WO2022056812A1 - 资源确定方法、装置、电子设备、存储介质以及车辆 - Google Patents

资源确定方法、装置、电子设备、存储介质以及车辆 Download PDF

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Publication number
WO2022056812A1
WO2022056812A1 PCT/CN2020/116129 CN2020116129W WO2022056812A1 WO 2022056812 A1 WO2022056812 A1 WO 2022056812A1 CN 2020116129 W CN2020116129 W CN 2020116129W WO 2022056812 A1 WO2022056812 A1 WO 2022056812A1
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Prior art keywords
time
frequency resource
frequency
target detection
resource set
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PCT/CN2020/116129
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English (en)
French (fr)
Inventor
宋思达
马莎
高磊
张慧
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华为技术有限公司
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Priority to CN202080004831.XA priority Critical patent/CN112654880B/zh
Priority to CN202210810056.8A priority patent/CN115390017A/zh
Priority to PCT/CN2020/116129 priority patent/WO2022056812A1/zh
Priority to EP20953670.5A priority patent/EP4206722A4/en
Publication of WO2022056812A1 publication Critical patent/WO2022056812A1/zh
Priority to US18/186,063 priority patent/US20230228841A1/en

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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • 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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • G01S7/0236—Avoidance by space multiplex
    • 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
    • G01S7/35—Details of non-pulse systems
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to the field of sensors, and in particular, to a resource determination method, apparatus, electronic device, storage medium, program product, and vehicle.
  • a radar system can listen to each time-frequency resource based on a receiver set in it, generate a listening result, and select a corresponding time-frequency resource from each time-frequency resource based on the listening result to perform target detection .
  • embodiments of the present application provide a resource determination method, apparatus, electronic device, storage medium, program product, and vehicle, which can reduce interference between radar systems.
  • the embodiments of the present application provide a resource determination method, the method comprising:
  • the first congestion condition includes: a second target detection signal
  • the congestion degree of any time-frequency resource in the time-frequency resource set is greater than a first threshold, and the second time-frequency resource set is included in the first time-frequency resource set;
  • Target detection is performed based on the second target detection signal.
  • the second target detection signal with reduced time-frequency occupancy rate and/or transmission power is used for target detection.
  • the signal is used for target detection, since the second target detection signal is a signal with a reduced time-frequency occupancy rate and/or transmit power, the relatively occupied time-frequency resources will be reduced, so that the technology can realize the rational and full utilization of the time-frequency resources effect, thereby reducing interference between radars.
  • the method further includes:
  • the second congestion condition includes: the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than a second threshold, where the first threshold is greater than the second threshold.
  • the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than the second threshold, it is judged whether the first listening result satisfies the first congestion condition, that is, the first time-frequency resource is judged Whether the congestion degree of any time-frequency resource in the second time-frequency resource set in the set is greater than the first threshold, and the first threshold is greater than the second threshold.
  • the technical effect of rational and full utilization of the time-frequency resources can be realized.
  • the method when the first listening result does not satisfy the second congestion condition, the method further includes:
  • the detection signal used for target detection is determined based on the target detection time-frequency resource.
  • the method further includes:
  • the determining the first listening result of the first time-frequency resource set includes: generating the first listening result according to the first time-frequency resource set and the first listening signal;
  • the first listening signal includes multiple waveforms, and the signal models of the multiple waveforms are different.
  • the first listening signal includes a variety of waveforms, and the signal models of the various waveforms are different, the diversity and flexibility of the first listening signal can be achieved, so that when the first listening signal is based on When the first interception result is generated, the technical effect of the comprehensiveness and integrity of the first interception result can be achieved.
  • the signal model includes frequency modulation slopes and/or regimes of the plurality of waveforms.
  • the density of the multiple waveforms in the time-frequency resource region corresponding to the first time-frequency resource set is greater than a preset density threshold.
  • the intensity includes a time intensity and/or a frequency intensity
  • the intensity threshold includes a time intensity threshold and/or a frequency intensity threshold
  • the multiple waveforms are in the first time-frequency resource
  • the density of the time-frequency resource region corresponding to the set is greater than the preset density threshold including:
  • the time intensity is greater than the time intensity threshold
  • the frequency density is greater than the frequency density threshold.
  • the signal model of at least one of the plurality of waveforms changes based on changes in time.
  • the probability of "collision" between the listening signal and the interference signal within a period of time can be increased, that is, the listening signal and the interference signal can be increased.
  • the probability of appearing in the same frequency domain at the same time increases the success rate of radar detection of interference.
  • the method when the first listening result does not satisfy the first congestion condition, the method further includes:
  • a second listening result is determined according to a third time-frequency resource set and a second listening signal, wherein the second listening signal includes at least two waveforms, and any time-frequency resource in the third time-frequency resource set
  • the congestion levels of all are greater than the second threshold and less than the first threshold, and the third time-frequency resource set is included in the first time-frequency resource set;
  • the detection signal used for target detection is determined according to the least disturbed waveform.
  • the interference of the detection signal by other signals can be minimized, and the technical effect of improving the accuracy and reliability of target detection can be achieved.
  • the time-frequency occupancy ratio includes a duty ratio of the first target detection signal in time and/or an occupancy ratio of the first target detection signal in frequency.
  • the method further includes:
  • the selection rule includes: selecting at least part of the time-frequency resources from the first time-frequency resource set based on preset selection parameters, and the congestion degree of any selected time-frequency resource is smaller than the time-frequency resource that is not selected. The congestion level of the frequency resource.
  • the embodiments of the present application further provide an apparatus for determining resources, and the apparatus includes:
  • a first determining module configured to determine the first listening result of the first time-frequency resource set
  • a reducing module configured to reduce the time-frequency occupancy rate and/or transmit power of the first target detection signal to obtain a second target detection signal when the first listening result satisfies the first congestion condition, wherein the first congestion
  • the conditions include: the congestion degree of any time-frequency resource in the second time-frequency resource set is greater than the first threshold, and the second time-frequency resource set is included in the first time-frequency resource set;
  • a detection module configured to perform target detection based on the second target detection signal.
  • the apparatus further includes:
  • a judgment module configured to judge whether the first listening result satisfies the first congestion condition
  • the second congestion condition includes: the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than a second threshold, where the first threshold is greater than the second threshold.
  • the apparatus when the first listening result does not satisfy the second congestion condition, the apparatus further includes:
  • a second determining module configured to determine a target detection time-frequency resource based on any time-frequency resource in the first time-frequency resource set whose congestion degree is less than the second threshold, and determine a target detection time-frequency resource based on the target detection time-frequency resource for determining the target detection time-frequency resource. Detection signal for target detection.
  • the first determining module is configured to determine a first listening signal, and generate the first listening result according to the first time-frequency resource set and the first listening signal;
  • the first listening signal includes multiple waveforms, and the signal models of the multiple waveforms are different.
  • the signal model includes frequency modulation slopes and/or regimes of the plurality of waveforms.
  • the density of the multiple waveforms in the time-frequency resource region corresponding to the first time-frequency resource set is greater than a preset density threshold.
  • the intensity includes a time intensity and/or a frequency intensity
  • the intensity threshold includes a time intensity threshold and/or a frequency intensity threshold
  • the multiple waveforms are in the first time-frequency resource
  • the density of the time-frequency resource region corresponding to the set is greater than the preset density threshold including:
  • the time intensity is greater than the time intensity threshold
  • the frequency density is greater than the frequency density threshold.
  • the signal model of at least one of the plurality of waveforms changes based on changes in time.
  • the apparatus when the first listening result does not satisfy the first congestion condition, the apparatus further includes:
  • a third determining module configured to determine a second listening result according to a third time-frequency resource set and a second listening signal, wherein the second listening signal includes at least two waveforms, and the third time-frequency resource set
  • the congestion level of any one of the time-frequency resources is greater than the second threshold and less than the first threshold, and the third set of time-frequency resources is included in the first set of time-frequency resources.
  • the time-frequency occupancy ratio includes a duty ratio of the first target detection signal in time and/or an occupancy ratio of the first target detection signal in frequency.
  • the apparatus further includes:
  • a selection module configured to select at least part of the time-frequency resources from the first time-frequency resource set according to a preset selection rule, and determine the second time-frequency resource set;
  • the selection rule includes: selecting at least part of the time-frequency resources from the first time-frequency resource set based on preset selection parameters, and the congestion degree of any selected time-frequency resource is smaller than the time-frequency resource that is not selected. The congestion level of the frequency resource.
  • the embodiments of the present application further provide a computer storage medium, where computer instructions are stored on the computer storage medium, and when the computer instructions are executed by a processor, any one of the above The methods described in the examples are performed.
  • the embodiments of the present application further provide a computer program product, which enables the method described in any of the foregoing embodiments to be executed when the computer program product runs on a processor.
  • the embodiments of the present application further provide an electronic device, including:
  • the memory stores computer instructions executable by the at least one processor, the computer instructions being executed by the at least one processor to cause the method of any of the above embodiments to be performed.
  • the embodiments of the present application further provide a vehicle, which includes: a vehicle body and a radar system, and also includes the resource determination apparatus described in any of the above embodiments.
  • FIG. 1 is a schematic diagram of a radar system according to an embodiment of the application.
  • FIG. 2 is a schematic diagram of an application scenario of an embodiment of the present application
  • FIG. 3 is a schematic diagram of a listening principle of a radar system according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a resource determination method according to an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a resource determination method according to another embodiment of the present application.
  • FIG. 6 is a schematic diagram of a relationship between a listening signal and time-frequency resources according to an embodiment of the present application
  • FIG. 7 is a schematic diagram of time-frequency resources according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a resource determination method according to another embodiment of the present application.
  • FIG. 9 is a schematic diagram of an apparatus for determining a resource according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a resource determining apparatus according to another embodiment of the present application.
  • FIG. 11 is a block diagram of an electronic device according to an embodiment of the application.
  • FIG. 12 is a schematic diagram of a vehicle according to an embodiment of the application.
  • the present application provides a resource determination method, and the resource determination method can be applied to a radar system.
  • FIG. 1 is a schematic diagram of a radar system according to an embodiment of the present application.
  • a radar system may include: an oscillator, a directional coupler, a transmit antenna, a receive antenna, a mixer, a processor, and a controller.
  • the oscillator can generate a signal whose frequency increases linearly with time (such as Frequency Modulated Continuous Wave, FMCW), part of which is output to the mixer as the local oscillator signal through the directional coupler, and part is transmitted through the transmitting antenna,
  • the receiving antenna receives the signal reflected from the target (such as pedestrians, vehicles and signs, etc.), and mixes it with the local oscillator signal in the mixer to obtain the intermediate frequency signal (including the relative distance, speed, angle and other information of the target), which can be After a low-pass filter and amplification processing (not shown in the figure), it is sent to the processor, and the processor processes the intermediate frequency signal (after sampling the intermediate frequency signal, fast Fourier transform and spectrum analysis can be performed) to obtain The information such as the distance, speed and angle of the target is finally output to the controller to control the behavior of the vehicle.
  • FMCW Frequency Modulated Continuous Wave
  • the radar system of the embodiment of the present application can be applied to vehicles, unmanned aerial vehicles, rail cars, bicycles, signal lights, speed measuring devices, or base stations, etc. as shown in FIG. 2 .
  • the radar system can be a millimeter wave radar system, a lidar system, an ultrasonic radar system, etc.;
  • the role is not limited, for example, the radar system can be used to measure the target, and can also be used to identify the target (such as the identification of lane lines and signs, etc.), and the radar system can combine the navigator and map data for path planning ,etc.
