A target detection method and radar device

Abstract

The present application relates to a target detection method and a radar device, belonging to the field of radar, and in particular to a cooperative radar. The target detection method reduces mutual interference between radars through cooperation between radars. The method includes the radar device performing at least one interference listening on multiple first time domain resources, and determining the second time-frequency resource used for target detection in the first time-frequency resource based on the result of at least one interference listening; wherein the multiple first time domain resources are a subset of the time domain resources corresponding to the time-frequency resources of the first detection device, and the first time-frequency resource is the time-frequency resource of the first detection device; the time interval between any two adjacent first time domain resources in the multiple first time domain resources is the same, and the interference listening is performed on some of the first time domain resources in the multiple first time domain resources. The embodiments of the present application can be applied to related fields such as autonomous driving, and can reduce the interference between the detection devices arranged on the vehicle, and better realize autonomous driving.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a target detection method and a radar device. Background Art

[0002] With the development of science and technology, smart cars have gradually entered our daily lives. Among them, the advanced driving assistant system (ADAS) plays a very important role in smart cars. The system uses various sensors installed on the car to sense the surrounding environment, collect data, identify, detect and track objects during driving, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] In the autonomous driving architecture, the sensing layer includes visual sensors such as vehicle-mounted cameras and radar sensors such as vehicle-mounted radars. Millimeter-wave radar is a type of vehicle-mounted radar. Due to its low cost and mature technology, it has become the main sensor for autonomous driving systems.

[0004] At present, radar devices use fixed resources to periodically send radar signals, and receive signals reflected by the target object on the resources that send the radar signals, also known as echo signals. The radar device can determine the location information and speed information of the target object based on the received echo signals and the sent radar signals. In the following, this process is also called target detection.

[0005] If two radar devices use the same resources, or the resources used by two radar devices overlap, then the two radar devices will interfere with each other. Especially if two radar devices are located adjacent to each other and the two radar devices send radar signals at the same period, it is easier to cause interference between each other. For example, if the resources used by radar devices installed on adjacent vehicles in the same direction of traffic overlap completely or partially, they will continue to interfere with each other. Summary of the invention

[0006] The present application provides a target detection method and a radar device to minimize or avoid interference between radars.

[0007] In a first aspect, a target detection method is provided, wherein the execution subject of the method may be a first detection device, and the first detection device may be, for example, a radar device, or a chip in the first detection device. The following description is made by taking the execution subject being a radar device as an example. The method comprises: performing at least one interference listening on a plurality of first time domain resources, and determining a second time-frequency resource in the first time-frequency resource based on the result of at least one interference listening, wherein the second time-frequency resource is used for target detection, wherein the plurality of first time domain resources are a subset of the time domain resources corresponding to the first time-frequency resource, the first time-frequency resource is a time-frequency resource of the radar device, and among the plurality of first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the interference listening is performed on some of the first time domain resources in the plurality of first time domain resources.

[0008] Specifically, the part of the first time domain resources is resources other than at least one first time domain resource used for target detection among the multiple first time domain resources.

[0009] The method also includes: performing at least one target detection on the multiple first time domain resources, and at least one first time domain resource used for the at least one target detection does not overlap with part of the first time domain resources used for at least one interference listening; or, performing at least one target detection on the multiple first time domain resources, and at least one first time domain resource used for the at least one target detection overlaps with part of the first time domain resources used for at least one interference listening.

[0010] In this solution, multiple first time domain resources are periodic, that is, the time intervals between any two adjacent first time domain resources are the same, and the radar device performs target detection on some of the multiple first time domain resources, and performs interference monitoring on another part of the first time domain resources, that is, interference detection. Based on the results of interference monitoring, the radar device can predict the severity of interference from other radar devices when performing target detection on certain time domain resources (for example, time domain resources similar to the first time domain resources), thereby determining the second time-frequency resources that the radar device will subsequently use for target detection, so as to exclude time-frequency resources with a higher degree of interference from the first time-frequency resources as much as possible, and reduce or avoid interference from other radar devices when the radar device performs target detection.

[0011] In one possible design, at least one first time domain resource for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between two adjacent first time domain resources in the second group of first time domain resources.

[0012] It should be understood that when the first time domain resources used for target detection include at least three first time domain resources, the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, wherein the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between two adjacent first time domain resources in the second group of first time domain resources. In other words, the at least three first time domain resources used for target detection are non-periodic. By selecting fewer first time domain resources from multiple first time domain resources for interference listening, the at least three first time domain resources used for target detection can be non-periodic, which can minimize the first time domain resources not used for target detection to ensure the performance of the radar device in target detection. At the same time, by adopting this solution, it can be ensured that the results of interference listening more reasonably reflect the degree of interference of the time domain resources used for target detection.

[0013] In one possible design, the method further includes:

[0014] At least one interference monitoring is performed on multiple second time domain resources, which are a subset of time domain resources in the time domain resources corresponding to the first time-frequency resources except the multiple first time domain resources, and the at least one interference monitoring is performed on at least one second time domain resource among the multiple second time domain resources.

[0015] For example, in addition to interference monitoring the first time domain resources used for target detection, the radar device can also perform interference monitoring on the second time domain resources not used for target detection, so that the radar device can predict whether there are time-frequency resources that are more suitable for target detection in the available time-frequency resources (for example, the time-frequency resources whose corresponding time domain resources are the second time domain resources). In other words, whether there are time-frequency resources with a lower degree of interference among the time-frequency resources that are not currently used for target detection. The adoption of this solution is conducive to selecting more suitable time-frequency resources for target detection.

[0016] In one possible design, a first frequency domain resource for performing a target detection overlaps or does not overlap with a second frequency domain resource for performing an interference monitoring.

[0017] For example, the first frequency domain resource used for target detection and the second frequency domain resource used for interference listening may overlap, so that the interference listening can predict the degree of interference of the frequency domain resource currently used for target detection. The first frequency domain resource used for target detection and the second frequency domain resource used for interference listening may not overlap, so that the interference listening can predict the degree of interference of the frequency domain resource not currently used for target detection.

[0018] In one possible design, the duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

[0019] For example, the radar device performs target detection on the third time-frequency resource, and the time domain resource corresponding to the third time-frequency resource is a first time domain resource. The radar device performs interference monitoring on the fourth time-frequency resource, and the time domain resource corresponding to the fourth time-frequency resource is a subset of the first time domain resource. In this way, the radar device can perform multiple monitoring in a first time domain resource, each time monitoring a different frequency domain resource, so that the interference degree of more time-frequency resources can be determined.

[0020] In a possible design, a second time domain resource includes M sub-time domain resources, the frequency domain resources corresponding to the first time-frequency resource include N sub-frequency domain resources, the M and the N are mutually prime, and the performing at least one interference monitoring on the plurality of second time domain resources includes:

[0021] Interference monitoring is performed on a fifth time-frequency resource, where the time domain resource corresponding to the fifth time-frequency resource is one of the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of the N sub-frequency domain resources.

[0022] For example, if M and N are mutually prime, the radar device can determine the interference degree of the most time-frequency resources in the shortest time.

[0023] In a possible design, the duration of the radar device's interference monitoring of the time-frequency data satisfies at least one of the following possible conditions:

[0024] Condition 1: Within the first preset duration, the interference listening duration is greater than or equal to the first duration, which can ensure the interference listening performance of the radar device. For example, the radar device performs interference listening on certain time-frequency resources. Naturally, the longer the interference listening duration, the better the interference listening performance of the radar device. If the interference listening performance of the radar device is required to be greater than a certain threshold, the corresponding shortest interference listening duration can be the first duration.

[0025] Condition 2: Within the second preset duration, the interference listening duration is less than or equal to the second duration, which can ensure the target detection performance of the radar device. For example, when interference listening is performed on certain time-frequency resources, the shorter the interference listening duration, the fewer resources are used for calculation and processing of interference listening. Relatively speaking, the more time and calculation and processing resources are used for target detection, the target detection performance of the radar device can be guaranteed as much as possible. If the target detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding maximum interference listening duration can be the second duration.

[0026] Condition 3: Within the third preset duration, the duration used for target detection is less than the third duration, which can ensure that more time-frequency resources are monitored. For example, in the time domain resources corresponding to the first time-frequency resources, except for the time domain resources used for target detection, all time domain resources are used for interference monitoring, that is, interference monitoring is performed on all time domain resources not used for target detection. At this time, the duration used for target detection is less than the third duration, which can ensure that more time-frequency resources are monitored.

[0027] Condition 4: Within the fourth preset duration, the interference listening duration that meets the preset condition is greater than or equal to the fourth duration, which can ensure the interference listening performance of the radar device for specific types of resources. For example, the preset condition may be that the frequency domain resources corresponding to the time-frequency resources used for interference listening are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection, so as to ensure that the radar device performs sufficient interference listening on the frequency domain resources currently available for target detection, thereby ensuring the interference listening performance of the frequency domain resources available for target detection.

[0028] Condition 5: Within the fifth preset duration, the interference listening duration that meets the preset condition is greater than or equal to the fifth duration, which can ensure the interference listening performance of the radar device for specific types of resources. For example, the preset condition may be that the frequency domain resources corresponding to the time-frequency resources used for interference listening partially overlap or do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection, so as to ensure that the radar device performs sufficient interference listening on the frequency domain resources not used for target detection, thereby ensuring the interference listening performance of the frequency domain resources not used for target detection.

[0029] Condition 6: Within the sixth preset duration, the interference listening duration that meets the preset condition is greater than or equal to the sixth duration, which can ensure the interference listening performance of the radar device for a specific type of resource. For example, the preset condition may be that the time domain resources corresponding to the time-frequency resources used for interference listening are a subset of the first time domain resources, so as to ensure that the radar device performs sufficient interference listening on the time domain resources currently used for target detection, thereby ensuring the interference listening performance of the radar device for the time domain resources currently used for target detection.

[0030] Condition seven: within the seventh preset duration, the interference listening duration that satisfies the preset condition is greater than or equal to the seventh duration, which can ensure the interference listening performance of the radar device for a specific type of resource. For example, the preset condition may be that the time domain resources corresponding to the time-frequency resources used for interference listening are a subset of the time domain resources corresponding to the first time-frequency resources, so as to ensure that the radar device performs sufficient interference listening on the time domain resources used for target detection, thereby ensuring the interference listening performance of the radar device for the time domain resources used for target detection.

