Communication device and method

Abstract

The present application provides a communication device and method, which are applied to the field of perception communication integration technology. The device includes: at least one transmitting antenna unit, at least one receiving antenna unit and a signal processing unit; the signal processing unit is used to control the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; in a second frequency band, control at least one target transmitting antenna unit to send a radar signal; and, in the second frequency band, control at least one target receiving antenna unit to receive a first echo signal, the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap. The device is conducive to reducing cost expenditure.

Description

Technical Field

[0001] The present application relates to the technical field of perception-communication integration, and more specifically, to a communication device and method in the technical field of perception-communication integration. Background Art

[0002] With the development of urbanization, transportation infrastructure is constantly improving, and the highway network, mainly expressways, has covered the whole country. However, with the increase in traffic volume, vehicles often queue up and traffic jams at expressway toll booths, resulting in a decrease in the communication capacity of the road section.

[0003] Electronic toll collection (ETC) refers to the communication between the road side unit (RSU) installed on one side of the ETC lane and the on board unit (OBU) on the vehicle, which enables the vehicle to collect fees without stopping, thus alleviating traffic congestion to a great extent.

[0004] However, in order to improve the working efficiency and performance of the RSU, the prior art considers using a radar device with strong perception and detection capabilities to guide the RSU to communicate with the OBU. In this way, an additional radar device needs to be set up for the RSU. Therefore, the cost of the existing solution combining the RSU and the radar device is relatively high. Summary of the invention

[0005] The present application provides a communication device and method, which are helpful to reduce cost.

[0006] In a first aspect, an embodiment of the present application provides a communication device, which may include: at least one transmitting antenna unit, at least one receiving antenna unit and a signal processing unit, wherein the signal processing unit is connected to the at least one transmitting antenna unit and the at least one receiving antenna unit, respectively; wherein the signal processing unit is used to control the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal on a first frequency band; the signal processing unit is also used to control at least one target transmitting antenna unit to send a radar signal on a second frequency band; and, on the second frequency band, control at least one target receiving antenna unit to receive a first echo signal of the radar signal, the first echo signal including an echo signal corresponding to at least one target, the at least one transmitting antenna unit including the at least one target transmitting antenna unit, the at least one receiving antenna unit including the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

[0007] The communication device provided by the embodiment of the present application can realize the reception and transmission of radar signals and communication signals through a set of transceiver antenna units, thereby reducing cost expenditure.

[0008] In one possible implementation, when the number of at least one transmitting antenna unit is greater than 1, the at least one transmitting antenna unit can be called a transmitting antenna array. Similarly, when the number of at least one receiving antenna unit is greater than 1, the at least one receiving antenna unit can be called a receiving antenna array.

[0009] That is, when the number of at least one transmitting antenna unit is greater than 1, the communication device can perform beamforming on the transmitting antenna array to achieve coverage of multiple lanes, that is, it can send downlink communication signals to terminals in vehicles located in multiple lanes. Similarly, the communication device can perform beamforming on the receiving antenna array to achieve coverage of multiple lanes, that is, it can receive uplink communication signals sent by terminals in vehicles in multiple lanes.

[0010] In this way, by using the communication device provided in the embodiment of the present application, only one communication device needs to be deployed on multiple lanes to realize the transmission and reception of radar signals and the transmission and reception of communication signals between terminals in vehicles located on multiple lanes, thereby further reducing cost expenses.

[0011] In one possible implementation, the first frequency band includes a first sub-frequency band and a second sub-frequency band, the first sub-frequency band and the second sub-frequency band do not overlap, and the signal processing unit is used to: on the first sub-frequency band, send a first communication signal to the at least one first terminal through the at least one transmitting antenna unit; on the second sub-frequency band, receive a second communication signal from the at least one first terminal through the at least one receiving antenna unit.

[0012] Optionally, the at least one target may include at least one second terminal. The at least one second terminal may include the at least one first terminal; or the at least one second terminal may be partially or completely different from the at least one first terminal, which is not limited in the embodiments of the present application.

[0013] It should be noted that the first communication signal and the second communication signal support the first communication protocol standard, that is, the first communication signal and the second communication signal can be understood as signals transmitted by the communication device and the terminal under the first communication protocol standard.

[0014] It should be noted that, in order to enable the communication device to be used for both sending and receiving communication signals with the terminal and sending and receiving radar signals, the communication device needs to work in frequency bands, so the first sub-frequency band, the second sub-frequency band and the second frequency band do not overlap. In other words, the second frequency band can be a frequency band other than the first frequency band.

[0015] Optionally, the transmitting antenna in the at least one transmitting antenna unit may be an antenna of multiple polarization types, which is not limited in the embodiment of the present application.

[0016] In a possible implementation, one or more of the at least one transmitting antenna unit may include at least one right-hand circularly polarized antenna. That is, the first communication signal and the radar signal sent by the communication device through each transmitting antenna unit are both right-hand circularly polarized signals.

[0017] Optionally, the communication device may further include at least one transmit radio frequency unit and at least one transmit feed unit, and the at least one transmit radio frequency unit, the at least one transmit feed unit and the at least one transmit antenna unit correspond to each other. The output end of the signal processing unit is connected to the input end of the at least one transmit radio frequency unit, the output end of the at least one transmit radio frequency unit is connected to the input end of the at least one transmit feed unit, and the output end of the at least one transmit feed unit is connected to the at least one transmit antenna unit.

[0018] It should be noted that, since a single vertically polarized antenna or a single horizontally polarized antenna is used as a receiving antenna, a right-hand circularly polarized signal and a left-hand circularly polarized signal can be received simultaneously, but some signal energy may be lost.

[0019] Optionally, the receiving antenna in the at least one target receiving antenna unit may be an antenna of multiple polarization types, which is not limited in this embodiment of the present application.

[0020] In a possible implementation, one or more of the at least one target receiving antenna unit may include at least one linear polarization antenna. For example, the at least one linear polarization antenna may include at least one horizontal polarization antenna and / or at least one vertical polarization antenna.

[0021] In another possible implementation, one or more of the at least one target receiving antenna unit may include at least one linear polarization antenna combination, and the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations. For example, the linear polarization antenna combination includes a horizontal polarization antenna and a vertical polarization antenna. For another example, the linear polarization antenna combination includes a 45° linear polarization antenna and a -45° linear polarization antenna.

[0022] In yet another possible implementation, one or more of the at least one target receiving antenna unit may include at least one linear polarization antenna and at least one linear polarization antenna combination, where the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

[0023] In a possible implementation, taking the example that each of the at least one target receiving antenna unit includes a linearly polarized antenna combination, and the linearly polarized antenna combination includes a horizontally polarized antenna and a vertically polarized antenna, the device also includes at least one receiving RF unit and at least one receiving feed unit, the at least one target receiving antenna unit, the at least one receiving feed unit and the at least one receiving RF unit correspond to each other, the at least one target receiving antenna unit is connected to the input end of the at least one receiving feed unit, the output end of the at least one receiving feed unit is connected to the input end of the at least one receiving RF unit, and the output end of the at least one receiving RF unit is connected to the signal processing unit.

[0024] In a possible implementation, when each of the at least one target receiving unit includes at least one linear polarization antenna combination, and the linear polarization antenna combination includes a horizontally polarized antenna and a vertically polarized antenna, the receiving feed unit is used to receive a horizontally polarized signal from the horizontally polarized antenna in the target receiving antenna unit corresponding to the receiving feed unit and a vertically polarized signal from the vertically polarized antenna in the target receiving antenna unit corresponding to the receiving feed unit; the phase of the vertically polarized signal is shifted forward by 90 degrees relative to the phase of the horizontally polarized signal to obtain the first echo signal; the horizontal The phase of the polarization signal is shifted forward by 90 degrees relative to the phase of the vertical polarization signal to obtain the second communication signal; the first echo signal and the second communication signal are combined to obtain a combined signal; the combined signal is sent to the receiving RF unit corresponding to the receiving feed unit; the receiving RF unit corresponding to the receiving feed unit is used to receive the combined signal and send the combined signal to the signal processing unit; the signal processing unit is used to receive the combined signal; based on the second sub-frequency band, the second communication signal is obtained from the combined signal; based on the second frequency band, the first echo signal is obtained from the combined signal.

[0025] In a possible implementation, taking a receiving feed unit as an example, the receiving feed unit may include a first phase shift unit, a second phase shift unit and a combining unit, the first input end of the first phase shift unit is connected to the horizontally polarized antenna in the linearly polarized antenna combination corresponding to the receiving feed unit, the second input end of the first phase shift unit is connected to the vertically polarized antenna in the linearly polarized antenna combination, the output end of the first phase shift unit is connected to the first input end of the combining unit, the first input end of the second phase shift unit is connected to the horizontally polarized antenna, the second input end of the second phase shift unit is connected to the vertically polarized antenna, the output end of the second phase shift unit is connected to the second input end of the combining unit, and the output end of the combining unit is connected to the input end of the receiving RF unit corresponding to the receiving feed unit.

[0026] Correspondingly, the first phase shift unit is used to shift the phase of the vertical polarization signal from the vertical polarization antenna forward by 90 degrees relative to the phase of the horizontal polarization signal from the horizontal polarization antenna to obtain the first echo signal; and send the first echo signal to the combining unit.