  • the detection signal when the radar system transmits the detection signal used to detect the distance of the target, the detection signal needs to occupy certain resources, such as time-frequency resources (including time-domain resources and frequency-domain resources), and in order to improve the target
  • time-frequency resources including time-domain resources and frequency-domain resources
  • the reliability and accuracy of the detection can be determined by listening to the available time-frequency resources before the target is detected, and the target can be detected based on the time-frequency resources obtained by listening.
  • the interception can be realized by the receiving chain in the radar system, and now the interception principle of the radar system is exemplarily explained with reference to FIG. 3 .
  • the receive chain includes: a receiver, a low noise amplifier, a mixer, a low pass filter, an analog-to-digital converter and a digital signal processor.
  • the receiver is used to receive the electromagnetic wave in the space and obtain the radio frequency reception signal
  • the low noise amplifier is used to amplify the RF received signal
  • the mixer is used to perform mixing processing on the amplified radio frequency receiving signal and the oscillating signal (which can be provided by the oscillator);
  • the low-pass filter is used to filter the mixed-processed signal to obtain an intermediate frequency signal
  • the analog-to-digital converter is used to sample the intermediate frequency signal to obtain the intermediate frequency sampling signal
  • the digital signal processor is used to analyze the IF sampled signal to obtain the listening result.
  • the inventor of the present application has obtained the inventive concept of the present application: adaptively adjust the time-frequency occupancy rate and/or transmit power of the detection signal used to detect the target through the listening result.
  • an embodiment of the present application provides a resource determination method suitable for the above application scenario.
  • FIG. 4 is a schematic flowchart of a method for determining a resource according to an embodiment of the present application.
  • the method includes:
  • S101 Determine a first listening result of a first time-frequency resource set.
  • the "first" in the first time-frequency resource set is used to distinguish it from the second time-frequency resource set and the third time-frequency resource set in the following text, and cannot be understood as a reference to the first time-frequency resource set.
  • the content of the first interception result is limited; the "first" of the first interception result is used to distinguish it from the second interception result in the following, and cannot be understood as a limitation on the content of the first interception result.
  • the first listening result can be used to characterize the degree of congestion of each time-frequency resource in the first time-frequency resource set determined by the radar system based on the received electromagnetic waves and oscillating signals in space, and any time-frequency resource
  • the degree of resource congestion can be understood as the number of radar systems occupying the time-frequency resource, or the proportion of the time-frequency resource occupied. Relatively speaking, the greater the number of radar systems occupying the time-frequency resource, or the The higher the proportion of time-frequency resources occupied, the greater the degree of congestion of the time-frequency resources, and the greater the degree of congestion, indicating that the radar system is more likely to be interfered when detecting targets, and the more reliable the detection results are. Low.
  • this embodiment does not limit the method for determining the first interception result.
  • the first congestion condition includes: the congestion degree of any time-frequency resource in the second time-frequency resource set is greater than the first threshold, and the second time-frequency resource set is included in the first time-frequency resource set.
  • the "first” in the first target detection signal is used to distinguish it from the second target detection signal, and cannot be understood as a limitation on the content of the first target detection signal
  • the "first” in the second target detection signal "2" is used to distinguish it from the first target detection signal, and cannot be understood as a limitation on the content of the second target detection signal
  • the "second” in the second time-frequency resource set is used to perform a comparison with the first time-frequency resource set. It cannot be understood as a limitation on the content of the second time-frequency resource set.
  • the first target detection signal may be understood as a detection signal preset by the radar system to be used for detecting the target
  • the second target detection signal may be understood as the time-frequency occupancy rate and/or the time-frequency occupancy rate and/or the radar system of the first target detection signal The detection signal obtained after the transmission power is reduced.
  • the time-frequency occupancy rate can be used to characterize the duty ratio of the first target detection signal in time; it can also be used to characterize the occupancy ratio of the first target detection signal in frequency; it can also be used to characterize the time duty ratio of the first target detection signal duty cycle over and over frequency.
  • the first threshold may be set based on meeting a preset detection requirement of the radar system, and the detection requirement may be used to represent a requirement for reliability of the detection result. For example, for a detection scenario requiring a high reliability of the detection result, the radar system can set the first threshold to be relatively small, while for a detection scenario requiring a relatively low reliability of the detection result, the radar system can set the first threshold to a relatively small value larger.
  • S102 may specifically include: judging whether the first listening result satisfies the first congestion condition, and if so, reducing the time-frequency occupancy rate and/or the transmit power of the first target detection signal to obtain the second target detection signal, so that when based on the When the second target detection signal performs target detection, since the second target detection signal is a signal with a reduced time-frequency occupancy rate and/or transmit power, the relatively occupied time-frequency resources will be reduced, so that reasonable time-frequency resources can be achieved. Take advantage of the technical effects.
  • S103 Perform target detection based on the second target detection signal.
  • this embodiment provides a resource determination method, the method includes: determining a first listening result of a first time-frequency resource set, and when the first listening result satisfies the first congestion condition, lowering the first The time-frequency occupancy rate and/or transmit power of the target detection signal obtains the second target detection signal, wherein the first congestion condition includes: the congestion degree of any time-frequency resource in the second time-frequency resource set is greater than the first threshold, and the first congestion condition includes: The two time-frequency resource sets are included in the first time-frequency resource set.
  • Target detection is performed based on the second target detection signal. When the first listening result satisfies the first congestion condition, the The second target detection signal performs target detection.
  • the second target detection signal is a signal with a reduced time-frequency occupancy rate and/or transmit power, the relative occupied The time-frequency resources and/or the transmit power will be reduced, so that the technical effect of rational and full utilization of the time-frequency resources can be achieved.
  • the method includes:
  • S201 Determine a first listening signal, where the first listening signal includes multiple waveforms, and the signal models of the multiple waveforms are different.
  • the signal model can be used to represent the characteristics of the waveform, such as the system of the waveform, and the system of the waveform can include continuous waveform and pulse signal waveform, etc., for example, the frequency modulation slope of the waveform, and so on.
  • the "first" in the first listening signal is used to distinguish it from the second listening signal in the following text, and cannot be understood as a limitation on the content of the first listening signal, and the first listening signal can be A waveform used to characterize the radar system to listen to the time-frequency resource, that is, in this embodiment, the radar system can use a variety of waveforms to listen to the time-frequency resource.
  • S202 Generate a first listening result according to the first time-frequency resource set and the first listening signal.
  • the frequency modulation slopes of the various waveforms are different.
  • the relationship between the listening signal and the time-frequency resources will be exemplarily described with reference to FIG. 6 .
  • the first listening signal includes two waveforms, which are respectively listening waveform A and listening waveform B.
  • the frequency modulation slopes of listening waveform A and listening waveform B are different, and the interference signal can be a radar system. Receive electromagnetic waves in space.
  • the listening waveform A and the listening waveform B may have overlapping areas with the interference signal in the time domain t and the frequency domain f respectively (the area represented by the circle shown in FIG. 6 ), and the overlap The area is the time-frequency resource that has been occupied.
  • several listening areas may be selected for listening in time division and/or frequency division.
  • the time-division selection of several listening regions for listening can be understood as: the first time-frequency resource set includes multiple time-domain resource regions, and the multiple time-domain resource regions are detected by the radar system at a certain time-domain resource granularity. Obtained by dividing the available time-frequency resources, the multiple time-domain resource regions are several listening regions.
  • the first time-frequency resource set includes a plurality of frequency domain resource regions, and the plurality of frequency domain resource regions are detected by the radar system with a certain frequency domain resource granularity. Obtained by dividing the available frequency domain resources, the multiple frequency domain resource regions are several listening regions.
  • Time-division and frequency-division selection of several listening areas for listening can be understood as: the first time-frequency resource set includes multiple time-frequency resource areas, and the multiple time-frequency resource areas are determined by the radar system at a certain time-frequency resource granularity It is obtained by dividing the available time-frequency resources, and the multiple time-frequency resource areas are several listening areas.
  • the “X” in the dotted line in FIG. 7 can be understood as the granularity of the listening time-frequency resource corresponding to any time-frequency resource in the first time-frequency resource set (which may be specified by the protocol or based on demand pre-set), that is, it can be understood as a unit area that forms at least part of the area that any time-frequency resource in the first time-frequency resource set may cover, and the radar system can detect the congestion degree of the time-frequency resources in at least one unit area.
  • Listen, and the unit area framed by each “rectangle” in FIG. 7 can be understood as several listening areas that the radar system can select in the at least partial area.
  • the signal model of at least one of the plurality of waveforms changes based on changes in time.
  • the FM slope of the waveform A is the changing FM slope.
  • the radar system can increase the probability of "collision" between the listening signal and the interference signal within a period of time, that is, it can increase the simultaneous occurrence of the listening signal and the interference signal at the same frequency. The probability in the domain, thereby improving the success rate of radar detection of interference.
  • the density of the various waveforms in the time-frequency resource region corresponding to the first time-frequency resource set is greater than a preset density threshold.
  • the density can be understood from the time dimension and/or the frequency dimension, and the understanding from the time dimension can be: in the unit frequency band, along the time axis, the number of repetition periods of the first listening signal is greater than a certain threshold; from the frequency
  • the dimension can be understood as: in a unit time, along the frequency axis, the number of repetition periods of the first listening signal is greater than a certain threshold.
  • the intensity includes time intensity and/or frequency intensity
  • the intensity threshold includes time intensity threshold and/or frequency intensity threshold
  • the various waveforms are in the time-frequency resource region corresponding to the first time-frequency resource set.
  • the density is greater than the preset density threshold including:
  • the time intensity is greater than the time intensity threshold; and/or,
  • the frequency density is greater than the frequency density threshold.
  • the reliability of interception is relatively higher if the time intensity and/or frequency intensity are larger.
  • S203 Determine whether the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than the second threshold according to the first listening result (that is, determine whether the first listening result satisfies the second congestion condition), and if so, execute S204; if not, execute S212.
  • the second threshold may be set based on the above-mentioned principle of setting the first threshold, which will not be repeated here, and the second threshold is smaller than the first threshold.
  • the radar system may determine the congestion level of each time-frequency resource in the first time-frequency resource set according to the first listening result, and assign each time-frequency resource in the first time-frequency resource set The congestion levels of all are compared with the second threshold, and if the congestion level of each time-frequency resource in the first time-frequency resource set is greater than the second threshold, perform S204.
  • the first time-frequency resource set includes m time-frequency resources, and each time-frequency resource in the m time-frequency resources corresponds to a congestion degree, that is, m congestion degrees are obtained, and each of the m congestion degrees is determined. Whether the congestion levels are all greater than the second threshold, if yes, that is, each of the m congestion levels is greater than the second threshold, perform S204.
  • the congestion degree x% of a certain block of time-frequency resources in the first time-frequency resource set can be calculated based on Equation 1, Equation 1:
  • BL is the frequency range of a certain time-frequency resource in the first time-frequency resource set monitored by the radar system
  • TL is the time range of a certain time-frequency resource in the first time-frequency resource set monitored by the radar system
  • B busy,i is the frequency range of the occupied i-th unit time-frequency resource determined by the radar system according to the first interception result
  • T busy,i is the occupied i-th unit time-frequency resource determined by the radar system according to the first interception result
  • the unit of time-frequency resources is the smallest unit of time-frequency resources that constitute each block of time-frequency resources in the first time-frequency resource set, and may be specified in a protocol or configured at the factory, which is not limited.