[0031] It should be noted that the first preset duration to the seventh preset duration, a total of 7 preset durations, may be the same or different. The preset conditions in the aforementioned conditions 4 to 7 may also be any combination of the preset conditions corresponding to the conditions 4 to 7, respectively.

[0032] In one possible design, performing interference sensing at least once includes:

[0033] determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for the at least one interference sensing; or,

[0034] Indication information is received on a sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for target detection by a second detection device, and to determine power, energy or spectral density of a signal received on the seventh time-frequency resource.

[0035] In an embodiment of the present application, interference monitoring of a certain time-frequency resource refers to determining the strength of a signal received on the time-frequency resource, such as obtaining the power, energy or spectral density of the signal, or other possible parameters for characterizing the strength of the signal. Or interference monitoring of a certain time-frequency resource refers to receiving indication information indicating the time-frequency resource on another time-frequency resource, and determining the strength of the signal received on the time-frequency resource. For example, considering an application scenario, a radar device can send a signal for target detection on a certain resource, and can also send indication information on the resource to indicate the time-frequency resource used by the radar device for target detection. Since the characteristics of radar signals for target detection sent by different radar devices may be different, if different radar devices do not know the characteristics of radar signals sent by each other for target detection, then it is difficult for the radar device to directly monitor the time-frequency resource, and it is even impossible to determine the strength of the signal received on the time-frequency resource indicated by the indication information. By adopting this solution, multiple radar devices can pre-agree on the form, parameters, resources, etc. of the signal carrying the indication information, so it is easy for multiple radar devices to receive the indication information sent by each other. It is also easy to predict the strength of the signal received on the resource indicated by the indication information by listening to the indication information, thereby reducing the difficulty of interference listening.

[0036] In one possible design, receiving indication information on a sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource for a second detection device to perform target detection, and determining a power, energy, or spectral density of a signal received on the seventh time-frequency resource includes:

[0037] receiving a signal on the seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or,

[0038] The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

[0039] The embodiment of the present application can directly measure the signal received on the seventh time-frequency resource. For example, the indication information can indicate the parameters of the radar signal sent by other radar devices on the seventh time-frequency resource, such as the pulse width, pulse repetition interval, frequency modulation slope, etc. of the radar signal, so that the radar device receives the indication information and can directly measure the received signal on the seventh time-frequency resource. Alternatively, by obtaining the power, energy or spectral density of the signal received on the sixth time-frequency resource, the power, energy or spectral density of the signal received on the seventh time-frequency resource is predicted, that is, the power, energy or spectral density of the signal received on the seventh time-frequency resource is not directly obtained, thereby reducing the difficulty of detection and improving the detection efficiency. For example, multiple radar devices can pre-agree on the form, parameters, resources, etc. of the signal carrying the indication information to ensure that multiple radar devices can receive the indication information sent by each other.

[0040] In one possible design, determining, according to a result of the at least one interference monitoring, a second time-frequency resource in the first time-frequency resource includes:

[0041] Determining the interference degree of the ninth time-frequency resource according to the listening result of the eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource;

[0042] The second time-frequency resources are determined according to the interference degree of the ninth time-frequency resources, wherein the second time-frequency resources include at least one of the ninth time-frequency resources; or the second time-frequency resources do not include the ninth time-frequency resources.

[0043] The embodiment of the present application aims to determine the second time-frequency resource for target detection from the first time-frequency resource according to the listening result of the eighth time-frequency resource that has been listened to. For example, the interference degree of the ninth time-frequency resource can be determined according to the listening result of the eighth time-frequency resource that has been listened to, and then the second time-frequency resource can be determined according to the interference degree. There is a corresponding relationship between the ninth time-frequency resource and the eighth time-frequency resource. For example, the ninth time-frequency resource and the eighth time-frequency resource are different subsets of periodic time-frequency resources, respectively. It should be understood that the frequency domain resources corresponding to the periodic time-frequency resources are the same, and the interval between the two adjacent time domain resources is the same. If the eighth time-frequency resource is more susceptible to interference, it can be inferred that the ninth time-frequency resource is also more susceptible to interference. If the interference degree of the ninth time-frequency resource is low, then the second time-frequency resource for target detection can be selected from the ninth time-frequency resource, for example, the ninth time-frequency resource with the lowest interference degree is selected as the second time-frequency resource. Or if the interference degree of the ninth time-frequency resource is high, then the time-frequency resource for target detection can be selected from other time-frequency resources other than the ninth time-frequency resource to exclude the time-frequency resources that may be interfered as much as possible.

[0044] In a possible design, determining the interference degree of the ninth time-frequency resource according to the monitoring results of multiple eighth time-frequency resources in the first time-frequency resources includes any one of the following schemes:

[0045] Solution 1: Determine the interference degree of the ninth time-frequency resource according to the average value of the power, energy or spectral density of the signals received on the plurality of eighth time-frequency resources. This solution can be used to more reasonably select the ninth time-frequency resource.

[0046] Solution 2: Determine the interference degree of the ninth time-frequency resource according to the number of at least one eighth time-frequency resource whose interference degree is greater than a preset threshold among the multiple eighth time-frequency resources or the proportion of at least one eighth time-frequency resource whose interference degree is greater than a preset threshold among the multiple eighth time-frequency resources. If there are many interfered time-frequency resources, or if the interfered time-frequency resources account for a large proportion of the monitored time-frequency resources, it can be considered that the time-frequency resources having a first corresponding relationship with the monitored time-frequency resources are more likely to be interfered. This solution can exclude time-frequency resources with a high degree of interference as much as possible.

[0047] In a possible design, in order to reduce or avoid interference from other radar devices, the radar device may reselect the time-frequency resources for target detection. Exemplarily, when at least one of the following triggering conditions is met, the radar device determines the second time-frequency resources for target detection:

[0048] Trigger condition one: the ninth time-frequency resource belongs to the resource used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is higher than the first threshold.

[0049] For example, the ninth time-frequency resource is a resource used by the radar device for target detection. If, after interference monitoring, it is determined that the interference level of the ninth time-frequency resource is high, then the radar device is subject to high interference in target detection on the ninth time-frequency resource. At this time, the second time-frequency resource can be re-determined.

[0050] Trigger condition two: the ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference level of the ninth time-frequency resource is lower than the second threshold.

[0051] For example, the ninth time-frequency resource is not a resource used for target detection, but according to the listening results, it is determined that the interference level of the ninth time-frequency resource is lower. It can be considered that there are resources more suitable for target detection than the resources currently used for target detection. At this time, the second time-frequency resource can be re-determined.

[0052] Trigger condition three: the duration or number of times the first time domain resource used for target detection among the multiple first time domain resources is greater than or equal to the third threshold value, at which time the second time-frequency resource can be re-determined. This scheme can try to ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the extent to which the time-frequency resources used for target detection are interfered with by the radar device. At the same time, the scheme can also ensure the fairness of resource use by each radar device to avoid a radar device occupying relatively high-quality resources for a long time, which causes other radar devices to be unable to use the high-quality resources and can only use relatively low-quality resources. It should be understood that when the radar device meets trigger condition three, the duration or number of times the first time domain resource used for target detection is used is set to 0, that is, the duration or number of times the first time domain resource is used for target detection is calculated from 0 to determine whether the radar device meets trigger condition three next time.

[0053] Trigger condition four: the duration or number of times the first time domain resource used for target detection among the multiple first time domain resources is greater than or equal to the third threshold, and a first value is obtained, and the first value is greater than or equal to the fourth threshold. That is, the trigger condition is that the first value is greater than or equal to the fourth threshold, and the first value can be randomly generated, for example. On the basis of ensuring that each radar device uses resources more fairly, this scheme can further increase the stability of the time-frequency resources used by the radar device for target detection, so as to ensure the accuracy of other radar devices predicting the degree to which the time-frequency resources used for target detection are interfered by the radar device. It should be understood that when the radar device meets trigger condition four, the duration or number of times the first time domain resource used for target detection is used is set to 0, that is, the duration or number of times the first time domain resource is used for target detection is calculated from 0 to determine whether the radar device meets trigger condition four next time.

[0054] Trigger condition five, the number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold. This solution ensures that the time-frequency resources used by the radar device for target detection are relatively stable to a greater extent, and is more conducive to other radar devices predicting the degree of interference with the available time-frequency resources for target detection. At the same time, the solution can also ensure the fairness of resource use by each radar device to avoid a radar device occupying relatively high-quality resources for a long time, which causes other radar devices to be unable to use the high-quality resources and can only use relatively inferior resources. It should be understood that when the radar device meets trigger condition five, the accumulated number of first time domain resources used is set to 0, that is, after satisfying trigger condition five, the number of first time domain resources used is accumulated from 0 to determine whether the radar device meets trigger condition five next time.

[0055] Trigger condition six, the number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold, and the second value is obtained. The trigger condition is that the second value is greater than or equal to the sixth threshold. Similar to trigger condition four, the second value can also be randomly generated. On the basis of ensuring that each radar device uses resources fairly, this solution can further increase the stability of the time-frequency resources used by the radar device for target detection, so as to ensure the accuracy of other radar devices predicting the degree to which the time-frequency resources used for target detection are interfered with by the radar device. It should be understood that when the radar device meets trigger condition six, the accumulated number of first time domain resources used is set to 0, that is, after satisfying trigger condition six, the number of first time domain resources used is accumulated from 0 to determine whether the radar device meets trigger condition six next time.

[0056] In one possible design, the method further includes:

[0057] The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of the first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

[0058] In this scheme, the radar device updates the duration or number of times it continuously uses a certain time-frequency resource, so that different radar devices can ensure that the duration or number of times they continuously use a certain time-frequency resource is different, that is, different radar devices can switch the time-frequency resources used for target detection at different times, thereby avoiding as much as possible the situation where multiple radar devices switch the time-frequency resources used for target detection at the same time, which may cause mutual interference.

[0059] In one possible design, the method further includes:

[0060] If the second value is greater than or equal to the sixth threshold, the fifth threshold is updated; or if the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.

[0061] Similarly, updating the fifth threshold can avoid as much as possible the situation where multiple radar devices switch the time-frequency resources used for target detection at the same time, which would interfere with each other.