[0027] Correspondingly, the second phase shift unit is used to shift the phase of the horizontal polarization signal from the horizontal polarization antenna by 90 degrees relative to the phase of the vertical polarization signal from the vertical polarization antenna to obtain the second communication signal; and send the second communication signal corresponding to the at least one first terminal to the combining unit.

[0028] Correspondingly, the combining unit is used to combine the first echo signal from the first phase shift unit and the second communication signal from the second phase shift unit corresponding to the at least one first terminal to obtain a combined signal; and send the combined signal to the receiving radio frequency unit.

[0029] Correspondingly, the receiving radio frequency unit is used to receive the combined signal; and send the combined signal to the signal processing unit.

[0030] Using the communication device provided in the embodiment of the present application, the at least one receiving RF unit, the at least one receiving feed unit and the at least one target receiving antenna unit correspond one to one, and the receiving feed unit combines the signals of the two phase shift units and transmits them to one receiving RF unit, which can save the number of receiving RF units and thus reduce cost overhead.

[0031] In a possible implementation, taking the example that each of the at least one target receiving antenna unit includes a linearly polarized antenna combination, and the linearly polarized antenna combination includes a horizontally polarized antenna and a vertically polarized antenna, the device also includes at least one receiving RF unit group and at least one receiving feed unit, the at least one target receiving antenna unit, the at least one receiving feed unit and the at least one receiving RF unit group correspond, the at least one target receiving antenna unit is connected to the input end of the at least one receiving feed unit, the output end of the at least one receiving feed unit is connected to the input end of the at least one receiving RF unit group, and the output end of the at least one receiving RF unit group is connected to the signal processing unit, wherein the receiving RF unit group includes a first receiving RF unit and a second receiving RF unit.

[0032] In a possible implementation, when each of the at least one target receiving unit includes at least one linear polarization antenna combination, and the linear polarization antenna combination includes a horizontally polarized antenna and a vertically polarized antenna, the receiving feed unit is used to receive a horizontally polarized signal from the horizontally polarized antenna in the target receiving antenna unit and a vertically polarized signal from the vertically polarized antenna in the target receiving antenna unit; the phase of the vertically polarized signal is shifted forward by 90 degrees relative to the phase of the horizontally polarized signal to obtain the first echo signal; the phase of the horizontally polarized signal is shifted forward by 90 degrees relative to the phase of the vertically polarized signal to obtain the second echo signal. The receiving feed unit is used to receive the first echo signal from the receiving feed unit and send the first echo signal to the signal processing unit; the receiving feed unit is used to receive the first echo signal from the receiving feed unit and send the first echo signal to the signal processing unit; the receiving feed unit is used to receive the second communication signal from the receiving feed unit; the receiving feed unit is used to receive the second echo signal from the receiving feed unit; and the signal processing unit is used to send the second communication signal to the signal processing unit. The signal processing unit is used to receive the first echo signal and the second communication signal.

[0033] In a possible implementation, taking a receiving feed unit as an example, the receiving feed unit may include a first phase shift unit and a second phase shift unit, the first input end of the first phase shift unit is connected to the horizontally polarized antenna in the linearly polarized antenna combination corresponding to the receiving feed unit, the second input end of the first phase shift unit is connected to the vertically polarized antenna in the linearly polarized antenna combination, the output end of the first phase shift unit is connected to the input end of the first receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit, the first input end of the second phase shift unit is connected to the horizontally polarized antenna, the second input end of the second phase shift unit is connected to the vertically polarized antenna, and the output end of the second phase shift unit is connected to the input end of the second receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit.

[0034] Correspondingly, the first phase shift unit is used to shift the phase of the vertical polarization signal from the vertical polarization antenna forward by 90 degrees relative to the phase of the horizontal polarization signal from the horizontal polarization antenna to obtain the first echo signal; and send the first echo signal to the first receiving RF unit.

[0035] Correspondingly, the second phase shift unit is used to shift the phase of the horizontal polarization signal from the horizontal polarization antenna by 90 degrees relative to the phase of the vertical polarization signal from the vertical polarization antenna to obtain the second communication signal; and send the second communication signal corresponding to the at least one first terminal to the second receiving radio frequency unit.

[0036] Correspondingly, the first receiving radio frequency unit is used to receive the first echo signal and send the first echo signal to the signal processing unit. The second receiving radio frequency unit is used to receive the second communication signal corresponding to the at least one first terminal and send the second communication signal corresponding to the at least one first terminal to the signal processing unit.

[0037] Using the communication device provided in the embodiment of the present application, the at least one receiving RF unit group, the at least one receiving feed unit and the at least one target receiving antenna unit correspond one to one, and the receiving feed unit does not need to combine the signals of the two phase shift units, but directly sends the signals of the two phase shift units to the two receiving RF units in the receiving RF unit group respectively, which can reduce the circuit complexity of the receiving feed unit and the processing complexity of the signal processing unit.

[0038] In a possible implementation manner, a protection band is included between at least two of the first sub-frequency band, the second sub-frequency band, and the second frequency band.

[0039] By using the communication device provided in the embodiment of the present application, a protection band is set between the frequency bands occupied by radar signals (including radar signals and / or first echo signals) and communication signals (including first communication signals and / or second communication signals), which is beneficial to avoiding mutual interference between different types of signals.

[0040] In a second aspect, an embodiment of the present application further provides a roadside unit RSU, which includes the communication device in the above-mentioned first aspect or various possible implementations thereof.

[0041] In a third aspect, an embodiment of the present application further provides a communication system, which includes at least one terminal and the RSU described in the above second aspect.

[0042] In a fourth aspect, an embodiment of the present application also provides a communication method, which may include: on a first frequency band, controlling the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal; on a second frequency band, controlling at least one target transmitting antenna unit to send a radar signal; and, on the second frequency band, controlling at least one target receiving antenna unit to receive a first echo signal of the radar signal, the first echo signal including an echo signal corresponding to at least one target, the at least one transmitting antenna unit including the at least one target transmitting antenna unit, the at least one receiving antenna unit including the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

[0043] The specific structure and design involved in the communication method provided in the fourth aspect can be found in the description of the first aspect.

[0044] In a fifth aspect, an embodiment of the present application also provides a signal processing device, comprising a processing unit, wherein the processing unit is used to: control at least one transmitting antenna unit and at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; control at least one target transmitting antenna unit to send a radar signal in a second frequency band; and, in the second frequency band, control at least one target receiving antenna unit to receive a first echo signal of the radar signal, wherein the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

[0045] The specific structure and design of the signal processing device provided in the fifth aspect can be found in the description of the first aspect.

[0046] In the sixth aspect, an embodiment of the present application also provides a signal processing device, which includes at least one communication interface and at least one processor, and the at least one communication interface is used to communicate with at least one transmitting antenna unit and at least one receiving antenna unit. When the at least one processor executes program code or instructions, it implements the method described in the above fourth aspect or any possible implementation method thereof.

[0047] Optionally, the signal processing device may further include at least one memory, wherein the storage area is used to store the program code or instruction.

[0048] Optionally, the signal processing device described in the sixth aspect may be a chip device or an integrated circuit in the communication device described in the first aspect.

[0049] In a seventh aspect, an embodiment of the present application further provides a computer-readable storage medium for storing a computer program, wherein the computer program includes instructions for implementing the method described in the fourth aspect or any possible implementation thereof.

[0050] In an eighth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to implement the method described in the fourth aspect or any possible implementation thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic diagram of a virtual antenna of a MIMO radar provided in an embodiment of the present application;

[0052] Figure 2 is a schematic block diagram of a communication system 100 provided in an embodiment of the present application;

[0053] Figure 3 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0054] Figure 4 is another application scenario schematic diagram provided by an embodiment of the present application;

[0055] Figure 5 is a schematic block diagram of a communication device 200 provided in an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of signal frequency band distribution provided by an embodiment of the present application;

[0057] Figure 7 is another signal frequency band distribution schematic diagram provided in an embodiment of the present application;

[0058] Figure 8 This is another application scenario schematic diagram provided by an embodiment of the present application;

[0059] Fig. 9 is a schematic diagram of an antenna array provided in an embodiment of the present application;

[0060] Fig.10 is a schematic diagram of another antenna array provided in an embodiment of the present application;

[0061] Fig.11 is a schematic diagram of an antenna unit provided in an embodiment of the present application;

[0062] Fig.12 is another schematic block diagram of a communication device 200 provided in an embodiment of the present application;

[0063] Fig.13 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0064] Fig.14 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0065] Fig.15 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0066] Fig.16 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0067] Fig.17 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0068] Fig.18 is another schematic block diagram of the communication device 200 provided in an embodiment of the present application;

[0069] Fig.19It is another schematic block diagram of the communication device 200 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0071] First, some professional terms in the embodiments of the present application are introduced.

[0072] 1. Electronic toll collection (ETC) system, roadside unit (RSU) and on board unit (OBU)

[0073] The ETC system includes an RSU installed on the ETC dedicated lane of the toll station and an OBU installed on the vehicle. The RSU uses dedicated short range communication (DSRC) technology to interact with the OBU via a dedicated link, and uses computer networking technology to conduct back-end settlement processing with the bank, so that vehicles can pay tolls without stopping at toll stations, which greatly alleviates traffic congestion.

