WO2024131839A1 - Radar transmission and processing method and device - Google Patents

Abstract

The present application discloses a radar transmission and processing method and device. The method comprises: a first radar can obtain a driving intention of a first vehicle, determines a value of an information bit according to the mapping relationship between the driving intention and the value of the information bit in a code table book, and carries the value of the information bit in a first transmission signal and transmits the first transmission signal; and a second radar can determine the driving intention of the first vehicle according to the value of the information bit after receiving the first transmission signal. Thus, the problem of being unable to obtain driving intentions of vehicles due to limited visibility in severe weather can be avoided, thereby improving the driving safety.

Description

Radar transmission and processing method and device

This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on December 23, 2022, with application number 202211668118.2 and invention name “A radar emission and processing method and device”, the entire contents of which are incorporated by reference in this application.

Technical Field

The embodiments of the present application relate to the field of autonomous driving technology, and more particularly to a radar transmission and processing method and device.

Background technique

Autonomous driving is a research hotspot and trend in the development of automobiles. Autonomous vehicles use a variety of sensors to perceive environmental information, and then make decisions and control vehicle behavior to ensure that the vehicle can travel safely and smoothly. Sensors used for vehicle environmental perception usually include cameras, lidar, millimeter-wave radar, ultrasonic radar, etc. Compared with cameras and lidar, millimeter-wave radar has the advantage of being able to work all day and all weather, especially in rain, snow, fog, haze, glare, and dust weather, which cannot be replaced by cameras, lidar and other sensors. Autonomous vehicles can also perceive the driving intentions of surrounding vehicles to assist in the control of autonomous driving.

Currently, vehicles use turn signals, brake lights, and hazard lights to inform surrounding vehicles (following vehicles) of their driving intentions or possible vehicle failures in advance. Surrounding vehicles can learn about the vehicle's driving intentions through cameras and adjust their autonomous driving strategies.

However, the visibility of the vehicle’s intentions transmitted by headlights is limited in bad weather, and the camera may not be able to obtain the vehicle’s driving intentions, resulting in reduced safety of autonomous driving.

Summary of the invention

The present application provides a radar transmission and processing method and device for improving driving safety.

A first aspect of the present application provides a radar transmission and processing method, the method comprising: a first radar obtains a driving intention of a first vehicle; the first radar determines a numerical value of an information bit through the driving intention and a code table, the code table comprising a mapping relationship between the driving intention and the numerical value of the information bit; the first radar sends a first transmission signal carrying the numerical value of the information bit, the first transmission signal being used to indicate the driving intention to a second radar.

In the above aspects, the first radar can obtain the driving intention of the first vehicle, and then determine the value of the information bit through the mapping relationship between the driving intention and the value of the information bit in the code table, and carry the value of the information bit in the first transmission signal and transmit it. After receiving the first transmission signal, the second radar can determine the driving intention of the first vehicle based on the value of the information bit, which can avoid the problem of the camera being unable to obtain the vehicle's driving intention due to limited visibility in bad weather, thereby improving driving safety.

In a possible implementation, the method further includes: after the first radar sends a first transmission signal carrying a numerical value of an information bit, the method further includes: the first radar receives a first echo signal, the first echo signal being a signal that is reflected and returned by the target by the first transmission signal; the first radar processes the first echo signal to obtain the position and/or speed of the target.

In the above possible implementation manner, the first transmission signal can also normally sense the target through the echo of the radar signal.

In a possible implementation manner, the first echo signal is determined by a value of the information bit.

In the above possible implementation manner, whether it is an echo radar signal is detected by using the value of the information bit to avoid interference from signals sent by other radars.

In a possible implementation manner, the first echo signal further includes a toggle bit, and the toggle bit is used to determine the first echo signal in the received signal in combination with a value of the information bit.

In the above possible implementation manner, the influence of the same value of the information bit when other radars are located in vehicles with the same driving intention is avoided, thereby reducing signal interference.

In a possible implementation manner, the first transmission signal is a phase-modulated FMCW signal, and the phase-modulated FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, It represents the modulation phase value corresponding to the modulation phase item numbered n1, a _n1 is the value of the information bit numbered n1, and the information bit is N1 bits.

In a possible implementation manner, the first transmission signal is a multi-carrier frequency FMCW signal, and the multi-carrier frequency FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, Δf _n2 represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n2, a _n2 is the value of the information bit numbered n2, and the information bit is N2 bits.

In a possible implementation manner, the first transmission signal is a phase-modulated multi-carrier frequency FMCW signal, and the phase-modulated multi-carrier frequency FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, Δf _{n3_1} represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n3_1, a _{n3_1} is the value of the information bit numbered n3_1, It represents the modulation phase value corresponding to the modulation phase item numbered n3_2, where _{n3_2} is the value of the information bit numbered n3_2, the information bit is N3_1 bits in the carrier frequency dimension, and the information bit is N3_2 bits in the phase modulation dimension.

In the above possible implementation manner, the number of mapped driving intentions is increased through two-dimensional information bits.

In a possible implementation manner, the first transmission signal is a phase-modulated single-frequency signal, and the phase-modulated single-frequency signal satisfies:

p represents the serial number of the transmitted single-frequency signal, _tr represents the fast time, _Tp represents the pulse duration of a single single-frequency signal, _f0 represents the carrier center frequency of the single-frequency signal, _Tr represents the repetition interval of the single-frequency signal pulse, It represents the phase value corresponding to the modulation phase item numbered n4, a _n4 is the value of the information bit numbered n4, and the information bit is N4 bits.

In a possible implementation manner, the Doppler region where the information bit in the first transmit signal is located does not intersect with the Doppler region used for sensing in the first transmit signal.

In a possible implementation manner, the intermediate frequency region where the information bits in the first transmission signal are located does not intersect with the intermediate frequency used for perception in the first transmission signal.

In a possible implementation manner, the working time frequency of the first radar and the second radar are synchronized.

A second aspect of the present application provides a radar transmission and processing method, the method comprising: a second radar receives a first transmission signal from a first radar; the second radar extracts a value of an information bit from the first transmission signal; the second radar determines the driving intention of a first vehicle where the first radar is located based on the value of the information bit and a code table, the code table including a mapping relationship between the driving intention and the value of the information bit.