[0062] In a second aspect, a radar device is provided, which may include a transceiver unit and a processing unit, wherein:

[0063] The transceiver unit is used to perform at least one interference detection on multiple first time domain resources, where the multiple first time domain resources are a subset of time domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are time-frequency resources of the first detection device; wherein, among the multiple first time domain resources, the time intervals between any two adjacent first time domain resources are the same, and the interference detection is performed on some of the first time domain resources among the multiple first time domain resources;

[0064] The processing unit is used to determine a second time-frequency resource in the first time-frequency resource according to a result of at least one interference monitoring, where the second time-frequency resource is used for target detection.

[0065] In one possible design, at least one first time domain resource used for at least one target detection does not overlap with part of the first time domain resources used for at least one interference listening; or, at least one time domain resource used for at least one target detection overlaps with part of the first time domain resources used for at least one interference listening.

[0066] In one possible design, at least one first time domain resource for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between two adjacent first time domain resources in the second group of first time domain resources.

[0067] In one possible design, the transceiver unit is further used for:

[0068] At least one interference monitoring is performed on multiple second time domain resources, where the multiple second time domain resources are a subset of time domain resources corresponding to the first time-frequency resources except for the multiple first time domain resources, and the at least one interference monitoring is performed on at least one second time domain resource among the multiple second time domain resources.

[0069] In one possible design, the duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

[0070] In a possible design, each second time domain resource includes M sub-time domain resources, the frequency domain resources corresponding to the first time-frequency resources include N sub-frequency domain resources, M and N are mutually prime, and the transceiver unit is specifically used for:

[0071] Interference monitoring is performed on the fifth time-frequency resource, the time domain resource corresponding to the fifth time-frequency resource is one of the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of the N sub-frequency domain resources.

[0072] In one possible design, at least one of the following conditions is met:

[0073] Within the preset time period, the accumulated interference listening time period is greater than the first time period; or,

[0074] Within the preset time period, the accumulated interference listening time period is less than the second time period; or,

[0075] Within the preset time period, the time period used for target detection is less than the third time period; or,

[0076] Within the preset time period, the cumulative interference listening time period that meets the preset condition is greater than the fourth time period, where the preset condition includes one or more combinations of the following conditions:

[0077] The frequency domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0078] The frequency domain resources corresponding to the time-frequency resources used for interference monitoring partially overlap or completely do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0079] The time domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the multiple first time domain resources; or,

[0080] The time domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the time domain resources corresponding to the first time-frequency resources.

[0081] In a possible design, the processing unit is specifically used for:

[0082] determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for at least one interference sensing; or,

[0083] Indication information is received on the sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for the second detection device to perform target detection, and to determine the power, energy or spectral density of a signal received on the seventh time-frequency resource.

[0084] In a possible design, the processing unit is specifically used for:

[0085] receiving a signal on a seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or,

[0086] The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

[0087] In a possible design, the processing unit is specifically used for:

[0088] Determining the interference degree of the ninth time-frequency resource according to the listening result of an eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource;

[0089] According to the interference degree of the ninth time-frequency resource, a second time-frequency resource is determined, wherein the second time-frequency resource includes at least one of the ninth time-frequency resources; or the second time-frequency resource does not include the ninth time-frequency resource.

[0090] In a possible design, the processing unit is specifically used for:

[0091] Determine the interference degree of the ninth time-frequency resource according to the average value of the power, energy or spectral density of the signals received on the plurality of eighth time-frequency resources; or,

[0092] The interference degree of the ninth time-frequency resource is determined based on the number of at least one eighth time-frequency resource among multiple eighth time-frequency resources whose interference degree is greater than a preset threshold or the proportion of at least one eighth time-frequency resource whose interference degree is greater than the preset threshold among multiple eighth time-frequency resources.

[0093] In one possible design, the processing unit is further configured to:

[0094] When at least one of the following trigger conditions is met, the second time-frequency resource is determined:

[0095] The ninth time-frequency resource belongs to a resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than the first threshold; or,

[0096] The ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or,

[0097] The duration or number of first time domain resources used for target detection in the plurality of first time domain resources is greater than or equal to a third threshold; or,

[0098] The duration or number of first time domain resources used for target detection in multiple first time domain resources is greater than or equal to a third threshold, and a first value is acquired, and a trigger condition is that the first value is greater than or equal to a fourth threshold; or

[0099] The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold; or,

[0100] The number of first time domain resources used by the first detection device is greater than or equal to the fifth threshold, and the second value is obtained. The trigger condition is that the second value is greater than or equal to the sixth threshold.

[0101] In one possible design, the processing unit is further configured to:

[0102] The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of first time domain resources used for target detection in multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

[0103] In one possible design, the processing unit is further configured to:

[0104] The second value is greater than or equal to the sixth threshold, and the fifth threshold is updated; or, the number of the first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, and the fifth threshold is updated.

[0105] In a third aspect, a radar device is provided, which includes a processor and a transceiver. Optionally, the transceiver may include a transmitter and a receiver. The processor, the transmitter and the receiver are coupled to each other to implement the method described in the first aspect or various possible designs of the first aspect. Exemplarily, the radar device is a chip disposed in a detection device. Exemplarily, the radar device is a radar. The transmitter and the receiver are implemented, for example, by an antenna, a feeder, and a codec in a communication device, or if the radar device is a chip disposed in a detection device, the transmitter and the receiver are, for example, a communication interface in the chip, which is connected to a radio frequency transceiver component in the detection device to transmit and receive information through the radio frequency transceiver component. Wherein:

[0106] The transceiver is used to perform at least one interference detection on multiple first time domain resources, where the multiple first time domain resources are a subset of time domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are time-frequency resources of the first detection device; wherein, among the multiple first time domain resources, the time intervals between any two adjacent first time domain resources are the same, and the interference detection is performed on some of the first time domain resources among the multiple first time domain resources;

[0107] The processor is used to determine a second time-frequency resource in the first time-frequency resource according to a result of at least one interference monitoring, where the second time-frequency resource is used for target detection.

[0108] In one possible design, at least one first time domain resource used for at least one target detection does not overlap with part of the first time domain resources used for at least one interference listening.

[0109] In one possible design, at least one first time domain resource for target detection includes at least three first time domain resources, and the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between the two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between the two adjacent first time domain resources in the second group of first time domain resources.

[0110] In one possible design, the transceiver is further configured to:

[0111] At least one interference monitoring is performed on multiple second time domain resources, where the multiple second time domain resources are a subset of time domain resources corresponding to the first time-frequency resources except for the multiple first time domain resources, and the one interference monitoring is performed on at least one second time domain resource among the multiple second time domain resources.

[0112] In one possible design, the duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

[0113] In a possible design, each of the second time domain resources includes M sub-time domain resources, the frequency domain resources corresponding to the first time-frequency resources include N sub-frequency domain resources, the M and the N are mutually prime, and the transceiver is specifically used to:

[0114] Interference monitoring is performed on a fifth time-frequency resource, where the time domain resource corresponding to the fifth time-frequency resource is one of the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of the N sub-frequency domain resources.

[0115] At least one of the following conditions is met:

[0116] Within the preset time period, the accumulated interference listening time period is greater than the first time period; or,

[0117] Within the preset time period, the accumulated interference listening time period is less than the second time period; or,

[0118] Within the preset time period, the time period used for target detection is less than the third time period; or,

[0119] Within the preset time period, the cumulative interference listening time period that meets the preset condition is greater than the fourth time period, where the preset condition includes one or more combinations of the following conditions:

[0120] The frequency domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0121] The frequency domain resources corresponding to the time-frequency resources used for the interference monitoring partially overlap or completely do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0122] The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the multiple first time domain resources; or,

[0123] The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the time domain resources corresponding to the first time-frequency resources.

[0124] In one possible design, the processor is specifically configured to:

[0125] determining the power, energy or spectral density of a signal received at the resource; or,

[0126] Indication information is received on the sixth time-frequency resource, where the indication information is used to indicate the resource used by the second detection device for target detection, and to determine the power, energy or spectral density of the signal received on the resource.

[0127] In one possible design, the processor is specifically configured to:

[0128] determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for the at least one interference sensing; or,

[0129] Indication information is received on a sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for target detection by a second detection device, and to determine power, energy or spectral density of a signal received on the seventh time-frequency resource.

[0130] In one possible design, the processor is specifically configured to:

[0131] receiving a signal on the seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or,

[0132] The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

[0133] In one possible design, the processor is specifically configured to:

[0134] Determining the interference degree of the ninth time-frequency resource according to the listening result of an eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource;

[0135] The second time-frequency resources are determined according to the interference degree of the ninth time-frequency resources, wherein the second time-frequency resources include at least one of the ninth time-frequency resources; or the second time-frequency resources do not include the ninth time-frequency resources.

[0136] In one possible design, the processor is specifically configured to:

[0137] determining the interference degree of the ninth time-frequency resource according to an average value of power, energy or spectral density of signals received on the plurality of eighth time-frequency resources; or,

[0138] The interference degree of the ninth time-frequency resource is determined based on the number of at least one eighth time-frequency resource among the multiple eighth time-frequency resources whose interference degree is greater than a preset threshold or the proportion of at least one eighth time-frequency resource whose interference degree is greater than the preset threshold among the multiple eighth time-frequency resources.

[0139] In one possible design, the processor is further configured to:

[0140] When at least one of the following trigger conditions is met, determining the second time-frequency resource:

[0141] The ninth time-frequency resource belongs to a resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than a first threshold; or,

[0142] The ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or,

[0143] The duration or number of first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to a third threshold; or,

[0144] The duration or number of first time domain resources used for target detection among the multiple first time domain resources is greater than or equal to a third threshold, and a first value is acquired, and the trigger condition is that the first value is greater than or equal to a fourth threshold; or

[0145] The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold; or,

[0146] The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is obtained. The trigger condition is that the second value is greater than or equal to a sixth threshold.

[0147] In one possible design, the processor is further configured to:

[0148] The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of the first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

[0149] In one possible design, the processor is further configured to:

[0150] If the second value is greater than or equal to the sixth threshold, the fifth threshold is updated; or if the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.

[0151] In a fourth aspect, another device is provided. The device may be a device in the above method design. Exemplarily, the device is a chip set in a detection device. Exemplarily, the detection device is a radar. The device includes: a memory for storing computer executable program code; and a processor, the processor being coupled to the memory. The program code stored in the memory includes instructions, and when the processor executes the instructions, the device or a device equipped with the device executes the method in the above first aspect or any possible implementation of the first aspect.