  • S204 Select at least part of the time-frequency resources from the first time-frequency resource set according to a preset selection rule, and determine a second time-frequency resource set.
  • the selection rule includes: selecting at least part of the time-frequency resources from the first time-frequency resource set based on preset selection parameters, and the congestion degree of any selected time-frequency resource is less than that of the time-frequency resources that are not selected. degree.
  • the radar system determines that the first listening result satisfies the second congestion condition, the radar system selects at least part of the time-frequency resources from the first time-frequency resource set, and the selected time-frequency resources are combined to form The set of is the second time-frequency resource combination.
  • the selection parameters may include preset selection thresholds and ratio thresholds.
  • the selection threshold can be understood as the number of at least part of the time-frequency resources selected by the radar system, such as 10 and so on. Taking the selection of the threshold as an example, the method for selecting at least part of the time-frequency resources in the radar system is described as follows:
  • the radar system can sort each time-frequency resource in the first time-frequency resource set in ascending order based on the congestion degree from small to large to obtain an ascending sequence, and select the top 10 time-frequency resources from the ascending sequence based on a selection threshold (for example, 10).
  • the 10 time-frequency resources are at least part of the selected time-frequency resources, and the time-frequency resource set formed by combining the 10 time-frequency resources is the second time-frequency resource set.
  • the radar system can also sort each time-frequency resource in the first time-frequency resource set in descending order based on the descending order of the congestion degree to obtain a descending sequence, and select from the descending sequence based on a selection threshold (for example, 10).
  • the last 10 time-frequency resources are at least part of the selected time-frequency resources, and the time-frequency resource set formed by combining the 10 time-frequency resources is the second time-frequency resource set.
  • the selection ratio can be understood as the percentage of at least part of the time-frequency resources selected by the radar system, such as 5%. Taking the selection ratio as an example, the method for selecting at least part of the time-frequency resources in the radar system is described as follows:
  • the radar system can sort each time-frequency resource in the first time-frequency resource set in ascending order based on the congestion degree from small to large to obtain an ascending sequence, and select the top 5% of the ascending sequence based on the selection ratio (such as 5%).
  • Time-frequency resources, the 5% of the time-frequency resources are at least part of the selected time-frequency resources, and the time-frequency resource set composed of the 5% of the time-frequency resources is the second time-frequency resource set.
  • the radar system can also sort the time-frequency resources in the first time-frequency resource set in descending order based on the congestion degree in descending order to obtain a descending sequence, and select from the descending sequence based on the selection ratio (for example, 5%).
  • the last 5% of the time-frequency resources are at least part of the selected time-frequency resources, and the time-frequency resource set composed of the 5% of the time-frequency resources is the second time-frequency resource. gather.
  • selection thresholds and selection ratios are only used for demonstration purposes, and cannot be understood as limitations on selection thresholds and selection ratios.
  • the selection thresholds and selection ratios can be set by the radar system based on requirements, historical records, and tests. Make settings.
  • S205 According to the first listening result, determine whether the second time-frequency resource set includes time-frequency resources with a congestion degree less than the first threshold (that is, determine whether the first congestion condition is satisfied), if not, perform S206 to S207; if so, then S208 to S211 are performed.
  • S206 Reduce the time-frequency occupancy rate and/or transmit power of the first target detection signal to obtain a second target detection signal.
  • S207 Perform target detection based on the second target detection signal.
  • the time-frequency occupancy rate of the target detection signal can be calculated based on Equation 2, Equation 2:
  • B Max is the maximum frequency range occupied by the detection signal with the largest swept frequency bandwidth generated by the radar system for target detection
  • T refreshCycle is the refresh cycle of the radar system
  • B k is the signal bandwidth of the k-th cycle of the radar system
  • T k is the signal time width of the kth cycle of the radar system
  • K is the number of cycles of the radar's coherent accumulation.
  • the refresh period includes a duration for at least one target detection (for example: target detection is performed within at least one active duration) and/or a duration for at least one signal processing (eg at least one silent duration or idle duration, during which During the duration or signal processing, the radar system does not transmit detection signals, so it is "idle time").
  • target detection for example: target detection is performed within at least one active duration
  • signal processing eg at least one silent duration or idle duration, during which During the duration or signal processing, the radar system does not transmit detection signals, so it is "idle time”
  • the refresh period may be set periodically, such as 50ms (eg, 20ms active duration + 30ms silent duration), or other values.
  • the activation duration or the silent duration may be the same or different.
  • the current refresh cycle (with a duration of 50ms) includes an activation duration of 20ms and a silent duration of 30ms.
  • the next refresh cycle of may include an active duration of 30ms and a silent duration of 20ms, or a silent duration of 50ms (this refresh cycle may be referred to as a silent refresh cycle).
  • the activation duration may be the time range during which the radar system performs target detection, and may also be referred to as the launch time period. Specifically, the activation duration is generally a continuous duration. In this application, scenarios where the activation duration is discontinuous may also be covered, which is not specifically limited.
  • the activation duration of different radar systems may be different, and is generally at the millisecond (ms) level, such as 10ms, 20ms, etc. Relatively speaking, the longer the activation time is, the better the target detection performance of the radar system is.
  • the active period may be limited by the size of the refresh period and the size of the silent period.
  • the radar system completes target detection and signal processing within one refresh period, and the above-mentioned sequence of target detection and signal processing may exist in succession, or may be performed simultaneously, which is not limited in this application.
  • the activation time can be used means that the activation time is the sum of the time widths of each cycle of the detection signal of the radar system.
  • the above refresh cycle and/or activation duration may be set by the radar system based on requirements, historical records, tests, etc., which are not limited in this application.
  • the third time-frequency resource set According to the time-frequency resources less than the first threshold (that is, the third time-frequency resource set, the congestion degree of any time-frequency resource in the third time-frequency resource set is greater than the second threshold and less than the first threshold, the third time-frequency resource The frequency resource set is included in the first time-frequency resource set) and the second monitoring signal to determine the second monitoring result, wherein the second monitoring signal includes at least two waveforms.
  • the "third" in the third time-frequency resource set is used to distinguish it from the first time-frequency resource set and the second time-frequency resource set, and cannot be understood as a limitation on the content of the third time-frequency resource set;
  • the “second” in the second listening signal is used to distinguish it from the first listening signal, and cannot be understood as a limitation on the content of the first listening signal.
  • S209 Determine the least disturbed waveform among the at least two waveforms according to the second listening result.
  • S210 Determine the third target detection signal according to the waveform with the least interference.
  • S211 Perform target detection according to the third target detection signal.
  • the "third" in the third target detection signal is used to distinguish it from the first target detection signal, etc., and cannot be understood as a limitation on the content of the third target detection signal.
  • each waveform has its own characteristics.
  • the degree of interference of each waveform may be different, that is, some waveforms are interfered to a relatively serious degree, while some waveforms are interfered to a relatively serious degree.
  • at least two waveforms can be used to implement, that is, multiple waveforms are used to respectively listen to the time-frequency resources greater than the second threshold. , and determine the waveform with the least degree of interference among the various waveforms according to the listening results, and determine the third target detection signal from this waveform, which can avoid as much as possible the third target detection signal during target detection due to interference caused by interference.
  • the disadvantage of low accuracy of detection results so as to achieve the technical effect of improving the accuracy and reliability of target detection.
  • S212 Determine the target detection time-frequency resource based on any time-frequency resource in the first time-frequency resource set whose congestion degree is less than the second threshold.
  • the radar system can determine the target detection time-frequency resources based on the at least part of the time-frequency resources.
  • the radar system may randomly select one time-frequency resource from the at least part of the time-frequency resources to determine the target detection time-frequency resource, or may select the time-frequency resource with the least congestion degree from the at least part of the time-frequency resources to determine the target detection time-frequency resource , it is also possible to select one time-frequency resource from the at least part of the time-frequency resources to determine the target detection time-frequency resource in combination with the detection performance of the radar system, and so on, which is not limited in this embodiment.
  • S213 Determine a fourth target detection signal based on the target detection time-frequency resource.
  • S214 Perform target detection based on the fourth target detection signal.
  • the "fourth" in the fourth target detection signal is used to distinguish it from the first target detection signal, etc., and cannot be understood as a limitation on the content of the fourth target detection signal.
  • the time-frequency range occupied by the waveform used by the fourth target detection signal does not exceed the target detection time-frequency resource.
  • the fourth target detection signal is a detection signal for the latest target detection with the current time.
  • the listening result of the time-frequency resource set after the time-frequency occupancy rate is reduced may be determined.
  • the specific implementation refer to the above-mentioned implementation principle, which will not be repeated here.
  • the radar system may also obtain a second target detection signal for target detection when it is determined that the first listening result does not satisfy the second congestion condition.
  • the method includes:
  • S301 Determine a first listening signal, where the first listening signal includes multiple waveforms, and the signal models of the multiple waveforms are different.
  • S302 Generate a first listening result according to the first time-frequency resource set and the first listening signal.
  • S303 Determine, according to the first listening result, whether the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than the second threshold, and if so, execute S304; if not, execute S310 to S312.
  • S304 Reduce the time-frequency occupancy rate and/or transmit power of the first target detection signal to obtain a second target detection signal.
  • S305 Determine, according to the second target detection signal, whether the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than the second threshold, and if so, execute S306 to S308; if not, execute S309.
  • S306 Select at least one time-frequency resource with a congestion degree smaller than a third threshold from the first time-frequency resource set.
  • a third threshold may be set based on the above-mentioned principle of setting the first threshold, which will not be repeated here, and the third threshold may be equal to the first threshold.
  • S307 Determine, according to at least one time-frequency resource, a waveform with the least interference in each waveform in the second target detection signal.
  • S308 Perform target detection based on the waveform with the least interference.
  • S309 Perform target detection based on the second target detection signal, and the resources occupied by the second target detection signal for target detection are time-frequency resources in the first time-frequency resource set whose congestion degree is less than the second threshold.
  • S310 Determine the target detection time-frequency resource based on any time-frequency resource in the first time-frequency resource set whose congestion degree is less than the second threshold.
  • S311 Determine a fifth target detection signal based on the target detection time-frequency resource.
  • S312 Perform target detection based on the fifth target detection signal.
  • the embodiments of the present application further provide a resource determination apparatus, which is used to execute the resource determination method described in any of the above embodiments, for example, to execute FIG. 4 , FIG. 5 and FIG.
  • FIG. 9 is a schematic diagram of a resource determination apparatus according to an embodiment of the present application.
  • the device includes:
  • a first determining module configured to determine the first listening result of the first time-frequency resource set
  • a reduction module 12 configured to reduce the time-frequency occupancy rate and/or transmit power of the first target detection signal to obtain a second target detection signal when the first listening result satisfies the first congestion condition, wherein the first target detection signal is
  • the congestion condition includes: the congestion degree of any time-frequency resource in the second time-frequency resource set is greater than a first threshold, and the second time-frequency resource set is included in the first time-frequency resource set;
  • the detection module 13 is configured to perform target detection based on the second target detection signal.
  • the apparatus further includes:
  • a judgment module 14 configured to judge whether the first listening result satisfies the first congestion condition
  • the second congestion condition includes: the congestion degree of any time-frequency resource in the first time-frequency resource set is greater than a second threshold, where the first threshold is greater than the second threshold.
  • the apparatus when the first listening result does not satisfy the second congestion condition, the apparatus further includes:
  • the second determination module 15 is configured to determine a target detection time-frequency resource based on any time-frequency resource whose congestion degree in the first time-frequency resource set is less than the second threshold, and determine a target detection time-frequency resource based on the target detection time-frequency resource.