In the above aspect, the second radar can extract the value of the information bit from the first transmission signal received from the first radar, and then determine the driving intention of the first vehicle where the first radar is located through the mapping relationship between the intention and the value of the information bit in the code table, thereby avoiding the problem of the camera being unable to obtain the vehicle's driving intention due to limited visibility in bad weather, thereby improving driving safety.

In a possible implementation manner, the working time frequency of the first radar and the second radar are synchronized.

The third aspect of the present application provides a communication device that can implement the method in the first aspect or any possible implementation of the first aspect. The device includes corresponding units or modules for executing the above method. The units or modules included in the device can be implemented by software and/or hardware. The device can be, for example, a network device, or a chip, a chip system, or a processor that supports the network device to implement the above method, or a logic module or software that can implement all or part of the network device functions.

In a fourth aspect of the present application, a communication device is provided, which can implement the method in the second aspect or any possible implementation of the second aspect. The device includes corresponding units or modules for executing the above method. The units or modules included in the device can be implemented by software and/or hardware. The device can be, for example, a network device, or a chip, a chip system, or a processor that supports the network device to implement the above method, or a logic module or software that can implement all or part of the network device functions.

A fifth aspect of the present application provides a computer device, comprising: a processor, the processor is coupled to a memory, the memory is used to store The computer device stores instructions, and when the instructions are executed by the processor, the computer device implements the method in the first aspect or any possible implementation of the first aspect. The computer device may be, for example, a network device, or a chip or chip system that supports the network device to implement the above method.

In a sixth aspect, the present application provides a computer device, including: a processor, the processor is coupled to a memory, the memory is used to store instructions, and when the instructions are executed by the processor, the computer device implements the method in the second aspect or any possible implementation of the second aspect. The computer device may be, for example, a network device, or a chip or chip system that supports the network device to implement the above method.

The seventh aspect of the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed by a processor, the method provided by the first aspect or any possible implementation method of the first aspect, the second aspect or any possible implementation method of the second aspect is implemented.

In an eighth aspect, the present application provides a computer program product, which includes a computer program code. When the computer program code is executed on a computer, it implements the method provided by the first aspect or any possible implementation method of the first aspect, the second aspect or any possible implementation method of the second aspect.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

FIG2 is a schematic diagram of a vehicle radar detection scenario provided by an embodiment of the present application;

FIG3 is a schematic flow chart of a radar transmission and processing method provided in an embodiment of the present application;

FIG4 is a schematic diagram of an expression form of a first transmission signal provided in an embodiment of the present application;

FIG5 is a schematic diagram of a system block diagram of a first transmission signal provided in an embodiment of the present application;

FIG6 is a simplified schematic diagram of a system block diagram of a first transmission signal provided in an embodiment of the present application;

FIG7 is a schematic diagram of a Doppler region after signal processing provided by an embodiment of the present application;

FIG8 is a schematic diagram of a distance-velocity compression result and a velocity profile under different information modes provided in an embodiment of the present application;

FIG9 is a schematic diagram of a system block diagram of another first transmission signal provided in an embodiment of the present application;

FIG10 is a schematic diagram of an intermediate frequency distribution of a received signal after mixing provided by an embodiment of the present application;

FIG11 is a schematic diagram of a distance profile of information transmitted according to an embodiment of the present application;

FIG12 is a schematic diagram of a system block diagram of a first transmission signal provided in an embodiment of the present application;

FIG13 is a schematic diagram of the structure of a radar transmitting and processing device provided in an embodiment of the present application;

FIG14 is a schematic diagram of the structure of another radar transmitting and processing device provided in an embodiment of the present application;

FIG15 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application.

Detailed ways

The present application provides a radar transmission and processing method and device for improving driving safety.

The following describes the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all embodiments. It is known to those skilled in the art that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

In addition, in order to better illustrate the present application, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

First, some technical terms involved in the embodiments of the present application are introduced.

Autonomous driving is an automated driving technology that uses machinery, electronic instruments, hydraulic systems, gyroscopes, etc. to achieve unmanned control. According to the degree of automation, the industry divides autonomous driving into multiple levels, such as 6 levels from L0 to L5. Among them, the degree of automation from L0 to L5 increases in sequence, L0 is manual driving, L1 is assisted driving, L2 is partial autonomous driving, L3 is conditional autonomous driving, L4 is highly autonomous driving, and L5 is fully autonomous driving.

An autonomous vehicle is a vehicle that supports the autonomous driving function. An autonomous vehicle may also be called an unmanned vehicle, a computer-driven vehicle, an unmanned vehicle, or a self-driving vehicle. The autonomous vehicle may be a car or other motor vehicle. An autonomous vehicle can sense the surrounding environment through visual detection technology, and then the control system of the autonomous vehicle can control the vehicle according to the sensing results, such as adjusting the speed, acceleration, direction, etc. of the autonomous vehicle.

Fast time: The time corresponding to the analog-to-digital converter (ADC) sampling of the received signal.

Slow time: the time of transmitting chirp signal. Assuming p represents the number of chirp and the transmitting pulse period is T _c , the slow time can be expressed as _ta = p·T _c .

In order to facilitate understanding of the present solution, the structure of the vehicle is first introduced in conjunction with Figure 1 in the present embodiment, and the method provided in the present embodiment can be applied to the vehicle shown in Figure 1. Please refer to Figure 1, which is a schematic diagram of the structure of a vehicle provided in the present embodiment.

In one embodiment, the autonomous driving vehicle 100 may be configured to be in a fully or partially autonomous driving mode. For example, the autonomous driving vehicle 100 may control itself while in the autonomous driving mode, and may determine the current state of the vehicle and its surroundings through human operation, determine the possible behavior of at least one other vehicle in the surroundings, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behavior, and control the autonomous driving vehicle 100 based on the determined information. When the autonomous driving vehicle 100 is in the autonomous driving mode, the autonomous driving vehicle 100 may be set to operate without human interaction.

The autonomous vehicle 100 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, and a power supply 110, a computer system 101, and a user interface 116. Optionally, the autonomous vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the autonomous vehicle 100 may be interconnected by wire or wirelessly.

