Patent ID: 12228671

DESCRIPTION OF EMBODIMENTS

The following describes embodiments of this application with reference to accompanying drawings.

First, target detection performed by a radar is described. A first detection apparatus and a second detection apparatus according to embodiments of this application may be radars. The first detection apparatus and the second detection apparatus are merely used to distinguish between radars, and are not limited to specific radars. The first detection apparatus and the second detection apparatus may be cooperative radars or the like.

As shown inFIG.1, a vehicle on which the first detection apparatus is located runs on a lane1, and a vehicle on which the second detection apparatus is located runs on a lane2. The lane1and the lane2are lanes close to each other. The lanes close to each other may be understood as other lanes on a same road, and may be adjacent lanes or may be non-adjacent lanes. The first detection apparatus sends a detection signal by using a resource that is constant in frequency domain and that is periodic in time domain. After the detection signal is reflected by a target object, the first detection apparatus receives the reflected detection signal (a target reflection signal). The first detection apparatus completes target detection based on at least one of signal strength of the target reflection signal, a signal transmission delay, a Doppler frequency of the signal, and a direction in which a wave vector is received, and based on at least one of: existence of the target object, RCS, a distance, speed (accurately, a projection component of a relative speed (vector) on a connection line between the first detection apparatus and the target object), and angle relative to the first detection apparatus, and the like that are determined based on the foregoing parameters.

Because the first detection apparatus also receives the detection signal (an interference signal) sent by the second detection apparatus, when a sending resource of the detection signal sent by the second detection apparatus partially or completely overlaps a sending resource of the detection signal sent by the first detection apparatus, a signal for target detection (detection of existence, a distance, a speed, an angle, and the like of the target) received by the first detection apparatus may include both the target reflection signal and the detection signal (the interference signal) that is sent by the second detection apparatus. In this case, the detection signal sent by the second detection apparatus causes interference to the first detection apparatus, and affects detection of the target object by the first detection apparatus. Possible impact includes: increasing noise floor during target detection performed by the first detection apparatus, which decreases a capability of the first detection apparatus to detect a weak target and decreases target detection precision; forming a pseudo target; and the like. Therefore, how to reduce mutual interference between radars is a problem that needs to be resolved.

Embodiments of this application are intended to resolve a problem that mutual interference is caused between the detection apparatuses during target detection, so that a first detection apparatus is used to send a detection signal. The first detection apparatus obtains a first moment (a start moment of a first time unit), and the first time unit is used for the first detection apparatus to send a sense dedicated signal. The first detection apparatus sends the sense dedicated signal based on a first periodicity, and the sense dedicated signal is used to indicate sending resource information of the detection signal. The second detection apparatus receives the sense dedicated signal in the first time unit. After receiving the sense dedicated signal, the second detection apparatus determines, by using the received sense dedicated signal, sending resource information of a detection signal sent by the second detection apparatus. This can reduce mutual interference between the detection apparatuses during detection signal sending, and can improve accuracy during target detection performed by the detection apparatuses.

Embodiments of this application provide a signal transmission method and a related device, which may be applied to a sensor, especially in the radar field, and in particular, relate to a cooperative radar. The method is used by the radar to perform cooperation through communication, to reduce mutual interference between radars, and improve accuracy during target detection performed by the radar.

FIG.2is a schematic flowchart of a signal transmission method according to an embodiment of this application. The signal transmission method provided in this embodiment of this application is applied to a first detection apparatus. A first signal may be the sense dedicated signal in the foregoing embodiments. The method includes the following steps.

S101: The first detection apparatus obtains a first moment, where the first moment is a start moment of a first time unit, and the first time unit is used for the first detection apparatus to send the first signal.

The start moment of the first time unit is a moment M times the first periodicity from a zero moment of system time, where M is a natural number. For example, if the first periodicity is 200 ms, the start moment of the first time unit may be a moment 200 ms from the zero moment of the system time, a moment 400 ms from the zero moment of the system time, or the like. The system time may be understood as time followed by both the first detection apparatus and a second detection apparatus. The time may be natural time or customized time.

