WO2021169338A1 - 一种目标检测方法及雷达装置 - Google Patents
一种目标检测方法及雷达装置 Download PDFInfo
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- WO2021169338A1 WO2021169338A1 PCT/CN2020/123353 CN2020123353W WO2021169338A1 WO 2021169338 A1 WO2021169338 A1 WO 2021169338A1 CN 2020123353 W CN2020123353 W CN 2020123353W WO 2021169338 A1 WO2021169338 A1 WO 2021169338A1
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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
- G01S7/0232—Avoidance by frequency multiplex
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- 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
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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
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
- G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
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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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- 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
- G01S7/0235—Avoidance by time multiplex
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/345—Interference values
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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
Definitions
- This application relates to the field of radar technology, and in particular to a target detection method and radar device.
- ADAS advanced driving assistance system
- the sensing layer includes vision sensors such as on-board cameras and radar sensors such as on-board radars.
- Millimeter-wave radar is a type of vehicle-mounted radar. Due to its low cost and relatively mature technology, it is the first to become the main sensor of the unmanned driving system.
- radar devices use fixed resources to periodically send radar signals, and receive signals reflected by target objects on the radar signals on the resources that send the radar signals, which are also called echo signals.
- the radar device can determine the position information and speed information of the target object based on the received echo signal and the transmitted radar signal. In the following, this process is also referred to as target detection.
- two radar devices use the same resources, or if the resources used by two radar devices overlap, it will cause mutual interference between the two radar devices. Especially two adjacent radar devices, and the two radar devices send radar signals in the same period, which are more likely to cause interference between each other. For example, in the same direction of traffic, the resources used by the radar devices installed on adjacent vehicles will continue to interfere with each other if all or part of the overlapped resources are used.
- This application provides a target detection method and radar device to minimize or avoid interference between radars.
- a target detection method is provided.
- the execution subject of the method may be a first detection device, which may be a radar device, for example, or may be a chip in the first detection device.
- the following description will be made by taking a radar device as the execution body as an example.
- the method includes: performing at least one interference listening on a plurality of first time domain resources, and determining a second time-frequency resource in the first time-frequency resource according to a result of the at least one interference listening, and the second time-frequency resource is
- the resources are used for target detection, where the plurality of first time-domain resources are a subset of the time-domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are the time-frequency resources of the radar device.
- the time interval between any two adjacent first time domain resources is the same, and the interference interception is performed on part of the first time domain resources among the plurality of first time domain resources.
- the part of the first time domain resources are resources other than the at least one first time domain resource used for target detection.
- the method further includes: performing at least one target detection on the plurality of first time domain resources, at least one first time domain resource used for the at least one target detection and a part of the first time domain resource used for at least one interference interception.
- a time domain resource does not overlap; or, at least one target detection is performed on the plurality of first time domain resources, and at least one first time domain resource used for the at least one target detection is used for at least one interference interception Some of the first time domain resources overlap.
- the multiple first time domain resources are periodic, that is, the time interval between any two adjacent first time domain resources is the same, and the radar device is in the multiple first time domain resources Perform target detection on part of the first time domain resources, and perform interference detection on the other part of the first time domain resources, that is, perform interference detection.
- the radar device can predict the severity of target detection on certain time domain resources (such as time domain resources similar to the first time domain resource), and the severity of interference from other radar devices, so as to determine the subsequent use of the radar device
- the second time-frequency resource for target detection is to try to exclude time-frequency resources with a high degree of interference from the first time-frequency resource, so as to reduce or avoid the radar device from being interfered by other radar devices during target detection.
- the at least one first time domain resource used for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a first time domain resource.
- the at least three first time domain resources used for target detection include at least three first time domain resources
- the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources , Wherein the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between two adjacent first time domain resources in the second group of first time domain resources,
- the at least three first time domain resources used for target detection are aperiodic.
- selecting fewer first time domain resources among the multiple first time domain resources for interference detection can make at least three first time domain resources used for target detection aperiodic, which can minimize unnecessary use.
- the first time domain resource for target detection to ensure the performance of the radar device for target detection. At the same time, using this scheme can ensure that the results of interference interception more reasonably reflect the degree of interference of time domain resources used for target detection.
- the method further includes:
- the at least one interference interception is performed on at least one second time domain resource among the plurality of second time domain resources.
- the radar device can also perform interference detection of the second time domain resource not used for target detection, so that the radar device can predict the available time-frequency resources.
- the corresponding time-domain resource is the time-frequency resource of the second time-domain resource
- Adopting this scheme is conducive to selecting more suitable time-frequency resources for target detection.
- the first frequency domain resource for performing target detection once overlaps or does not overlap with the second frequency domain resource for performing interference sensing once.
- the first frequency domain resource used for target detection and the second frequency domain resource used for interference detection may overlap, so that the interference detection can predict the extent to which the frequency domain resources currently used for target detection are interfered.
- the first frequency domain resources used for target detection and the second frequency domain resources used for interference detection may not overlap, so that the interference detection can predict the extent to which frequency domain resources not currently used for target detection are interfered.
- the duration of each interference interception is less than the duration of the first time domain resource.
- the radar device performs target detection on the third time-frequency resource
- the time-domain resource corresponding to the third time-frequency resource is a first time-domain resource
- the radar device performs interference detection on the fourth time-frequency resource.
- the time domain resource corresponding to the four-time-frequency resource is a subset of the first time domain resource. In this way, the radar device can perform multiple detections in a first time domain resource, and each time it listens to a different frequency domain resource, the degree of interference of more time-frequency resources can be determined.
- a second time domain resource includes M sub-time domain resources, the frequency domain resource corresponding to the first time-frequency resource includes N sub-frequency domain resources, and the M and the N are relatively prime,
- the performing at least one interference interception on the plurality of second time domain resources includes:
- the time-domain resource corresponding to the fifth time-frequency resource is one of the M sub-time-domain resources
- the frequency-domain resource corresponding to the fifth time-frequency resource is all One of the N sub-frequency domain resources.
- the mutual prime of M and N can enable the radar device to determine the interference degree of the most time-frequency resources in the shortest time.
- the duration of the radar device's interference interception of time-frequency data satisfies at least one of the following possible conditions:
- the interference detection time period is greater than or equal to the first time period, which can ensure the interference detection performance of the radar device.
- the radar device performs interference detection on certain time-frequency resources. The longer the natural interference detection time, the better the interference detection performance of the radar device. If the interference detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding The shortest interference listening duration may be the first duration.
- the interference detection time period is less than or equal to the second time period, which can ensure the target detection performance of the radar device.
- interference listening is performed on certain time-frequency resources. The shorter the interference listening time is, the less computing and processing resources are naturally used for interference listening. Relatively speaking, the more time and computing resources are used for target detection. , It can try to ensure the performance of the radar device for target detection. If the target detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding longest interference detection duration can be the second duration.
- the duration used for target detection is less than the third duration, which can guarantee more time-frequency resources for interception.
- the duration for target detection is less than the third duration to ensure more time-frequency resources for monitoring.
- the interference interception time period that meets the preset condition is greater than or equal to the fourth time period, which can ensure the interference interception performance of the radar device on specific types of resources.
- the preset condition may be that the frequency domain resource corresponding to the time-frequency resource used for interference detection is a subset of the frequency domain resource corresponding to the time-frequency resource used for target detection, so as to ensure that the radar device can be used for target detection at present. Sufficient interference detection is performed on the domain resources, thereby ensuring the interference detection performance of the frequency domain resources that can be used for target detection.
- the interference interception duration meeting the preset conditions is greater than or equal to the fifth time period, which can ensure the interference interception performance of the radar device on specific types of resources.
- the preset condition may be that the frequency domain resources corresponding to the time-frequency resources used for interference detection and the frequency domain resources corresponding to the time-frequency resources used for target detection partially overlap or do not overlap, so as to ensure that the radar device is not used for target detection. Adequate interference detection is performed on frequency domain resources, thereby ensuring interference detection performance for frequency domain resources not used for target detection.
- the interference interception duration meeting the preset conditions is greater than or equal to the sixth time duration, which can ensure the interference interception performance of the radar device on specific types of resources.
- the preset condition may be that the time-domain resource corresponding to the time-frequency resource used for interference detection is a subset of the first time-domain resource, so as to ensure that the radar device performs sufficient interference detection on the time-domain resource currently used for target detection. Listen, so as to ensure the interference detection performance of the radar device to the time domain resources currently used for target detection.
- the interference interception duration meeting the preset conditions is greater than or equal to the seventh time period, which can ensure the interference interception performance of the radar device on specific types of resources.
- the preset condition may be that the time-domain resource corresponding to the time-frequency resource used for interference detection is a subset of the time-domain resource corresponding to the first time-frequency resource, so as to ensure that the radar device performs on the time-domain resource used for target detection. Adequate interference interception can ensure the interference interception performance of the radar device on the time domain resources used for target detection.
- the preset conditions in Condition 4 to Condition 7 may also be any combination of the preset conditions corresponding to Condition 4 to Condition 7 respectively.
- the performing interference interception at least once includes:
- Receive indication information on the sixth time-frequency resource where the indication information is used to indicate the seventh time-frequency resource used for target detection by the second detection device, and to determine the power of the signal received on the seventh time-frequency resource, Energy or spectral density.
- performing interference detection on a certain time-frequency resource refers to determining the strength of the signal received on the time-frequency resource, such as obtaining the power, energy, or spectral density of the signal, or other methods used for A possible parameter that characterizes the strength of the signal.
- performing interference detection on a certain time-frequency resource refers to receiving indication information for indicating the time-frequency resource in another time-frequency resource, and determining the strength of the signal received on the time-frequency resource.
- the radar device may send a signal for target detection on a certain resource, and may also send indication information on the resource to indicate the time-frequency resource used by the radar device for target detection.
- the radar device Since the characteristics of the radar signals sent by different radar devices for target detection may be different, if the different radar devices do not know the characteristics of the radar signals sent by each other for target detection, the radar device directly listens to the time-frequency resource , The difficulty is great, and it is even impossible to determine the strength of the signal received on the time-frequency resource indicated by the indication information.
- multiple radar devices can pre-appoint the form, parameters, resources, etc. of the signal carrying the indication information, so that it is easy to realize that multiple radar devices receive the indication information sent by the other party.
- the strength of the signal received on the resource indicated by the indication information is also easy to implement, which reduces the difficulty of interference detection.
- the indication information is received on the sixth time-frequency resource, where the indication information is used to indicate the seventh time-frequency resource used for target detection by the second detection device, and it is determined to be on the first time-frequency resource.
- the power, energy or spectral density of the signal received by the seven-time-frequency resource including:
- the embodiment of this application can directly measure the signal received on the seventh time-frequency resource.
- the indication information can indicate the parameters of other radar devices sending radar signals on the seventh time-frequency resource, such as the pulse width, pulse repetition interval, and Frequency modulation slope, etc., so that the radar device receives the indication information, and can directly measure the received signal on the seventh time-frequency resource.
- the radar device receives the indication information, and can directly measure the received signal on the seventh time-frequency resource.
- the radar device receives the indication information, and can directly measure the received signal on the seventh time-frequency resource.
- predict the power, energy, or spectral density of the signal received on the seventh time-frequency resource that is, not directly acquiring the power, energy, or spectral density of the signal received on the seventh time-frequency resource.
- the power, energy or spectral density of the signal received by the seven-time-frequency resource reduces the detection difficulty and improves the detection efficiency.
- multiple radar devices may pre-appoint the form, parameters, resources, etc. of the signal carrying the indication information, so as to ensure that the multiple radar devices can receive the indication information sent by each other.
- determining the second time-frequency resource in the first time-frequency resource according to the result of the at least one interference interception includes:
- the listening result determines the degree of interference of the ninth time-frequency resource, where there is a first correspondence between the eighth time-frequency resource and the ninth time-frequency resource;
- the embodiment of the present application aims to determine the second time-frequency resource used for target detection from the first time-frequency resource according to the interception result of the intercepted eighth time-frequency resource.
- the degree of interference of the ninth time-frequency resource may be determined according to the interception result of the intercepted eighth time-frequency resource, and then the second time-frequency resource may be determined according to the degree of interference.
- the ninth time-frequency resource and the eighth time-frequency resource are different subsets of the periodic time-frequency resource. It should be understood that the periodic time-frequency resource
- the corresponding frequency domain resources are the same, and the interval between two corresponding adjacent time domain resources is the same.
- the eighth time-frequency resource is easier to be interfered with, it can be inferred that the ninth time-frequency resource is also easier to be interfered with.
- the ninth time-frequency resource has a low degree of interference
- the second time-frequency resource used for target detection can be selected from the ninth time-frequency resource, for example, the ninth time-frequency resource with the lowest degree of interference is selected as the second time-frequency resource. resource.
- the time-frequency resource used for target detection can be selected from other time-frequency resources except the ninth time-frequency resource, so as to try to eliminate the time-frequency resources that may be interfered. resource.
- the determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource includes any one of the following solutions:
- Solution 1 Determine the interference degree of the ninth time-frequency resource according to the average value of the power, energy, or spectral density of the signals received on the plurality of eighth time-frequency resources. With this solution, the ninth time-frequency resource can be selected reasonably.
- Solution 2 According to the number of at least one eighth time-frequency resource whose interference degree is greater than a preset threshold among the plurality of eighth time-frequency resources, or at least one eighth time-frequency resource whose interference degree is greater than a preset threshold, The proportion of the multiple eighth time-frequency resources determines the degree of interference of the ninth time-frequency resource. There are more time-frequency resources that are interfered with, or the interfered time-frequency resources account for a larger proportion of the time-frequency resources that have been listened to, then it can be considered that the time-frequency resources that have the first corresponding relationship with the time-frequency resources that have been listened to Resources are more likely to be disturbed. Using this scheme can eliminate as much as possible time-frequency resources with a high degree of interference.
- the radar device can re-select time-frequency resources for target detection. For example, if at least one of the following trigger conditions is satisfied, the radar device determines that it is used for the target The detected second time-frequency resource:
- Trigger condition 1 The ninth time-frequency resource belongs to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than a first threshold.
- the ninth time-frequency resource is the resource used by the radar device for target detection. If it is determined that the ninth time-frequency resource has a high degree of interference after interference interception, then the radar device performs target detection on the ninth time-frequency resource that is interfered with. If the degree is high, the second time-frequency resource can be re-determined at this time.
- Trigger condition 2 The ninth time-frequency resource does not belong to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is lower than a second threshold.
- the ninth time-frequency resource is not a resource for target detection, and it is determined that the ninth time-frequency resource has a low degree of interference based on the interception results. It can be considered that there are resources that are more suitable for target detection than the current resources used for target detection. Resource, at this time, the second time-frequency resource can be re-determined.
- Trigger condition 3 The duration or number of times of the first time domain resource used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold, and at this time, the second time-frequency resource can be determined again.
- This solution can try to ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the extent to which the time-frequency resources used for target detection are interfered by the radar device.
- this solution can also ensure the fairness of the resources used by each radar device, so as to prevent a radar device from occupying relatively high-quality resources for a long time, causing other radar devices to not use the high-quality resources and can only use the relatively inferior resources.
- the radar device satisfies the third trigger condition and sets the duration or number of times the first time domain resource used for target detection is used to 0, that is, the duration or number of times the first time domain resource is used for target detection is calculated from 0. , To determine whether the radar device meets trigger condition three next time.
- Triggering condition 4 The duration or number of the first time domain resources used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold, and the first value is acquired, and the first value is greater than or equal to the fourth threshold . That is, the trigger condition is that the first value is greater than or equal to the fourth threshold, and the first value may be generated randomly, for example.
- the solution can further increase the stability of the time-frequency resources used by the radar device for target detection, so as to ensure that other radar devices predict that the time-frequency resources used for target detection are used by the radar. The accuracy of the degree of interference of the device.
- the radar device satisfies trigger condition four, and sets the duration or number of times the first time domain resource used for target detection is used to 0, that is, starts counting from 0 the duration or number of times the first time domain resource is used for target detection. , To determine whether the radar device meets trigger condition four next time.
- Triggering condition five the number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold.
- This solution ensures to a greater extent that the time-frequency resources used by the radar device for target detection are relatively stable, and it is more conducive to other radar devices to predict the degree of interference of the available time-frequency resources for target detection.
- the solution can also ensure the fairness of the resources used by each radar device, so as to prevent a radar device from occupying relatively high-quality resources for a long time, causing other radar devices to not use the high-quality resources and can only use the relatively inferior resources.
- the radar device satisfies the trigger condition 5, and the accumulated number of the first time domain resources used is set to 0, that is, after the trigger condition 5 is met, the accumulated number of the first time domain resources used starts from 0, and Determine whether the radar device meets trigger condition five next time.
- Trigger condition six the number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is acquired.
- the trigger condition is that the second value is greater than or equal to a sixth threshold. Similar to trigger condition four, the second value can also be randomly generated.
- the radar device satisfies the trigger condition 6, and the accumulated number of the first time domain resources used is set to 0, that is, after the trigger condition 6 is met, the number of the first time domain resources used is accumulated from 0 to Determine whether the radar device meets trigger condition six next time.
- the method further includes:
- the third threshold is updated; or, the duration or number of the first time domain resources used for target detection among the plurality of first time domain resources is greater than or equal to The third threshold is set, and the third threshold is updated.
- the radar device updates the duration or number of times that a certain time-frequency resource is continuously used. This can ensure that different radar devices continue to use a certain time-frequency resource for different durations or times, that is, to ensure that different radar devices are switched for The timing of the time-frequency resources for target detection is different, so as to avoid the situation where multiple radar devices switch the time-frequency resources for target detection at the same time, which may interfere with each other.
- the method further includes:
- the fifth threshold is updated; or, the number of first time domain resources used by the first detection device is greater than or equal to the set fifth Threshold, update the fifth threshold.
- updating the fifth threshold can try to prevent multiple radar devices from switching time-frequency resources for target detection at the same time, causing mutual interference.
- a radar device may include a transceiver unit and a processing unit, wherein:
- the transceiving unit is configured to perform at least one interference listening on a plurality of first time domain resources, where the plurality of first time domain resources are a subset of the time domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are The resource is the time-frequency resource of the first detection device; wherein, among the plurality of first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the interference interception is performed in the plurality of first time domain resources. Part of the first time domain resources in the first time domain resources;
- the processing unit is configured to determine a second time-frequency resource in the first time-frequency resource according to a result of at least one interference listening, and the second time-frequency resource is used for target detection.
- At least one time domain resource overlaps with a part of the first time domain resource used for at least one interference interception.
- the at least one first time domain resource used for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a first time domain resource.
- the transceiver unit is also used for:
- At least one interference interception is performed on at least one second time domain resource among the plurality of second time domain resources.
- the duration of each interference interception is less than the duration of the first time domain resource.
- each second time domain resource includes M sub-time domain resources
- the frequency domain resource corresponding to the first time-frequency resource includes N sub-frequency domain resources.
- M and N are mutually primed, and the transceiver unit specifically Used for:
- the time-domain resource corresponding to the fifth time-frequency resource is one of the M sub-time-domain resources
- the frequency-domain resource corresponding to the fifth time-frequency resource is among the N sub-frequency-domain resources one of.
- the accumulated interference listening duration is greater than the first duration
- the accumulated interference listening duration is less than the second duration
- the duration used for target detection is less than the third duration; or,
- the cumulative interference listening duration that satisfies the preset condition is greater than the fourth duration, where the preset condition includes one or more combinations of the following conditions:
- the frequency domain resource corresponding to the time-frequency resource used for interference detection is a subset of the frequency domain resource corresponding to the time-frequency resource used for target detection; or,
- the frequency domain resources corresponding to the time-frequency resources used for interference detection and the frequency domain resources corresponding to the time-frequency resources used for target detection partially overlap or do not overlap at all; or,
- the time-domain resource corresponding to the time-frequency resource used for interference interception is a subset of the plurality of first time-domain resources; or,
- the time domain resource corresponding to the time-frequency resource used for interference sensing is a subset of the time domain resource corresponding to the first time-frequency resource.
- the processing unit is specifically configured to:
- the indication information is used to indicate the seventh time-frequency resource used for target detection by the second detection device, and to determine the power, energy, or spectral density of the signal received on the seventh time-frequency resource .
- the processing unit is specifically configured to:
- the power, energy, or spectral density of the signal received on the sixth time-frequency resource is determined.
- the processing unit is specifically configured to:
- the processing unit is specifically configured to:
- the proportion of the frequency resources determines the degree of interference of the ninth time-frequency resource.
- the processing unit is also used for:
- the second time-frequency resource is determined:
- the ninth time-frequency resource belongs to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than the first threshold; or,
- the ninth time-frequency resource does not belong to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or,
- the duration or number of times of the first time domain resource used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold; or,
- the duration or number of the first time domain resources used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold, and the first value is acquired, and the trigger condition is that the first value is greater than or equal to the fourth threshold; or ,
- the number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold; or,
- the number of the first time domain resources used by the first detection device is greater than or equal to the fifth threshold, and the second value is acquired, and the trigger condition is that the second value is greater than or equal to the sixth threshold.
- the processing unit is also used for:
- the processing unit is also used for:
- the fifth threshold is updated; or, if the number of the first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.
- a radar device in a third aspect, includes a processor and a transceiver.
- the transceiver may include a transmitter and a receiver.
- the processor, the transmitter, and the receiver are coupled to each other to implement The method described in the above-mentioned first aspect or various possible designs of the first aspect.
- the radar device is a chip set in a detection device.
- the radar device is a radar.
- the transmitter and receiver are implemented by antennas, feeders, codecs, etc. in the communication equipment, or if the radar device is a chip set in the detection equipment, the transmitter and receiver are, for example, the chips in the chip.
- a communication interface which is connected to the radio frequency transceiver component in the detection device, so as to realize the transmission and reception of information through the radio frequency transceiver component. in:
- the transceiver is configured to perform at least one interference listening on a plurality of first time domain resources, where the plurality of first time domain resources are a subset of the time domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are The resource is the time-frequency resource of the first detection device; wherein, among the plurality of first time-domain resources, the time interval between any two adjacent first time-domain resources is the same, and interference interception is performed in the plurality of first time-domain resources. Part of the first time domain resources in the first time domain resources;
- the processor is configured to determine a second time-frequency resource in the first time-frequency resource according to a result of at least one interference listening, and the second time-frequency resource is used for target detection.
- the at least one first time domain resource used for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a first time domain resource.
- Two groups of first time domain resources each group of first time domain resources includes two adjacent first time domain resources, and the time of the two adjacent first time domain resources in the first group of first time domain resources The interval is different from the time interval of the two adjacent first time domain resources in the second group of first time domain resources.
- the transceiver is also used for:
- At least one interference interception is performed on multiple second time domain resources, and the multiple second time domain resources are time domains other than the multiple first time domain resources among the time domain resources corresponding to the first time-frequency resource A subset of resources, the one-time interference listening is performed on at least one second time domain resource among the plurality of second time domain resources.
- the duration of each interference interception is less than the duration of the first time domain resource.
- each of the second time domain resources includes M sub-time domain resources
- the frequency domain resource corresponding to the first time-frequency resource includes N sub-frequency domain resources.
- the transceiver is specifically used for:
- the time-domain resource corresponding to the fifth time-frequency resource is one of the M sub-time-domain resources
- the frequency-domain resource corresponding to the fifth time-frequency resource is all One of the N sub-frequency domain resources.
- the accumulated interference listening duration is greater than the first duration
- the accumulated interference listening duration is less than the second duration
- the duration used for target detection is less than the third duration; or,
- the cumulative interference interception duration that satisfies the preset condition is greater than the fourth duration, wherein the preset condition includes one or more combinations of the following conditions:
- the frequency domain resource corresponding to the time-frequency resource used for interference detection is a subset of the frequency domain resource corresponding to the time-frequency resource used for target detection; or,
- the frequency domain resources corresponding to the time-frequency resources used for interference detection and the frequency domain resources corresponding to the time-frequency resources used for target detection partially overlap or do not overlap at all; or,
- the time domain resource corresponding to the time-frequency resource used for interference listening is a subset of the plurality of first time domain resources; or,
- the time domain resource corresponding to the time-frequency resource used for interference sensing is a subset of the time domain resource corresponding to the first time-frequency resource.