[0074] 2. Direction of arrival (DOA)

[0075] DOA refers to the direction of arrival of a spatial signal, that is, the direction angle at which each signal arrives at an antenna in a receiving antenna array. DOA may include a horizontal angle in the horizontal direction and / or an elevation angle in the vertical direction. In some cases, DOA has a similar effect to angle of arrival (AOA).

[0076] 3. Beam forming (BF)

[0077] Beamforming is a signal preprocessing technology based on antenna arrays. It adjusts the weighting coefficient of each antenna in the antenna array through DOA to generate at least one directional beam, thereby achieving significant array gain.

[0078] For example, the direction of arrival (DOA) can be estimated by the uplink signal received by the receiving antenna, and the beamforming vector can be calculated using the DOA. The beamforming vector is used to indicate the weighting coefficient of each antenna in the transmitting antenna array. Based on the beamforming vector, the downlink signal sent by the transmitting antenna array can be beamformed.

[0079] Optionally, the beamforming described in the embodiment of the present application may be digital beamforming (DBF) or analog beamforming, which is not limited in the embodiment of the present application. For example, the beamforming may be DBF.

[0080] 4. Virtual Aperture Technology for Multiple-Input Multiple-Output (MIMO) Radar

[0081] MIMO radar refers to a radar with multiple transmitting antennas and multiple receiving antennas. MIMO radar is an effective method to improve angular resolution. The angular resolution of radar is related to the aperture size of the receiving antenna array. The larger the aperture, the higher the resolution.

[0082] like Figure 1 As shown, at 2T X 4R X In a MIMO radar with two transmitting antennas and four receiving antennas, T X 1 can be respectively with R X 1~R X 4 forms 4 virtual array elements, T X 2 can also be respectively with R X 1~R X 4 forms 4 virtual receiving antennas, so 2T X 4R X The MIMO radar can be equivalent to a virtual receiving antenna array with 8 virtual receiving antennas.

[0083] Therefore, 2T X 4R X MIMO radar can be equivalent to 1T X 8R X In a single-input multiple-output (SIMO) radar, the aperture of the receiving antenna array is determined by the physical 4R X Expanded to virtual 8R X , thereby improving the angular resolution.

[0084] For example: MIMO radar uses 1T X 4R X The angular resolution is 30°, so 2T is used. X 4R X (Equivalent to using 1T X 8R X ) when the angular resolution is about 15°.

[0085] It should be noted that due to Figure 1The MIMO radar shown in FIG. 1 includes 2T X Layout of 1 row and 2 columns, 4R X Layout is 1 row and 4 columns, 2T X and 4R X The 2T antenna arrays are arranged in the horizontal direction, so the aperture of the receiving antenna array is expanded in the horizontal direction, thereby improving the horizontal angle resolution, but the embodiment of the present application is not limited thereto. X and 4R X It can also be laid out vertically, based on Figure 1 Based on a similar principle, the aperture of the receiving antenna array can be expanded in the vertical direction to improve the resolution of the elevation angle.

[0086] It should also be noted that Figure 1 2T X and 4R X This is only an example, and the embodiments of the present application are not limited thereto. Optionally, the MIMO radar may include NT X MR X , where M and N are both integers greater than 1.

[0087] Furthermore, the NT of MIMO radar X and MR X They can be arranged in the horizontal direction and the vertical direction respectively, so that the aperture of the receiving antenna array can be expanded in the horizontal direction and the vertical direction, thereby improving the resolution of the horizontal angle and the elevation angle.

[0088] Figure 2 A schematic block diagram of a communication system 100 provided in an embodiment of the present application is shown. The communication system 100 includes a communication device 110 and at least one terminal 120. The communication device 110 can communicate with the at least one terminal 120.

[0089] In a possible implementation, the communication device 110 may communicate with the terminal 120 in a wireless manner.

[0090] It should be noted that the above wireless method can realize communication through a communication network, and the communication network can be a local area network, or a wide area network transferred through a relay device, or include a local area network and a wide area network. When the communication network is a local area network, exemplarily, the communication network can be a wifi hotspot network, a wifi P2P network, a Bluetooth network, a zigbee network, a near field communication (near field communication, NFC) network or a possible general short-range communication network in the future, a dedicated short-range communication (dedicated short range communication, DSRC) network, etc. When the communication network is a wide area network, exemplarily, the communication network can be a third-generation mobile communication technology (3rd-generation wireless telephone technology, 3G) network, a fourth-generation mobile communication technology (the 4th generation mobile communication technology, 4G) network, a fifth-generation mobile communication technology (5th-generation mobile communication technology, 5G) network, PLMN or the Internet, etc., and the embodiments of the present application do not limit this.

[0091] Optionally, the communication device 110 may have various forms, which is not limited in the embodiments of the present application.

[0092] In a possible implementation, the communication device may be an independent device.

[0093] In another possible implementation manner, the communication device may be integrated into other equipment.

[0094] Optionally, the terminal 120 may have various forms, which is not limited in the embodiments of the present application.

[0095] In a possible implementation manner, the terminal may be an independent device.

[0096] For example, the terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc.

[0097] For example, the terminal may be a vehicle, a smart home device, a smart wearable device, a drone or a robot.

[0098] In another possible implementation, the terminal may be integrated into other devices. For example, the terminal may be a device that is integrated or installed in a transportation vehicle and is a part of the transportation vehicle, such as an OBU.

[0099] Optionally, the means of transportation described in the embodiments of the present application may include a vehicle, such as a vehicle capable of automatic driving, intelligent driving, or unmanned driving functions.

[0100] In a possible implementation, the communication system 100 may be applicable to the scenario of ETC charging. In this application scenario, Figure 2 The communication device 110 in the example may be an RSU, and the terminal 120 may be an OBU on a vehicle or the vehicle itself.

[0101] For example: Figure 3 A schematic diagram of ETC charging scenario is shown. Figure 3 As shown, an RSU is deployed on a lane, and vehicles 1 and 2 are driving on the lane. When vehicle 1 enters the coverage of the RSU, the RSU communicates with the OBU1 in vehicle 1 to achieve automatic deduction. In the above scenario, the following problems exist:

[0102] (1) RSU can only cover a single lane, and the number of RSUs is proportional to the number of lanes. Therefore, in a multi-lane scenario, the cost is high and the maintenance workload is large.

[0103] (2) The coverage of the RSU is small, that is, the maximum communication distance of the RSU is short, usually only about 15-20 meters. When the vehicle 1 enters the coverage of the RSU, the RSU can communicate with the OBU1 in the vehicle 1, that is, the communication time is short. In this way, the deduction may fail.

[0104] It should be noted that the coverage of an RSU refers to a sphere with the RSU as the center and the maximum communication distance of the RSU as the radius.

[0105] Another example: Figure 4 Another schematic diagram of ETC charging is shown. Figure 4 As shown, RSU1 is deployed on lane 1, and RSU2 is deployed on lane 2, wherein the speed direction of vehicle 1 on lane 1 is the first direction, and the speed direction of vehicle 2 on lane 2 is the second direction. RSU1 performs ETC transactions with OBU1 on vehicle 1, and RSU2 performs ETC transactions with OBU2 on vehicle 2.

[0106] exist Figure 4 In the scenario shown in , since ETC communication is co-frequency communication, anti-interference ability is poor, and the downlink beam width of the ETC signal, that is, the angle range covered by the downlink beam is wide, the problem of wrong transactions in the reverse lane may occur. Figure 4 Taking OBU1 in the figure as an example, during the ETC transaction between RSU1 and OBU1, OBU1 may also enter the coverage of RSU2 in the opposite lane, and RSU2 may also conduct ETC transactions with OBU1. Therefore, RSU1 and RSU2 may charge OBU1 repeatedly.

[0107] In summary, the working efficiency and performance of existing RSUs are poor.

[0108] In order to improve the working efficiency and performance of RSU, in the prior art, radar devices with strong perception and detection capabilities are usually installed on the roadside, and the perception and detection capabilities of the radar devices are used to guide the RSU to communicate with the OBU. In this way, in addition to the ETC, the roadside also needs to install radar devices, so the cost is relatively high.

[0109] In view of the poor working efficiency and performance of the existing RSU, the present application provides a communication device, which can realize the sending and receiving of radar signals and communication signals through a set of transceiver antenna units, and can reduce cost. In addition, the communication device has both the ability of radar detection and the ability to communicate with the terminal, which is conducive to guiding ETC deduction as accurately as possible according to the results of radar detection, and improving the working efficiency and performance of the integrated perception and communication communication device.

[0110] Figure 5 200 is a schematic structural diagram of a communication device 200 provided in an embodiment of the present application. The communication device 200 may be Figure 1 The communication device 110 in the communication system 100 shown in FIG.

[0111] like Figure 5 As shown, exemplarily, the communication device 200 may include L transmitting antenna units (such as transmitting antenna unit 211 to transmitting antenna unit 21L), K receiving antenna units (such as receiving antenna unit 221 to receiving antenna unit 22K) and a signal processing unit 230, and the signal processing unit 230 is respectively connected to the L transmitting antenna units and the K receiving antenna units, wherein L and K are both integers greater than 0.

