WO2022205199A1

WO2022205199A1 - Interference processing method and apparatus

Info

Publication number: WO2022205199A1
Application number: PCT/CN2021/084712
Authority: WO
Inventors: 徐磊磊; 秦博雅
Original assignee: 华为技术有限公司
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2022-10-06
Also published as: CN113302511B; CN113302511A

Abstract

Provided are an interference processing method and apparatus capable of processing interference, thereby improving the target detection rate. The method may comprise: obtaining a first signal, the first signal comprising a plurality of sampling points (S310); determining a variance of the first signal on the basis of an energy value of each of the plurality of sampling points (S320); and on the basis of the variance of the first signal and a preset first threshold, determining that interference exists in the first signal (S330).

Description

A kind of interference processing method and device

technical field

The present application relates to the field of sensor technology, and more particularly, to an interference processing method and device.

Background technique

With the development of society and the advancement of science and technology, smart cars are gradually entering people's daily life. Sensors play a very important role in the unmanned or intelligent driving of smart cars. Radar (such as lidar, millimeter-wave radar, etc.) is a key sensor in unmanned or intelligent driving. It has been widely used in precision detection and distance detection.

However, in practical applications, mutual interference may occur between detection signals transmitted by different detection devices.

Therefore, it is necessary to provide an interference processing method, which can effectively detect the interference, thereby improving the target detection rate.

SUMMARY OF THE INVENTION

The embodiments of the present application provide an interference processing method and apparatus, which can effectively detect interference, thereby improving the target detection rate.

In a first aspect, an embodiment of the present application provides an interference processing method. The method may include: an interference processing apparatus obtains a first signal, where the first signal includes multiple sampling points; the interference processing apparatus is based on the multiple sampling points The energy value of each sampling point in the points determines the variance of the first signal; the interference processing device determines that there is interference in the first signal based on the variance of the first signal and a preset first threshold.

It can be seen that, by using the interference processing method provided by the embodiment of the present application, since the variance can describe the fluctuation of the signal, the interference signal can be better described. Therefore, through the variance of the signal and the preset first threshold, it is possible to detect the interference in the first signal. interference signal, thereby improving the target detection rate.

Optionally, the sampling value of the sampling point described in this application may also be an amplitude value. The sampling value of each sampling point in this embodiment of the application is only an energy value, and the application does not limit the physical quantity of the sampling value of the sampling point. .

Optionally, the method or apparatus provided in this application is used for detection equipment or sensors, for example, for millimeter-wave radar, lidar, ultrasonic radar, and the like.

Optionally, the detection device described in this application may be applied to a terminal. For example, the terminal may be a means of transportation or a smart device, for example, the terminal may be a motor vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail car, a bicycle, a traffic light, etc. . For another example, the terminal may be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, an augmented reality device, a virtual reality device, a wearable device, a vehicle-mounted terminal, and the like.

Optionally, the interference processing method or apparatus provided in the embodiments of the present application may be applicable to scenarios in which target detection is performed by a detection device in application scenarios such as unmanned driving, automatic driving, intelligent driving, and connected driving.

In a possible implementation manner, the first signal described in the embodiments of the present application is a digital signal obtained by an analog-to-digital conversion of the received signal of the detection device. For example, the received signal is processed by the detection device (amplified, amplified, down-conversion and analog-to-digital conversion), the first signal may include an echo signal of the detection device, and/or an interference signal, and/or a clutter signal.

The echo signal mentioned in this application refers to the reflection signal of the detection signal emitted by the detection device after being reflected by the target detection object, and the interference signal includes the detection signal emitted by other detection devices or the reflection signal of the detection signal of other detection devices, clutter The signal refers to the reflection signal generated after the detection signal emitted by the detection device is emitted by the non-target detection object. For example, the clutter signal may be a ground reflection signal.

Optionally, the detection signal may be a variety of different types of signals, which are not limited in this embodiment of the present application.

In a possible implementation manner, the detection signal may be a radar signal, such as a frequency-modulated continuous wave radar signal, and the first signal may be a digital signal in a chirp.

In a possible implementation manner, the interference processing apparatus may perform normalization processing on the energy value of each sampling point; and determine the first energy value based on the normalized energy value of each sampling point variance of the signal.