- the processor is specifically used for:
- Receive indication information on the sixth time-frequency resource where the indication information is used to indicate the resource used by the second detection device for target detection, and to determine the power, energy, or spectral density of the signal received on the resource.
- the processor is specifically used for:
- Receive indication information on the sixth time-frequency resource where the indication information is used to indicate the seventh time-frequency resource used for target detection by the second detection device, and to determine the power of the signal received on the seventh time-frequency resource, Energy or spectral density.
- the processor is specifically used for:
- the processor is specifically used for:
- the interception result determines the degree of interference of the ninth time-frequency resource, where there is a first correspondence between the eighth time-frequency resource and the ninth time-frequency resource;
- the processor is specifically used for:
- At least one eighth time-frequency resource whose degree of interference is greater than a preset threshold among the plurality of eighth time-frequency resources, or at least one eighth time-frequency resource whose degree of interference is greater than a preset threshold is in the plurality of eighth time-frequency resources The ratio of the eighth time-frequency resource to determine the degree of interference of the ninth time-frequency resource.
- the processor is also used for:
- the second time-frequency resource is determined:
- the ninth time-frequency resource belongs to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than a first threshold; or,
- the ninth time-frequency resource does not belong to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is lower than a second threshold; or,
- the duration or number of times of the first time domain resource used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold; or,
- the duration or number of times of the first time domain resource used for target detection among the plurality of first time domain resources is greater than or equal to a third threshold, and the first value is acquired, and the trigger condition is that the first value is greater than or equal to the first value.
- the number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold; or,
- the number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is acquired, and the trigger condition is that the second value is greater than or equal to a sixth threshold.
- the processor is also used for:
- the third threshold is updated; or, the duration or number of the first time domain resources used for target detection among the plurality of first time domain resources is greater than or equal to The third threshold is set, and the third threshold is updated.
- the processor is also used for:
- the fifth threshold is updated; or, the number of first time domain resources used by the first detection device is greater than or equal to the set fifth Threshold, update the fifth threshold.
- the device can be the device in the above-mentioned method design.
- the device is a chip set in a detection device.
- the detection device is a radar.
- the device includes: a memory for storing computer executable program codes; and a processor, which is coupled with the memory.
- the program code stored in the memory includes instructions, and when the processor executes the instructions, the device or a device installed with the device executes the method in the first aspect or any one of the possible implementation manners of the first aspect.
- the device may also include a communication interface, which may be a transceiver in the detection device, for example, implemented by the antenna, feeder, and codec in the radar device, or if the device is installed in the detection device In the chip, the communication interface can be the input/output interface of the chip, such as input/output pins.
- a communication interface which may be a transceiver in the detection device, for example, implemented by the antenna, feeder, and codec in the radar device, or if the device is installed in the detection device In the chip, the communication interface can be the input/output interface of the chip, such as input/output pins.
- a communication system may, for example, include one or more of the devices described in the third aspect or the fourth aspect, or the communication system may also include a target object.
- a computer storage medium stores instructions that, when run on a computer, cause the computer to execute the first aspect or any one of the possible designs of the first aspect. The method described.
- a computer program product containing instructions.
- the computer program product stores instructions that, when run on a computer, cause the computer to execute the first aspect or any one of the possible designs of the first aspect. The method described in.
- Figure 1 is an application scenario provided by an embodiment of the application
- FIG. 2 is a schematic flowchart of a target detection method provided by an embodiment of the application
- FIG. 3 is an exemplary schematic diagram of a first time-frequency resource provided by an embodiment of this application.
- FIG. 4 is an exemplary schematic diagram of a first time domain resource provided by an embodiment of this application.
- FIG. 5 is an exemplary schematic diagram of a first time domain resource provided by an embodiment of this application.
- FIG. 6 is an exemplary schematic diagram of a second time domain resource provided by an embodiment of this application.
- FIG. 7 is an exemplary time-domain diagram of the first time-frequency resource provided by an embodiment of this application.
- FIG. 8 is a schematic structural diagram of a radar device provided by an embodiment of the application.
- FIG. 9 is a schematic diagram of another structure of a radar device provided by an embodiment of the application.
- FIG. 10 is a schematic diagram of still another structure of a radar device provided by an embodiment of this application.
- FIG. 1 is a schematic diagram of a possible application scenario of an embodiment of this application.
- the above application scenarios can be unmanned driving, autonomous driving, intelligent driving, networked driving, etc.
- Radar devices can be installed in motor vehicles (such as unmanned vehicles, smart cars, electric vehicles, digital cars, etc.), drones, rail cars, bicycles, signal lights, speed measurement devices, or network equipment (such as base stations and terminals in various systems) Equipment) and so on.
- the embodiments of the present application are not only applicable to radar devices between cars, but also radar devices between cars and drones and other devices, or radar devices between other devices.
- the radar device can be installed on a mobile device, for example, on a vehicle as a vehicle-mounted radar device, or can also be installed on a fixed device, for example, on a roadside unit (RSU) and other equipment.
- RSU roadside unit
- the embodiment of the present application does not limit the installation position and function of the radar device.
- the radar is also referred to as a radar device, and may also be referred to as a detector, a radar device, or a radar signal transmitting device. Its working principle is to detect the corresponding target object by sending a signal (or called a detection signal) and receiving the signal reflected by the target object.
- the signal emitted by the radar can be a radar signal.
- the received signal reflected by the target object can also be a radar signal.
- radar devices can be applied to ADAS.
- ADAS uses radar devices to perceive the environment around the vehicle to provide assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise.
- Millimeter wave radar is a kind of radar device, which is widely used in automatic driving of vehicles.
- Millimeter wave radars are usually equipped with MIMO antennas, and obtain the angle information of surrounding objects through the direction-of-arrival (DOA) estimation method.
- DOA estimation method uses the difference in the spatial propagation time delay of electromagnetic waves between the object and each antenna element to determine the angle information of the object relative to the radar device. If the radar device determines the distance and angle of the surrounding objects from the radar device, the location of the surrounding objects can be known, so as to achieve assistance in blind spot monitoring, lane change assistance, collision warning, and adaptive cruise.
- the radar device may perform interference detection on the resources currently used by the radar device or the resources available by the radar device before performing target detection.
- interference detection refers to the radar device receiving signals, information, or detecting energy on a certain resource, and determining whether the radar device is in a certain resource based on the received signal, information, or the amount of energy detected. The severity of target detection by other radar devices on these resources.
- the radar device can re-select resources for target detection among the available resources according to the degree of interference of the determined radar device for target detection on certain resources, so as to eliminate or avoid interference from other radar devices as much as possible, that is, Exclude the resources with a higher degree of interference from the available resources for target detection.
- the degree of interference by the radar device for target detection on certain resources is referred to as the degree of interference by certain resources.
- an embodiment of the present application provides a target detection method.
- FIG. 2 is a flowchart of the method.
- the method provided by the embodiment shown in FIG. 2 may be executed by a detection device, such as a radar device.
- the radar device may be the radar itself, or a chip or integrated circuit inside the radar, or the radar device may also be a communication device that communicates with the radar.
- the signal sent by the radar detection device can be a radar signal
- the received echo signal can also be a radar signal.
- the radar device performs interference detection at least once on a plurality of first time-domain resources, where the plurality of first time-domain resources are a subset of the time-domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are The time-frequency resource of the radar device, among the plurality of first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the at least one interference interception is performed at the plurality of first time domain resources. Part of the frequency resource is performed on the first time domain resource.
- the length of time occupied by the first time-frequency resource in the time domain can be considered as the length of time from the start to the end of the radar device's work, and/or the frequency domain resource corresponding to the first time-frequency resource can be within the capability of the radar device Supportable resources.
- the bandwidth supported by the radar device is a 2G bandwidth
- the frequency domain resource corresponding to the first time-frequency resource may be a 2G bandwidth resource.
- the frequency domain resource corresponding to the first time-frequency resource may be a predefined available resource of the radar device.
- the radar device can support 2G bandwidth within its capability, but the frequency domain resources that the radar device can actually use may be part of the predetermined 2G bandwidth.
- the frequency domain resources corresponding to the first time-frequency resource may be this part. bandwidth.
- the frequency domain resource corresponding to the first time-frequency resource may be the intersection of the resource that can be used within the capability of the radar device and the available resource pre-specified for the radar device.
- the radar device can support a bandwidth of 75GHz-79GHz, but the frequency domain resource that the radar device can actually use is a bandwidth of 78GHz-79GHz, so the frequency domain resource corresponding to the first time-frequency resource is 78GHz-79GHz.
- the radar device can perform target detection on the first time-frequency resource, which can be understood as the radar device sends a radar signal on the first time-frequency resource, receives the echo signal of the radar signal, and determines the target object based on the radar signal and the echo signal Distance, angle, speed and other information.
- the radar device periodically sends radar signals on the first time-frequency resource.
- FIG. 3 provides an example of the first time-frequency resource.
- the time-domain resource corresponding to the first time-frequency resource includes multiple first time-frequency resources.
- the time interval between any two adjacent first time domain resources is the same, that is, the first time domain resource is a periodic resource, and the second time domain resource is also Periodic resources.
- the radar device periodically sends radar signals for target detection on the first time-frequency resource, that is, the radar device sends radar signals on multiple first time-domain resources, and the radar device does not send radar signals for target detection on any second time-domain resource.
- the radar signal for target detection for example, the second time domain resource may be idle. It should be understood that each first time domain resource and each second time domain resource are continuous in the time domain, different first time domain resources are not continuous in the time domain, and different second time domain resources are in the time domain. It is also discontinuous in the time domain.
- radar devices perform target detection on all the first time domain resources, regardless of interference from other radar devices.
- there may be multiple radar devices adjacent to the radar device and the time-frequency resources used by the radar device and the time-frequency resources used by these multiple radar devices may overlap completely or partially.
- the target detection cycle of the device is the same as the target detection cycle of the radar device, so the multiple radar devices are more likely to cause interference with each other.
- the embodiment of the present application performs target detection on part of the first time domain resources among the plurality of first time domain resources currently used for target detection, and performs target detection on another part of the first time domain resources. Interference interception on the Internet.
- the interference degree of the candidate resource used by the radar device for target detection is predicted, that is, the degree of interference by other radar devices when the candidate resource is used for target detection.
- the candidate resource is the time-frequency resource that is subsequently available to the radar device and has the same characteristics as the time-frequency resource used for target detection.
- the time-domain resource corresponding to the candidate resource is a child of the time-domain resource corresponding to the first time-frequency resource. set. In this way, the radar device can exclude time-frequency resources with a high degree of interference from candidate resources for target detection, so as to reduce or avoid interference between multiple radar devices.
- the radar apparatus may perform target detection on at least one first time domain resource among the plurality of first time domain resources, and the first time domain resource other than the at least one first time domain resource among the plurality of first time domain resources Time domain resources are used for interference interception.
- the radar device performs target detection on the five first time domain resources numbered 11-15.
- the radar device may perform target detection on the three first time domain resources numbered 11, 13, and 14.
- the first time domain resource performs target detection, and interference interception is performed on the two first time domain resources numbered 12 and 15.
- the radar device may perform target detection on the three first time domain resources numbered 11-13, and perform interference detection on the two first time domain resources numbered 14 and 15. That is, compared with the prior art, part of the time domain resources used by the radar device for target detection in the prior art is not used for target detection, but for interference detection. It should be noted that the embodiment of the present application does not limit which first time domain resource to specifically listen to.
- the embodiment of the present application may include, among the plurality of first time domain resources, excluding the at least one first time domain resource.
- the first time domain resource performs interference listening at least once. Wherein at least one interference interception, the number of at least one first time domain resource intercepted each time may be different or the same.
- the at least one first time domain resource used for target detection is an aperiodic resource, that is, if the at least one first time domain resource includes at least three first time domain resources, the at least three first time domain resources are at least There are two different time intervals. One time interval is the time interval between two adjacent first time domain resources, and the other time interval is the time interval between other two adjacent first time domain resources. .
- the radar device selects the first time domain resources numbered 11, 13 and 15 for target detection, and selects the first time domain resources numbered 12 and 14 for interference detection, that is, for target detection
- the resource of is a periodic resource, and the target detection is performed on the first time domain resource on an odd cycle, and the interference detection is performed on the first time domain resource on an even cycle.
- the interference detection result reflects the interference degree of resources similar to the time domain resources of the even-numbered period, and cannot better reflect the interference degree of the resources similar to the time-domain resources of the odd period.
- the at least one first time domain resource used for target detection in the embodiment of the present application is an aperiodic resource, which can avoid the occurrence of the above-mentioned scenarios, so as to ensure that the result of interference interception can more accurately reflect the interference of resources used for target detection. degree.
- the embodiment of the present application selects 3 first time domain resources from the 5 first time domain resources for target detection, for example, selects the first time domain resources numbered 11, 13 and 14 for target detection ,
- the numbers of the first time domain resources used for interference interception are 12 and 15.
- the three first time domain resources selected by the radar device are aperiodic resources, that is, the time interval between the two first time domain resources numbered 11 and 13 and the two first time domain resources numbered 13 and 14 The time interval between is not the same.
- the embodiment of this application arbitrarily selects a first time domain resource for interference interception among a plurality of first time domain resources, it can be realized that the at least three first time domain resources used for target detection are aperiodic, so through This solution can also reduce the first time domain resources that are not used for target detection, so as to ensure the performance of the radar device for target detection as much as possible.
- the radar device in addition to performing interference detection on the first time domain resource, may also perform interference on time domain resources other than the first time domain resource among the time domain resources corresponding to the first time-frequency resource. Listen. That is, the radar device can also perform interference detection on the above-mentioned multiple second time domain resources, so that the radar device can predict that the time domain resource is the interference degree of the time-frequency resource corresponding to the time domain resource currently used for target detection, And the time domain resource is not the interference degree of the time-frequency resource corresponding to the time domain resource currently used for target detection, so that the resource used for target detection can be selected more reasonably.
- the second time domain resources that are not used for target detection are more suitable for target detection in the subsequent, that is, whether the second time domain resources that are not used for target detection have a lower degree of interference. If the degree of interference is lower, the second time domain resource is more suitable for target detection.
- the radar device may also perform interference detection at least once on multiple second time domain resources.
- the plurality of second time domain resources may be a subset of the time domain resources excluding the plurality of first time domain resources in the time domain resources corresponding to the first time-frequency resources.
- the radar apparatus may perform interference detection on at least one second time domain resource among the plurality of second time domain resources.
- the numbers of the multiple second time domain resources are 21-24 in sequence.
- the radar device does not perform targets on the four second time domain resources numbered 21-24. It is detected that, for example, the four second time domain resources may be idle.
- the radar device may perform interference detection on at least one of the four second time domain resources numbered, for example. Interference listening can be performed on the second time domain resource, or interference listening can be performed on the second time domain resources numbered 22 and 23 to predict the interference of time domain resources with the same characteristics as the second time domain resource degree. It should be noted that the embodiment of the present application does not limit which second time domain resource to specifically listen to. It should be understood that, in this embodiment of the present application, interference interception is performed on at least one second time domain resource at least once, and the number of at least one second time domain resource intercepted each time may be the same or different.
- the radar device can perform interference detection on finer-grained time-frequency resources.
- the radar device may perform interference detection on frequency domain resources used for target detection, or perform interference detection on frequency domain resources not used for target detection, or may perform interference detection on frequency domain resources used for target detection. Perform interference detection, and perform interference detection on frequency domain resources that are not used for target detection.
- the frequency domain resources for the radar device to perform a target detection and the frequency domain resources for the radar device to perform an interference detection may overlap, or the frequency domain resources for the radar device to perform a target detection and the radar device to perform an interference detection.
- the frequency domain resources for listening may also not overlap. If the first frequency domain resource for target detection overlaps with the second frequency domain resource for interference detection, the interference degree of the frequency domain resource currently used for target detection can be predicted. If the first frequency domain resource for target detection and the second frequency domain resource for interference detection do not overlap, the interference degree of the frequency domain resources not currently used for target detection can be predicted.
- the radar device may perform target detection on a third time-frequency resource, and the time-domain resource corresponding to the third time-frequency resource is a certain first time-domain resource. Assuming that the frequency domain resource corresponding to the third time-frequency resource is the first frequency domain resource, in the prior art, the first frequency domain resource is used for target detection. In the embodiment of the present application, the radar device may be in the first frequency domain. Some frequency domain resources in the resources perform interference detection.
- the radar device performs interference detection on the fourth time-frequency resource
- the time-domain resource corresponding to the fourth time-frequency resource is the same as the time-domain resource corresponding to the third time-frequency resource, or the fourth time-frequency resource
- the time domain resource corresponding to the resource is a subset of the time domain resource corresponding to the third time-frequency resource
- the frequency domain resource corresponding to the fourth time-frequency resource is the second frequency domain resource. If the second frequency domain resource overlaps with the first frequency domain resource, that is, the radar device performs interference detection on part of the first frequency domain resource currently used for target detection. If the second frequency domain resource does not overlap with the first frequency domain resource, that is, the radar device performs interference detection on the frequency domain resource that is not used for target detection.
- FIG. 4 is an example of the third time-frequency resource.
- the first frequency-domain resource is a subset of the frequency-domain resource corresponding to the first time-frequency resource.
- the frequency domain resource corresponding to the first time-frequency resource includes 5 sub-frequency domain resources. The numbers of the 5 sub-frequency domain resources are 1-5 in order.
- the frequency domain resource corresponding to the third time-frequency resource is the first frequency domain resource. It is sub-frequency domain resource 1-sub-frequency domain resource 4.
- the sub-frequency domain resource 1-the sub-frequency domain resource 4 are used for target detection, and the sub-frequency domain resource 5 is not used for target detection.
- the fourth time-frequency resource may be a subset of the third time-frequency resource.
- FIG. 4 takes the fourth time-domain resource corresponding to the fourth time-frequency resource as a subset of the first time-domain resource as an example.
- the second frequency domain resource overlaps with the first frequency domain resource.
- the second frequency domain resource may be sub-frequency domain resource 1 and sub-frequency domain resource 2 ( Figure 4 takes this as an example), or it may be sub-frequency domain resource 2.
- sub-frequency domain resources 4, etc., here are not examples one by one.
- FIG. 5 is an example of the third time-frequency resource.
- the first frequency-domain resource is a subset of the frequency-domain resource corresponding to the first time-frequency resource.
- the frequency domain resource corresponding to a time-frequency resource includes 5 sub-frequency domain resources, the numbers of the 5 sub-frequency domain resources are 1-5 in sequence, and the first frequency domain resource may be sub-frequency domain resource 1-sub-frequency domain resource 4.
- the sub-frequency domain resource 1-the sub-frequency domain resource 4 are used for target detection, and the sub-frequency domain resource 5 is not used for target detection.
- FIG. 5 also takes the fourth time domain resource corresponding to the fourth time-frequency resource as a subset of the first time domain resource as an example. The difference from FIG.
- the radar device can perform interference detection multiple times within a first time-frequency resource, and each time it can listen With different frequency domain resources, more frequency domain resources can be traversed, that is, 5 sub-frequency domain resources can be traversed to determine the interference degree of more frequency domain resources.
- the radar device performs interference detection on frequency domain resources that are not currently used for target detection. It can be considered that the radar device performs detection on the time-frequency resource where the second time-domain resource is located, but the frequency-domain resource for listening is A subset of the first time-frequency resource, and the monitored time-domain resource is a subset of the second time-domain resource.
- the radar device may perform interference detection on the fifth time-frequency resource, the time-domain resource corresponding to the fifth time-frequency resource may be a subset of the second time-domain resource, and the frequency-domain resource corresponding to the fifth time-frequency resource may be the first A time-frequency resource corresponds to a subset of frequency domain resources.
- the fifth time-frequency resource corresponds to The time domain resource of is one of the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of the N sub-frequency domain resources.
- M and N are mutually primed, and the radar device can traverse all the time-frequency resources that need to be predicted in the shortest time, and determine the interference degree of the most time-frequency resources.
- FIG. 6 which is an example of the second time domain resource.
- FIG. 6 takes the second time domain resource including 9 sub-time domain resources as an example, and the frequency domain resource corresponding to the first time-frequency resource includes 5 sub-frequency domain resources. Take for example. It should be noted that FIG. 6 only illustrates a part of the fifth time-frequency resource.
- M and N are mutually primed, the radar device can traverse the frequency domain resource corresponding to the time-frequency resource where any second time domain resource is located, and all other time domain resources except the second time domain resource in the shortest time. That is to traverse all the time-frequency resources that need to be predicted in the shortest time.
- the radar device of the embodiment of the present application can not only perform interference detection on part of the time domain resources, but also perform interference detection on part of the frequency domain resources.
- the frequency domain resources corresponding to the time-frequency resources where different time-domain resources are located It can overlap completely or partially.
- the frequency domains corresponding to the first time-frequency resources where different first time-domain resources are located may all overlap or partially overlap; for another example, the frequency domain resources corresponding to the first time-frequency resources where different second time-domain resources are located may be All overlap, or partial overlap, which is not limited in the embodiments of the present application.
- the content of interference interception performed by the radar device is different in different application scenarios.
- the following describes the interference interception of the embodiment of the present invention in combination with specific scenarios.
- the radar device's interference detection on a certain time-frequency resource means that the radar device determines the strength of the signal received on the time-frequency resource.
- the radar device can obtain the signal received on the time-frequency resource.
- the power, energy, or spectral density of the signal is determined according to the obtained power, energy, or spectral density to determine the strength of the signal received on the time-frequency resource. It should be understood that the embodiment of the present application may also obtain other possible parameters used to characterize the strength of the signal, which is not limited in the embodiment of the present application.
- the time-frequency resource can be used by other radar devices
- other radar devices can notify the radar device on another time-frequency resource, and other radar devices use the time-frequency resource.
- the following takes the first radar device and the second radar device as examples.
- the first radar device itself can use the sixth time-frequency resource, and the second radar device sends instruction information on the sixth time-frequency resource.
- the information indicates a certain time-frequency resource used for target detection by the second radar device, for example, the seventh time-frequency resource.
- the first radar device actually needs to perform interference detection on the seventh time-frequency resource, for example, to obtain the strength of the signal received on the seventh time-frequency resource.
- the radar signals sent by different radar devices for target detection may be different, for example, the waveform parameters of the radar signals are different.
- Different radar devices may not know the characteristics of the radar signals transmitted by each other.
- the first radar device and the second radar device may not know the characteristics of the radar signals transmitted by each other. If the first radar device directly listens to the seventh time-frequency resource, it is more difficult, and it is even impossible to directly obtain the signal received on the seventh time-frequency resource, so that the strength of the signal received on the seventh time-frequency resource cannot be determined. .
- the first radar device and the second radar device may agree on the form, parameter, or resource of the signal carrying the indication information, so that the first radar device and the second radar device
- the radar device knows the characteristics of the indication information sent by each other, ensuring that the first radar device can definitely receive the indication information in the sixth time-frequency resource.
- the first radar device performs interference detection on the seventh time-frequency resource, it may be that the first radar device receives the indication information on the sixth time-frequency resource, and determines that it is on the seventh resource indicated by the indication information. The strength of the received signal.
- the first radar device can obtain the power, energy, or spectral density of the signal received on the seventh time-frequency resource, and determine the power, energy, or spectral density on the seventh time-frequency resource according to the acquired power, energy, or spectral density.
- the strength of the received signal may also indicate the parameters of the radar signal sent by the second radar device on the seventh time-frequency resource, such as the pulse width, pulse repetition interval, frequency modulation slope, etc. of the radar signal, so that the first radar device may receive the indication information directly. Measuring the received signal on the seventh time-frequency resource reduces the difficulty of interference detection.
- that the first radar device performs interference detection on the seventh time-frequency resource means that the first radar device performs interference detection on the sixth time-frequency resource.
- the first radar device acquires the The strength of the indication information received on the frequency resource, and the strength of the signal received by the first radar device on the seventh time-frequency resource, such as power, energy, or spectral density, is predicted based on the strength.
- the power, energy or spectral density of the signal received by the frequency resource can reduce the detection difficulty and improve the detection efficiency.