The propulsion system 102 may include components that provide powered movement for the autonomous vehicle 100. In one embodiment, the propulsion system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels 121. The engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy.

Examples of energy source 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 119 can also provide energy for other systems of autonomous vehicle 100.

The transmission 120 can transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 121.

The sensor system 104 may include several sensors that sense information about the environment surrounding the autonomous vehicle 100. For example, the sensor system 104 may include a global positioning system 122 (the positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may also include sensors of the internal systems of the monitored autonomous vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the autonomous autonomous vehicle 100.

The global positioning system 122 may be used to estimate the geographic location of the autonomous vehicle 100. The IMU 124 is used to sense changes in position and orientation of the autonomous vehicle 100 based on inertial acceleration. In one embodiment, the IMU 124 may be a combination of an accelerometer and a gyroscope.

Radar 126 may utilize radio signals to sense objects within the surrounding environment of autonomous vehicle 100. In some embodiments, in addition to sensing objects, radar 126 may also be used to sense the speed and/or heading of an object.

The laser rangefinder 128 may utilize lasers to sense objects in the environment in which the autonomous vehicle 100 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

The camera 130 may be used to capture multiple images of the surrounding environment of the autonomous vehicle 100. The camera 130 may be a still camera or a video camera.

The control system 106 is used to control the operation of the autonomous vehicle 100 and its components. The control system 106 may include various components, including Steering system 132 , throttle 134 , brake unit 136 , computer vision system 140 , path control system 142 , and obstacle avoidance system 144 .

The steering system 132 is operable to adjust the forward direction of the autonomous vehicle 100. For example, in one embodiment, it may be a steering wheel system.

The throttle 134 is used to control the operating speed of the engine 118 and thereby control the speed of the autonomous vehicle 100 .

The brake unit 136 is used to control the deceleration of the autonomous driving vehicle 100. The brake unit 136 can use friction to slow down the wheel 121. In other embodiments, the brake unit 136 can convert the kinetic energy of the wheel 121 into electric current. The brake unit 136 can also take other forms to slow down the rotation speed of the wheel 121 to control the speed of the autonomous driving vehicle 100.

The computer vision system 140 may be operable to process and analyze images captured by the camera 130 in order to identify objects and/or features in the environment surrounding the autonomous vehicle 100. The objects and/or features may include traffic signs, road boundaries, and obstacles. The computer vision system 140 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 may be used to map the environment, track objects, estimate the speed of objects, and the like.

The route control system 142 is used to determine the driving route of the autonomous vehicle 100. In some embodiments, the route control system 142 may combine data from the global positioning system 122 and one or more predetermined maps to determine the driving route for the autonomous vehicle 100.

The obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the vehicle 100 .

Of course, in one example, the control system 106 may include additional or alternative components other than those shown and described, or may also reduce some of the components shown above.

The autonomous vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through peripherals 108. The peripherals 108 may include a wireless communication system 146, an onboard computer 148, a microphone 150, and/or a speaker 152.

In some embodiments, the peripheral device 108 provides a means for a user of the autonomous vehicle 100 to interact with the user interface 116. For example, the onboard computer 148 can provide information to the user of the autonomous vehicle 100. The user interface 116 can also operate the onboard computer 148 to receive input from the user. The onboard computer 148 can be operated via a touch screen. In other cases, the peripheral device 108 can provide a means for the autonomous vehicle 100 to communicate with other devices located in the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio input) from the user of the autonomous vehicle 100. Similarly, the speaker 152 can output audio to the user of the autonomous vehicle 100.

The wireless communication system 146 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system 146 can communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 146 can communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 may include one or more dedicated short range communications (DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

The power source 110 can provide power to various components of the autonomous vehicle 100. In one embodiment, the power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the autonomous vehicle 100. In some embodiments, the power source 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

Some or all functions of the autonomous vehicle 100 are controlled by a computer system 101. The computer system 101 may include at least one processor 113 that executes instructions 115 stored in a non-transitory computer-readable medium such as a data storage device 114. The computer system 101 may also be a plurality of computing devices that control individual components or subsystems of the autonomous vehicle 100 in a distributed manner.

Processor 113 can be any conventional processor, such as commercially available CPU. Alternatively, the processor can be a special-purpose device such as ASIC or other hardware-based processor. Although Fig. 1 functionally illustrates processor, memory and other elements of computer system 101 in the same block, it should be understood by those skilled in the art that the processor, computer or memory can actually include multiple processors, computers or memories that may or may not be stored in the same physical shell. For example, the memory can be a hard disk drive or other storage media that is located in the shell that is different from computer system 101. Therefore, reference to processor or computer will be understood to include reference to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering assembly and deceleration assembly can each have their own processor, and the processor only performs the calculation related to the function specific to the component.

In various aspects described herein, the processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking The necessary steps to perform a single operation.

In some embodiments, data storage 114 may include instructions 115 (e.g., program logic) that may be executed by processor 113 to perform various functions of autonomous vehicle 100, including those described above. Data storage 114 may also include additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of propulsion system 102, sensor system 104, control system 106, and peripherals 108.

In addition to instructions 115, data storage device 114 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by autonomous vehicle 100 and computer system 101 during operation of autonomous vehicle 100 in autonomous, semi-autonomous, and/or manual modes.

The user interface 116 is used to provide information to or receive information from a user of the autonomous vehicle 100. Optionally, the user interface 116 may include one or more input/output devices within the set of peripheral devices 108, such as a wireless communication system 146, a vehicle computer 148, a microphone 150, and a speaker 152.

The computer system 101 may control functions of the autonomous vehicle 100 based on input received from various subsystems (e.g., the travel system 102, the sensor system 104, and the control system 106) and from the user interface 116. For example, the computer system 101 may utilize input from the control system 106 in order to control the steering unit 132 to avoid obstacles detected by the sensor system 104 and the obstacle avoidance system 144. In some embodiments, the computer system 101 may be operable to provide control over many aspects of the autonomous vehicle 100 and its subsystems.

Optionally, one or more of the above components may be installed or associated separately from the autonomous vehicle 100. For example, the data storage device 114 may be partially or completely separate from the autonomous vehicle 100. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example. In practical applications, the components in the above modules may be added or deleted according to actual needs. FIG. 1 should not be understood as a limitation on the embodiments of the present application.