It can be seen that by using the normalization processing provided by the embodiment of the present application, the first threshold or the second threshold can be preset, which saves the time for calculating the decision threshold in real time, and improves the interference detection and processing efficiency. Efficiency and easy engineering. When the interference processing method or device is used in a detection device, the design of the first threshold or the second threshold may be independent of the number of receiving channels, the number of antennas, and the like of the detection device.

Optionally, the interference processing apparatus may determine whether there is interference in the first signal based on the variance of the first signal and a preset first threshold.

In a possible implementation manner, if the variance of the first signal is greater than the first threshold, the interference processing apparatus may determine that the interference exists in the first signal; or, if the variance of the first signal is less than or equal to With the first threshold, the interference processing apparatus can determine that the interference does not exist in the first signal.

Optionally, the interference processing apparatus may acquire the first threshold in various manners, which is not limited in this embodiment of the present application.

In a possible implementation manner, the interference processing apparatus may preconfigure the first threshold.

In another possible implementation manner, the interference processing apparatus may receive the first threshold from a second apparatus, where the second apparatus has the ability to determine the first threshold.

In another possible implementation manner, the interference processing apparatus may receive indication information from a user or a third apparatus, where the indication information is used to indicate the first threshold.

Optionally, the method may further include: the interference processing device determines, based on the first difference value of each sampling point and a preset second threshold, a target sampling point with interference, wherein the first difference of each sampling point is A difference is the square value of the first modulus value, and the first modulus value is the absolute value of the difference between the energy value of each sampling point and the average energy value of the first signal. Wherein, the average energy value of the first signal refers to the average value of energy values of all or part of the sampling points in the first signal. Optionally, the interference processing apparatus determines a target sampling point with interference based on the first modulus value of each sampling point and a preset third threshold.

Optionally, the number of the target sampling points may be one or more, and the plurality of sampling points in the first signal include one or more of the target sampling points, that is, one or more of the first signal. Each sampling point has interference, which is not limited in this embodiment of the present application.

In a possible implementation manner, the interference processing apparatus may determine a sampling point whose first difference value is greater than the second threshold among the plurality of sampling points as the target sampling point. The determined target sampling point refers to a position corresponding to a sampling point with interference, or an index corresponding to a sampling point with interference.

That is to say, taking the first sampling point among the plurality of sampling points as an example, if the first difference of the first sampling point is greater than the second threshold, the interference processing apparatus may determine that there is interference in the first sampling point , that is, the target sampling point includes the first sampling point; if the first difference of the first sampling point is less than or equal to the second threshold, the interference processing apparatus may determine that there is no interference at the first sampling point. Optionally, if the first difference of the first sampling point is greater than or equal to the second threshold, the interference processing apparatus may determine that there is interference at the first sampling point.

It can be seen that, by using the interference processing method provided by the embodiment of the present application, by comparing the first difference value of each sampling point with the preset second threshold, and further judging the target sampling point with interference, the judgment granularity of interference processing can be improved, Thus, the accuracy of interference processing is improved.

Optionally, the method may further include: the interference processing apparatus performs anti-interference processing on the first signal based on the target sampling point.

In a possible implementation manner, the interference processing apparatus may locate the at least one target sampling point based on the index of the target sampling point, and correct the interference value of the target sampling point from the first signal to perform anti-interference deal with.

For example, the interference processing apparatus may reconstruct the sampled value of the target sampling point by using the sampled values corresponding to some or all of the sampling points without interference, so as to realize the anti-interference processing of the target sampling point.

It can be seen that, using the interference processing method provided by the embodiment of the present application, performing anti-interference processing on the target sampling point in the first signal can correct the sampling value of the target sampling point in the first signal, thereby reducing interference as much as possible to improve the Detection reliability.

Optionally, the first signal may be a time domain signal or a frequency domain signal, which is not limited in this embodiment of the present application.

In a possible implementation manner, when the first signal is a time-domain signal, cross-slope interference can be suppressed based on the above interference processing method. The cross-slope interference mentioned in this application means that the rate of change of the frequency of the echo signal in the first signal over time is different from the rate of change of the frequency of the interference signal over time.

In another possible implementation manner, when the first signal is a frequency domain signal, the same-slope interference can be suppressed based on the above interference processing method. The same-slope interference mentioned in this application means that the rate of change of the frequency of the echo signal in the first signal over time is the same as the rate of change of the frequency of the interference signal over time.

In another possible implementation manner, the first signal first suppresses cross-slope interference in the time domain based on the above interference processing method; and then converts to the frequency domain to suppress the same slope interference based on the above interference processing method.