- interference interception performed on a certain time-frequency resource each time in the embodiments of the present application may also be obtained by acquiring at least two of the power, energy, and spectral density of the signal received in the time-frequency resource. combination.
- the radar device can predict the interference of the subsequent available time-frequency resources of the radar device by intercepting multiple first time domain resources and/or multiple second time domain resources. degree. If the radar device listens to more time-frequency resources, the calculation capability of the radar device is higher; if the radar device listens to less time-frequency resources, that is, the radar device has poor performance in interference detection. The accuracy of the device in determining the degree of interference of certain time-frequency resources according to the listening results may be low.
- the embodiment of the present application can determine the duration of interference detection on the first time-frequency resource. It should be understood that the duration is the cumulative duration.
- the duration may be The sum of the duration of the radar device listening to the plurality of first time domain resources and the duration of listening to the plurality of second time domain resources.
- the accumulated interference listening duration is also referred to as the interference listening duration.
- the interference detection duration may be determined according to the calculation capability of the radar device and the interference detection performance requirements of the radar device. Further, considering the fairness of the selection resources of multiple radar devices, the interference interception duration can also be determined according to the computing power of the radar device, the interference interception performance requirements of the radar devices, and the fairness of the radar device selection resources. Of course, the interference interception duration can also be determined according to the interference interception performance requirements of the radar device and the fairness of the radar device's selection of resources. In order not to affect the performance of the radar device for target detection, which is also called target detection performance, the interference interception duration may also be determined by the target detection performance of the radar device and, for example, the fairness of the radar device's selection of resources.
- Interference interception duration refers to the accumulated interference interception duration within the preset duration.
- the preset duration may be, for example, one cycle of target detection performed by the radar device, or multiple cycles of target detection performed by the radar device.
- the preset duration can also be a preset duration, for example, the preset duration is 100ms.
- the interference detection time length is greater than or equal to the first threshold, so as to ensure the interference detection performance of the radar device as much as possible.
- the first threshold may be determined by the interference detection performance requirements of the radar device and the fairness of the radar device's selection of resources. For example, the radar device performs interference detection on multiple first time domain resources and/or multiple second time domain resources. The longer the natural interference detection time is, the better the interference detection performance of the radar device. If the interference detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding shortest interference detection duration is the first duration. Therefore, the interference listening duration can be greater than or equal to the first duration. It should be understood that the first duration may be a preset value, such as a value set when the radar device is shipped from the factory, and the first duration may also be a value defined by a standard, or a value defined or configured by a protocol. Of course, the first duration can be stored in the radar device.
- the interference detection time period is less than or equal to the second threshold, so as to ensure the target detection performance of the radar device as much as possible.
- the second threshold may be determined by the target detection performance of the radar device and the fairness of the resources selected by the radar device. For example, interference listening is performed on multiple first time domain resources and/or multiple second time domain resources. The shorter the interference listening time is, the less resources are naturally used for computing and processing interference listening. Relatively speaking, the use of The more time and computational resources for target detection, the higher the performance of the radar device for target detection. If the target detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding longest interference detection duration is the second duration. Therefore, the interference listening duration can be less than or equal to the second duration.
- the second duration may be a preset value, for example, the radar device is set at the factory and can be stored in the radar device; the second duration may also be a value defined by a standard, or a protocol definition or The configured value.
- the second preset duration and the first preset duration may be the same or different.
- interference detection on certain time-frequency resources may have a small impact on determining the degree of interference of certain time-frequency resources, so it can be ignored .
- the radar device can accumulate The interference detection duration of time-frequency resources, even if the radar device also performs interference detection on other time-frequency resources, the interference detection duration of other time-frequency resources is not accumulated.
- the radar device may only accumulate the duration of interference detection on part of the frequency domain resources used for target detection, and this part of the frequency domain resources corresponds to the time-frequency resources used for target detection.
- the subset of frequency domain resources that is, the frequency domain resources corresponding to the time-frequency resources performed by the radar device for interference detection, is a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection.
- the interference detection duration may be greater than or equal to the third duration to ensure that the radar device performs sufficient interference detection on the frequency domain resources used for target detection.
- the frequency domain resources corresponding to the time-frequency resources for interference detection are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection, if the duration of the interference detection is short, sufficient interference detection results cannot be guaranteed , Then the accuracy of determining the degree of interference of, for example, the eighth time-frequency resource is low, that is, the interference detection performance of the radar device is low.
- the minimum value of the interference detection duration may be the third duration.
- the third duration may be a preset value, such as a value set when the radar device is shipped from the factory, and may be stored in the radar device; or the third duration may also be a value defined by a standard, or a value defined or configured by a protocol.
- the third preset duration may be the same as or different from the first preset duration or the second preset duration.
- FIG. 7 is an example of the first time-frequency resource.
- FIG. 7 takes the two periods of target detection performed by the radar device as the preset duration as an example, that is, FIG. 7 uses two first time domain resources and two second time domain resources as an example.
- the duration corresponding to the time domain resource is 5 ms
- the duration corresponding to the second time domain resource is 45 ms.
- a period is the sum of the duration corresponding to one first time domain resource and the duration corresponding to one second time domain resource, that is, 50 ms.
- FIG. 7 is divided into two third time domain resources in the time domain, and the two third time domain resources are the third time domain resource A and the third time domain resource respectively.
- Resource B it should be understood that the durations corresponding to the third time domain resource A and the third time domain resource B are both 45ms/2.
- FIG. 7 takes as an example that the frequency domain resource corresponding to the first time domain resource includes 5 sub-frequency domain resources.
- the frequency domain resources used for target detection are sub-frequency domain resource 1 and sub-frequency domain resource 2.
- the time domain resources for the radar device to perform interference detection are the first time domain resource and the second time domain resource, and the frequency domain resources monitored include sub-frequency domain resource 1 and sub-frequency corresponding to the first time-frequency resource to which the first time domain resource belongs.
- Domain resource 2 and the sub-frequency domain resource a1 corresponding to the first time-frequency resource to which the third time domain resource A belongs and the sub-frequency domain resource b1 corresponding to the third time domain resource B.
- the interference detection duration in the two cycles is: the radar device in the first cycle
- the interference detection time length of the radar device in the second cycle that is, the sum of 5ms+45ms/2 (a1 and b1), which is the interference detection time length
- the total is 50ms.
- the frequency domain resource that the radar device performs interference detection includes the sub-frequency domain resource 1 and the sub-frequency domain resource 2 corresponding to the first time-frequency resource to which the first time domain resource belongs, and the third The sub-frequency domain resource a1 corresponding to the first time-frequency resource to which the time domain resource A belongs and the sub-frequency domain resource a2 corresponding to the third time domain resource B.
- the interference listening duration in the two cycles is: the interference listening duration of the radar device in the first cycle, namely 45ms (a1 and a2), and the interference listening duration of the radar device in the second cycle, namely The sum of 5ms+45ms (a1 and a2), that is, the total interference listening duration is 95ms.
- sub-frequency domain resources 3 and sub-frequency domain resources 4 are not used for target detection, and the radar device performs interference detection as frequency domain resources including sub-frequency domain resources 1 and sub-frequency domain resources corresponding to the first time-frequency resource to which the first time-domain resource belongs.
- the radar device performs interference detection on some time-frequency resources, the interference detection performed on some time-frequency resources may be useful for determining the degree of interference for target detection on, for example, the eighth time-frequency resource.
- the impact is small, so it can be ignored.
- the radar device can accumulate interference detection. The duration of listening to frequency domain resources that are not used for target detection, even if the radar device performs interference on the frequency domain resources used for target detection, it does not accumulate the duration of interference listening on this part of the frequency domain resources.
- the radar device only accumulates the duration of interference detection on part of the frequency domain resources that are not used for target detection, and the part of frequency domain resources corresponds to the frequency of the time-frequency resources used for target detection.
- the domain resources partially overlap or do not overlap, that is, the frequency domain resources corresponding to the time-frequency resources for interference interception and the frequency domain resources corresponding to the time-frequency resources used for target detection partially overlap or do not overlap.
- the minimum interference detection duration may be the fourth duration, so as to ensure that the radar device performs sufficient interference detection on frequency domain resources not currently used for target detection.
- the fourth duration may be a preset value, such as a value set when the radar device is shipped from the factory, and may be stored in the radar device; or the fourth duration may also be a value defined by a standard, or a value defined or configured by a protocol.
- the fourth preset duration may be the same as or different from the first preset duration, the second preset duration, or the third preset duration.
- the frequency domain resources used for target detection are sub-frequency domain resources 1 and 2
- the frequency domain resources used for interference detection are sub-frequency domain resources 3 and sub-frequency domain resources.
- the time domain resources for the radar device to perform interference detection are the first time domain resources and the second time domain resources
- the frequency domain resources monitored include sub-frequency domain resources 3 and sub-frequency corresponding to the first time-frequency resource to which the first time domain resource belongs.
- sub-frequency domain resource 1 and sub-frequency domain resource 2 are used for target detection and cannot be used for interference detection. Therefore, the interference detection of the first time domain resource in the first cycle is not accumulated, and although sub-frequency domain resources 3 and sub-frequency domain resources 4 are monitored in the first period and in the second period, sub-frequency domain resources 3 and sub-frequency domain resources 4 are used for interference detection and sub-frequency domain resources 1 and 2 There is no overlap at all, so there is no need to accumulate, that is, the interference listening duration in two cycles is: the interference listening duration of the radar device to the first time domain resource in the second cycle, that is, 5ms.
- the difference from the above example is that the time domain resources for the radar device to perform interference detection are the first time domain resource and the second time domain resource, and the frequency domain resources monitored include the first time domain resource to which the first time domain resource belongs.
- the sub-frequency domain resource d1 and the sub-frequency domain resource d2 belong to the sub-frequency domain resource 4, so the interference detection duration in these two cycles is: the interference detection duration of the radar device on the first time domain resource in the second cycle, That is, 5ms, and the interference listening duration of the radar device on the second time domain resource in the first cycle, that is, 5ms, and the radar device's interference listening duration corresponding to the second time domain resource in the second cycle, that is 45ms , A total of 95ms.
- the time domain resources for the radar device to perform interference detection are the first time domain resource and the second time domain resource
- the frequency domain resources monitored include the sub-frequency domain resources corresponding to the first time-frequency resource to which the first time domain resource belongs. 2 and sub-frequency domain resource 3, as well as the sub-frequency domain resource b1 corresponding to the first time-frequency resource to which the third time-domain resource A belongs and the sub-frequency domain resource c1 corresponding to the third time-domain resource A.
- the listening duration is: the listening duration of the sub-frequency domain resource 3 in the first cycle, that is, 5ms, and the listening duration of the sub-frequency domain resource c1 in the first cycle, that is, 45ms/2, and the The listening duration of sub-frequency domain resource 3 and sub-frequency domain resource 2 in the second cycle, namely 5ms, and the listening duration of sub-frequency domain resource c1 and sub-frequency domain resource b1 in the second cycle, namely 45ms/ 2.
- the radar device can accumulate the interference detection time on certain time domain resources, even if the radar device listens to other time domain resources, it will not Accumulate the duration of interference listening on other time domain resources.
- the radar device may accumulate the duration of interference detection on the time-domain resources used for target detection, that is, the time-domain resources corresponding to the time-frequency resources for interference detection are the first time. A subset of domain resources. If the cumulative duration of the radar device's interference detection of the time domain resources used for target detection is short, then the interference detection performance of the radar device is poor. Therefore, in order to ensure the interference detection performance of the radar device, the accumulated shortest interference detection The duration can be the fifth duration.
- the fifth duration may be a preset value, such as a value set by the radar device when it leaves the factory, and may be stored in the radar device; or the fifth duration may also be a value defined by a standard, or a value defined or configured by a protocol.
- the fifth preset duration may be the same as or different from the first preset duration, the second preset duration, the third preset duration, or the fourth preset duration.
- the frequency domain resources used for target detection are sub-frequency domain resources 1 and 2
- the frequency domain resources used for interference detection are sub-frequency domain resources 3 and sub-frequency domain resources.
- the time domain resources for the radar device to perform interference detection are the first time domain resource and the second time domain resource
- the frequency domain resources monitored include sub-frequency domain resource 1 and sub-frequency corresponding to the first time-frequency resource to which the first time domain resource belongs.
- sub-frequency domain resource 1 and sub-frequency domain resource 2 are used for target detection and cannot be used for interference detection. Therefore, the interference detection of the first time domain resource in the first cycle is not accumulated. In this case, the interference detection on the frequency domain resource is not concerned, so the interference detection of the sub-frequency domain resource a1 and the sub-frequency domain resource b1 is not accumulated. Therefore, the interference detection duration of the radar device in these two cycles is 5 ms in the second cycle. It should be understood that if the radar device is listening to sub-frequency domain resources 3 and sub-frequency domain resources 4, then the interference detection duration of the radar device in these two periods is 0, that is, it will not accumulate the interference detection of sub-frequency domain resources 3 and sub-frequency domain resources. Interference listening duration of domain resource 4.
- the radar device has the ability to switch frequency domain resources, but cannot switch time domain resources. In this case, it is more desirable to determine the interference degree of frequency domain resources for target detection.
- the interference detection time period that satisfies the preset condition is greater than or equal to the sixth time period.
- the preset condition is that the time domain resource corresponding to the time-frequency resource used for scrambling and listening is a subset of the time domain resource corresponding to the first time-frequency resource.
- the radar apparatus may accumulate time-frequency resources corresponding to a subset of the time-domain resources corresponding to the first time-frequency resources.
- the frequency domain resources used for target detection are sub-frequency domain resources 1 and 2
- the frequency domain resources used for interference detection are sub-frequency domain resources 3 and sub-frequency domains.
- Resource 4 The time domain resources for the radar device to perform interference detection are the first time domain resource and the second time domain resource
- the frequency domain resources monitored include sub-frequency domain resource 1 and sub-frequency corresponding to the first time-frequency resource to which the first time domain resource belongs.
- the interference detection duration of the radar device in these two cycles is: the radar device's detection duration of sub-frequency domain resources 3 and sub-frequency domain resources 4 in the first cycle, that is, 5 ms, and the radar device is in the first cycle.
- the listening duration of the sub-frequency domain resource c2 and the sub-frequency domain resource d2 that is, the sum of 45ms/2, is 55ms+45ms/2 in common.
- the sixth duration may be a preset value, such as a value set when the radar device is shipped from the factory, and may be stored in the radar device; or the sixth duration may also be a value defined by a standard, or a value defined or configured by a protocol.
- the sixth preset duration can also be defined by standards or protocols.
- the sixth preset duration and the first preset duration, the second preset duration, the third preset duration, the fourth preset duration, or the fifth preset duration can be The same or different.
- the radar device will perform interference detection during the time except for the target detection time. To ensure that more time-frequency resources are monitored. That is, the time domain resources in the time domain resources corresponding to the first time-frequency resource except the time domain resources used for target detection are all used for interference detection. In order to ensure that more time-frequency resources are intercepted, within the seventh preset time period, it is necessary to satisfy that the accumulated time period for target detection is less than or equal to the seventh time period.
- the seventh duration may be a preset value, such as a value set when the radar device is shipped from the factory, and may be stored in the radar device; or the seventh duration may also be a value defined by a standard, or a value defined or configured by a protocol.
- the seventh preset duration can also be defined by standards or protocols, the seventh preset duration and the first preset duration, the second preset duration, the third preset duration, the fourth preset duration, or the fifth preset duration, or The sixth preset duration may be the same or different.
- the interference listening duration may also need to satisfy a combination of multiple preset conditions from the first preset condition to the seventh preset condition.
- the radar device determines a second time-frequency resource in the first time-frequency resource according to the result of at least one interference detection, and the second time-frequency resource is used for target detection.
- the interception result can be considered as the time-frequency resource that has been interfered among the time-frequency resources that have been intercepted. If the power, energy, or spectral density of the signal received on a certain time-frequency resource is greater than a certain threshold, it can be considered that the time-frequency resource is interfered, that is, the time-frequency resource is the interfered time-frequency resource. In other words, the power, energy, or spectral density of the signal received on the interfered time-frequency resource is greater than a certain threshold.
- the threshold may be set when the radar device is shipped from the factory, or defined by a standard, which is not limited in the embodiment of the present application.
- the embodiments of the present application aim to perform interference detection on some time-frequency resources, and predict the degree of interference of other time-frequency resources based on the results of the interference detection. Then other time-frequency resources and the monitored time-frequency resources should have the same certain characteristics, that is, other time-frequency resources and the monitored time-frequency resources have the aforementioned first correspondence relationship.
- the time-frequency resource that has been monitored is called the eighth time-frequency resource in the following, and other time-frequency resources are called the ninth time-frequency resource, that is, the time-frequency resource that needs to predict the degree of interference is called the first Nine time-frequency resources.
- the radar device may determine the degree of interference of the ninth time-frequency resource of the radar device according to one or more eighth time-frequency resources that have been monitored in the first time-frequency resource.
- the radar device may obtain the power, energy or spectral density of the signal received on an eighth time-frequency resource to determine the degree of interference of the eighth time-frequency resource. If the power, energy or spectral density of the signal received on the eighth time-frequency resource is greater than the first threshold, it can be determined that the degree of interference of the eighth time-frequency resource is relatively high, and the degree of interference of the ninth time-frequency resource can be determined Also higher.
- the radar device may obtain the average value of the power, energy, or spectral density of the signal received on each eighth time-frequency resource among the plurality of eighth time-frequency resources, so as to determine the receiving power of the multiple eighth time-frequency resources. The degree of interference. If the interference degree of the multiple eighth time-frequency resources is high, it can be determined that the interference degree of the ninth time-frequency resource is also high.
- the radar device can be based on the number of the eighth time-frequency resources that have been intercepted or the number of the eighth time-frequency resources that have been intercepted.
- the ratio of the eighth time-frequency resource to determine the degree of interference of the ninth time-frequency resource can be based on the number of the eighth time-frequency resources that have been intercepted or the number of the eighth time-frequency resources that have been intercepted.
- the radar device may perform interference detection on ten eighth time-frequency resources respectively, that is, obtain the power, energy, or spectral density of the signals received on the ten eighth time-frequency resources, respectively. If the power, energy, or spectral density of the signal received by the radar device on a certain eighth time-frequency resource is greater than a certain threshold, then the eighth time-frequency resource is the interfered eighth time-frequency resource. If among the 10 eighth time-frequency resources to be monitored, the number of interfered eighth time-frequency resources is larger, or the proportion of the interfered eighth time-frequency resources among the ten eighth time-frequency resources is larger. If it is large, it can be considered that the interference degree of the ninth time-frequency resource is relatively high, that is, the ninth time-frequency resource is easily interfered.
- the radar device Since the interception result of each interference interception of the radar device, that is, the interfered time-frequency resources may be different, in this embodiment of the application, the radar device does not need to determine the eighth time of interference after each interference interception. The proportion of frequency resources in the eighth time-frequency resources being intercepted in order to minimize the amount of calculation of the radar device.
- the radar device may determine the ratio of the interfered eighth time-frequency resource to the intercepted eighth time-frequency resource when the number of interference interception reaches a certain threshold; or the radar device It is also possible to determine the proportion of the interfered eighth time-frequency resource in the intercepted eighth time-frequency resource when the number of times that a certain or some eighth time-frequency resources are interfered reaches a certain preset threshold; and Or the radar device may also determine the interfered eighth time-frequency resource when the number of interference detection reaches a certain threshold, and the number of times that one or some eighth time-frequency resources are interfered reaches a certain preset threshold. The proportion of the eighth time-frequency resource being intercepted.
- the second time-frequency resource used for target detection can be determined by the degree of interference.
- Time-frequency resources That is, the resources with a greater degree of interference among the candidate resources used by the radar device for target detection are excluded, or resources with a lower degree of interference are selected to minimize or avoid interference between radar devices.
- the second time-frequency resource may be a subset of the ninth time-frequency resource, or the second time-frequency resource and the ninth time-frequency resource overlap or do not overlap.
- the radar device triggers the determination of the second time-frequency resource when one or more combinations of the following trigger conditions are met. It should be understood that when the radar device triggers the determination of the second time-frequency resource, it can be considered that the radar device meets the trigger condition, generates a trigger instruction, and starts to determine the second time-frequency resource based on the trigger instruction; it can also be considered that the radar device has been determining the second time-frequency resource before performing target detection The second time-frequency resource, until the trigger condition is met, the radar device re-determines the second time-frequency resource without generating a trigger instruction. When the radar device triggers the determination of the second time-frequency resource, it can also be considered that the radar device switches the time-frequency resource used for target detection.
- the ninth time-frequency resource belongs to the resource currently used for target detection in the first time-frequency resource
- the trigger condition may be that the interference degree of the ninth time-frequency resource is higher than, for example, the second threshold.
- the interference degree of the ninth time-frequency resource currently used for target detection is greater than or equal to the second threshold, and the radar device can re-determine the second time-frequency resource.
- the selected second time-frequency resource may not be Including the ninth time-frequency resource, that is, try to eliminate time-frequency resources with a high degree of interference to reduce the interference between radar devices.
- the ninth time-frequency resource does not belong to the resources currently used for target detection in the first time-frequency resource, and the trigger condition may be that the interference degree of the ninth time-frequency resource is lower than the third threshold.
- the radar device can re-determine the second time-frequency resource, for example, select the second time-frequency resource from the ninth time-frequency resource, so as to reduce or avoid interference between radar devices.
- the foregoing second threshold and third threshold may both be a value set in advance, for example, the radar device is factory-set and can be stored in the radar device; of course, the second and third thresholds may also be values defined by standards, or It is a value defined by the protocol, and can also be a configured value, which is not limited in the embodiment of the present application.
- the embodiment of the present application may also predefine the trigger condition. If the radar device satisfies the trigger condition, the second time-frequency resource is determined.
- the predefined trigger conditions can include one or more of the following combinations.
- the trigger condition may be that the duration or number of times the first time domain resource used for target detection satisfies greater than or equal to the fourth threshold, that is, the radar device determines that the duration or number of times the first time domain resource is used for target detection is greater than Or equal to the fourth threshold.
- the radar device uses the first time domain resource for a shorter period of time or less frequently, that is, the radar device uses a small amount of the first time domain resource, it can be considered that the time domain resource used by the radar device for target detection has poor stability. It is not universal, so other radar devices predict that certain time-frequency resources will be interfered by the radar device to an unstable degree, or even unable to predict the degree to which certain time-frequency resources will be interfered by the radar device. Therefore, the trigger condition can ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the extent to which the time-frequency resources used for target detection are interfered by the radar device.
- the trigger condition can also ensure the fairness of the resources used by each radar device, so as to prevent a radar device from occupying relatively high-quality resources for a long time, causing other radar devices to not use the high-quality resources and can only use the relatively inferior resources.
- the duration or number of times the first time-domain resource used for target detection is used is set to 0, that is, from 0. Start to calculate the duration or number of times the first time domain resource is used for target detection to determine whether the trigger condition is met before the radar device switches the time-frequency resource for target detection next time.
- the trigger condition may be that the duration or number of times the first time domain resource used for target detection is used is greater than or equal to the fourth threshold, and the first value is greater than or equal to the fifth threshold. Or it can also be considered that when the duration or number of times that the radar device uses the first time domain resource to perform target detection is greater than or equal to the fourth threshold, the trigger condition is that the first value is greater than or equal to the fifth threshold.
- the first value may be a random number generated by the radar device.
- the radar device when the radar device determines that the duration or number of times the first time domain resource is used for target detection is greater than or equal to the fourth threshold, it may generate a random number or obtain the value of the random number, that is, the first value. If the first value is greater than or equal to the fifth threshold, the radar device determines the second time-frequency resource. That is, when the duration or number of times the first time domain resource used for target detection is used is greater than or equal to the fourth threshold, the radar device does not switch the time-frequency resource used for target detection, which can be determined by the size of the random number.
- fourth threshold and fifth threshold may both be a preset value, for example, the radar device is set at the factory and can be stored in the radar device; of course, the fourth and fifth thresholds may also be defined by standards.
- the value, or the value defined by the protocol, or the configured value, is not limited in the embodiment of the present application.