An autonomous vehicle traveling on a road, such as the autonomous vehicle 100 above, can identify objects in its surrounding environment to determine adjustments to the current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.

Optionally, the autonomous vehicle 100 or a computing device associated with the autonomous vehicle 100 (such as the computer system 101, computer vision system 140, data storage device 114 of FIG. 1) can predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects depends on the behavior of each other, so all the identified objects can also be considered together to predict the behavior of a single identified object. The autonomous vehicle 100 can adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors can also be considered to determine the speed of the autonomous vehicle 100, such as the lateral position of the autonomous vehicle 100 in the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the autonomous vehicle 100 so that the autonomous vehicle follows a given trajectory and/or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

Please refer to Figure 2, which is a schematic diagram of a vehicle radar detection scenario provided in an embodiment of the present application. The system includes a first vehicle 21, a second vehicle 22 and a third vehicle 23. The first vehicle 21, the second vehicle 22 and the third vehicle 23 are respectively equipped with radars, and other vehicles can be sensed by radar.

Autonomous driving is a research hotspot and trend in the development of automobiles. Autonomous driving vehicles perceive environmental information through a variety of sensors, and then make decisions and control vehicle behavior to ensure that the vehicle can travel safely and smoothly. Sensors used for vehicle environment perception usually include cameras, lidar, millimeter-wave radar, ultrasonic radar, etc. Compared with cameras and lidar, millimeter-wave radar has the advantage of being able to work all day and all weather, especially in rain, snow, fog, haze, glare, and dust weather, where cameras, lidar and other sensors cannot replace it. Autonomous driving vehicles can also sense the driving intentions of surrounding vehicles to assist in the control of autonomous driving. At present, vehicles use turn signals, brake lights, double flash lights, etc. to inform surrounding vehicles (following vehicles) of their own driving intentions or possible vehicle failures in advance, and surrounding vehicles can The camera can be used to learn the vehicle's driving intention and adjust the autonomous driving strategy. However, the visibility of the vehicle's lights is limited in bad weather, and the camera may not be able to obtain the vehicle's driving intention, resulting in reduced safety of autonomous driving.

To solve the above problems, an embodiment of the present application provides a communication method, which is described as follows.

Please refer to FIG. 3 , which is a schematic diagram of a flow chart of a radar transmission and processing method provided in an embodiment of the present application, the method comprising:

Step 301: The first radar obtains the driving intention of the first vehicle.

In this embodiment, the first vehicle where the first radar is located can generate a driving intention based on the next operation of automatic driving or based on the manual operation of the driver. The first radar can be provided with an interface for inputting the driving intention, and the first vehicle can input the driving intention to the first radar through the interface.

The driving intention may include braking, U-turn, left turn to overtake, left lane change, right lane change, right turn, vehicle failure has stopped, vehicle failure has not stopped, exit ramp, pull over, etc.

Step 302: The first radar determines the value of the information bit through the driving intention and the code table, and the code table includes a mapping relationship between the intention and the value of the information bit.

In this embodiment, the first radar stores a code table book indicating the numerical mapping relationship between driving intention and information bit, that is, after the first radar obtains the driving intention from the interface, it can match the driving intention with the code table book to obtain the numerical value of the information bit corresponding to the driving intention.

The mapping relationship in the code table may be randomly mapped. For example, the mapping relationship may be as shown in Table 1:

Table 1

Among them, in addition to the mapping relationship of driving intention, the code table can also include the mapping relationship of other information. The other information can be the time-frequency resource information occupied by its own radar, or other time-frequency resources that can be selected by other radars to avoid mutual interference, or information that can be obtained within the field of view of its own radar, which is notified to other radars through this radar-to-radar communication method. The specific values of the information bits that can be mapped are not repeated here.

Step 303: The first radar sends a first transmission signal carrying a numerical value of an information bit, where the first transmission signal is used to indicate the driving intention to the second radar. Correspondingly, the second radar receives the first transmission signal from the first radar.

In this embodiment, the first radar can add the information bit to the transmitted radar signal, and after obtaining the value of the information bit corresponding to the driving intention, the value of the information bit on the first transmitted signal needs to meet the value of the information bit, that is, the waveform of the first transmitted signal carries the waveform of the value of the information bit to indicate the driving intention of the vehicle where the first radar is located, and the second radar can receive the first transmitted signal.

Among them, the first transmission signal can also be used to sense the position of other targets, that is, the first transmission signal emitted by the first radar can be reflected and returned to the first radar after contacting the target. After the first radar obtains the first echo signal, it can determine the position and/or speed of the target through the first echo signal.

In the embodiment of the present application, in order to avoid interference of other vehicles' radars in the determination of the first echo signal, it can also be determined in combination with the information bits in the received signal, that is, by judging whether the value on the information bit of the received signal is the same as the value on the information bit of the first transmitted signal. Only the information bits with the same value are the first echo signals of the echo.

When the driving intention of the third vehicle is the same as that of the vehicle where the first radar is located, the radar of the third vehicle sends Even if the information bit in the signal is the same as the value of the information bit, it will still interfere with the determination of the first echo signal. Therefore, the embodiment of the present application can also set a jump bit in the first transmission signal, that is, a bit in the first transmission signal is randomly generated, and the vehicle where the first radar is located identifies whether the value of the information bit in the received signal and the jump bit are the same as the value of the information bit and the jump bit in the first transmission signal at the same time. Only when they are the same at the same time, it is the first echo signal.

In the embodiment of the present application, in order for the second radar to receive the signal transmitted by the first radar, it is also necessary to synchronize the working time frequency of the first radar and the second radar.

Step 304: The second radar extracts the value of the information bit of the first transmission signal.

In this embodiment, the second radar is a radar on a vehicle around the vehicle where the first radar is located. After receiving the transmission signal of the above radar, the second radar obtains the value of the information bit in the area where the information bit is located according to the range dimension and/or Doppler dimension compression results through normal distance fast Fourier transform (FFT) or azimuth FFT.

Step 305: The second radar determines the driving intention of the first vehicle where the first radar is located according to the value of the information bit and the code table.