[0112] The signal processing unit 230 is used to communicate with at least one first terminal in a first frequency band through the L transmitting antenna units and the K receiving antenna units.

[0113] In one possible implementation, the first frequency band may include a first sub-frequency band and a second sub-frequency band, the first sub-frequency band does not overlap with the second sub-frequency band, and the signal processing unit 230 is specifically used to send a first communication signal to the at least one first terminal through the L transmitting antenna units on the first sub-frequency band; and send a second communication signal from the at least one first terminal through the K receiving antenna units on the second sub-frequency band.

[0114] It should be noted that the first communication signal and the second communication signal support the first communication protocol standard, that is, the first communication signal and the second communication signal can be understood as signals transmitted by the communication device and the terminal under the first communication protocol standard.

[0115] It should be noted that in the embodiment of the present application, only the first communication protocol standard is introduced as the ETC communication protocol standard as an example, but it should be known that the first communication protocol standard can also be other communication protocol standards, and the embodiment of the present application does not limit this.

[0116] The signal processing unit 230 is also used to send a radar signal through L1 target transmitting antenna units on a second frequency band; on the second frequency band, receive a first echo signal of the radar signal through K1 target receiving antenna units, the first echo signal includes an echo signal corresponding to at least one target, the L transmitting antenna units include the L1 target transmitting antenna units, the K receiving antenna units include the K1 target receiving antenna units, and the first frequency band and the second frequency band do not overlap.

[0117] Optionally, the signal processing unit 230 may include one or more processors.

[0118] Optionally, the processor may be a general-purpose processor, a digital signal processor (DSP), a coprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which is not limited in the embodiments of the present application.

[0119] For example: the signal processing unit 230 may include a first processor and a second processor, the first processor is used to generate a signal to be sent and control the L transmitting antenna units to send signals; the second processor is used to control the K receiving antenna units to receive signals and process the received signals.

[0120] For another example, the signal processing unit 230 may include a processor, which is used to generate a signal to be sent and control the L transmitting antenna units to send the signal; and control the K receiving antenna units to receive the signal and process the received signal.

[0121] Optionally, the at least one target may include at least one second terminal. The at least one second terminal may include the at least one first terminal; or the at least one second terminal is partially or completely different from the at least one first terminal.

[0122] In one possible implementation, the communication device 200 can realize the perception and communication functions by frequency band. Taking the first communication signal and the second communication signal supporting the ETC communication protocol as an example, the second frequency band can be other frequency bands in the available frequency band except the first sub-frequency band and the second sub-frequency band, and the first frequency band, the first sub-frequency band and the second sub-frequency band do not overlap with each other.

[0123] For example, taking the operating frequency range of the radio communication device in the 5.8G frequency band as 5725-5850MHz, and the communication device performing ETC communication with the second terminal as an example, Figure 6A schematic diagram of signal frequency band distribution of the communication device 200 is shown, and the above frequency band distribution includes at least one of the following: the first sub-frequency band occupied by the first communication signal includes part or all of the frequency points in frequency band 2 (5827.5-5842.5MHz), the second sub-frequency band occupied by the second communication signal includes part or all of the frequency points in frequency band 4 (5787.5-5802.5MHz), and the second frequency band occupied by the radar signal (including the first radar signal and the first echo signal) includes part or all of the frequency points in frequency band 1 (5725-5787.5MHZ) of the low frequency part, frequency band 3 (5802.5-5827.5MHZ) of the intermediate frequency part, or frequency band 5 (5842.5-5850MHZ) of the high frequency part.

[0124] Depend on Figure 6 It can be known that the maximum bandwidth of the radar signal can be (5787.5-5725)+(5827.5-5802.5)+(5850-5842.5)=95MHz, the maximum bandwidth of the first communication signal is (5842.5-5827.5)=15MHz, and the maximum bandwidth of the second communication signal is (5802.5-5787.5)=15MHz. In other words, the bandwidth of the radar signal is wider than the bandwidth of the communication signal.

[0125] It should be noted that the wider the signal bandwidth, the higher the resolution and the higher the accuracy, the stronger the perception ability. Therefore, the resolution and accuracy of radar signals are higher. In addition, the radar signal uses the signal coherent accumulation working mechanism, which determines that its coverage range is greater than that of communication signals.

[0126] By using the communication device provided in the embodiment of the present application, both narrow-bandwidth communication signals and high-bandwidth radar signals with higher accuracy and wider coverage can be sent.

[0127] Due to the differences in hardware design among OBU manufacturers, there is a certain frequency deviation in the uplink signal. Therefore, it is necessary to add a part of protection frequency band to the frequency band occupied by the uplink signal (i.e., the first communication signal) to avoid mutual interference between the two different types of signals, communication signal and radar signal.

[0128] Optionally, the width of the protection frequency band may be 1.2 MHz.

[0129] Another example: Figure 7Another signal frequency band distribution schematic diagram of the perception communication integrated communication device is shown. The above frequency band distribution includes at least one of the following: the first sub-frequency band occupied by the first communication signal includes part or all of the frequency points in frequency band 2 (5787.5~5802.5MHz), the second sub-frequency band occupied by the second communication signal includes part or all of the frequency points in frequency band 4 (5827.5~5842.5MHz), and the second frequency band occupied by the radar signal (including the first radar signal and the first echo signal) includes part or all of the frequency points in frequency band 1 (5725~5786.3MHZ) of the low frequency part, frequency band 3 (5803.7~5827.5MHZ) of the intermediate frequency part, or frequency band 5 (5842.5~5850MHZ) of the high frequency part. Among them, Figure 7 The shaded frequency band in the figure is the protection frequency band.

[0130] It should be noted that Figure 6 Figure 7 The frequency band distribution of the radar signal and the communication signal shown in is only an example, and the embodiment of the present application is not limited thereto. Optionally, the radar signal and the communication signal may also adopt other frequency band distribution modes, and the embodiment of the present application is not limited thereto.

[0131] The communication device provided in the embodiment of the present application can realize the two functions of transmitting and receiving radar signals and transmitting and receiving communication signals by using a set of transmitting and receiving antenna units and a frequency division method.

[0132] The communication device provided by the embodiment of the present application can realize the reception and transmission of radar signals and communication signals through a set of transceiver antenna units, namely, the L transmitting antenna units and the K receiving antenna units, thereby reducing cost expenditure, wherein the radar signal and the communication signal occupy different frequency bands.

[0133] Furthermore, the communication device can also track, locate and measure the speed of the at least one first terminal according to the first echo signal, and accurately guide the communication device to communicate with the first terminal, thereby improving the success rate and reliability of ETC transactions. In addition, the communication device provided in the embodiment of the present application realizes the above two functions through a set of transceiver antenna units (including the L transmitting antenna units and the K receiving antenna units), which can reduce cost overhead.

[0134] Optionally, the L may be equal to 1 or greater than 1, and / or the K may be equal to 1 or greater than 1, which is not limited in the embodiments of the present application.

[0135] In one possible implementation, when L is greater than 1, the transmitting antenna unit 211 to the transmitting antenna unit 21L can be referred to as the transmitting antenna array 210. Similarly, when K is greater than 1, the receiving antenna unit 221 to the receiving antenna unit 22K can be referred to as the receiving antenna array 220.

[0136] Optionally, the communication device 200 can perform beamforming on the signals sent by the transmitting antenna units 211 to 21L in the transmitting antenna array 210, and send the first communication signal corresponding to each first terminal of the at least one first terminal after beamforming through the transmitting antenna units 211 to 21L.

[0137] Similarly, the communication device 200 can perform beamforming on the signals received by the receiving antenna units 221 to 22K in the receiving antenna array 220, and obtain the second communication signal from each first terminal in the at least one first terminal after beamforming.

[0138] For example: Figure 8 A schematic diagram of another application scenario provided by an embodiment of the present application is shown. Figure 8 As shown, the communication device can beamform the signal sent by the transmitting antenna array, send a first communication signal corresponding to OBU1 after beamforming to OBU1 on lane 1, and send a second communication signal corresponding to OBU2 after beamforming to OBU2 on lane 2, thereby achieving multi-lane coverage.

[0139] The communication device provided in the embodiment of the present application can communicate with the first terminals on multiple lanes as accurately as possible, which is conducive to improving the working efficiency and performance of the perception and communication integrated communication device.

[0140] In addition, multiple lanes only need to set up one perception and communication integrated communication device provided in the embodiment of the present application to achieve multi-lane coverage and multi-lane vehicle perception, thereby reducing cost expenditure and maintenance.

[0141] Optionally, the L transmitting antenna units include the L1 target transmitting antenna units, which can be understood as L≥L1, that is, the L1 target transmitting antenna units are part or all of the L transmitting antenna units. Similarly, the K receiving antenna units include the K1 target receiving antenna units, which can be understood as K≥K1, that is, the K1 target receiving antenna units are part or all of the K receiving antenna units, and the embodiments of the present application are not limited to this.