- this trigger condition can further increase the stability of the time-frequency resources used by the radar device for target detection, so as to ensure that other radar devices predict that the time-frequency resources used for target detection are used by the radar device.
- the accuracy of the degree of interference from the radar device it should be understood that when the radar device satisfies the trigger condition, in addition to determining the time-frequency resource used by the radar device for target detection, the time or number of times the first time-domain resource used for target detection is used is set to 0, that is, from 0. Start to calculate the duration or number of times the first time domain resource is used for target detection to determine whether the trigger condition is met before the radar device switches the time-frequency resource for target detection next time.
- the radar device can update the duration or number of times that a certain time-frequency resource is continuously used to ensure that different radar devices continue to use a certain time-frequency resource for different durations or times, that is, to ensure that different radar devices are switched.
- the timing of the time-frequency resources used for target detection is different, so as to prevent multiple radar devices from switching the time-frequency resources used for target detection at the same time, and there is still mutual interference.
- the fourth threshold may be generated by the radar device every time the second time-frequency resource is determined; or the fourth threshold may be set when the first time-domain resource used for target detection is used for a duration or number of times greater than or equal to the setting.
- the fourth threshold is the new fourth threshold generated by the radar device.
- the radar device generates a new fourth threshold and updates the original fourth threshold to the new fourth threshold; or the fourth threshold may be in the first When the duration or number of times a time domain resource is used is greater than or equal to the set fourth threshold, and the radar device determines the second time-frequency resource, the radar device generates a new fourth threshold and changes the original fourth threshold Update to the new fourth threshold.
- the new fourth threshold value generated by the radar device may be the same or different from the previous fourth threshold value.
- the trigger condition is that the number of the first time domain resources used by the radar device is greater than or equal to the sixth threshold. Similar to the first example, this trigger condition can try to ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the extent to which the time-frequency resources used for target detection are interfered by the radar device. At the same time, it can also ensure the fairness of the resources used by each radar device, so as to prevent a radar device from occupying relatively high-quality resources for a long time, causing other radar devices to not use the high-quality resources and can only use the relatively inferior resources.
- the cumulative number of radar devices using the first time domain resource is set to 0, that is, after the trigger condition is satisfied , Starting from 0 to accumulate the number of used first time domain resources to determine whether the trigger condition is met before the radar device switches the time-frequency resources used for target detection next time.
- the trigger condition is that the number of the first time domain resources used by the radar device is greater than or equal to the sixth threshold, and the second value is greater than or equal to the seventh threshold. Or it can also be considered that when the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, the trigger condition is that the second value is greater than or equal to the seventh threshold.
- the second value may be a random number generated by the radar device.
- the radar device when the radar device determines that the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, it may generate a random number or obtain the value of the random number, that is, the second value. If the second value is greater than or equal to the seventh threshold, the radar device determines the second time-frequency resource. That is, when the number of the first time domain resources used by the radar device is greater than or equal to the sixth threshold, the radar device should not switch the time-frequency resources used for target detection, which can be determined by the size of the random number.
- the aforementioned sixth threshold and seventh threshold can be a preset value, for example, the radar device is set at the factory, and can be stored in the radar device; of course, it can also be a value defined by a standard, a value defined by a protocol, or a configuration Value, this embodiment of the application does not limit this.
- the cumulative number of the first time domain resources used is set to 0, that is, after the trigger condition is satisfied, from 0 starts to accumulate the number of first time domain resources used to determine whether the trigger condition is met before the radar device switches the time-frequency resources used for target detection next time.
- the radar device can update the duration or number of times that a certain time-frequency resource is continuously used to ensure that different radar devices continue to use a certain time-frequency resource for different durations or times, that is, different radar devices are used for switching.
- the timing of the time-frequency resources for target detection is different, so as to avoid multiple radar devices simultaneously switching the time-frequency resources for target detection, which may interfere with each other.
- the sixth threshold may be generated every time the radar device determines the second time domain resource; or the sixth threshold may be when the cumulative number of first time domain resources used is greater than or equal to the set sixth threshold , The radar device generates a new sixth threshold, and updates the original sixth threshold to a new sixth threshold; or the sixth threshold may be set when the cumulative number of first time domain resources used is greater than or equal to The sixth threshold, and the radar device determines the second time-frequency resource, the radar device generates a new sixth threshold, and updates the original sixth threshold to the new sixth threshold.
- the new sixth threshold value generated by the radar device may be the same or different from the previous sixth threshold value.
- the radar device determines the second time-frequency resource, and can perform target detection on the second time-frequency resource. For example, the radar device sends radar signals on the second time-frequency resource and receives echo signals from the target object. The received echo signal can determine the distance, angle, speed and other information of the target object relative to the radar device to achieve the purpose of target detection.
- the radar device may perform interference detection on the time-frequency resources used by the radar device or the time-frequency resources available to the radar device before performing target detection, so as to predict the subsequent use for target detection based on the results of the interference detection
- the degree of interference of the time-frequency resources based on the degree of interference, re-select the time-frequency resources for target detection from the available time-frequency resources, that is, exclude time-frequency resources with a higher degree of interference, thereby excluding other radars Device interference.
- At least one herein refers to one or more, and “multiple” refers to two or more than two.
- And/or describes the association relationship of related objects, which means that there can be three relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
- the character “/” generally indicates that the associated objects before and after are in an “or” relationship.
- the following at least one item (a) or similar expressions refers to any combination of these items, including any combination of a single item (a) or a plurality of items (a).
- At least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c or a-b-c, where a, b, and c can be single or multiple.
- ordinal numbers such as “first” and “second” mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, timing, priority, or order of multiple objects. Importance.
- each device such as a radar device, includes a hardware structure and/or software module corresponding to each function.
- a hardware structure and/or software module corresponding to each function.
- the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the embodiments of the present application.
- the embodiment of the present application may divide the functional modules of the radar device. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
- the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.
- FIG. 8 shows a possible schematic structural diagram of the radar device involved in the foregoing embodiment of the present application.
- the radar device 800 may include a processing unit 801 and a transceiver unit 802. Further optionally, a storage unit 803 may be included, and the storage unit 803 may be used to store instructions (code or program) and/or data.
- the transceiving unit 802 and the processing unit 801 may be coupled with the storage unit 803.
- the processing unit 801 may read instructions (codes or programs) and/or data in the storage unit 803 to implement corresponding methods.
- the above-mentioned units can be set independently, or partly or fully integrated.
- the transceiving unit 802 may be a unit integrated with a transceiving function, or may include an independent transmitting unit and a receiving unit, which respectively perform the transmitting and receiving functions.
- the radar device 800 can correspondingly implement the behaviors and functions of the radar device in the foregoing method embodiments.
- the radar device 800 may be the above-mentioned radar device, or may be a component (such as a chip or a circuit) applied to the above-mentioned radar device.
- the transceiving unit 802 can be used to perform all the receiving or sending operations performed by the radar device in the embodiment shown in FIG. 2, such as S201 in the embodiment shown in FIG. 2 and/or for supporting the technology described herein. Other processes.
- the processing unit 801 is used to perform all operations performed by the radar device in the embodiment shown in FIG. 2 except for receiving and sending operations, such as S202 in the embodiment shown in FIG. 2, and/or for supporting Other processes of the technique described in this article.
- the transceiver unit 802 is configured to perform at least one interference listening on multiple first time domain resources
- the processing unit 801 is configured to determine the first The second time-frequency resource in the time-frequency resource, the second time-frequency resource is used for target detection; wherein, the plurality of first time-domain resources are a subset of the time-domain resources corresponding to the first time-frequency resource, and the first The time-frequency resource is the time-frequency resource of the first detection device, and among the plurality of first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the interference interception is performed in the plurality of first time domain resources. A part of the first time domain resource in a time domain resource.
- At least one first time domain resource used for at least one target detection there is no overlap between at least one first time domain resource used for at least one target detection and part of the first time domain resource used for at least one interference interception; or, at least one first time domain resource used for at least one target detection
- the at least one first time domain resource overlaps a part of the first time domain resource used for at least one interference listening.
- the at least one first time domain resource used for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a second set of first time domain resources.
- Group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from The time interval between two adjacent first time domain resources in the second group of first time domain resources.
- the transceiver unit 802 is also used to:
- At least one interference interception is performed on at least one second time domain resource among the plurality of second time domain resources.
- the duration of each interference interception is less than the duration of the first time domain resource.
- each of the second time domain resources includes M sub-time domain resources
- the frequency domain resource corresponding to the first time-frequency resource includes N sub-frequency domain resources.
- the transceiver unit 802 is specifically used for:
- the time-domain resource corresponding to the fifth time-frequency resource is one of M sub-time-domain resources
- the frequency-domain resource corresponding to the fifth time-frequency resource is N sub-frequency-domain resources one of the.
- the accumulated interference listening duration is greater than the first duration
- the accumulated interference listening duration is less than the second duration
- the duration used for target detection is less than the third duration; or,
- the cumulative interference listening duration that satisfies the preset condition is greater than the fourth duration, where the preset condition includes one or more combinations of the following conditions:
- the frequency domain resource corresponding to the time-frequency resource used for interference detection is a subset of the frequency domain resource corresponding to the time-frequency resource used for target detection; or,
- the frequency domain resources corresponding to the time-frequency resources used for interference detection and the frequency domain resources corresponding to the time-frequency resources used for target detection partially overlap or do not overlap at all; or,
- the time-domain resource corresponding to the time-frequency resource used for interference interception is a subset of the plurality of first time-domain resources; or,
- the time domain resource corresponding to the time-frequency resource used for interference sensing is a subset of the time domain resource corresponding to the first time-frequency resource.
- processing unit 801 is specifically used to:
- Receive indication information on the sixth time-frequency resource where the indication information is used to indicate the seventh time-frequency resource used for target detection by the second detection device, and to determine the power, energy, or spectrum of the signal received on the seventh time-frequency resource density.
- processing unit 801 is specifically used to:
- the power, energy, or spectral density of the signal received on the sixth time-frequency resource is determined.
- processing unit 801 is specifically used to:
- processing unit 801 is specifically used to:
- the proportion of the ninth time-frequency resource determines the degree of interference.
- processing unit 801 is also used to:
- the second time-frequency resource is determined:
- the ninth time-frequency resource belongs to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than the first threshold; or,
- the ninth time-frequency resource does not belong to the resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or,
- the duration or number of times of the first time domain resource used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold; or,
- the duration or number of the first time domain resources used for target detection among the plurality of first time domain resources is greater than or equal to the third threshold, and the first value is acquired, and the trigger condition is that the first value is greater than or equal to the fourth threshold ;or,
- the number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold; or,
- the number of the first time domain resources used by the first detection device is greater than or equal to the fifth threshold, and the second value is acquired.
- the trigger condition is that the second value is greater than or equal to the sixth threshold.
- processing unit 801 is also used to:
- processing unit 801 is also used to:
- the fifth threshold is updated; or, if the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.
- processing unit 801 in the embodiments of the present application may be implemented by a processor or processor-related circuit components
- transceiver unit 802 may be implemented by a transceiver or transceiver-related circuit components or a communication interface.
- the transceiver may include, for example, a transmitter and a receiver, and the processor, the transmitter, and the receiver are coupled with each other, where the transmitter and the receiver are realized by, for example, an antenna, a feeder, and a codec in a radar device, or, If the radar device is a chip set in the detection device, the transmitter and receiver are, for example, the communication interface in the chip, and the communication interface is connected with the radio frequency transceiver component in the detection device to realize the transmission and reception of information through the radio frequency transceiver component .
- FIG. 9 is a schematic diagram of another possible structure of the communication device 900 provided in this embodiment of the present application.
- the communication device 900 may include a processor 901, a transmitter 902, and a receiver 903. Its functions can correspond to the specific functions of the processing unit 801 and the transceiver unit 802 shown in FIG. 8 respectively, and will not be repeated here.
- the communication device may further include a memory 904 for storing program instructions and/or data for the processor 901 to read.
- the communication device 10 may be the radar device itself, or may be a chip or circuit capable of completing the function of the radar device, for example, the chip or circuit may be provided in the radar device.
- the communication device 1000 may include a processor 1001 (for example, the processing unit 801 may be implemented by the processor 901, and the processor 901 and the processor 1001 may be, for example, the same component) and an interface circuit 1002 (for example, the transceiver unit 802 may be implemented by the interface circuit 1002, and transmit The receiver 902 and the receiver 903 are the same component as the interface circuit 1002, for example).
- the processor 1001 can enable the communication device 1000 to implement the steps performed by the radar device in the method provided in the embodiment shown in FIG. 2.
- the communication device 1000 may further include a memory 1003, and the memory 1003 may be used to store instructions.
- the processor 1001 executes the instructions stored in the memory 1003 to enable the communication device 1000 to implement the steps executed by the radar device in the method provided in the embodiment shown in FIG. 2.
- the processor 1001, the interface circuit 1002, and the memory 1003 can communicate with each other through an internal connection path to transfer control and/or data signals.
- the memory 1003 is used to store a computer program.
- the processor 1001 can call and run the computer program from the memory 1003 to control the interface circuit 1002 to receive signals or send signals, and complete the radar device execution in the method provided by the embodiment shown in FIG. 2 step.
- the memory 1003 may be integrated in the processor 1001, or may be provided separately from the processor 1001.
- the interface circuit 1002 may include a receiver and a transmitter.
- the receiver and the transmitter may be the same component or different components.
- the component can be called a transceiver.
- the interface circuit 1002 may include an input interface and an output interface, and the input interface and the output interface may be the same interface or may be different interfaces respectively.
- the communication device 1000 may not include the memory 1003, and the processor 1001 may read instructions (programs or codes) in the memory external to the chip or circuit to implement the instructions shown in FIG. 2 The steps performed by the radar device in the method provided by the embodiment.
- the communication device 1000 may include a resistor, a capacitor, or other corresponding functional components, and the processor 1001 or the interface circuit 1002 may be implemented by corresponding functional components.
- the function of the interface circuit 1002 may be implemented by a transceiver circuit or a dedicated chip for transceiver.
- the processor 1001 may be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.
- a general-purpose computer may be considered to implement the radar device provided in the embodiment of the present application. That is, the program codes for realizing the functions of the processor 1001 and the interface circuit 1002 are stored in the memory 1003, and the processor 1001 implements the functions of the processor 1001 and the interface circuit 1002 by executing the program codes stored in the memory 1003.
- the functions and actions of the modules or units in the communication device 1000 listed above are only exemplary descriptions, and the functional units in the communication device 1000 can be used to perform the actions or processes performed by the radar device in the embodiment shown in FIG. 2 process. In order to avoid repetitive descriptions, detailed descriptions are omitted here.
- the radar device when implemented by software, it can be implemented in the form of a computer program product in whole or in part.
- the computer program product includes one or more computer instructions.
- the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
- the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
- the computer instructions may be transmitted from a website, computer, server, or data center.
- 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 or a data center integrated with one or more available media.
- the usable medium may be a magnetic medium, (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
- the processor included in the above-mentioned radar device for executing the target detection method may be a central processing unit (CPU), a general-purpose processor, or a digital signal processor (digital signal processor).
- signal processor DSP
- application-specific integrated circuit ASIC
- FPGA field programmable gate array
- the processor may also be a combination for realizing computing functions, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
- the steps of the method or algorithm described in the embodiments of the present application may be implemented in a hardware manner, or may be implemented in a manner in which a processor executes software instructions.
- Software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only Memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (EEPROM), register, hard disk, mobile hard disk, compact disc (read-only memory) , CD-ROM) or any other form of storage medium known in the art.
- An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium.
- the storage medium may also be an integral part of the processor.
- the processor and the storage medium may be located in the ASIC.
- the ASIC may be located in a radar device or a detection device in which the radar device is installed.
- the processor and the storage medium may also exist as discrete components in the radar device or the detection equipment installed with the radar device.
- FIGS. 8-10 only show the simplified design of the radar device.
- a radar device can include any number of transmitters, receivers, processors, controllers, memories, and other possible components.
- An embodiment of the present application also provides a sensor system, which includes at least one radar device described above. Further optionally, the sensor system further includes at least one camera and/or lidar.
- the embodiment of the application also provides a vehicle, such as a vehicle, an unmanned aerial vehicle, an unmanned vehicle, etc., including the above-mentioned sensor system.
- a vehicle such as a vehicle, an unmanned aerial vehicle, an unmanned vehicle, etc., including the above-mentioned sensor system.
- An embodiment of the present application also provides a communication system, which includes at least one radar device described above.
- the embodiment of the present application also provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method executed by the radar device in FIG. 2.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are merely illustrative.
- the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be divided. It can be combined or integrated into another device, or some features can be omitted or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
- the units described as separate parts may or may not be physically separate.
- the parts displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
- the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium.
- the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product, and the software product is stored in a storage medium. It includes several instructions to make a device (which may be a single-chip microcomputer, a chip, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.
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Abstract
一种目标检测方法及雷达装置,属于雷达领域,尤其涉及协同式雷达。该目标检测方法通过雷达间协同,减轻雷达间的互相干扰,该方法包括雷达装置在多个第一时域资源上进行至少一次干扰侦听(S201),以及根据至少一次干扰侦听的结果,确定第一时频资源中用于目标检测的第二时频资源(S202);其中多个第一时域资源为第一探测装置的时频资源对应的时域资源的子集,第一时频资源为第一探测装置的时频资源;在多个第一时域资源中任意两个相邻的第一时域资源之间的时间间隔相同,干扰侦听是在多个第一时域资源中部分第一时域资源进行的。该方法及雷达装置可应用于自动驾驶等相关领域,能够降低设置于车上的探测装置之间的干扰,更好地实现自动驾驶。
Description
相关申请的交叉引用
本申请要求在2020年02月24日提交中国专利局、申请号为202010110747.8、申请名称为“一种目标检测方法及雷达装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及雷达技术领域,尤其涉及一种目标检测方法及雷达装置。
随着科技的发展,智能汽车逐步进入了日常生活。其中,高级驾驶辅助系统(advanced driving assistant system,ADAS)在智能汽车中发挥着十分重要的作用,该系统利用安装在车上的各式各样的传感器,在汽车行驶过程中感应周围的环境、收集数据,进行物体的辨识、侦测与追踪等,从而预先让驾驶者察觉到可能发生的危险,有效增加了汽车驾驶的舒适性和安全性。
在无人驾驶架构中,传感层包括车载摄像头等视觉系传感器和车载雷达等雷达系传感器。毫米波雷达为车载雷达的一种,由于成本较低、技术比较成熟,率先成为无人驾驶系统主力传感器。
目前雷达装置使用固定的资源周期性地发送雷达信号,在发送雷达信号的资源上接收目标物体对该雷达信号反射的信号,也称为回波信号。雷达装置根据接收的回波信号以及发送的雷达信号可以确定目标物体的位置信息和速度信息等。在下文中,该过程也称为目标检测。
如果两个雷达装置使用相同的资源,或者两个雷达装置使用的资源重叠,那么会造成这两个雷达装置之间互相干扰。尤其是处于邻近的两个雷达装置,且这两个雷达装置发送雷达信号的周期相同,更容易造成彼此之间的干扰。例如同向车流中邻近车辆安装的雷达装置使用的资源全部重叠或部分重叠会持续的互相干扰。
发明内容
本申请提供一种目标检测方法及雷达装置,以尽量减小或避免雷达之间的干扰。
第一方面,提供一种目标检测方法,该方法的执行主体可以是第一探测装置,第一探测装置例如为雷达装置,也可以是第一探测装置中的芯片。下面以执行主体是雷达装置为例进行描述。所述方法包括:在多个第一时域资源上进行至少一次干扰侦听,以及根据至少一次干扰侦听的结果,确定第一时频资源中的第二时频资源,该第二时频资源用于目标检测,其中,该多个第一时域资源为第一时频资源对应的时域资源的子集,第一时频资源为雷达装置的时频资源,在多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,所述干扰侦听是在该多个第一时域资源中的部分第一时域资源进行的。
具体的,所述部分第一时域资源为所述多个第一时域资源除用于目标检测的至少一个 第一时域资源之外的资源。
所述方法还包括:在所述多个第一时域资源上执行至少一次目标检测,用于所述至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源不重叠;或者,在所述多个第一时域资源上执行至少一次目标检测,用于所述至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源存在重叠。
在该方案中,多个第一时域资源是周期的,也就是任意相邻的两个第一时域资源之间的时间间隔是相同的,雷达装置在这多个第一时域资源中的部分第一时域资源上进行目标检测,在另一部分第一时域资源进行干扰侦听,也就是进行干扰检测。雷达装置根据干扰侦听的结果可以预测在某些时域资源(例如类似第一时域资源的时域资源)上进行目标检测,受其他雷达装置干扰的严重程度,从而确定雷达装置后续用于目标检测的第二时频资源,以尽量从第一时频资源中排除受干扰程度较高的时频资源,降低或避免雷达装置在进行目标检测时受其他雷达装置的干扰。
在一种可能的设计中,用于目标检测至少一个第一时域资源包括至少三个第一时域资源,所述至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,每组第一时域资源包括相邻的两个第一时域资源,第一组第一时域资源中相邻的两个第一时域资源的时间间隔不同于第二组第一时域资源中相邻的两个第一时域资源的时间间隔。
应理解,用于目标检测的第一时域资源包括至少三个第一时域资源时,至少三个第一时域资源包括第一组第一时域资源以及第二组第一时域资源,其中,第一组第一时域资源中相邻的两个第一时域资源的时间间隔不同于第二组第一时域资源中相邻的两个第一时域资源的时间间隔,换句话来说,就是用于目标检测的至少三个第一时域资源是非周期的。而在多个第一时域资源中选择较少的第一时域资源用于干扰侦听,就可以使得用于目标检测的至少三个第一时域资源是非周期的,这样可以尽量减少不用于目标检测的第一时域资源,以保证雷达装置进行目标检测的性能。同时,采用这种方案,能够保证干扰侦听的结果更为合理地反映用于目标检测的时域资源的受干扰程度。
在一种可能的设计中,所述方法还包括:
在多个第二时域资源上进行至少一次干扰侦听,该多个第二时域资源为所述第一时频资源对应的时域资源中除所述多个第一时域资源之外的时域资源的子集,所述至少一次干扰侦听是在该多个第二时域资源中的至少一个第二时域资源上进行的。
例如雷达装置除了对用于目标检测的第一时域资源进行干扰侦听之外,还可以对不用于目标检测的第二时域资源进行干扰侦听,这样雷达装置可以预测可用的时频资源(例如对应时域资源为第二时域资源的时频资源)中是否存在更适合用于目标检测的时频资源。也就是目前不用于目标检测的时频资源中是否存在受干扰程度更低的时频资源。采用该方案,有利于选择更合适的时频资源,以用于目标检测。
在一种可能的设计中,进行一次目标检测的第一频域资源与进行一次干扰侦听的第二频域资源重叠或者不重叠。
例如用于目标检测的第一频域资源和用于干扰侦听的第二频域资源可以重叠,这样通过干扰侦听可以预测目前用于目标检测的频域资源被干扰的程度。用于目标检测的第一频域资源和用于干扰侦听的第二频域资源可以不重叠,这样通过干扰侦听可以预测当前不用于目标检测的频域资源被干扰的程度。
在一种可能的设计中,执行所述每次干扰侦听的时长小于所述第一时域资源的时长。
例如,雷达装置在第三时频资源上进行目标检测,该第三时频资源对应的时域资源是一个第一时域资源,雷达装置在第四时频资源上进行干扰侦听,该第四时频资源对应的时域资源是一个第一时域资源的子集。这样雷达装置在一个第一时域资源内可以进行多次侦听,每次侦听不同的频域资源,从而可以确定更多时频资源的受干扰程度。
在一种可能的设计中,一个第二时域资源包括M个子时域资源,所述第一时频资源对应的频域资源包括N个子频域资源,所述M和所述N互质,所述在多个第二时域资源上进行至少一次干扰侦听,包括:
在第五时频资源上进行干扰侦听,所述第五时频资源对应的时域资源是所述M个子时域资源中的一个,所述第五时频资源对应的频域资源是所述N个子频域资源中的一个。
例如M和N互质,可以使得雷达装置在最短的时间内,确定最多的时频资源的受干扰程度。
在一种可能的设计中,雷达装置对时频资进行干扰侦听的时长满足以下可能的至少一种条件:
条件一、在第一预设时长内,干扰侦听时长大于或等于第一时长,可以保证雷达装置的干扰侦听性能。例如,雷达装置对某些时频资源进行干扰侦听,自然干扰侦听时长越长,雷达装置的干扰侦听性能越好,如果要求雷达装置的干扰侦听性能最低大于某个阈值,对应的最短干扰侦听时长可以为第一时长。
条件二、在第二预设时长内,干扰侦听时长小于或等于第二时长,可以保证雷达装置的目标检测性能。例如对某些时频资源进行干扰侦听,干扰侦听时长越短,自然用于干扰侦听的计算处理的资源越少,相对来说,用于目标检测的时间和计算处理的资源越多,可以尽量保证雷达装置进行目标检测的性能。如果要求雷达装置的目标检测性能最低大于某个阈值,对应的最长干扰侦听时长可以为第二时长。
条件三、在第三预设时长内,用于目标检测的时长小于第三时长,可以保证侦听更多的时频资源。例如第一时频资源对应的时域资源中除用于目标检测的时域资源之外的时域资源都用于干扰侦听,也就是在不用于目标检测的全部时域资源上进行干扰侦听,此时用于目标检测的时长小于第三时长可以保证侦听更多的时频资源。
条件四、在第四预设时长内,满足预设条件的干扰侦听时长大于或等于第四时长,可以保证雷达装置对特定类型资源的干扰侦听性能。例如预设条件可为用于干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集,以保证雷达装置在目前可用于目标检测的频域资源上进行了充分的干扰侦听,从而保证了对可用于目标检测的频域资源的干扰侦听性能。