It should be noted that, in this embodiment of the present application, the first signal may be converted from a time-domain signal to a frequency-domain signal through fast Fourier transform conversion.

Optionally, the method may further include performing subsequent processing based on the received signal after anti-interference processing.

In a possible implementation manner, the interference processing apparatus performs target detection based on the received signal after anti-interference processing.

It can be seen that using the interference processing method provided by the embodiment of the present application to perform target detection based on the first signal after anti-interference processing is beneficial to improve the target detection rate.

In a second aspect, an embodiment of the present application further provides an interference processing apparatus, configured to execute the method described in the first aspect or any possible implementation manner thereof. Specifically, the interference processing apparatus may include a unit for performing the method described in the first aspect or any possible implementation manner thereof.

In a third aspect, an embodiment of the present application further provides an interference processing apparatus, the apparatus includes: at least one processor, when the at least one processor executes program codes or instructions, the above-mentioned first aspect or any possible implementation thereof is implemented method described in the method.

Optionally, the interference processing apparatus may further include at least one memory for storing the program code or instruction.

In a fourth aspect, an embodiment of the present application further provides a chip, including: an input interface, an output interface, and at least one processor. Optionally, the chip further includes a memory. The at least one processor is configured to execute the code in the memory, and when the at least one processor executes the code, the chip implements the method described in the first aspect or any possible implementation manner thereof.

Optionally, the above chip may also be an integrated circuit.

In a fifth aspect, an embodiment of the present application further provides a detection device, including a transmitting antenna unit, a receiving antenna unit, and the interference processing device described in the second or third aspect above or the chip described in the fourth aspect.

In a sixth aspect, an embodiment of the present application further provides a terminal, where the terminal includes the detection device described in the fifth aspect. For example, the terminal is a vehicle.

In a seventh aspect, the present application further provides a computer-readable storage medium for storing a computer program, where the computer program includes a method for implementing the above-mentioned first aspect or any possible implementation manners thereof.

In an eighth aspect, the embodiments of the present application further provide a computer program product including instructions, which, when run on a computer, enables the computer to implement the method described in the first aspect or any possible implementation manner thereof.

The interference processing method, interference processing device, computer storage medium, computer program product, chip, and terminal provided in this embodiment are all used to execute the interference processing method provided above. Therefore, for the beneficial effects that can be achieved, reference may be made to the above. The beneficial effects of the provided interference processing method will not be repeated here.

Description of drawings

FIG. 1 provides a schematic diagram of an application scenario of an embodiment of the present application;

FIG. 2 provides a schematic block diagram of a detection device 200 according to an embodiment of the present application;

FIG. 3 provides a schematic flowchart of an interference processing method 300 according to an embodiment of the present application;

FIG. 4 provides a schematic flowchart of an interference processing method 400 according to an embodiment of the present application;

FIG. 5 provides a schematic block diagram of an interference processing apparatus 500 according to an embodiment of the present application;

FIG. 6 provides a schematic block diagram of an interference processing apparatus 600 according to an embodiment of the present application;

FIG. 7 provides a schematic block diagram of a chip 700 according to an embodiment of the present application.

Detailed ways

The technical solutions provided by the embodiments of the present application will be introduced below with reference to the accompanying drawings provided by the embodiments of the present application.

For the sake of clarity, some technical terms mentioned in the embodiments of the present application are first introduced.

1. The mean value of the signal

The mean value of the signal can be calculated by the following formula (1):

in,

Represents the mean value of the signal, x _i represents the energy value of the ith sampling point, and N represents the number of sampling points.

2. The variance of the signal

The variance of the signal can be calculated by the following formula (2):

where ^σ2 represents the variance of the signal,

Optionally, the sampling value of the sampling point described in this application can also be an amplitude value. For example, the amplitude value of the sampling point can be converted into an energy value through the following formula 3 and formula 4. The physical quantity is not limited.

3. Energy value of sampling point

The energy value of the sampling point in the time domain signal can be calculated by the following formula (3):

E _i =(A _i ) ² Equation 3

Among them, E _i represents the energy value of the ith sampling point, and A _i represents the amplitude value of the ith sampling point.