[0152] The device may also include a communication interface, which may be a transceiver in the detection device, for example, implemented by an antenna, a feeder, and a codec in the radar device, or, if the device is a chip set in the detection device, the communication interface may be an input / output interface of the chip, such as an input / output pin, etc.

[0153] In a fifth aspect, a communication system is provided. The communication system may, for example, include one or more of the devices described in the third aspect or the fourth aspect, or the communication system may further include a target object.

[0154] In a sixth aspect, a computer storage medium is provided, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method described in the first aspect or any possible design of the first aspect.

[0155] In a seventh aspect, a computer program product comprising instructions is provided. The computer program product stores instructions that, when executed on a computer, enable the computer to execute the method described in the first aspect or any possible design of the first aspect.

[0156] The beneficial effects of the above-mentioned second to seventh aspects and their implementation methods can refer to the description of the beneficial effects of the method of the first aspect and its implementation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0157] Figure 1 An application scenario provided for an embodiment of the present application;

[0158] Figure 2 A schematic diagram of a target detection method provided in an embodiment of the present application;

[0159] Figure 3 An exemplary schematic diagram of a first time-frequency resource provided in an embodiment of the present application;

[0160] Figure 4 An exemplary schematic diagram of a first time domain resource provided in an embodiment of the present application;

[0161] Figure 5 An exemplary schematic diagram of a first time domain resource provided in an embodiment of the present application;

[0162] Figure 6 An exemplary schematic diagram of a second time domain resource provided in an embodiment of the present application;

[0163] Figure 7 An exemplary time domain diagram of the first time-frequency resource provided in an embodiment of the present application;

[0164] Figure 8 A schematic diagram of the structure of a radar device provided in an embodiment of the present application;

[0165] Fig. 9 Another schematic diagram of the structure of the radar device provided in the embodiment of the present application;

[0166] Fig.10 A schematic diagram of another structure of the radar device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0167] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0168] Please refer to Figure 1, which is a schematic diagram of a possible application scenario of an embodiment of the present application. The above application scenarios can be unmanned driving, automatic driving, intelligent driving, networked driving, etc. The radar device can be installed on motor vehicles (such as unmanned vehicles, intelligent vehicles, electric vehicles, digital vehicles, etc.), drones, rail vehicles, bicycles, signal lights, speed measuring devices or network equipment (such as base stations and terminal devices in various systems), etc. The embodiment of the present application is applicable to radar devices between vehicles, radar devices between vehicles and other devices such as drones, or radar devices between other devices. In addition, the radar device can be installed on a mobile device, such as installed on a vehicle as a vehicle-mounted radar device, or it can also be installed on a fixed device, such as installed on a road side unit (RSU) and other equipment. The embodiment of the present application does not limit the installation location and function of the radar device.

[0169] It should be understood that radar or radar device may also be called a detector, radar device or radar signal transmitting device, etc. Its working principle is to detect the corresponding target object by sending a signal (or detection signal) and receiving the signal reflected by the target object. The signal transmitted by the radar may be a radar signal, and correspondingly, the received signal reflected by the target object may also be a radar signal.

[0170] For example, radar devices can be applied to ADAS, which uses radar devices to sense the environment around the vehicle to provide assistance in blind spot monitoring, lane change assistance, collision warning, adaptive cruise control, etc. Millimeter wave radar is a type of radar device and is widely used in vehicle autonomous driving. Millimeter wave radar is usually equipped with MIMO antennas to obtain the angle information of surrounding objects through the direction-of-arrival (DOA) estimation method. The DOA estimation method uses the difference in spatial propagation delay of electromagnetic waves between the object and each antenna array element to determine the angle information of the object relative to the radar device. If the radar device determines the distance and angle of the surrounding objects from the radar device, the position of the surrounding objects can be known, thereby achieving assistance in blind spot monitoring, lane change assistance, collision warning, adaptive cruise control, etc.

[0171] If two radar devices use the same resources, or the resources used by two radar devices overlap, then the two radar devices will interfere with each other. Figure 1 In the scenario shown, the resources used by radar devices installed on adjacent vehicles in the same direction of traffic completely overlap or partially overlap, which will continue to interfere with each other.

[0172] In order to solve the above problems, in an embodiment of the present application, the radar device may perform interference detection on the resources currently used by the radar device or the resources available to the radar device before performing target detection. It should be noted that, relative to target detection, interference detection refers to the radar device receiving signals, information or detecting energy on a certain resource, and determining the severity of interference of the radar device on certain resources by other radar devices based on the received signals, information or detected energy. Thus, the radar device can reselect resources for target detection from the available resources based on the interference degree of the radar device performing target detection on certain resources, so as to exclude or avoid interference from other radar devices as much as possible, that is, exclude resources with higher interference degree from the available resources for target detection. For the convenience of description, hereinafter, the interference degree of the radar device performing target detection on certain resources is referred to as the interference degree of certain resources.

[0173] In a possible solution, the present application embodiment provides a target detection method, see Figure 2 , which is a flow chart of the method. Figure 2 The method provided in the illustrated embodiment may be performed by a detection device, such as a radar device. The radar device may be the radar itself, or a chip or integrated circuit inside the radar, or the radar device may also be a communication device connected to the radar. In addition, in the following description, the signals sent by the radar detection device may be radar signals, and the received echo signals may also be radar signals.

[0174] S201. The radar device performs at least one interference detection on multiple first time domain resources, where the multiple first time domain resources are a subset of time domain resources corresponding to first time-frequency resources, and the first time-frequency resources are time-frequency resources of the radar device. Among the multiple first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the at least one interference detection is performed on some of the first time domain resources among the multiple first time-frequency resources.

[0175] Among them, the duration occupied by the first time-frequency resource in the time domain can be considered as the duration from the start to the end of the radar device, and / or the frequency domain resource corresponding to the first time-frequency resource can be a resource that can be supported within the capability range of the radar device. For example, if the bandwidth supported within the capability range of the radar device is 2G bandwidth, then the frequency domain resource corresponding to the first time-frequency resource can be a resource of 2G bandwidth. Alternatively, the frequency domain resource corresponding to the first time-frequency resource can be an available resource of the radar device specified in advance. For example, the radar device can support 2G bandwidth within the capability range, but the frequency domain resource that the radar device can actually use may be part of the bandwidth of the 2G bandwidth specified in advance, then the frequency domain resource corresponding to the first time-frequency resource can be this part of the bandwidth. Alternatively, the frequency domain resource corresponding to the first time-frequency resource can be the intersection of the resource that can be used within the capability range of the radar device and the available resource pre-specified for the radar device. For example, the radar device can support 75GHz-79GHz bandwidth within the capability range, but the frequency domain resource that the radar device can actually use is pre-specified as 78GHz-79GHz bandwidth, then the frequency domain resource corresponding to the first time-frequency resource is 78GHz-79GHz.

[0176] The radar device can perform target detection on the first time-frequency resource, which can be understood as the radar device sending a radar signal on the first time-frequency resource and receiving an echo signal of the radar signal, and determining information such as the distance, angle, and speed of the target object based on the radar signal and the echo signal.

[0177] Currently, the radar device periodically sends a radar signal on the first time-frequency resource. For example, Figure 3 An example of a first time-frequency resource is provided, and the time domain resources corresponding to the first time-frequency resource include multiple first time domain resources and multiple second time domain resources. The time interval between any two adjacent first time domain resources is the same, that is, the first time domain resource is a periodic resource, and similarly, the second time domain resource is also a periodic resource. The radar device periodically sends a radar signal for target detection on the first time-frequency resource, that is, the radar device sends a radar signal on multiple first time domain resources, and the radar device does not send a radar signal for target detection on any second time domain resource. For example, the second time domain resource can be idle. It should be understood that each first time domain resource and each second time domain resource are continuous in the time domain, different first time domain resources are discontinuous in the time domain, and different second time domain resources are also discontinuous in the time domain.

[0178] At present, radar devices detect targets in all first time domain resources without considering interference from other radar devices. However, in practice, there may be multiple radar devices adjacent to the radar device, and the time-frequency resources used by the radar device and the time-frequency resources used by the multiple radar devices may overlap completely or partially. If the target detection cycles of the multiple radar devices are the same as the target detection cycle of the radar device, then the multiple radar devices are likely to interfere with each other.

[0179] In view of this, in the process of performing target detection, the embodiment of the present application performs target detection on part of the first time domain resources among the multiple first time domain resources currently used for target detection, and performs interference listening on another part of the first time domain resources. According to the interference listening result, the interference degree of the candidate resources used by the radar device for target detection is predicted, that is, the degree to which the candidate resources are interfered by other radar devices when used for target detection. It should be understood that the candidate resources are time-frequency resources that are subsequently available to the radar device and have the same characteristics as the time-frequency resources used for target detection, for example, the time domain resources corresponding to the candidate resources are a subset of the time domain resources corresponding to the first time-frequency resources. In this way, the radar device can exclude time-frequency resources with a higher degree of interference from the candidate resources for target detection to reduce or avoid interference between multiple radar devices.

[0180] For example, the radar device may perform target detection in at least one first time domain resource among multiple first time domain resources, and perform interference monitoring in first time domain resources other than the at least one first time domain resource among the multiple first time domain resources.

[0181] For ease of understanding, we use Figure 3 In the example of , the multiple first time domain resources are numbered 11-15 in sequence. In the prior art, the radar device performs target detection on the five first time domain resources numbered 11-15, while in the embodiment of the present application, the radar device may perform target detection on the three first time domain resources numbered, for example, 11, 13, and 14, and perform interference listening on the two first time domain resources numbered 12 and 15. Alternatively, the radar device may perform target detection on the three first time domain resources numbered, for example, 11-13, and perform interference listening on the two first time domain resources numbered 14 and 15. That is, relative to the prior art, some of the time domain resources used by the radar device for target detection in the prior art are not used for target detection, but for interference listening. It should be noted that the embodiment of the present application does not limit which first time domain resource is specifically listened to.

[0182] It should be understood that in order to more accurately predict the interference degree of the candidate resources used by the radar device for target detection, the embodiment of the present application can perform at least one interference monitoring on the first time domain resources other than the at least one first time domain resource among the multiple first time domain resources. In the at least one interference monitoring, the numbers of the at least one first time domain resource monitored each time can be different or the same.

