CN112203350B - Signal transmitting method and device - Google Patents
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
- H04W72/541—Allocation or scheduling criteria for wireless resources based on quality criteria using the level of interference
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The application relates to the field of communication technology, and is used for solving the interference problem between radars, in particular to interference between cooperative radars. In the method, a radar acquires a first resource from among N resources for transmitting a radio signal, and transmits the radio signal on the first resource. The radio signal is transmitted on the first resource in a time division multiplexed or frequency division multiplexed manner; alternatively, a first radio signal comprised by the radio signal is transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal comprised by the radio signal is transmitted in a frequency division multiplexed manner on a second portion of the first resource. The time division multiplexing or frequency division multiplexing scheme can be used for assisting target detection in driving or automatic driving and reducing interference, so that ADAS capacity of an automatic driving or advanced driving assisting system is further improved, and the method can be applied to the Internet of vehicles, such as vehicle external connection V2X, workshop communication long term evolution technology LTE-V, vehicle-vehicle V2V and the like.
Description
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a signal sending method and apparatus.
Background
With the development of society, intelligent (car) is gradually entering people's daily life. The sensor plays a very important role in the assisted driving (driver assistance/advanced driving assistant system, ADAS) and automatic driving (automated driving/, ADS) of smart vehicles. Various sensors mounted on the vehicle and/or sensors mounted on a Road Side Unit (RSU), such as millimeter wave radar, laser radar, camera, ultrasonic radar, etc., sense surrounding environment at any time during the running of the vehicle, collect data, identify and track moving objects, identify stationary scenes such as lane lines and signboards, and perform path planning in combination with navigator and map data. The sensor can be used for detecting possible danger in advance and helping a driver to even take necessary evasion means independently in time, so that the safety and the comfort of automobile driving are effectively improved.
In the unmanned architecture, the sensing layer comprises a vision system sensor such as a vehicle-mounted camera and a radar system sensor such as a vehicle-mounted millimeter wave radar, a vehicle-mounted laser radar and a vehicle-mounted ultrasonic radar. The millimeter wave radar is a main force sensor of the unmanned system for the first time due to lower cost and mature technology. Millimeter wave refers to electromagnetic wave with wavelength of 1-10mm, and the corresponding frequency range is 30-300GHz. In this frequency band, the millimeter wave-related characteristics are well suited for application in the vehicle-mounted field. For example, the bandwidth is large, the frequency domain resources are rich, the antenna side lobe is low, and imaging or quasi-imaging is facilitated; the wavelength is short, the volume of radar equipment and the caliber of an antenna are reduced, and the weight is reduced; the beam is narrow, the beam of millimeter wave is much narrower than the beam of microwave under the same antenna size, and the radar resolution is high; the penetration is strong, compared with a laser radar and an optical system, the device has the capability of penetrating smoke, dust and fog, and can work around the clock.
With the widespread use of vehicle-mounted radars, mutual interference between vehicles in which the vehicle-mounted radars are located is becoming more and more serious. The mutual interference can reduce the detection probability of the vehicle radar or improve the false alarm (Ghost) probability of the vehicle radar, so that the safety or the comfort of the vehicle are not affected in a negligible way. On this premise, how to reduce the interference between the vehicle-mounted radars is a technical problem to be solved.
Disclosure of Invention
The embodiment of the application provides a signal sending method and device for improving anti-interference performance between vehicle-mounted radars.
In order to achieve the above purpose, the embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a signal sending method, where the method is applied to a first kind of detection apparatus, and the apparatus may be a device such as a radar, or may be an apparatus capable of supporting a function of the radar apparatus, and may be used in combination with the radar apparatus, for example, may be an apparatus in the radar apparatus (such as a chip system in the radar apparatus), and the method includes: acquiring a first resource from the N resources for transmitting the radio signal, and transmitting the radio signal on the first resource; wherein: n is a positive integer; the radio signal is transmitted on the first resource in a time division multiplexed manner; alternatively, the radio signal is transmitted on the first resource in a frequency division multiplexed manner; alternatively, the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
Wherein, the signals are sent in a time division multiplexing mode, which generally means that a plurality of signals occupy different time domain resources and do not overlap. The signals are transmitted in a frequency division multiplexing manner, which generally means that a plurality of signals occupy different frequency domain resources and do not overlap.
According to the method and the device, each detection device transmits radio signals in the determined N resources capable of avoiding mutual interference, so that interference caused by the transmitted signals of any detection device to the determined target object of other detection devices is avoided. In addition, as a plurality of radio signals can be multiplexed on the time domain and/or the frequency domain, the resource utilization rate can be improved, higher anti-interference performance can be realized with lower resource cost, and in addition, more radar communication can be supported. The method provided by the embodiment of the application improves the ADS or ADAS capacity of the automobile.
In a second aspect, embodiments of the present application provide a signaling device, which may be a detection device such as a radar. The component can also be a component which can support the detection device to realize the function of the detection device, and can be matched with the detection device for use, for example, the component can be a chip system in the detection device, and can also be a component which can be independently realized. The device comprises: the device comprises a processing unit and a transmitting unit.
A processing unit for acquiring a first resource from the N resources for transmitting the radio signal.
A transmitting unit for transmitting radio signals on a first resource. Wherein: n is a positive integer; the radio signal is transmitted on the first resource in a time division multiplexed manner; or the radio signal is transmitted on the first resource in a frequency division multiplexed manner; or the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
In a third aspect, embodiments of the present application provide a signal transmitting device, which may be a detection device, such as a radar, or may be a component capable of supporting the detection device to perform its function, and which may be matched to the detection device, for example, may be a chip system in the detection device, or may be a component that is implemented independently. The device comprises: a processor, a transmitter.
A processor for acquiring a first resource from the N resources for transmitting the radio signal.
And a transmitter for transmitting the radio signal on the first resource. Wherein: n is a positive integer; the radio signal is transmitted on the first resource in a time division multiplexed manner; or the radio signal is transmitted on the first resource in a frequency division multiplexed manner; or the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
In a possible implementation, the detection device further comprises a receiver for receiving a reflected signal of the radio signal, the reflected signal being a signal of the radio signal reflected via the object. Information of the object is determined by receiving the radio signal and the reflected signal.
In a fourth aspect, embodiments of the present application provide a signal transmitting device, which may be a detection device, such as a radar, or may be a component capable of supporting the detection device to implement its function, and may be matched with the detection device, for example, may be a chip system in the detection device, or may be a component implemented independently. The device comprises: processor, transmitting antenna.
A processor for acquiring a first resource from the N resources for transmitting the radio signal.
And a transmit antenna for transmitting radio signals on the first resource. Wherein: n is a positive integer; the radio signal is transmitted on the first resource in a time division multiplexed manner; or the radio signal is transmitted on the first resource in a frequency division multiplexed manner; or the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
In a possible implementation, the detection device further comprises a receiving antenna for receiving a reflected signal of the radio signal, the reflected signal being a signal reflected by the radio signal via the object. Information of the object is determined by receiving the radio signal and the reflected signal.
In one possible design of any of the above aspects, the N resources include a first set of resources, the resources in the first set of resources being used for the first type of probing device to transmit radio signals.
In one possible design of any of the above aspects, the frequency domain spacing Δf1 between two adjacent resources in the frequency domain in the first set of resources is determined according to at least one of:
intermediate frequency corresponding to the maximum ranging distance of the first type of detection device;
intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
In one possible design of any of the above aspects, the Δf1 value satisfies the following formula:
ΔF1≥max(ΔF p1 +ΔF t1 +δ f1 ，Δ IF1 )；
wherein DeltaF p1 The intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device; ΔF (delta F) t1 Frequency deviation corresponding to the transmission timing deviation; delta f1 A pre-configured frequency offset; delta IF1 The intermediate frequency corresponding to the maximum ranging distance of the first type of detection device.
In this way, the influence of the transmission timing deviation, certain frequency deviation, the influence of the intermediate frequency change caused by the interference signal and the influence of the intermediate frequency change caused by the reflected signal are comprehensively considered, so that the influence of other radar transmission interference signals on the local radar can be greatly reduced.
In addition, on the basis of meeting the above conditions, when the frequency domain interval Δf1 between two resources is smaller, the same frequency band can accommodate more resources for transmitting more radio signals, thereby improving the resource utilization rate. When the value of Δf1 is large, the number of resources accommodated in the same frequency band decreases, but, because the degree of overlap between the resources decreases, when signals are transmitted using different resources, the probability of collision of the resources decreases, and interference between the transmitted signals also decreases. Therefore, the interference degree between the radars can be controlled by flexibly setting the delta F1, and further, the interference degree between the radars can be reduced.
In one possible design of any of the above aspects, the time interval Δt1 between two adjacent resources in the time domain in the first set of resources satisfies the following condition:
ΔT1≥max(Δp1+Δt1+δ t1 ，τ max1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp1 is the delay corresponding to the maximum interference tolerance distance of the first type of detection device, Δt is the emission timing deviation, δ t For pre-configuring the time offset, τ, generated by the frequency offset max1 The time delay corresponding to the maximum ranging distance of the first type of detection device.
In both cases, there may be an overlap between each two of the N resources in the time domain only (see fig. 14), and there may be no overlap in the frequency domain, so as to reduce collision between the resources in the frequency domain, or there may be an overlap in the frequency domain only. Of course, referring to fig. 16, both time division multiplexing and frequency division multiplexing may be combined to configure N resources. That is, some of the N resources are configured in a time division multiplexing manner, and some of the N resources are configured in a frequency division multiplexing manner.
In a possible design of any of the above aspects, the N resources further comprise a second set of resources, the resources of the second set of resources being used for the second type of probing device to transmit radio signals.
Optionally, the frequency domain interval Δf2 between two adjacent resources in the frequency domain in the second set of resources is determined according to at least one of:
intermediate frequency corresponding to the maximum ranging distance of the second type of detection device;
Intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
Optionally, the Δf2 satisfies the following formula:
ΔF2≥max(ΔF p2 +ΔF t2 +δ f2 ，Δ IF2 )；
wherein DeltaF p2 The intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device; ΔF (delta F) t2 Frequency deviation corresponding to the transmission timing deviation; delta f2 A pre-configured frequency offset; delta IF2 The intermediate frequency corresponding to the maximum ranging distance of the second type of detection device.
Optionally, the time interval Δt2 between two adjacent resources in the time domain in the second resource set satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ max2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, 8 t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
Optionally, in the first resource setThe frequency interval D,1 between the highest frequency of the first frequency band and the highest frequency of the second frequency band in the second set of resources satisfies the following relation: ΔF (delta F) 1 ≤D’1≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The first frequency band is the frequency band with the minimum highest frequency in the first resource set, the second frequency band is the frequency band with the maximum highest frequency in the second resource set, and the highest frequency of the first frequency band is greater than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1≤B 2 -B 1 +ΔF 2 ；B 1 Scanning bandwidth for transmitting radio signals for first type detection devices, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D’1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
Optionally, the frequency interval D2 between the lowest frequency of the third frequency band in the first resource set and the lowest frequency of the fourth frequency band in the second resource set satisfies the following relationship: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
Optionally, the time domain starting point of the time domain resource of the first type of detection device in the first resource set and the time domain starting point of the time domain resource of the second type of detection device in the second resource set satisfy the following relationship:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
When the N resources include a first set of resources (i.e., resources for transmitting LRR signals) and a second set of resources (i.e., a set of resources for transmitting MRR signals), the LRR signals may be transmitted by reducing some of the MRR resources. In some examples, 5GHz may be used to transmit 15 MRR signals, and may also be used to transmit 18 LRR signals. 17 LRR signals are transmitted compared to 1GHZ, 14 MRR signals are transmitted at 4 GHZ. Under reasonable allocation, the N resources include both LRR resources and MRR resources, and a larger resource capacity can be obtained under the condition of controllable interference, so that more radio signals can be transmitted.
Optionally, the time domain includes a plurality of time units, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices. Time domain resources corresponding to the same time subunit of different time units are used for the same or different detection devices.
In this way, one radar continuously transmits signals in one time subunit of a time unit, the next time subunit of the time unit being available for transmitting signals of another radar. That is, one time unit may be used for a plurality of radar transmission signals. The utilization rate of time domain resources can be improved, and the probability of insufficient time domain resource utilization caused by monopolizing a certain time unit by a certain radar is reduced. Furthermore, the resource allocation mode can be flexibly switched in different time subunits. Thus, for a certain radar, in different time units, the time domain resources used by the radar may hop, and similarly, the frequency domain resources used by the radar may also hop, and the resource hopping manner can enhance the safety of communication and reduce constant interference between radars.
Optionally, the method includes a plurality of time units in a time domain, wherein each time unit includes a plurality of time subunits; in a first time subunit of the first time unit, a resource of which the number is subjected to modular arithmetic to obtain a first result is used for a first detection device to send a radio signal, and a resource of which the number is subjected to modular arithmetic to obtain a second result is used for a second detection device to send the radio signal;
The modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
Optionally, the N resources available for transmitting the radio signal are the same or different in different time periods, the time periods comprising at least one of a time unit, a time subunit, an integer multiple of a time unit, an integer multiple of a time subunit. In this way, the resource allocation modes can be enriched, i.e. different resource allocation modes can be adopted in different time periods. Of course, dividing the time periods with a larger or smaller time granularity may result in more modes of operation in order to extend the resources that may be allocated for different radar uses.
In a fifth aspect, an embodiment of the present application provides a signal sending device, configured to implement a function of the first type of detection device in any one of the above aspects.