The energy value of the sampling point in the frequency domain signal can be calculated by the following formula (4):

E _i =I _i ² +R _i ² Formula 4

Among them, E _i represents the energy value of the ith sampling point, R _i represents the real part of the amplitude value corresponding to the ith sampling point, and I _i represents the imaginary part of the amplitude value corresponding to the ith sampling point.

Optionally, the interference processing method or device provided by the present application may be applicable to scenarios in which target detection is performed by detection equipment through detection signals in application scenarios such as unmanned driving, automatic driving, intelligent driving, and connected driving.

Optionally, the detection device described in this application may be applied to a terminal.

For example, the terminal described in this application may be a transportation tool or a smart device. The terminal can be a motor vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail car, a bicycle, a traffic light, and the like. The terminal may be a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, a sales terminal, a vehicle-mounted computer, an augmented reality device, a virtual reality, a wearable device, a vehicle-mounted terminal, and the like.

The received signal of the detection device described in this application may include echo signals and/or interference signals. Optionally, the received signal of the detection device may also include a clutter signal.

The echo signal mentioned in this application refers to the reflection signal of the detection signal emitted by the detection device after being reflected by the target detection object, and the interference signal includes the detection signal emitted by other detection devices or the reflection signal of the detection signal of other detection devices. The wave signal refers to the reflection signal generated after the detection signal emitted by the detection device is emitted by the non-target detection object. For example, the clutter signal may be a ground reflection signal.

FIG. 1 shows a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG. 1 , when detection device 1 performs target detection through detection signal 1 , detection device 2 performs target detection through detection signal 2 . In this way, in addition to the echo signal 1, the received signal 1 of the detection device 1 may also include an interference signal 1, wherein the echo signal 1 corresponds to the target detection object 1 of the detection device 1, and the interference signal 1 may Including the detection signal 2 of the detection device 2; correspondingly, the received signal 2 of the detection device 2 may include, in addition to the echo signal 2, an interference signal 2, wherein the echo signal 2 corresponds to the detection device 2 The target detection object 2 , the interference signal 2 includes the detection signal 1 of the detection device 1 . Optionally, the above received signal 1 or received signal 2 may also include clutter signals.

Taking the detection device 1 as an example, in the received signal 1 of the detection device 1, in addition to the echo signal 1 corresponding to the target detection object 1, there is also an interference signal 1. If the target detection is directly based on the received signal 1, it may cause The target detection rate is low, and the false alarm rate is high. Therefore, it is necessary to remove the interference signal 1 in the received signal 1 first, and then perform the target detection, so that the target detection rate can be improved and the false alarm rate can be reduced.

In a possible implementation, taking the received signal 1 as an example, the prior art usually calculates the average energy value of the received signal 1 in the time domain and the frequency domain in sequence; the detection threshold is set based on the energy average value, for example, the energy average value can be The product of the preset threshold coefficient is set as the detection threshold; based on the interference processing threshold, determine whether each sampling point in the received signal 1 has interference; based on the judgment result, perform anti-interference processing on the received signal 1 .

Embodiments of the present application provide an interference processing method and apparatus, which can detect interference in a received signal, thereby improving a target detection rate.

FIG. 2 shows a schematic block diagram of a detection device 200 provided by an embodiment of the present application. As shown in FIG. 2 , the detection device 200 may include a transmit antenna unit 210, a receive antenna unit 220, and an interference processing apparatus 230, wherein the transmit The antenna unit 210 and the receiving antenna unit 220 are respectively coupled with the interference processing device 230 (including direct coupling or indirect coupling).

The transmit antenna unit 210 is used for transmitting probe signals.

The receiving antenna unit 220 is used for receiving a signal. For example, the digital signal after the received signal is processed by analog-to-digital conversion of the detection device is a first signal, and the first signal may include a plurality of sampling points; to the interference processing device 230 The first signal is sent.

In a possible implementation manner, the transmitting antenna unit 210 may include at least one first array element, wherein, when the number of the at least one first array element is multiple, the multiple first array elements may be arranged in an array .

In a possible implementation manner, the receiving antenna unit 220 may include at least one second array element, a low noise amplifier, a de-slope circuit and an analog-to-digital conversion circuit, wherein when the number of the at least one second array element is large At the time, a plurality of second array elements may be arranged in an array.

In this embodiment of the present application, the first signal may be understood as a digital signal received and processed by the receiving antenna unit 220, and the first signal may include the echo signal and/or an interference signal.

Optionally, the first signal may also include a clutter signal.

