CN113194538A - Radar signal time-frequency resource allocation method, system and equipment - Google Patents
Radar signal time-frequency resource allocation method, system and equipment Download PDFInfo
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- CN113194538A CN113194538A CN202110362739.7A CN202110362739A CN113194538A CN 113194538 A CN113194538 A CN 113194538A CN 202110362739 A CN202110362739 A CN 202110362739A CN 113194538 A CN113194538 A CN 113194538A
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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
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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
- H04W72/20—Control channels or signalling for resource management
Abstract
The embodiment of the invention discloses a method, a system and equipment for allocating radar signal time-frequency resources. Therefore, before the radar works, measures for avoiding interference are taken, and the radar has initiative. The road side unit is used for regulation and control, so that the overall interference condition of the road section can be known more easily. Meanwhile, when the time domain lattice points are distributed, the request radars and all the working radars on the selected frequency domain lattice points are orderly arranged according to the modulation slope of the radar signals, so that the utilization rate of time domain resources in a repeated signal sending period can be improved, and more radars can be accommodated on the same frequency domain lattice point.
Description
Technical Field
The embodiment of the invention relates to the technical field of wireless communication, in particular to a radar signal time-frequency resource allocation method, a system and equipment.
Background
Radar is an electronic device for detecting objects by using electromagnetic waves, and belongs to the radio detection and ranging technology, namely, the radar finds objects by using a radio method and determines the spatial positions of the objects. The radar emits electromagnetic waves to irradiate a target and receives the echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate (radial speed), the azimuth and the altitude is obtained.
In actual use, the radar is found to be susceptible to interference, but the source of the interference is unclear and it is more difficult to get rid of the interference completely. The radar is interfered, the bottom noise of a receiver becomes large, the corresponding signal-to-noise ratio S/R becomes small, and therefore the received signal is possibly submerged in noise or the algorithm effect is poor. The radar is interfered, so that the detection performance of the radar is poor, and the probability of missed detection and false detection is high.
At present, radar interference is mainly avoided through a passive scheme, and when the fact that received signals are interfered greatly is known, the interference is avoided through methods of changing radar parameters, changing channels, changing radar waveforms and the like; or the interference suppression processing is carried out on the receiver signal to reduce the influence caused by the interference.
However, in the passive scheme, after the presence of interference is detected, the interference is suppressed or avoided, and the idea of the passive impedance scheme is to avoid the interference from a single radar, so that the interference situation of a nearby road section cannot be controlled and avoided on the whole, the interference suppression effect cannot be guaranteed, and a large hysteresis exists. In addition, the time-frequency resource allocation is unreasonable, and the problem of insufficient resource utilization exists.
Disclosure of Invention
Therefore, embodiments of the present invention provide a method, a system, and a device for allocating radar signal time-frequency resources, so as to solve the technical problems in the prior art that interference cannot be avoided through a passive-resistance radar interference avoidance manner, and that the time-frequency resources are not supplemented.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of the embodiments of the present invention, there is provided a radar signal time-frequency resource allocation method, which is applied to a road side unit, and includes:
receiving a time-frequency resource allocation request sent by a radar before working, wherein the time-frequency resource allocation request comprises: time frequency resource allocation application and request radar signal bandwidth information BnPlease refer toCalculating the working time of radar and the modulation slope S of the requested radar signalnN is a request radar signal label, and n is an integer greater than or equal to 1;
acquiring time-frequency resource allocation information and working radar signal information of each working radar in the responsible range of the road side unit, wherein the time-frequency resource allocation information of the working radar comprises: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operating radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1;
according to the request radar signal bandwidth information BnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point;
judging whether the working radar occupies the existing time frequency resource or not on the selected frequency domain lattice point;
if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and all the working radars according to the modulation slope of radar signals;
obtaining the lower time domain lattice points of each radar after the orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the mark number of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is more than or equal to 1An integer of (d);
according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order;
if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point;
if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the request radar; and
and informing the request radar and each working radar on the selected frequency domain lattice point of the time-frequency resource allocation result.
Further, according to the request radar signal bandwidth information BnSelecting a frequency domain lattice point for the request radar according to the bandwidth of the first working radar signal on each frequency domain lattice point, wherein the frequency domain lattice point comprises the following steps:
selecting frequency domain lattice points for the request radar in a descending order;
judging whether a working radar exists on a current frequency domain lattice point and occupies the existing time frequency resource or not;
if no working radar occupies the existing time frequency resource on the current frequency domain grid point, selecting the current frequency domain grid point for the request radar;
if the working radar on the frequency domain lattice points occupies the existing time frequency resources, calculating the bandwidth information B of the request radar signalnThe absolute value of the difference between the bandwidth of the first working radar signal and the bandwidth of the first working radar signal at the current frequency domain grid point;
judging whether the absolute value of the difference value is larger than a bandwidth preset threshold value of the current frequency domain lattice point;
if the absolute value of the difference value is larger than the preset bandwidth threshold, selecting a new frequency domain lattice point for the request radar; and
and if the absolute value of the difference value is smaller than or equal to the preset bandwidth threshold, selecting a current frequency domain lattice point for the request radar.
Further, if no working radar occupies the existing time-frequency resource on the selected frequency domain lattice point, selecting a first time domain lattice point for the request radar on the selected frequency domain lattice point.