[0183] Furthermore, at least one first time domain resource used for target detection is a non-periodic resource, that is, if at least one first time domain resource includes at least three first time domain resources, there are at least two different time intervals between the at least three first time domain resources, one of which is the time interval between two adjacent first time domain resources, and the other is the time interval between another two adjacent first time domain resources.

[0184] For example, see Figure 3 , there are 5 first time domain resources, and the time intervals of any two adjacent first time domain resources in these 5 first time domain resources are the same. In a possible scenario, the radar device selects the first time domain resources numbered 11, 13 and 15 for target detection, and selects the first time domain resources numbered 12 and 14 for interference listening, that is, the resources used for target detection are periodic resources, and the target detection is performed on the first time domain resources on the odd cycle, and the interference listening is performed on the first time domain resources on the even cycle. It should be understood that in this scenario, the interference listening result reflects the interference degree of resources similar to the time domain resources of the even cycle, and cannot well reflect the interference degree of resources similar to the time domain resources of the odd cycle, that is, it cannot well reflect the interference degree of resources used for target detection. In the embodiment of the present application, at least one first time domain resource used for target detection is a non-periodic resource, which can avoid the occurrence of the above scenario to ensure that the result of the interference listening can more accurately reflect the interference degree of the resources used for target detection.

[0185] Exemplarily, the embodiment of the present application selects three first time domain resources from the five first time domain resources for target detection, for example, the first time domain resources numbered 11, 13 and 14 are selected for target detection, and the first time domain resources numbered 12 and 15 are used for interference listening. The three first time domain resources selected by the radar device are non-periodic resources, that is, the time interval between the two first time domain resources numbered 11 and 13 is different from the time interval between the two first time domain resources numbered 13 and 14. Since the embodiment of the present application arbitrarily selects a first time domain resource from multiple first time domain resources for interference listening, it can be achieved that at least three first time domain resources used for target detection are non-periodic, so the first time domain resources not used for target detection can also be reduced through this solution to ensure the performance of the radar device in target detection as much as possible.

[0186] In an embodiment of the present application, in addition to performing interference listening on the first time domain resource, the radar device may also perform interference listening on the time domain resources other than the first time domain resource in the time domain resources corresponding to the first time-frequency resource. That is, the radar device may also perform interference listening on the above-mentioned multiple second time domain resources, so that the radar device can predict the interference degree of the time-frequency resources corresponding to the time domain resources currently used for target detection, and the interference degree of the time-frequency resources corresponding to the time domain resources not currently used for target detection, so as to more reasonably select the resources for target detection. For example, it can be predicted whether the second time domain resource not used for target detection is more suitable for target detection in the future, that is, whether the interference degree of the second time domain resource not used for target detection is lower. If the interference degree is lower, then the second time domain resource is more suitable for target detection.

[0187] It should be understood that in order to more accurately predict the interference degree of the candidate resources used by the radar device for target detection, the radar device may also perform at least one interference listening in multiple second time domain resources. It should be noted that the multiple second time domain resources may be a subset of the time domain resources corresponding to the first time-frequency resources except the multiple first time domain resources. The radar device may perform interference listening in at least one second time domain resource among the multiple second time domain resources.

[0188] For example, Figure 3 In the example of , the multiple second time domain resources are numbered 21-24 in sequence. In the prior art, the radar device does not perform target detection on the four second time domain resources numbered 21-24, for example, these four second time domain resources may be idle. In the embodiment of the present application, the radar device may perform interference listening on at least one of the four second time domain resources, for example, the radar device may perform interference listening on the four second time domain resources numbered 21-24, or may perform interference listening on the second time domain resources numbered 22 and 23, to predict the degree of interference of the time domain resources having the same characteristics as the second time domain resources. It should be noted that the embodiment of the present application does not limit which second time domain resource is specifically listened to. It should be understood that the embodiment of the present application performs at least one interference listening on at least one second time domain resource, and the number of the at least one second time domain resource listened to each time may be the same or different.

[0189] In order to more accurately predict the interference degree of candidate resources used by the radar device for target detection, the radar device can perform interference monitoring on time-frequency resources with finer granularity.

[0190] Specifically, the radar device may perform interference listening on the frequency domain resources used for target detection, or perform interference listening on the frequency domain resources not used for target detection, or may perform interference listening on both the frequency domain resources used for target detection and the frequency domain resources not used for target detection. In a possible implementation, the frequency domain resources for a target detection performed by the radar device and the frequency domain resources for an interference listening performed by the radar device may overlap, or the frequency domain resources for a target detection performed by the radar device and the frequency domain resources for an interference listening performed by the radar device may not overlap. If the first frequency domain resource for target detection overlaps with the second frequency domain resource for interference listening, the interference degree of the frequency domain resource currently used for target detection can be predicted. If the first frequency domain resource for target detection and the second frequency domain resource for interference listening do not overlap, the interference degree of the frequency domain resource currently not used for target detection can be predicted.

[0191] For example, the radar device can perform target detection on the third time-frequency resource, and the time domain resource corresponding to the third time-frequency resource is a first time domain resource. Assuming that the frequency domain resource corresponding to the third time-frequency resource is the first frequency domain resource, in the prior art, the first frequency domain resource is used for target detection. In the embodiment of the present application, the radar device can perform interference listening on part of the frequency domain resources in the first frequency domain resource. Relatively speaking, that is, the radar device performs interference listening on the fourth time-frequency resource, and the time domain resource corresponding to the fourth time-frequency resource is the same as the time domain resource corresponding to the third time-frequency resource, or the time domain resource corresponding to the fourth time-frequency resource is a subset of the time domain resource corresponding to the third time-frequency resource, and the frequency domain resource corresponding to the fourth time-frequency resource is the second frequency domain resource. If the second frequency domain resource overlaps with the first frequency domain resource, that is, the radar device performs interference listening on part of the frequency domain resources in the first frequency domain resource currently used for target detection. If the second frequency domain resource does not overlap with the first frequency domain resource, that is, the radar device performs interference listening on the frequency domain resource not used for target detection.

[0192] For ease of understanding, an exemplary Figure 4 , Figure 4 This is an example of the third time-frequency resource. It should be understood that the first frequency domain resource is a subset of the frequency domain resource corresponding to the first time-frequency resource. Figure 4 The frequency domain resources corresponding to the first time-frequency resource include 5 sub-frequency domain resources, which are numbered 1-5 in sequence. The frequency domain resources corresponding to the third time-frequency resource, that is, the first frequency domain resource, are sub-frequency domain resources 1-sub-frequency domain resources 4. Sub-frequency domain resources 1-sub-frequency domain resources 4 are used for target detection, and sub-frequency domain resource 5 is not used for target detection. The fourth time-frequency resource can be a subset of the third time-frequency resource. Figure 4Take the fourth time domain resource corresponding to the fourth time-frequency resource as a subset of the first time domain resource as an example. The second frequency domain resource overlaps with the first frequency domain resource, for example, the second frequency domain resource can be sub-frequency domain resource 1 and sub-frequency domain resource 2 ( Figure 4 Taking this as an example), it can also be sub-frequency domain resource 2 and sub-frequency domain resource 4, etc., which are not listed one by one here. When the second frequency domain resource overlaps with the first frequency domain resource, that is, the radar device interferes with the part of the frequency domain resource currently used for target detection.

[0193] For another example, see Figure 5 , Figure 5 is an example of a third time-frequency resource, and Figure 4 Similarly, the first frequency domain resource is a subset of the frequency domain resource corresponding to the first time-frequency resource, and the frequency domain resource corresponding to the first time-frequency resource includes 5 sub-frequency domain resources, which are numbered 1-5 in sequence, and the first frequency domain resource can be sub-frequency domain resource 1-sub-frequency domain resource 4. Sub-frequency domain resources 1-sub-frequency domain resource 4 are used for target detection, and sub-frequency domain resource 5 is not used for target detection. Figure 5 Also take the fourth time domain resource corresponding to the fourth time-frequency resource as a subset of the first time domain resource as an example, Figure 4 The difference is that the second frequency domain resource and the first frequency domain resource do not overlap, that is, the second frequency domain resource can be sub-frequency domain resource 5. Since the time domain resource corresponding to the fourth time-frequency resource is a subset of the time domain resource corresponding to the third time-frequency resource, the radar device can perform multiple interference monitoring in one first time domain resource, and can monitor different frequency domain resources each time, so that more frequency domain resources can be traversed, that is, 5 sub-frequency domain resources can be traversed, and then the interference degree of more frequency domain resources can be determined.

[0194] Relatively speaking, the radar device performs interference listening on the frequency domain resources that are not currently used for target detection. It can be considered that the radar device performs listening on the time-frequency resources where the second time domain resources are located, but the listened frequency domain resources are a subset of the first time-frequency resources, and the listened time domain resources are a subset of the second time domain resources. For example, the radar device can perform interference listening on the fifth time-frequency resources, and the time domain resources corresponding to the fifth time-frequency resources can be a subset of the second time domain resources, and the frequency domain resources corresponding to the fifth time-frequency resources can be a subset of the frequency domain resources corresponding to the first time-frequency resources. For example, for a second time domain resource, assuming that the second time domain resource includes M sub-time domain resources, and the frequency domain resources corresponding to the first time-frequency resources include N sub-frequency domain resources, then the time domain resource corresponding to the fifth time-frequency resource is a sub-time domain resource among the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is a sub-frequency domain resource among the N sub-frequency domain resources.

[0195] Preferably, M and N are mutually prime, and the radar device can traverse all the time-frequency resources that need to be predicted in the shortest time and determine the interference degree of the most time-frequency resources. Figure 6 , is an example of the second time domain resource, Figure 6 Take the example that the second time domain resource includes 9 sub-time domain resources and the frequency domain resource corresponding to the first time-frequency resource includes 5 sub-frequency domain resources. It should be noted that: Figure 6 When M and N are mutually prime, the radar device can traverse the frequency domain resources corresponding to any time-frequency resource where the second time domain resource is located, and all other time domain resources except the second time domain resource in the shortest time, that is, traverse all time-frequency resources that need to be predicted in the shortest time.

[0196] It should be noted that the radar device of the embodiment of the present application can perform interference monitoring on some time domain resources and on some frequency domain resources, and the frequency domain resources corresponding to the time-frequency resources where different time domain resources are located can overlap completely or partially. For example, the frequency domains corresponding to the first time-frequency resources where different first time domain resources are located can overlap completely or partially; for example, the frequency domain resources corresponding to the first time-frequency resources where different second time domain resources are located can overlap completely or partially, and the embodiment of the present application does not limit this.

