platform according to claim 28, wherein the preset threshold energy is any energy at an intensity of 8% to 15% in the energy statistical distribution of the global observation information.
The mobile platform according to claim 22, wherein, when the processor is used to process the FFT spectrum to obtain the processed FFT spectrum, it is specifically configured to:

Removing the first part of the FFT spectrum to obtain a first FFT spectrum, and the value of the observation speed corresponding to the first part is a value outside the first preset range;

The enhancement processing is performed on the first FFT spectrum to obtain the processed FFT spectrum.
The movable platform according to claim 30, wherein the enhancement processing is binarization processing.
The mobile platform according to claim 30 or 31, wherein the global observation information includes the global observation energy; and the processor is used to perform enhancement processing on the first FFT spectrum to obtain processing The operation of the latter FFT spectrum is specifically used for:

The value of the first FFT spectrum greater than the preset threshold energy is updated to the first value, and the value of the first FFT spectrum less than the preset threshold energy is updated to the second value to obtain the processed FFT spectrum .
The mobile platform according to claim 22, wherein the global observation information includes the global observation distance; the processor is used to execute the processed FFT spectrum to determine the surrounding environment When operating characteristic information, it is specifically used to:

Clustering the data points in the processed FFT spectrum to obtain at least one point cluster; wherein the data points included in the point cluster belong to the same category, and one data point in the FFT spectrum corresponds to the global observation One observation in the information;

Acquire point cluster information of a point cluster in the at least one point cluster, where the point cluster information is characteristic information of a surrounding environment.
The movable platform according to claim 33, wherein, when the processor is used to perform the operation of acquiring the first point cluster information of the first point cluster in the at least one point cluster, it is specifically configured to:

The difference between the maximum observation distance and the minimum observation distance corresponding to the first point cluster is acquired, and the first point cluster information includes the difference.
The mobile platform according to claim 34, wherein when the processor is used to perform the operation of determining the weather state through the characteristic information of the surrounding environment, it is specifically used to:

In the case that there is target information in the point cluster information, determining that the weather state is an abnormal state, and the difference included in the target information is greater than or equal to a preset threshold;

If there is no target information in the point cluster information, it is determined that the weather state is a normal state.
The mobile platform of claim 20, wherein the processor is configured to perform an operation of determining characteristic information of the surrounding environment through the global observation information, and determining the weather state through the characteristic information When, specifically used for:

Periodically determine 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 determine the weather state corresponding to the corresponding period through the characteristic information of the surrounding environment corresponding to the corresponding period .
The mobile platform according to claim 36, wherein the period for determining the weather state is any value between 1 and 5s.
The mobile platform according to claim 20, wherein when the millimeter wave radar is used to obtain global observation information of the surrounding environment, it is specifically used for:

Sampling the echo signal corresponding to the surrounding environment to obtain multiple sampling data;

Fast Fourier transform FFT is performed on the multiple sample data to obtain the global observation information of the surrounding environment.
A millimeter wave radar, characterized by comprising: a memory and a processor; the memory and the processor are connected;

The memory is used to store program commands;

The processor is configured to implement the method according to any one of claims 1-19 when a program command is executed.
A movable platform, characterized in that the millimeter wave radar of claim 39 is mounted on the movable platform.
A computer-readable storage medium, comprising a program or instruction, when the program or instruction runs on a computer, the method according to any one of claims 1-19 is executed.