Further, the first frequency domain lattice point selects the minimum value F in the bandwidth frequency rangemin(ii) a Selecting the minimum value t in the time domain range from the lower time domain lattice points of the first time domain lattice point at the lower end of the frequency band on each frequency domain lattice pointmin。
Further, the method further comprises: acquiring the signal transmission period t of the first working radar on each frequency domain lattice pointPRFAnd using the signal transmission period tPRFAnd synchronizing the signal transmission period of the subsequent working radar on the frequency domain lattice point.
Further, the lower time domain lattice points of each radar after orderly arrangement on the frequency domain lattice points are obtained
And upper time domain lattice points
The method comprises the following steps:
when the request radar and each working radar are orderly arranged according to the modulation slope of the radar signal from large to small, the lower time domain lattice point is calculated based on the following first time domain lattice point algorithm formula
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point, Bj′The bandwidth S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope of the jth radar signal after the sequential arrangement on the selected frequency domain lattice points is obtained.
Further, the lower time domain lattice points of each radar after orderly arrangement on the frequency domain lattice points are obtained
And upper time domain lattice points
The method comprises the following steps:
when the request radar and each working radar are orderly arranged according to the modulation slope of the radar signal from small to large, the lower time domain lattice point is calculated based on the following second time domain lattice point algorithm formula
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice points,
adjusting values of lower time domain starting points between the jth radar signal and the jth' -1 radar signal after orderly arrangement on the selected frequency domain lattice points, Bj′The bandwidth of the jth radar signal after the sequential arrangement on the selected frequency domain lattice point, B(j′-1)The bandwidth S of the (j' -1) th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice points(j′-1)The modulation slope of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point is obtained.
Further, according to the maximum value of the lower time domain lattice points of each radar after the ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain lattice point to divide the time domain lattice point for each radar after the ordered arrangement, and the method comprises the following steps:
calculating the maximum value of the lower time domain lattice points of each radar after ordered arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') to obtain the lower time domain occupied resources of the radar signals after the orderly arrangement, and calculating the maximum value of the upper time domain lattice points of each radar after the orderly arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') sum to give orderThe upper time domain of the radar signal after arrangement occupies resources;
respectively synchronizing the lower-end time domain occupied resources and the upper-end time domain occupied resources of the radar signals after the orderly arrangement with the signal sending synchronization period T after the working radar on the current frequency domain lattice point is synchronizedPRFCarrying out comparison;
when the resource occupied by the lower time domain of the radar signals after the orderly arrangement is less than or equal to the signal sending synchronization period TPRFAnd the resource occupied by the upper time domain of the radar signals after the ordered arrangement is less than or equal to the signal sending synchronization period TPRFIf so, dividing time domain grid points for each radar after orderly arrangement by enough resources on the current frequency domain grid points;
when the time domain occupied resource of the lower end of the radar signal after the ordered arrangement is larger than the signal sending synchronization period TPRFOr the occupied resource of the upper end time domain of the radar signals after the ordered arrangement is larger than the signal sending synchronization period TPRFAnd then, no enough resources on the current frequency domain grid point divide the time domain grid point for each radar after the orderly arrangement.
According to a second aspect of the embodiments of the present invention, there is provided a radar signal time-frequency resource allocation system, including:
at least one roadside unit and at least one radar;
the radar sends a time-frequency resource allocation request to the road side unit before working, wherein the time-frequency resource allocation request comprises: time frequency resource allocation application and request radar signal bandwidth information BnRequest radar working duration, request radar signal modulation slope SnN is a request radar signal label, and n is an integer greater than or equal to 1;
the roadside unit includes: the system comprises a communication module, a resource allocation module and a storage module;
the communication module is used for receiving the time-frequency resource allocation request and informing the allocation result to the request radar and each working radar on the selected frequency domain lattice point;
the resource allocation module is used for receiving the time frequency resource allocation requestAfter the calculation, acquiring the time-frequency resource allocation information and the working radar signal information of each working radar in the responsible range of the road side unit, wherein the time-frequency resource allocation information of the working radar comprises: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operating radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1; according to the request radar signal bandwidth information BnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point; judging whether the working radar occupies the existing time frequency resource or not on the selected frequency domain lattice point; if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and all the working radars according to the modulation slope of radar signals; obtaining the lower time domain lattice points of each radar after the orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the label of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is an integer greater than or equal to 1; according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order; if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point; if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the request radar;
the storage module is used for storing the time-frequency resource allocation request; and
and after the request radar and each working radar on the selected frequency domain lattice point receive the distribution result, taking the time-frequency grids correspondingly distributed by each radar as working environments.
According to a third aspect of the embodiments of the present invention, there is provided a radar signal time-frequency resource allocation apparatus, including: a processor and a memory;
the memory is to store one or more program instructions;
the processor is configured to execute one or more program instructions to perform the steps of the radar signal time-frequency resource allocation method according to any one of the above embodiments.