In this embodiment, after obtaining the value of the information bit, the second radar can match the value of the information bit with the corresponding intention in the code table, and the corresponding intention is the driving intention of the first vehicle where the first radar is located. The second radar can transmit the obtained driving intention to the processor of the vehicle where the second radar is located, so that the processor of the vehicle where the second radar is located can adjust the automatic driving or give a reminder according to the driving intention of the vehicle where the first radar is located.

For the transmission and reception of the first transmission signal, when the first transmission signal is a wide-bandwidth signal, the ADC at the receiving end needs to have a wide-bandwidth sampling capability equivalent to the transmission signal bandwidth, which is costly. In the embodiment of the present application, the radar at the signal receiving end first converts the wide-bandwidth transmission signal into a narrowband signal, i.e., an intermediate frequency signal, through mixing, and then samples the intermediate frequency signal with the ADC, thereby reducing the sampling bandwidth and cost of the ADC.

For FMCW radar, when the vehicle is about to change its driving state (such as turning), the first radar is triggered to transmit a signal corresponding to the driving intention and other information. After the vehicle's driving intention signal is transmitted to the first radar, the first radar is triggered to transmit a signal in the following form, namely waveform 1:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, It represents the modulation phase value corresponding to the modulation phase item numbered n1, a _n1 is the value of the information bit numbered n1, and the information bit is N1 bits.

The expression form of the signal satisfying formula (1) is shown in FIG4, and the system block diagram formed by the signal is shown in FIG5. Among them, The signal generation method is the same as that of the existing FMCW radar; a _n , (n＝0,…,N) is determined by the information to be transmitted. Tx represents the transmitting antenna and PA represents the power amplifier.

Or, due to It can be directly calculated digitally, so it can be directly implemented by a phase shifter, that is, the above implementation framework can be implemented by a simplified phase shifter, as shown in FIG6 .

The radar (second radar) of the surrounding vehicles (such as the rear vehicle) receives the first transmission signal (direct wave signal) of the front vehicle radar (first radar), obtains the driving intention (communication) of the target vehicle through signal processing, and then takes corresponding driving decisions. The first radar can also receive the first transmission signal transmitted by itself for target detection (perception or positioning).

At the same time, the second radar can also transmit the first transmission signal as shown in formula (1), and the signal can be loaded with information such as the driving intention of the vehicle corresponding to the radar. The second radar can simultaneously receive the signals of the first radar and the second radar, and through signal processing, use the received signal of the second radar for target detection (perception or positioning), and use the received signal of the first radar for information extraction (communication); at this time, the first radar can also receive the signals of the first radar and the second radar (direct wave signal or target echo signal), and through signal processing, use the received signal of the first radar for target detection (perception or positioning), and use the received signal of the second radar for information extraction (communication).

Figure 7 shows a schematic diagram of the Doppler region after signal processing, where the left shadow area is the Doppler range B _doppler of the detected target, which is determined by the speed detection range. B _infor represents the Doppler width occupied by the information bit, B _infor <<B _doppler ; the Doppler range of the information bit is ΔB+B _infor , ΔB≥B _doppler .

In order to avoid Doppler/velocity ambiguity, it is necessary to make the Doppler region where the information bit in the first transmission signal is located not intersecting with the Doppler region used for sensing in the first transmission signal, that is, to avoid the information bit appearing in the B _doppler region; thus, the pulse repetition frequency (Pulse repetition frequency, PRF), that is, PRF≥B _doppler +ΔB+B _infor ≥2B _doppler +B _infor , where ΔB≥B _doppler . Taking M-bit encoding as an example, the information bit area in Figure 7 includes at least M Doppler resolution units (if corresponding to the velocity dimension, the information bit area includes at least M velocity resolution units), and the Doppler width corresponding to the information bit is: The Doppler width between two adjacent information bits To ensure that two adjacent information bits can be distinguished in the Doppler dimension/velocity dimension.

As shown in Figure 8, taking 10-bit information bits as an example, the simulation schematic diagram of the distance-velocity compression results under different information modes is shown in Figure 8. In the velocity profile diagram, the first half is the target detection area, and the second half is the information bit area. Among them, for different target speeds, the information bit will be caused to undergo corresponding Doppler/velocity shifts, which will not be described here.

For FMCW radar, the information bit is loaded into the radar transmission signal through carrier frequency modulation. The waveform of the first transmission signal can also be the following waveform (waveform 2):

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, Δf _n2 represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n2, a _n2 is the value of the information bit numbered n2, and the information bit is N2 bits. In particular, let a ₀ =1, Δf ₁ =0. The system block diagram of the waveform 2 is shown in FIG9 , and the value of the information bit is modulated, serial-to-parallel converted, IFFT, parallel-to-serial converted and ADC, and then operated with s _chirp .

FIG10 is the intermediate frequency distribution of the received signal after mixing, where the left shadow area is the intermediate frequency range B _IF corresponding to the distance of the detected target, which is determined by the distance detection range. The right side represents the occupied intermediate frequency range ΔB+B _infor , where B _infor is determined by the number of information bits, B _infor <<B _IF , ΔB ≥ B _IF ; to avoid ambiguity, the intermediate frequency region where the information bits are located in the first transmitted signal does not intersect with the intermediate frequency used for perception in the first transmitted signal.

In this system, the radar requires the ADC sampling rate Fs to be: Fs ≥ B _IF + ΔB + B _infor ≥ 2B _IF + B _infor . In order to make two adjacent information bits distinguishable in the intermediate frequency (or distance dimension), the frequency difference corresponding to the two adjacent bits is required to satisfy: δf＝min{Δf _i -Δf _j }; Taking M-bit information as an example, if Δf _n is an arithmetic progression, the intermediate frequency width corresponding to the information bit is

Through signal processing, the information to be transmitted is reflected in the distance profile (i.e., range-profile) as shown in Figure 11. Taking 10-bit modulation as an example, 10 carrier frequencies are used to generate peaks at 10 distance positions, and the settings of these 10 carrier frequencies (0 or 1) correspond to the presence or absence of corresponding peaks to express different values on the information bit.