  • the detection signal used for target detection is configured to determine a target detection time-frequency resource based on any time-frequency resource whose congestion degree in the first time-frequency resource set is less than the second threshold.
  • the first determining module 11 is configured to determine a first listening signal, and generate the first listening result according to the first time-frequency resource set and the first listening signal;
  • the first listening signal includes multiple waveforms, and the signal models of the multiple waveforms are different.
  • the signal model includes frequency modulation slopes and/or regimes of the plurality of waveforms.
  • the density of the multiple waveforms in the time-frequency resource region corresponding to the first time-frequency resource set is greater than a preset density threshold.
  • the intensity includes a time intensity and/or a frequency intensity
  • the intensity threshold includes a time intensity threshold and/or a frequency intensity threshold
  • the multiple waveforms are in the first time-frequency resource
  • the density of the time-frequency resource region corresponding to the set is greater than the preset density threshold including:
  • the time intensity is greater than the time intensity threshold
  • the frequency density is greater than the frequency density threshold.
  • the signal model of at least one of the plurality of waveforms changes based on changes in time.
  • the apparatus when the first listening result does not satisfy the first congestion condition, the apparatus further includes:
  • the third determining module 16 is configured to determine a second listening result according to a third set of time-frequency resources and a second listening signal, wherein the second listening signal includes at least two waveforms, and the third time-frequency resource
  • the congestion degree of any one time-frequency resource in the set is greater than the second threshold and less than the first threshold, the third set of time-frequency resources is included in the first set of time-frequency resources, according to the second
  • the listening result determines the least disturbed waveform among the at least two waveforms, and the detection signal for target detection is determined according to the least disturbed waveform.
  • the time-frequency occupancy ratio includes a duty ratio of the first target detection signal in time and/or an occupancy ratio of the first target detection signal in frequency.
  • the apparatus further includes:
  • a selection module 17 configured to select at least part of the time-frequency resources from the first time-frequency resource set according to a preset selection rule, and determine the second time-frequency resource set;
  • the selection rule includes: selecting at least part of the time-frequency resources from the first time-frequency resource set based on preset selection parameters, and the congestion degree of any selected time-frequency resource is smaller than the time-frequency resource that is not selected. The congestion level of the frequency resource.
  • the embodiments of the present application further provide a computer storage medium, where computer instructions are stored on the computer storage medium, and when the computer instructions are executed by a processor, any one of the above The methods described in the embodiments are performed such that the resource determination method shown in any of the embodiments in FIG. 4 , FIG. 5 and FIG. 8 is performed.
  • the embodiments of the present application further provide a computer program product, when the computer program product runs on a processor, the method described in any of the foregoing embodiments is executed, such as The resource determination method shown in any of the embodiments in FIG. 4 , FIG. 5 and FIG. 8 is executed.
  • the embodiments of the present application further provide an electronic device for executing the method described in any of the foregoing embodiments, for example, for executing any of the methods in FIG. 4 , FIG. 5 , and FIG. 8 .
  • FIG. 11 is a block diagram of an electronic device according to an embodiment of the present application.
  • electronic devices are intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the application described and/or claimed herein.
  • the electronic device can be a radar system, an on-board box (Telematics BOX, T-Box), a domain controller (Domain Controller, DC), a multi-domain controller (Multi-Domain Controller, MDC), an on-board unit ( On board Unit, OBU), car networking chip, etc.
  • an on-board box Telematics BOX, T-Box
  • a domain controller Domain Controller, DC
  • a multi-domain controller Multi-Domain Controller, MDC
  • OBU on board Unit
  • car networking chip etc.
  • the electronic device includes at least one processor 101 , a communication bus 102 , a memory 103 and at least one communication interface 104 .
  • the electronic device can be a general purpose computer or server or a special purpose computer or server.
  • the processor 101 may be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the programs of the present application. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • Communication bus 102 may include a path to communicate information between the above-described components.
  • the communication interface 104 which can be any transceiver or IP port or bus interface, etc., is used to communicate with internal or external devices or devices or a communication network, such as Ethernet, radio access network (RAN), wireless local area network ( wireless local area networks, WLAN), etc. If the electronic device is a functional unit integrated inside the vehicle, the communication interface 104 includes one or more of the following interfaces, such as a transceiver for communication with an external network of the vehicle, a bus interface for communication with other internal units of the vehicle (such as a controller area network) Network (Controller Area Network, CAN) bus interface) and so on.
  • a transceiver for communication with an external network of the vehicle
  • a bus interface for communication with other internal units of the vehicle (such as a controller area network) Network (Controller Area Network, CAN) bus interface) and so on.
  • CAN Controller Area Network
  • the memory 103 may be read-only memory (ROM) or other type of static storage device that can store static information and instructions, random access memory (RAM) or other type of static storage device that can store information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, CD-ROM storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation.
  • the memory can exist independently and be connected to the processor through a bus.
  • the memory can also be integrated with the processor.
  • the memory 103 is the non-transitory computer-readable storage medium provided by the present application, and the memory stores instructions executable by at least one processor, so that the at least one processor executes the formation control method provided by the present application .
  • the non-transitory computer-readable storage medium of the present application stores computer instructions, and the computer instructions are used to cause the computer to execute the formation control method provided by the present application.
  • the memory 103 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules.
  • the processor 101 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory 103, ie, implements the formation control method in the above method embodiments.
  • the memory 103 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device, and the like. Additionally, memory 103 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 103 may optionally include memory located remotely relative to the processor 101, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, Internet of Vehicles, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the processor 101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 11 .
  • the electronic device may include multiple processors, such as the processor 101 and the processor 108 in FIG. 11 .
  • processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the electronic device may further include an output device 105 and an input device 106 .
  • the output device 105 is in communication with the processor 101 and can display information in a variety of ways.
  • the output device 105 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • the input device 106 communicates with the processor 101 and can accept user input in various ways.
  • the input device 106 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
  • the function/implementation process of the communication interface 104 can also be realized by pins or circuits, etc.
  • the memory is a storage unit in the chip, such as a register, a cache, etc., so The storage unit may also be a storage unit located outside the chip.
  • the embodiments of the present application further provide a vehicle, the vehicle includes a vehicle body and a radar system, and also includes the resource determination device described in any of the above embodiments, such as including FIG. 9 or FIG. The resource determination device shown in 10.
  • the resource determination device may be a part of the radar system, for example, the resource determination device may be integrated in the radar system in the form of a chip.
  • Radar systems can be installed in motor vehicles, drones, rail cars, bicycles, signal lights, speed measuring devices or network equipment (such as base stations, terminal equipment in various systems) and so on.
  • This application is applicable not only to a radar system between vehicles, but also to a radar system between a vehicle and other devices such as drones, or a radar system between other devices.
  • radar systems can be installed on smart terminals such as smart transportation equipment, smart home equipment, and robots. This application does not limit the type of terminal equipment on which the radar system is installed, the installation location of the radar system and the function of the radar system.
  • FIG. 12 is a schematic diagram of a vehicle according to an embodiment of the present application.
  • the vehicle includes: a processor 201, an external memory interface 202, an internal memory 203, a universal serial bus (USB) interface 204, a power management module 205, an antenna 1, an antenna 2, a mobile communication Module 206 , wireless communication module 207 , sensor 208 , camera 209 , car box 210 .
  • a processor 201 an external memory interface 202
  • an internal memory 203 a universal serial bus (USB) interface
  • USB universal serial bus
  • the sensors 208 include radar systems as described in FIG. 12 and other sensors.
  • the resource determination device may be provided in the processor 201, may also be provided in the vehicle-mounted box 210, or may be provided in the radar system, which is not limited in this embodiment.
  • the vehicle may include more or fewer components than shown, or some components may be combined, or some components may be split, or a different arrangement of components. Also, the illustrated components may be implemented in hardware, software, or a combination of software and hardware.
  • the processor 201 may include one or more processing units, for example, the processor 201 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (neural-network processing unit, NPU), etc. Wherein, different processing units may be independent devices, or may be integrated in one or more processors.
  • the vehicle may also include one or more processors 201 .
  • the processor 201 may be the nerve center and command center of the vehicle.
  • the processor 201 may generate an operation control signal according to the instruction operation code and the timing signal, and complete the control of fetching and executing instructions.
  • a memory may also be provided in the processor 201 for storing instructions and data.
  • the memory in processor 201 is cache memory.
  • the processor 201 may include one or more interfaces.
  • the interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal asynchronous transmitter) receiver/transmitter, UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, and/or universal serial bus (universal serial bus, USB) ) interface, etc.
  • the USB interface 211 is an interface conforming to the USB standard specification, and can be used to connect a charger to charge the vehicle.