In a sixth aspect, the present application provides a signal transmission apparatus having a function of implementing the signal transmission method of any one of the above aspects. The functions can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In a seventh aspect, there is provided a signal transmission apparatus including: a processor and a memory; the memory is configured to store computer-executable instructions that, when executed by the signaling device, cause the signaling device to perform a signaling method according to any one of the preceding aspects.
An eighth aspect provides a signal transmission apparatus, comprising: a processor; the processor is configured to perform the signaling method according to any one of the above aspects according to the instructions after being coupled to the memory and reading the instructions in the memory.
In a ninth aspect, embodiments of the present application provide a signal sending device, where the signal sending device may be a chip system, where the chip system includes a processor, and may further include a memory, where the signal sending device is configured to implement a function of a method described in any one of the foregoing aspects. The chip system may be formed of a chip or may include a chip and other discrete devices.
In a tenth aspect, there is provided a signal transmission apparatus, which may be circuitry, the circuitry comprising processing circuitry configured to perform the signal transmission method of any of the above aspects. The circuitry may be an integrated circuit, such as an application specific integrated circuit (application specific integrated circuit, ASIC) or a field-programmable gate array (FPGA). Further, the integrated circuit also comprises at least one transistor and/or resistor and other electronic components.
In an eleventh aspect, embodiments of the present application also provide a computer-readable storage medium comprising instructions that, when run on a computer, cause the computer to perform the method of any of the above aspects.
In a twelfth aspect, embodiments of the present application also provide a computer program product comprising instructions that, when run on a computer, cause the computer to perform the method of any of the above aspects.
Drawings
Fig. 1 is a schematic architecture diagram of a communication system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of time domain characteristics of a chirped continuous wave according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of frequency domain characteristics of a chirped continuous wave according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present application;
FIG. 5 is a schematic diagram of the relationship between the transmitting signal, the reflecting signal and the intermediate frequency signal according to the embodiment of the present application;
FIG. 6 is a schematic diagram of the relationship between the transmitting signal, the reflecting signal and the intermediate frequency signal according to the embodiment of the present application;
fig. 7 is a schematic diagram of interference between radars provided in an embodiment of the present application;
fig. 8 is a schematic diagram of a transmit signal according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram of a scenario of radar-to-radar interference provided in an embodiment of the present application;
fig. 10 is a flow chart of a signal sending method provided in an embodiment of the present application;
fig. 11 is a schematic diagram of N resource allocation manners provided in the embodiment of the present application;
Fig. 12 is a schematic diagram of a maximum interference tolerance distance provided in an embodiment of the present application;
fig. 13 to fig. 25 are schematic diagrams of N resource allocation manners provided in the embodiments of the present application;
fig. 26 to fig. 31 are schematic diagrams of a resource grid division manner provided in the embodiments of the present application;
fig. 32 is a schematic diagram of N resource allocation manners provided in the embodiment of the present application;
fig. 33 to fig. 36 are schematic diagrams of N resource allocation manners provided in the embodiments of the present application;
FIG. 37 is a schematic diagram of a radar workflow provided by an embodiment of the present application;
fig. 38 to 40 are schematic structural diagrams of a signal transmitting device according to an embodiment of the present application.
Detailed Description
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects. Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus. It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
Fig. 1 is a schematic diagram of one possible system according to an embodiment of the present application. The radar may be installed in a motor vehicle, unmanned aerial vehicle, rail car, bicycle, signal lamp, speed measuring device or network equipment (e.g., base station, terminal equipment in various systems), etc. The method is suitable for radar systems between vehicles, radar systems of other devices such as vehicles and unmanned aerial vehicles, or radar systems between other devices. The location and function of radar installation is not limited in this application.
Some technical terms related to the embodiments of the present application are described as follows:
radar (Radar): or radar apparatus, may also be referred to as a detector, a detection apparatus or a radio signal transmission apparatus. The principle of operation is to detect a corresponding target object by transmitting a signal (or referred to as a detection signal) and receiving a reflected signal (also referred to herein as an echo signal of the target object, a two-way echo signal, etc.) reflected by the target object. Among them, radar has a variety of different radar waveforms depending on different applications, including but not limited to pulsed millimeter wave, stepped frequency modulated continuous wave, chirped continuous wave. Among them, chirped continuous waves are more common and mature in technology. Chirped continuous waves have a large time-band product, and generally have high ranging accuracy and ranging resolution. Which support auxiliary driving functions such as adaptive cruise control (Adaptive Cruise Control, ACC), automatic emergency braking (Autonomous Emergency Braking, AEB), lane change assist (Lance Change Assist, LCA), blind spot monitoring (Blind Spot Monitoring, BSD), etc.
Initial frequency: at the beginning of a transmission period, the radar will transmit radar signals at an initial frequency, and the transmission frequency will vary over the transmission period based on the initial frequency.
Available bandwidth: the frequency domain range allowed for transmission of radar signals generally requires compliance with legal regulations.
Sweep bandwidth (also known as sweep bandwidth): bandwidth occupied by the radar signal waveform. It should be noted that, the "sweep bandwidth" is defined for convenience of description, and is a bandwidth that is technically occupied by the radar signal waveform. Further, the frequency band occupied by the radar signal waveform may be referred to as a swept frequency band. The period of radar signal transmission is also known as the swept time, i.e., the time when a complete waveform is transmitted.
Frequency modulated continuous wave: electromagnetic waves whose frequency varies with time.
Chirped continuous wave: electromagnetic waves whose frequency varies linearly with time. Linear variation here generally refers to linear variation over a transmission period. By way of example, the waveform of the chirped continuous wave may be a sawtooth or triangular wave, and other possible waveforms, such as pulses, may also be present.
Taking a chirped continuous wave as an example, it is a sine wave whose frequency increases or decreases linearly with time, and its mathematical expression is f (t) =f0+st.
Wherein F0 is the initial frequency, s is the waveform slope, s=f/T; f is the bandwidth occupied by the waveform and T is the period of saw-tooth wave transmission. The time and frequency domain characteristics of the chirped continuous wave are shown in figures 2 and 3, respectively.
Noise power: the noise power of the radar receiver may be referred to in the art for specific meaning. The term "interference" in the embodiments of the present application generally refers to that the power of the interference signal is greater than or equal to the noise power.
Maximum ranging distance: the maximum detection distance is a parameter related to the configuration of the radar itself (factory setting parameter or related to the factory setting parameter). For example, the maximum ranging distance of the long range adaptive cruise control (Adaptive Cruise Control, ACC) radar is 250m, and the maximum ranging distance of the mid range radar is 70-100m. The maximum ranging distance of the short range radar is shorter.
The definition of long range radars (long range radars), medium range radars (medium range radar), short range radars can be found in ITU-R M.2057-1 or other relevant specifications. For example, five types of vehicle Radar are specified in ITU-R M.2057-1, namely Radar A/B/C/D/E. Radar A is a long range Radar, radar B/C/D is a medium range Radar, and Radar E is a short range Radar.
It is required to explain that the distance resolution of the radar is not high in different application scenes. Optionally, the distance resolution is related to the frequency sweep bandwidth.
The delay corresponding to the maximum ranging distance may be referred to as the maximum ranging delay. Since the maximum ranging distance of the current radar is the distance of the farthest target object which can be detected by the current radar, the propagation delay of the reflected signal of the farthest target object to reach the current radar can be defined as the maximum ranging delay. It will be appreciated that after the current radar transmits a signal, only the signal that arrives at the current radar within the maximum ranging delay may be considered a reflected signal of the transmitted signal.
Interference maximum tolerance distance: or maximum interference tolerance distance. The signal from the radar that is the most tolerant of interference from the current radar will cause interference to the current radar. The interference maximum tolerance distance or the maximum interference tolerance distance may be from two angles. First, there are other types of radars as the source of interference, and the maximum interference tolerance of the current radar is related to the type of radar as the source of interference, or to a property or parameter of the radar as the source of interference, such as the transmit power, etc. Radar as a source of interference may also be referred to as interference radar. From the first angle, the maximum interference tolerance of the current radar is the maximum interference tolerance when the interfering radar is used as the interfering source, i.e. the maximum interference tolerance of the current radar is not a fixed value but is related to the interfering radar being the interfering source. Second, regardless of other types of radar, for the same type of radar, the maximum interference tolerance of the current radar is determined based on the properties or parameters of the current radar itself. In detail, another radar signal is received by the current radar after a certain transmission delay, and if the power of the interference signal is not less than the sensitivity of the receiver after the transmission delay, the interference signal will interfere with the current radar. If the power of the interfering signal is less than the receiver sensitivity, the interfering signal will not interfere with the current radar and will be processed as noise. Then, after the transmission delay, if the power of the interference signal is equal to the sensitivity of the receiver, the distance between the radar of the transmitting end of the interference signal and the current radar is called the interference maximum tolerance distance. It is also understood that the distance between the radars corresponds to the spatial propagation delay required to mutually receive the other signal. As for the interference maximum tolerance distance, it should be noted that there is another possibility that the interference maximum tolerance distance may be a maximum distance of a lane keeping straight line (the vehicle may travel straight in the lane without changing the traveling direction, the straight line is not a straight line in a strict sense, and is based on a specific design of the road, for example, a lane that does not directly change into a turn or turn around, or there is no obstacle in front, resulting in a change in the direction of the route, etc.). During the travel of the vehicle. Those skilled in the art will recognize that interference with the rear radar is only possible if the front radar signal is received by the rear radar receiver. Assuming that the power of the transmitted signal from another radar at a distance of 2000m reaches the current radar after a transmission delay and is equal to the receiver sensitivity or considered as noise power, 2000m may be referred to as the maximum interference tolerance distance at this time, but if the linear distance of the road on which the radar is located is not enough to be 2000m, for example, a curve is formed or otherwise changed at 1000m, such that a vehicle other than 1000m does not interfere with the current radar (or that is, there is no vehicle other than 1000m in the current linear driving direction). So depending on the specific implementation, the maximum of the two distances may be taken as the interference maximum tolerance distance, or one of the two may be defined as the interference maximum tolerance distance depending on the specific application or scenario.
It should be noted that, when one or more maximum tolerance distances of interference can be defined between a certain interfering radar and a local radar, this is related to parameters or properties of the interfering radar, for example, when the transmission power of the interfering radar is large, the transmission signal of the interfering radar may pass a longer distance, and the reception power reaching the local radar is equal to the sensitivity of a receiver of the local radar, where the longer distance is called the maximum tolerance distance, and when the interference radar exceeds (i.e. is far from) the maximum tolerance distance from the local radar, the interference radar signal received by the local radar is less than the sensitivity of the receiver and is treated as noise, and in this case, the interference is regarded as not generating interference to the local radar. When the transmit power of the interfering radar is small, the transmit signal of the interfering radar may travel a short distance, which may also be referred to as the maximum interference tolerance distance, and the receive power to the local radar is equal to the sensitivity of the local radar receiver.
Signal transmission error: or transmit timing error, or transmit timing offset. When multiple radars need to transmit simultaneously, there may be timing transmission errors when transmitting signals simultaneously. It is understood that multiple radars transmit multiple radar signals simultaneously, but there is an error in the timing of the actual transmission due to possible differences in the actual communication scenario, environment, or hardware equipment, referred to as a signaling error. Such as errors caused by the accuracy of the global positioning system (Global Positioning System, GPS).
Intermediate frequency (Intermediate Frequency, IF) signal: and the radar local oscillation signal and the received target reflection signal are processed by a mixer to obtain an intermediate frequency signal. Specifically, a part of the frequency modulated continuous wave signal generated by the oscillator is used as a local oscillation signal, and the other part of the frequency modulated continuous wave signal is used as a transmitting signal and is transmitted through the transmitting antenna, and a reflected signal of the transmitting signal received by the receiving antenna is mixed with the local oscillation signal to obtain an intermediate frequency signal. At least one of position information, speed information and angle information of the target object can be obtained through the intermediate frequency signal. The position information, the speed information and the angle information may be relative position, relative speed and relative angle information with respect to the current radar. Further, the frequency of the intermediate frequency signal is an intermediate frequency.
Radar attribute, radar type: multiple radars having the same attribute or belonging to the same type satisfy at least one of: the transmitting signals have the same sweep frequency bandwidth and the same transmitting period, the variation of the frequency of the transmitting signals in unit time is the same (the same refers to the variation is the same, the same positive or the same negative), the maximum ranging distance is the same, and the maximum interference tolerance distance is the same, so that a plurality of radars can be considered to have the same attribute or belong to the same type. Based on this, as one possible implementation, the long-range radar is the same type of radar, the medium-range radar is referred to as the same type of radar, and the plurality of short-range radars may also be referred to as the same type of radar.