Since the number of bits of the information bit is limited, that is, the driving intentions that can be mapped are limited, in order to further increase the number of mapped driving intentions, the embodiment of the present application can also set the information bit in the distance dimension and the Doppler (speed) dimension at the same time, such as the combination of the aforementioned waveform 1 and waveform 2, that is, the value of the information bit can be divided into two parts and modulated to the distance dimension and the Doppler (speed) dimension respectively, wherein the carrier modulation is used to modulate the value of the first part of the information bit to the distance dimension, and the phase modulation is used to modulate the value of the second part of the information bit to the Doppler (speed) dimension, that is, the values on the distance dimension and the Doppler (speed) dimension information bits are combined to form the total value of the information bit. The waveform 3 of the first transmission signal satisfies the following formula:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, Δf _{n3_1} represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n3_1, a _{n3_1} is the value of the information bit numbered n3_1, represents the modulation phase value corresponding to the modulation phase item numbered n3_2, a _{n3_2} is the value of the information bit numbered n3_2, and the The information bit is N3_1 bits in the carrier frequency dimension, and the information bit is N3_2 bits in the phase modulation dimension. In formula (3), the signal needs to comply with the following requirements at the same time: the Doppler region where the information bit is located in the first transmitted signal does not intersect with the Doppler region used for perception in the first transmitted signal, and the intermediate frequency region where the information bit is located in the first transmitted signal does not intersect with the intermediate frequency used for perception in the first transmitted signal.

For a scenario where the first transmission signal is a single-frequency signal, the waveform 4 of the first transmission signal satisfies the following formula:

Wherein, p represents the serial number of the transmitted single-frequency signal, _tr represents the fast time, _Tp represents the pulse duration of a single single-frequency signal, _f0 represents the carrier center frequency of the single-frequency signal, _Tr represents the repetition interval of the single-frequency signal pulse, represents the phase value corresponding to the modulation phase item numbered n4, a _n4 is the value of the information bit numbered n4, and the information bit is N4 bits. Formula (4) needs to comply with the Doppler region where the information bit in the first transmitted signal is located and the Doppler region used for sensing in the first transmitted signal do not intersect. Accordingly, the system block diagram of waveform 4 can be shown in Figure 12.

In an embodiment of the present application, a radar can also be configured on the traffic light. The radar can send a signal carrying information indicating whether it is a red light, green light or yellow light. After receiving the signal, the first radar can determine the current status of the traffic light without obtaining it through a camera, thereby improving the safety of autonomous driving in bad weather.

Among them, the radar in the embodiment of the present application is not limited to millimeter wave radar, but also applicable to radars of other bands, such as microwave band and terahertz band; it can even be extended to detection/imaging equipment of other electromagnetic wave (including light wave, such as infrared, etc.) frequency bands. The radar is also not limited to vehicle-mounted radar, but can also be used for radar applications of other carriers such as ground-based, airborne, and satellite-borne, as well as applications such as smart home and industrial remote control. For example, the solution is used in smart home to obtain indoor high-resolution point cloud graphics for health monitoring (fall detection), intrusion detection, etc.

In the embodiment of the present application, a first radar obtains the driving intention of the first vehicle, and then determines the value of the information bit through the mapping relationship between the driving intention and the value of the information bit in the code table, and transmits the value of the information bit in the first transmission signal. After receiving the first transmission signal, the second radar can determine the driving intention of the first vehicle according to the value of the information bit, which can avoid the problem of the camera being unable to obtain the vehicle's driving intention due to limited visibility in bad weather, thereby improving driving safety.

The radar transmission and processing method is described above, and the device for executing the method is described below.

Please refer to FIG. 13 , which is a schematic diagram of the structure of a radar transmitting and processing device provided in an embodiment of the present application. The device 130 includes:

The processing unit 1301 is used to obtain the driving intention of the first vehicle, and determine the value of the information bit according to the driving intention and the code table, wherein the code table includes a mapping relationship between the driving intention and the value of the information bit;

The transceiver unit 1302 is used to send a first transmission signal carrying a numerical value of an information bit, where the first transmission signal is used to indicate the driving intention to the second radar.

The processing unit 1301 is used to execute step 301 and step 302 in the method embodiment of FIG. 3 , and the transceiver unit 1302 is used to execute step 303 in the method embodiment of FIG. 3 .

Optionally, the transceiver unit 1302 is further configured to:

receiving a first echo signal, where the first echo signal is a signal that is reflected and returned by the target by the first transmitting signal;

The processing unit 1301 is further configured to:

The first echo signal is processed to obtain the position and/or speed of the target.

Optionally, the first echo signal is determined by a value of an information bit.

Optionally, the first echo signal further includes a transition bit, and the transition bit is used to determine the first echo signal in the received signal in combination with the value of the information bit.

Optionally, the first transmission signal is a phase-modulated FMCW signal, and the phase-modulated FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, It represents the modulation phase value corresponding to the modulation phase item numbered n1, a _n1 is the value of the information bit numbered n1, and the information bit is N1 bits.

Optionally, the first transmission signal is a multi-carrier frequency FMCW signal, and the multi-carrier frequency FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, Δf _n2 represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n2, a _n2 is the value of the information bit numbered n2, and the information bit is N2 bits.

Optionally, the first transmission signal is a phase-modulated multi-carrier frequency FMCW signal, and the phase-modulated multi-carrier frequency FMCW signal satisfies:

p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, Δf _{n3_1} represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n3_1, a _{n3_1} is the value of the information bit numbered n3_1, It represents the modulation phase value corresponding to the modulation phase item numbered n3_2, where _{n3_2} is the value of the information bit numbered n3_2, the information bit is N3_1 bits in the carrier frequency dimension, and the information bit is N3_2 bits in the phase modulation dimension.

Optionally, the first transmission signal is a phase-modulated single-frequency signal, and the phase-modulated single-frequency signal satisfies:

p represents the serial number of the transmitted single-frequency signal, _tr represents the fast time, _Tp represents the pulse duration of a single single-frequency signal, _f0 represents the carrier center frequency of the single-frequency signal, _Tr represents the repetition interval of the single-frequency signal pulse, It represents the phase value corresponding to the modulation phase item numbered n4, a _n4 is the value of the information bit numbered n4, and the information bit is N4 bits.

Optionally, the Doppler region where the information bit in the first transmit signal is located does not intersect with the Doppler region used for sensing in the first transmit signal.