According to a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of a radar signal time-frequency resource allocation method according to any one of the above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, after the radar enters the responsible range of the road side unit, the request of the radar is actively received, the frequency domain grid points and the time domain grid points are divided into the radar selection time frequency grids according to the existing time frequency resource occupation information, and the time frequency grids of all the working radars are not overlapped. Therefore, before the radar works, measures for avoiding interference are taken, and the radar has initiative. The road side unit is used for regulation and control, so that the overall interference condition of the road section can be known more easily. Meanwhile, when the time domain lattice points are distributed, the request radars and all the working radars on the selected frequency domain lattice points are orderly arranged according to the modulation slope of the radar signals, so that the utilization rate of time domain resources in a repeated signal sending period can be improved, and more radars can be accommodated on the same frequency domain lattice point.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic diagram of a logic structure of a radar signal time-frequency resource allocation system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an application principle of a radar signal time-frequency resource allocation system according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for allocating time-frequency resources of radar signals according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating selecting frequency domain grid points for a requesting radar in a radar signal time-frequency resource allocation method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of determining whether there are enough resources on a current frequency domain lattice point to divide time domain lattice points for each radar after ordered arrangement in the radar signal time-frequency resource allocation method provided in the embodiment of the present invention;
fig. 6 is a schematic diagram of frequency domain lattice point division in a radar signal time-frequency resource allocation method according to an embodiment of the present invention;
fig. 7 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to an embodiment of the present invention;
fig. 8 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to another embodiment of the present invention;
fig. 9 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to another embodiment of the present invention;
fig. 10 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to another embodiment of the present invention;
fig. 11 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to another embodiment of the present invention;
fig. 12 is a schematic diagram of dividing a new time domain lattice point on a current frequency domain lattice point in a radar signal time-frequency resource allocation method according to another embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, radar interference is mainly avoided through a passive scheme, and when the fact that received signals are interfered greatly is known, the interference is avoided through methods of changing radar parameters, changing channels, changing radar waveforms and the like; or the interference suppression processing is carried out on the receiver signal to reduce the influence caused by the interference. When the number of nearby same-frequency-band radars is too large, the radar parameters need to be changed continuously, or different channels need to be monitored continuously until a group of parameters with less interference is found or a channel with less interference is found. The method has the property of enumerating trial and error, time is wasted in the actual use process, and if each channel needs 1 minute for scanning and N minutes are needed for completely scanning N channels, the requirement in the actual use scene is not met.
The technical problem of the limitation that the interference avoiding effect is good or bad cannot be guaranteed in a passive resistance radar interference avoiding mode is solved.
Referring to fig. 1, an embodiment of the present invention discloses a radar signal time-frequency resource allocation system, which includes: at least one roadside unit 1 and at least one radar 2.
The radar 2 may be of various types, and as shown in fig. 1, the radar 2 includes both a vehicle-mounted radar 21 and a traffic radar. Wherein, the vehicle-mounted radar 21 is mounted on a vehicle as a mobile radar; and the traffic radar 22 is distributed on the roadside as a stationary radar. The radar 2 has a communication function, the vehicle-mounted radar 21 and the traffic radar 22 communicate with the road side unit 1 before working, and a time-frequency resource allocation request is sent to the road side unit 1, and the time-frequency resource allocation request comprises the following steps: time frequency resource allocation application and request radar signal bandwidth information BnRequest radar working duration, request radar signal modulation slope SnN is a request radar signal index, and n is an integer greater than or equal to 1.
The roadside unit 1 includes: a communication module 11, a resource allocation module 12 and a storage module 13. The communication module 11 is configured to receive the time-frequency resource allocation request, and notify the allocation result to the requesting radar 2 and each of the working radars at the selected frequency domain grid point. The resource allocation module 12 is configured to, after receiving the time-frequency resource allocation request of the radar 2, obtain time-frequency resource allocation information and working radar signal information of each working radar within a charge range of the roadside unit, where the time-frequency resource allocation information of the working radar includes: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operational radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1; and allocating time-frequency resources, and dividing non-overlapping time-frequency grids for each radar through selection of frequency domain grid points and time domain grid points. The frequency value of the frequency domain lattice point is used as the frequency starting point of the request radar, and the time domain lattice point is used as the time domain starting point of the request radar. The storage module 13 is configured to store the time-frequency resource allocation request, and may also store other related data generated or received by the subsequent rsu 1.
Time-frequency grid: the word means that a grid formed by dividing grid points in the time domain and the frequency domain is a region where interference between radars does not occur. After the frequency domain lattice points are set, the radar working initial frequency can be selected only from the frequency domain lattice points; after the time domain lattice points are set, the radar work starting time can be selected only on the time domain lattice points. The size of the time-frequency grid is not strictly specified and can be changed according to requirements.
The resource allocation module 12 allocates the time-frequency resources, which specifically includes: allocating time frequency resources according to the bandwidth information B of the requested radar signalnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point; judging whether the working radar occupies the existing time frequency resource or not on the selected frequency domain lattice point; if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and the working radars according to the modulation slope of the radar signals; obtaining the lower time domain lattice points of each radar after orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the label of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is an integer greater than or equal to 1; according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order; if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point; if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the requesting radar; and the communication module 11 informs the allocation result to the requesting radar and each working radar on the selected frequency domain grid point.