The processing and transmitting procedure of the radar signal will be described below with reference to fig. 4 in a reference architecture of the vehicle-mounted millimeter wave radar apparatus. Fig. 4 provides a schematic diagram of an exemplary structure of a vehicle millimeter wave radar apparatus, which generally includes an oscillator, a transmitting antenna, a receiving antenna, a mixer, a processor, and the like. The controller in fig. 4 may be included not in the vehicle-mounted millimeter wave radar device but in the receiving end of the signal output by the vehicle-mounted millimeter wave radar device, for example, may be located in an automobile, or a processing device for controlling the running of the automobile, or the like, which is not particularly limited in the embodiment of the present application. The oscillator generates a frequency modulated continuous wave (Frequency Modulated Continuous Wave, FMCW), such as a signal that increases linearly with time, which may be referred to as a chirped continuous wave (Linear Frequency Modulated Continuous Wave, LFMCW). And a part of the frequency modulation continuous wave is output to a mixer through a directional coupler to serve as a local oscillation signal, and the other part of the frequency modulation continuous wave is transmitted through a transmitting antenna and receives a signal reflected by an object through a receiving antenna, and in the mixer, the reflected signal is mixed with the local oscillation signal to obtain an intermediate frequency signal. The intermediate frequency signal contains information of a target object, and the information of the target object can be a relative parameter between the target object and a vehicle where the vehicle-mounted radar is located, such as at least one of a relative distance, a speed and an angle between the target object and the vehicle. The intermediate frequency signal (for example, the intermediate frequency signal after being subjected to the low-pass filter and amplified, the low-pass filter is not shown in fig. 4) is supplied to a processor, and the processor processes the intermediate frequency signal (for example, may perform a fast fourier transform on the signal, or perform a spectrum analysis) to obtain information of the target object, and finally outputs the information to a controller for vehicle control. Generally, based on the configuration of the radar itself, the intermediate frequency corresponding to the maximum ranging distance is considered to be the maximum intermediate frequency, and signals greater than the intermediate frequency are filtered out by the low-pass filter.
The ranging principle of millimeter wave radar will be described in detail below by taking the radar transmission waveform as a sawtooth wave, and the ranging principle of triangular wave or other waves is similar to the same.
The millimeter wave radar transmits a series of signals outwards through the transmitting antenna, the signals are reflected back after encountering obstacles, and the shape of the transmitted signals is the same as that of the reflected signals. Fig. 5 is a schematic diagram of a possible relationship between the transmitted signal, the reflected signal and the intermediate frequency signal. As shown in FIG. 5, the transmitted signal and the reflected signal are represented as
Wherein omega 1 (t) and ω 2 (t) are respectively the transmission signals x 1 And x 2 Is used for the angular velocity of the (c) beam,and->Respectively the transmitted signals x 1 And x 2 Is used to determine the initial phase of the phase. The transmitted signal and the reflected signal have a delay tau in time, and the relation between tau and the target distance d can be expressed as
Wherein c is the speed of light.
The transmission signal and the reflection signal are multiplied in the mixer, and after passing through the low pass filter, an Intermediate Frequency (IF) signal is output, the frequency of the IF signal (IF frequency) being equal to the difference between the transmission signal and the reflection signal, expressed as:
as shown in fig. 5, the intermediate frequency f IF And can be expressed as the slope a of the transmitted signal 0 The product of the time delay τ, i.e
So the distance d from the target object is
Where F is the swept bandwidth of the radar signal (or radar waveform), T is one emission period for a sawtooth wave, and half for a triangle wave, it will be appreciated that T is related to the signal waveform.
From the above derivation, it can be seen that the frequency difference (i.e., intermediate frequency) and the time delay of the transmitted signal and the received reflected signal are linear. The farther the object is, the later the time the reflected signal is received, and the greater the difference in frequency from the transmitted signal. The distance of the obstacle can be judged by judging the frequency of the intermediate frequency signal. In practical applications, the distance between the object and the radar can be obtained by detecting the intermediate frequency or the phase, and the distance between the object and the radar can be obtained by solving the phase difference between the transmitted signal and the reflected signal. From the above, the information of the target object is also included in the intermediate frequency or phase information. Since the low-pass filter is arranged to filter out signals greater than the maximum intermediate frequency, no consideration is given to the interference of this part of the signals. The maximum intermediate frequency is the intermediate frequency corresponding to the maximum ranging distance, or the frequency variation range of the transmitting signal and the reflecting signal in the time delay brought by the maximum ranging distance.
The slope of the transmission signal reflects the degree of change of the transmission frequency or the reception frequency with time. The slope is negative when the frequency of the transmitted signal decreases with increasing time, and positive when the frequency of the transmitted signal increases with increasing time. For a triangular wave, the slopes of the rising and falling edges are opposite numbers. The absolute value of the slope may also be referred to as the range of frequency variation per unit time, and the two expressions referred to in the embodiments of the present application have the same meaning.
The principle of radar ranging is described above using sawtooth waves as an example. The principle of radar ranging by transmitting triangular waves is similar to the above principle. Referring to fig. 6, a schematic diagram of a relationship between a possible transmitted signal, a reflected signal and an intermediate frequency signal of a triangular wave is shown. The specific ranging principle is not described in detail here.
With the increasing popularity of vehicle-mounted radars, the more serious is the interference between vehicle-mounted radars. Among them, one of the manifestations of interference is reception noise floor elevation. That is, for the current radar, the echo signal from the target object may be submerged in the interference signal, so that a false alarm occurs, and the external target object cannot be detected by the current vehicle radar in time. The second expression of interference is that the signal from another radar is mistaken by the current radar as the echo signal of the target object, so that false alarm occurs, and the intelligent automobile performs wrong vehicle control measures based on the false alarm information to influence the driving safety.
Interference between radars is illustrated by taking Long Range Radars (LRRs) as interference sources, and interference generated by Medium Range Radars (MRRs) as an example. Referring to fig. 7, the mrr transmits radar signals and expects to be at maximum ranging delay τ max A reflected signal from the target object is received. LRRs adjacent to the MRR location also transmit signals. Due to the physical proximity, the transmitted signal of the LRR is likely to be at τ max Is captured by the receiver of the MRR. In this case, if the slope of the LRR transmit signal and the slope of the MRR transmit signal are similar, the MRR may treat the LRR transmit signal as an echo signal of the MRR, resulting in interference between the LRR and the MRR.
Similarly, the interference situation in which the MRR is used as the interference source, the LRR is the interfered radar, or the MRR is the interference source, the MRR is the interfered radar, or the LRR is the interference source, and the LRR is the interfered radar may be deduced according to the same principle, which is not described herein.
In order to reduce interference between radars, a scheme is proposed in the prior art. Referring to FIG. 8, in the case of triangular waves, in each triangular wave transmission period T m In the method, the local radar transmits signals with random slopes, the transmitted signals are reflected by a target object, and after the local radar mixes frequencies, the output signals are single spectral lines due to the fact that the transmitted signals and the reflected signals are identical in shape (including the same slope). Even if the transmitting signals of other radars reach the local radar, the output signals may not be a single spectral line after being mixed by the local frequency mixer because the slope of the signals is not necessarily the same as that of the transmitting signals of the local radar. This means that the transmitted signal of the other radar is equivalent to noise, which can be clearly distinguished from the spectrum of the local transmitted signal.
Through the mode of the slope random jump, although the interference between the radars can be reduced to a certain extent, the possibility of resource collision still exists between different radars, namely, different radars can transmit signals by using the same time-frequency resource, and the interference still exists between the radars.
In order to overcome the above technical problems, embodiments of the present application provide a signal transmission method, which may be applied to the system of fig. 1 or the like.
According to the scheme, the interference between the radars can be reduced, and the interference between the radars can be divided into the following application scenes:
scene one: LRR interferes with MRR. I.e. LRR as the source of interference and MRR as the interfered radar. Referring to fig. 9 (a), the MRR-mounted vehicle runs opposite to the LRR-mounted vehicle, and the transmission signal of the LRR may interfere with the reception of the MRR, so that the MRR erroneously regards the transmission signal as an echo signal from an obstacle.
Scene II: MRR causes interference to LRR. As shown by the oval box in fig. 9 (b), when the MRR-mounted vehicle is located close to the LRR-mounted vehicle, the transmission signal of the MRR may interfere with the reception of the LRR, and may be mistaken by the LRR for a reflected signal from some real target object.
Scene III: as in fig. 9 (c), the LRR interferes with other LRRs.
Scene four: as in fig. 9 (d), the MRR interferes with other MRRs.
Of course, in practical applications, short-range radars may also be present, with MRR and LRR distances only. Interference may also occur between short range radars. Interference may also occur between short range radars and other types of radars (LRR or MRR). In the embodiment of the present application, the technical solutions of the embodiments of the present application are mainly described by taking MRR and LRR as examples. The technical scheme provided by the embodiment of the application can be used for reducing the interference between the short-range radars or reducing the interference between the short-range radars and other types of radars.
In combination with the above-mentioned interference scenario between radars, the signal transmission method provided in the embodiment of the present application is described below. Referring to fig. 10, the method includes:
s1001, a first type of probe acquires a first resource from N resources used for transmitting a radio signal.
Wherein N is a positive integer. In this embodiment of the present application, the N resources include a first set of resources, where resources in the first set of resources are used for transmitting radio signals by the first type of probing devices. Or, the N resources further include a second set of resources, where resources in the second set of resources are used for transmitting radio signals by the second type of probing device. That is, the N resources may be used for transmitting radio signals only for the first type of probe devices (e.g., for LRR radar) and may be used for transmitting radio signals for multiple types of probe devices (e.g., for LRR and MRR radar). The specific setting manner of the N resources is described below in two cases.
Case 1: the N resources include a first set of resources that does not include other sets of resources, such that the first set of resources may be used for the first type of probing device to transmit radio signals. Wherein the first type of detection device may refer to detection devices having the same attribute or parameter configuration. If the plurality of detection devices meet at least one of the following: the transmitting signals have the same sweep frequency bandwidth and the same transmitting period, the variation of the frequency of the transmitting signals in unit time is the same (the same herein means that the variation is the same, the same positive or the same negative), the maximum ranging distance is the same, and the maximum interference tolerance distance is the same, so that a plurality of detecting devices can be considered to have the same attribute or be of the same type, and can be called as a first type of detecting device.
First, N resources are configured in a frequency division multiplexing manner, that is, if two resources are identical (overlapping) in the time domain, for example, occupy the same time slot, the two resources may be distinguished in a non-overlapping manner in the frequency domain. Wherein, the two resources are not overlapped in the frequency domain, which means that at the same time, the two resources correspond to different frequencies. By way of example, two solid lines as shown in fig. 11 may represent two resources respectively occupied by transmitting two radio signals. As can be seen from fig. 11, the two resources overlap in the time domain, and at the same time, the two resources correspond to different frequencies. In this way, the probability of collision of two resources in the frequency domain at the same time can be reduced.
The frequency domain spacing Δf1 between two adjacent resources in the frequency domain in the first set of resources is determined according to at least one of:
the method comprises the steps of obtaining an intermediate frequency corresponding to the maximum ranging distance of a first type of detection device, an intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device, a frequency deviation corresponding to the transmission timing deviation and a preconfigured frequency deviation.
For example, referring to fig. 11, the value of the frequency domain interval Δf1 between two adjacent resources in the frequency domain in the first resource set satisfies the following formula:
ΔF1≥max(ΔF p1 +ΔF t1 +8 f1 ，Δ IF1 )；
wherein DeltaF p1 The intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device; ΔF (delta F) t1 In fig. 11, Δt1 is the transmission timing deviation between a plurality of radars, and Δf can be estimated from Δt1 t1 ；δ f1 For preconfigured frequency deviation, delta in FIG. 11 t1 Time error reserved for non-idealities, represented by delta f1 Can calculate delta t1 ；Δ IF1 The intermediate frequency corresponding to the maximum ranging distance of the first type of detection device. The intermediate frequency corresponding to the maximum interference tolerance distance, namely the frequency variation range of the transmitting signal and the interference signal in the time delay delta p1 brought by the maximum interference tolerance distance. Intermediate frequency corresponding to the maximum distance, i.e. delay τ caused by the maximum distance max1 Frequency ranges of the internal transmission signal and the reflection signal.
The following takes the first type detection device as the first type radar, the first type radar has the same sweep frequency bandwidth and the same transmitting period, and the first type radar transmits the linear frequency modulation continuous wave as an example to explain how to set N resources avoiding mutual interference in a frequency division multiplexing mode. When the first type of radar has other attributes, or the first type of radar transmits radio signals with other types of waveforms, the configuration manner of the N resources may refer to the embodiment of the present application, which is not described herein again.
The first type radar is taken as an LRR, the sweep bandwidth of the LRR is 200MHz, the transmission period is 10us, the transmission power is 5dBm, the gain of a transmission antenna is 18.5dBi, and the reflected signal (for example, free space propagation) meets the receiver sensitivity-115 dBm of the first type radar at 250 m. I.e. the maximum ranging distance of the first type of radar is 250m for example. Referring to fig. 12 (a), the received power of the interfering signal (for example, non-line of sight (NLOS)) is equal to the maximum interference tolerance distance from the first type radar 650m, i.e., the first type radar, at a receiver sensitivity of-115 dBm.
The time delay delta p1 brought by the maximum interference tolerance distance of the first radar is 650m/c (light speed) approximately2 us, and the intermediate frequency corresponding to delta p1
The time-frequency synchronization between radars may be referenced to a global positioning system (global positioning system, GPS), a vehicle-to-vehicle (vehicle to vehicle, V2V), a vehicle-to-infrastructure (V2I), or a vehicle-to-network (V2N). For example, the time domain and frequency domain synchronization is performed with reference to an unadjusted total error (total unadjusted error, TUE) in a V2V high speed moving scene. Specifically, the first radar may have an operating frequency range of 71GHz-80GHz, here assumed to be 80GHz, and if the frequency domain error is less than or equal to 0.06ppm, the frequency deviation δ is preconfigured f1 ＝80GHz*0.06ppm＝4.8KHz。
The transmission timing deviation deltat 1, or the transmission timing time error, is set to 60ns, so that the frequency variation range of the transmission signal and the interference signal in the transmission timing deviation deltat 1, namely the frequency deviation corresponding to the transmission timing deviation, can be calculated
Time delay caused by maximum distance measurementIn the frequency variation range of the transmitted signal and the reflected signal of the first radar, i.e. tau max1 Corresponding intermediate frequency>
In the respective calculation of DeltaF p1 、ΔF t1 、δ f1 、Δ IF1 Then, the frequency domain interval DeltaF1 is larger than or equal to max (DeltaF) between two adjacent resources in the first resource set for the first type radar transmission signal p1 (40MHz)+ΔF t1 (1.2MHz)+δ f1 (4.8KHz)，Δ IF1 (33.4 MHz)). Illustratively, the frequency domain interval Δf1 between two resources may be 50MHz, 60MHz, etc.