Optionally, the intermediate frequency region where the information bit in the first transmission signal is located does not intersect with the intermediate frequency used for perception in the first transmission signal.

Optionally, the working time frequency of the device 130 and the second radar is synchronized.

Please refer to FIG. 14 , which is a schematic diagram of the structure of a radar transmitting and processing device provided in an embodiment of the present application. The device 140 includes:

The transceiver unit 1401 is used to receive a first transmission signal from a first radar;

The processing unit 1402 is used to extract the value of the information bit of the first transmission signal, and determine the driving intention of the first vehicle where the first radar is located according to the value of the information bit and a code table, wherein the code table includes a mapping relationship between the driving intention and the value of the information bit.

The transceiver unit 1401 is used to execute step 303 in the method embodiment of FIG. 3 , and the processing unit 1402 is used to execute steps 304 and 305 in the method embodiment of FIG. 3 .

Optionally, the working time frequency of the device 140 and the first radar is synchronized.

FIG15 is a schematic diagram of a possible logical structure of a computer device 150 provided in an embodiment of the present application. The computer device 150 includes: a processor 1501, a communication interface 1502, a storage system 1503, and a bus 1504. The processor 1501, the communication interface 1502, and the storage system 1503 are interconnected via the bus 1504. In the embodiment of the present application, the processor 1501 is used to perform the actions of the computer device 150. Control management, for example, the processor 1501 is used to execute the steps performed by the first radar or the second radar in the method embodiment of Figure 3. The communication interface 1502 is used to support the computer device 150 to communicate. The storage system 1503 is used to store the program code and data of the computer device 150.

Among them, the processor 1501 can be a central processing unit, a general processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 1501 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. The bus 1504 can be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in FIG. 15, but it does not mean that there is only one bus or one type of bus.

The transceiver unit 1302 in the apparatus 130 is equivalent to the communication interface 1502 in the computer device 150 , and the processing unit 1301 in the apparatus 130 is equivalent to the processor 1501 in the computer device 150 .

The transceiver unit 1401 in the apparatus 140 is equivalent to the communication interface 1502 in the computer device 150 , and the processing unit 1402 in the apparatus 140 is equivalent to the processor 1501 in the computer device 150 .

The computer device 150 of this embodiment may correspond to the first radar or the second radar in the method embodiment of FIG. 3 . The communication interface 1502 in the computer device 150 may implement the functions and/or various steps of the first radar or the second radar in the method embodiment of FIG. 3 , which will not be described in detail for the sake of brevity.

It should be understood that the division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And the units in the device can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some units can also be implemented in the form of software calling through processing elements, and some units can be implemented in the form of hardware. For example, each unit can be a separately established processing element, or it can be integrated in a certain chip of the device. In addition, it can also be stored in the memory in the form of a program, and called and executed by a certain processing element of the device. The function of the unit. In addition, all or part of these units can be integrated together, or they can be implemented independently. The processing element described here can also be a processor, which can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each unit above can be implemented by an integrated logic circuit of hardware in the processor element or in the form of software calling through a processing element.

In one example, the unit in any of the above devices may be one or more integrated circuits configured to implement the above method, such as one or more application specific integrated circuits (ASIC), or one or more digital singnal processors (DSP), or one or more field programmable gate arrays (FPGA), or a combination of at least two of these integrated circuit forms. For another example, when the unit in the device can be implemented in the form of a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

In another embodiment of the present application, a computer-readable storage medium is further provided, in which computer-executable instructions are stored. When the processor of the device executes the computer-executable instructions, the device executes the method executed by the first radar or the second radar in the above method embodiment.

In another embodiment of the present application, a computer program product is further provided, the computer program product comprising computer executable instructions, the computer executable instructions being stored in a computer readable storage medium. When a processor of a device executes the computer executable instructions, the device executes the method executed by the first radar or the second radar in the above method embodiment.

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

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

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

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims (30)

1. A radar transmission and processing method, characterized in that it includes:

   The first radar obtains the driving intention of the first vehicle;

   The first radar determines the value of the information bit through the driving intention and a code table, wherein the code table includes a mapping relationship between the driving intention and the value of the information bit;

   The first radar sends a first transmission signal carrying a value of the information bit, and the first transmission signal is used to indicate the driving intention to the second radar.
2. The method according to claim 1, characterized in that after the first radar sends a first transmission signal carrying the value of the information bit, the method further comprises:

   The first radar receives a first echo signal, where the first echo signal is a signal generated when the first transmission signal is reflected by a target and returned;

   The first radar processes the first echo signal to obtain the position and/or speed of the target.
3. The method according to claim 2 is characterized in that the first echo signal is determined by the value of the information bit.
4. The method according to claim 3 is characterized in that the first echo signal also includes a transition bit, and the transition bit is used to determine the first echo signal in the received signal in combination with the value of the information bit.
5. The method according to any one of claims 1 to 4, characterized in that the first transmission signal is a phase-modulated FMCW signal, and the phase-modulated FMCW signal satisfies:
   

   p represents the serial number of the transmitted FMCW signal, _tr represents the fast time, _Tp represents the pulse duration of a single FMCW signal, _f0 represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, represents the modulation phase value corresponding to the modulation phase item numbered n1, a _n1 is the value of the information bit numbered n1, and the information bit is N1 bits.
6. The method according to any one of claims 1 to 4, characterized in that the first transmission signal is a multi-carrier frequency FMCW signal, and the multi-carrier frequency FMCW signal satisfies:
   

   p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, Δf _n2 represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n2, a _n2 is the value of the information bit numbered n2, and the information bit is N2 bits.
7. The method according to any one of claims 1 to 4, characterized in that the first transmission signal is a phase-modulated multi-carrier frequency FMCW signal, and the phase-modulated multi-carrier frequency FMCW signal satisfies:
   

   p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, Δf _{n3_1} represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n3_1, a _{n3_1} is the value of the information bit numbered n3_1, Represents the modulation phase value corresponding to the modulation phase item numbered n3_2, a _{n3_2} is the value of the information bit numbered n3_2, the information bit is N3_1 bits in the carrier frequency dimension, and the information bit is N3_2 bits in the phase modulation dimension.
8. The method according to any one of claims 1 to 4, characterized in that the first transmission signal is a single-frequency signal after phase modulation. The phase modulated single frequency signal satisfies:
   