And after receiving the distribution result, the radar 2 takes the time-frequency grid as a working environment. Specifically, the radar 2 changes radar parameters including, but not limited to, radar signal duration, bandwidth, wavelength, and modulation slope after receiving the distribution result related data of the roadside unit 1. Because the time frequency grids are divided for the radars 2 by the resource allocation module according to the occupation information of the existing time frequency resources 12, the time frequency grids of each radar 2 are not overlapped. Thus, before the radar 2 works, measures for avoiding interference are taken, and the method has initiative. The road side unit 1 can regulate and control to know the overall interference condition of the road section more easily.
Referring to fig. 2, the roadside unit 1 and the vehicle-mounted radar 21 communicate with each other through a wireless communication technology, which includes but is not limited to LTE-V technology and the like; the road side unit 1 and the traffic radar 22 communicate with each other through a direct communication link.
In the embodiment of the present invention, preferably, the rsu 1 communicates with the adjacent rsus 1 at regular time, the communication method is not limited, and the use condition of the time-frequency grid and the position information of each radar 2 are shared, so as to avoid interference of the radars 2 between the adjacent rsus 1.
Specifically, the communication module 11 is further configured to obtain real-time position information of each working radar; the communication is carried out with the adjacent road side unit 1 according to a preset period, and the use condition of the time frequency grid and the real-time position information of each working radar are shared; the real-time location information is stored by a respective storage module 13.
In the embodiment of the present invention, based on the information sharing between the adjacent rsus 1, the resource allocation module 12 is further configured to allocate different time-frequency grids to two radars 2 that belong to different rsus 1 and are within a preset distance from each other, when allocating time-frequency resources. And/or based on the information sharing between the adjacent road side units 1, when the vehicle enters the range of another road side unit 1 from the range of one road side unit 1, the time frequency grid information, the bandwidth information and the radar working time length related to the vehicle-mounted radar 21 are transmitted to the next road side unit 1, and the time frequency grid information, the bandwidth information and the radar working time length are stored through the storage module 13.
In the embodiment of the present invention, preferably, the roadside unit 1 is further configured to update the service condition of the time-frequency resource in real time, and includes: the communication module 11 receives a time-frequency resource release signal sent after the radar 2 finishes working, the resource allocation module 12 and the storage module 13 update the service condition of the time-frequency resource, and the radar 2 sends the time-frequency resource release signal to the road side unit 1 after finishing working to inform the road side unit 1 that the occupation of the radar on the time-frequency grid is finished; and/or updating the use condition of the time-frequency resources by the resource allocation module 12 and the storage module 13 after selecting the time-frequency grid for the request radar 2 each time.
Corresponding to the radar signal time-frequency resource distribution system, the embodiment of the invention also discloses a radar signal time-frequency resource distribution method. The following describes a radar signal time-frequency resource allocation method disclosed in the embodiments of the present invention in detail with reference to the above described radar signal time-frequency resource allocation system.
Referring to fig. 3, the present invention discloses a radar signal time-frequency resource allocation method, which is applied to a road side unit 1, and includes: receiving a time-frequency resource allocation request sent by the radar 2 before working through the communication module 11, wherein the time-frequency resource allocation request includes: time frequency resource allocation application and request radar signal bandwidth information BnRequest radar working duration, request radar signal modulation slope SnN is a request radar signal label, and n is an integer greater than or equal to 1; the time frequency resource allocation information and the working radar signal information of each working radar 2 in the range in which the roadside unit 1 is responsible for are acquired through the resource allocation module 12, and the time frequency resource allocation information of the working radar comprises: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operational radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1; and allocating time-frequency resources, dividing non-overlapping time-frequency grids for the radars by selecting frequency domain grid points and time domain grid points, taking the frequency values of the frequency domain grid points as frequency starting points of the request radars, and taking the time domain grid points as time domain starting points of the request radars.
Further, the resource allocation module 12 allocates the time-frequency resources, which specifically includes: allocating time frequency resources according to the bandwidth information B of the requested radar signalnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point; judging whether the working radar occupies the existing frequency domain grid pointTime-frequency resources; if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and the working radars according to the modulation slope of the radar signals; obtaining the lower time domain lattice points of each radar after orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the label of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is an integer greater than or equal to 1; according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order; if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point; if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the requesting radar; and the communication module 11 informs the allocation result to the requesting radar and each working radar on the selected frequency domain grid point.
Preferably, the adjacent rsus 1 perform timing communication through the communication module 11, the communication method is not limited, the usage of the time-frequency grid and the position information of each radar 2 are shared, and interference of the radars 2 between the adjacent rsus 1 is avoided. Specifically, the road side unit 1 performs interactive communication with the radar 2 through the communication module 11 to acquire real-time position information of each working radar; similarly, the roadside unit 1 communicates with adjacent roadside units according to a preset period through the communication module 11, and shares the use condition of the time-frequency grid and the real-time position information of each working radar; two radars 2 which belong to different roadside units 1 and are managed by the resource allocation module 12 and are within a preset distance are halved, and different time frequency grids are allocated when time frequency resources are allocated; and/or when the vehicle enters the range of another road side unit 1 from the range of one road side unit 1, transmitting the time frequency grid information, the bandwidth information and the radar working time length related to the vehicle-mounted radar 21 to the next road side unit 1.