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Abstract

一种资源确定方法、装置、电子设备、存储介质、程序产品以及车辆，涉及协同式雷达的干扰侦听和规避技术，包括：确定第一时频资源集合的第一侦听结果（S101），当第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号（S102），第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，第二时频资源集合包含于第一时频资源集合，基于第二目标探测信号进行目标探测（S103）。该方法可以降低雷达系统之间的干扰，提升了终端在自动驾驶或者辅助驾驶中的高级驾驶辅助系统ADAS能力，可以应用于车联网，如车辆外联V2X、车间通信长期演进技术LTE-V、车辆-车辆V2V等。

Description

资源确定方法、装置、电子设备、存储介质以及车辆 技术领域
本申请涉及传感器领域，尤其涉及一种资源确定方法、装置、电子设备、存储介质、程序产品以及车辆。
背景技术
随着车载雷达系统渗透率的提升，雷达系统之间的互干扰越来越严重，将会极大降低雷达系统的检测概率或提升其虚警概率，对安全或舒适性造成不可忽视的影响。如何降低雷达系统之间的干扰是必须要解决的问题，同时，如何提高用于支持雷达系统目标探测的时频资源的利用率成了亟待解决的问题。
在现有技术中，雷达系统可以基于其内设置的接收机对各时频资源进行侦听，生成侦听结果，并基于侦听结果从各时频资源中选择相应的时频资源进行目标探测。
然而，随着车辆的不断增加，而可用的时频资源却相对比较紧缺，因此，尤其当现有技术中的方案应用于车辆密集的场景时，不能很好地解决雷达系统之间的干扰问题，使得装载该雷达系统的车辆存在安全隐患。
发明内容
为解决上述技术问题，本申请实施例提供了一种资源确定方法、装置、电子设备、存储介质、程序产品以及车辆，能够降低雷达系统之间的干扰。
根据本申请实施例的一个方面，本申请实施例提供了一种资源确定方法，所述方法包括：
确定第一时频资源集合的第一侦听结果；
当所述第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，所述第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，所述第二时频资源集合包含于所述第一时频资源集合；
基于所述第二目标探测信号进行目标探测。
在本实施例中，通过当第一侦听结果满足第一拥塞条件时，由降低时频占用率和/或发射功率的第二目标探测信号进行目标探测，一方面，可以避免相关技术中采用固定时频占用率和/或发射功率的探测信号进行目标探测造成的探测方式单一、灵活性偏低的问题，从而实现目标探测的灵活性和多样性，另一方面，当基于第二目标探测信号进行目标探测时，由于第二目标探测信号是降低了时频占用率和/或发射功率的信号，因此，相对占用的时频资源会减少，从而可以实现时频资源的合理充分利用的技术效果，从而降低雷达之间的干扰。
在一些实施例中，所述方法还包括：
判断所述第一侦听结果是否满足所述第一拥塞条件；
所述第二拥塞条件包括：所述第一时频资源集合中任一个时频资源的拥塞程度都大于第二阈值，其中，所述第一阈值大于所述第二阈值。
在本实施例中，如果第一时频资源集合中的任一个时频资源的拥塞程度都大于第二阈值，则判断第一侦听结果是否满足第一拥塞条件，即判断第一时频资源集合中的第二时频资源集合中的任一个时频资源的拥塞程度是否都大于第一阈值，且第一阈值大于第二阈值。
也就是说，如果第一侦听结果满足第二拥塞条件，且第一侦听结果满足第一拥塞条件，则降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，以便相对减少占用的时频资源，从而可以实现时频资源的合理充分利用的技术效果。
在一些实施例中，当所述第一侦听结果不满足所述第二拥塞条件时，所述方法还包括：
基于所述第一时频资源集合中的拥塞程度小于所述第二阈值的任一时频资源，确定目标探测时频资源；
基于所述目标探测时频资源确定用于进行目标探测的探测信号。
在一些实施例中，所述方法还包括：
确定第一侦听信号；
以及，所述确定第一时频资源集合的第一侦听结果包括：根据所述第一时频资源集合和所述第一侦听信号生成所述第一侦听结果；
其中，所述第一侦听信号包括多种波形，且所述多种波形的信号模型不同。
在本实施例中，由于第一侦听信号包括多种波形，且多种波形的信号模型不同，因此，可以实现第一侦听信号的多样性和灵活性，从而当基于第一侦听信号生成第一侦听结果时，可以实现第一侦听结果的全面性和完整性的技术效果。
在一些实施例中，所述信号模型包括所述多种波形的调频斜率和/或体制。
在一些实施例中，所述多种波形在所述第一时频资源集合对应的时频资源区域内的密集度大于预设的密集度阈值。
在本实施例中，通过结合密集度阈值的设置，可以实现侦听的全面覆盖。
在一些实施例中，所述密集度包括时间密集度和/或频率密集度，所述密集度阈值包括时间密集度阈值和/或频率密集度阈值，所述多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
所述时间密集度大于所述时间密集度阈值；和/或，
所述频率密集度大于所述频率密集度阈值。
在一些实施例中，所述多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
在本实施例中，通过设置至少一种波形的调频斜率为变化调频斜率，可以增大侦听信号与干扰信号在一段时间内的“碰撞”的概率，即可以增大侦听信号与干扰信号同时出现同一频域上的概率，从而提升雷达侦听到干扰的成功率。
在一些实施例中，当所述第一侦听结果不满足所述第一拥塞条件时，所述方法还包括：
根据第三时频资源集合和第二侦听信号确定第二侦听结果，其中，所述第二侦听 信号包括至少两种波形，所述第三时频资源集合中的任一个时频资源的拥塞程度都大于所述第二阈值且小于所述第一阈值，所述第三时频资源集合包含于所述第一时频资源集合；
根据所述第二侦听结果确定所述至少两种波形中被干扰最小的波形；
根据被干扰最小的波形确定用于进行目标探测的探测信号。
在本实施例中，通过根据被干扰最小的波形确定探测信号，可以尽量减小探测信号被其他信号干扰，提高目标探测的准确性和可靠性的技术效果。
在一些实施例中，所述时频占用率包括所述第一目标探测信号在时间上的占空比和/或所述第一目标探测信号在频率上的占用比。
在一些实施例中，所述方法还包括：
根据预先设置的选取规则从所述第一时频资源集合中选取至少部分时频资源，确定所述第二时频资源集合；
其中，所述选取规则包括：基于预先设置的选取参数从所述第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
根据本申请实施例的另一个方面，本申请实施例还提供了一种资源确定装置，所述装置包括：
第一确定模块，用于确定第一时频资源集合的第一侦听结果；
降低模块，用于当所述第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，所述第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，所述第二时频资源集合包含于所述第一时频资源集合；
探测模块，用于基于所述第二目标探测信号进行目标探测。
在一些实施例中，所述装置还包括：
判断模块，用于判断所述第一侦听结果是否满足所述第一拥塞条件；
所述第二拥塞条件包括：所述第一时频资源集合中任一个时频资源的拥塞程度都大于第二阈值，其中，所述第一阈值大于所述第二阈值。
在一些实施例中，当所述第一侦听结果不满足所述第二拥塞条件时，所述装置还包括：
第二确定模块，用于基于所述第一时频资源集合中的拥塞程度小于所述第二阈值的任一时频资源，确定目标探测时频资源，基于所述目标探测时频资源确定用于进行目标探测的探测信号。
在一些实施例中，所述第一确定模块，用于确定第一侦听信号，并根据所述第一时频资源集合和所述第一侦听信号生成所述第一侦听结果；
其中，所述第一侦听信号包括多种波形，且所述多种波形的信号模型不同。
在一些实施例中，所述信号模型包括所述多种波形的调频斜率和/或体制。
在一些实施例中，所述多种波形在所述第一时频资源集合对应的时频资源区域内的密集度大于预设的密集度阈值。
在一些实施例中，所述密集度包括时间密集度和/或频率密集度，所述密集度阈值 包括时间密集度阈值和/或频率密集度阈值，所述多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
所述时间密集度大于所述时间密集度阈值；和/或，
所述频率密集度大于所述频率密集度阈值。
在一些实施例中，所述多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
在一些实施例中，当所述第一侦听结果不满足所述第一拥塞条件时，所述装置还包括：
第三确定模块，用于根据第三时频资源集合和第二侦听信号确定第二侦听结果，其中，所述第二侦听信号包括至少两种波形，所述第三时频资源集合中的任一个时频资源的拥塞程度都大于所述第二阈值且小于所述第一阈值，所述第三时频资源集合包含于所述第一时频资源集合，根据所述第二侦听结果确定所述至少两种波形中被干扰最小的波形，根据被干扰最小的波形确定用于进行目标探测的探测信号。
在一些实施例中，所述时频占用率包括所述第一目标探测信号在时间上的占空比和/或所述第一目标探测信号在频率上的占用比。
在一些实施例中，所述装置还包括：
选取模块，用于根据预先设置的选取规则从所述第一时频资源集合中选取至少部分时频资源，确定所述第二时频资源集合；
其中，所述选取规则包括：基于预先设置的选取参数从所述第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
根据本申请实施例的另一个方面，本申请实施例还提供了一种计算机存储介质，所述计算机存储介质上存储有计算机指令，当所述计算机指令在被处理器运行时，使得上述任一实施例所述的方法被执行。
根据本申请实施例的另一个方面，本申请实施例还提供了一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得上述任一实施例所述的方法被执行。
根据本申请实施例的另一个方面，本申请实施例还提供了一种电子设备，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的计算机指令，所述计算机指令被所述至少一个处理器执行，使得上述任一实施例所述的方法被执行。
根据本申请实施例的另一个方面，本申请实施例还提供了一种车辆，包括：车辆本体和雷达系统，还包括如上任一实施例所述的资源确定装置。
附图说明
附图用于更好地理解本申请实施例，不构成对本申请的限定。其中，
图1为本申请实施例的雷达系统的示意图；
图2为本申请实施例的应用场景示意图；
图3为本申请实施例的雷达系统的侦听原理示意图；
图4为本申请一个实施例的资源确定方法的流程示意图；
图5为本申请另一实施例的资源确定方法的流程示意图；
图6为本申请实施例的侦听信号和时频资源之间的关系示意图；
图7为本申请实施例的时频资源的示意图；
图8为本申请另一实施例的资源确定方法的流程示意图；
图9为本申请一个实施例的资源确定装置的示意图；
图10为本申请另一实施例的资源确定装置的示意图；
图11为本申请实施例的电子设备的框图；
图12为本申请实施例的车辆的示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
其中，本申请提供了一种资源确定方法，且该资源确定方法可以应用于雷达系统。
请参阅图1，图1为本申请实施例的雷达系统的示意图。
如图1所示，雷达系统可以包括：振荡器、定向耦合器、发送天线、接收天线、混频器、处理器及控制器。
其中，振荡器可以产生一个频率随时间线性增加的信号(如调频连续波，Frequency Modulated Continuous Wave，FMCW)，一部分经过定向耦合器输出至混频器作为本振信号，一部分通过发射天线发射出去，接收天线接收目标(如行人、车辆及标示牌等)反射回来的信号，在混频器与本振信号进行混频，得到中频信号(包含了目标的相对距离、速度、角度等信息)，可以经过低通滤波器并经过放大处理(图中未示出)后输送到处理器，处理器对中频信号进行处理(可以对中频信号采样后，进行快速傅里叶变换，进行频谱分析)以得到目标的距离、速度和角度等信息，最后输出到控制器控制车辆的行为。
其中，本申请实施例的雷达系统可以应用于如图2中所示的车辆、无人机、轨道车、自行车、信号灯、测速装置或基站中等等。
值得说明的是，本申请对雷达系统的类型不做限定，例如，雷达系统可以毫米波雷达系统，也可以为激光雷达系统，还可以为超声波雷达系统，等等；且本申请对雷达系统的作用不做限定，例如，雷达系统可以用于对目标进行测量，还可以用于对目标进行识别(如对车道线和标示牌等的识别)，雷达系统可以结合导航仪和地图数据进行路径规划，等等。
应该理解的是，雷达系统在发射用于对目标的距离等进行探测的探测信号时，探测信号需占用一定的资源，如时频资源(包括时域资源和频域资源)，且为了提高目标探测的可靠性和准确性，可以在对目标进行探测之前，可以通过侦听的方式确定可用的时频资源，并基于侦听得到的时频资源对目标进行探测。