The first detection apparatus may send the first signal in a part or all of the time in the first time unit.

S102: The first detection apparatus sends the first signal based on the first periodicity, where the first signal is used to indicate sending resource information of a detection signal, and the first time unit is further used for the second detection apparatus to receive the first signal.

The sending resource information includes time domain resource information, frequency domain resource information, and the like, and may further include information such as waveform information and/or waveform-related parameter information used for detecting a channel.

The second detection apparatus may receive the first signal in a part or all of the time in the first time unit.

In a possible embodiment, the first signal is used to indicate the sending resource information of the detection signal. To be specific, the first signal may indicate the sending resource information of the detection signal by using a time domain resource and/or a frequency domain resource of the first signal. In this way, an amount of information included in indication information in the sense dedicated signal can be reduced, to improve reliability during obtaining the sending resource information of the detection signal by using the first signal.

In a possible embodiment, the first signal may also indicate the sending resource information of the detection signal by using the indication information carried in the sense dedicated signal. The indication information includes at least one of information about a frequency domain resource and/or a time domain resource occupied by the detection signal and information about a frequency domain resource and/or a time domain resource not occupied by the detection signal. The indication information may further include at least one of the following: start moment information, sending periodicity information, frequency resource information, and the like of a second signal. The indication information may further include waveform type information and/or waveform-related parameter information of the detection signal, and the like. Certainly, the first signal may further indicate the resource information not occupied by the detection signal, which is specifically the same as the resource information occupied by the detection signal. Details are not described herein again.

In a possible embodiment,FIG.3is a schematic diagram of sending a first signal by a first detection apparatus. An example in which the first signal is a sense dedicated signal is used for description. The first detection apparatus sends a detection signal and a sense dedicated signal, and a function of the sense dedicated signal is to indicate sending resource information of the detection signal sent by the first detection apparatus.

In a possible embodiment,FIG.4is a schematic diagram of a sending periodicity (a first periodicity) of a sense dedicated signal. A first detection apparatus sends at least one sense dedicated signal in a first time unit, and the first detection apparatus may also receive a sense dedicated signal sent by at least one other radar in the first time unit. The first detection apparatus sends a sense dedicated signal based on a first periodicity, where the first periodicity may be a positive integer multiple of a periodicity in which the first detection apparatus sends the detection signal. InFIG.4, an example in which the first periodicity is the same as the periodicity of the detection signal is used for description. Certainly, the first periodicity may also be another positive integer multiple of the periodicity of the detection signal. For example, the sense dedicated signal is sent every other periodicity of the detection signal (the first periodicity is twice the periodicity of the detection signal). This is merely an example for description herein, and is not specifically limited herein.

In a possible embodiment, the first detection apparatus sends the sense dedicated signal in a second time unit, where the second time unit is included in the first time unit. For example, the first time unit is divided into N time subunits, and the second time unit is K consecutive time subunits in the N time subunits, where N and K are positive integers. Certainly, the K time subunits may also be inconsecutive. This is not specifically limited in this application. Therefore, when receiving the sense dedicated signal sent by the first detection apparatus, the second detection apparatus needs to receive the sense dedicated signal in the second time unit, to ensure that the sense dedicated signal sent by the first detection apparatus can be sensed by the second detection apparatus. In addition, the first periodicity is an integer multiple of the periodicity of the detection signal, so that it can be easily implemented that the sense dedicated signal and the detection signal are sent at different time. This can reduce implementation complexity, and improve convenience when a detection apparatus sends a first signal.

In a possible embodiment, the first detection apparatus may also send a plurality of sense dedicated signals in the first time unit, and each sense dedicated signal is sent based on the first periodicity. In this case, the second detection apparatus may also sense the plurality of sense dedicated signals in the first time unit.