Further, the method for allocating radar signal time-frequency resources disclosed in the embodiments of the present invention further includes: updating the use condition of the time-frequency resource in real time, which comprises the following steps: the roadside unit 1 receives the time-frequency resource release signal sent after the radar 2 finishes working through the communication module, and updates the use condition of the time-frequency resource, as shown in fig. 3; and/or updating the service condition of the time-frequency resource after selecting the time-frequency grid for the request radar each time. The updating of the use condition of the time-frequency resource specifically relates to the resource allocation module 12 and the storage module 13, and the resource allocation module 12 and the storage module 13 can allocate the time-frequency resource for more subsequent radars by updating the use condition of the time-frequency resource in real time, thereby improving the utilization rate and the real-time property of the time-frequency resource allocation.
Further, in the embodiment of the present invention, non-overlapping time-frequency grids are divided for each radar by selecting the frequency domain grid points and the time domain grid points, and the specific steps of allocating the time-frequency resources are described in detail below.
Referring to FIG. 4, resource allocation module 12 requests radar signal bandwidth information BnSelecting the frequency domain lattice points for the request radar according to the bandwidth of the first working radar signal on each frequency domain lattice point, which specifically comprises the following steps: selecting frequency domain lattice points for the request radar according to the sequence from small to large; judging whether a working radar exists on a current frequency domain lattice point and occupies the existing time frequency resource or not; if no working radar occupies the existing time-frequency resource on the current frequency domain lattice point, selecting the current frequency domain lattice point for the request radar; if the working radar on the frequency domain lattice points occupies the existing time frequency resources, calculating the bandwidth information B of the request radar signalnThe absolute value of the difference between the bandwidth of the first working radar signal and the bandwidth of the first working radar signal at the current frequency domain grid point; determine the absolute difference of the differencePresetting a threshold value for the bandwidth of whether the value is larger than the current frequency domain lattice point; if the absolute value of the difference value is larger than the preset bandwidth threshold value, selecting a new frequency domain lattice point for the request radar; and if the absolute value of the difference is smaller than or equal to the preset bandwidth threshold, selecting the current frequency domain lattice point for the request radar.
Specifically, referring to fig. 6, only the division of the frequency domain grid points is considered in fig. 6, and according to the above method, the divided time domain grid points are respectively F1、F2、F3、…Fi-1、Fi…, wherein FmaxIs the largest frequency domain lattice point. In the embodiment of the invention, when frequency domain lattice points are divided and whether the current frequency domain lattice points meet the requirement of requesting radar signal bandwidth information is judged, a bandwidth preset threshold value is considered, and the working requirements of a plurality of radars with different bandwidths can be simultaneously met on one frequency domain lattice point through the bandwidth preset threshold value.
Further, if no working radar occupies the existing time-frequency resource on the selected frequency domain lattice point, selecting a first time domain lattice point for the request radar on the selected frequency domain lattice point. As described above, the frequency domain lattice points selected for the request radar in the descending order are the first frequency domain lattice points; and no working radar occupies the existing time-frequency resource on the selected first frequency domain lattice point, and then the first time-frequency grid is divided for the request radar.
Preferably, the first frequency domain lattice point selects the minimum value F in the bandwidth frequency rangemin(ii) a Selecting the minimum value t in the time domain range from the lower time domain lattice points of the first time domain lattice point at the lower end of the frequency band on each frequency domain lattice pointminThat is, when the first time-frequency grid is selected for the request radar; selecting minimum value F in bandwidth frequency range from frequency domain lattice points of first time frequency gridmin(ii) a Time domain lattice point of first time frequency grid is lower time domain lattice point t at lower end of frequency bandd(1) Selecting the minimum value t in the time domain rangemin. More preferably, FminPreferably 0 value, tminPreferably a value of 0. At the moment, the upper time domain lattice point of the first time frequency grid
Further, when determining that the first time-frequency grid is selected for the request radar, acquiring the signal sending period t of the request radarPRFAnd using the signal transmission period tPRFAnd synchronizing the signal transmission period of the subsequent working radar on the first frequency domain lattice point so as to meet the condition of dividing the time domain lattice point for the subsequent radar on the frequency domain lattice point of the first time-frequency grid.
As described above, when the first time-frequency grid is selected for the request radar on the new frequency domain grid point; selecting the minimum value t in the time domain range from the lower time domain lattice point of the first time domain lattice point at the lower end of the frequency band on each frequency domain lattice pointminI.e. the lower time domain lattice point t at the lower end of the band for the time domain lattice point of the first time-frequency grid on the new frequency domain lattice pointd(1) Selecting the minimum value t in the time domain rangemin. More preferably, t isminPreferably a value of 0. The upper time domain lattice point of the first time frequency grid on the new frequency domain lattice point
Furthermore, when it is determined that the first time-frequency grid is selected for the request radar at the new frequency domain grid point, similarly, the signal sending period t of the request radar corresponding to the first time-frequency grid at the new frequency domain grid point is obtainedPRFAnd using the signal transmission period tPRFAnd synchronizing the signal transmission period of the subsequent working radar on the new frequency domain lattice point so as to meet the condition of dividing the time domain lattice point for the subsequent radar on the new frequency domain lattice point.