其中，侦听可以由雷达系统中的接收链路实现，现结合图3对雷达系统的侦听原 理进行示范性地阐述。
如图3所示，接收链路包括：接收机、低噪声放大器、混频器、低通滤波器、模数转换器及数字信号处理器。
其中，接收机用于，接收空间中的电磁波，得到射频接收信号；
低噪声放大器用于，对射频接收信号进行放大处理；
混频器用于，对放大处理后的射频接收信号和振荡信号(可以由振荡器提供)进行混频处理；
低通滤波器用于，对混频处理后的信号进行滤波处理，得到中频信号；
模数转换器用于，对中频信号进行采样得到中频采样信号；
数字信号处理器用于，对中频采样信号进行分析得到侦听结果。
然而，随着雷达系统被广泛地应用于各个领域，以及车辆的不断增加，而时频资源却相对比较固定，因此，如何提高时频资源的利用率成了亟待解决的问题。
本申请的发明人在经过创造性地劳动之后，得到了本申请的发明构思：通过侦听结果适应性地调整用于对目标进行探测的探测信号的时频占用率和/或发射功率。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
一个方面，本申请实施例提供了一种适用于上述应用场景的资源确定方法。
请参阅图4，图4为本申请一个实施例的资源确定方法的流程示意图。
如图4所示，该方法包括：
S101：确定第一时频资源集合的第一侦听结果。
应该理解的是，第一时频资源集合中的“第一”用于与后文中的第二时频资源集合和第三时频资源集合进行区分，而不能理解为对第一时频资源集合的内容的限定；第一侦听结果的“第一”用于与后文中的第二侦听结果进行区分，而不能理解为对第一侦听结果的内容的限定。
其中，第一侦听结果可以用于表征，雷达系统基于接收到的空间中的电磁波和振荡信号确定出的、第一时频资源集合中的各时频资源的拥塞程度，且任一个时频资源的拥塞程度可以理解为，占用该时频资源的雷达系统的数量，或者，该时频资源被占用的比例，相对而言，占用该时频资源的雷达系统的数量越多，或者，该时频资源被占用的比例越高，则该时频资源的拥塞程度越大，且拥塞程度越大，说明雷达系统在进行目标探测时，被干扰的可能性越大，探测结果的可靠性越低。
值得说明的是，本实施例对确定第一侦听结果的方法不做限定，例如，确定第一侦听结果的原理可以参阅图3。
S102：当第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号。
其中，第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，第二时频资源集合包含于第一时频资源集合。
同理，第一目标探测信号中的“第一”用于与第二目标探测信号进行区分，而不 能理解为对第一目标探测信号的内容的限定，而第二目标探测信号中的“第二”用于与第一目标探测信号进行区分，而不能理解为对第二目标探测信号的内容的限定；第二时频资源集合中的“第二”用于与第一时频资源集合进行区分，而不能理解为对第二时频资源集合的内容的限定。
其中，第一目标探测信号可以理解为雷达系统预先设置的准备用于对目标进行探测的探测信号，第二目标探测信号可以理解为雷达系统对第一目标探测信号的时频占用率和/或发射功率进行降低后得到的探测信号。
时频占用率可以用于表征第一目标探测信号在时间上的占空比；也可以用于表征第一目标探测信号在频率上的占用比；也可以用于表征第一目标探测信号在时间上的占空比和频率上的占用比。
其中，第一阈值可以基于满足雷达系统的预设的探测需求进行设置，探测需求可以用于表征对探测结果的可靠性的需求。例如，对要求探测结果的可靠性较高的探测场景，雷达系统可以将第一阈值设置相对较小，而对要求探测结果的可靠性较低的探测场景，雷达系统可以将第一阈值设置相对较大。
其中，S102可以具体包括：判断第一侦听结果是否满足第一拥塞条件，如果是，则降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，以便当基于第二目标探测信号进行目标探测时，由于第二目标探测信号是降低了时频占用率和/或发射功率的信号，因此，相对占用的时频资源会减少，从而可以实现时频资源的合理充分利用的技术效果。
S103：基于第二目标探测信号进行目标探测。
结合上述分析可知，本实施例提供了一种资源确定方法，该方法包括：确定第一时频资源集合的第一侦听结果，当第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，第二时频资源集合包含于第一时频资源集合，基于第二目标探测信号进行目标探测，通过当第一侦听结果满足第一拥塞条件时，由降低时频占用率和/或发射功率的第二目标探测信号进行目标探测，一方面，可以避免相关技术中采用固定时频占用率和/或发射功率的探测信号进行目标探测造成的探测方式单一、灵活性偏低的问题，从而实现目标探测的灵活性和多样性，另一方面，当基于第二目标探测信号进行目标探测时，由于第二目标探测信号是降低了时频占用率和/或发射功率的信号，因此，相对占用的时频资源和/或发射功率会减少，从而可以实现时频资源的合理充分利用的技术效果。
下面给出本申请另一实施例的侦听和探测过程，现结合图5进行详细地阐述。
如图5所示，该方法包括：
S201：确定第一侦听信号，其中，第一侦听信号包括多种波形，且多种波形的信号模型不同。
其中，信号模型可以用于体现波形的特征，如波形的体制，且波形的体制可以包括连续波形和脉冲信号波形等，又如，波形的调频斜率，等等。
同理，第一侦听信号中的“第一”用于与后文中的第二侦听信号进行区分，而不能理解为对第一侦听信号的内容的限定，且第一侦听信号可以用于表征雷达系统对时 频资源进行侦听而采用的波形，也即，在本实施例中，雷达系统可以采用多种波形对时频资源进行侦听。
S202：根据第一时频资源集合和第一侦听信号生成第一侦听结果。
在一些实施例中，多种波形的调频斜率不同。
现以第一侦听信号包括两种波形为例，结合图6对侦听信号和时频资源之间的关系进行示范性地说明。
如图6所示，第一侦听信号包括的两种波形，且分别为侦听波形A和侦听波形B，侦听波形A和侦听波形B的调频斜率不同，干扰信号可以为雷达系统接收到空间中的电磁波。
且如图6所示，侦听波形A和侦听波形B可能分别与干扰信号在时域t和频域f存在重叠区域(如图6中所示的圆圈所代表的区域)，而该重叠区域即为已经被占用了的时频资源。
在另一些实施例中，可以时分和/或频分地选择若干侦听区域进行侦听。
其中，时分地选择若干侦听区域进行侦听可以理解为：第一时频资源集合中包括多个时域资源区域，且该多个时域资源区域是由雷达系统以某一时域资源粒度对可用的时频资源进行划分获得的，该多个时域资源区域即为若干侦听区域。
频分地选择若干侦听区域进行侦听可以理解为：第一时频资源集合中包括多个频域资源区域，且该多个频域资源区域是由雷达系统以某一频域资源粒度对可用的频域资源进行划分获得的，该多个频域资源区域即为若干侦听区域。
时分和频分地选择若干侦听区域进行侦听可以理解为：第一时频资源集合中包括多个时频资源区域，且该多个时频资源区域是由雷达系统以某一时频资源粒度对可用的时频资源进行划分获得的，且该多个时频资源区域即为若干侦听区域。
如图7所示，图7中的虚线的“X”可以理解为第一时频资源集合中的任一个时频资源对应的侦听时频资源的粒度(可以是协议规定，也可以基于需求预先设置)，即可以理解为组成第一时频资源集合中的任一时频资源可能覆盖的至少部分区域的单元区域，且雷达系统可以在至少一个单元区域内对时频资源的拥塞程度进行侦听，且图7中的各“矩形”框出的单元区域可以理解为雷达系统可以在该至少部分区域内选择的若干侦听区域。
在另一些实施例中，多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
例如，若波形A的信号模型基于时间的变化而发生改变，则可以表现为，波形A的调频斜率为变化调频斜率。
雷达系统通过设置至少一种波形的调频斜率为变化调频斜率，可以增大侦听信号与干扰信号在一段时间内的“碰撞”的概率，即可以增大侦听信号与干扰信号同时出现同一频域上的概率，从而提升雷达侦听到干扰的成功率。
在另一些实施例中，多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值。
其中，密集度可以从时间维度和/或频率维度进行理解，从时间维度的理解可以为：在单位频段内，沿着时间轴，第一侦听信号重复周期个数大于某一门限；从频率维度 的理解可以为：在单位时间内，沿着频率轴，第一侦听信号重复周期个数大于某一门限。
也就是说，密集度包括时间密集度和/或频率密集度，密集度阈值包括时间密集度阈值和/或频率密集度阈值，多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
时间密集度大于时间密集度阈值；和/或，
频率密集度大于频率密集度阈值。
结合图7可知，若时间密集度/或频率密集度越大，侦听的可靠性相对越高。
S203：根据第一侦听结果判断第一时频资源集合中任一个时频资源的拥塞程度是否都大于第二阈值(即判断第一侦听结果是否满足第二拥塞条件)，若是，则执行S204；若否，则执行S212。
同理，可以基于上述设置第一阈值的原理设置第二阈值，此处不再赘述，且第二阈值小于第一阈值。
也就是说，在本实施例中，雷达系统可以根据第一侦听结果确定第一时频资源集合中每一个时频资源的拥塞程度，并将第一时频资源集合中每一个时频资源的拥塞程度均与第二阈值进行比较，如果第一时频资源集合中的每一个时频资源的拥塞程度都大于第二阈值，则执行S204。
例如，第一时频资源集合中包括m个时频资源，m个时频资源中的每一个时频资源都会对应一个拥塞程度，即得到m个拥塞程度，判断m个拥塞程度中的每一个拥塞程度是否都大于第二阈值，如果是，即m个拥塞程度中的每一个拥塞程度都大于第二阈值，则执行S204。
其中，可以基于式1计算第一时频资源集合中某一块时频资源的拥塞程度x％，式1：
Figure PCTCN2020116129-appb-000001
其中，B L为雷达系统侦听的第一时频资源集合中某一块时频资源的频率范围，T L为雷达系统侦听的第一时频资源集合中某一块时频资源的时间范围，B busy,i为雷达系统根据第一侦听结果确定出被占用的第i个单位时频资源的频率范围，T busy,i为雷达系统根据第一侦听结果确定出被占用的第i个单位时频资源的时间范围。所述单位时频资源是组成第一时频资源集合中每一块时频资源的时频资源的最小单位，可以是协议规定或者出厂配置的，不做限定。
S204：根据预先设置的选取规则从第一时频资源集合中选取至少部分时频资源，确定第二时频资源集合。
其中，选取规则包括：基于预先设置的选取参数从第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
也就是说，若雷达系统确定出第一侦听结果满足第二拥塞条件，则雷达系统从第一时频资源集合中选取至少部分时频资源，而由该选取出的时频资源组合而成的集合即为第二时频资源结合。
在一些实施例中，选取参数可以包括预先设置的选取阈值和比例阈值。
其中，选取阈值可以理解为雷达系统选取出的至少部分时频资源的数量，如10个等。现以选取阈值为例，对雷达系统选取至少部分时频资源的方法进行如下阐述：
雷达系统可以基于拥塞程度从小至大的顺序对第一时频资源集合中的各时频资源进行升序排列，得到升序序列，并基于选取阈值(如10个)从升序序列中选取最前10个时频资源，该10个时频资源即为选取出的至少部分时频资源，而由该10个时频资源组合而成的时频资源集合即为第二时频资源集合。
当然，雷达系统也可以基于拥塞程度从大至小的顺序对第一时频资源集合中的各时频资源进行降序排列，得到降序序列，并基于选取阈值(如10个)从降序序列中选取最后10个时频资源，该10个时频资源即为选取出的至少部分时频资源，而由该10个时频资源组合而成的时频资源集合即为第二时频资源集合。
其中，选取比例可以理解为雷达系统选取出的至少部分时频资源的百分比，如5％等。现以选取比例为例，对雷达系统选取至少部分时频资源的方法进行如下阐述：
雷达系统可以基于拥塞程度从小至大的顺序对第一时频资源集合中的各时频资源进行升序排列，得到升序序列，并基于选取比例(如5％)从升序序列中选取最前5％的时频资源，该5％的时频资源即为选取出的至少部分时频资源，而由该5％的时频资源组合而成的时频资源集合即为第二时频资源集合。
当然，雷达系统也可以基于拥塞程度从大至小的顺序对第一时频资源集合中的各时频资源进行降序排列，得到降序序列，并基于选取比例(如5％)从降序序列中选取最后5％的时频资源，该5％的时频资源即为选取出的至少部分时频资源，而由该5％的时频资源组合而成的时频资源集合即为第二时频资源集合。
值得说明的是，上述选取阈值和选取比例只是用于示范地说明，而不能理解为对选取阈值和选取比例的限定，选取阈值和选取比例的设置可以由雷达系统基于需求、历史记录和试验等进行设置。
S205：根据第一侦听结果判断第二时频资源集合是否包括拥塞程度小于第一阈值的时频资源(即判断是否满足第一拥塞条件)，若否，则执行S206至S207；若是，则执行S208至S211。
S206：降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号。
S207：基于第二目标探测信号进行目标探测。