In this way, the influence of the transmission timing deviation, certain frequency deviation, the influence of the intermediate frequency change caused by the interference signal and the influence of the intermediate frequency change caused by the reflected signal are comprehensively considered, so that the influence of other radar transmission interference signals on the local radar can be greatly reduced.
In addition, on the basis of meeting the above conditions, when the frequency domain interval Δf1 between two resources is smaller, the same frequency band can accommodate more resources for transmitting more radio signals, thereby improving the resource utilization rate. When the value of Δf1 is large, the number of resources accommodated in the same frequency band decreases, but, because the degree of overlap between the resources decreases, when signals are transmitted using different resources, the probability of collision of the resources decreases, and interference between the transmitted signals also decreases. Therefore, the interference degree between the radars can be controlled by flexibly setting the delta F1, and further, the interference degree between the radars can be reduced. Take Δf1 as 50MHz, LRR as 200MHz swept bandwidth, and total bandwidth of 76-77GHz as examples. Referring to fig. 13 (a), the number of 1GHz bandwidths that can be used to transmit radio signals in one transmission period is Wherein B is the total bandwidth of 1GHz, B LRR For the sweep bandwidth of the LRR, floor is a downward rounding function.
It should be noted that, for the same LRR, the maximum interference tolerance is not a fixed value. The maximum interference tolerance distance is related to the configuration parameters or properties of the interference source. For example, when the other properties or parameters of the two interferers are the same, only the transmit power is different, resulting in a different maximum interference tolerance distance for the LRR. It will be appreciated that an interfering source with a high transmit power may have its transmit signal reach the LRR after a longer distance and reach a receiver sensitivity with a power equal to the LRR. In this case, the longer distance may be defined as the maximum interference tolerance distance of the LRR. An interferer with less transmit power may have its transmit signal reach the LRR after a short distance and the reach power is also equal to the receiver sensitivity of the LRR. In this case, the shorter distance may also be defined as the maximum interference tolerance distance of the LRR. The LRR may determine the maximum of the two distances as the final maximum tolerated distance or, based on the particular application scenario, define one of the two as the maximum interference tolerated distance. Of course, there is also a possibility that the maximum interference tolerance distance may be the maximum distance that the lane keeps straight. This is described in detail above and will not be repeated here. The specific implementation of determining the maximum interference distance is not limited in the embodiments of the present application, and depends on the final implementation.
If the first type of radar is MRR, the frequency domain interval between the resources used for MRR to transmit signals is calculated in a similar manner as described above. Taking an example of MRR sweep bandwidth of 2GHz, MRR transmission period of 10us, maximum ranging distance of 100m, transmission power of 5dBm, transmission antenna gain of 8dBi and receiving antenna gain of 8 dBi. As shown in fig. 12 (b), after the interference signal is transmitted, the power of the interference signal reaching the MRR is equal to-120 dBm of the receiver sensitivity, in this case, the distance between the radar at the transmitting end of the interference signal and the MRR is about 180m (i.e., the maximum interference tolerance distance).
The propagation delay corresponding to the maximum interference tolerance distance is 180m/c approximately equal to 0.6us, the frequency variation range of the transmitted signal and the interference signal in the delay 0.6us, namely the intermediate frequency corresponding to the delay 0.6us is 2GHz/10us 0.6us=120 MHz.
Assuming that the operating frequency of the MRR is 80GHz and the frequency domain error is less than or equal to 0.06ppm, the preconfigured frequency deviation is 80GHz x 0.06 ppm=4.8 kHz.
The transmission timing deviation was set to 60ns, from which it was deduced that the frequency deviation caused by the transmission timing deviation was 2GHz/10us x 60 ns=12 MHz.
The time delay brought by the maximum distance measurement distance is 100m/c approximately 0.67us, and the corresponding intermediate frequency of 0.67us is 2GHz/10us 0.67 us=134 MHz.
ΔF1 is not less than max (12M+120M+4.8k, 134M); max () is a function taking the maximum value.
Thus ΔF1 may be selected to be 150MHz,160MHz or other values.
Assuming that Δf1 is 150MHz, the scanning bandwidth of the MRR is 2GHz, and the total bandwidth is 4GHz between 77-81MHz, see fig. 13 (b), which is a configuration manner of resources for MRR transmit signals in the first resource set. In this case, the number of radio signals that can be transmitted in one MRR transmission period isAnd each.
The above-described configuration of N resources mainly from the frequency division multiplexing manner, as follows, another possible manner of configuring N resources is given. I.e. the N resources are configured in a time division multiplexed manner. Illustratively, the time interval Δt1 between two temporally adjacent resources in the first set of resources satisfies the following condition:
ΔT1≥max(Δp1+Δt1+δ t1 ，τ max1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp1 is the delay corresponding to the maximum interference tolerance distance of the first type of detection device, Δt1 is the emission timing deviation, δ t For pre-configuring the time offset, τ, generated by the frequency offset max1 The time delay corresponding to the maximum ranging distance of the first type of detection device.
The first set of resources is used for transmitting radio signals by a first type of detection device. The first type of detection means is for example but not limited to an LRR, or an MRR, or a short range radar, etc.
Referring to fig. 15 (a), the first type of detection device is taken as an LRR, the LRR scanning bandwidth is 200MHz, the signal transmission period is 10us, the transmitting power is 5dBm, the transmitting antenna gain is 18.5dBi, the receiving antenna gain is 18.5dBi, the maximum detection distance is 250m, and the maximum interference tolerance distance is 650m as an example.
The delay caused by the maximum interference tolerance distance, namely the maximum propagation delay of interference signals among multiple radars, is 650m/c approximately equal to 2us.
The time delay brought by the maximum distance measurement distance is 500m/c approximately 1.67us.
Time frequency synchronization may be referenced to GPS.
Wherein the transmit timing offset is calculated in 60 ns.
According to the frequency domain error less than or equal to 0.06ppm, the working frequency of the first type radar is calculated to be 80GHz, the preconfigured frequency deviation is 0.06ppm x 80 GHz=4.8 kHz, and the time deviation generated by the frequency deviation of 4.8kHz is
Based on the above calculation, ΔT1+.max (2us+60ns+0.24 ns,1.67 us), exemplary intervals ΔT1 between two adjacent resources in the time domain may be selected to be 2.5us, 5us, etc.
With continued reference to fig. 15 (a), taking Δt1 of 2.5us, a transmission period of 10us, and a signal scanning bandwidth of 200MHz as an example, the number of resources of 1GHz bandwidth available for transmitting radio signals in one transmission period is And each.
Referring to fig. 15 (b), the first type of detection device is MRR, the MRR scanning bandwidth is 2GHz, the transmission period is 10us, the transmission power is 5dBm, the transmission antenna gain is 8dBi, the receiving antenna gain is 8dBi, the maximum interference tolerance distance is 180m, and the maximum ranging distance is 100 m.
In this case, the delay brought by the maximum interference tolerance distance, i.e. the maximum propagation delay of the interfering signal, is 180 m/c.apprxeq.0.6 us.
On the time domain error, the transmission timing deviation is set to 60ns.
On the frequency domain error, according to the frequency domain error being less than or equal to 0.06ppm and the working frequency of the MRR being estimated to be 80GHz, the preconfigured frequency deviation is 0.06ppm x 80 GHz=4.8 kHz, and the time deviation corresponding to the frequency deviation is 0.24ns.
By adopting a similar calculation method, the time delay brought by the maximum distance measurement distance is 0.67us.
Finally, ΔT1+_max (0.6us+60ns+0.24ns, 0.67 us) can be calculated.
Still referring to fig. 15 (b), taking Δt1 of 1us, MRR transmission period of 10us, and scanning bandwidth of 2GHz as an example, resources of one transmission period and 4GHz bandwidth can be used for MRR to transmit radio signals, the number of which isAnd each.
In both cases, there may be an overlap between each two of the N resources in the time domain only (see fig. 14), and there may be no overlap in the frequency domain, so as to reduce collision between the resources in the frequency domain, or there may be an overlap in the frequency domain only. Of course, referring to fig. 16, both time division multiplexing and frequency division multiplexing may be combined to configure N resources. That is, some of the N resources are configured in a time division multiplexing manner, and some of the N resources are configured in a frequency division multiplexing manner. For example, in fig. 16, resource 1 and resource 2 in the first resource set overlap in the time domain and do not overlap in the frequency domain, i.e., form frequency division multiplexing. Resource 1 and resource 2 may be referred to as two resources that are adjacent in the frequency domain. In the first resource set, the resource 3 and the resource 4 overlap in the frequency domain and do not overlap in the time domain, i.e. form time division multiplexing. Resource 3 and resource 4 may be referred to as two resources that are adjacent in the time domain.
Wherein the frequency domain interval and the time domain interval between adjacent resources respectively follow the above-mentioned rule, namely the frequency domain interval delta F1 is larger than or equal to max (delta F p1 +ΔF t1 +δ f1 ，Δ IF1 ) The time domain interval delta T1 between two adjacent resources is not less than max (delta p1+delta t1+delta) t1 ，τ max1 ). For a detailed description of Δf1, Δt1, see above.
For example, in the case where N resources are configured by jointly using the time division multiplexing and frequency division multiplexing, referring to fig. 17 (a), the first type of probe device is LRR, the scanning bandwidth is 200MHz, the total available bandwidth is 1GHz between 76-77MHz, the transmission period is 10us, Δf1 is 50MHz, and Δt1 is 2.5us, and in one transmission period 10us, as shown in fig. 17 (a), the number of radio signals that can be transmitted by the LRR is 18.
For example, in the case of configuring N resources by using a combination of time division multiplexing and frequency division multiplexing, the first type of probe device is taken as an MRR, the scanning bandwidth is 1.5GHz, the total available bandwidth is 4GHz between 77 GHz and 81GHz, the transmission period is 10us, Δf1 is 150MHz, and Δt1 is 1us, and the number of radio signals that can be transmitted by the MRR is 20 in one transmission period 10us, as shown in (b) of fig. 17.
For example, in the case where N resources are configured by using a combination of time division multiplexing and frequency division multiplexing, collision probability between the resources may be reduced by delaying the pre-configuration time in the time domain as shown in fig. 17 (c). For example, the resource 1 occupies the frequency band 1, the resource 5 occupies the frequency band 1, and in order to reduce the collision probability of the resource 1 and the resource 5, the time slots occupied by the two resources may be staggered, for example, τ0 shown in (c) in fig. 17 is delayed as the starting time of the time slot occupied by the resource 1 at the ending time of the time slot occupied by the resource 1.
Therefore, under the condition that N resources are configured in a joint time division multiplexing and frequency division multiplexing mode, multiple signals can be multiplexed on the time domain and the frequency domain, and the resource utilization rate is improved.
Case 2: the N resources include a first set of resources and a second set of resources. The resources in the second resource set are used for the second type detection device to send radio signals, and the resources in the first resource set are used for the first type detection device to send radio signals. By adopting the design mode of the case 2, the first type detection device and the second type detection device can select the resource for transmitting the signal from N resources.
It should be noted that the first type of detection device and the second type of detection device belong to different types of detection devices, or the attribute or parameter settings of the first type of detection device and the second type of detection device are different. Specifically, if the first type of detection device and the second type of detection device meet at least one of the following: the first type of detection device and the second type of detection device can be considered to have different attributes or belong to different types if the sweep bandwidths of the transmitted signals are different, the transmission periods are different, the variation steps of the frequencies of the transmitted signals in unit time are the same, the maximum ranging distance and the maximum interference tolerance distance are different.
In the design of case 2, the time domain interval and the frequency domain interval between the resources in the first resource set respectively satisfy the conditions set forth above. That is, as shown in FIG. 11 and FIG. 14, the frequency domain interval ΔF1. Gtoreq.max (ΔF p1 +ΔF t1 +δ f1 ，Δ IF1 ) The time domain interval delta T1 between two adjacent resources is not less than max (delta p1+delta t1+delta) t1 ，τ max1 )。
The time domain interval and the frequency domain interval between the resources in the second resource set need to satisfy the following conditions:
wherein the frequency domain interval Δf2 between two adjacent resources in the frequency domain in the second set of resources is determined according to at least one of: the method comprises the steps of obtaining an intermediate frequency corresponding to the maximum ranging distance of a second type detection device, an intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device, a frequency deviation corresponding to the transmission timing deviation and a preconfigured frequency deviation. Specifically, the value of Δf2 satisfies the following formula:
ΔF2≥max(ΔF p2 +ΔF t2 +δ f2 ，Δ IF2 )；
wherein DeltaF p2 The intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device; ΔF (delta F) t2 Frequency deviation corresponding to the transmission timing deviation; delta f2 A pre-configured frequency offset; delta IF2 The intermediate frequency corresponding to the maximum ranging distance of the second type of detection device.