[0197] It should be noted that, in the embodiments of the present application, the content of interference monitoring performed by the radar device is different in different application scenarios. The interference monitoring of the embodiments of the present invention is described below in conjunction with specific scenarios.

[0198] In one possible scenario, the radar device performs interference monitoring on a certain time-frequency resource, which means that the radar device determines the strength of the signal received on the time-frequency resource. For example, the radar device can obtain the power, energy or spectral density of the signal received on the time-frequency resource, and determine the strength of the signal received on the time-frequency resource based on the obtained power, energy or spectral density. It should be understood that the embodiment of the present application can also obtain other possible parameters for characterizing the strength of the signal, and the embodiment of the present application is not limited to this.

[0199] In another possible scenario, considering that the time-frequency resource can be used by other radar devices, other radar devices can notify the radar device on another time-frequency resource, and other radar devices use the time-frequency resource. For ease of description, the following takes the first radar device and the second radar device as an example. For example, the first radar device itself can use the sixth time-frequency resource, and the second radar device sends indication information on the sixth time-frequency resource. The indication information indicates a certain time-frequency resource used for target detection by the second radar device, such as the seventh time-frequency resource. In this case, the first radar device actually needs to perform interference listening on the seventh time-frequency resource, for example, to obtain the strength of the signal received on the seventh time-frequency resource.

[0200] Considering that the radar signals for target detection sent by different radar devices may be different, for example, the waveform parameters of the radar signals are different. Different radar devices may not know the characteristics of the radar signals sent by each other, for example, the first radar device and the second radar device do not know the characteristics of the radar signals sent by each other. If the first radar device directly monitors the seventh time-frequency resource, it is difficult and may even be unable to directly obtain the signal received on the seventh time-frequency resource, resulting in an inability to determine the strength of the signal received on the seventh time-frequency resource.

[0201] For this reason, in the embodiment of the present application, the first radar device and the second radar device, that is, different radar devices, can agree on the form, parameters or resources of the signal carrying the indication information, so that the first radar device and the second radar device know the characteristics of the indication information sent by each other, and ensure that the first radar device can definitely receive the indication information in the sixth time-frequency resource. In some embodiments, the first radar device performs interference listening on the seventh time-frequency resource, which can be that the first radar device receives the indication information on the sixth time-frequency resource and determines the strength of the signal received on the seventh resource indicated by the indication information. For example, the first radar device can obtain the power, energy or spectral density of the signal received on the seventh time-frequency resource, and determine the strength of the signal received on the seventh time-frequency resource according to the obtained power, energy or spectral density. The indication information can also indicate the parameters of the radar signal sent by the second radar device on the seventh time-frequency resource, such as the pulse width, pulse repetition interval, frequency modulation slope, etc. of the radar signal, so that the first radar device receives the indication information and can directly measure the received signal on the seventh time-frequency resource, reducing the difficulty of interference listening.

[0202] In other embodiments, the first radar device performs interference monitoring on the seventh time-frequency resource, which means that the first radar device performs interference monitoring on the sixth time-frequency resource. For example, the first radar device obtains the strength of the indication information received on the sixth time-frequency resource, and predicts the strength of the signal received by the first radar device on the seventh time-frequency resource based on the strength, such as power, energy or spectral density, instead of directly obtaining the power, energy or spectral density of the signal received on the seventh time-frequency resource. This can reduce the difficulty of detection and improve detection efficiency.

[0203] It should be understood that, in some embodiments, the interference monitoring performed on a certain time-frequency resource each time in the embodiments of the present application may also be a combination of obtaining at least two of the power, energy and spectral density of the signal received on the time-frequency resource.

[0204] In the embodiment of the present application, the radar device can predict the interference degree of the time-frequency resources that can be used by the radar device in the future according to the interference monitoring results by monitoring the interference of multiple first time-domain resources and / or multiple second time-domain resources. If the radar device monitors more time-frequency resources, the computing power of the radar device is required to be higher; if the radar device monitors fewer time-frequency resources, that is, the performance of the radar device in interference monitoring is poor, the radar device may have a lower accuracy in determining the interference degree of certain time-frequency resources according to the monitoring results.

[0205] In order to take into account the performance of the radar device for interference listening and the computing power of the radar device, the embodiment of the present application can determine the duration of interference listening on the first time-frequency resource. It should be understood that the duration is a cumulative duration. For example, the duration can be the sum of the duration of the radar device listening to multiple first time domain resources and the duration of listening to multiple second time domain resources. In the following, the accumulated interference listening duration is also referred to as the interference listening duration.

[0206] It should be understood that the interference listening duration can be determined based on the computing power of the radar device and the interference listening performance requirements of the radar device. Further, considering the fairness of resource selection by multiple radar devices, the interference listening duration can also be determined based on the computing power of the radar device, the interference listening performance requirements of the radar device, and the fairness of resource selection by the radar device. Of course, the interference listening duration can also be determined based on the interference listening performance requirements of the radar device and the fairness of resource selection by the radar device. In order not to affect the performance of the radar device for target detection, also known as target detection performance, the interference listening duration can also be determined by the target detection performance of the radar device and, for example, the fairness of resource selection by the radar device.

[0207] It should be understood that the interference listening duration is relative. For example, the radar device can perform both target detection and interference listening from the beginning of its operation. The duration before the radar device stops working is uncertain. Therefore, in the embodiment of the present application, the interference listening duration refers to the cumulative interference listening duration within the preset duration. The preset duration can be, for example, a cycle for the radar device to perform target detection, or it can be multiple cycles for the radar device to perform target detection. Of course, this is just an example. The preset duration can also be a pre-set duration, for example, the preset duration is 100ms. The following are several conditions that may need to be met in the interference listening duration in the embodiment of the present application:

[0208] 1) Within the first preset time period, the interference detection time period is greater than or equal to the first threshold value, so as to ensure the interference detection performance of the radar device as much as possible.

[0209] The first threshold value can be determined by the interference listening performance requirements of the radar device and the fairness of the radar device in selecting resources. For example, the radar device performs interference listening on multiple first time domain resources and / or multiple second time domain resources. Naturally, the longer the interference listening duration, the better the interference listening performance of the radar device. If the interference listening performance of the radar device is required to be at least greater than a certain threshold, the corresponding shortest interference listening duration is the first duration. Therefore, the interference listening duration can be greater than or equal to the first duration. It should be understood that the first duration can be a pre-set value, such as a value set when the radar device leaves the factory, and the first duration can also be a value defined by the standard, or a value defined or configured by the protocol. Of course, the first duration can be stored in the radar device.

[0210] 2) Within the second preset time period, the interference listening time period is less than or equal to the second threshold value, so as to ensure the target detection performance of the radar device as much as possible.

[0211] The second threshold value can be determined by the target detection performance of the radar device and the fairness of the radar device in selecting resources. For example, when interference monitoring is performed on multiple first time domain resources and / or multiple second time domain resources, the shorter the interference monitoring duration, the fewer resources are used for the calculation and processing of interference monitoring. Relatively speaking, the more time and calculation and processing resources are used for target detection, the higher the target detection performance of the radar device. If the target detection performance of the radar device is required to be at least greater than a certain threshold, the corresponding longest interference monitoring duration is the second duration. Therefore, the interference monitoring duration can be less than or equal to the second duration. It should be understood that, similar to the first duration, the second duration can be a pre-set value, such as the value set when the radar device leaves the factory, which can be stored in the radar device; the second duration can also be a value defined by the standard, or a value defined or configured by the protocol. The second preset duration may be the same as or different from the first preset duration.

[0212] 3) Although the radar device performs interference listening on some time-frequency resources, the interference listening on some time-frequency resources may have little effect on determining the interference degree of some time-frequency resources, so it can be ignored. For example, in order to ensure that the radar device performs sufficient interference listening on some time-frequency resources that can be used for target detection, that is, to ensure that the radar device has sufficient interference listening results on the time-frequency resources, the radar device can accumulate the interference listening time of the time-frequency resources, even if the radar device also performs interference listening on other time-frequency resources, but does not accumulate the interference listening time on other time-frequency resources.

[0213] Exemplarily, within the third preset duration, the radar device may only accumulate the duration of interference listening on part of the frequency domain resources used for target detection, where the part of the frequency domain resources is a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection, that is, the frequency domain resources corresponding to the time-frequency resources for interference listening by the radar device are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection. In this case, the interference listening duration may be greater than or equal to the third duration to ensure that the radar device performs sufficient interference listening on the frequency domain resources used for target detection as much as possible.

[0214] When the frequency domain resources corresponding to the time-frequency resources for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources for target detection, if the duration of the interference monitoring is short, it is impossible to ensure that sufficient interference monitoring results are obtained, then the accuracy of determining the degree of interference of, for example, the eighth time-frequency resource is low, that is, the interference monitoring performance of the radar device is low. In order to ensure the interference monitoring performance of the radar device, the minimum value of the interference monitoring duration may be the third duration. It should be understood that the third duration may be a preset value, such as a value set when the radar device leaves the factory, which may be stored in the radar device; or the third duration may also be a value defined by the standard, or a value defined or configured by the protocol. The third preset duration may be the same as or different from the first preset duration or the second preset duration.

[0215] To understand the determination of the interference listening time, see Figure 7 , is an example of the first time-frequency resource. It should be noted that Figure 7 Take the two cycles of target detection by the radar device as the preset duration as an example, that is, Figure 7 Taking two first time domain resources and two second time domain resources as an example, the duration corresponding to the first time domain resource is 5ms, and the duration corresponding to the second time domain resource is 45ms. It should be understood that one cycle is the sum of the duration corresponding to one first time domain resource and one second time domain resource, that is, 50ms. Figure 7Taking the example of each second time domain resource shown being divided into two third time domain resources in the time domain, these two third time domain resources are third time domain resource A and third time domain resource B respectively. It should be understood that the corresponding durations of the third time domain resource A and the third time domain resource B are both 45ms / 2. Figure 7 Take the example that the frequency domain resources corresponding to the first time domain resources include 5 sub-frequency domain resources.