[0142] For example, a communication device includes a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array includes 8 T X , the receiving antenna array includes 8 RX , of which 8 T X and 8 R X Take the layout of 1 row and 8 columns as an example. Fig. 9 FIG. 1 shows a schematic diagram of an antenna array provided in an embodiment of the present application. Fig. 9 As shown by the “□” in FIG. 1 , the communication device can transmit antenna units 211 to 218 (i.e., 8T X ) sends a first communication signal corresponding to the at least one first terminal, and receives the first communication signal through the receiving antenna unit 221 to the receiving antenna unit 228 (ie, 8R X ) receiving a second communication signal corresponding to the at least one first terminal; Fig. 9 As shown by the “×” in FIG. 1 , the communication device can also adopt a frequency division method through the transmitting antenna unit 211 to the transmitting antenna unit 218 (ie, 8T X ) sends a radar signal and receives it through receiving antenna units 221 to 228 (i.e. 8R X ) receives the first echo signal.

[0143] The communication device provided in the embodiment of the present application, due to the virtual aperture technology based on MIMO radar, Fig. 9 8T for sending and receiving radar signals X 8R X Can be equivalent to 1T X 64R X Therefore, the aperture of the receiving antenna array can be expanded from 8 physical receiving antenna units to 64 virtual receiving antenna units, which can improve the horizontal angle resolution of the radar and thus improve the accuracy of radar detection.

[0144] For example, a communication device includes a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array includes 8 T X , the receiving antenna array includes 8 R X , of which 8 T X and 8 R X Take the layout of 1 row and 8 columns as an example. Fig.10 FIG. 2 shows a schematic diagram of another antenna array provided in an embodiment of the present application. Fig.10 As shown by the “□” in FIG. 1 , the communication device can transmit antenna units 211 to 218 (i.e., 8T X ) sends a first communication signal corresponding to the at least one first terminal, and receives the first communication signal through the receiving antenna unit 221 to the receiving antenna unit 228 (ie, 8R X ) receiving a second communication signal corresponding to the at least one first terminal; Fig.10 As shown by the “×” in FIG. 1 , the communication device can also adopt a frequency division method through the transmitting antenna units 212 and 217 (ie, 2T X) sends a radar signal and receives the signal through receiving antenna unit 221 to receiving antenna units 221, 223, 225 and 227 (i.e. 4R X ) receives the first echo signal.

[0145] The communication device provided in the embodiment of the present application, due to the virtual aperture technology based on MIMO radar, Fig.10 2T for sending and receiving radar signals X 4R X Can be equivalent to 1T X 8R X Therefore, the aperture of the receiving antenna array can be expanded from 4 physical receiving antenna units to 8 virtual receiving antenna units, that is, without reducing the resolution of the horizontal angle, the number of antenna units used can be reduced, which is conducive to reducing the complexity of signal processing.

[0146] It should be noted that Fig. 9 and Fig.10 The transmitting antenna unit and the receiving antenna unit shown in the figure are arranged in the horizontal direction, that is, improving the horizontal angle resolution of the radar signal based on the virtual aperture technology of the MIMO radar is only an example. Optionally, the transmitting antenna unit and / or the receiving antenna unit of the communication device can also be arranged in the vertical direction. Based on similar principles, the communication device can also improve the elevation angle resolution of the radar signal; or, the transmitting antenna unit and / or the receiving antenna unit of the communication device can also be arranged in the horizontal direction and the vertical direction. Based on similar principles, the communication device can also jointly improve the horizontal angle and elevation angle resolution of the radar signal. The embodiments of the present application will not be repeated here.

[0147] Optionally, the transmitting antenna unit described in the embodiment of the present application may include M transmitting antennas, where M is an integer greater than 0; similarly, the receiving antenna unit may include N receiving antennas, where N is an integer greater than 0.

[0148] Optionally, the M transmitting antennas may be arranged in a variety of ways, which is not limited in the embodiments of the present application.

[0149] In a possible implementation, when M=1, the M transmitting antennas may be arranged in one row and one column.

[0150] In another possible implementation, when M>1, the M transmitting antennas may be arranged in a manner of 1 row and M columns, such as Fig.11 As shown in (a) in FIG. 1 ; or, the M transmitting antennas may be arranged in M ​​rows and 1 column, as shown in FIG. Fig.11 As shown in (b) in .

[0151] In another possible implementation, when M>1, the M transmitting antennas may be arranged in a manner of M1 rows and M2 columns, where M1 and M2 are both integers greater than 0, and M1+M2=M, such as Fig.11 As shown in (c) in .

[0152] Optionally, the N receiving antennas may be arranged in a variety of ways, which is not limited in the embodiments of the present application.

[0153] In a possible implementation, when N=1, the N receiving antennas may be arranged in one row and one column.

[0154] In another possible implementation, when N>1, the N receiving antennas may be arranged in a 1-row and N-column manner, such as Fig.11 As shown in (d) in FIG. 1 ; or, the N receiving antennas may be arranged in N rows and 1 column, as shown in FIG. Fig.11 As shown in (e) in .

[0155] In another possible implementation, when N>1, the N receiving antennas may be arranged in N1 rows and N2 columns, where N1 and N2 are both integers greater than 0, and N1+N2=N, such as Fig.11 As shown in (f) in .

[0156] Further, Fig.12 Another schematic block diagram of the communication device 200 is shown. Fig.12 As shown, the communication device 200 may also include L transmitting RF units (such as transmitting RF unit 241 to transmitting RF unit 24L), L transmitting feed units (such as transmitting feed unit 251 to transmitting feed unit 25L), K receiving RF units (such as receiving RF unit 261 to receiving RF unit 26K) and K receiving feed units (such as receiving feed unit 271 to receiving feed unit 27K).

[0157] The transmitting antenna unit 211 to the transmitting antenna unit 21L, the transmitting RF unit 241 to the transmitting RF unit 24L and the transmitting feed unit 251 to the transmitting feed unit 25L correspond one to one, the signal processing unit 230 is connected to the input end of the transmitting RF unit 241 to the transmitting RF unit 24L, the output end of the transmitting RF unit 241 to the transmitting RF unit 24L is connected to the input end of the transmitting feed unit 251 to the transmitting feed unit 25L, and the output end of the transmitting feed unit 251 to the transmitting feed unit 25L is connected to the transmitting antenna unit 211 to the transmitting antenna unit 21L.

[0158] The receiving antenna units 221 to 22K, the receiving RF units 261 to 26K and the receiving feed units 271 to 27K correspond to each other. The receiving antenna units 221 to 22K are connected to the input ends of the receiving feed units 271 to 27K, the output ends of the receiving feed units 271 to 27K are connected to the input ends of the receiving RF units 261 to 26K, and the output ends of the receiving RF units 261 to 26K are connected to the signal processing unit 230.

[0159] Optionally, the transmitting antennas in the L transmitting antenna units may be antennas of multiple polarization types, which is not limited in this embodiment of the present application.

[0160] In a possible implementation, taking the communication between the communication device and the first terminal following the ETC communication protocol standard as an example, under the ETC communication protocol standard, one or more of the L transmitting antenna units may include at least one right-hand circularly polarized antenna. That is, the first communication signal and the radar signal sent by the communication device through one or more of the L transmitting antenna units are both right-hand circularly polarized signals.

[0161] For example, each of the transmitting antenna units 211 to 21L includes a right-hand circularly polarized antenna. Fig.13 The right-hand circularly polarized antenna T211 to the right-hand circularly polarized antenna T21L shown in FIG. It should be noted that: Fig.13 Only the part of the communication device 200 related to the transmitting antenna unit 211 to the transmitting antenna unit 21L is shown, and the rest of the part is not shown.

[0162] It should be noted that a circularly polarized signal refers to a signal whose instantaneous electric field vector's endpoint trajectory is a circle when observed along its propagation direction. If the instantaneous electric field vector rotates in the direction of a left-handed spiral along the propagation direction, it is called a left-hand circularly polarized signal; if the instantaneous electric field vector rotates in the direction of a right-handed spiral along the propagation direction, it is called a right-hand circularly polarized signal.

[0163] Optionally, the functions implemented by the transmitting RF unit and / or the transmitting feed unit described in the embodiments of the present application can be implemented by hardware or software, and the embodiments of the present application are not limited to this.

[0164] In a possible implementation, the transmitting radio frequency unit described in the embodiment of the present application may include a transmitting radio frequency circuit, which is used to implement the function of the transmitting radio frequency unit. It should be noted that the structure of the transmitting radio frequency circuit can specifically refer to the circuit structure with similar functions in the prior art.

[0165] In a possible implementation, the transmitting feed unit described in the embodiment of the present application may include a transmitting feed circuit, which is used to implement the function of the transmitting feed unit. It should be noted that the structure of the transmitting feed circuit can specifically refer to the circuit structure with similar functions in the prior art.

[0166] It should be noted that, for the sake of clarity, Fig.12 The receiving antenna unit 221 to the receiving antenna unit 22K1 represent K1 target receiving antenna units that are multiplexed, and the receiving antenna unit 22(K1+1) to the receiving antenna unit 22K represent K2 receiving antenna units that are not multiplexed, where K1+K2=K.