The interference processing device 230 is configured to perform interference processing on the first signal based on the interference processing method provided in the embodiment of the present application, so as to determine whether there is interference in the first signal.

Optionally, if there is interference in the first signal, the interference processing device 230 is further configured to perform anti-interference processing on the first signal; and perform target detection based on the anti-interference processed first signal. In this way, the influence of interference on the target detection result can be reduced, thereby improving the target detection rate and reducing the false alarm rate.

FIG. 3 shows an interference processing method 300 provided by an embodiment of the present application. The method 300 may be applied to the application scenario shown in FIG. 1 , and may be applied to the detection device 200 shown in FIG. The interference processing device 230 in 200 executes. As shown in FIG. 3, the method 300 may include the following steps S310-S330.

S310. The interference processing apparatus acquires a first signal, where the first signal includes multiple sampling points.

It should be noted that the first signal may be understood as a digital signal received and processed by the detection device, and the first signal may include echo signals and interference signals. Optionally, the first signal may also include a clutter signal.

In a possible implementation, the detection signal may be a radar signal. For example: a frequency modulated continuous wave radar (frequency modulated continuous wave, FMCW) signal, for example, the first signal may be a digital signal in a chirp.

S320, the interference processing apparatus determines the variance of the first signal based on the energy value of each sampling point in the plurality of sampling points.

Optionally, before S320, the interference processing apparatus may perform normalization processing on the energy value of each sampling point; accordingly, S320 may be: the interference processing apparatus is based on the normalization processing of each sampling point After the energy value, the variance of the first signal is determined.

S330, the interference processing apparatus determines that there is interference in the first signal based on the variance of the first signal and a preset first threshold.

With the interference processing method provided by the embodiment of the present application, since the variance can describe the fluctuation of the signal, the interference existing in the first signal can be detected through the variance of the signal and the preset first threshold, thereby improving the target detection rate .

Optionally, after S330, the method 300 may further include S340.

S340, the interference processing apparatus determines a target sampling point where the interference exists based on the first difference value of each sampling point and a preset second threshold, wherein the first difference value of each sampling point is a first modulus The square value of the value, the first modulus value is the difference between the energy value of each sampling point and the average energy value of the first signal.

In a possible implementation manner, determining the target sampling point described in S340 may include determining the position and/or index corresponding to the target sampling point.

For example, the first signal includes 10 sampling points, and the indices corresponding to the 10 sampling points are respectively: sampling point 1, sampling point 2... each sampling point.

Optionally, the number of the target sampling points may be one or more, and the plurality of sampling points in the first signal include one or more of the target sampling points, which is not limited in this embodiment of the present application.

In a possible implementation manner, the interference processing apparatus may determine the average energy value of the first signal based on the above formula 1.

In a possible implementation manner, the interference processing apparatus may determine a sampling point whose first difference value is greater than the second threshold among the plurality of sampling points as the target sampling point.

That is to say, taking the first sampling point among the plurality of sampling points as an example, if the first difference value of the first sampling point is greater than the second threshold, the interference processing apparatus may determine that there is an existence at the first sampling point interference, that is, the target sampling point includes the first sampling point; if the first difference of the first sampling point is less than or equal to the second threshold, the interference processing apparatus may determine that there is no interference at the first sampling point. Optionally, if the first difference of the first sampling point is greater than or equal to the second threshold, the interference processing apparatus may determine that there is interference at the first sampling point.

For example: take the sampling point included in the first signal and the first difference between each sampling point as shown in Table 1 as an example, as shown in Table 1, sampling point 4, sampling point 5 and sampling point 6 are the target sampling points .

Table I

It should be noted that Table 1 only schematically shows that the first signal includes 10 sampling points, that is, sampling point 1 to sampling point 10, and the first difference at each sampling point, but the embodiment of the present application does not Limited to this, in the actual use process, the target sampling point can be determined according to the actual value and referring to the method shown in Table 1.

By using the interference processing method provided by the embodiment of the present application, by comparing the first difference value of each sampling point with the preset second threshold, and further judging the target sampling point with interference, the judgment granularity of interference processing can be improved, thereby improving the Accuracy of interference handling.

Optionally, after S340, the method 300 may further include S350.

S350, the interference processing apparatus performs anti-interference processing on the first signal based on the target sampling point.