条件五、在第五预设时长内,满足预设条件的干扰侦听时长大于或等于第五时长,可以保证雷达装置对特定类型资源的干扰侦听性能。例如预设条件可为用于干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或不重叠,以保证雷达装置在不用于目标检测的频域资源上进行充分的干扰侦听,从而保证对不用于目标检测的频域资源的干扰侦听性能。
条件六、在第六预设时长内,满足预设条件的干扰侦听时长大于或等于第六时长,可以保证雷达装置对特定类型资源的干扰侦听性能。例如预设条件可为用于干扰侦听的时频资源对应的时域资源是第一时域资源的子集,以保证雷达装置在目前用于目标检测的时域资源上进行充分的干扰侦听,从而保证雷达装置对目前用于目标检测的时域资源的干扰侦 听性能。
条件七、在第七预设时长内,满足预设条件的干扰侦听时长大于或等于第七时长,可以保证雷达装置对特定类型资源的干扰侦听性能。例如预设条件可为用于干扰侦听的时频资源对应的时域资源是第一时频资源对应的时域资源的子集,以保证雷达装置在用于目标检测的时域资源上进行充分的干扰侦听,从而保证雷达装置对用于目标检测的时域资源的干扰侦听性能。
需要说明的是,前述第一预设时长至第七预设时长,共7个预设时长,可以相同也可以不相同。前述条件四至条件七中的预设条件也可以是条件四至条件七分别对应的预设条件中的任意组合。
在一种可能的设计中,所述进行至少一次干扰侦听,包括:
确定在用于所述至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度;或者,
在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度。
在本申请实施例中,对某个时频资源进行干扰侦听指的是确定在该时频资源上接收的信号的强度,例如获取该信号的功率、能量或谱密度等,或者其他用于表征信号的强度的可能的参数。或者对某个时频资源进行干扰侦听指的是在另一时频资源接收用于指示该时频资源的指示信息,并确定在该时频资源上接收的信号的强度。例如考虑到一种应用场景,雷达装置可以在某个资源上发送用于目标检测的信号,也可以在该资源上发送指示信息,以指示该雷达装置用于目标检测的时频资源。由于不同的雷达装置发送的用于目标检测的雷达信号的特征可能不同,如果不同的雷达装置并不知道彼此发送的用于目标检测的雷达信号的特征,那么雷达装置直接侦听该时频资源,难度较大,甚至无法确定所述指示信息指示的时频资源上接收的信号的强度。采用本方案,多个雷达装置可以预先约定承载指示信息的信号的形式、参数、资源等,那么多个雷达装置之间互相接收对方发送的指示信息就易于实现,通过侦听指示信息来预测在该指示信息指示的资源上接收的信号的强度,也易于实现,降低了干扰侦听的难度。
在一种可能的设计中,所述在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度,包括:
在所述第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,
根据在所述第六时频资源上接收的信号的功率、能量或谱密度,确定在所述第七时频资源接收的信号的功率、能量或谱密度。
本申请实施例可以对在第七时频资源上接收的信号直接测量,例如指示信息可以指示其他雷达装置在第七时频资源发送雷达信号的参数,例如雷达信号的脉宽、脉冲重复间隔、调频斜率等,从而雷达装置接收到指示信息,可以直接在第七时频资源上对接收的信号进行测量。或者,通过获取在第六时频资源上接收的信号的功率、能量或谱密度的方式,预测在第七时频资源上接收信号的功率、能量或谱密度,也就是不直接获取在该第七时频资源接收信号的功率、能量或谱密度,降低检测难度,提高检测效率。例如多个雷达装置可以预先约定承载指示信息的信号的形式、参数、资源等,保证多个雷达装置之间能够互相接收对方发送的指示信息。
在一种可能的设计中,根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,包括:
根据所述第一时频资源中第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,所述第八时频资源与所述第九时频资源之间存在第一对应关系;
根据所述第九时频资源的受干扰程度,确定所述第二时频资源,其中,所述第二时频资源包括至少一个所述第九时频资源;或者,所述第二时频资源不包含所述第九时频资源。
本申请实施例旨在根据侦听过的第八时频资源的侦听结果,从第一时频资源中确定用于目标检测的第二时频资源。例如可以根据侦听过的第八时频资源的侦听结果确定第九时频资源的受干扰程度,再根据该干扰程度确定第二时频资源。其中第九时频资源与第八时频资源之间存在对应关系,例如第九时频资源和第八时频资源分别为周期性时频资源的不同子集,应理解该周期性时频资源对应的频域资源相同,对应相邻的两个时域资源之间的间隔相同。如果第八时频资源较容易被干扰,那么可以推测第九时频资源也较容易被干扰。如果第九时频资源的受干扰程度较低,那么可以从第九时频资源中选择用于目标检测的第二时频资源,例如选择干扰程度最低的第九时频资源作为第二时频资源。或者如果第九时频资源的受干扰程度较高,那么可以从除第九时频资源之外的其他时频资源中选择用于目标检测的时频资源,以尽量排除可能被干扰的时频资源。
在一种可能的设计中,所述根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,包括如下的任意一种方案:
方案一,根据在所述多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定所述第九时频资源的受干扰程度。采用该方案可以较为合理的选择第九时频资源。
方案二,根据所述多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者所述受干扰程度大于预设阈值的至少一个第八时频资源在所述多个第八时频资源中所占的比例,确定所述第九时频资源的受干扰程度。被干扰的时频资源较多,或者被干扰的时频资源在被侦听过的时频资源所占比例较大,那么可以认为与侦听过的时频资源具有第一对应关系的时频资源被干扰的可能性较大。采用该方案可以尽可能地排除受干扰程度较高的时频资源。
在一种可能的设计中,为了降低或避免其他雷达装置的干扰,雷达装置可以重新选择用于目标检测的时频资源,示例性的,满足如下至少一种触发条件,雷达装置确定用于目标检测的所述第二时频资源:
触发条件一、所述第九时频资源属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度高于第一阈值。
例如第九时频资源为雷达装置用于目标检测的资源,如果干扰侦听后,确定第九时频资源的干扰程度较高,那么雷达装置在第九时频资源上进行目标检测被干扰的程度较高,此时可以重新确定第二时频资源。
触发条件二、所述第九时频资源不属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度低于第二阈值。
例如第九时频资源不是用于目标检测的资源,而根据侦听结果确定第九时频资源的受干扰程度较低,可以认为存在比目前用于目标检测的资源更适合用于目标检测的资源,此时可以重新确定第二时频资源。
触发条件三、所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,此时可以重新确定第二时频资源。该方案可以尽量保证雷达装置用于目标检测的时频资源相对较为稳定,以便于其他雷达装置可以预测用于目标检测的时频资源被该雷达装置干扰的程度。同时,该方案还可以保证各个雷达装置使用资源的公平性,以避免某个雷达装置长期占用较为优质的资源,而导致其他雷达装置不能使用该优质的资源,只能使用较为劣质的资源。应理解,雷达装置满足触发条件三,将用于目标检测的第一时域资源被使用的时长或次数置0,也就是从0开始计算第一时域资源被用于目标检测的时长或次数,以判断雷达装置下一次是否满足触发条件三。
触发条件四、所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,该第一值大于或等于第四阈值。也就是所述触发条件为所述第一值大于或等于第四阈值,第一值例如可以是随机生成的。该方案在保证各个雷达装置使用资源较为公平的基础上,还可以进一步增加雷达装置用于目标检测的时频资源的稳定性,以保证其他雷达装置预测用于目标检测的时频资源被该雷达装置干扰的程度的准确度。应理解,雷达装置满足触发条件四,将用于目标检测的第一时域资源被使用的时长或次数置0,也就是从0开始计算第一时域资源被用于目标检测的时长或次数,以判断雷达装置下一次是否满足触发条件四。
触发条件五,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值。该方案在更大程度上保证雷达装置用于目标检测的时频资源相对较为稳定,更利于其他雷达装置预测可用的时频资源进行目标检测的被干扰的程度。同时该方案还可以保证各个雷达装置使用资源的公平性,以避免某个雷达装置长期占用较为优质的资源,而导致其他雷达装置不能使用该优质的资源,只能使用较为劣质的资源。应理解,雷达装置满足触发条件五,将累计的第一时域资源被使用的个数置0,也就是满足触发条件五之后,从0开始累计使用的第一时域资源的个数,以判断雷达装置下一次是否满足触发条件五。
触发条件六,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,所述触发条件为所述第二值大于或等于第六阈值。与触发条件四类似,第二值也可以是随机生成的,该方案在保证各个雷达装置使用资源较为公平的基础上,还可以进一步增加雷达装置用于目标检测的时频资源的稳定性,以保证其他雷达装置预测用于目标检测的时频资源被该雷达装置干扰的程度的准确度。应理解,雷达装置满足触发条件六,将累计的第一时域资源被使用的个数置0,也就是满足触发条件六之后,从0开始累计使用的第一时域资源的个数,以判断雷达装置下一次是否满足触发条件六。
在一种可能的设计中,所述方法还包括:
所述第一值大于或等于所述第四阈值,更新所述第三阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新所述第三阈值。
在该方案中,雷达装置更新持续使用某个时频资源的时长或者次数,这样可以保证不同的雷达装置持续使用某个时频资源的时长或次数不同,也就是保证不同的雷达装置切换用于目标检测的时频资源的时机不同,从而尽量避免多个雷达装置同时切换用于目标检测的时频资源,存在互相干扰的情况。
在一种可能的设计中,所述方法还包括:
所述第二值大于或等于所述第六阈值,更新所述第五阈值;或者,所述被所述第一探 测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新所述第五阈值。
同理,更新第五阈值可以尽量避免多个雷达装置同时切换用于目标检测的时频资源,存在互相干扰的情况。
第二方面,提供一种雷达装置,该雷达装置可以包括收发单元和处理单元,其中:
所述收发单元,用于在多个第一时域资源上进行至少一次干扰侦听,该多个第一时域资源为第一时频资源对应的时域资源的子集,第一时频资源为第一探测装置的时频资源;其中,在该多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,干扰侦听是在该多个第一时域资源中的部分第一时域资源进行的;
所述处理单元,用于根据至少一次干扰侦听的结果,确定第一时频资源中的第二时频资源,所述第二时频资源用于目标检测。
在一种可能的设计中,用于至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源不存在重叠;或者,用于至少一次目标检测的至少一个时域资源与用于至少一次干扰侦听的部分第一时域资源存在重叠。
在一种可能的设计中,用于目标检测的至少一个第一时域资源包括至少三个第一时域资源,该至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,每组第一时域资源包括相邻的两个第一时域资源,第一组第一时域资源中相邻的两个第一时域资源的时间间隔不同于第二组第一时域资源中相邻的两个第一时域资源的时间间隔。
在一种可能的设计中,所述收发单元还用于:
在多个第二时域资源上进行至少一次干扰侦听,该多个第二时域资源为第一时频资源对应的时域资源中除多个第一时域资源之外的时域资源的子集,至少一次干扰侦听是在多个第二时域资源中的至少一个第二时域资源上进行的。
在一种可能的设计中,执行每次干扰侦听的时长小于第一时域资源的时长。
在一种可能的设计中,每个第二时域资源包括M个子时域资源,第一时频资源对应的频域资源包括N个子频域资源,M和N互质,所述收发单元具体用于:
在第五时频资源上进行干扰侦听,该第五时频资源对应的时域资源是M个子时域资源中的一个,第五时频资源对应的频域资源是N个子频域资源中的一个。
在一种可能的设计中,满足以下条件中的至少一种:
在预设时长内,累计的干扰侦听时长大于第一时长;或者,
在预设时长内,累计的干扰侦听时长小于第二时长;或者,
在预设时长内,用于目标检测的时长小于第三时长;或者,
在预设时长内,累计满足预设条件的干扰侦听时长大于第四时长,其中预设条件包括如下条件的一种或多种组合:
用于干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集;或者,
用于干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或完全不重叠;或者,
用于干扰侦听的时频资源对应的时域资源是多个第一时域资源的子集;或者,
用于干扰侦听的时频资源对应的时域资源是第一时频资源对应的时域资源的子集。
在一种可能的设计中,所述处理单元具体用于:
确定在用于至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度; 或者,
在第六时频资源上接收指示信息,指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,所述处理单元具体用于:
在第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,
根据在第六时频资源上接收的信号的功率、能量或谱密度,确定在第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,所述处理单元具体用于:
根据第一时频资源中一第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,第八时频资源与所述第九时频资源之间存在第一对应关系;
根据第九时频资源的受干扰程度,确定第二时频资源,其中,第二时频资源包括至少一个所述第九时频资源;或者,第二时频资源不包含第九时频资源。
在一种可能的设计中,所述处理单元具体用于:
根据在多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定第九时频资源的受干扰程度;或者,
根据多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者所述受干扰程度大于预设阈值的至少一个第八时频资源在多个第八时频资源中所占的比例,确定第九时频资源的受干扰程度。
在一种可能的设计中,所述处理单元还用于:
在满足以下触发条件的至少一个触发条件时,确定第二时频资源:
第九时频资源属于第一时频资源中用于目标检测的资源,第九时频资源的受干扰程度高于第一阈值;或者,
第九时频资源不属于所述第一时频资源中用于目标检测的资源,第九时频资源的受干扰程度低于第二阈值;或者,
多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值;或者,
多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,触发条件为所述第一值大于或等于第四阈值;或者,
被第一探测装置使用的第一时域资源的个数大于或等于第五阈值;或者,
被第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,触发条件为第二值大于或等于第六阈值。
在一种可能的设计中,所述处理单元还用于:
第一值大于或等于第四阈值,更新第三阈值;或者,多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新第三阈值。
在一种可能的设计中,所述处理单元还用于:
第二值大于或等于第六阈值,更新第五阈值;或者,所述被第一探测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新第五阈值。
第三方面,提供了一种雷达装置,该雷达装置包括处理器和收发器,可选的,该收发器可以包括发射器和接收器,处理器、发射器和接收器相互耦合,用于实现上述第一方面 或第一方面的各种可能的设计所描述的方法。示例性的,所述雷达装置为设置在探测设备中的芯片。示例性的,所述雷达装置为雷达。其中,发射器和接收器例如通过通信设备中的天线、馈线和编解码器等实现,或者,如果所述雷达装置为设置在探测设备中的芯片,那么发射器和接收器例如为芯片中的通信接口,该通信接口与探测设备中的射频收发组件连接,以通过射频收发组件实现信息的收发。其中:
所述收发器,用于在多个第一时域资源上进行至少一次干扰侦听,该多个第一时域资源为第一时频资源对应的时域资源的子集,第一时频资源为第一探测装置的时频资源;其中,所述多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,干扰侦听是在所述多个第一时域资源中的部分第一时域资源进行的;
所述处理器,用于根据至少一次干扰侦听的结果,确定第一时频资源中的第二时频资源,所述第二时频资源用于目标检测。
在一种可能的设计中,用于至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源不存在重叠。
在一种可能的设计中,用于目标检测的至少一个第一时域资源包括至少三个第一时域资源,该至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,每组第一时域资源包括相邻的两个第一时域资源,第一组第一时域资源中所述相邻的两个第一时域资源的时间间隔不同于第二组第一时域资源中所述相邻的两个第一时域资源的时间间隔。
在一种可能的设计中,所述收发器还用于:
在多个第二时域资源上进行至少一次干扰侦听,多个第二时域资源为所述第一时频资源对应的时域资源中除多个第一时域资源之外的时域资源的子集,所述一次干扰侦听是在多个第二时域资源中的至少一个第二时域资源上进行的。
在一种可能的设计中,执行所述每次干扰侦听的时长小于所述第一时域资源的时长。
在一种可能的设计中,每个所述第二时域资源包括M个子时域资源,所述第一时频资源对应的频域资源包括N个子频域资源,所述M和所述N互质,所述收发器具体用于:
在第五时频资源上进行干扰侦听,所述第五时频资源对应的时域资源是所述M个子时域资源中的一个,所述第五时频资源对应的频域资源是所述N个子频域资源中的一个。
满足以下条件中的至少一种:
在预设时长内,累计的干扰侦听时长大于第一时长;或者,
在预设时长内,累计的干扰侦听时长小于第二时长;或者,
在预设时长内,用于目标检测的时长小于第三时长;或者,
在预设时长内,累计满足预设条件的干扰侦听时长大于第四时长,其中所述预设条件包括如下条件的一种或多种组合:
用于所述干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集;或者,
用于所述干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或完全不重叠;或者,
用于所述干扰侦听的时频资源对应的时域资源是所述多个第一时域资源的子集;或者,
用于所述干扰侦听的时频资源对应的时域资源是所述第一时频资源对应的时域资源的子集。
在一种可能的设计中,所述处理器具体用于:
确定在所述资源接收的信号的功率、能量或谱密度;或者,
在所述第六时频资源上接收指示信息,所述指示信息用于指示第二探测装置用于目标检测的所述资源,以及确定在所述资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,所述处理器具体用于:
确定在用于所述至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度;或者,
在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,所述处理器具体用于:
在所述第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,
根据在所述第六时频资源上接收的信号的功率、能量或谱密度,确定在所述第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,所述处理器具体用于:
根据所述第一时频资源中一第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,所述第八时频资源与所述第九时频资源之间存在第一对应关系;
根据所述第九时频资源的受干扰程度,确定所述第二时频资源,其中,所述第二时频资源包括至少一个所述第九时频资源;或者,所述第二时频资源不包含所述第九时频资源。
在一种可能的设计中,所述处理器具体用于:
根据在所述多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定所述第九时频资源的受干扰程度;或者,
根据所述多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者所述受干扰程度大于预设阈值的至少一个第八时频资源在所述多个第八时频资源中所占的比例,确定所述第九时频资源的受干扰程度。
在一种可能的设计中,所述处理器还用于:
在满足以下触发条件的至少一个所述触发条件时,确定所述第二时频资源:
所述第九时频资源属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度高于第一阈值;或者,
所述第九时频资源不属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度低于第二阈值;或者,
所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值;或者,
所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,所述触发条件为所述第一值大于或等于第四阈值;或者,
被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值;或者,
被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,所述触发条件为所述第二值大于或等于第六阈值。
在一种可能的设计中,所述处理器还用于:
所述第一值大于或等于所述第四阈值,更新所述第三阈值;或者,所述多个第一时域 资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新所述第三阈值。
在一种可能的设计中,所述处理器还用于:
所述第二值大于或等于所述第六阈值,更新所述第五阈值;或者,所述被所述第一探测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新所述第五阈值。
第四方面,提供再一种装置。该装置可以为上述方法设计中的装置。示例性地,所述装置为设置在探测设备中的芯片。示例性地,所述探测设备为雷达。该装置包括:存储器,用于存储计算机可执行程序代码;以及处理器,处理器与存储器耦合。其中存储器所存储的程序代码包括指令,当处理器执行所述指令时,使该装置或者安装有该装置的设备执行上述第一方面或第一方面的任意一种可能的实施方式中的方法。
其中,该装置还可以包括通信接口,该通信接口可以是探测设备中的收发器,例如通过所述雷达装置中的天线、馈线和编解码器等实现,或者,如果该装置为设置在探测设备中的芯片,则通信接口可以是该芯片的输入/输出接口,例如输入/输出管脚等。
第五方面,提供一种通信系统,该通信系统可以例如包括第三方面或第四方面所述的装置中的一个或多个,或者,该通信系统还可以包括目标物体。
第六方面,提供一种计算机存储介质,所述计算机可读存储介质中存储有指令,当其在计算机上运行时,使得计算机执行上述第一方面或第一方面的任意一种可能的设计中所述的方法。
第七方面,提供一种包含指令的计算机程序产品,所述计算机程序产品中存储有指令,当其在计算机上运行时,使得计算机执行上述第一方面或第一方面的任意一种可能的设计中所述的方法。
上述第二方面至第七方面及其实现方式的有益效果可以参考对第一方面的方法及其实现方式的有益效果的描述。
图1为本申请实施例提供的一种应用场景;
图2为本申请实施例提供的目标检测方法的流程示意图;
图3为本申请实施例提供的第一时频资源的示例性的示意图;
图4为本申请实施例提供的第一时域资源的示例性的示意图;
图5为本申请实施例提供的第一时域资源的示例性的示意图;
图6为本申请实施例提供的第二时域资源的示例性的示意图;
图7为本申请实施例提供的第一时频资源的示例性的时域图;
图8为本申请实施例提供的雷达装置的一种结构示意图;
图9为本申请实施例提供的雷达装置的另一种结构示意图;
图10为本申请实施例提供的雷达装置的再一种结构示意图。
为了使本申请实施例的目的、技术方案和优点更加清楚,下面将结合附图对本申请实施例作进一步地详细描述。
请参考图1,为本申请实施例的一种可能的应用场景示意图。上述应用场景可以为无人驾驶、自动驾驶、智能驾驶、网联驾驶等。雷达装置可以安装在机动车辆(例如无人车、智能车、电动车、数字汽车等)、无人机、轨道车、自行车、信号灯、测速装置或网络设备(如各种系统中的基站、终端设备)等等。本申请实施例既适用于车与车之间的雷达装置,也适用于车与无人机等其他装置的雷达装置,或其他装置之间的雷达装置。另外,雷达装置可以安装在移动设备上,例如安装在车辆上作为车载雷达装置,或者也可以安装在固定的设备上,例如安装在路侧单元(road side unit,RSU)等设备上。本申请实施例对雷达装置安装的位置和功能等不做限定。
应理解,雷达或称为雷达装置,也可以称为探测器、雷达装置或者雷达信号发送装置等。其工作原理是通过发送信号(或者称为探测信号),并接收该发送信号经过目标物体反射的信号,来探测相应的目标物体。雷达所发射的信号可以是雷达信号,相应的,所接收的经过目标物体反射的信号也可以是雷达信号。
例如雷达装置可以应用于ADAS,ADAS利用雷达装置感知车辆周围的环境,以提供盲点监测、变道辅助、碰撞预警、自适应巡航等方面的辅助。毫米波雷达为雷达装置的一种,被广泛应用于车辆的自动驾驶。毫米波雷达通常配置MIMO天线,通过到达角(direction-of-arrival,DOA)估计方法来获取周围物体的角度信息。DOA估计方法利用电磁波在物体和各天线阵元之间的空间传播时延差异来确定物体相对雷达装置的角度信息。如果雷达装置确定了周围物体距离雷达装置的距离以及角度,就可以知道周围物体的位置,从而实现盲点监测、变道辅助、碰撞预警、自适应巡航等方面的辅助。
如果两个雷达装置使用相同的资源,或者两个雷达装置使用的资源重叠,那么会造成这两个雷达装置之间互相干扰。例如在图1所示的场景中,同向车流中邻近车辆安装的雷达装置使用的资源全部重叠或部分重叠会持续的互相干扰。
为了解决上述问题,在本申请实施例中,雷达装置在进行目标检测之前可以对雷达装置当前使用的资源或者雷达装置可用的资源进行干扰检测。需要说明的是,相对目标检测而言,干扰检测指的是雷达装置在某个资源上接收信号、信息或者检测能量,并根据接收的信号、信息或者检测到的能量大小,确定雷达装置在某些资源上进行目标检测被其他雷达装置干扰的严重程度。从而雷达装置可以根据确定的雷达装置在某些资源上进行目标检测的受干扰程度,在可用的资源中重新选择用于目标检测的资源,以尽量排除或避免来自其他雷达装置的干扰,也就是在可用的资源中排除受干扰程度较高的资源以用于目标检测。为了便于描述,下文中,将雷达装置在某些资源上进行目标检测的受干扰程度称为某些资源的受干扰程度。
在一种可能的解决方案中,本申请实施例提供一种目标检测方法,请参见图2,为该方法的流程图。图2所示的实施例提供的方法可以由探测装置来执行,例如雷达装置。该雷达装置可以是雷达本身,又或者是雷达内部的芯片或者集成电路,或者该雷达装置也可以为与雷达通信连接的通信装置。另外在下文的介绍过程中,雷达探测装置所发送的信号,均可以是雷达信号,所接收的回波信号也可以是雷达信号。
S201、雷达装置在多个第一时域资源上进行至少一次干扰侦听,该多个第一时域资源为第一时频资源对应的时域资源的子集,该第一时频资源为雷达装置的时频资源,多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,所述至少一次干扰侦听是在所述多个第一时频资源中的部分第一时域资源上进行的。
其中,第一时频资源在时域上所占的时长可以认为是雷达装置从开始工作到结束工作的时长,和/或,第一时频资源对应的频域资源可以是雷达装置能力范围内能够支持的资源。例如在雷达装置能力范围内支持的带宽为2G带宽,那么第一时频资源对应的频域资源可以是2G带宽的资源。或者,第一时频资源对应的频域资源可以是预先规定的雷达装置的可用资源。例如雷达装置能力范围内可以支持2G带宽,但是雷达装置实际能够使用的频域资源可能是被预先规定的这2G带宽中的部分带宽,那么第一时频资源对应的频域资源可以是这部分带宽。或者,第一时频资源对应的频域资源可以是雷达装置能力范围内能够使用的资源与预先规定给雷达装置的可用资源的交集。例如雷达装置能力范围内可以支持75GHz-79GHz带宽,但是预先规定雷达装置实际能够使用的频域资源为78GHz-79GHz带宽,那么第一时频资源对应的频域资源为78GHz-79GHz。
雷达装置可以在第一时频资源上进行目标检测,可以理解为雷达装置在第一时频资源上发送雷达信号,并接收该雷达信号的回波信号,根据雷达信号和回波信号确定目标物体的距离、角度、速度等信息。
目前雷达装置在第一时频资源上周期性地发送雷达信号,示例性的,图3提供了一种第一时频资源的示例,第一时频资源对应的时域资源包括多个第一时域资源和多个第二时域资源,任意相邻的两个第一时域资源之间的时间间隔相同,即第一时域资源为周期性资源,同理第二时域资源也为周期性资源。雷达装置在第一时频资源上周期地发送用于目标检测的雷达信号,即雷达装置在多个第一时域资源上发送雷达信号,雷达装置不在任意一个第二时域资源上发送用于目标检测的雷达信号,例如第二时域资源可以是空闲的。应理解,每个第一时域资源和每个第二时域资源在时域上是连续的,不同的第一时域资源在时域上是不连续的,不同的第二时域资源在时域上也是不连续的。
目前雷达装置在全部的第一时域资源进行目标检测,不考虑来自其他雷达装置的干扰。但是在实际中,可能存在与该雷达装置邻近的多个雷达装置,且该雷达装置使用的时频资源和这多个雷达装置使用的时频资源可能全部重叠或者部分重叠,如果这多个雷达装置进行目标检测的周期与该雷达装置进行目标检测的周期相同,那么这多个雷达装置彼此之间造成干扰的可能性较大。
鉴于此,本申请实施例在进行目标检测的过程中,在目前用于目标检测的多个第一时域资源中的部分第一时域资源上进行目标检测,在另一部分第一时域资源上进行干扰侦听。根据干扰侦听结果,预测雷达装置用于目标检测的候选资源的受干扰程度,即候选资源用于目标检测时,被其他雷达装置干扰的程度。应理解,候选资源为雷达装置后续可用的时频资源,且与用于目标检测的时频资源具有相同特性,例如候选资源对应的时域资源为第一时频资源对应的时域资源的子集。通过这种方式,雷达装置可以将受干扰程度较高的时频资源从用于目标检测的候选资源中排除,以降低或避免多个雷达装置彼此之间造成干扰。
例如,雷达装置可以在多个第一时域资源中的至少一个第一时域资源进行目标检测,在这多个第一时域资源中除该至少一个第一时域资源之外的第一时域资源进行干扰侦听。
为了便于理解,沿用图3的示例,多个第一时域资源的编号依次为11-15。现有技术中,雷达装置在编号为11-15的这5个第一时域资源上进行目标检测,而本申请实施例中,雷达装置可以在例如编号为11、13和14的这3个第一时域资源进行目标检测,在编号为12和15的这2个第一时域资源上进行干扰侦听。又或者,雷达装置可以在例如编号为11-13的这3个第一时域资源进行目标检测,在编号为14和15的这2个第一时域资源上进行干 扰侦听。也就是,相对现有技术来说,雷达装置在现有技术中用于目标检测的部分时域资源不作目标检测,而是进行干扰侦听。需要说明的是,本申请实施例对具体侦听哪个第一时域资源不作限制。
应理解,为了更为准确地预测雷达装置用于目标检测的候选资源的受干扰程度,本申请实施例可以在这多个第一时域资源中除该至少一个第一时域资源之外的第一时域资源进行至少一次干扰侦听。其中至少一次干扰侦听,每次所侦听的至少一个第一时域资源的编号可以不相同,也可以相同。
进一步的,用于目标检测的至少一个第一时域资源为非周期资源,也就是如果至少一个第一时域资源包括至少三个第一时域资源,这至少三个第一时域资源至少存在两个不同的时间间隔,其中一个时间间隔为相邻的两个第一时域资源之间的时间间隔,另一个时间间隔为相邻的另外两个第一时域资源之间的时间间隔。
例如,请继续参见图3,存在5个第一时域资源,这5个第一时域资源中任意相邻的两个第一时域资源的时间间隔相同。在可能的场景中,雷达装置选择编号为11、13和15的第一时域资源用于目标检测,选择编号为12和14的第一时域资源用于干扰侦听,即用于目标检测的资源是周期资源,且目标检测在奇数周期上的第一时域资源上进行,干扰侦听在偶数周期上的第一时域资源上进行。应理解,该场景中,干扰侦听结果反映的是与偶数周期的时域资源类似的资源的受干扰程度,不能够较好地反映与奇数周期的时域资源类似的资源的受干扰程度,即不能够较好地反映用于目标检测的资源的受干扰程度。本申请实施例中用于目标检测的至少一个第一时域资源是非周期资源,可避免上述场景的出现,以保证干扰侦听的结果能更为准确的反映用于目标检测的资源的受干扰程度。
示例性的,本申请实施例从这5个第一时域资源中选择3个第一时域资源用于目标检测,例如选择编号为11、13和14的第一时域资源用于目标检测,用于干扰侦听的第一时域资源的编号为12和15。雷达装置所选择的3个第一时域资源是非周期资源,即编号为11和13的两个第一时域资源之间的时间间隔与编号为13和14的两个第一时域资源之间的时间间隔不相同。由于本申请实施例在多个第一时域资源中任意选择一个第一时域资源用于干扰侦听,就可以实现用于目标检测的至少三个第一时域资源是非周期的,所以通过该方案也可以减少不用于目标检测的第一时域资源,以尽量保证雷达装置进行目标检测的性能。