The time interval Δt2 between two adjacent resources in the time domain in the second resource set satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ mmax2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, δ t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
The detailed explanation of the time domain interval Δt2 between the resources in the second resource set may be referred to as Δt1, and the detailed explanation of the frequency domain interval Δf2 between the resources in the second resource set may be referred to as Δf1, which is not repeated here.
Since the first type of detection device and the second type of detection device have different attribute or parameter configurations, or the first type of detection device and the second type of detection device belong to different types, a frequency domain interval Δf2 between resources in the second set of resources may be different from Δf1, and a time domain interval Δt2 between resources in the second set of resources may be different from Δt1.
As described below, the manner in which the first resource set and the second resource set are arranged among the N resources is described by taking the first type of detection device as the LRR and the second type of detection device as the MRR, and taking the frequency domain interval Δf1 < Δf2 between the resources in the first resource set as an example.
In one possible design, the frequency of the resources in the first set of resources is higher than the frequency of the resources in the second set of resources in the frequency domain. A frequency interval D between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources, 1 satisfies the following relationship:
ΔF 1 ＜＜D’1＜＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The bandwidth of the first frequency band is the sweep frequency bandwidth of the first type detection device, and the bandwidth of the second frequency band is the sweep frequency bandwidth of the second type detection device. The first frequency band is a subset of the first set of resources and the second frequency band is a subset of the second set of resources. The first frequency band is adjacent to the second frequency band in the frequency domain, and the highest frequency of the first frequency band is greater than the highest frequency of the second frequency band. As a possible implementation, D,1 may take the value (Δf 1 +ΔF 2 ) M, M is a number greater than 1. For example, M may be 2.
For example, referring to fig. 18, the first set of resources includes a plurality of resources (only 3 are shown in fig. 18 by way of example) for LRR transmit signals, and the second set of resources includes a plurality (only 3 are shown in fig. 18 by way of example) for MRR transmit signals. Wherein the first set of resources comprises 3 frequency bands, each frequency band having a highest frequency, a lowest frequency. The first frequency band in the first resource set is adjacent to the second frequency band in the second resource set in the frequency domain, and the first frequency bandIs greater than the highest frequency of the second frequency band. The difference D between the highest frequency of the first frequency band and the highest frequency of the second frequency band, 1, is defined as ΔF 1 To DeltaF 2 Between them.
Satisfying the value at D'1 at ΔF 1 And DeltaF 2 In the case of the above, it can be inferred that the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship:
B 2 -B 1 +ΔF 1 ＜＜D1＜＜B 2 -B 1 +ΔF 2 ；B 1 scanning bandwidth for transmitting radio signals for first type of detection devices (i.e. LRR), B 2 The scanning bandwidth of the radio signal is transmitted for the second type of detection device (i.e., MRR).
It has been pointed out above that the relationship satisfied by D,1 may be deduced, or the relationship satisfied by D1 may also be deduced.
As shown in fig. 18 (a), the resources in the first resource set and the resources in the second resource set overlap in the time domain, and do not overlap in the frequency domain, that is, a frequency division multiplexing relationship is formed.
Taking 5GHz between 76-81GHz for LRR and MRR, 2GHz for MRR sweep bandwidth, 150MHz for frequency interval Δf2 between MRR resources, 50MHz for frequency interval Δf1 between LRR resources, and 200MHz for sweep bandwidth of LRR as an example, if this 5GHz is used completely for transmitting MRR signals, the number of radio signals available for MRR to transmit in one transmission period is:
at this time, at the high frequency band, the frequencies remaining are: as shown in fig. 18 (b), considering reducing the resources used by the MRR, So as to free up part of the frequency domain resources to transmit the LRR signal. Taking the example of reducing the topmost MRR resource in the frequency domain, a frequency bandwidth of 150MHz can be vacated. If D,1 is 100MHz, then a total bandwidth of 150MHz may be used to transmit the number of LRR signals of 1. If D'1 is 50MHz, a total bandwidth of 150MHz may be used to transmit the number of LRR signals of 3.
Further, if more MRR resources are reduced from the high frequency band, more LRR resources may be increased accordingly. Similarly, more MRR resources may be reduced from the low frequency band, thereby adding more LRR resources, as described above.
Taking the total bandwidth of 5GHz, the scanning bandwidth of 200MHz adopted by LRR, the frequency interval delta F1 between LRR resources and LRR resources as 50MHz, the scanning bandwidth of 2GHz adopted by MRR, and the frequency interval delta F2 between MRR resources as 150MHz as an example. Assume that 1GHZ is used to transmit LRR signals as shown in (a) of fig. 13, and 4GHZ is used to transmit MRR signals as shown in (b) of fig. 13. Then 1GHz may be used to transmit 17 LRR signals as indicated by the previous calculations; similarly, 4GHz may be used to transmit 14 MRR signals.
As shown in fig. 18-21, i.e., the N resources include a first set of resources (i.e., resources for transmitting LRR signals) and a second set of resources (i.e., set of resources for transmitting MRR signals), LRR signals may be transmitted by reducing some of the MRR resources. As shown in table 1 below, the number of LRR signals and MRR signals that the total bandwidth 5GHz resource may use for transmission is shown. As can be seen from table 1 below, 5GHz can be used to transmit 15 MRR signals and also 18 LRR signals. 17 LRR signals are transmitted compared to 1GHZ, 14 MRR signals are transmitted at 4 GHZ. Under reasonable allocation, the schemes shown in fig. 18 to 21 include both LRR resources and MRR resources, so that a larger resource capacity can be obtained under the condition of controllable interference, and more radio signals can be transmitted.
TABLE 1
In another possible design, the resource frequency for the LRR transmit signal is lower than the resource frequency of the MRR transmit signal in the frequency domain. In this case, the frequency interval D2 between the lowest frequency of the third frequency band in the first resource set and the lowest frequency of the fourth frequency band in the second resource set satisfies the following relationship:
ΔF 1 ＜＜D2＜＜ΔF 2 the method comprises the steps of carrying out a first treatment on the surface of the The bandwidth of the third frequency band is the sweep frequency bandwidth of the first type detection device, and the bandwidth of the fourth frequency band is the sweep frequency bandwidth of the second type detection device. The third frequency band is a subset of the first set of resources and the fourth frequency band is a subset of the second set of resources. The third frequency band and the fourth frequency band are adjacent in the frequency domain, and the lowest frequency of the third frequency band is less than the lowest frequency of the fourth frequency band.
For example, referring to fig. 19, the first set of resources includes a plurality of frequency bands (only 5 of which are shown for example in fig. 19). The second set of resources includes a plurality of frequency bands (only 4 of which are shown by way of example in fig. 19). The third frequency band in the first resource set is adjacent to the fourth frequency band in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band.
The frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship:
B 2 -B 1 +ΔF 1 ＜＜D’2＜＜B 2 -B 1 +ΔF 2 。
The frequency interval D2 between the lowest frequency of the third frequency band and the lowest frequency of the fourth frequency band satisfies the following relationship:
ΔF 1 ＜＜D2＜＜ΔF 2 。
the relationship satisfied by D '2 can be deduced from the relationship satisfied by D2, whereas the relationship satisfied by D'2 can be deduced from the relationship of D2.
As shown in fig. 19, the resources in the first resource set and the resources in the second resource set overlap in the time domain and do not overlap in the frequency domain, thereby forming a frequency division multiplexing relationship.
In another possible design, referring to fig. 20, it may also be that the resources used by the LRR are high band resources and low band resources. The resources used by the MRR are mid-band resources. Here, the high frequency band, the low frequency band, and the intermediate frequency band are only for convenience of description. In practical implementation, specific definitions of the high frequency band, the middle frequency band and the low frequency band (how much Hz is specifically referred to as the high frequency band) may be referred to related contents of the prior art, and the embodiments of the present application are not repeated.
The relationship between the first frequency band in the first resource set and the second frequency band in the second resource set, and the relationship between the third frequency band in the first resource set and the fourth frequency band in the second resource set can be seen from the corresponding contents of fig. 18 and 19.
In fig. 20, the resources in the first resource set and the resources in the second resource set overlap in the time domain and do not overlap in the frequency domain, forming a frequency division multiplexing relationship.
In another possible design, referring to fig. 21, it may also be that the resources used by the MRR are high-band resources and low-band resources, and the resources used by the LRR are intermediate-band resources. Among them, the specific definition of the high frequency band, the middle frequency band, and the low frequency band (how much Hz is called the high frequency band) can be found in the related content of the prior art.
The relationship between the first frequency band in the first resource set and the second frequency band in the second resource set, and the relationship between the third frequency band in the first resource set and the fourth frequency band in the second resource set can be seen from the corresponding contents of fig. 18 and 19.
In fig. 21, the resources in the first resource set and the resources in the second resource set overlap in the time domain and do not overlap in the frequency domain, forming a frequency division multiplexing relationship.
In another possible design, the first set of resources and the second set of resources of the N resources may also be configured as follows. Specifically, the time domain starting point of the time domain resource of the first type of detection device in the first resource set and the time domain starting point of the time domain resource of the second type of detection device in the second resource set satisfy the following relationship:
T 1_start ＞＞T 2_start +τ 3max ；
Wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max And the time delay corresponding to the maximum ranging distance of the second type of detection device.
Referring to fig. 22, first, in order to reduce interference, a minimum of τ is required between the time domain starting point of the time domain resource of the LRR and the time domain starting point of the time domain resource of the MRR 3max . That is, at least τ is required between the initial time of the LRR transmission period and the initial time of the MRR transmission period 3max . In this way, the collision probability of the LRR resource and the MRR resource in the time domain can be reduced. Then, the interval between the frequency domain resource of the LRR and the frequency domain resource of the MRR is also considered. Specifically, considering the resource allocation in one transmission period, in the frequency domain, the fifth frequency band is at T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship:
ΔF 1 ＜＜D3＜＜ΔF 2 the method comprises the steps of carrying out a first treatment on the surface of the In one transmission period, the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band. Illustratively, the D3 value may be (ΔF 1 +ΔF 2 ) P. P is a number greater than 1, e.g., P may be 2. Thus, at T 1_start The LRR starts to transmit signals, delay can be generated between the LRR and the MRR transmitting signals, interference caused by close transmitting moments among radars is reduced, and at T 1_start Where the initial frequency of the LRR is T with the MRR 1_start The interval D3 exists between the transmitting frequencies, so that interference caused by the close transmitting frequencies between radars can be reduced.
Exemplary, the transmission period of the MRR and LRR signals is 10us, the sweep bandwidth of the MRR is 2GHz, the propagation delay caused by the maximum detection distance of the MRR is 2us, and the frequency interval delta F between MRR resources is 2 For example 150MHz, the frequency spacing between LRR resources is 50 MHz. The sixth frequency band corresponds to a frequency of 2GHz/10us at 2us within one transmission period*2 us=400 mhz,400mhz frequency domain resources can be used for LRR transmit signals. The frequency interval D3 of the sixth frequency band and the fifth frequency band at 2us has a value range of [ delta F 1 (50MHz)，ΔF 2 (150MHz)]，[]Indicating a closed interval. Let D3 take the value of 100MHz. The frequency range available for LRR transmit signals is 400MHz-100MHz = 300MHz. The 300MHz can be used to transmit LRR signals in the number of/>
As shown in fig. 22 (a), if the next radio signal is to be transmitted after a certain transmission period, τ_1 may be delayed in the time domain. In this way, collisions between radio signals in the time domain are avoided. The value of τ_1 may be 2us (i.e., delay caused by the maximum ranging distance of the MRR), or may be greater than 2us. Due to the delay of τ_1 between the time domain resources, there will be a reduction in the number of radio signals that can be transmitted over a period of time. If the transmission period of the MRR and the LRR is calculated to be 10us, and one signal is transmitted directly without delaying 2us, Q signals can be transmitted by using a certain time domain resource and a certain frequency domain resource. Then 10/12 x q signals may be transmitted using the same time domain, frequency domain resources in case a certain radio signal is transmitted followed by a delay of 2us before another radio signal is transmitted.
If the ratio τ is considered 3max Greater time delay, i.e. a spacing between the time domain starting point of the time domain resource of the second type of detection means and the time domain starting point of the time domain resource of the first type of detection means of more than τ 3max At the time-domain start time (point) of the time-domain resources of the first type of probing device, more frequency resources will be available for the LRR to transmit signals, i.e. more signals can be multiplexed in the frequency domain. However, since the time delay is significant, the number of signals multiplexed in the time domain may be reduced. Of course, reasonable delay values can be set to balance the number of signals multiplexed on the time and frequency domains, respectively, so that more signals are ultimately multiplexed.
In accordance with the resource allocation scheme shown in fig. 22 (a) and (b), table 2 below shows the number of MRR resources and the number of LRR resources among the N resources. The number of resources multiplied by the coefficient is not the real number of resources, but is equivalent to the number of resources in one transmission period T.
TABLE 2
In fig. 22, the resources in the first resource set and the resources in the second resource set partially overlap in the time domain and do not overlap in the frequency domain, forming a frequency division multiplexing relationship. Specifically, taking the fifth frequency band in the first resource set and the sixth frequency band in the second resource set as examples, the resources in the first resource set and the resources in the second resource set form a frequency division multiplexing relationship, which means that a first portion (part-1, shown by a thick solid line) of the fifth frequency band and a partial frequency band of the sixth frequency band overlap in a time domain and do not overlap in a frequency domain, that is, the first portion of the fifth frequency band and the partial frequency band of the sixth frequency band form frequency division multiplexing. The second part of the fifth frequency band (part-2, shown in thin solid line) does not overlap with the sixth frequency band in both the time domain and the frequency domain, i.e. the second part of the fifth frequency band and the sixth frequency band form time division multiplexing and frequency division multiplexing.