It can be seen that, by using the interference processing method provided by the embodiment of the present application, performing anti-interference processing on the target sampling point in the first signal can reconstruct the sampling value of the target sampling point in the first signal, thereby reducing interference as much as possible, to improve the reliability of detection.

In a possible implementation manner, when the first signal is a time-domain signal, cross-slope interference can be suppressed based on the foregoing S310-S350.

In another possible implementation manner, when the first signal is a frequency domain signal, the same-slope interference can be suppressed based on the foregoing S310-S350.

In another possible implementation manner, the first signal first suppresses cross-slope interference in the time domain based on the above S310-S350;

It should be noted that, in this embodiment of the present application, a (one-dimensional) fast Fourier transform (fast fourier transformation, FFT) conversion may be used to convert the first signal from a time-domain signal to a frequency-domain signal.

Optionally, after S350, the method 300 may further include performing subsequent processing based on the anti-interference processed first signal.

In a possible implementation manner, the interference processing apparatus performs target detection based on the first signal after anti-interference processing.

Using the interference processing method provided by the embodiment of the present application, the target detection is performed based on the first signal after anti-interference processing, which is beneficial to improve the target detection rate.

FIG. 4 shows an interference processing method 400 provided by an embodiment of the present application. As shown in FIG. 4 , the method 400 may be applied to the application scenario shown in FIG. 1 , and may be applied to the detection device shown in FIG. 2 . 200, and executed by the interference processing device 230 in the system 200. For example, the detection device is an FMCW radar. As shown in FIG. 4 , the method 400 may include the following steps S401 to S411.

S401: Acquire a jth signal, where the jth signal includes N sampling points, where N is an integer greater than 1. The jth signal is a signal in the jth period (chirp) of the first digital signal. Wherein, the first digital signal is a digital signal which is processed by analog-to-digital conversion of the received signal of the detection device, for example, the first digital signal is a frame of digital signal. The first digital signal includes M chirp signals, respectively corresponding to the jth signal, where 1≤j≤M.

S402, normalize the energy value of each sampling point in the N sampling points.

S403: Determine the energy value variance of the jth signal after energy value normalization processing.

S404, determine whether the variance of the energy value is greater than a preset threshold 1? If yes, execute S405; if not, execute S401 after j=j+1.

S405: Calculate the square value of the first modulus value corresponding to the ith sampling point in the N sampling points, where the first modulus value is the energy value of the ith sampling point in the N sampling points and the energy mean value of the jth signal The absolute value of the difference.

S406, is the square value greater than the preset threshold 2? If yes, execute S407; if not, execute S408.

S407, marking the i-th sampling point as a sampling point with interference.

S408, judge i≥N? If yes, execute S409; if not, execute S405 after i=i+1.

S409, perform anti-interference processing on all sampling points marked as interference, and the current j-th signal interference processing ends.

S410, judge j≥M? If yes, interfere with all the process results; if not, execute S401 after j=j+1.

It should be noted that S403 to S410 may be executed only in the time domain; or, only in the frequency domain; or, firstly executed in the time domain, and then executed in the frequency domain, which is not limited in this embodiment of the present application.

The interference processing method provided by the embodiments of the present application is introduced with reference to FIG. 3 and FIG. 4 , and an interference processing apparatus for executing the above interference processing method will be described below with reference to FIG. 5 and FIG. 6 .

It should be noted that the interference processing apparatus may be the interference processing apparatus described in the embodiment of the foregoing method 300, and can execute the method performed by the interference processing apparatus in the foregoing method 300; or, the interference processing apparatus may be the foregoing method The interference processing apparatus described in the embodiment 400 can execute the method performed by the interference processing apparatus in the foregoing method 400 .

It can be understood that, in order to realize the above-mentioned functions, the interference processing apparatus includes corresponding hardware and/or software modules for executing each function. The present application can be implemented in hardware or in the form of a combination of hardware and computer software in conjunction with the algorithm steps of each example described in conjunction with the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functionality for each particular application in conjunction with the embodiments, but such implementations should not be considered beyond the scope of this application.

In this embodiment of the present application, the interference processing apparatus may be divided into functional modules according to the foregoing method examples. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware. It should be noted that, the division of modules in this embodiment is schematic, and is only a logical function division, and there may be other division manners in actual implementation.