[0167] It should be noted that, taking the communication between the communication device and the first terminal following the ETC communication protocol standard as an example, under the ETC communication protocol standard, the second communication signal sent by the second terminal to the communication device is still a right-hand circularly polarized signal, and accordingly, the receiving antenna for receiving the second communication signal needs to support the reception of right-hand circularly polarized signals. As for the first echo signal, when the radar signal is a right-hand circularly polarized signal, the first echo signal generated by the reflection of the radar signal by the vehicle where the second terminal is located will become a circularly polarized signal in the opposite direction, that is, a left-hand circularly polarized signal.

[0168] In this way, the receiving antennas in the reused K1 target receiving antenna units are required to support the reception of two circularly polarized signals, namely, right-hand circularly polarized signals and left-hand circularly polarized signals, while the receiving antennas in the unreused K2 receiving antenna units can only support the reception of right-hand circularly polarized signals.

[0169] Optionally, the receiving antennas in the K receiving antenna units may be antennas of multiple polarization types, which is not limited in this embodiment of the present application.

[0170] Optionally, when K>K1, the polarization type of the receiving antenna in the K2 receiving antenna units among the K receiving antenna units except the K1 target receiving antenna units may be the same as or different from the polarization type of the receiving antenna in the K1 target receiving antenna units, and this embodiment of the present application is not limited to this.

[0171] In one possible implementation, since the K2 receiving antenna units are not multiplexed, that is, they only need to support the reception of right-hand circularly polarized signals (second communication signals), one or more of the K2 receiving antenna units may include at least one right-hand circularly polarized antenna.

[0172] For example, each of the K2 receiving antenna units, namely, receiving antenna unit 22(K1+1) to receiving antenna unit 22K, includes a right-hand circularly polarized antenna. Fig.14 The right-hand circularly polarized antenna Q22 (K1 + 1) to the right-hand circularly polarized antenna Q22K shown in FIG. It should be noted that: Fig.14 Only the part related to the K2 receiving antenna units in the communication device 200 is shown, and the rest of the part is not shown.

[0173] In another possible implementation, since the K1 receiving antenna units are multiplexed, that is, the K1 receiving antenna units need to simultaneously support the reception of right-hand circularly polarized signals (second communication signals) and left-hand circularly polarized signals (first echo signals), the polarization type of the receiving antennas in the K2 receiving antenna units can be the same as the polarization type of the receiving antennas in the K1 target receiving antenna units.

[0174] The following will take the multiplexed K1 target receiving antenna units as an example to introduce the polarization types of the receiving antennas in the K1 target receiving antenna units.

[0175] It should be noted that, since a single linearly polarized antenna is used as a receiving antenna, it can receive right-hand circularly polarized signals and left-hand circularly polarized signals at the same time, but some signal energy may be lost.

[0176] In a possible implementation manner, one or more target receiving antenna units among the K1 target receiving antenna units may include at least one linearly polarized antenna.

[0177] Optionally, the linear polarization antenna in the at least one linear polarization antenna may have multiple polarization directions, which is not limited in the embodiment of the present application.

[0178] In a possible implementation manner, one or more target receiving antenna units among the K1 target receiving antenna units may include at least one vertically polarized antenna and / or at least one horizontally polarized antenna.

[0179] For example, each of the K1 target receiving antenna units, namely, receiving antenna units 221 to 22K1, includes a horizontally polarized antenna. Fig.15 The horizontal polarization antenna P221 to the horizontal linear polarization antenna P22K1 shown in FIG. It should be noted that: Fig.15 Only the part related to the K1 target receiving antenna units in the communication device 200 is shown, and the rest of the part is not shown.

[0180] In another possible implementation manner, one or more target receiving antenna units among the K1 target receiving antenna units may include at least one linear polarization antenna combination, and the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

[0181] Optionally, the linear polarization antenna group in the at least one linear polarization antenna combination may include a pair of linear polarization antennas that are orthogonally polarized in multiple ways, which is not limited in this embodiment of the present application.

[0182] In a possible implementation, the linear polarization antenna combination may include a 45° polarization antenna and a -45° polarization antenna.

[0183] In another possible implementation, the linear polarization antenna combination may include a horizontal polarization antenna and a vertical polarization antenna.

[0184] In yet another possible implementation, one or more of the at least one target receiving antenna unit may include at least one linear polarization antenna and at least one linear polarization antenna combination, where the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

[0185] For example, each of the K1 target receiving antenna units, that is, receiving antenna units 221 to 22K1, may include a linear polarization antenna combination, and each linear polarization antenna combination may include a horizontal polarization antenna and a vertical polarization antenna, such as Fig.16 The linear polarization antenna combination P221-P22K1 shown in the figure, wherein the linear polarization antenna combination 221 includes a horizontal polarization antenna P221-1 and a vertical polarization antenna P221-2, ..., and the linear polarization antenna combination 22K1 includes a horizontal polarization antenna P22K1-1 and a vertical polarization antenna P22K1-2. It should be noted that, Fig.16 Only the part related to the K1 target receiving antenna units in the communication device 200 is shown, and the rest of the part is not shown.

[0186] In one possible implementation, Fig.16As shown, the receiving feed unit 271 can be used to receive a horizontal polarization signal from the horizontal polarization antenna P221-1 in the linear polarization antenna combination P221 and a vertical polarization signal from the vertical polarization antenna P221-2 in the linear polarization antenna combination P221; advance the phase of the vertical polarization signal by 90 degrees relative to the phase of the horizontal polarization signal to obtain the first echo signal; advance the phase of the horizontal polarization signal by 90 degrees relative to the phase of the vertical polarization signal to obtain a second communication signal corresponding to the at least one first terminal; combine the first echo signal and the second communication signal corresponding to the at least one first terminal to obtain a combined signal; and send the combined signal to the receiving RF unit 261. Accordingly, the receiving RF unit 261 can be used to receive the combined signal and send the combined signal to the signal processing unit 230. Accordingly, the signal processing unit 230 can be used to receive the combined signal; based on the second sub-frequency band, obtain the second communication signal corresponding to the at least one first terminal from the combined signal; based on the second frequency band, obtain the first echo signal from the combined signal.

[0187] It should be noted that, in the embodiment of the present application, only the receiving feed unit 271 shifts the phase of the vertical polarization signal forward by 90 degrees relative to the phase of the horizontal polarization signal to obtain the first echo signal (i.e., the left-hand circularly polarized signal), and shifts the phase of the horizontal polarization signal forward by 90 degrees relative to the phase of the vertical polarization signal to obtain the second communication signal (right-hand circularly polarized signal) is used as an example for introduction, but the embodiment of the present application is not limited to this.

[0188] Optionally, the receiving feed unit 271 may advance the phase of the vertical polarization signal by a first angle relative to the phase of the horizontal polarization signal to obtain the first echo signal, and advance the phase of the horizontal polarization signal by a second angle relative to the phase of the vertical polarization signal to obtain the second communication signal, wherein the first angle and / or the second angle may belong to a preconfigured angle range, and the angle range includes 90 degrees. However, when the first angle is an angle other than 90 degrees within the angle range, some signal energy may be lost. For example, a circularly polarized signal may become an elliptically polarized signal. For example: there may be an error less than a certain threshold between the angle range and 90 degrees, and the error may be caused by a difference in manufacturing process or manufacturing accuracy. For example, the angle range may be 80 to 100 degrees, which is not limited in the embodiments of the present application.

[0189] It should be noted that the above paragraph only schematically introduces the functions of the receiving antenna unit 221 - receiving feed unit 271 - receiving radio frequency unit 261 - signal processing unit 230. Fig.16The functions of the other receiving antenna units, receiving feed units, receiving radio frequency units, and signal processing units can be referred to the above introduction. To avoid repetition, they will not be described here.

[0190] In one possible implementation, Fig.17 Shows Fig.16 Schematic block diagram of the receiving feed unit 271 in FIG. Fig.17 As shown, the receiving feed unit 271 may include a phase shift unit 271-1, a phase shift unit 271-2 and a combining unit 271-3 (other parts are not shown), the first input end of the phase shift unit 271-1 is connected to the horizontal polarization antenna P221-1, the second input end of the phase shift unit 271-1 is connected to the vertical polarization antenna P221-2, the output end of the phase shift unit 271-1 is connected to the first input end of the combining unit 271-3, the first input end of the phase shift unit 271-2 is connected to the horizontal polarization antenna P221-1, the second input end of the phase shift unit 271-2 is connected to the vertical polarization antenna P221-2, the output end of the phase shift unit 271-2 is connected to the second input end of the combining unit 271-3, and the output end of the combining unit is connected to the input end of the receiving RF unit 261.

[0191] The phase shift unit 271-1 is used to shift the phase of the vertical polarization signal from the vertical polarization antenna P221-2 forward by 90 degrees relative to the phase of the horizontal polarization signal from the horizontal polarization antenna P221-1 to obtain the first echo signal; and send the first echo signal to the combining unit 271-3.

[0192] The phase shift unit 271-2 is used to shift the phase of the horizontal polarization signal from the horizontal polarization antenna P221-1 by 90 degrees relative to the phase of the vertical polarization signal from the vertical polarization antenna P221-2 to obtain the second communication signal; and send the second communication signal corresponding to the at least one first terminal to the combining unit 271-3.