[0216] Assume that the frequency domain resources used for target detection are sub-frequency domain resource 1 and sub-frequency domain resource 2. The time domain resources for interference monitoring by the radar device are the first time domain resource and the second time domain resource, and the monitored frequency domain resources include sub-frequency domain resource 1 and sub-frequency domain resource 2 corresponding to the first time-frequency resource to which the first time domain resource belongs, and sub-frequency domain resource a1 corresponding to the first time-frequency resource to which the third time domain resource A belongs, and sub-frequency domain resource b1 corresponding to the third time domain resource B. Because in the first cycle, sub-frequency domain resource 1 and sub-frequency domain resource 2 are used for target detection and cannot be used for interference monitoring, the interference monitoring duration in the two cycles is: the interference monitoring duration of the radar device in the first cycle, i.e., 45ms / 2 (a1 and b1), and the interference monitoring duration of the radar device in the second cycle, i.e., the sum of 5ms+45ms / 2 (a1 and b1), i.e., the interference monitoring duration is 50ms in total.

[0217] For another example, the difference from the above example is that the frequency domain resources for interference detection by the radar device include sub-frequency domain resources 1 and sub-frequency domain resources 2 corresponding to the first time-frequency resources belonging to the first time domain resources, and sub-frequency domain resources a1 corresponding to the first time-frequency resources belonging to the third time domain resources A and sub-frequency domain resources a2 corresponding to the third time domain resources B. Then the interference detection duration in two cycles is: the interference detection duration of the radar device in the first cycle, i.e., 45ms (a1 and a2), and the interference detection duration of the radar device in the second cycle, i.e., the sum of 5ms+45ms (a1 and a2), i.e., the interference detection duration is 95ms in total.

[0218] For another example, sub-frequency domain resources 3 and sub-frequency domain resources 4 are not used for target detection, and the radar device performs interference monitoring on the frequency domain resources including sub-frequency domain resources 1 and sub-frequency domain resources 2 corresponding to the first time-frequency resources belonging to the first time domain resources, and sub-frequency domain resources c1 corresponding to the first time-frequency resources belonging to the third time domain resources A and sub-frequency domain resources c2 corresponding to the third time domain resources B. Since sub-frequency domain resources 3 and sub-frequency domain resources 4 are not used for target detection, even if the radar device performs interference monitoring on sub-frequency domain resources c1 and sub-frequency domain resources c2, sub-frequency domain resources c1 and sub-frequency domain resources c2 do not belong to the subset of frequency domain resources used for target detection, so the interference monitoring duration in two cycles is: the interference monitoring duration of the radar device in the second cycle, that is, 5ms.

[0219] 4) is similar to 3), although the radar device performs interference listening on some time-frequency resources, the interference listening on some time-frequency resources may have little effect on determining the interference degree of target detection on the eighth time-frequency resource, for example, so it can be ignored. For example, in order to ensure that the radar device performs sufficient interference listening on certain time-frequency resources that are not currently used for target detection, that is, to ensure that the radar device has sufficient interference listening results on the time-frequency resources, the radar device can accumulate the duration of interference listening on the frequency domain resources that are not used for target detection, even if the radar device interferes on the frequency domain resources used for target detection, but does not accumulate the duration of interference listening on this part of the frequency domain resources.

[0220] Exemplarily, within the fourth preset time duration, the radar device only accumulates the time duration for interference monitoring of part of the frequency domain resources not used for target detection, and this part of the frequency domain resources partially overlaps or does not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection, that is, the frequency domain resources corresponding to the time-frequency resources for interference monitoring partially overlap or do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection.

[0221] If the radar device's interference monitoring duration for frequency domain resources that are not currently used for target detection is short, it is unable to obtain sufficient interference monitoring results, and the radar device's interference monitoring performance is low. Therefore, in order to ensure the radar device's interference monitoring performance, in this case, the minimum value of the interference monitoring duration may be the fourth duration, so as to ensure that the radar device performs sufficient interference monitoring on frequency domain resources that are not currently used for target detection. It should be understood that the fourth duration may be a preset value, such as a value set when the radar device leaves the factory, which may be stored in the radar device; or the fourth duration may also be a value defined by the standard, or a value defined or configured by the protocol. The fourth preset duration may be the same as or different from the first preset duration, the second preset duration, or the third preset duration.

[0222] For ease of understanding, we use Figure 7In the example shown, it is assumed that the frequency domain resources used for target detection are sub-frequency domain resources 1 and sub-frequency domain resources 2, and the frequency domain resources used for interference monitoring are sub-frequency domain resources 3 and sub-frequency domain resources 4. The time domain resources for interference monitoring by the radar device are the first time domain resources and the second time domain resources, and the monitored frequency domain resources include sub-frequency domain resources 3 and sub-frequency domain resources 4 corresponding to the first time-frequency resources to which the first time domain resources belong, and sub-frequency domain resources a1 corresponding to the first time-frequency resources to which the third time domain resources A belong, and sub-frequency domain resources b1 corresponding to the third time domain resources B. Because in the first cycle, sub-frequency domain resources 1 and sub-frequency domain resources 2 are used for target detection and cannot be used for interference monitoring, the interference monitoring of the first time domain resources in the first cycle is not accumulated. Although sub-frequency domain resources 3 and sub-frequency domain resources 4 are monitored in the first cycle and the second cycle, the interference monitoring of sub-frequency domain resources 3 and sub-frequency domain resources 4 does not overlap with sub-frequency domain resources 1 and sub-frequency domain resources 2 at all, so they do not need to be accumulated. That is, the interference monitoring duration in the two cycles is: the interference monitoring duration of the radar device on the first time domain resources in the second cycle, that is, 5ms.

[0223] For another example, the difference from the above example is that the time domain resources for interference monitoring by the radar device are the first time domain resources and the second time domain resources, and the monitored frequency domain resources include the sub-frequency domain resources 3 and sub-frequency domain resources 4 corresponding to the first time-frequency resources to which the first time domain resources belong, and the sub-frequency domain resources d1 corresponding to the first time-frequency resources to which the third time domain resources A belong, and the sub-frequency domain resources d2 corresponding to the third time domain resources B. Because in the first cycle, sub-frequency domain resources 1 and sub-frequency domain resources 2 are used for target detection and cannot be used for interference monitoring, the interference monitoring of the first time domain resources in the first cycle is not accumulated, and because the sub-frequency domain resources d1 and sub-frequency domain resources d2 belong to the sub-frequency domain resources 4, the interference monitoring duration in these two cycles is: the interference monitoring duration of the radar device for the first time domain resources in the second cycle, i.e., 5ms, and the interference monitoring duration of the radar device for the second time domain resources in the first cycle, i.e., 5ms, and the interference monitoring duration of the radar device corresponding to the second time domain resources in the second cycle, i.e., 45ms, for a total of 95ms.

[0224] For another example, the time domain resources for interference monitoring by the radar device are the first time domain resources and the second time domain resources, and the monitored frequency domain resources include the sub-frequency domain resources 2 and sub-frequency domain resources 3 corresponding to the first time-frequency resources to which the first time domain resources belong, and the sub-frequency domain resources b1 corresponding to the first time-frequency resources to which the third time domain resources A belong, and the sub-frequency domain resources c1 corresponding to the third time domain resources A. Because the sub-frequency domain resources 2 and sub-frequency domain resources 3 for interference monitoring partially overlap with the sub-frequency domain resources 1 and sub-frequency domain resources 2 used for target detection, in this case, the interference monitoring duration in two cycles is: the monitoring duration of the sub-frequency domain resources 3 in the first cycle, that is, 5ms, and the monitoring duration of the sub-frequency domain resources c1 in the first cycle, that is, 45ms / 2, and the monitoring duration of the sub-frequency domain resources 3 and sub-frequency domain resources 2 in the second cycle, that is, 5ms, and the monitoring duration of the sub-frequency domain resources c1 and sub-frequency domain resources b1 in the second cycle, that is, 45ms / 2.

[0225] 5) In order to ensure that the radar device performs sufficient interference monitoring on certain time domain resources, the radar device can accumulate the interference monitoring time on certain time domain resources. Even if the radar device monitors other time domain resources, it does not accumulate the interference monitoring time on other time domain resources.

[0226] Exemplarily, within the fifth preset duration, the radar device can accumulate the duration of interference monitoring of the time domain resources used for target detection, that is, the time domain resources corresponding to the time-frequency resources of the interference monitoring are a subset of the first time domain resources. If the cumulative duration of the radar device's interference monitoring of the time domain resources used for target detection is short, then the interference monitoring performance of the radar device is poor, so in order to ensure the interference monitoring performance of the radar device, the accumulated shortest interference monitoring duration can be the fifth duration. It should be understood that the fifth duration can be a preset value, such as a value set when the radar device leaves the factory, which can be stored in the radar device; or the fifth duration can also be a value defined by the standard, or a value defined or configured by the protocol. The fifth preset duration may be the same as or different from the first preset duration, the second preset duration, the third preset duration, or the fourth preset duration.

[0227] For ease of understanding, we use Figure 7In the example shown, it is assumed that the frequency domain resources used for target detection are sub-frequency domain resources 1 and sub-frequency domain resources 2, and the frequency domain resources used for interference monitoring are sub-frequency domain resources 3 and sub-frequency domain resources 4. The time domain resources for interference monitoring by the radar device are the first time domain resources and the second time domain resources, and the monitored frequency domain resources include sub-frequency domain resources 1 and sub-frequency domain resources 2 corresponding to the first time-frequency resources belonging to the first time domain resources, and sub-frequency domain resources a1 corresponding to the first time-frequency resources belonging to the third time domain resources A and sub-frequency domain resources b1 corresponding to the third time domain resources A. Because in the first cycle, sub-frequency domain resources 1 and sub-frequency domain resources 2 are used for target detection and cannot be used for interference monitoring, the interference monitoring of the first time domain resources in the first cycle is not accumulated. In this case, the interference monitoring on the frequency domain resources is not concerned, so the interference monitoring of sub-frequency domain resources a1 and sub-frequency domain resources b1 is not accumulated. Therefore, the interference monitoring duration of the radar device in these two cycles is 5ms of the second cycle. It should be understood that if the radar device monitors sub-frequency domain resources 3 and sub-frequency domain resources 4, then the interference listening duration of the radar device in these two periods is 0, that is, the interference listening duration of sub-frequency domain resources 3 and sub-frequency domain resources 4 will not be accumulated.