In another possible design, referring to fig. 23, among the n resources, the resources in the first set of resources form frequency division multiplexing, that is, in the same transmission period, the resources in the first set of resources do not overlap in the frequency domain, and the resources in the second set of resources form time division multiplexing, that is, the resources in the second set of resources do not overlap in the time domain.
In another possible design, referring to fig. 24, the n resources form time division multiplexing between the resources in the first set of resources, i.e. the resources in the first set of resources do not overlap in the time domain. The resources in the second set of resources form frequency division multiplexing, i.e. the resources in the second set of resources do not overlap in the frequency domain within the same transmission period.
In another possible design, referring to fig. 25, the n resources form time division multiplexing between the resources in the first set of resources, i.e. the resources in the first set of resources do not overlap in the time domain. The resources in the second set of resources form time division multiplexing between them, i.e. the resources in the second set of resources do not overlap in the time domain.
The first detection device is LRR, the second detection device is MRR, and ΔF 1 ＜ΔF 2 For example, the resource allocation is described, it will be appreciated that when ΔF 1 ＞ΔF 2 When D,1 and D1 satisfy respectively: ΔF (delta F) 2 ＜＜D’1＜＜ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 。
When DeltaF 1 ＞ΔF 2 When D2 and D'2 satisfy respectively: ΔF (delta F) 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
When DeltaF 1 ＞ΔF 2 D3 satisfies: ΔF (delta F) 2 ≤D3≤ΔF 1 。
According to the signal transmission method provided by the embodiment of the application, the frequency domain and/or the time domain are/is divided for the inherent resources, so that a larger number of resources for the detection device to transmit signals are formed, and the collision probability between the resources is lower. In this way, the mutual interference between radars is reduced to the greatest possible extent.
In some embodiments, the time-frequency domain lattice points may be partitioned for use by the detection device.
Specifically, referring to fig. 26, the lower limit frequency F LOW To the upper limit frequency F HIGH The available bandwidth between ba=f HIGH -F Low . The available bandwidth Ba may be divided into R (R is a positive integer) channels (which may also be referred to as frequency domain lattice points) by a certain step size Δf. The sweep bandwidth may be S times, i.e., a multiple relationship, of the channel bandwidth Δf. Optionally, S is a number greater than or equal to 1.
Wherein a portion of the bandwidth may be reserved in the available bandwidth. For example, at a lower limit frequency F LOW One end reserves bandwidth Fdn at the upper limit frequencyF HIGH And one end, reserving the bandwidth Fup. Fdn +Fup < Δf. The number of channels R is:
minimum frequency F of channel n n The method comprises the following steps:
F n ＝F LOW +F dn +n·Δf；
wherein, the value range of n is 0 to R-1, and n is an integer.
The frequency bands occupied by R channels are removed, and the rest frequency bands in the available bandwidth are as follows:
F dn +F up ＝B-R·Δf；
alternatively, fdn =fup, or Fdn =0, fup= Fdn +fup, or fup=0, fdn= Fdn +fup, although Fdn and Fup may have other values, which is not limited in this embodiment.
Taking the available bandwidth of 77GHZ-81GHZ, i.e., ba=4 GHZ as an example, some possible channel configurations are provided as shown in table 3 below.
TABLE 3 Table 3
Generally, when the Δf is smaller, the bandwidth of the frequency channel is smaller, and the frequency channel with a small bandwidth can be used for transmitting the radio signal with a smaller sweep bandwidth. When the delta f is larger, the bandwidth of the frequency channel is larger, and the frequency channel with large bandwidth can be used for transmitting the radio signal with larger sweep frequency bandwidth.
For the configuration in table 3 above, the configuration cases where LRR and MRR of different scan bandwidths are respectively suitable are shown in table 4 below:
TABLE 4 Table 4
It can be seen that as shown in the second row of table 4, an LRR with a swept bandwidth of 200MHz is suitable for configuration 1 in table 3, i.e. the channels are divided according to 50MHz steps (the bandwidth of the channels is 50 MHz), wherein the LRR signal occupies 4 channels. Similarly, an LRR with a sweep bandwidth of 500MHz and an MRR with a sweep bandwidth of 2GHz are applicable to configuration mode 1 in table 3.
Further, after dividing the frequency domain bandwidth Ba into R channels according to the step length Δf, the division of the resource in the time dimension may also be considered. Referring to fig. 27, in the time domain, the time period Ta is divided into m time domain lattice points by a step Δt. m is a positive integer. In one possible implementation of the present invention,
optionally, the time domain step length of the resource grid pointAs used herein, the symbol ≡means greater than or equal to and the symbol ≡means less than or equal to. Wherein (1)>Is the time delay caused by the maximum distance measurement of the first type of detection device, < >>Is the time delay brought by the maximum distance measurement of the second type of detection device, and Min () is a function taking the minimum value.
Alternatively to this, the method may comprise,wherein i and j are integers greater than or equal to 1. />
Taking the maximum measured distance d as an example of 50-300 meters respectively, some alternative values for Δt are given in table 5 below.
TABLE 5
For the configuration in table 5 above, the Δt settings for which the MRR and LRR of the different maximum ranging distances d are respectively appropriate are exemplified as shown in table 6 below:
TABLE 6
| dMRR (Rice) | dLRR (Rice) | Possible values of Δt (us) |
| 50 | 250 | 2.33 |
| 50 | 250 | 4 |
| 100 | 250 | 5 |
| 150 | 250 | 10 |
Thus, a (a)A frequency channel and a time domain trellis point may constitute a time-frequency resource (also referred to as a resource trellis point) for transmitting radio signals. Referring to fig. 28, on a segment of resources with a bandwidth of Ba and a duration of Ta, the number of divisible resource grid points is: The resource grid may be used by the detection device to transmit radio signals.
In one possible design, a time-frequency resource (resource grid) may be used for one or more signals transmitted by a radar. One time-frequency resource may also be used for transmitting multiple signals for different radars. As shown in fig. 29. The bold line represents a radio signal that occupies less than one time-frequency resource. The space f1, f2, t1 and t2 exists between the resources occupied by the radio signal and the boundary of the resource grid point respectively.
In other possible designs, referring to fig. 30, a radar may occupy multiple resource sites to transmit a radio signal. Wherein, a radio signal may occupy a time-frequency resource formed by one frequency channel and a plurality of time domain units, or may occupy a time-frequency resource formed by one time domain lattice point and a plurality of frequency channels, or may occupy a time-frequency resource formed by a plurality of time domain lattice points and a plurality of frequency channels.
In other possible designs, referring to fig. 31, when the resources occupied by two radio signals overlap in the time domain, such as resource 1 and resource 3, the two resources may be completely staggered in the frequency domain, i.e., the maximum frequency of one resource is less than or equal to the minimum frequency of the other resource. When the resources occupied by two radio signals overlap in the frequency domain, such as resource 1 and resource 2, resource 1 and resource 2 are completely staggered in the time domain, i.e. there is a gap between the time domain termination time of resource 1 and the time domain start time of resource 2, which may be greater than or equal to 0.
In this embodiment of the present application, two adjacent resources in the time domain may be allocated to the same detecting device for use, or may be allocated to different detecting devices for use. Similarly, two adjacent resources in the frequency domain can be allocated to the same detecting device for use, and can also be allocated to different detecting devices for use.
Typically, the period of intermittent operation of a radar is 50ms, i.e. it typically takes 50ms to complete a certain speed or distance measurement for a certain radar. However, according to the speed measurement resolution and the speed range of the vehicle in which the radar is located, it is sufficient for the radar to measure or measure the speed by taking a continuous period of 5 ms. Based on this, it is possible to consider dividing different time units in the time domain, and also dividing different time sub-units within a time unit, and configuring the resources of the probe device based on the time units and the time sub-units.
Specifically, referring to fig. 32, a plurality of time units (may also be referred to as periods) are included in the time domain, and each time unit includes a plurality of time sub-units (may also be referred to as frames). The plurality of time subunits comprise a first time subunit, and time domain resources corresponding to the first time subunit are used for the same or different detection devices. The first time subunit is a time subunit at any position in a plurality of time subunits. In one possible design, frame S in each period may be defined as a first time subunit. S is an integer greater than or equal to 0. For example, the time domain resource corresponding to frame 1 in period 1 is used for detecting device 1, and the time domain resource corresponding to frame 1 in period 2 is used for detecting device 1 or other detecting devices.
Optionally, the time units and the time sub-units are set in time length, which is related to the intermittent working period of the radar and the shortest distance measurement requirement time (such as 5ms to meet the distance measurement requirement), and can be flexibly set in actual implementation.
For example, still referring to fig. 32, assuming a period of 50ms, a frame of 5ms, a transmission period of 10us of radio signals, 1 radar can transmit 5ms/10 us=500 radio signals within 5 ms. In the present embodiment, consider that the radar continuously transmits a 5ms signal in 50ms, after which the radar re-transmits a 5ms signal in the next 50 ms. And so on, the requirements of ranging or speed measurement of the radar in different periods can be met, and the residual resources (such as the rest 45ms in 50 ms) can be used for other radars. In frame 1 of period 1, a certain frequency band resource of the N resources is allocated to be used by radar #1, and in frame 2, the frequency band resource is allocated to be used by radar # 2. The resource allocation method of period 1 is repeated in period 2 to allocate resources, or, as shown in fig. 32, in frame 1 of period 2, the band resources are allocated to radar #2 (or other radar except radar) for use, and in frame 2, the band resources are allocated to radar #1 for use. In addition, frame 1 of period 1 and frame 1 of period 2 may be used for different radar transmit signals. Similarly, frame 2 of period 1 and frame 2 of period 2 may be used for different radar transmit signals. As shown in fig. 32, frame 1 of period 1 is used for radar #1 to transmit signals, and frame 1 of period 2 is used for radar #2 to transmit signals. Of course, the resource allocation method of period 1 may be repeated in period 2 to allocate resources, that is, for frame 1 in different periods, all used for the same radar transmit signal.
In this way, one radar continuously transmits signals in one time subunit of a time unit, the next time subunit of the time unit being available for transmitting signals of another radar. That is, one time unit may be used for a plurality of radar transmission signals. The utilization rate of time domain resources can be improved, and the probability of insufficient time domain resource utilization caused by monopolizing a certain time unit by a certain radar is reduced. Furthermore, the resource allocation mode can be flexibly switched in different time subunits. Thus, for a certain radar, in different time units, the time domain resources used by the radar may hop, and similarly, the frequency domain resources used by the radar may also hop, and the resource hopping manner can enhance the safety of communication and reduce constant interference between radars.
In another possible design, on the basis of dividing the time unit into time subunits, in the first time subunit of the first time unit, the resource of the N resources, which is obtained by performing the number modulo operation, is used for the first detection device to transmit the radio signal, and the resource of the N resources, which is obtained by performing the number modulo operation, is used for the second detection device to transmit the radio signal. That is, the same resources as the modulo operation result can be allocated to the same radar. The modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
Taking the period of 50ms, the frame of 5ms, the transmission period of 10us and the time-domain interval Δt1 between resources of 2.5us as an example, the total number of signals available for transmission by one frame is 5ms/2.5 us=2000, the number of signals available for transmission in one transmission period is 10us/2.5 us=4, and the modulo operation is 10us/2.5 us=4. Referring to fig. 33 (fig. 33 only shows one frequency band, and the resource allocation of other frequency bands is similar, and is not repeated here), the resources may be numbered sequentially, and after the number is subjected to modulo-4 operation, the resources equal to the same result may form a sawtooth wave, and the resources of the same result are allocated to the same radar. Such as a frame, starting from 0 as the available resource number (of course, it is also possible to start from 1 in practice, or from another number), the resources with number modulo 4 of 0 (such as the plurality of resources represented by the thick solid line in fig. 33) may constitute a saw tooth wave, allocating these resources to the same radar use, such as radar #1. Similarly, the resource with the number modulo 4 of 1 is allocated to the radar #2, and the next period can repeat the resource allocation manner of the period.
The modulus of the modulus operation can take other values, such as 3 or 5, when the modulus is smaller, the modulus can have higher requirements on a transceiver of the radar, when the modulus is larger, the modulus can possibly transmit fewer radar signals in a frame of 5ms, and the accuracy of ranging and speed measurement in a high-speed scene is affected to a certain extent.
In another possible design, N resources available for transmitting radio signals are the same or different in different time periods on a divided time unit, time sub-unit basis, the time period including at least one of a time unit, a time sub-unit, an integer multiple of a time sub-unit. That is, different resource allocation schemes may be employed in different time periods. The resource allocation method includes, but is not limited to, the method corresponding to fig. 11 to 25.
One possible way is to use different resource allocation methods in different frames of one period, and repeat the resource allocation method of each frame in the previous period in the next period. For example, referring to fig. 34, in the case where frame 1 of period 1 adopts resource allocation 1, for example, the resource allocation shown in (a) in fig. 13, frame 2 of period 1 adopts resource allocation 2, for example, the resource allocation shown in (a) in fig. 15, frame 1 of period 2 also adopts the resource allocation shown in (a) in fig. 13, and frame 2 of period 2 also adopts the resource allocation shown in (a) in fig. 15. Or, frame 1 of period 1 adopts resource allocation mode 2, frame 2 of period 1 adopts resource allocation mode 3, and the resource allocation mode of period 1 is repeated in period 2.