[0193] The combining unit 271 - 3 is used to combine the first echo signal from the phase shift unit 271 - 1 and the second communication signal from the phase shift unit 271 - 2 corresponding to the at least one first terminal to obtain a combined signal; and send the combined signal to the receiving RF unit 261 .

[0194] Alternatively, if Fig.17As shown, the receiving feed unit 271 may also include a filtering unit 271-4 and a filtering unit 271-5, the output end of the phase shift unit 271-1 is connected to the first input end of the combining unit 271-3 through the filtering unit 271-4, and the output end of the phase shift unit 271-2 is connected to the second input end of the combining unit 271-3 through the filtering unit 271-5. The filtering unit 271-4 is used to filter the first echo signal from the phase shift unit 271-1. The filtering unit 271-5 is used to filter the second communication signal from the phase shift unit 271-2 corresponding to the at least one first terminal.

[0195] It should be noted that Fig.17 The structure and function of the receiving feed unit 271 are only schematically described. Fig.16 The structures and functions of other receiving feed units in the embodiment can refer to the receiving feed unit 271, and will not be described again here to avoid repetition.

[0196] Optionally, Fig.16 The receiving radio frequency unit 261 and the receiving radio frequency unit 26K1 in the embodiment can be replaced by: a receiving radio frequency unit group 281 and a receiving radio frequency unit group 28K1, each receiving radio frequency unit group includes at least two receiving radio frequency units, such as Fig.18 The reception RF unit group 281 shown in the figure includes a reception RF unit 281-1 and a reception RF unit 281-2, ..., and the reception RF unit group 28K1 includes a reception RF unit 28K1-1 and a reception RF unit 28K1-2.

[0197] In one possible implementation, Fig.18 As shown, the receiving feed unit 271 is used to receive a horizontal polarization signal from the horizontal polarization antenna P221-1 in the linear polarization antenna combination P221 and a vertical polarization signal from the vertical polarization antenna P221-2 in the linear polarization antenna combination P221; the phase of the vertical polarization signal is shifted forward by 90 degrees relative to the phase of the horizontal polarization signal to obtain the first echo signal; the phase of the horizontal polarization signal is shifted forward by 90 degrees relative to the phase of the vertical polarization signal to obtain a second communication signal corresponding to at least one first terminal; the first echo signal is sent to the receiving RF unit 281-1 in the receiving RF unit group 281; and the second communication signal corresponding to at least one first terminal is sent to the receiving RF unit 281-2 in the receiving RF unit group 281.

[0198] Accordingly, the receiving RF unit 281-1 is used to receive the first echo signal and send the first echo signal to the signal processing unit 230. The receiving RF unit 281-2 is used to receive a second communication signal corresponding to the at least one first terminal and send the second communication signal corresponding to the at least one first terminal to the signal processing unit 230.

[0199] Correspondingly, the signal processing unit 230 is used to receive the first echo signal and a second communication signal corresponding to the at least one first terminal.

[0200] It should be noted that the above paragraph only schematically introduces the functions of the receiving antenna unit 221 - receiving feed unit 271 - receiving radio frequency unit group 281 - signal processing unit 230. Fig.18 The functions of the other receiving antenna units, receiving feed units, receiving radio frequency unit groups, and signal processing units can be referred to the above introduction. To avoid repetition, they will not be described here.

[0201] In one possible implementation, Fig.19 Shows Fig.18 Schematic block diagram of the receiving feed unit 271 in FIG. Fig.19 The receiving feed unit 271 shown in FIG. Fig.17 The difference between the receiving feed unit 271 in FIG. 2 is that the receiving feed unit 271 does not need the combining unit 271-3 (other parts are not shown). Fig.19 As shown, the output end of the phase shift unit 271-1 (or the output end of the filtering unit 271-4) is connected to the input end of the receiving RF unit 281-1, and the output end of the phase shift unit 271-2 (or the output end of the filtering unit 271-5) is connected to the input end of the receiving RF unit 281-2.

[0202] It should be noted that Fig.19 The structure and function of the receiving feed unit 271 are only schematically described. Fig.18 The structures and functions of other receiving feed units in the embodiment can refer to the receiving feed unit 271, and will not be described again here to avoid repetition.

[0203] The communication device 200 provided in the embodiment of the present application adopts Fig.19 The receiving feed unit 271 shown can reduce the circuit complexity of the receiving feed unit and the processing complexity of the signal processing unit; Fig.17 The receiving feed unit 271 can save the number of receiving radio frequency units, thereby reducing cost.

[0204] Optionally, the functions implemented by the receiving RF unit and / or the receiving feed unit described in the embodiments of the present application may be implemented by hardware or software, which is not limited in the embodiments of the present application.

[0205] In a possible implementation, the receiving radio frequency unit described in the embodiment of the present application may include a receiving radio frequency circuit, which is used to implement the function of the receiving radio frequency unit. It should be noted that the structure of the receiving radio frequency circuit can specifically refer to the circuit structure with similar functions in the prior art.

[0206] In a possible implementation, the receiving feed unit described in the embodiment of the present application may include a receiving feed circuit, which is used to implement the function of the receiving feed unit. It should be noted that the structure of the receiving feed circuit can specifically refer to the circuit structure with similar functions in the prior art.

[0207] Optionally, when the communication device 200 provided in the embodiment of the present application is integrated in an RSU, the embodiment of the present application also provides an RSU.

[0208] An embodiment of the present application further provides an RSU, which may be the communication device 200 described in the above embodiment, or the RSU includes the communication device 200 described in the above embodiment.

[0209] An embodiment of the present application further provides a communication system, which includes at least one terminal and an RSU, wherein the RSU may be the communication device 200 described in the above embodiment, or the RSU includes the communication device 200 described in the above embodiment.

[0210] An embodiment of the present application also provides a communication method, which may include: on a first frequency band, controlling the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal; on a second frequency band, controlling at least one target transmitting antenna unit to send a radar signal; and, on the second frequency band, controlling at least one target receiving antenna unit to receive a first echo signal of the radar signal, the first echo signal including an echo signal corresponding to at least one target, the at least one transmitting antenna unit including the at least one target transmitting antenna unit, the at least one receiving antenna unit including the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

[0211] The embodiment of the present application also provides a signal processing device, the device includes a processing unit, wherein the processing unit is used to: control at least one transmitting antenna unit and at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; control at least one target transmitting antenna unit to send a radar signal in a second frequency band; and, in the second frequency band, control at least one target receiving antenna unit to receive a first echo signal of the radar signal, the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap. Further optionally, the signal processing unit includes the at least one transmitting antenna unit and the at least one receiving antenna unit.

[0212] Based on the above communication method or signal processing device:

[0213] In a possible implementation manner, one or more transmitting antenna units of the at least one transmitting antenna unit include at least one right-hand circularly polarized antenna.

[0214] In a possible implementation manner, one or more target receiving antenna units of the at least one target receiving antenna unit include at least one linearly polarized antenna.

[0215] In a possible implementation manner, the at least one linear polarization antenna includes at least one horizontal polarization antenna and / or at least one vertical polarization antenna.

[0216] In a possible implementation manner, one or more target receiving antenna units of the at least one target receiving antenna unit include at least one linear polarization antenna combination, and the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

[0217] In a possible implementation, the linear polarization antenna combination includes a horizontal polarization antenna and a vertical polarization antenna.

[0218] In one possible implementation, the first frequency band includes a first sub-frequency band and a second sub-frequency band, the first sub-frequency band and the second sub-frequency band do not overlap, and on the first frequency band, controlling the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal includes: on the first sub-frequency band, controlling the at least one transmitting antenna unit to send a first communication signal to the at least one first terminal; and / or, on the second sub-frequency band, controlling the at least one receiving antenna unit to receive a second communication signal from the at least one first terminal.

[0219] In a possible implementation manner, a protection band is included between at least two of the first sub-frequency band, the second sub-frequency band, and the second frequency band.

[0220] In one possible implementation, the number of the at least one transmitting antenna unit is greater than 1, and the number of the at least one target transmitting antenna unit is less than the number of the at least one transmitting antenna unit; and / or, the number of the at least one receiving antenna unit is greater than 1, and the number of the at least one target receiving antenna unit is less than the number of the at least one receiving antenna unit.

[0221] In a possible implementation manner, the at least one target includes at least one second terminal, and the at least one second terminal includes the at least one first terminal.

[0222] The embodiment of the present application also provides a signal processing device, which includes at least one communication interface and at least one processor, wherein the at least one communication interface is used to communicate with at least one transmitting antenna unit and at least one receiving antenna unit, and when the at least one processor executes the program code or instruction, the communication method described in the above method embodiment is implemented. Optionally, the signal processing device described in this paragraph can be a chip device or an integrated circuit in the communication device 200 described in the embodiment of the present application.

[0223] Optionally, the signal processing device may further include at least one memory, wherein the storage area is used to store the program code or instruction.

[0224] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program, wherein the computer program includes instructions for implementing the communication method described in the above method embodiment.

[0225] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to implement the communication method described in the above method embodiment.

[0226] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0227] In the several embodiments provided in the present application, it should be understood that the disclosed systems and devices 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.