其中，关于S206至S207的描述可以参见上述实施例，此处不再赘述。
且，在一些实施例中，可以基于式2计算目标探测信号的时频占用率，式2：
Figure PCTCN2020116129-appb-000002
其中，B Max为雷达系统进行目标探测所能产生的扫频带宽最大的探测信号占据的最大频率范围，T refreshCycle为雷达系统的刷新周期，B k为雷达系统第k个周期的信号带宽，T k为雷达系统第k个周期的信号时宽，K是雷达的相干积累的周期数。
其中，刷新周期包含用于至少一次目标探测的时长(例如：至少一个激活时长内进行目标检测)和/或用于至少一次信号处理的时长(例如至少一个静默时长或者空闲时间段，在该静默时长或者信号处理的过程中，雷达系统不发射探测信号，因此属于“空闲时间”)。
在一些实施例中，刷新周期可以是周期性设置的，如是50ms(例如，20ms的激活时长+30ms的静默时长)，也可能是其它数值。具体的，对于周期性执行的每个刷新周期，其包含的激活时长或者静默时长可以相同或者不同，例如当前刷新周期(时长为50ms)包含20ms的激活时长以及30ms的静默时长，而时域上的下一个刷新周期可能包含30ms的激活时长以及20ms的静默时长，或者包含50ms的静默时长(这种刷新周期可以称为静默刷新周期)。
其中，激活时长可以是雷达系统进行目标探测的时间范围，也可以称为发射时间段。具体的，该激活时长一般是一段连续时长。本申请中也可以覆盖激活时长为不连续时长的场景，不做具体限定。不同雷达系统的激活时长可能不同，一般是毫秒(ms)级别，如10ms，20ms等。相对而言，激活时长越大，雷达系统的目标探测的性能越好。
在一些实施例中，激活时长可以受限于刷新周期的大小和静默时长的大小。例如，雷达系统在一个刷新周期内完成目标探测以及信号处理，上述目标探测和信号处理的时序可以存在先后，也可以同时执行，本申请不做限定。
其中，激活时长可以采用
Figure PCTCN2020116129-appb-000003
表示，即激活时长为雷达系统的探测信号各周期时宽总和。
需要说明的是，上述刷新周期和/或激活时长可以由雷达系统基于需求、历史记录和试验等进行设置，本申请不做限定。
S208：根据小于第一阈值的时频资源(即第三时频资源集合，第三时频资源集合中的任一个时频资源的拥塞程度都大于第二阈值且小于第一阈值，第三时频资源集合包含于第一时频资源集合)和第二侦听信号确定第二侦听结果，其中，第二侦听信号包括至少两种波形。
同理，第三时频资源集合中的“第三”用于与第一时频资源集合和第二时频资源集合进行区分，而不能理解为对第三时频资源集合的内容的限定；第二侦听信号中的“第二”用于与第一侦听信号进行区分，而不能理解为对第一侦听信号的内容的限定。
S209：根据第二侦听结果确定至少两种波形中被干扰最小的波形。
S210：根据被干扰最小的波形确定第三目标探测信号。
S211：根据第三目标探测信号进行目标探测。
同理，第三目标探测信号中的“第三”用于与第一目标探测信号等进行区分，而不能理解为对第三目标探测信号的内容的限定。
值得说明的是，每种波形均有自己的特性，对于相同的干扰信号，每种波形受到干扰的程度可能不同，即有些波形被干扰的程度会相对较严重，而有些波形被干扰的程度相对较轻微，在本实施例中，在对大于第二阈值的时频资源进行侦听时，可以采用至少两种波形实现，即采用多种波形分别对大于第二阈值的时频资源进行侦听，并根据侦听结果确定多种波形中被干扰程度最小的波形，将该波形确定第三目标探测信号，可以尽可能地避免第三目标探测信号在进行目标探测时，因受干扰而造成的探测结果的准确性偏低的弊端，从而实现提高目标探测的准确性和可靠性的技术效果。
S212：基于第一时频资源集合中的拥塞程度小于第二阈值的任一时频资源，确定目标探测时频资源。
结合上述分析，若雷达系统确定出第一时频资源集合中的至少部分时频资源的拥 塞程度小于第二阈值，则雷达系统可以基于该至少部分时频资源确定目标探测时频资源。
其中，雷达系统可以从该至少部分时频资源中随机选择一个时频资源确定目标探测时频资源，也可以从该至少部分时频资源中选择拥塞程度最小的时频资源确定目标探测时频资源，也可以结合雷达系统的探测性能从该至少部分时频资源中选择一个时频资源确定目标探测时频资源，等等，本实施例不做限定。
S213：基于目标探测时频资源确定第四目标探测信号。
S214：基于第四目标探测信号进行目标探测。
同理，第四目标探测信号中的“第四”用于与第一目标探测信号等进行区分，而不能理解为对第四目标探测信号的内容的限定。
例如，第四目标探测信号采用的波形所占用的时频范围不超出目标探测时频资源，又如，第四目标探测信号为与当前时间最近一次进行目标探测的探测信号。
值得说明的是，在一些实施例中，当雷达系统执行S206之后，可以确定降低时频占用率后的时频资源集合的侦听结果，具体实现可以参见上述实现原理，此处不再赘述。
在另一些实施例中，雷达系统还可以在确定出第一侦听结果不满足第二拥塞条件的情况下，获得用于目标探测的第二目标探测信号，现结合图8进行示范性的说明，且在本实施例中，与上述实施例相同的内容不再赘述。
如图8所示，该方法包括：
S301：确定第一侦听信号，其中，第一侦听信号包括多种波形，且多种波形的信号模型不同。
S302：根据第一时频资源集合和第一侦听信号生成第一侦听结果。
S303：根据第一侦听结果判断第一时频资源集合中任一个时频资源的拥塞程度是否都大于第二阈值，若是，则执行S304；若否，则执行S310至S312。
S304：降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号。
S305：根据第二目标探测信号确定第一时频资源集合中任一时频资源的拥塞程度是否都大于第二阈值，若是，则执行S306至S308；若否，则执行S309。
S306：从第一时频资源集合中选择拥塞程度小于第三阈值的至少一个时频资源。
同理，可以基于上述设置第一阈值的原理设置第三阈值，此处不再赘述，且第三阈值可以等于第一阈值。
S307：根据至少一个时频资源确定第二目标探测信号中各波形被干扰最小的波形。
S308：基于干扰最小的波形进行目标探测。
S309：基于第二目标探测信号进行目标探测，且第二目标探测信号进行目标探测时占用的资源为第一时频资源集合中拥塞程度小于第二阈值的时频资源。
S310：基于第一时频资源集合中的拥塞程度小于第二阈值的任一时频资源，确定目标探测时频资源。
S311：基于目标探测时频资源确定第五目标探测信号。
S312：基于第五目标探测信号进行目标探测。
根据本申请实施例的另一个方面，本申请实施例还提供了一种资源确定装置，用 于执行如上任一实施例所述的资源确定方法，如用于执行如图4、图5以及图8中任一实施例所示的资源确定方法。
请参阅图9，图9为本申请一个实施例的资源确定装置的示意图。
如图9所示，该装置包括：
第一确定模块11，用于确定第一时频资源集合的第一侦听结果；
降低模块12，用于当所述第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，所述第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，所述第二时频资源集合包含于所述第一时频资源集合；
探测模块13，用于基于所述第二目标探测信号进行目标探测。
结合图10可知，在一些实施例中，所述装置还包括：
判断模块14，用于判断所述第一侦听结果是否满足所述第一拥塞条件；
所述第二拥塞条件包括：所述第一时频资源集合中任一个时频资源的拥塞程度都大于第二阈值，其中，所述第一阈值大于所述第二阈值。
结合图10可知，在一些实施例中，当所述第一侦听结果不满足所述第二拥塞条件时，所述装置还包括：
第二确定模块15，用于基于所述第一时频资源集合中的拥塞程度小于所述第二阈值的任一时频资源，确定目标探测时频资源，基于所述目标探测时频资源确定用于进行目标探测的探测信号。
在一些实施例中，所述第一确定模块11用于，确定第一侦听信号，并根据所述第一时频资源集合和所述第一侦听信号生成所述第一侦听结果；
其中，所述第一侦听信号包括多种波形，且所述多种波形的信号模型不同。
在一些实施例中，所述信号模型包括所述多种波形的调频斜率和/或体制。
在一些实施例中，所述多种波形在所述第一时频资源集合对应的时频资源区域内的密集度大于预设的密集度阈值。
在一些实施例中，所述密集度包括时间密集度和/或频率密集度，所述密集度阈值包括时间密集度阈值和/或频率密集度阈值，所述多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
所述时间密集度大于所述时间密集度阈值；和/或，
所述频率密集度大于所述频率密集度阈值。
在一些实施例中，所述多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
结合图10可知，在一些实施例中，当所述第一侦听结果不满足所述第一拥塞条件时，所述装置还包括：
第三确定模块16，用于根据第三时频资源集合和第二侦听信号确定第二侦听结果，其中，所述第二侦听信号包括至少两种波形，所述第三时频资源集合中的任一个时频资源的拥塞程度都大于所述第二阈值且小于所述第一阈值，所述第三时频资源集合包含于所述第一时频资源集合，根据所述第二侦听结果确定所述至少两种波形中被干扰最小的波形，根据被干扰最小的波形确定用于进行目标探测的探测信号。
在一些实施例中，所述时频占用率包括所述第一目标探测信号在时间上的占空比和/或所述第一目标探测信号在频率上的占用比。
结合图10可知，在一些实施例中，所述装置还包括：
选取模块17，用于根据预先设置的选取规则从所述第一时频资源集合中选取至少部分时频资源，确定所述第二时频资源集合；
其中，所述选取规则包括：基于预先设置的选取参数从所述第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
根据本申请实施例的另一个方面，本申请实施例还提供了一种计算机存储介质，所述计算机存储介质上存储有计算机指令，当所述计算机指令在被处理器运行时，使得上述任一实施例所述的方法被执行，如使得如图4、图5以及图8中任一实施例所示的资源确定方法被执行。
根据本申请实施例的另一个方面，本申请实施例还提供了一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得上述任一实施例所述的方法被执行，如使得如图4、图5以及图8中任一实施例所示的资源确定方法被执行。
根据本申请实施例的另一个方面，本申请实施例还提供了一种电子设备，用于执行上述任一实施例所述的方法，如用于执行如图4、图5以及图8中任一实施例所示的资源确定方法。
请参阅图11，图11为本申请实施例的电子设备的框图。
其中，电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。
例如，电子设备可以为车辆上设置的雷达系统、车载盒子(Telematics BOX，T-Box)，域控制器(Domain Controller，DC)，多域控制器(Multi-Domain Controller，MDC)，车载单元(On board Unit，OBU)，车联网芯片等。
具体地，电子设备包括至少一个处理器101，通信总线102，存储器103以及至少一个通信接口104。电子设备可以是一个通用计算机或服务器或者是一个专用计算机或服务器。
处理器101可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信总线102可包括一通路，在上述组件之间传送信息。
通信接口104，可以是任何收发器或IP端口或总线接口等，用于与内部或外部设备或装置或通信网络通信，如以太网，无线接入网(radio access network，RAN)，无线局域网(wireless local area networks，WLAN)等。如电子设备为集成在车辆内部的功能单元时，通信接口104包括如下接口中的一种或多种，如车辆外部网络进行通信的收发器，车辆其它内部单元通信的总线接口(如控制器局域网络(Controller  Area Network,CAN)总线接口)等。
存储器103可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器103即为本申请所提供的非瞬时计算机可读存储介质，所述存储器存储有可由至少一个处理器执行的指令，以使所述至少一个处理器执行本申请所提供的编队控制方法。本申请的非瞬时计算机可读存储介质存储计算机指令，该计算机指令用于使计算机执行本申请所提供的编队控制方法。
存储器103作为一种非瞬时计算机可读存储介质，可用于存储非瞬时软件程序、非瞬时计算机可执行程序以及模块。处理器101通过运行存储在存储器103中的非瞬时软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例中的编队控制方法。
存储器103可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据电子设备的使用所创建的数据等。此外，存储器103可以包括高速随机存取存储器，还可以包括非瞬时存储器，例如至少一个磁盘存储器件、闪存器件、或其他非瞬时固态存储器件。在一些实施例中，存储器103可选包括相对于处理器101远程设置的存储器，这些远程存储器可以通过网络连接至电子设备。上述网络的实例包括但不限于互联网、车联网、企业内部网、局域网、移动通信网及其组合。