在本申请实施例中,雷达装置除了在第一时域资源上进行干扰侦听,还可以在第一时频资源对应的时域资源中除第一时域资源之外的时域资源进行干扰侦听。也就是雷达装置还可以在上述的多个第二时域资源上进行干扰侦听,这样雷达装置可以预测时域资源为当前用于目标检测的时域资源对应的时频资源的受干扰程度,以及时域资源不是当前用于目标检测的时域资源对应的时频资源的受干扰程度,从而更合理的选择用于目标检测的资源。例如可以预测不用于目标检测的第二时域资源在后续如果用于目标检测是否更合适,也就是不用于目标检测的第二时域资源的受干扰程度是否更低。如果受干扰程度更低,那么第二时域资源更适合用于目标检测。
应理解,为了更为准确地预测雷达装置用于目标检测的候选资源的受干扰程度,雷达装置也可以在多个第二时域资源进行至少一次干扰侦听。需要说明的是,这多个第二时域资源可以是第一时频资源对应的时域资源中除多个第一时域资源之外的时域资源的子集。雷达装置可以在这多个第二时域资源中至少一个第二时域资源进行干扰侦听。
示例性的,沿用图3的示例,多个第二时域资源的编号依次为21-24,现有技术中,雷达装置在编号为21-24的4个第二时域资源上不进行目标检测,例如这4个第二时域资源可以是空闲的。而本申请实施例中,雷达装置可以在例如编号为这4个第二时域资源中的至少一个第二时域资源进行干扰侦听,例如雷达装置可以在例如编号为21-24的这4个第二时域资源上进行干扰侦听,也可以在编号为22和23的第二时域资源上进行干扰侦听,以预测与第二时域资源具有相同特性的时域资源的受干扰程度。需要说明的是,本申请实施例对具体侦听哪个第二时域资源不作限制。应理解,本申请实施例在至少一个第二时域资源进行至少一次干扰侦听,每次所侦听的至少一个第二时域资源的编号可以相同,也可以不相同。
为了更为准确地预测雷达装置用于目标检测的候选资源的受干扰程度,雷达装置可以对更细颗粒度的时频资源进行干扰侦听。
具体的,雷达装置可以在用于目标检测的频域资源上进行干扰侦听,或者在不用于目标检测的频域资源上进行干扰侦听,或者既可以在用于目标检测的频域资源上进行干扰侦听,又在不用于目标检测的频域资源上进行干扰侦听。在可能的实现方式中,雷达装置进行一次目标检测的频域资源和雷达装置进行一次干扰侦听的频域资源可以重叠,或者雷达装置进行一次目标检测的频域资源和雷达装置进行一次干扰侦听的频域资源也可以不重叠。如果进行目标检测的第一频域资源和进行干扰侦听的第二频域资源重叠,可以预测当前用于目标检测的频域资源的受干扰程度。如果进行目标检测的第一频域资源和进行干扰侦听的第二频域资源不重叠,可以预测当前不用于目标检测的频域资源的受干扰程度。
例如雷达装置可以在第三时频资源上进行目标检测,该第三时频资源对应的时域资源为某个第一时域资源。假设该第三时频资源对应的频域资源为第一频域资源,现有技术中,该第一频域资源用于目标检测,本申请实施例中,雷达装置可以在该第一频域资源中的部分频域资源进行干扰侦听。相对而言,也就是雷达装置在第四时频资源上进行干扰侦听,该第四时频资源对应的时域资源与第三时频资源对应的时域资源相同,或者该第四时频资源对应的时域资源为第三时频资源对应的时域资源的子集,该第四时频资源对应的频域资源为第二频域资源。如果第二频域资源与第一频域资源存在重叠,也就是雷达装置在当前用于目标检测的第一频域资源中的部分频域资源进行干扰侦听。如果第二频域资源与第一频域资源不重叠,也就是雷达装置在不用于目标检测的频域资源上进行干扰侦听。
为了便于理解,一示例性的,请参见图4,图4为第三时频资源的一种示例,应理解,第一频域资源是第一时频资源对应的频域资源的子集。图4以第一时频资源对应的频域资源包括5个子频域资源,这5个子频域资源的编号依次为1-5,第三时频资源对应的频域资源即第一频域资源是子频域资源1-子频域资源4。子频域资源1-子频域资源4用于目标检测,子频域资源5不用于目标检测。第四时频资源可以是第三时频资源的子集,图4以第四时频资源对应的第四时域资源为第一时域资源的子集为例。其中第二频域资源与第一频域资源存在重叠,例如第二频域资源可以是子频域资源1和子频域资源2(图4以此为例),也可以是子频域资源2和子频域资源4等,这里就不一一举例。当第二频域资源与第一频域资源存在重叠,也就是雷达装置对当前用于目标检测的部分频域资源进行干扰侦听。
又一示例性的,请参见图5,图5为第三时频资源的一种示例,与图4相同,第一频域资源是第一时频资源对应的频域资源的子集,第一时频资源对应的频域资源包括5个子 频域资源,这5个子频域资源的编号依次为1-5,第一频域资源可以是子频域资源1-子频域资源4。子频域资源1-子频域资源4用于目标检测,子频域资源5不用于目标检测。图5也以第四时频资源对应的第四时域资源为第一时域资源的子集为例,与图4的不同之处在于,第二频域资源和第一频域资源不重叠,也就是第二频域资源可以是子频域资源5。由于第四时频资源对应的时域资源是第三时频资源对应的时域资源的子集,这样雷达装置在一个第一时域资源内可以进行多次干扰侦听,每次可以侦听不同的频域资源,从而可以遍历更多的频域资源,即可以遍历5个子频域资源,进而确定更多频域资源的受干扰程度。
相对而言,雷达装置在当前不用于目标检测的频域资源进行干扰侦听,可以认为,雷达装置在第二时域资源所在的时频资源上进行侦听,但是侦听的频域资源是第一时频资源的子集,侦听的时域资源是第二时域资源的子集。例如雷达装置可以在第五时频资源上进行干扰侦听,第五时频资源对应的时域资源可以是第二时域资源的子集,第五时频资源对应的频域资源可以是第一时频资源对应频域资源的子集。例如对于某个第二时域资源来说,假设该第二时域资源包括M个子时域资源,第一时频资源对应的频域资源包括N个子频域资源,那么第五时频资源对应的时域资源是这M个子时域资源中的一个子时域资源,第五时频资源对应的频域资源为这N个子频域资源中的一个子频域资源。
优选地,M和N互质,雷达装置可以在最短的时间内,遍历全部需要预测的时频资源,确定最多的时频资源的受干扰程度。例如请参见图6,为第二时域资源的一种示例,图6以第二时域资源包括9个子时域资源为例,第一时频资源对应的频域资源包括5个子频域资源为例。需要说明的是,图6仅示意了部分第五时频资源。当M和N互质,雷达装置可以在最短的时间内,遍历任意一个第二时域资源所在时频资源对应的频域资源,以及除第二时域资源之外的其他所有时域资源,即在最短时间内遍历全部需要预测的时频资源。
需要说明的是,本申请实施例雷达装置既可以对部分时域资源进行干扰侦听,又可以对部分频域资源进行干扰侦听,不同的时域资源所在的时频资源对应的频域资源可以全部重叠,也可以部分重叠。例如不同的第一时域资源所在的第一时频资源对应的频域可以全部重叠,也可以部分重叠;又例如不同的第二时域资源所在的第一时频资源对应的频域资源可以全部重叠,也可以部分重叠,对此,本申请实施例不作限制。
需要说明的是,在本申请实施例中,不同的应用场景,雷达装置进行干扰侦听的内容也有所不同,下面结合具体的场景介绍本发明实施例的干扰侦听。
一种可能的场景中,雷达装置对某个时频资源进行干扰侦听指的是雷达装置确定在该时频资源上接收的信号的强度,例如雷达装置可以获取在该时频资源上接收的信号的功率、能量或谱密度,根据所获取的功率、能量或谱密度来确定在该时频资源上接收的信号的强度。应理解,本申请实施例也可以获取其他用于表征信号的强度的可能的参数,对此,本申请实施例不作限制。
另一种可能的场景中,考虑到,该时频资源可以其他雷达装置使用的,其他雷达装置可以在另外的时频资源上通知该雷达装置,其他雷达装置使用该时频资源。为了便于描述,下面以第一雷达装置和第二雷达装置为例,例如,第一雷达装置自身可以使用第六时频资源,第二雷达装置在第六时频资源上发送指示信息,该指示信息指示用于第二雷达装置进行目标检测的某个时频资源,例如第七时频资源。这种情况下,第一雷达装置实际上需要对该第七时频资源进行干扰侦听,例如获取在第七时频资源上接收的信号的强度。
考虑到不同的雷达装置发送的用于目标检测的雷达信号可能不同,例如雷达信号的波 形参数不同。不同的雷达装置可能不知道彼此发送的雷达信号的特征,例如第一雷达装置和第二雷达装置并不知道彼此发送的雷达信号的特征。如果第一雷达装置直接侦听该第七时频资源,难度较大,甚至无法直接获得在第七时频资源上接收的信号,而导致无法确定在第七时频资源上接收的信号的强度。
为此在本申请实施例中,第一雷达装置和第二雷达装置,也就是不同的雷达装置之间可以约定承载指示信息的信号的形式、参数或者资源等,这样第一雷达装置和第二雷达装置就知晓彼此发送的指示信息的特征,保证第一雷达装置在第六时频资源肯定可以接收指示信息。在一些实施例中,第一雷达装置对第七时频资源进行干扰侦听,可以是第一雷达装置在第六时频资源上接收指示信息,并确定在该指示信息指示的第七资源上接收的信号的强度,例如第一雷达装置可以获取在第七时频资源上接收的信号的功率、能量或谱密度,根据所获取的功率、能量或谱密度来确定在第七时频资源上接收的信号的强度。该指示信息也可以指示第二雷达装置在第七时频资源发送雷达信号的参数,例如雷达信号的脉宽、脉冲重复间隔、调频斜率等,从而第一雷达装置接收到指示信息,可以直接在第七时频资源上对接收的信号进行测量,降低了干扰侦听的难度。
在另一些实施例中,第一雷达装置对第七时频资源进行干扰侦听指的是,第一雷达装置对第六时频资源进行干扰侦听,例如第一雷达装置获取在第六时频资源上接收的指示信息的强度,并根据该强度预测第一雷达装置在第七时频资源上接收的信号的强度,例如功率、能量或谱密度等,而不直接获取在该第七时频资源接收信号的功率、能量或谱密度,可以降低检测难度,提高检测效率。
应理解,在一些实施例中,本申请实施例每次对某个时频资源进行干扰侦听也可以是获取在该时频资源接收的信号的功率、能量和谱密度中的至少两种的组合。
在本申请实施例中,雷达装置通过对多个第一时域资源和/或多个第二时域资源的干扰侦听,根据侦听结果可以预测雷达装置后续可用的时频资源的受干扰程度。如果雷达装置侦听较多的时频资源,则对雷达装置的计算能力要求较高;如果雷达装置侦听较少的时频资源,也就是雷达装置进行干扰侦听的性能较差,这样雷达装置根据侦听结果确定某些时频资源的受干扰程度的准确性可能较低。
为了兼顾雷达装置进行干扰侦听的性能和雷达装置的计算能力,本申请实施例可以确定在第一时频资源上进行干扰侦听的时长,应理解该时长为累计时长,例如该时长可以是雷达装置侦听多个第一时域资源的时长和侦听多个第二时域资源的时长之和。在下文中,将累计的干扰侦听时长也称为干扰侦听时长。
应理解,干扰侦听时长可以是根据雷达装置的计算能力以及雷达装置的干扰侦听性能需求确定的。进一步地,考虑到多个雷达装置选择资源的公平性,干扰侦听时长还可以根据雷达装置的计算能力以及雷达装置的干扰侦听性能需求以及雷达装置选择资源的公平性确定。当然,干扰侦听时长也可以根据雷达装置的干扰侦听性能需求以及雷达装置选择资源的公平性确定。为了不影响雷达装置对目标检测的性能,也称为目标检测性能,干扰侦听时长也可以由雷达装置的目标检测性能和例如雷达装置选择资源的公平性确定。
应理解,干扰侦听时长是相对的,例如雷达装置从开始工作,既可以进行目标检测,又可以进行干扰侦听,在雷达装置结束工作之前的时长是不确定,所以在本申请实施例中,干扰侦听时长是指在预设时长内,累计的干扰侦听时长。预设时长可以是例如是雷达装置进行目标检测的一个周期,也可以是雷达装置进行目标检测的多个周期。当然这里仅是举 例,预设时长也可以是预先设定的一个时长,例如预设时长为100ms。下面列举本申请实施例中干扰侦听时长可能需要满足的几种条件:
1)在第一预设时长内,干扰侦听时长大于或等于第一阈值,以尽量保证雷达装置的干扰侦听性能。
该第一阈值可以是由雷达装置的干扰侦听性能需求以及雷达装置选择资源的公平性确定。例如雷达装置对多个第一时域资源和/或多个第二时域资源进行干扰侦听,自然干扰侦听时长越长,雷达装置的干扰侦听性能越好。如果要求雷达装置的干扰侦听性能最低大于某个阈值,对应的最短干扰侦听时长为第一时长。所以干扰侦听时长可以大于或等于第一时长。应理解,第一时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,第一时长也可以是标准定义的值,或者协议定义或配置的值。当然,第一时长可以存储在雷达装置。
2)在第二预设时长内,干扰侦听时长小于或等于第二阈值,以尽量保证雷达装置的目标检测性能。
该第二阈值可以是由雷达装置的目标检测性能以及雷达装置选择资源的公平性确定。例如对多个第一时域资源和/或多个第二时域资源进行干扰侦听,干扰侦听时长越短,自然用于干扰侦听的计算处理的资源越少,相对来说,用于目标检测的时间和计算处理的资源越多,雷达装置进行目标检测性能越高。如果要求雷达装置的目标检测性能最低大于某个阈值,对应的最长干扰侦听时长为第二时长。所以干扰侦听时长可以小于或等于第二时长。应理解,与第一时长类似,第二时长可以是预先设置的一个值,例如雷达装置出厂时设置的,可以存储在雷达装置中;第二时长也可以是标准定义的值,或者协议定义或者配置的值。第二预设时长与第一预设时长可以相同,也可以不相同。
3)尽管雷达装置在一些时频资源上进行干扰侦听,但是在某些时频资源上进行的干扰侦听可能对确定某些时频资源的受干扰程度的影响较小,所以可以忽略不计。例如为了保证雷达装置在目前可用于目标检测的某些时频资源上进行充分的干扰侦听,也就是保证雷达装置在该时频资源上有足够的干扰侦听结果,雷达装置可以累计对该时频资源的干扰侦听时长,即使雷达装置在其他时频资源也进行了干扰侦听,但是并不累计在其他时频资源上的干扰侦听时长。
示例性的,在第三预设时长内,雷达装置可以只累计对用于目标检测的部分频域资源进行干扰侦听的时长,该部分频域资源为用于目标检测的时频资源对应的频域资源的子集,也就是雷达装置进行干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集。这种情况下,干扰侦听时长可以大于或等于第三时长,以尽量保证雷达装置在用于目标检测的频域资源上进行充分的干扰侦听。
当进行干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集,如果干扰侦听的时长较短,无法保证获得足够的干扰侦听结果,那么确定例如第八时频资源的受干扰程度的准确性就较低,即雷达装置的干扰侦听性能较低。为了保证雷达装置的干扰侦听性能,该干扰侦听时长的最小值可以是第三时长。应理解,第三时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,可以存储在雷达装置;或者第三时长也可以是标准定义的值,或者协议定义或配置的值。第三预设时长与第一预设时长或第二预设时长可以相同,也可以不相同。
为了便于理解干扰侦听时长的确定,请参见图7,为第一时频资源的一种示例。需要 说明的是,图7以雷达装置进行目标检测的两个周期为预设时长为例,也就是图7以包括两个第一时域资源和两个第二时域资源为例,第一时域资源对应的时长为5ms,第二时域资源对应的时长为45ms。应理解一个周期为一个第一时域资源对应的时长和一个第二时域资源对应的时长之和,即50ms。其中图7所示的每个第二时域资源在时域上划分为两个第三时域资源为例,这2个第三时域资源分别为第三时域资源A和第三时域资源B,应理解,第三时域资源A和第三时域资源B对应的时长均为45ms/2。图7以第一时域资源对应的频域资源包括5个子频域资源为例。
假设用于目标检测的是频域资源是子频域资源1和子频域资源2。雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源1和子频域资源2,以及第三时域资源A所属第一时频资源对应的子频域资源a1和第三时域资源B对应的子频域资源b1。因为第一个周期,子频域资源1和子频域资源2用作目标检测,是不能用作干扰侦听的,所以两个周期内的干扰侦听时长为:雷达装置在第一个周期内的干扰侦听时长,即45ms/2(a1和b1),以及雷达装置在第二个周期内的干扰侦听时长,即5ms+45ms/2(a1和b1)之和,即干扰侦听时长总共为50ms。
又例如,与上述示例不同之处在于,雷达装置进行干扰侦听的是频域资源包括第一时域资源所属第一时频资源对应的子频域资源1和子频域资源2,以及第三时域资源A所属第一时频资源对应的子频域资源a1和第三时域资源B对应的子频域资源a2。那么两个周期内的干扰侦听时长为:雷达装置在第一个周期内的干扰侦听时长,即45ms(a1和a2),以及雷达装置在第二个周期内的干扰侦听时长,即5ms+45ms(a1和a2)之和,即干扰侦听时长总共为95ms。
再例如,子频域资源3和子频域资源4不用于做目标检测,雷达装置进行干扰侦听的是频域资源包括第一时域资源所属第一时频资源对应的子频域资源1和子频域资源2,以及第三时域资源A所属第一时频资源对应的子频域资源c1和第三时域资源B对应的子频域资源c2。由于子频域资源3和子频域资源4不用于目标检测,所以即使雷达装置在子频域资源c1和子频域资源c2进行干扰侦听,但是子频域资源c1和子频域资源c2不属于用于目标检测的频域资源的子集,所以两个周期内的干扰侦听时长为:雷达装置在第二个周期内的干扰侦听时长,即5ms。
4)与3)类似,雷达装置尽管在一些时频资源上进行干扰侦听,但是在某些时频资源上进行的干扰侦听可能对确定例如第八时频资源进行目标检测的受干扰程度影响较小,所以可以忽略不计。例如为了保证雷达装置在目前不用于目标检测的某些时频资源上进行充分的干扰侦听,也就是保证雷达装置在该时频资源上有足够的干扰侦听结果,雷达装置可以累计干扰侦听不用于目标检测的频域资源的时长,即使雷达装置在用于目标检测的频域资源上进行了干扰,但是并不累计在这部分频域资源上进行干扰侦听的时长。
示例性的,在第四预设时长内,雷达装置只累计对不用于目标检测的部分频域资源进行干扰侦听的时长,该部分频域资源与用于目标检测的时频资源对应的频域资源部分重叠或不重叠,也就是干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或不重叠。
如果雷达装置对当前不用于目标检测的频域资源的干扰侦听的时长较短,无法获得足够的干扰侦听结果,雷达装置的干扰侦听性能较低,因此为了保证雷达装置的干扰侦听性 能,这种情况下,干扰侦听时长的最小值可以是第四时长,以尽量保证雷达装置在当前不用于目标检测的频域资源上进行充分的干扰侦听。应理解,第四时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,可以存储在雷达装置;或者第四时长也可以是标准定义的值,或者协议定义或者配置的值。第四预设时长与第一预设时长或第二预设时长或第三预设时长可以相同,也可以不相同。
为了便于理解,沿用图7所示的示例,假设用于目标检测的是频域资源是子频域资源1和子频域资源2,用于干扰侦听的频域资源是子频域资源3和子频域资源4。雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源3和子频域资源4,以及第三时域资源A所属第一时频资源对应的子频域资源a1和第三时域资源B对应的子频域资源b1。因为第一个周期,子频域资源1和子频域资源2用作目标检测,是不能用作干扰侦听的,所以第一个周期内的第一时域资源的干扰侦听不累计,而第一周期内和第二周期内尽管侦听子频域资源3和子频域资源4,但是子频域资源3和子频域资源4用于干扰侦听与子频域资源1和子频域资源2完全不重叠,所以不用累计,也就是两个周期内的干扰侦听时长为:雷达装置在第二个周期内对第一时域资源的干扰侦听时长,即5ms。
又例如,与上述示例不同之处在于,雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源3和子频域资源4,以及第三时域资源A所属第一时频资源对应的子频域资源d1和第三时域资源B对应的子频域资源d2。因为第一个周期,子频域资源1和子频域资源2用作目标检测,是不能用作干扰侦听的,所以第一个周期内的第一时域资源的干扰侦听不累计,由于子频域资源d1和子频域资源d2属于子频域资源4,所以这两个周期内的干扰侦听时长为:雷达装置在第二个周期内对第一时域资源的干扰侦听时长,即5ms,以及雷达装置在第一个周期内对第二时域资源的干扰侦听时长,即5ms,和雷达装置在第二个周期内对应第二时域资源的干扰侦听时长,即45ms,总共为95ms。
再例如,雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源2和子频域资源3,以及第三时域资源A所属第一时频资源对应的子频域资源b1和第三时域资源A对应的子频域资源c1。因为进行干扰侦听的子频域资源2和子频域资源3与用于目标检测的子频域资源1和子频域资源2,即存在部分重叠,这种情况下,在两个周期内的干扰侦听时长为:在第一个周期内的对子频域资源3的侦听时长,即5ms和在第一个周期内对子频域资源c1的侦听时长,即45ms/2,以及在第二个周期内的对子频域资源3和子频域资源2的侦听时长,即5ms和在第二个周期内对子频域资源c1和子频域资源b1的侦听时长,即45ms/2。
5)为了保证雷达装置在某些时域资源上进行充分的干扰侦听,雷达装置可以累计在某些时域资源上的干扰侦听时长,即使雷达装置侦听了其他时域资源,也不累计在其他时域资源上进行干扰侦听的时长。
示例性的,在第五预设时长内,雷达装置可以累计对用于目标检测的时域资源进行干扰侦听的时长,也就是干扰侦听的时频资源对应的时域资源是第一时域资源的子集。如果雷达装置对用于目标检测的时域资源的干扰侦听的累计时长较短,那么雷达装置的干扰侦听性能较差,所以为了保证雷达装置的干扰侦听性能,累计的最短干扰侦听时长可以为第五时长。应理解,第五时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,可 以存储在雷达装置;或者第五时长也可以是标准定义的值,或者协议定义或者配置的值。第五预设时长与第一预设时长或第二预设时长或第三预设时长或第四预设时长可以相同,也可以不相同。
为了便于理解,沿用图7所示的示例,假设用于目标检测的是频域资源是子频域资源1和子频域资源2,用于干扰侦听的频域资源是子频域资源3和子频域资源4。雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源1和子频域资源2,以及第三时域资源A所属第一时频资源对应的子频域资源a1和第三时域资源A对应的子频域资源b1。因为第一个周期,子频域资源1和子频域资源2用作目标检测,是不能用作干扰侦听的,所以第一个周期内的第一时域资源的干扰侦听不累计,这种情况下不关心频域资源上的干扰侦听,所以对子频域资源a1和子频域资源b1的干扰侦听不作累计。因此,雷达装置在这两个周期内的干扰侦听时长为第二个周期的5ms。应理解,如果雷达装置侦听的是子频域资源3和子频域资源4,那么雷达装置在这两个周期内的干扰侦听时长为0,即不会累计对子频域资源3和子频域资源4的干扰侦听时长。
6)考虑到一种应用场景,雷达装置具备切换频域资源的能力,但是无法切换时域资源,这种情况下,更希望确定频域资源进行目标检测的受干扰程度。为了保证雷达在某些频域资源上进行充分的干扰侦听,在第六预设时长内,满足预设条件的干扰侦听时长大于或等于第六时长。例如预设条件为用于扰侦听的时频资源对应的时域资源是第一时频资源对应的时域资源的子集。
示例性的,在第六预设时长内,雷达装置可以累计对时域资源是第一时频资源对应的时域资源的子集对应的时频资源。例如,沿用图7所示的示例,假设用于目标检测的是频域资源是子频域资源1和子频域资源2,用于干扰侦听的频域资源是子频域资源3和子频域资源4。雷达装置进行干扰侦听的时域资源为第一时域资源和第二时域资源,侦听的频域资源包括第一时域资源所属第一时频资源对应的子频域资源1和子频域资源2,以及第三时域资源A所属第一时频资源对应的子频域资源a1和第三时域资源B对应的子频域资源b2,以及第三时域资源B所属第一时频资源对应的子频域资源c2和第三时域资源所属第一时频资源对应的子频域资源d2。这是希望干扰侦听更多的子频域资源。应理解,雷达装置在这两个周期内的干扰侦听时长为:雷达装置在第一个周期内对子频域资源3和子频域资源4的侦听时长,即5ms、雷达装置在第一个周期内对子频域资源a1和b2的侦听时长,即45ms,以及雷达装置在第二个周期内对子频域资源3和子频域资源4的侦听时长,即5ms,和雷达装置在第二个周期内对子频域资源c2和子频域资源d2的侦听时长,即45ms/2之和,公共为55ms+45ms/2。
应理解,第六时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,可以存储在雷达装置;或者第六时长也可以是标准定义的值,或者协议定义或者配置的值。第六预设时长也可以是标准或协议定义的,第六预设时长与第一预设时长或第二预设时长或第三预设时长或第四预设时长或第五预设时长可以相同,也可以不相同。
7)如果雷达装置进行目标检测的时间较多,为了更为准确地确定某些时频资源的受干扰程度,雷达装置在除了进行目标检测的时间之外的时间内,都进行干扰侦听,以保证侦听更多的时频资源。也就是第一时频资源对应的时域资源中除用于目标检测的时域资源之外的时域资源都用于干扰侦听。为了保证侦听更多的时频资源,在第七预设时长内,需 要满足累计的用于目标检测的时长小于或等于第七时长。应理解,第七时长可以是预先设置的一个值,例如雷达装置出厂时设置的值,可以存储在雷达装置;或者第七时长也可以是标准定义的值,或者协议定义或者配置的值。第七预设时长也可以是标准或协议定义的,第七预设时长与第一预设时长或第二预设时长或第三预设时长或第四预设时长或第五预设时长或第六预设时长可以相同,也可以不相同。
需要说明的是,干扰侦听时长也可以需要满足上述的第1种预设条件到第7种预设条件中的多种预设条件的组合。
S202、雷达装置根据至少一次干扰侦听的结果,确定第一时频资源中的第二时频资源,第二时频资源用于目标检测。
侦听结果可以认为是被侦听过的时频资源中被干扰的时频资源。如果在某个时频资源上接收的信号的功率、能量或谱密度大于某个阈值,可以认为该时频资源被干扰了,即该时频资源为被干扰的时频资源。换句话来说,在被干扰的时频资源上接收的信号的例如功率、能量或谱密度大于某个阈值。该阈值可以是雷达装置出厂时设置的,或者标准定义的,本申请实施例对此不作限制。
应理解,本申请实施例旨在通过对一些时频资源进行干扰侦听,根据干扰侦听的结果预测另一些时频资源的受干扰程度。那么另一些时频资源与被侦听的时频资源应该具有相同的某些特性,也就是另一些时频资源与被侦听的时频资源具有前述的第一对应关系。为了便于描述,下文中以被侦听过的时频资源称为第八时频资源,另一些时频资源称为第九时频资源,也就是需要预测受干扰程度的时频资源称为第九时频资源。
作为一种可实现的方式,雷达装置可以根据第一时频资源中被侦听过的一个或多个第八时频资源确定雷达装置第九时频资源的受干扰程度。
例如,雷达装置可以获取在一个第八时频资源上接收的信号的功率、能量或谱密度确定该第八时频资源的受干扰程度。如果在该第八时频资源上接收的信号的功率、能量或谱密度大于第一阈值,可以确定该第八时频资源的受干扰程度较高,可以确定第九时频资源的受干扰程度也较高。或者,雷达装置可以获取在多个第八时频资源中的每个第八时频资源上接收的信号的功率、能量或谱密度的平均值,从而确定这多个第八时频资源的受干扰程度。如果这多个第八时频资源的受干扰程度较高,可以确定第九时频资源的受干扰程度也较高。
作为另一种可实现的方式,雷达装置可以根据被侦听过的多个第八时频资源中被干扰的第八时频资源的数量或者被干扰的第八时频资源在被侦听过的第八时频资源所占的比例,确定第九时频资源的受干扰程度。
例如,雷达装置可以分别对10个第八时频资源进行干扰侦听,也就是获取分别在这10个第八时频资源上接收的信号的功率、能量或谱密度等。如果雷达装置在某个第八时频资源上接收的信号的功率、能量或谱密度大于某个阈值,那么该第八时频资源是被干扰的第八时频资源。如果侦听的10个第八时频资源中,被干扰的第八时频资源的数量较多,或者被干扰的第八时频资源在这10个第八时频资源中所占的比例较大,那么可以认为第九时频资源的受干扰程度较高,即第九时频资源容易被干扰。
由于雷达装置每次干扰侦听的侦听结果,即被干扰的时频资源可能不同,所以在本申请实施例中,雷达装置不需要在每次干扰侦听后,确定被干扰的第八时频资源在被侦听的第八时频资源中所占的比例,以尽量减少雷达装置的计算量。在可能的实现方式中,雷达 装置可以在干扰侦听的次数达到某个阈值时,确定被干扰的第八时频资源在被侦听的第八时频资源中所占的比例;或者雷达装置也可以在某个或某些第八时频资源被干扰的次数达到某个预设阈值,确定被干扰的第八时频资源在被侦听的第八时频资源中所占的比例;又或者雷达装置也可以在干扰侦听的次数达到某个阈值,且某个或某些第八时频资源被干扰的次数达到某个预设阈值的情况下,确定被干扰的第八时频资源在被侦听的第八时频资源中所占的比例。
雷达装置根据第一时频资源中被侦听过的一个或多个第八时频资源确定雷达装置第九时频资源的受干扰程度后,可以该受干扰程度确定用于目标检测的第二时频资源。也就是将用于雷达装置进行目标检测的候选资源中的受干扰程度较大的资源排除,或者选择受干扰程度较低的资源,以尽量减少或避免雷达装置之间的干扰。应理解,第二时频资源可以为第九时频资源的子集,或者第二时频资源与第九时频资源重叠或者不重叠。
具体的,雷达装置在满足如下的触发条件中的一种或多种组合,触发确定第二时频资源。应理解,雷达装置触发确定第二时频资源,可以认为雷达装置满足触发条件,生成触发指令,基于触发指令开始确定第二时频资源;也可以认为雷达装置在进行目标检测前一直在确定第二时频资源,直到满足触发条件,雷达装置重新确定第二时频资源,不需要生成触发指令。雷达装置触发确定第二时频资源也可以认为雷达装置切换用于目标检测的时频资源。
第一示例,第九时频资源属于第一时频资源中目前用于目标检测的资源,触发条件可以是第九时频资源的受干扰程度高于例如第二阈值。换句话说,也就是目前用于目标检测的第九时频资源的受干扰程度大于或等于第二阈值,雷达装置可以重新确定第二时频资源,例如所选择的第二时频资源可以不包括第九时频资源,即尽量把受干扰程度较高的时频资源排除,降低雷达装置彼此的干扰。
第二示例,第九时频资源不属于第一时频资源中目前用于目标检测的资源,触发条件可以是第九时频资源的受干扰程度低于第三阈值。换句话说,目前不用于目标检测的时频资源中存在受干扰程度较小的时频资源,即存在更适合用于目标检测的时频资源。此时雷达装置可以重新确定第二时频资源,例如从第九时频资源中选择第二时频资源,从而降低或避免雷达装置间的干扰。
应理解,前述第二阈值和第三阈值均可以是预先设置的一个值,例如雷达装置出厂设置的,可以存储在雷达装置;当然第二阈值和第三阈值也可以是标准定义的值,或者是协议定义的值,也可以是配置的值,本申请实施例对此不作限制。
在一些实施例中,本申请实施例也可以预定义触发条件,雷达装置满足触发条件,则确定第二时频资源。预定义的触发条件可以包括以下的一种或多种组合。
第三示例,触发条件可以为用于目标检测的第一时域资源的时长或次数满足大于或等于第四阈值,也就是雷达装置确定第一时域资源被用于目标检测的时长或次数大于或等于第四阈值时。
如果雷达装置使用第一时域资源的时长较短或者次数较少,也就是雷达装置使用少量的第一时域资源,可以认为该雷达装置用于目标检测的时域资源的稳定性较差,不具有普遍性,那么其他雷达装置预测某些时频资源被该雷达装置干扰的程度也不稳定,甚至无法预测某些时频资源被该雷达装置干扰的程度。所以该触发条件可以保证雷达装置用于目标检测的时频资源相对较为稳定,以便于其他雷达装置可以预测用于目标检测的时频资源被 该雷达装置干扰的程度。同时,该触发条件还可以保证各个雷达装置使用资源的公平性,以避免某个雷达装置长期占用较为优质的资源,而导致其他雷达装置不能使用该优质的资源,只能使用较为劣质的资源。
应理解,雷达装置满足该触发条件,除了确定雷达装置用于目标检测的时频资源之外,还将用于目标检测的第一时域资源被使用的时长或次数置0,也就是从0开始计算第一时域资源被用于目标检测的时长或次数,以判断雷达装置下一次切换用于目标检测的时频资源之前,是否满足该触发条件。
第四示例,触发条件可以为用于目标检测的第一时域资源被使用的时长或次数大于或等于第四阈值,且第一值大于或等于第五阈值。或者也可以认为,在雷达装置使用第一时域资源进行目标检测的时长或次数大于或等于第四阈值的情况下,触发条件为第一值大于或等于第五阈值。第一值可以是雷达装置生成的随机数。
例如雷达装置在确定第一时域资源被用于目标检测的时长或次数大于或等于第四阈值,可以生成随机数或者获取随机数的取值,即第一值。如果第一值大于或等于第五阈值,那么雷达装置确定第二时频资源。也就是在用于目标检测的第一时域资源被使用的时长或次数大于或等于第四阈值的情况下,雷达装置切不切换用于目标检测的时频资源可以由随机数的大小确定。需要说明的是,前述第四阈值和第五阈值均可以是预先设置的一个值,例如雷达装置出厂时设置的,可以存储在雷达装置;当然第四阈值和第五阈值也可以是标准定义的值,或者协议定义的值,或者是配置的值,本申请实施例对此不作限制。
该触发条件在保证各个雷达装置使用资源较为公平的基础上,还可以进一步增加雷达装置用于目标检测的时频资源的稳定性,以保证其他雷达装置预测用于目标检测的时频资源被该雷达装置干扰的程度的准确度。应理解,雷达装置满足该触发条件,除了确定雷达装置用于目标检测的时频资源之外,还将用于目标检测的第一时域资源被使用的时长或次数置0,也就是从0开始计算第一时域资源被用于目标检测的时长或次数,以判断雷达装置下一次切换用于目标检测的时频资源之前,是否满足该触发条件。
在本申请实施例中,雷达装置可以更新持续使用某个时频资源的时长或者次数,以保证不同的雷达装置持续使用某个时频资源的时长或次数不同,也就是保证不同的雷达装置切换用于目标检测的时频资源的时机不同,从而尽量避免多个雷达装置同时切换用于目标检测的时频资源,还是存在互相干扰的情况。例如第四阈值可以是雷达装置在每次确定第二时频资源时生成的;或者第四阈值可以是当用于目标检测的第一时域资源被使用的时长或次数大于或等于设定的第四阈值时,雷达装置生成的新的第四阈值,应理解,雷达装置生成新的第四阈值,将原来的第四阈值更新为新的第四阈值;又或者第四阈值可以是在第一时域资源被使用的时长或次数大于或等于设定的第四阈值,且雷达装置确定了第二时频资源的情况下,雷达装置生成新的第四阈值,并将原来的第四阈值更新为新的第四阈值。
应理解,雷达装置所生成的新的第四阈值与之前的第四阈值可以相同,也可以不相同。