[0228] 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.

[0229] 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.

[0230] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for 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 methods described in each embodiment of the present application. The aforementioned storage medium or memory includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0231] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A communication device, characterized in that: The device comprises: at least one transmitting antenna unit, at least one receiving antenna unit and a signal processing unit, wherein the signal processing unit is connected to the at least one transmitting antenna unit and the at least one receiving antenna unit respectively; wherein, The signal processing unit is used to control the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; The signal processing unit is also used to control at least one target transmitting antenna unit to send a radar signal in a second frequency band; and, in the second frequency band, to control at least one target receiving antenna unit to receive a first echo signal of the radar signal, wherein the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, and the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

2. The device according to claim 1, characterized in that One or more of the at least one transmitting antenna unit comprises at least one right-hand circularly polarized antenna.

3. The device according to claim 1 or 2, characterized in that: One or more of the at least one target receiving antenna unit comprises at least one linearly polarized antenna.

4. The device according to claim 3, characterized in that The at least one linearly polarized antenna includes at least one horizontally polarized antenna and / or at least one vertically polarized antenna.

5. The device according to claim 1 or 2, characterized in that: One or more target receiving antenna units of the at least one target receiving antenna unit include at least one linear polarization antenna combination, and the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

6. The device according to claim 5, characterized in that The linear polarization antenna combination includes a horizontal polarization antenna and a vertical polarization antenna.

7. The device according to claim 1 or 2, characterized in that: The first frequency band includes a first sub-frequency band and a second sub-frequency band, the first sub-frequency band and the second sub-frequency band do not overlap, and the signal processing unit is used to: In the first sub-frequency band, sending a first communication signal to the at least one first terminal through the at least one transmitting antenna unit; and / or, In the second sub-frequency band, a second communication signal from the at least one first terminal is received by the at least one receiving antenna unit.

8. The device according to claim 7, characterized in that The device also includes at least one receiving RF unit and at least one receiving feed unit, the at least one target receiving antenna unit, the at least one receiving feed unit and the at least one receiving RF unit correspond to each other, the at least one target receiving antenna unit is connected to the input end of the at least one receiving feed unit, the output end of the at least one receiving feed unit is connected to the input end of the at least one receiving RF unit, and the output end of the at least one receiving RF unit is connected to the signal processing unit.

9. The device according to claim 8, characterized in that Each of the at least one target receiving unit comprises at least one linear polarization antenna combination, wherein the linear polarization antenna combination comprises a horizontal polarization antenna and a vertical polarization antenna, The receiving feed unit is used to receive a horizontally polarized signal from a horizontally polarized antenna in a target receiving antenna unit corresponding to the receiving feed unit and a vertically polarized signal from a vertically polarized antenna in a target receiving antenna unit corresponding to the receiving feed unit; the phase of the vertically polarized signal is shifted forward by 90 degrees relative to the phase of the horizontally polarized signal to obtain the first echo signal; the phase of the horizontally polarized signal is shifted forward by 90 degrees relative to the phase of the vertically polarized signal to obtain the second communication signal; the first echo signal and the second communication signal are combined to obtain a combined signal; and the combined signal is sent to a receiving RF unit corresponding to the receiving feed unit; The receiving radio frequency unit corresponding to the receiving feed unit is used to receive the combined signal and send the combined signal to the signal processing unit; The signal processing unit is used to receive the combined signal; obtain the second communication signal from the combined signal based on the second sub-frequency band; and obtain the first echo signal from the combined signal based on the second frequency band.

10. The device according to claim 7, characterized in that The device also includes at least one receiving RF unit group and at least one receiving feed unit, the at least one target receiving antenna unit, the at least one receiving feed unit and the at least one receiving RF unit group correspond to each other, the at least one target receiving antenna unit is connected to the input end of the at least one receiving feed unit, the output end of the at least one receiving feed unit is connected to the input end of the at least one receiving RF unit group, and the output end of the at least one receiving RF unit group is connected to the signal processing unit, wherein the receiving RF unit group includes a first receiving RF unit and a second receiving RF unit.

11. The device according to claim 10, characterized in that Each of the at least one target receiving unit comprises at least one linear polarization antenna combination, wherein the linear polarization antenna combination comprises a horizontal polarization antenna and a vertical polarization antenna, The receiving feed unit is used to receive a horizontally polarized signal from the horizontally polarized antenna in the target receiving antenna unit and a vertically polarized signal from the vertically polarized antenna in the target receiving antenna unit; the phase of the vertically polarized signal is shifted forward by 90 degrees relative to the phase of the horizontally polarized signal to obtain the first echo signal; the phase of the horizontally polarized signal is shifted forward by 90 degrees relative to the phase of the vertically polarized signal to obtain the second communication signal; the first echo signal is sent to the first receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit; the second communication signal is sent to the second receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit; The first receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit is used to receive the first echo signal from the receiving feed unit, and send the first echo signal to the signal processing unit; The second receiving RF unit in the receiving RF unit group corresponding to the receiving feed unit is used to receive the second communication signal from the receiving feed unit; and send the second communication signal to the signal processing unit.

12. The device according to claim 7, characterized in that A guard band is included between at least two of the first sub-frequency band, the second sub-frequency band and the second frequency band.

13. The device according to claim 1 or 2, characterized in that The number of the at least one transmitting antenna unit is greater than 1, and the number of the at least one target transmitting antenna unit is less than the number of the at least one transmitting antenna unit; and / or, the number of the at least one receiving antenna unit is greater than 1, and the number of the at least one target receiving antenna unit is less than the number of the at least one receiving antenna unit.

14. The device according to claim 1 or 2, characterized in that The at least one target includes at least one second terminal, and the at least one second terminal includes the at least one first terminal.

15. A roadside unit RSU, characterized in that: The RSU includes the communication device according to any one of claims 1 to 14.

16. A communication system, characterized in that: The communication system comprises at least one terminal and the RSU as claimed in claim 15.

17. A communication method, characterized in that: include: Controlling at least one transmitting antenna unit and at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; In a second frequency band, at least one target transmitting antenna unit is controlled to send a radar signal; and in the second frequency band, at least one target receiving antenna unit is controlled to receive a first echo signal of the radar signal, wherein the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

18. The method according to claim 17, characterized in that One or more of the at least one transmitting antenna unit comprises at least one right-hand circularly polarized antenna.

19. The method according to claim 17 or 18, characterized in that One or more of the at least one target receiving antenna unit comprises at least one linearly polarized antenna.

20. The method according to claim 19, characterized in that The at least one linearly polarized antenna includes at least one horizontally polarized antenna and / or at least one vertically polarized antenna.

21. The method according to claim 17 or 18, characterized in that One or more target receiving antenna units of the at least one target receiving antenna unit include at least one linear polarization antenna combination, and the linear polarization antenna combination includes a pair of linear polarization antennas with orthogonal polarizations.

22. The method according to claim 21, characterized in that The linear polarization antenna combination includes a horizontal polarization antenna and a vertical polarization antenna.

23. The method according to claim 17 or 18, characterized in that The first frequency band includes a first sub-frequency band and a second sub-frequency band, the first sub-frequency band and the second sub-frequency band do not overlap, and controlling the at least one transmitting antenna unit and the at least one receiving antenna unit to communicate with at least one first terminal on the first frequency band includes: In the first sub-frequency band, controlling the at least one transmitting antenna unit to send a first communication signal to the at least one first terminal; and / or, In the second sub-frequency band, the at least one receiving antenna unit is controlled to receive a second communication signal from the at least one first terminal.

24. The method according to claim 23, characterized in that A guard band is included between at least two of the first sub-frequency band, the second sub-frequency band and the second frequency band.

25. The method according to claim 17 or 18, characterized in that The number of the at least one transmitting antenna unit is greater than 1, and the number of the at least one target transmitting antenna unit is less than the number of the at least one transmitting antenna unit; and / or, the number of the at least one receiving antenna unit is greater than 1, and the number of the at least one target receiving antenna unit is less than the number of the at least one receiving antenna unit.

26. The method according to claim 17 or 18, characterized in that The at least one target includes at least one second terminal, and the at least one second terminal includes the at least one first terminal.

27. A chip, characterized in that: The system comprises at least one processor and an interface, wherein the interface is used to provide program code or instructions to the at least one processor; the at least one processor is used to execute the program code or instructions to implement the method as claimed in any one of claims 17 to 26.

28. The chip according to claim 27, characterized in that: The chip further comprises at least one memory, wherein the memory is used to store the program code or instruction.

29. A signal processing device, comprising a processing unit, wherein: The processing unit is used for: Controlling at least one transmitting antenna unit and at least one receiving antenna unit to communicate with at least one first terminal in a first frequency band; In a second frequency band, at least one target transmitting antenna unit is controlled to send a radar signal; and in the second frequency band, at least one target receiving antenna unit is controlled to receive a first echo signal of the radar signal, wherein the first echo signal includes an echo signal corresponding to at least one target, the at least one transmitting antenna unit includes the at least one target transmitting antenna unit, the at least one receiving antenna unit includes the at least one target receiving antenna unit, and the first frequency band and the second frequency band do not overlap.

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