在具体实现中，作为一种实施例，处理器101可以包括一个或多个CPU，例如图11中的CPU0和CPU1。
在具体实现中，作为一种实施例，电子设备可以包括多个处理器，例如图11中的处理器101和处理器108。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，电子设备还可以包括输出装置105和输入装置106。输出装置105和处理器101通信，可以以多种方式来显示信息。例如，输出装置105可以是液晶显示器(liquid crystal display，LCD),发光二级管(light emitting diode，LED)显示装置，阴极射线管(cathode ray tube，CRT)显示装置，或投影仪(projector)等。输入装置106和处理器101通信，可以以多种方式接受用户的输入。例如，输入装置106可以是鼠标、键盘、触摸屏装置或传感装置等。
当图11所示的电子设备为芯片时，通信接口104的功能/实现过程还可以通过管脚或电路等来实现，所述存储器为所述芯片内的存储单元，如寄存器、缓存等，所述 存储单元还可以是位于所述芯片外部的存储单元。
根据本申请实施例的另一个方面，本申请实施例还提供了一种车辆，车辆包括车辆本体和雷达系统，还包括如上任一实施例所述的资源确定装置，如包括如图9或图10所示的资源确定装置。
值得说明的是，在一些实施例中，资源确定装置可以为雷达系统的部分组件，如资源确定装置可以以芯片的形式集成于雷达系统中。
雷达系统可以安装在机动车辆、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。本申请既适用于车与车之间的雷达系统，也适用于车与无人机等其他装置的雷达系统，或其他装置之间的雷达系统。例如，雷达系统可以安装在智能运输设备、智能家居设备、机器人等智能终端上。本申请对安装雷达系统的终端设备类型，雷达系统的安装位置和雷达系统的功能不做限定。
请参阅图12，图12为本申请实施例的车辆的示意图。
如图12所示，该车辆包括：处理器201，外部存储器接口202，内部存储器203，通用串行总线(universal serial bus，USB)接口204，电源管理模块205，天线1，天线2，移动通信模块206，无线通信模块207，传感器208，摄像头209，车载盒子210。可以理解的是，本实施例示意的结构并不构成对车辆的具体限定。
其中，传感器208包括如图12中所述的雷达系统以及其他传感器。
其中，资源确定装置可以设置于处理器201中，也可以设置于车载盒子210中，也可以设置于雷达系统中，本实施例不做限定。
在本申请的另一些实施例中，车辆可以包括比图示更多或更少的部件，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。且，图示的部件可以以硬件，软件，或软件和硬件的组合实现。
处理器201可以包括一个或多个处理单元，例如：处理器201可以包括应用处理器(application processor，AP)，调制解调处理器，图形处理器(graphics processing unit，GPU)，图像信号处理器(image signal processor，ISP)，控制器，视频编解码器，数字信号处理器(digital signal processor，DSP)，基带处理器，和/或神经网络处理器(neural-network processing unit，NPU)等。其中，不同的处理单元可以是独立的器件，也可以集成在一个或多个处理器中。在一些实施例中，车辆也可以包括一个或多个处理器201。其中，处理器201可以是车辆的神经中枢和指挥中心。处理器201可以根据指令操作码和时序信号，产生操作控制信号，完成取指令和执行指令的控制。处理器201中还可以设置存储器，用于存储指令和数据。在一些实施例中，处理器201中的存储器为高速缓冲存储器。
在一些实施例中，处理器201可以包括一个或多个接口。接口可以包括集成电路(inter-integrated circuit，I2C)接口，集成电路内置音频(inter-integrated circuit sound，I2S)接口，脉冲编码调制(pulse code modulation，PCM)接口，通用异步收发传输器(universal asynchronous receiver/transmitter，UART)接口，移动产业处理器接口(mobile industry processor interface，MIPI)，通用输入输出(general-purpose input/output，GPIO)接口，和/或通用串行总线(universal serial  bus，USB)接口等。其中，USB接口211是符合USB标准规范的接口，可以用于连接充电器为车辆充电。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本申请保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本申请的精神和原则之内所作的修改、等同替换和改进等，均应包含在本申请保护范围之内。

Claims (26)

  1. 一种资源确定方法，其特征在于，所述方法包括：
    确定第一时频资源集合的第一侦听结果；
    当所述第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，所述第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，所述第二时频资源集合包含于所述第一时频资源集合；
    基于所述第二目标探测信号进行目标探测。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    判断所述第一侦听结果是否满足所述第一拥塞条件；
    所述第二拥塞条件包括：所述第一时频资源集合中任一个时频资源的拥塞程度都大于第二阈值，其中，所述第一阈值大于所述第二阈值。
  3. 根据权利要求2所述的方法，其特征在于，当所述第一侦听结果不满足所述第二拥塞条件时，所述方法还包括：
    基于所述第一时频资源集合中的拥塞程度小于所述第二阈值的任一时频资源，确定目标探测时频资源；
    基于所述目标探测时频资源确定用于进行目标探测的探测信号。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述方法还包括：
    确定第一侦听信号；
    以及，所述确定第一时频资源集合的第一侦听结果包括：根据所述第一时频资源集合和所述第一侦听信号生成所述第一侦听结果；
    其中，所述第一侦听信号包括多种波形，且所述多种波形的信号模型不同。
  5. 根据权利要求4所述的方法，其特征在于，所述信号模型包括所述多种波形的调频斜率和/或体制。
  6. 根据权利要求5所述的方法，其特征在于，所述多种波形在所述第一时频资源集合对应的时频资源区域内的密集度大于预设的密集度阈值。
  7. 根据权利要求6所述的方法，其特征在于，所述密集度包括时间密集度和/或频率密集度，所述密集度阈值包括时间密集度阈值和/或频率密集度阈值，所述多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
    所述时间密集度大于所述时间密集度阈值；和/或，
    所述频率密集度大于所述频率密集度阈值。
  8. 根据权利要求5所述的方法，其特征在于，所述多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，当所述第一侦听结果不满足所述第一拥塞条件时，所述方法还包括：
    根据第三时频资源集合和第二侦听信号确定第二侦听结果，其中，所述第二侦听信号包括至少两种波形，所述第三时频资源集合中的任一个时频资源的拥塞程度都大于第二阈值且小于所述第一阈值，所述第三时频资源集合包含于所述第一时频资源集合；
    根据所述第二侦听结果确定所述至少两种波形中被干扰最小的波形；
    根据被干扰最小的波形确定用于进行目标探测的探测信号。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述时频占用率包括所述第一目标探测信号在时间上的占空比和/或所述第一目标探测信号在频率上的占用比。
  11. 根据权利要求1至10中任一项所述的方法，其特征在于，所述方法还包括：
    根据预先设置的选取规则从所述第一时频资源集合中选取至少部分时频资源，确定所述第二时频资源集合；
    其中，所述选取规则包括：基于预先设置的选取参数从所述第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
  12. 一种资源确定装置，其特征在于，所述装置包括：
    第一确定模块，用于确定第一时频资源集合的第一侦听结果；
    降低模块，用于当所述第一侦听结果满足第一拥塞条件时，降低第一目标探测信号的时频占用率和/或发射功率获得第二目标探测信号，其中，所述第一拥塞条件包括：第二时频资源集合中任一个时频资源的拥塞程度都大于第一阈值，所述第二时频资源集合包含于所述第一时频资源集合；
    探测模块，用于基于所述第二目标探测信号进行目标探测。
  13. 根据权利要求12所述的装置，其特征在于，所述装置还包括：
    判断模块，用于判断所述第一侦听结果是否满足所述第一拥塞条件；
    所述第二拥塞条件包括：所述第一时频资源集合中任一个时频资源的拥塞程度都大于第二阈值，其中，所述第一阈值大于所述第二阈值。
  14. 根据权利要求13所述的装置，其特征在于，当所述第一侦听结果不满足所述第二拥塞条件时，所述装置还包括：
    第二确定模块，用于基于所述第一时频资源集合中的拥塞程度小于所述第二阈值的任一时频资源，确定目标探测时频资源，基于所述目标探测时频资源确定用于进行目标探测的探测信号。
  15. 根据权利要求12至14中任一项所述的装置，其特征在于，所述第一确定模块用于，确定第一侦听信号，并根据所述第一时频资源集合和所述第一侦听信号生成所述第一侦听结果；
    其中，所述第一侦听信号包括多种波形，且所述多种波形的信号模型不同。
  16. 根据权利要求15所述的装置，其特征在于，所述信号模型包括所述多种波形的调频斜率和/或体制。
  17. 根据权利要求16所述的装置，其特征在于，所述多种波形在所述第一时频资源集合对应的时频资源区域内的密集度大于预设的密集度阈值。
  18. 根据权利要求17所述的装置，其特征在于，所述密集度包括时间密集度和/或频率密集度，所述密集度阈值包括时间密集度阈值和/或频率密集度阈值，所述多种波形在第一时频资源集合对应的时频资源区域的密集度大于预设的密集度阈值包括：
    所述时间密集度大于所述时间密集度阈值；和/或，
    所述频率密集度大于所述频率密集度阈值。
  19. 根据权利要求16所述的装置，其特征在于，所述多种波形中的至少一种波形的信号模型基于时间的变化而发生改变。
  20. 根据权利要求12至19中任一项所述的装置，其特征在于，当所述第一侦听结果不满足所述第一拥塞条件时，所述装置还包括：
    第三确定模块，用于根据第三时频资源集合和第二侦听信号确定第二侦听结果，其中，所述第二侦听信号包括至少两种波形，所述第三时频资源集合中的任一个时频资源的拥塞程度都大于第二阈值且小于所述第一阈值，所述第三时频资源集合包含于所述第一时频资源集合，根据所述第二侦听结果确定所述至少两种波形中被干扰最小的波形，根据被干扰最小的波形确定用于进行目标探测的探测信号。
  21. 根据权利要求12至20中任一项所述的装置，其特征在于，所述时频占用率包括所述第一目标探测信号在时间上的占空比和/或所述第一目标探测信号在频率上的占用比。
  22. 根据权利要求12至21中任一项所述的装置，其特征在于，所述装置还包括：
    选取模块，用于根据预先设置的选取规则从所述第一时频资源集合中选取至少部分时频资源，确定所述第二时频资源集合；
    其中，所述选取规则包括：基于预先设置的选取参数从所述第一时频资源集合中选取至少部分时频资源，且选取出的任一个时频资源的拥塞程度都小于未被选取的时频资源的拥塞程度。
  23. 一种计算机存储介质，其特征在于，所述计算机存储介质上存储有计算机指令，当所述计算机指令在被处理器运行时，使得权利要求1至11中任一项所述的方法被执行。
  24. 一种计算机程序产品，其特征在于，当所述计算机程序产品在处理器上运行时，使得权利要求1至11中任一项所述的方法被执行。
  25. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，使得权利要求1至11中任一项所述的方法被执行。
  26. 一种车辆，其特征在于，包括如权利要求12至22中任一项所述的资源确定装置。
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