Further, referring to fig. 7 to 9, in the embodiment of the present invention, if a working radar occupies an existing time-frequency resource on a selected frequency domain lattice point, the request radars and the working radars are arranged in order according to a modulation slope of a radar signal from large to small. FIG. 7 shows that the operating requirements of two radars with the same bandwidth are satisfied at a current frequency domain grid point, and FIGS. 8 and 9 show that the operating requirements of two radars with different bandwidths are satisfied at a current frequency domain grid point, and at this time, the lower time domain grid points of the radars are obtained after the lower time domain grid points are orderly arranged on the frequency domain grid points
And upper time domain lattice points
The method specifically comprises the following steps: calculating the lower time domain lattice points based on the following first time domain lattice point algorithm formula
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point, Bj′The bandwidth S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope of the jth radar signal after the sequential arrangement on the selected frequency domain lattice points is obtained.
From the above, when the request radar and each working radar are arranged in order according to the modulation slope of the radar signal from large to small, at the moment, after the radar and each working radar are arranged in order on the selected frequency domain grid points, the lower time domain grid points of each radar are arranged
And upper time domain lattice points
The division principle of (2) is based on the time domain lattice points, and the maximum utilization rate of time domain resources is ensured, so that the time domain lattice points are arranged below
By sorting the top and bottom adjacent time domain lattice points
Determining, upper time domain lattice points
Then the determined lower time domain lattice points
The acquisition is calculated.
In addition, referring to fig. 10 to 12, in the embodiment of the present invention, if a working radar occupies an existing time-frequency resource on a selected frequency domain lattice point, the request radar and each working radar may be arranged in order according to a modulation slope of a radar signal from small to large. FIG. 10 shows that the operating requirements of two radars with the same bandwidth are satisfied at a current frequency domain grid point, and FIGS. 11 and 12 show that the operating requirements of two radars with different bandwidths are satisfied at a current frequency domain grid point, and at this time, the lower time domain grid points of the radars are obtained after the lower time domain grid points are orderly arranged on the frequency domain grid points
And upper time domain lattice points
The method specifically comprises the following steps: when the request radar and each working radar are orderly arranged according to the modulation slope of the radar signal from small to large, the lower time domain lattice point is calculated based on the following second time domain lattice point algorithm formula
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice points,
adjusting values of lower time domain starting points between the jth radar signal and the jth' -1 radar signal after orderly arrangement on the selected frequency domain lattice points, Bj′The bandwidth of the jth radar signal after the sequential arrangement on the selected frequency domain lattice point, B(j′-1)The bandwidth S of the (j' -1) th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice points(j′-1)The modulation slope of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point is obtained.
From the above, when the request radar and each working radar are arranged in order from small to large according to the modulation slope of the radar signal, at the moment, after the radar and each working radar are arranged in order on the selected frequency domain grid points, the lower time domain grid points of each radar are arranged
And upper time domain lattice points
The division principle of (1) still takes the time domain lattice point as the reference to ensure the maximum utilization rate of time domain resources, but needs to calculate the adjustment value of the lower time domain starting point between the jth 'radar signal and the jth' -1 radar signal after orderly arrangement on the selected frequency domain lattice point, so that the lower time domain lattice point
By sorting the top and bottom adjacent time domain lattice points
And determining a lower time domain starting point adjustment value as described above
Determining, upper time domain lattice points
The determined lower time domain lattice point is also used
The acquisition is calculated.
Further, referring to fig. 5, according to the lower time domain lattice point maximum of each radar after the ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain lattice point to divide the time domain lattice point for each radar after the ordered arrangement, specifically comprising: calculating the maximum value of the lower time domain lattice points of each radar after ordered arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') to obtain the lower time domain occupied resources of the radar signals after the orderly arrangement, and calculating the maximum value of the upper time domain lattice points of each radar after the orderly arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') obtaining the upper-end time domain occupied resources of the radar signals after the ordered arrangement; the lower end time domain of the radar signals after the orderly arrangement occupies resources andthe upper end time domain occupied resources are respectively synchronized with the signal sending synchronization period T after the working radar on the current frequency domain lattice point is synchronizedPRFCarrying out comparison; when the resource occupied by the lower end time domain of the radar signals after the sequential arrangement is less than or equal to the signal sending synchronization period TPRFAnd the resource occupied by the upper time domain of the radar signals after the orderly arrangement is less than or equal to the signal sending synchronization period TPRFIf so, dividing time domain grid points for each radar after orderly arrangement by enough resources on the current frequency domain grid points; when the time domain occupied resource of the lower end of the radar signal after the sequential arrangement is larger than the signal sending synchronization period TPRFOr the occupied resource of the upper time domain of the radar signals after the ordered arrangement is larger than the signal sending synchronization period TPRFAnd then, no enough resources on the current frequency domain grid point divide the time domain grid point for each radar after the orderly arrangement.
According to the embodiment of the invention, after the radar enters the responsible range of the road side unit, the request of the radar is actively received, the frequency domain grid points and the time domain grid points are divided into the radar selection time frequency grids according to the existing time frequency resource occupation information, and the time frequency grids of all the working radars are not overlapped. Therefore, before the radar works, measures for avoiding interference are taken, and the radar has initiative. The road side unit is used for regulation and control, so that the overall interference condition of the road section can be known more easily. Meanwhile, when the time domain lattice points are distributed, the request radars and all the working radars on the selected frequency domain lattice points are orderly arranged according to the modulation slope of the radar signals, so that the utilization rate of time domain resources in a repeated signal sending period can be improved, and more radars can be accommodated on the same frequency domain lattice point.