In a possible embodiment, as shown inFIG.5, a second detection apparatus receives, in a first time unit, a sense dedicated signal sent by a first detection apparatus. In this case, after receiving the sense dedicated signal sent by the first detection apparatus for the first time, the second detection apparatus may further receive, after a specified periodicity, the sense dedicated signal sent by the first detection apparatus. The periodicity is a common multiple of a periodicity in which the second detection apparatus detects the sense dedicated signal and a periodicity in which the first detection apparatus sends the sense dedicated signal. Because there must be a common multiple of the two periodicities, the second detection apparatus can definitely receive the sense dedicated signal sent by the first detection apparatus again. The periodicity in which the second detection apparatus detects the sense dedicated signal may be the same as the periodicity in which the second detection apparatus sends the detection signal. Certainly, the periodicity in which the second detection apparatus detects the sense dedicated signal may also be different from the periodicity in which the second detection apparatus sends the detection signal. This is not specifically limited herein. After receiving the first signal, the second detection apparatus re-determines sending resource information of the detection signal based on the sending resource information indicated by the first signal. When re-determining the sending resource information of the detection signal, the second detection apparatus may select a part or all of resource information other than the sending resource information indicated by the sense dedicated signal as the sending resource information of the detection signal of the second detection apparatus. Certainly, if the first detection apparatus sends a plurality of sense dedicated signals in the first time unit, the second detection apparatus may also receive the plurality of sense dedicated signals in the first time unit, and re-determine sending resource information of the detection signal based on sending resource information of another detection apparatus indicated by the plurality of sense dedicated signals.

In a possible embodiment, the second detection apparatus may send the sense dedicated signal, or may not send the sense dedicated signal. This is not limited in this application.

FIG.6is a schematic diagram of another sending periodicity (a first periodicity) of a sense dedicated signal. The first periodicity is a common multiple of a second periodicity and a third periodicity. The second periodicity is a periodicity in which the first detection apparatus sends the detection signal, and the third periodicity is a periodicity in which the second detection apparatus sends the detection signal. As shown inFIG.6, the first periodicity is three times the periodicity in which the first detection apparatus sends the detection signal, and the second periodicity is four times the periodicity in which the second detection apparatus sends the detection signal. This is merely an example for description, and is not specifically limited herein. The first periodicity is a common multiple of the second periodicity and the third periodicity, and the second detection apparatus detects the sense dedicated signal in the first time unit based on the first periodicity. In this way, it can be easily implemented that time for the second detection apparatus to sense the first signal is different from time for the second detection apparatus to send the detection signal. This ensures that the second detection apparatus can sense the first signal, and improves stability when the second detection apparatus detects the first signal. The first detection apparatus may also send the sense dedicated signal in the second time unit. Refer to the specific sending method in the foregoing embodiment. Details are not described herein again. For a specific processing manner after the second detection apparatus receives the sense dedicated signal, refer to the specific method in the foregoing embodiment. Details are not described herein again.

In the foregoing embodiments shown inFIG.5andFIG.6, the sending resource of the sense dedicated signal does not overlap the time unit in which the first detection apparatus sends the detection signal.

In a possible embodiment, the sending resource used by the first detection apparatus to send the sense dedicated signal may also overlap a resource used by the first detection apparatus to send the detection signal. If the first time unit overlaps the time unit in which the first detection apparatus sends the detection signal, the first detection apparatus sends the sense dedicated signal, and the first detection apparatus does not send the detection signal.

Alternatively, if the first time unit overlaps the time unit in which the first detection apparatus sends the detection signal, the first detection apparatus generates a random number. If the random number generated by the first detection apparatus is greater than a preset value, the first detection apparatus sends the sense dedicated signal, and the first detection apparatus does not send the detection signal.

In a possible embodiment, if the first time unit overlaps the time unit in which the first detection apparatus sends the detection signal, the first detection apparatus may further send the sense dedicated signal or the detection signal by using the following method.

The first detection apparatus sends the sense dedicated signal, and the first detection apparatus does not send the detection signal.