In the case where each functional module is divided according to each function, FIG. 5 shows a possible schematic composition diagram of the interference processing apparatus involved in the above embodiment. As shown in FIG. 5 , the apparatus 500 may include: an obtaining unit 510 and a processing unit 520, the acquiring unit 510 is configured to acquire the first signal or the jth signal in the above method embodiments, the processing unit 520 may implement the method performed by the interference processing apparatus in the above method embodiments, and/or use Other procedures for the techniques described herein.

It should be noted that, all relevant contents of the steps involved in the above method embodiments can be cited in the functional description of the corresponding functional module, which will not be repeated here.

Where an integrated unit is employed, the apparatus 500 may include a processing unit, a storage unit, and a communication unit. The processing unit may be used to control and manage the actions of the apparatus 500, for example, may be used to support the apparatus 500 to perform the steps performed by the above units. The storage unit may be used to support the apparatus 500 to execute stored program codes, and/or data, and the like. The communication unit may be used to support communication of the apparatus 500 with other devices.

The processing unit may be a processor or a controller. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, and the like. The storage unit may be a memory. The communication unit may specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, and a Wi-Fi chip.

In a possible implementation manner, the interference processing apparatus involved in this embodiment of the present application may be an apparatus 600 having the structure shown in FIG. 6 , where the apparatus 600 includes a processor 610 . The related functions implemented by the acquiring unit 510 and the processing unit 520 in FIG. 5 may be implemented by the processor 610 .

Optionally, the apparatus 600 may further include a memory 620, and the processor 610 and the memory 620 communicate with each other through an internal connection path. The related functions implemented by the storage unit in FIG. 5 can be implemented by the memory 620 .

Embodiments of the present application further provide a computer storage medium, where computer instructions are stored in the computer storage medium, and when the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the interference processing method in the above-mentioned embodiments .

Embodiments of the present application further provide a computer program product, which, when the computer program product runs on a computer, causes the computer to execute the above-mentioned relevant steps, so as to implement the interference processing method in the above-mentioned embodiment.

Embodiments of the present application further provide an interference device, and the device may specifically be a chip, an integrated circuit, a component, or a module. Specifically, the apparatus may include an associated processor and a memory for storing instructions, or the apparatus may include at least one processor for retrieving instructions from an external memory. When the apparatus is running, the processor can execute the instructions, so that the chip executes the interference processing methods in the foregoing method embodiments.

FIG. 7 shows a schematic structural diagram of a chip 700 . Chip 700 includes one or more processors 710 and interface circuits 720 . Optionally, the chip 700 may further include a bus 730 .

The processor 710 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method 200 may be completed by an integrated logic circuit of hardware in the processor 710 or instructions in the form of software.

Optionally, the above-mentioned processor 710 may be a general-purpose processor, a digital signal processing (digital signal processing, DSP) device, an integrated circuit (application specific integrated circuit, ASIC), a field-programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods and steps disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The interface circuit 720 can be used to send or receive data, instructions or information. The processor 710 can use the data, instructions or other information received by the interface circuit 720 to perform processing, and can send the processing completion information through the interface circuit 720.

Optionally, the chip further includes a memory, which may include a read-only memory and a random access memory, and provides operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).

Optionally, the memory stores executable software modules or data structures, and the processor may execute corresponding operations by calling operation instructions stored in the memory (the operation instructions may be stored in the operating system).

Optionally, the chip may be used in the interference processing apparatus, detection device, or terminal involved in the embodiments of the present application. Optionally, the interface circuit 720 may be used to output the execution result of the processor 710 . For the interference processing method provided by one or more embodiments of the present application, reference may be made to the foregoing embodiments, and details are not repeated here.

It should be noted that the respective functions of the processor 710 and the interface circuit 720 can be implemented by hardware design, software design, or a combination of software and hardware, which is not limited here.

Embodiments of the present application further provide a detection device, where the detection device may include a transmit antenna unit, a receive antenna unit, and an interference processing apparatus provided by an embodiment of the present application (such as the apparatus 500 described in FIG. 5 above or the device described in FIG. 6 ). device 600 or device 700 described in FIG. 7 ).

An embodiment of the present application further provides a terminal, where the terminal may be a transportation tool or a smart device, and the transportation tool or the smart device includes the above-mentioned detection device.

In a possible implementation manner, the terminal is a vehicle on which the above-mentioned detection device is included.

It should be noted that the interference processing device, computer storage medium, computer program product, chip or terminal provided in this embodiment are all used to execute the corresponding method provided above. Therefore, for the beneficial effects that can be achieved, please refer to the above The beneficial effects in the corresponding method provided in this article will not be repeated here.