In addition, an embodiment of the present invention further provides a radar signal time-frequency resource allocation device, where the device includes: a processor and a memory; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the steps of the radar signal time-frequency resource allocation method according to any one of the above embodiments.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the radar signal time-frequency resource allocation method are implemented.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be 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, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A radar signal time frequency resource allocation method is applied to a road side unit and comprises the following steps:
receiving a time-frequency resource allocation request sent by a radar before working, wherein the time-frequency resource allocation request comprises: time frequency resource allocation application and request radar signal bandwidth information BnRequest radar working duration, request radar signal modulation slope SnN is a request radar signal label, and n is an integer greater than or equal to 1;
acquiring time-frequency resource allocation information and working radar signal information of each working radar in the responsible range of the road side unit, wherein the time-frequency resource allocation information of the working radar comprises: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operating radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1;
according to the request radar signal bandwidth information BnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point;
judging whether the working radar occupies the existing time frequency resource or not on the selected frequency domain lattice point;
if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and all the working radars according to the modulation slope of radar signals;
obtaining the lower time domain lattice points of each radar after the orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the label of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is an integer greater than or equal to 1;
according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order;
if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point;
if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the request radar; and
and informing the request radar and each working radar on the selected frequency domain lattice point of the time-frequency resource allocation result.
2. The method of claim 1, wherein the radar signal time-frequency resource allocation method is based on the requested radar signal bandwidth information BnSelecting a frequency domain lattice point for the request radar according to the bandwidth of the first working radar signal on each frequency domain lattice point, wherein the frequency domain lattice point comprises the following steps:
selecting frequency domain lattice points for the request radar in a descending order;
judging whether a working radar exists on a current frequency domain lattice point and occupies the existing time frequency resource or not;
if no working radar occupies the existing time frequency resource on the current frequency domain grid point, selecting the current frequency domain grid point for the request radar;
if the working radar on the frequency domain lattice points occupies the existing time frequency resources, calculating the bandwidth information B of the request radar signalnThe absolute value of the difference between the bandwidth of the first working radar signal and the bandwidth of the first working radar signal at the current frequency domain grid point;
judging whether the absolute value of the difference value is larger than a bandwidth preset threshold value of the current frequency domain lattice point;
if the absolute value of the difference value is larger than the preset bandwidth threshold, selecting a new frequency domain lattice point for the request radar; and
and if the absolute value of the difference value is smaller than or equal to the preset bandwidth threshold, selecting a current frequency domain lattice point for the request radar.
3. The method according to claim 1 or 2, wherein if no working radar occupies the existing time-frequency resources at the selected frequency-domain grid point, a first time-domain grid point is selected for the requesting radar at the selected frequency-domain grid point.
4. The method as claimed in claim 3, wherein the first frequency domain lattice point selects the minimum value F in the bandwidth frequency rangemin(ii) a Selecting the minimum value t in the time domain range from the lower time domain lattice points of the first time domain lattice point at the lower end of the frequency band on each frequency domain lattice pointmin。
5. The radar signal time-frequency resource allocation method according to claim 4, wherein the method further comprises: acquiring the signal transmission period t of the first working radar on each frequency domain lattice pointPRFAnd using the signal transmission period tPRFAnd synchronizing the signal transmission period of the subsequent working radar on the frequency domain lattice point.
6. The method according to claim 5, wherein the lower time domain lattice points of each radar after the ordered arrangement on the frequency domain lattice points are obtained
And upper time domain lattice points
The method comprises the following steps:
when the request radar and each working radar are orderly arranged according to the modulation slope of the radar signal from large to small, the lower time domain lattice point is calculated based on the following first time domain lattice point algorithm formula
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point, Bj′The bandwidth S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope of the jth radar signal after the sequential arrangement on the selected frequency domain lattice points is obtained.
7. The method according to claim 5, wherein the lower time domain lattice points of each radar after the ordered arrangement on the frequency domain lattice points are obtained
And upper time domain lattice points
The method comprises the following steps:
when the request radar and each working radar are orderly arranged according to the modulation slope of the radar signals from small to large, the formula is calculated based on the following second time domain lattice point algorithmComputing the lower time domain lattice points
And said upper time domain lattice points
Wherein, tIFMAX(j '-1) is the farthest detection distance round-trip time of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice points,
adjusting values of lower time domain starting points between the jth radar signal and the jth' -1 radar signal after orderly arrangement on the selected frequency domain lattice points, Bj′The bandwidth of the jth radar signal after the sequential arrangement on the selected frequency domain lattice point, B(j′-1)The bandwidth S of the (j' -1) th radar signal after the sequential arrangement on the selected frequency domain lattice pointsj′The modulation slope S of the j' th radar signal after the sequential arrangement on the selected frequency domain lattice points(j′-1)The modulation slope of the j' -1 th radar signal after orderly arrangement on the selected frequency domain lattice point is obtained.