Alternatively, the first detection apparatus does not send the sense dedicated signal, and the first detection apparatus sends the detection signal.

Alternatively, when the random number generated by the first detection apparatus is greater than the preset value, the first detection apparatus sends the sense dedicated signal, and the first detection apparatus does not send the detection signal. When the random number generated by the first detection apparatus is less than or equal to the preset value, the first detection apparatus does not send the sense dedicated signal, and the first detection apparatus sends the detection signal.

The first detection apparatus may further sense, in the first time unit, a sense dedicated signal sent by another radar, and the time unit in which the first detection apparatus senses the sense dedicated signal sent by the another radar is a time unit other than the second time unit.

FIG.7is a schematic diagram of a structure of a detection apparatus according to an embodiment of this application. A detection apparatus700provided in this embodiment of this application includes a processor710and a transceiver720.

The processor710is configured to obtain a first moment. The first moment is a start moment of a first time unit, and the first time unit is used for the transceiver to send a first signal.

The transceiver720is configured to send the first signal based on a first periodicity. The first signal is used to indicate sending resource information of a detection signal, and the first time unit is further used for a second detection apparatus to receive the first signal.

In a possible embodiment, the first periodicity is a positive integer multiple of a periodicity in which the first detection apparatus sends the detection signal.

In a possible embodiment, the first periodicity is also a periodicity in which the second detection apparatus receives the first signal.

In a possible embodiment, the first periodicity is a common multiple of a second periodicity and a third periodicity. The second periodicity is a periodicity in which the transceiver sends the detection signal, and the third periodicity is a periodicity in which the second detection apparatus sends the detection signal.

In a possible embodiment, the transceiver720sends the first signal in a second time unit. The second time unit is included in the first time unit.

In a possible embodiment, the first time unit does not overlap a time unit in which the transceiver720sends the detection signal.

In a possible embodiment, if a sending resource of the first signal overlaps a sending resource of the detection signal, the transceiver720sends the first signal, and the transceiver does not send the detection signal.

Alternatively, when a random number generated by the processor710is greater than a preset value, the transceiver720sends the first signal, and the transceiver720does not send the detection signal.

As shown inFIG.8, an embodiment of this application further provides a radar800. The radar800includes a processor810, a memory820, and a transceiver830. The memory820stores instructions or a program, and the processor810is configured to execute the instructions or the program stored in the memory820. When the instruction or the program stored in the memory820is executed, the processor810is configured to perform an operation performed by the processor710in the foregoing embodiment, and the transceiver830is configured to perform an operation performed by the transceiver720in the foregoing embodiment.

FIG.9is a schematic diagram of a structure of a chip system according to this application. As shown inFIG.9, the chip system900may include a processor910and one or more interfaces920coupled to the processor910. An example is as follows:

The processor910may be configured to: read and execute computer-readable instructions. During specific implementation, the processor910may mainly include a controller, an arithmetic unit, and a register. For example, the controller is mainly responsible for decoding instructions and sending a control signal for an operation corresponding to the instructions. The arithmetic unit is mainly responsible for performing a fixed-point or floating-point arithmetic operation, a shift operation, a logic operation, and the like, and may also perform an address operation and address translation. The register is mainly responsible for storing a quantity of register operations, intermediate operation results, and the like that are temporarily stored during instruction execution. During specific implementation, a hardware architecture of the processor910may be an application-specific integrated circuit (application specific integrated circuit, ASIC) architecture, a microprocessor without interlocked piped stages (microprocessor without interlocked piped stages architecture, MIPS) architecture, an advanced reduced instruction set computer machines (advanced RISC machines, ARM) architecture, an NP architecture, or the like. The processor910may be a single-core or multi-core processor.

For example, the interface920may be configured to input to-be-processed data to the processor910, and may output a processing result of the processor810. During specific implementation, the interface920may be a general-purpose input/output (general purpose input output, GPIO) interface. The interface920is connected to the processor910through a bus930.