第五示例,触发条件为雷达装置使用第一时域资源的个数大于或等于第六阈值。与第一示例类似,该触发条件可以尽量保证雷达装置用于目标检测的时频资源相对较为稳定,以便于其他雷达装置可以预测用于目标检测的时频资源被该雷达装置干扰的程度。同时还可以保证各个雷达装置使用资源的公平性,以避免某个雷达装置长期占用较为优质的资源,而导致其他雷达装置不能使用该优质的资源,只能使用较为劣质的资源。
应理解,雷达装置满足该触发条件,除了确定雷达装置用于目标检测的时频资源之外, 还将累计的雷达装置使用第一时域资源的个数置0,也就是满足该触发条件之后,从0开始累计使用的第一时域资源的个数,以判断雷达装置下一次切换用于目标检测的时频资源之前,是否满足该触发条件。
第六示例,触发条件为雷达装置使用的第一时域资源的个数大于或等于第六阈值,且第二值大于或等于第七阈值。或者也可以认为,在雷达装置使用的第一时域资源个数大于或等于第六阈值的情况下,触发条件为第二值大于或等于第七阈值。第二值可以是雷达装置生成的随机数。
例如雷达装置在确定雷达装置使用的第一时域资源的个数大于或等于第六阈值,可以生成随机数或者获取随机数的取值,即第二值。如果该第二值大于或等于第七阈值,那么雷达装置确定第二时频资源。也就是在雷达装置使用的第一时域资源的个数大于或等于第六阈值的情况下,雷达装置切不切换用于目标检测的时频资源可以由随机数的大小确定。前述第六阈值和第七阈值均可以是预先设置的一个值,例如雷达装置出厂时设置的,可以存储在雷达装置;当然也可以是标准定义的值,或者协议定义的值,或者是配置的值,本申请实施例对此不作限制。
应理解,雷达装置满足该触发条件,除了确定雷达装置用于目标检测的时频资源之外,还将累计的使用第一时域资源的个数置0,也就是满足该触发条件之后,从0开始累计使用的第一时域资源的个数,以判断雷达装置下一次切换用于目标检测的时频资源之前,是否满足该触发条件。
在本申请实施例中,雷达装置可以更新持续使用某个时频资源的时长或者次数,以保证不同的雷达装置持续使用某个时频资源的时长或次数不同,也就是不同的雷达装置切换用于目标检测的时频资源的时机不同,从而尽量避免多个雷达装置同时切换用于目标检测的时频资源,存在互相干扰的情况。例如第六阈值可以是雷达装置每次确定第二时域资源时生成的;或者第六阈值可以是在累计使用的第一时域资源的个数大于或等于设定的第六阈值的情况下,雷达装置生成新的第六阈值,并将原来的第六阈值更新为新的第六阈值;又或者第六阈值可以是在累计使用的第一时域资源的个数大于或等于设定的第六阈值,且雷达装置确定了第二时频资源的情况下,雷达装置生成新的第六阈值,并将原来的第六阈值更新为新的第六阈值。
应理解,雷达装置所生成的新的第六阈值与之前的第六阈值可以相同,也可以不相同。
雷达装置确定了第二时频资源,可以在第二时频资源进行目标检测,例如雷达装置在第二时频资源发送雷达信号,并接受来自目标物体的回波信号,根据发送的雷达信号和接受的回波信号可以确定目标物体相对雷达装置的距离、角度、速度等信息,达到目标检测的目的。
在本申请实施例中,雷达装置在进行目标检测之前可以对雷达装置使用的时频资源或者对雷达装置可用的时频资源进行干扰侦听,以根据干扰侦听的结果预测后续用于目标检测的时频资源的受干扰程度,从而基于该受干扰程度在可用的时频资源中重新选择用于目标检测的时频资源,即排除受干扰程度较高的时频资源,从而排除来自其他雷达装置的干扰。
需要说明的是,本文中“至少一个”是指一个或者多个,“多个”是指两个或两个以上。“和/或”,描述关联物体的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B的情况,其中A,B可以是单数或者复数。字 符“/”一般表示前后关联物体是一种“或”的关系。“以下至少一项(个)”或其类似表达,是指的这些项中的任意组合,包括单项(个)或复数项(个)的任意组合。例如,a,b或c中的至少一项(个),可以表示:a,b,c,a-b,a-c,b-c或a-b-c,其中a,b,c可以是单个,也可以是多个。
以及,除非有相反的说明,本申请实施例提及“第一”、“第二”等序数词是用于对多个物体进行区分,不用于限定多个物体的顺序、时序、优先级或者重要程度。
上述主要从雷达装置的角度对本申请实施例提供的方案进行了介绍。下面结合附图介绍本申请实施例中用来实现上述方法的装置。因此,上文中的内容均可以用于后续实施例中,重复的内容不再赘述。
可以理解的是,各个装置,例如雷达装置为了实现上述功能,其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,本申请实施例能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请实施例的范围。
本申请实施例可以对雷达装置进行功能模块的划分,例如,可对应各个功能划分各个功能模块,也可将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。需要说明的是,本申请实施例中对模块的划分是示意性的,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式。
例如,以采用集成的方式划分雷达装置各个功能模块的情况下,图8示出了本申请上述实施例中所涉及的雷达装置的一种可能的结构示意图。该雷达装置800可以包括处理单元801和收发单元802。进一步可选的,还可以包括存储单元803,该存储单元803可以用于存储指令(代码或者程序)和/或数据。收发单元802和处理单元801可以与该存储单元803耦合,例如,处理单元801可以读取存储单元803中的指令(代码或者程序)和/或数据,以实现相应的方法。上述各个单元可以独立设置,也可以部分或者全部集成。需要说明的是,收发单元802可以是集成了收发功能的单元,也可以包含独立的发送单元和接收单元,分别执行发送和接收功能。
一些可能的实施方式中,雷达装置800能够对应实现上述方法实施例中雷达装置的行为和功能。例如雷达装置800可以为上述的雷达装置,也可以为应用于上述雷达装置中的部件(例如芯片或者电路)。收发单元802可以用于执行图2所示的实施例中由雷达装置所执行的全部接收或发送操作,例如图2所示的实施例中的S201和/或用于支持本文所描述的技术的其它过程。其中,处理单元801用于执行如图2所示的实施例中由雷达装置所执行的除了收发操作之外的全部操作,例如图2所示的实施例中的S202,和/或用于支持本文所描述的技术的其它过程。
在一些实施例中,收发单元802,用于在多个第一时域资源上进行至少一次干扰侦听,处理单元801,用于根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,所述第二时频资源用于目标检测;其中,该多个第一时域资源为第一时频资源对应的时域资源的子集,第一时频资源为第一探测装置的时频资源,且多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,干扰侦听是在该多个第一时域资 源中的部分第一时域资源进行的。
在一种可能的设计中,用于至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源不存在重叠;或者,用于至少一次目标检测的至少一个第一时域资源与用于至少一次干扰侦听的部分第一时域资源重叠。
在一种可能的设计中,用于目标检测的至少一个第一时域资源包括至少三个第一时域资源,至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,每组第一时域资源包括相邻的两个第一时域资源,第一组第一时域资源中相邻的两个第一时域资源的时间间隔不同于第二组第一时域资源中相邻的两个第一时域资源的时间间隔。
在一种可能的设计中,收发单元802还用于:
在多个第二时域资源上进行至少一次干扰侦听,该多个第二时域资源为第一时频资源对应的时域资源中除多个第一时域资源之外的时域资源的子集,至少一次干扰侦听是在该多个第二时域资源中的至少一个第二时域资源上进行的。
在一种可能的设计中,执行每次干扰侦听的时长小于所述第一时域资源的时长。
在一种可能的设计中,每个所述第二时域资源包括M个子时域资源,所述第一时频资源对应的频域资源包括N个子频域资源,所述M和所述N互质,收发单元802具体用于:
在第五时频资源上进行干扰侦听,该第五时频资源对应的时域资源是M个子时域资源中的一个,该第五时频资源对应的频域资源是N个子频域资源中的一个。
在一种可能的设计中,满足以下条件中的至少一种:
满足以下条件中的至少一种:
在预设时长内,累计的干扰侦听时长大于第一时长;或者,
在预设时长内,累计的干扰侦听时长小于第二时长;或者,
在预设时长内,用于目标检测的时长小于第三时长;或者,
在预设时长内,累计满足预设条件的干扰侦听时长大于第四时长,其中预设条件包括如下条件的一种或多种组合:
用于干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集;或者,
用于干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或完全不重叠;或者,
用于干扰侦听的时频资源对应的时域资源是多个第一时域资源的子集;或者,
用于干扰侦听的时频资源对应的时域资源是第一时频资源对应的时域资源的子集。
在一种可能的设计中,处理单元801具体用于:
确定在用于至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度;或者,
在第六时频资源上接收指示信息,该指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,处理单元801具体用于:
在第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,
根据在第六时频资源上接收的信号的功率、能量或谱密度,确定在第七时频资源接收的信号的功率、能量或谱密度。
在一种可能的设计中,处理单元801具体用于:
根据第一时频资源中一第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,第八时频资源与第九时频资源之间存在第一对应关系;
根据第九时频资源的受干扰程度,确定第二时频资源,其中,第二时频资源包括至少一个第九时频资源;或者,第二时频资源不包含第九时频资源。
在一种可能的设计中,处理单元801具体用于:
根据在多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定第九时频资源的受干扰程度;或者,
根据多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者受干扰程度大于预设阈值的至少一个第八时频资源在多个第八时频资源中所占的比例,确定第九时频资源的受干扰程度。
在一种可能的设计中,处理单元801还用于:
在满足以下触发条件的至少一个所述触发条件时,确定所述第二时频资源:
第九时频资源属于所述第一时频资源中用于目标检测的资源,该第九时频资源的受干扰程度高于第一阈值;或者,
第九时频资源不属于所述第一时频资源中用于目标检测的资源,该第九时频资源的受干扰程度低于第二阈值;或者,
多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值;或者,
多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,所述触发条件为所述第一值大于或等于第四阈值;或者,
被第一探测装置使用的第一时域资源的个数大于或等于第五阈值;或者,
被第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,所述触发条件为第二值大于或等于第六阈值。
在一种可能的设计中,处理单元801还用于:
第一值大于或等于第四阈值,更新第三阈值;或者,多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新第三阈值。
在一种可能的设计中,处理单元801还用于:
第二值大于或等于第六阈值,更新第五阈值;或者,被第一探测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新第五阈值。
应理解,本申请实施例中的处理单元801可以由处理器或处理器相关电路组件实现,收发单元802可以由收发器或收发器相关电路组件或者通信接口实现。应理解,收发器可以包括例如发射器和接收器,处理器、发射器和接收器相互耦合,其中,发射器和接收器例如通过雷达装置中的天线、馈线和编解码器等实现,或者,如果所述雷达装置为设置在探测设备中的芯片,那么发射器和接收器例如为芯片中的通信接口,该通信接口与探测设备中的射频收发组件连接,以通过射频收发组件实现信息的收发。
例如,请参见图9,为本申请实施例提供的通信装置900的另一种可能的结构示意图。该通信装置900可以包处理器901、发射器902以及接收器903。其功能可分别与图8所展示的处理单元801和收发单元802的具体功能相对应,此处不再赘述。可选的,通信装置还可以包含存储器904,用于存储程序指令和/或数据,以供处理器901读取。
请参见图10,为本申请实施例提供的通信装置1000的另一种可能的结构示意图。通信装置10可以是雷达装置本身,或者可以是能够完成雷达装置的功能的芯片或电路,例如该芯片或电路可以设置在雷达装置中。通信装置1000可以包括处理器1001(例如处理单元801可以通过处理器901实现,处理器901和处理器1001例如可以是同一部件)和接口电路1002(例如收发单元802可以通过接口电路1002实现,发射器902和接收器903与接口电路1002例如为同一部件)。该处理器1001可以使得通信装置1000实现图2所示的实施例所提供的方法中雷达装置所执行的步骤。可选的,通信装置1000还可以包括存储器1003,存储器1003可用于存储指令。处理器1001通过执行存储器1003所存储的指令,使得通信装置1000实现图2所示的实施例所提供的方法中雷达装置所执行的步骤。
进一步的,处理器1001、接口电路1002和存储器1003之间可以通过内部连接通路互相通信,传递控制和/或数据信号。存储器1003用于存储计算机程序,处理器1001可以从存储器1003中调用并运行计算机程序,以控制接口电路1002接收信号或发送信号,完成图2所示的实施例所提供的方法中雷达装置执行的步骤。存储器1003可以集成在处理器1001中,也可以与处理器1001分开设置。
可选地,若通信装置1000为设备,接口电路1002可以包括接收器和发送器。其中,接收器和发送器可以为相同的部件,或者为不同的部件。接收器和发送器为相同的部件时,可以将该部件称为收发器。
可选地,若通信装置1000为芯片或电路,则接口电路1002可以包括输入接口和输出接口,输入接口和输出接口可以是相同的接口,或者可以分别是不同的接口。
可选地,若通信装置1000为芯片或电路,通信装置1000也可以不包括存储器1003,处理器1001可以读取该芯片或电路外部的存储器中的指令(程序或代码)以实现图2所示的实施例所提供的方法中雷达装置执行的步骤。
可选地,若通信装置1000为芯片或电路,则通信装置1000可以包括电阻、电容或其他相应的功能部件,处理器1001或接口电路1002可以通过相应的功能部件实现。
作为一种实现方式,接口电路1002的功能可以考虑通过收发电路或收发的专用芯片实现。处理器1001可以考虑通过专用处理芯片、处理电路、处理器或通用芯片实现。
作为另一种实现方式,可以考虑使用通用计算机的方式来实现本申请实施例提供的雷达装置。即,将实现处理器1001、接口电路1002的功能的程序代码存储在存储器1003中,处理器1001通过执行存储器1003存储的程序代码来实现处理器1001、接口电路1002的功能。
其中,以上列举的通信装置1000中各模块或单元的功能和动作仅为示例性说明,通信装置1000中各功能单元可用于执行图2所示的实施例中雷达装置所执行的各动作或处理过程。这里为了避免赘述,省略其详细说明。
再一种可选的方式,当使用软件实现雷达装置时,可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时,全部或部分地实现本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中,或者从一个计算机可读存储介质向另一个计算机可读存储介质传输,例如,所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line,DSL))或无线(例如 红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质,(例如软盘、硬盘、磁带)、光介质(例如DVD)、或者半导体介质(例如固态硬盘(solid state disk,SSD))等。
需要说明的是,用于执行本申请实施例提供的目标检测方法的上述雷达装置中所包含的处理器可以是中央处理器(central processing unit,CPU),通用处理器、数字信号处理器(digital signal processor,DSP)、专用集成电路(application-specific integrated circuit,ASIC),现场可编程门阵列(field programmable gate array,FPGA)或者其他可编程逻辑器件、晶体管逻辑器件,硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框,模块和电路。所述处理器也可以是实现计算功能的组合,例如包含一个或多个微处理器组合,DSP和微处理器的组合等等。
结合本申请实施例所描述的方法或者算法的步骤可以硬件的方式来实现,也可以是由处理器执行软件指令的方式来实现。软件指令可以由相应的软件模块组成,软件模块可以被存放于随机存取存储器(random access memory,RAM)、闪存、只读存储器(read-only memory,ROM)存储器、可擦除可编程只读存储器(erasable programmable read-only memory,EPROM)、电可擦除可编程只读存储器(electrically erasable programmable read-only memory,EEPROM)、寄存器、硬盘、移动硬盘、只读光盘(compact disc read-only memory,CD-ROM)或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器,从而使处理器能够从该存储介质读取信息,且可向该存储介质写入信息。当然,存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外,该ASIC可以位于雷达装置或者安装雷达装置的探测设备中。当然,处理器和存储介质也可以作为分立组件存在于雷达装置或者安装雷达装置的探测设备中。
可以理解的是,图8~图10仅仅示出了雷达装置的简化设计。在实际应用中,雷达装置可以包含任意数量的发射器,接收器,处理器,控制器,存储器以及其他可能存在的元件。
通过以上的实施方式的描述,所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,仅以上述各功能模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能模块完成,即将装置的内部结构划分成不同的功能模块,以完成以上描述的全部或者部分功能。
本申请实施例还提供了一种传感器系统,所述传感器系统包含至少一个上述雷达装置。进一步可选的,所述传感器系统还包含至少一个摄像头和/或激光雷达。
本申请实施例还提供一种交通工具,例如车辆、无人机、无人车等,包含上述传感器系统。
本申请实施例还提供一种通信系统,该通信系统包括至少一个上述雷达装置。
本申请实施例还提供一种计算机可读存储介质,包括指令,当其在计算机上运行时,使得计算机执行图2中雷达装置执行的方法。
在本申请所提供的几个实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组 件可以结合或者可以集成到另一个装置,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是一个物理单元或多个物理单元,即可以位于一个地方,或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个可读取存储介质中。基于这样的理解,本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该软件产品存储在一个存储介质中,包括若干指令用以使得一个设备(可以是单片机,芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何在本申请揭露的技术范围内的变化或替换,都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以所述权利要求的保护范围为准。
Claims (31)
- 一种目标检测方法,其特征在于,所述方法包括:在多个第一时域资源上进行至少一次干扰侦听,所述多个第一时域资源为第一时频资源对应的时域资源的子集,所述第一时频资源为第一探测装置的时频资源;其中,所述多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,所述干扰侦听是在所述多个第一时域资源中的部分第一时域资源进行的;根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,所述第二时频资源用于目标检测。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:在所述多个第一时域资源上进行至少一次目标检测,用于所述至少一次目标检测的至少一个第一时域资源与用于所述至少一次干扰侦听的所述部分第一时域资源不存在重叠。
- 如权利要求2所述的方法,其特征在于,所述用于目标检测的至少一个第一时域资源包括至少三个第一时域资源,所述至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,所述每组第一时域资源包括相邻的两个第一时域资源,所述第一组第一时域资源中所述相邻的两个第一时域资源的时间间隔不同于所述第二组第一时域资源中所述相邻的两个第一时域资源的时间间隔。
- 如权利要求1-3任一所述的方法,其特征在于,所述方法还包括:在多个第二时域资源上进行至少一次干扰侦听,所述多个第二时域资源为所述第一时频资源对应的时域资源中除所述多个第一时域资源之外的时域资源的子集,所述至少一次干扰侦听是在所述多个第二时域资源中的至少一个第二时域资源上进行的。
- 如权利要求1-4所述的方法,其特征在于,执行所述每次干扰侦听的时长小于所述第一时域资源的时长。
- 如权利要求4或5所述的方法,其特征在于,每个所述第二时域资源包括M个子时域资源,所述第一时频资源对应的频域资源包括N个子频域资源,所述M和所述N互质,所述在多个第二时域资源上进行至少一次干扰侦听,包括:在第五时频资源上进行干扰侦听,所述第五时频资源对应的时域资源是所述M个子时域资源中的一个,所述第五时频资源对应的频域资源是所述N个子频域资源中的一个。
- 如权利要求1-6任一所述的方法,其特征在于,满足以下条件中的至少一种:在第一预设时长内,干扰侦听时长大于第一时长;或者,在第二预设时长内,干扰侦听时长小于第二时长;或者,在第三预设时长内,用于目标检测的时长小于第三时长;或者,在第四预设时长内,满足预设条件的干扰侦听时长大于第四时长,其中所述预设条件包括如下条件的一种或多种组合:用于所述干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集;或者,用于所述干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或完全不重叠;或者,用于所述干扰侦听的时频资源对应的时域资源是所述多个第一时域资源的子集;或者,用于所述干扰侦听的时频资源对应的时域资源是所述第一时频资源对应的时域资源 的子集。
- 如权利要求1-7任一所述的方法,其特征在于,所述进行至少一次干扰侦听,包括:确定在用于所述至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度;或者,在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度。
- 如权利要求8所述的方法,其特征在于,所述在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度,包括:在所述第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,根据在所述第六时频资源上接收的信号的功率、能量或谱密度,确定在所述第七时频资源接收的信号的功率、能量或谱密度。
- 如权利要求1-9任一所述的方法,其特征在于,根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,包括:根据所述第一时频资源中第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,所述第八时频资源与所述第九时频资源之间存在第一对应关系;根据所述第九时频资源的受干扰程度,确定所述第二时频资源,其中,所述第二时频资源包括至少一个所述第九时频资源;或者,所述第二时频资源不包含所述第九时频资源。
- 如权要求10所述的方法,其特征在于,所述根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,包括:根据在所述多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定所述第九时频资源的受干扰程度;或者,根据所述多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者所述受干扰程度大于预设阈值的至少一个第八时频资源在所述多个第八时频资源中所占的比例,确定所述第九时频资源的受干扰程度。
- 如权利要求10或11所述的方法,其特征在于,所述根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,包括:在满足以下触发条件的至少一个所述触发条件时,确定所述第二时频资源:所述第九时频资源属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度高于第一阈值;或者,所述第九时频资源不属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度低于第二阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,所述触发条件为所述第一值大于或等于第四阈值;或者,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值;或者,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,所述触发条件为所述第二值大于或等于第六阈值。
- 如权利要求12所述的方法,其特征在于,所述方法还包括:所述第一值大于或等于所述第四阈值,更新所述第三阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新所述第三阈值。
- 如权利要求12所述的方法,其特征在于,所述方法还包括:所述第二值大于或等于所述第六阈值,更新所述第五阈值;或者,所述被所述第一探测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新所述第五阈值。
- 一种装置,其特征在于,包括收发单元和处理单元,其中:所述收发单元,用于在多个第一时域资源上进行至少一次干扰侦听,所述多个第一时域资源为第一时频资源对应的时域资源的子集,所述第一时频资源为第一探测装置的时频资源;其中,所述多个第一时域资源中,任意两个相邻的第一时域资源之间的时间间隔相同,所述干扰侦听是在所述多个第一时域资源中的部分第一时域资源进行的;所述处理单元,用于根据所述至少一次干扰侦听的结果,确定所述第一时频资源中的第二时频资源,所述第二时频资源用于目标检测。
- 如权利要求15所述的装置,其特征在于,用于所述至少一次目标检测的至少一个第一时域资源与用于所述至少一次干扰侦听的所述部分第一时域资源不存在重叠。
- 如权利要求15或16所述的装置,其特征在于,所述用于目标检测的至少一个第一时域资源包括至少三个第一时域资源,所述用于目标检测的至少三个第一时域资源包含第一组第一时域资源以及第二组第一时域资源,所述每组第一时域资源包括相邻的两个第一时域资源,所述第一组第一时域资源中所述相邻的两个第一时域资源的时间间隔不同于所述第二组第一时域资源中所述相邻的两个第一时域资源的时间间隔。
- 如权利要求15-17任一所述的装置,其特征在于,所述收发单元还用于:在多个第二时域资源上进行至少一次干扰侦听,所述多个第二时域资源为所述第一时频资源对应的时域资源中除所述多个第一时域资源之外的时域资源的子集,所述至少一次干扰侦听是在所述多个第二时域资源中的至少一个第二时域资源上进行的。
- 如权利要求15-18任一所述的装置,其特征在于,执行所述每次干扰侦听的时长小于所述第一时域资源的时长。
- 如权利要求18或19所述的装置,其特征在于,每个所述第二时域资源包括M个子时域资源,所述第一时频资源对应的频域资源包括N个子频域资源,所述M和所述N互质,所述收发单元具体用于:在第五时频资源上进行干扰侦听,所述第五时频资源对应的时域资源是所述M个子时域资源中的一个,所述第五时频资源对应的频域资源是所述N个子频域资源中的一个。
- 如权利要求15-20任一所述的装置,其特征在于,满足以下条件中的至少一种:在预设时长内,累计的干扰侦听时长大于第一时长;或者,在预设时长内,累计的干扰侦听时长小于第二时长;或者,在预设时长内,用于目标检测的时长小于第三时长;或者,在预设时长内,累计满足预设条件的干扰侦听时长大于第四时长,其中所述预设条件包括如下条件的一种或多种组合:用于所述干扰侦听的时频资源对应的频域资源为用于目标检测的时频资源对应的频域资源的子集;或者,用于所述干扰侦听的时频资源对应的频域资源与用于目标检测的时频资源对应的频域资源部分重叠或完全不重叠;或者,用于所述干扰侦听的时频资源对应的时域资源是所述多个第一时域资源的子集;或者,用于所述干扰侦听的时频资源对应的时域资源是所述第一时频资源对应的时域资源的子集。
- 如权利要求15-21任一所述的装置,其特征在于,所述处理单元具体用于:确定在用于所述至少一次干扰侦听的部分第一时域资源接收的信号的功率、能量或谱密度;或者,在第六时频资源上接收指示信息,所述指示信息用于指示用于第二探测装置进行目标检测的第七时频资源,以及确定在所述第七时频资源接收的信号的功率、能量或谱密度。
- 如权利要求22所述的装置,其特征在于,所述处理单元具体用于:在所述第七时频资源上接收信号,并确定接收的信号的功率、能量或谱密度;或者,根据在所述第六时频资源上接收的信号的功率、能量或谱密度,确定在所述第七时频资源接收的信号的功率、能量或谱密度。
- 如权利要求15-23任一所述的装置,其特征在于,所述处理单元具体用于:根据所述第一时频资源中第八时频资源的侦听结果确定第九时频资源的受干扰程度,或者,根据所述第一时频资源中的多个第八时频资源的侦听结果确定第九时频资源的受干扰程度,其中,所述第八时频资源与所述第九时频资源之间存在第一对应关系;根据所述第九时频资源的受干扰程度,确定所述第二时频资源,其中,所述第二时频资源包括至少一个所述第九时频资源;或者,所述第二时频资源不包含所述第九时频资源。
- 如权利要求24所述的装置,其特征在于,所述处理单元具体用于:根据在所述多个第八时频资源上接收的信号的功率、能量或谱密度的平均值,确定所述第九时频资源的受干扰程度;或者,根据所述多个第八时频资源中受干扰程度大于预设阈值的至少一个第八时频资源的数量或者所述受干扰程度大于预设阈值的至少一个第八时频资源在所述多个第八时频资源中所占的比例,确定所述第九时频资源的受干扰程度。
- 如权利要求24或25所述的装置,其特征在于,所述处理单元还用于:在满足以下触发条件的至少一个所述触发条件时,确定所述第二时频资源:所述第九时频资源属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度高于第一阈值;或者,所述第九时频资源不属于所述第一时频资源中用于目标检测的资源,所述第九时频资源的受干扰程度低于第二阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于第三阈值,获取第一值,所述触发条件为所述第一值大于或等于第四阈值;或者,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值;或者,被所述第一探测装置使用的第一时域资源的个数大于或等于第五阈值,获取第二值,所述触发条件为所述第二值大于或等于第六阈值。
- 如权利要求26所述的装置,其特征在于,所述处理单元还用于:所述第一值大于或等于所述第四阈值,更新所述第三阈值;或者,所述多个第一时域资源中用于目标检测的第一时域资源的时长或次数大于或等于设定的第三阈值,更新所述第三阈值。
- 如权利要求26所述的装置,其特征在于,所述处理单元还用于:所述第二值大于或等于所述第六阈值,更新所述第五阈值;或者,所述被所述第一探测装置使用的第一时域资源的个数大于或等于设定的第五阈值,更新所述第五阈值。
- 一种装置,其特征在于,所述装置包括:存储器:用于存储指令;处理器,用于从所述存储器中调用并运行所述指令,使得所述装置或者安装有所述装置的设备执行如权利要求1~14中任意一项所述的方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,当所述计算机程序在装置上运行时,使得所述装置执行如权利要求1~14中任意一项所述的方法。
- 一种计算机程序产品,其特征在于,所述计算机程序产品包括计算机程序,当所述计算机程序在装置上运行时,使得所述装置执行如权利要求1~14中任意一项所述的方法。
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US20220404465A1 (en) | 2022-12-22 |
EP4092440A1 (en) | 2022-11-23 |
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