   p represents the serial number of the transmitted single-frequency signal, _tr represents the fast time, _Tp represents the pulse duration of a single single-frequency signal, _f0 represents the carrier center frequency of the single-frequency signal, _Tr represents the repetition interval of the single-frequency signal pulse, represents the phase value corresponding to the modulation phase item numbered n4, a _n4 is the value of the information bit numbered n4, and the information bit is N4 bits.
9. The method according to claim 5, 7 or 8 is characterized in that the Doppler region where the information bit is located in the first transmission signal does not intersect with the Doppler region used for sensing in the first transmission signal.
10. The method according to claim 6 or 7 is characterized in that the intermediate frequency region where the information bit is located in the first transmission signal does not intersect with the intermediate frequency used for perception in the first transmission signal.
11. The method according to any one of claims 1 to 8 is characterized in that the working time and frequency of the first radar and the second radar are synchronized.
12. A radar transmission and processing method, characterized in that it includes:

    The second radar receives the first transmission signal from the first radar;

    The second radar extracts a value of an information bit from the first transmission signal;

    The second radar determines the driving intention of the first vehicle where the first radar is located according to the value of the information bit and a code table, and the code table includes a mapping relationship between the driving intention and the value of the information bit.
13. The method according to claim 12 is characterized in that the working time frequency of the first radar and the second radar are synchronized.
14. A radar transmitting and processing device, characterized in that it comprises:

    a processing unit, configured to obtain a driving intention of the first vehicle, and determine a value of the information bit through the driving intention and a code table, wherein the code table includes a mapping relationship between the driving intention and the value of the information bit;

    The transceiver unit is used to send a first transmission signal carrying the numerical value of the information bit, wherein the first transmission signal is used to indicate the driving intention to the second radar.
15. The device according to claim 14, characterized in that the transceiver unit is further used for:

    receiving a first echo signal, where the first echo signal is a signal generated when the first transmission signal is reflected by a target and returned;

    The processing unit is also used for:

    The first echo signal is processed to obtain the position and/or speed of the target.
16. The device according to claim 15 is characterized in that the first echo signal is determined by the value of the information bit.
17. The device according to claim 16 is characterized in that the first echo signal also includes a toggle bit, and the toggle bit is used to determine the first echo signal in the received signal in combination with the value of the information bit.
18. The device according to any one of claims 14 to 17, wherein the first transmission signal is a phase-modulated FMCW signal, and the phase-modulated FMCW signal satisfies:
    

    p represents the serial number of the transmitted FMCW signal, _tr represents the fast time, _Tp represents the pulse duration of a single FMCW signal, _f0 represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, represents the modulation phase value corresponding to the modulation phase item numbered n1, a _n1 is the value of the information bit numbered n1, and the information bit is N1 bits.
19. The device according to any one of claims 14 to 17, wherein the first transmission signal is a multi-carrier frequency FMCW signal, and the multi-carrier frequency FMCW signal satisfies:
    

    p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, Δf _n2 represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n2, a _n2 is the value of the information bit numbered n2, and the information bit is N2 bits.
20. The device according to any one of claims 14 to 17, wherein the first transmission signal is a phase-modulated multi-carrier frequency FMCW signal, and the phase-modulated multi-carrier frequency FMCW signal satisfies:
    

    p represents the serial number of the transmitted FMCW signal, t _r represents the fast time, T _p represents the pulse duration of a single FMCW signal, f ₀ represents the carrier center frequency of the FMCW signal, K represents the frequency modulation slope of the FMCW signal, _Tr represents the repetition interval of the FMCW signal pulse, Δf _{n3_1} represents the carrier frequency offset corresponding to the modulated carrier frequency numbered n3_1, a _{n3_1} is the value of the information bit numbered n3_1, Represents the modulation phase value corresponding to the modulation phase item numbered n3_2, a _{n3_2} is the value of the information bit numbered n3_2, the information bit is N3_1 bits in the carrier frequency dimension, and the information bit is N3_2 bits in the phase modulation dimension.
21. The device according to any one of claims 14 to 17, wherein the first transmission signal is a phase-modulated single-frequency signal, and the phase-modulated single-frequency signal satisfies:
    

    p represents the serial number of the transmitted single-frequency signal, _tr represents the fast time, _Tp represents the pulse duration of a single single-frequency signal, _f0 represents the carrier center frequency of the single-frequency signal, _Tr represents the repetition interval of the single-frequency signal pulse, represents the phase value corresponding to the modulation phase item numbered n4, a _n4 is the value of the information bit numbered n4, and the information bit is N4 bits.
22. The device according to claim 18, 20 or 21 is characterized in that the Doppler region where the information bit is located in the first transmission signal does not intersect with the Doppler region used for sensing in the first transmission signal.
23. The device according to claim 19 or 20 is characterized in that the intermediate frequency region where the information bit is located in the first transmission signal does not intersect with the intermediate frequency used for perception in the first transmission signal.
24. The device according to any one of claims 14 to 23 is characterized in that the working time frequency of the device and the second radar are synchronized.
25. A radar transmitting and processing device, characterized in that it comprises:

    A transceiver unit, configured to receive a first transmission signal from a first radar;

    A processing unit is used to extract the value of the information bit of the first transmission signal, and determine the driving intention of the first vehicle where the first radar is located according to the value of the information bit and a code table, wherein the code table includes a mapping relationship between the driving intention and the value of the information bit.
26. The device according to claim 25 is characterized in that the operating time frequency of the device and the first radar are synchronized.
27. A computer device, comprising: a processor and a memory,

    The processor is configured to execute instructions stored in the memory, so that the computer device performs the method according to any one of claims 1 to 11.
28. A computer device, comprising: a processor and a memory,

    The processor is configured to execute instructions stored in the memory, so that the computer device performs the method according to any one of claims 12 to 13.
29. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed on the computer, the computer is caused to execute the method as described in any one of claims 1 to 13.
30. A computer program product, characterized in that when the computer program product is executed on a computer, the computer executes the method according to any one of claims 1 to 13.