In a possible implementation, the processor910may be configured to: invoke, from a memory, a program or data for implementation on a detection apparatus side in the signal transmission method provided in one or more embodiments of this application, so that the chip can implement the method shown inFIG.2toFIG.5. The memory may be integrated into the processor910, or may be coupled to the chip system900through the interface920. In other words, the memory may be a part of the chip system900, or may be independent of the chip system900. The interface920may be configured to output an execution result of the processor910. In this application, the interface920may be specifically configured to output a decoding result of the processor910. For the signal transmission method provided in one or more embodiments of this application, refer to the foregoing embodiments. Details are not described herein again.

It should be noted that a function corresponding to each of the processor910and the interface920may be implemented by using a hardware design, may be implemented by using a software design, or may be implemented by combining software and hardware. This is not limited herein.

It may be further understood that the memory mentioned in embodiments of this application may be a volatile memory or a nonvolatile memory, or may include both a volatile memory and a nonvolatile memory. The nonvolatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or a flash memory. The volatile memory may be a random access memory (Random Access Memory, RAM), used as an external cache. Through example but not limitative description, many forms of RAMs may be used, for example, a static random access memory (Static RAM, SRAM), a dynamic random access memory (Dynamic RAM, DRAM), a synchronous dynamic random access memory (Synchronous DRAM, SDRAM), a double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), an enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), a synchlink dynamic random access memory (Synchlink DRAM, SLDRAM), and a direct rambus random access memory (Direct Rambus RAM, DR RAM).

It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA, another programmable logic device, a transistor logic device, or a discrete hardware component, the memory (a storage module) is integrated into the processor.

An embodiment of this application further provides a computer-readable storage medium. The computer-readable storage medium may store a program. When the program is executed, some or all steps of any signal transmission method recorded in the foregoing method embodiments are performed.

It should be noted that, for brief description, the foregoing method embodiments are each represented as a combination of a series of actions. However, a person skilled in the art should appreciate that this application is not limited to the described order of the actions, because according to this application, some steps may be performed in another order or simultaneously. It should be further appreciated by a person skilled in the art that embodiments described in this specification all belong to example embodiments, and the involved actions and modules are not necessarily required in this application.

In the foregoing embodiments, descriptions of embodiments have respective focuses. For a part that is not described in detail in an embodiment, refer to related descriptions in other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the foregoing apparatus embodiments are merely examples. For example, division into the units is merely logical function division. During actual implementation, there may be another division manner. For example, a plurality of units or components may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections may be implemented through some interfaces. The indirect couplings or communication connections between the apparatuses or units may be implemented in an electrical form or another form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, in other words, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solutions of embodiments.

In addition, function units in embodiments of this application may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in a form of hardware, or may be implemented in a form of a software function unit.

When the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, the integrated unit may be stored in a computer-readable memory. Based on such an understanding, the technical solutions of this application essentially, or the part contributing to the conventional technology, or all or some of the technical solutions may be implemented in the form of a software product. The computer software product is stored in a memory and includes several instructions for instructing a computer device (which may be a personal computer, a server, or a network device) to perform all or some of the steps of the methods in embodiments of this application. The foregoing memory includes any medium that can store program code, such as a USB flash drive, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a removable hard disk, a magnetic disk, or an optical disc.

A person of ordinary skill in the art may understand that all or some of the steps of the methods in embodiments may be implemented by a program instructing related hardware. The program may be stored in a computer-readable memory. The memory may include a flash memory, a read-only memory (English: Read-Only Memory, ROM for short), a random access memory (English: Random Access Memory, RAM for short), a magnetic disk, an optical disc, or the like.

Embodiments of this application are described in detail above. The principle and implementation of this application are described herein through specific examples. The description about embodiments is merely provided to help understand the method and core ideas of this application. In addition, a person of ordinary skill in the art can make variations and modifications to this application in terms of the specific implementations and application scopes according to the ideas of this application. Therefore, the content of specification shall not be construed as a limit to this application.