It should be understood that, in various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present application. implementation constitutes any limitation.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (random access memory, RAM), magnetic disk or optical disk and other media that can store program codes.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A method for processing interference, comprising:

acquiring a first signal, the first signal including a plurality of sampling points;

determining the variance of the first signal based on the energy value of each sampling point in the plurality of sampling points;

Based on the variance of the first signal and a preset first threshold, it is determined that there is interference in the first signal.
The method according to claim 1, wherein the determining that there is interference in the first signal based on the variance of the first signal and a preset first threshold, comprises:

If the variance of the first signal is greater than the first threshold, it is determined that the interference exists in the first signal.
The method according to claim 1 or 2, wherein the method further comprises:

Based on the first difference value of each sampling point and a preset second threshold, the target sampling point where the interference exists is determined, and the first difference value of each sampling point is the square value of the first modulus value, The first modulus value is the absolute value of the difference between the energy value of each sampling point and the average energy value of the first signal.
The method according to claim 3, wherein the determining a target sampling point based on the first difference value of each sampling point and a preset second threshold comprises:

A sampling point whose first difference value is greater than the second threshold among the plurality of sampling points is determined as the target sampling point.
The method according to claim 3 or 4, wherein the plurality of sampling points comprise a plurality of the target sampling points.
The method according to any one of claims 3 to 5, wherein the method further comprises:

Based on the target sampling point, anti-interference processing is performed on the first signal.
The method according to claim 6, wherein the method further comprises:

Target detection is performed based on the first signal after anti-jamming processing.
The method according to any one of claims 1 to 7, wherein the determining the variance of the first signal based on the energy value of each sampling point in the plurality of sampling points comprises:

normalizing the energy value of each sampling point;

The variance of the first signal is determined based on the normalized energy value of each sampling point.
The method according to any one of claims 1 to 8, wherein the first signal is a time domain signal or a frequency domain signal.
An interference processing device, characterized in that it includes a processor, and the processor is used for:

acquiring a first signal, the first signal including a plurality of sampling points;

determining the variance of the first signal based on the energy value of each sampling point in the plurality of sampling points;

Based on the variance of the first signal and a preset first threshold, it is determined that there is interference in the first signal.
The apparatus according to claim 10, wherein the processor is specifically configured to:

If the variance of the first signal is greater than the first threshold, it is determined that the interference exists in the first signal.
The apparatus according to claim 10 or 11, wherein the processor is further configured to determine, based on the first difference value of each sampling point and a preset second threshold, the target sample with the interference point, the first difference value of each sampling point is the square value of the first modulus value, and the first modulus value is the difference between the energy value of each sampling point and the average energy value of the first signal absolute value.
The apparatus according to claim 12, wherein the processor is specifically configured to determine a sampling point whose first difference value is greater than the second threshold among the plurality of sampling points as the target sampling point.
The apparatus according to claim 12 or 13, wherein the plurality of sampling points comprise a plurality of the target sampling points.
The apparatus according to any one of claims 12 to 14, wherein the processor is further configured to:

Based on the target sampling point, anti-interference processing is performed on the first signal.
The apparatus of claim 15, wherein the processor is further configured to:

Target detection is performed based on the first signal after anti-jamming processing.
The apparatus according to any one of claims 10 to 16, wherein the processor is specifically configured to:

normalizing the energy value of each sampling point;

The variance of the first signal is determined based on the normalized energy value of each sampling point.
The apparatus according to any one of claims 10 to 17, wherein the first signal is a time domain signal or a frequency domain signal.
A chip device, comprising at least one processor and an interface circuit, wherein the at least one processor transmits signals through the interface circuit, characterized in that, when the at least one processor executes program codes or instructions, the above claims are realized The method of any one of 1 to 9.
A terminal, characterized in that the terminal comprises the interference processing device according to any one of claims 10 to 18 or the chip device according to claim 19 .
The terminal according to claim 20, wherein the terminal is a vehicle.
A computer-readable storage medium for storing a computer program, characterized in that, the computer program includes instructions for implementing the method according to any one of the above claims 1 to 9.
A computer program product comprising instructions, characterized in that, when the instructions are executed on a computer or a processor, the computer or the processor is made to implement any one of the preceding claims 1 to 9. one of the methods described.