8. The method according to claim 6 or 7, wherein the distribution of the radar signal time-frequency resources is based on the maximum value of the lower time-domain lattice points of the respective radars after the ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain lattice point to divide the time domain lattice point for each radar after the ordered arrangement, and the method comprises the following steps:
calculating the maximum value of the lower time domain lattice points of each radar after ordered arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') to obtain the lower time domain occupied resources of the radar signals after the orderly arrangement, and calculating the maximum value of the upper time domain lattice points of each radar after the orderly arrangement
The farthest sounding distance round trip time t with the corresponding radarIFMAX(j') obtaining the upper-end time domain occupied resources of the radar signals after the ordered arrangement;
respectively synchronizing the lower-end time domain occupied resources and the upper-end time domain occupied resources of the radar signals after the orderly arrangement with the signal sending synchronization period T after the working radar on the current frequency domain lattice point is synchronizedPRFCarrying out comparison;
when the resource occupied by the lower time domain of the radar signals after the orderly arrangement is less than or equal to the signal sending synchronization period TPRFAnd the resource occupied by the upper time domain of the radar signals after the ordered arrangement is less than or equal to the signal sending synchronization period TPRFIf so, dividing time domain grid points for each radar after orderly arrangement by enough resources on the current frequency domain grid points;
when the time domain occupied resource of the lower end of the radar signal after the ordered arrangement is larger than the signal sending synchronization period TPRFOr the occupied resource of the upper end time domain of the radar signals after the ordered arrangement is larger than the signal sending synchronization period TPRFThen it is at presentAnd insufficient resources on the frequency domain grid points divide the time domain grid points for each radar after the radar is orderly arranged.
9. A radar signal time-frequency resource allocation system, the system comprising:
at least one roadside unit and at least one radar;
the radar sends a time-frequency resource allocation request to the road side unit before working, wherein the time-frequency resource allocation request comprises: time frequency resource allocation application and request radar signal bandwidth information BnRequest radar working duration, request radar signal modulation slope SnN is a request radar signal label, and n is an integer greater than or equal to 1;
the roadside unit includes: the system comprises a communication module, a resource allocation module and a storage module;
the communication module is used for receiving the time-frequency resource allocation request and informing the allocation result to the request radar and each working radar on the selected frequency domain lattice point;
the resource allocation module is configured to, after receiving the time-frequency resource allocation request, acquire time-frequency resource allocation information and working radar signal information of each working radar within a charge range of the roadside unit, where the time-frequency resource allocation information of the working radar includes: frequency domain lattice point FiLower time domain lattice points
And upper time domain lattice points
The operating radar signal information includes: working radar signal bandwidth information BmWorking radar working duration and working radar signal modulation slope SmM is a working radar signal label, m is an integer greater than or equal to 1, i is a frequency domain lattice point label, i is an integer greater than or equal to 1, j is a label of a working radar on a certain frequency domain lattice point, and j is an integer greater than or equal to 1; according to the request radar signal bandwidth information BnSelecting frequency domain grid points for the request radar according to the bandwidth of the first working radar signal on each frequency domain grid point; judging whether the working radar occupies the existing time frequency resource or not on the selected frequency domain lattice point; if the working radars occupy the existing time-frequency resources on the selected frequency domain lattice point, orderly arranging the request radars and all the working radars according to the modulation slope of radar signals; obtaining the lower time domain lattice points of each radar after the orderly arrangement on the selected frequency domain lattice points
And upper time domain lattice points
j 'is the label of each radar on the grid point of the frequency domain after the ordered arrangement, and j' is an integer greater than or equal to 1; according to the maximum value of the lower time domain lattice points of each radar after ordered arrangement
And upper time domain lattice maximum
Judging whether enough resources exist on the current frequency domain grid point, and dividing the time domain grid point for each radar after the resources are arranged in order; if enough resources are available on the current frequency domain grid point, dividing the time domain grid point for each radar after the ordered arrangement, selecting the frequency domain grid point for the request radar on the current frequency domain grid point; if insufficient resources exist on the current frequency domain lattice point, dividing the time domain lattice point for each radar after the ordered arrangement, and then reselecting a new frequency domain lattice point for the request radar;
the storage module is used for storing the time-frequency resource allocation request; and
and after the request radar and each working radar on the selected frequency domain lattice point receive the distribution result, taking the time-frequency grids correspondingly distributed by each radar as working environments.
10. An apparatus for radar signal time-frequency resource allocation, the apparatus comprising: a processor and a memory;
the memory is to store one or more program instructions;
the processor, configured to execute one or more program instructions to perform the steps of a radar signal time-frequency resource allocation method according to any one of claims 1 to 8.
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| US20210003662A1 (en) * | 2019-07-03 | 2021-01-07 | Chalmers Ventures Ab | Method for reducing mutual interference in radars |
| CN112433214A (en) * | 2019-08-08 | 2021-03-02 | 华为技术有限公司 | Radar signal sending method and device |
| CN112154346A (en) * | 2019-10-09 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Radar anti-interference method, equipment, system and storage medium |
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| EP4155755A1 (en) * | 2021-09-24 | 2023-03-29 | Veoneer Sweden AB | Radar resource requirement prediction |
| WO2023046828A1 (en) * | 2021-09-24 | 2023-03-30 | Veoneer Sweden Ab | Radar resource requirement prediction |
| WO2024028409A1 (en) * | 2022-08-03 | 2024-02-08 | Continental Automotive Technologies GmbH | Method and apparatus for proactive mobile network-assisted incident management |
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