Another possibility is to use the same resource allocation within a different frame of one period and another resource allocation in the next period. See fig. 35.
Of course, the resource allocation may be chosen randomly among different frames. As shown in fig. 36.
By the schemes shown in fig. 32 to 36, the resource allocation manner can be enriched, that is, different resource allocation manners can be adopted in different time periods. Of course, dividing the time periods with a larger or smaller time granularity may result in more modes of operation in order to extend the resources that may be allocated for different radar uses.
The flow of configuring resources is described below in conjunction with the structure of the radar shown in fig. 4 and the radar workflow shown in fig. 37. The controller may include a resource allocation mode control module and a frequency control module (not shown in fig. 4), where the resource allocation mode control module outputs the resource allocation mode in a certain time unit to the frequency control module, for example, outputs the operation mode one shown in fig. 34. The frequency control module may control the oscillator and mixer of the transmitting branch and may also control the mixing of the receiving branch in the present time unit based on the resource allocation (mode one). Therefore, through a series of frequency control in the time unit, the interference signal received in the previous time unit and the transmitting signal in the time unit are not in the same frequency band, and the band-pass filter can filter the interference signal received in the previous time unit, so that the interference degree of the interference signal on the local radar is reduced.
The first type of detection device is mainly taken as an LRR, the second type of detection device is taken as an MRR as an example, and in practice, the first type of detection device and the second type of detection device may be in other combinations, for example, the first type of detection device is an MRR, the second type of detection device is an LRR, or the first type of detection device is a short range radar, the second type of detection device is an LRR, or other combinations.
The first type of probing apparatus selects a first resource from N resources, for example, the first resource may be selected from N resources shown in (a) in fig. 13, and for example, the first resource may be selected from N resources shown in (a) in fig. 18.
S1002, the first type of probing device transmits a radio signal on a first resource.
Wherein: the radio signals are transmitted on the first resource in a time division multiplexed manner, for example, as shown in fig. 15 (a). Alternatively, the radio signal is transmitted on the first resource in a frequency division multiplexed manner, for example, as shown in fig. 13 (a). Alternatively, the radio signals include first radio signals transmitted on a first portion of the first resources in a time division multiplexed manner, e.g., as shown in fig. 16, two first radio signals occupy resources 3 and 4, respectively, and two first radio signals transmitted in a time division multiplexed manner, and second radio signals transmitted on a second portion of the first resources in a frequency division multiplexed manner, e.g., two second radio signals occupy resources 1 and 2, respectively.
According to the signal sending method provided by the embodiment of the application, the first type detection device can select the first resource from N preconfigured resources for sending the radio signal, and interference between the first type detection device and other detection devices can be reduced. And, the radio signal is transmitted on the first resource in a time division multiplexed manner; alternatively, the radio signal is transmitted on the first resource in a frequency division multiplexed manner; alternatively, the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource. Since a plurality of radio signals can be multiplexed in the time domain and/or the frequency domain, the resource utilization rate can be improved.
The above description has been presented mainly in terms of interactions between a detection device, such as a radar, and the detection device, or with a target object. It will be appreciated that each device, e.g. detection device, object, etc., in order to achieve the above described functionality, comprises corresponding hardware structures and/or software modules performing each function. Those of skill in the art will readily appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application can divide the functional modules of the detection device, for example, each functional module can be divided corresponding to each function, and two or more functions can be integrated in one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
For example, in the case of dividing the respective functional modules of the detecting device in an integrated manner, fig. 38 shows a possible structural schematic diagram of the first type of detecting device (or referred to as a signal transmitting device) involved in the above-described embodiment of the present application. The first type of detection means 38 may comprise a processing unit 2301 for acquiring a first resource from N resources for transmitting radio signals, N being a positive integer.
The first type of detection means 38 further comprises a transmitting unit 2302 for transmitting radio signals on a first resource; wherein: the radio signal is transmitted on the first resource in a time division multiplexed manner; or the radio signal is transmitted on the first resource in a frequency division multiplexed manner; or the radio signal comprises a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
In one possible design, the N resources include a first set of resources, the resources in the first set of resources being used for the first type of probing device to transmit radio signals.
In one possible design, the frequency domain spacing Δf1 between two resources adjacent in the frequency domain in the first set of resources is determined according to at least one of:
intermediate frequency corresponding to the maximum ranging distance of the first type of detection device;
intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
In one possible design, the Δf1 value satisfies the following formula:
ΔF1≥max(ΔF p1 +ΔFx 1 +δ f1 ，Δ IF1 )；
wherein DeltaF p1 The intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device; ΔF (delta F) t1 Frequency deviation corresponding to the transmission timing deviation; delta f1 A pre-configured frequency offset; delta IF1 The intermediate frequency corresponding to the maximum ranging distance of the first type of detection device.
In one possible design, the time interval Δt1 between two temporally adjacent resources in the first set of resources satisfies the following condition:
ΔT1≥max(Δp1+Δt1+δ t1 ，τ max1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp1 is the delay corresponding to the maximum interference tolerance distance of the first type of detection device, Δt is the emission timing deviation, δ t For pre-configuring the time offset, τ, generated by the frequency offset max1 The time delay corresponding to the maximum ranging distance of the first type of detection device.
In one possible design, the N resources further include a second set of resources, the resources in the second set of resources being used for the second type of probing device to transmit radio signals.
In one possible design, the frequency domain spacing Δf2 between two resources adjacent in the frequency domain in the second set of resources is determined according to at least one of:
intermediate frequency corresponding to the maximum ranging distance of the second type of detection device;
intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
In one possible design, the Δf2 value satisfies the following formula:
ΔF2≥max(ΔF p2 +ΔF t2 +δ f2 ，Δ IF2 )；
wherein DeltaF p2 The intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device; ΔF (delta F) t2 Frequency deviation corresponding to the transmission timing deviation; delta f2 A pre-configured frequency offset; delta IF2 The intermediate frequency corresponding to the maximum ranging distance of the second type of detection device.
In one possible design, the time interval Δt2 between two temporally adjacent resources in the second set of resources satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ max2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, δ t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
In one possible design, the frequency separation D between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources, 1 satisfies the following relationship: ΔF (delta F) 1 ≤D’1≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The first frequency band is the frequency band with the minimum highest frequency in the first resource set, the second frequency band is the frequency band with the maximum highest frequency in the second resource set, and the highest frequency of the first frequency band is greater than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1≤B 2 -B 1 +ΔF 2 ；B 1 Scanning bandwidth for transmitting radio signals for first type detection devices, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D’1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
In one possible design, the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of frequency bands satisfies the following relationship: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
In one possible design, the time domain starting point of the time domain resource of the first type of detection device in the first resource set and the time domain starting point of the time domain resource of the second type of detection device in the second resource set satisfy the following relationship:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start F, as a time domain starting point of time domain resources of the first type of detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
In one possible design, the time domain includes a plurality of time units, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices, and time domain resources corresponding to the same time subunit of different time units are used for the same or different detecting devices.
In one possible design, the system includes a plurality of time units in a time domain, each time unit including a plurality of time subunits; in a first time subunit of the first time unit, a resource of which the number is subjected to modular arithmetic to obtain a first result is used for a first detection device to send a radio signal, and a resource of which the number is subjected to modular arithmetic to obtain a second result is used for a second detection device to send the radio signal;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
In one possible design, the N resources available for transmitting the radio signal may be the same or different for different time periods, the time periods including at least one of a time unit, a time subunit, an integer multiple of a time unit, and an integer multiple of a time subunit.
Optionally, the detecting device further comprises a receiving unit 2303 for receiving the reflected signal of the above-mentioned transmitted signal.
Optionally, the detection device further comprises a storage unit 2304 for storing data or programs and the like. The processing unit 2301 may read data or programs stored in the storage unit 2304 to realize the above-described functions of the detection device.
This alternative design may be implemented independently or may be integrated with any of the alternative designs described above.
Fig. 39 is a schematic diagram of another possible structure of a first type of detection device provided in an embodiment of the present application, where the first type of detection device 23 may include a processor 2401, a transmitter 2402, and a receiver 2403. The functions thereof may correspond to the specific functions of the processing unit 2301, the transmitting unit 2302 and the receiving unit 2303 illustrated in fig. 38, respectively, and will not be described herein. Optionally, the detection device may further comprise a memory 2404 for storing program instructions and/or data.
The foregoing fig. 4 provides a schematic structural view of a radar apparatus. With reference to the above, a further alternative is presented. Fig. 40 provides a schematic view of still another possible configuration of the first type of detection device. The detection device provided in fig. 38 to 40 may be part or all of the radar device in the actual communication scenario, and may be integrated in the radar device or located outside the radar device, so as to implement the corresponding function, and the structure and composition are not specifically limited.
In this alternative, the detection device 23 includes a transmit antenna 2501, a receive antenna 2502, and a processor 2503. Further, the detection device comprises a mixer 2504 and/or an oscillator 2505. Further, the detection means may also comprise a low pass filter and/or a directional coupler or the like. The transmitting antenna and the receiving antenna are used for supporting the detecting device to carry out radio communication, the transmitting antenna supports the transmission of radio signals, and the receiving antenna supports the receiving of the radio signals and/or the receiving of reflected signals so as to finally realize the detecting function. The processor performs some of the possible determination and/or processing functions. Further, the operation of the transmit antenna and/or the receive antenna is also controlled. Specifically, the signal to be transmitted is transmitted by the processor controlling the transmitting antenna, and the signal received by the receiving antenna can be transmitted to the processor for corresponding processing. The various components comprised by the detection device may be used to perform any of the embodiments referred to in the examples of the method of the present application. Optionally, the detection device may further comprise a memory (not shown in fig. 40) for storing program instructions and/or data. The transmitting antenna and the receiving antenna can be independently arranged, or can be integrally arranged as a receiving and transmitting antenna to execute corresponding receiving and transmitting functions.
It should be noted that the second type of detection device or any of the detection devices in the embodiments of the present application may have the same structure as the first type of detection device, that is, the same applies to the schematic structural diagrams shown in fig. 38 to 40.
In yet another alternative, when the detection means is implemented in software, it may be implemented wholly or partly in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are fully or partially implemented. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It should be noted that, the processor included in the above-mentioned detection apparatus for performing the detection method provided in the embodiment of the present application may be a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware or in software instructions executed by a processor. The software instructions may be comprised of corresponding software modules that may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. In addition, the ASIC may be located in a probing device. It is of course also possible that the processor and the storage medium are present as separate components in the detection device.
It will be appreciated that fig. 38-40 only show a simplified design of the detection device. In practice, the probe may comprise any number of transmitters, receivers, processors, controllers, memories, and other elements that may be present.
The embodiments of the present application also provide a communication system comprising at least one detection device and/or at least one target object as mentioned in the embodiments of the present application.
The embodiments of the present application also provide a communication system comprising at least one detection device and/or at least one central processor/central controller performing the above-mentioned embodiments of the present application. The central processor/central controller is configured to control the travel of the vehicle and/or the processing of other detection means based on the output of the at least one detection means. The central processor/central controller may be located in the vehicle, or in other possible locations, subject to such control.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and the parts displayed as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (50)
1. A signal transmission method applied to a first type of probe device, the method comprising:
acquiring a first resource from N resources for transmitting radio signals, wherein N is a positive integer; the N resources comprise a first resource set, and the frequency domain interval delta F1 between two adjacent resources on the frequency domain in the first resource set is determined according to the following four terms: intermediate frequency corresponding to the maximum ranging distance of the first type of detection device; intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device; a frequency deviation corresponding to the transmit timing deviation; a preconfigured frequency deviation; and/or, the time interval delta T1 between two adjacent resources in the time domain in the first resource set is determined according to the following four terms: the time delay corresponding to the maximum interference tolerance distance of the first type detection device, the emission timing deviation, the time deviation generated by the preconfigured frequency deviation and the time delay corresponding to the maximum ranging distance of the first type detection device;
transmitting a radio signal on the first resource; wherein:
the radio signal is transmitted on the first resource in a time division multiplexed manner; or alternatively
The radio signal is transmitted on the first resource in a frequency division multiplexed manner; or alternatively
The radio signals include a first radio signal transmitted in a time division multiplexed manner on a first portion of the first resource and a second radio signal transmitted in a frequency division multiplexed manner on a second portion of the first resource.
2. The signaling method of claim 1, wherein the resources in the first set of resources are used for transmitting radio signals by a first type of probing device.
3. The signal transmission method according to claim 1 or 2, characterized in that the value of Δf1 satisfies the following formula:
ΔF1≥max(ΔF p1 +ΔF t1 +δ f1 ,Δ IF1 )；
wherein DeltaF p1 The intermediate frequency corresponding to the maximum interference tolerance distance of the first type of detection device; ΔF (delta F) t1 Frequency deviation corresponding to the transmission timing deviation; delta f1 A pre-configured frequency offset; delta IF1 The intermediate frequency corresponding to the maximum ranging distance of the first type of detection device.
4. The signal transmission method according to claim 2, wherein,
the time interval deltat 1 between two adjacent resources in the time domain in the first resource set satisfies the following condition:
ΔT1≥max(Δp1+Δt1+δ t1 ，τ max1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp1 is the delay corresponding to the maximum interference tolerance distance of the first type of detection device, Δt1 is the emission timing deviation, δ t1 For pre-configuring the time offset, τ, generated by the frequency offset max1 The time delay corresponding to the maximum ranging distance of the first type of detection device.
5. The signal transmission method according to claim 3, wherein,
the time interval deltat 1 between two adjacent resources in the time domain in the first resource set satisfies the following condition:
ΔT1≥max(Δp1+Δt1+δ t1 ，τ max1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp1 is the delay corresponding to the maximum interference tolerance distance of the first type of detection device, Δt1 is the emission timing deviation, δ t1 For pre-configuring the time offset, τ, generated by the frequency offset max1 The time delay corresponding to the maximum ranging distance of the first type of detection device.
6. The signaling method according to claim 1 or 2 or 4 or 5, wherein the N resources further comprise a second set of resources, the resources in the second set of resources being used for transmitting radio signals by a second type of probing device.
7. A signaling method according to claim 3, characterized in that said N resources further comprise a second set of resources, the resources of said second set of resources being used for the transmission of radio signals by the second type of probing device.
8. The signal transmission method according to claim 6, wherein,
the frequency domain interval Δf2 between two adjacent resources in the frequency domain in the second resource set is determined according to at least one of the following:
Intermediate frequency corresponding to the maximum ranging distance of the second type of detection device;
intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
9. The signal transmission method according to claim 7, wherein,
the frequency domain interval Δf2 between two adjacent resources in the frequency domain in the second resource set is determined according to at least one of the following:
intermediate frequency corresponding to the maximum ranging distance of the second type of detection device;
intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device;
a frequency deviation corresponding to the transmit timing deviation;
preconfigured frequency deviation.
10. The signal transmission method according to claim 8 or 9, wherein,
the value of Δf2 satisfies the following formula:
ΔF2≥max(ΔF p2 +ΔF t2 +δ f2 ,Δ IF2 )；
wherein DeltaF p2 The intermediate frequency corresponding to the maximum interference tolerance distance of the second type detection device; ΔF (delta F) t2 Frequency deviation corresponding to the transmission timing deviation; delta f2 A pre-configured frequency offset; delta IF2 The intermediate frequency corresponding to the maximum ranging distance of the second type of detection device.
11. The signaling method according to claim 7 or 8 or 9, characterized in that a time interval Δt2 between two temporally adjacent resources in the second set of resources satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ max2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, δ t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
12. The signaling method according to claim 6, wherein a time interval Δt2 between two adjacent resources in the time domain in the second set of resources satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ max2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, δ t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
13. The signaling method according to claim 10, wherein a time interval Δt2 between two adjacent resources in the time domain in the second set of resources satisfies the following condition:
ΔT2≥max(Δp2+Δt2+δ t2 ，τ max2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein Δp2 is the delay corresponding to the maximum interference tolerance distance of the second type of detection device, Δt2 is the emission timing deviation, δ t2 For pre-configuring the time offset, τ, generated by the frequency offset max2 And the time delay corresponding to the maximum ranging distance of the second type of detection device.
14. The signaling method of claim 7 or 8 or 9 or 12 or 13,
the frequency interval D'1 between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources satisfies the following relationship: ΔF (delta F) 1 ≤D’1ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the first frequency band is the frequency band with the smallest highest frequency in the first resource set, and the second frequency band is the frequency band with the largest highest frequency in the second resource setThe highest frequency of the first frequency band is greater than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1B 2 -B 1 +ΔF 2 ；B 1 Scanning bandwidth for transmitting radio signals for first type detection devices, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D’1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
15. The signal transmission method according to claim 6, wherein,
the frequency interval D'1 between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources satisfies the following relationship: ΔF (delta F) 1 ≤D’1≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The first frequency band is the frequency band with the minimum highest frequency in the first resource set, the second frequency band is the frequency band with the maximum highest frequency in the second resource set, and the highest frequency of the first frequency band is larger than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1≤B 2 -B 1 +ΔF 2 ；B 1 Scanning bandwidth for transmitting radio signals for first type detection devices, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D,1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
16. The signal transmission method according to claim 10, wherein,
the frequency interval D'1 between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources satisfies the following relationship: ΔF (delta F) 1 ≤D’1≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The first frequency band is the frequency band with the minimum highest frequency in the first resource set, the second frequency band is the frequency band with the maximum highest frequency in the second resource set, and the highest frequency of the first frequency band is larger than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1≤B 2 -B 1 +ΔF 2 ；B 1 Scanning bandwidth for transmitting radio signals for first type detection devices, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D’1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
17. The signal transmission method according to claim 11, wherein,
the frequency interval D'1 between the highest frequency of the first frequency band in the first set of resources and the highest frequency of the second frequency band in the second set of resources satisfies the following relationship: ΔF (delta F) 1 ≤D’1≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The first frequency band is the frequency band with the minimum highest frequency in the first resource set, the second frequency band is the frequency band with the maximum highest frequency in the second resource set, and the highest frequency of the first frequency band is larger than the highest frequency of the second frequency band; the frequency interval D1 between the lowest frequency of the first frequency band and the lowest frequency of the second frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D1≤B 2 -B 1 +ΔF 2 ；B 1 Transmitting radio signals for a first type of detecting meansScanning bandwidth, B 2 Transmitting a scanning bandwidth of the radio signal for the second type of detection device; ΔF (delta F) 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D’1≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D1≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
18. The signaling method of claim 7 or 8 or 9 or 12 or 13 or 15 or 16 or 17, characterized in that,
the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of resources of said frequency band satisfies the following relation: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
19. The signal transmission method according to claim 6, wherein,
the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of resources of said frequency band satisfies the following relation: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller thanThe lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
20. The signal transmission method according to claim 10, wherein,
the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of resources of said frequency band satisfies the following relation: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
21. The signal transmission method according to claim 11, wherein,
the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of resources of said frequency band satisfies the following relation: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the lowest frequency in the first resource setA large frequency band, wherein the fourth frequency band is a frequency band with the lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
22. The method of signaling according to claim 14, wherein,
the frequency interval D2 between the lowest frequency of the third frequency band in the first set of resources and the lowest frequency of the fourth frequency band in the second set of resources of said frequency band satisfies the following relation: ΔF (delta F) 1 ≤D2≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the The third frequency band is the frequency band with the largest lowest frequency in the first resource set, the fourth frequency band is the frequency band with the smallest lowest frequency in the second resource set, and the lowest frequency of the third frequency band is smaller than the lowest frequency of the fourth frequency band; the frequency interval D'2 between the highest frequency of the third frequency band and the highest frequency of the fourth frequency band satisfies the following relationship: b (B) 2 -B 1 +ΔF 1 ≤D’2≤B 2 -B 1 +ΔF 2 ；ΔF 1 ＜ΔF 2 ；
Alternatively, deltaF 2 ≤D2≤ΔF 1 ；B 2 -B 1 +ΔF 2 ≤D’2≤B 2 -B 1 +ΔF 1 ；ΔF 1 ＞ΔF 2 。
23. The signaling method of claim 7 or 8 or 9 or 12 or 13 or 15 or 16 or 17 or 19 or 20 or 21 or 22, characterized in that,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
24. The signal transmission method according to claim 6, wherein,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
Wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band isThe frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, delta F 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
25. The signal transmission method according to claim 10, wherein,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
26. The signal transmission method according to claim 11, wherein,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
27. The method of signaling according to claim 14, wherein,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, and the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource setThe lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, deltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
28. The method of signaling according to claim 18, wherein,
the time domain starting point of the time domain resource of the first type detection device in the first resource set and the time domain starting point of the time domain resource of the second type detection device in the second resource set satisfy the following relation:
T 1_start ≥T 2_start +τ 3max ；
Wherein T is 1_start T is the time domain starting point of the time domain resource of the first type detection device 2_start For the time domain starting point of the time domain resource of the second kind of detection device, τ 3max The time delay corresponding to the maximum ranging distance of the second type of detection device;
the fifth frequency band is at said T 1_start Frequency of (2) and sixth frequency band at T 1_start The frequency spacing D3 between the frequencies of (a) satisfies the following relationship: ΔF (delta F) 1 ≤D3≤ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein the fifth frequency band is the frequency band with the largest lowest frequency in the first resource set, the sixth frequency band is the frequency band with the smallest lowest frequency in the second resource set, the lowest frequency of the fifth frequency band is smaller than the lowest frequency of the sixth frequency band, and DeltaF 1 ＜ΔF 2 The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, deltaF 2 ≤D3≤ΔF 1 ，ΔF 1 ＞ΔF 2 。
29. The signaling method according to claim 1 or 2 or 4 or 5 or 7 or 8 or 9 or 12 or 13 or 15 or 16 or 17 or 19 or 20 or 21 or 22 or 24 or 25 or 26 or 27 or 28, characterized in that it comprises a plurality of time units in the time domain, each time unit comprising a plurality of time subunits, on different time subunits, a first frequency band resource of said N resources being used for the same or different probing means, said plurality of time subunits comprising a first time subunit, the time domain resources corresponding to said first time subunit being used for the same or different probing means.
30. A signal transmission method according to claim 3, comprising a plurality of time units in the time domain, each time unit comprising a plurality of time subunits, wherein on different time subunits, a first frequency band resource of said N resources is used for the same or different detection means, and wherein said plurality of time subunits comprises a first time subunit, and wherein the time domain resource corresponding to said first time subunit is used for the same or different detection means.
31. The signal transmission method according to claim 6, wherein the signal transmission method includes a plurality of time units in a time domain, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices, and the plurality of time subunits includes a first time subunit, and a time domain resource corresponding to the first time subunit is used for the same or different detecting devices.
32. The signal transmission method according to claim 10, wherein a plurality of time units are included in a time domain, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices, and the plurality of time subunits includes a first time subunit, and a time domain resource corresponding to the first time subunit is used for the same or different detecting devices.
33. The signal transmission method according to claim 11, wherein the signal transmission method includes a plurality of time units in a time domain, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting apparatuses, and the plurality of time subunits includes a first time subunit, and a time domain resource corresponding to the first time subunit is used for the same or different detecting apparatuses.
34. The method of claim 14, wherein the time domain includes a plurality of time units, each time unit includes a plurality of time subunits, and on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices, and the plurality of time subunits includes a first time subunit, and the time domain resource corresponding to the first time subunit is used for the same or different detecting devices.
35. The method of claim 18, wherein the time domain includes a plurality of time units, each time unit includes a plurality of time subunits, and a first frequency band resource of the N resources is used for the same or different detecting devices in different time subunits, and the plurality of time subunits includes a first time subunit, and the time domain resource corresponding to the first time subunit is used for the same or different detecting devices.
36. The method of claim 23, wherein the time domain includes a plurality of time units, each time unit includes a plurality of time subunits, and wherein on different time subunits, a first frequency band resource of the N resources is used for the same or different detecting devices, and the plurality of time subunits includes a first time subunit, and the time domain resource corresponding to the first time subunit is used for the same or different detecting devices.
37. The signaling method according to any one of claims 1 or 2 or 4 or 5 or 7 or 8 or 9 or 12 or 13 or 15 or 16 or 17 or 19 or 20 or 21 or 22 or 24 or 25 or 26 or 27 or 28 or 30-36, characterized by comprising a plurality of time units in the time domain, each time unit comprising a plurality of time subunits; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
38. A signal transmission method according to claim 3, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
The modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
39. The signal transmission method according to claim 6, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
40. The signal transmission method according to claim 10, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
41. The signal transmission method according to claim 11, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
42. The signal transmission method according to claim 14, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
43. The signal transmission method according to claim 18, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
The modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
44. The signal transmission method according to claim 23, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
45. The signal transmission method according to claim 29, comprising a plurality of time units in a time domain, each time unit comprising a plurality of time sub-units; in a first time subunit of the first time unit, the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the first detection device, and the resources of the N resources, which are obtained by carrying out the number modulo operation, are used for transmitting radio signals by the second detection device;
the modulus in the modulo operation is the ratio of the transmission period of the radio signal to Δt1.
46. The signaling method of any one of claims 30-36, or 38-45, wherein the N resources available to transmit radio signals are the same or different for different time periods, the time periods comprising at least one of time units, time subunits, integer multiples of time units, integer multiples of time subunits.
47. The method of signal transmission according to claim 29, wherein the N resources available for transmitting radio signals are the same or different in different time periods, the time periods comprising at least one of time units, time sub-units, integer multiples of time sub-units.
48. The method of signal transmission according to claim 37, wherein the N resources available for transmitting radio signals are the same or different in different time periods, the time periods comprising at least one of time units, time sub-units, integer multiples of time sub-units.
49. A signal transmission apparatus, the apparatus comprising a processor; the processor is configured to couple to a memory and to read instructions in the memory, and to perform the method of any of claims 1-48 in accordance with the instructions.
50. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 48.
Priority Applications (1)
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| CN113194538B (en) * | 2021-04-02 | 2022-04-29 | 深圳成谷科技有限公司 | Radar signal time-frequency resource allocation method, system and equipment |
| CN115515245A (en) * | 2021-06-23 | 2022-12-23 | 华为技术有限公司 | Information coordination method and device |
| CN114594429B (en) * | 2022-03-24 | 2023-11-14 | 南京慧尔视智能科技有限公司 | Radar anti-interference processing method and device |
| CN116125380B (en) * | 2023-04-19 | 2023-06-30 | 齐鲁工业大学(山东省科学院) | Mobile scene super-resolution positioning method based on Kalman filter |
| CN116561486A (en) * | 2023-07-05 | 2023-08-08 | 深圳市汉德网络科技有限公司 | Millimeter wave radar-based vehicle load control method and ranging mechanism |
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