[0228] 6) Considering an application scenario, the radar device has the ability to switch frequency domain resources, but cannot switch time domain resources. In this case, it is more desirable to determine the degree of interference with the frequency domain resources for target detection. In order to ensure that the radar performs sufficient interference listening on certain frequency domain resources, within the sixth preset time length, the interference listening time length that meets the preset conditions is greater than or equal to the sixth time length. For example, the preset condition is that the time domain resources corresponding to the time-frequency resources used for interference listening are a subset of the time domain resources corresponding to the first time-frequency resources.

[0229] Exemplarily, within the sixth preset time length, the radar device may accumulate the time-frequency resources corresponding to the subset of the time-domain resources corresponding to the first time-frequency resources. Figure 7In the example shown, it is assumed that the frequency domain resources used for target detection are sub-frequency domain resources 1 and sub-frequency domain resources 2, and the frequency domain resources used for interference monitoring are sub-frequency domain resources 3 and sub-frequency domain resources 4. The time domain resources for interference monitoring by the radar device are the first time domain resources and the second time domain resources, and the monitored frequency domain resources include sub-frequency domain resources 1 and sub-frequency domain resources 2 corresponding to the first time-frequency resources belonging to the first time domain resources, and sub-frequency domain resources a1 corresponding to the first time-frequency resources belonging to the third time domain resources A and sub-frequency domain resources b2 corresponding to the third time domain resources B, and sub-frequency domain resources c2 corresponding to the first time-frequency resources belonging to the third time domain resources B and sub-frequency domain resources d2 corresponding to the first time-frequency resources belonging to the third time domain resources. This is to hope to interfere with more sub-frequency domain resources. It should be understood that the interference listening duration of the radar device in these two cycles is: the listening duration of the radar device on sub-frequency domain resources 3 and sub-frequency domain resources 4 in the first cycle, that is, 5ms, the listening duration of the radar device on sub-frequency domain resources a1 and b2 in the first cycle, that is, 45ms, and the listening duration of the radar device on sub-frequency domain resources 3 and sub-frequency domain resources 4 in the second cycle, that is, 5ms, and the listening duration of the radar device on sub-frequency domain resources c2 and sub-frequency domain resources d2 in the second cycle, that is, the sum of 45ms / 2, which is 55ms+45ms / 2.

[0230] It should be understood that the sixth duration may be a preset value, such as a value set when the radar device leaves the factory, which may be stored in the radar device; or the sixth duration may be a value defined by a standard, or a value defined or configured by a protocol. The sixth preset duration may also be defined by a standard or a protocol, and the sixth preset duration may be the same as or different from the first preset duration, the second preset duration, the third preset duration, the fourth preset duration, or the fifth preset duration.

[0231] 7) If the radar device performs target detection for a long time, in order to more accurately determine the degree of interference of certain time-frequency resources, the radar device performs interference listening in the time other than the time for target detection to ensure that more time-frequency resources are listened. That is, the time domain resources corresponding to the first time-frequency resource, except the time domain resources used for target detection, are all used for interference listening. In order to ensure that more time-frequency resources are listened, within the seventh preset time length, it is necessary to meet the requirement that the accumulated time length used for target detection is less than or equal to the seventh time length. It should be understood that the seventh time length can be a preset value, such as the value set when the radar device leaves the factory, which can be stored in the radar device; or the seventh time length can also be a value defined by the standard, or a value defined or configured by the protocol. The seventh preset time length can also be defined by the standard or protocol, and the seventh preset time length can be the same as or different from the first preset time length, the second preset time length, the third preset time length, the fourth preset time length, the fifth preset time length, or the sixth preset time length.

[0232] It should be noted that the interference monitoring duration may also need to satisfy a combination of multiple preset conditions from the first preset condition to the seventh preset condition mentioned above.

[0233] S202: The radar device determines a second time-frequency resource in the first time-frequency resource according to a result of at least one interference monitoring, and the second time-frequency resource is used for target detection.

[0234] The monitoring result can be considered as the interfered time-frequency resource among the monitored time-frequency resources. If the power, energy or spectral density of the signal received on a certain time-frequency resource is greater than a certain threshold, it can be considered that the time-frequency resource is interfered, that is, the time-frequency resource is an interfered time-frequency resource. In other words, the power, energy or spectral density of the signal received on the interfered time-frequency resource is greater than a certain threshold. The threshold can be set when the radar device leaves the factory, or defined by the standard, and the embodiments of the present application are not limited to this.

[0235] It should be understood that the embodiment of the present application is intended to perform interference monitoring on some time-frequency resources and predict the interference degree of other time-frequency resources according to the results of the interference monitoring. Then the other time-frequency resources should have the same certain characteristics as the monitored time-frequency resources, that is, the other time-frequency resources have the aforementioned first corresponding relationship with the monitored time-frequency resources. For ease of description, the monitored time-frequency resources are referred to as the eighth time-frequency resources, and the other time-frequency resources are referred to as the ninth time-frequency resources, that is, the time-frequency resources for which the interference degree needs to be predicted are referred to as the ninth time-frequency resources.

[0236] As an implementable manner, the radar device may determine the interference degree of the ninth time-frequency resource of the radar device according to one or more eighth time-frequency resources that have been listened to in the first time-frequency resources.

[0237] For example, the radar device can obtain the power, energy or spectral density of the signal received on an eighth time-frequency resource to determine the interference degree of the eighth time-frequency resource. If the power, energy or spectral density of the signal received on the eighth time-frequency resource is greater than the first threshold, it can be determined that the interference degree of the eighth time-frequency resource is high, and it can be determined that the interference degree of the ninth time-frequency resource is also high. Alternatively, the radar device can obtain the average value of the power, energy or spectral density of the signal received on each eighth time-frequency resource in multiple eighth time-frequency resources, so as to determine the interference degree of these multiple eighth time-frequency resources. If the interference degree of these multiple eighth time-frequency resources is high, it can be determined that the interference degree of the ninth time-frequency resource is also high.

[0238] As another achievable method, the radar device can determine the degree of interference of the ninth time-frequency resource based on the number of interfered eighth time-frequency resources among the multiple eighth time-frequency resources that have been listened to or the proportion of the interfered eighth time-frequency resources in the eighth time-frequency resources that have been listened to.

[0239] For example, the radar device can perform interference monitoring on 10 eighth time-frequency resources respectively, that is, obtain the power, energy or spectral density of the signals received on these 10 eighth time-frequency resources respectively. If the power, energy or spectral density of the signal received by the radar device on a certain eighth time-frequency resource is greater than a certain threshold, then the eighth time-frequency resource is the interfered eighth time-frequency resource. If the number of interfered eighth time-frequency resources among the 10 monitored eighth time-frequency resources is large, or the proportion of interfered eighth time-frequency resources in these 10 eighth time-frequency resources is large, then it can be considered that the interference degree of the ninth time-frequency resource is high, that is, the ninth time-frequency resource is easily interfered.

[0240] Since the listening result of each interference listening of the radar device, that is, the interfered time-frequency resource may be different, in the embodiment of the present application, the radar device does not need to determine the proportion of the interfered eighth time-frequency resource in the listened eighth time-frequency resource after each interference listening, so as to minimize the calculation amount of the radar device. In a possible implementation, the radar device can determine the proportion of the interfered eighth time-frequency resource in the listened eighth time-frequency resource when the number of interference listening reaches a certain threshold; or the radar device can also determine the proportion of the interfered eighth time-frequency resource in the listened eighth time-frequency resource when the number of interference listening reaches a certain threshold and the number of interference of one or some eighth time-frequency resources reaches a certain preset threshold; or the radar device can also determine the proportion of the interfered eighth time-frequency resource in the listened eighth time-frequency resource when the number of interference listening reaches a certain threshold and the number of interference of one or some eighth time-frequency resources reaches a certain preset threshold.

[0241] After the radar device determines the interference degree of the ninth time-frequency resource of the radar device according to one or more eighth time-frequency resources that have been listened to in the first time-frequency resource, the second time-frequency resource for target detection can be determined based on the interference degree. That is, the resources with a greater degree of interference among the candidate resources used for target detection by the radar device are excluded, or the resources with a lower degree of interference are selected to minimize or avoid interference between radar devices. It should be understood that the second time-frequency resource can be a subset of the ninth time-frequency resource, or the second time-frequency resource overlaps or does not overlap with the ninth time-frequency resource.

[0242] Specifically, the radar device triggers the determination of the second time-frequency resource when one or more combinations of the following trigger conditions are met. It should be understood that when the radar device triggers the determination of the second time-frequency resource, it can be considered that the radar device meets the trigger condition, generates a trigger instruction, and starts to determine the second time-frequency resource based on the trigger instruction; it can also be considered that the radar device has been determining the second time-frequency resource before performing target detection, until the trigger condition is met, and the radar device re-determines the second time-frequency resource without generating a trigger instruction. The radar device triggers the determination of the second time-frequency resource, which can also be considered that the radar device switches the time-frequency resource used for target detection.

[0243] In the first example, the ninth time-frequency resource belongs to the resource currently used for target detection in the first time-frequency resource, and the trigger condition may be that the interference degree of the ninth time-frequency resource is higher than, for example, the second threshold. In other words, the interference degree of the ninth time-frequency resource currently used for target detection is greater than or equal to the second threshold, and the radar device may re-determine the second time-frequency resource. For example, the selected second time-frequency resource may not include the ninth time-frequency resource, that is, the time-frequency resource with a higher interference degree is excluded as much as possible to reduce the interference between radar devices.

[0244] In the second example, the ninth time-frequency resource does not belong to the resources currently used for target detection in the first time-frequency resource, and the trigger condition may be that the interference degree of the ninth time-frequency resource is lower than the third threshold. In other words, there are time-frequency resources with less interference among the time-frequency resources that are not currently used for target detection, that is, there are time-frequency resources that are more suitable for target detection. At this time, the radar device can re-determine the second time-frequency resource, for example, select the second time-frequency resource from the ninth time-frequency resource, so as to reduce or avoid interference between radar devices.

[0245] It should be understood that the aforementioned second threshold and third threshold can both be a pre-set value, such as a factory setting of the radar device, and can be stored in the radar device; of course, the second threshold and the third threshold can also be values ​​defined by the standard, or values ​​defined by the protocol, or configured values, and the embodiments of the present application are not limited to this.

[0246] In some embodiments, the embodiments of the present application may also predefine a trigger condition, and if the radar device meets the trigger condition, the second time-frequency resource is determined. The predefined trigger condition may include one or more combinations of the following.

[0247] In a third example, the trigger condition may be that the duration or number of times the first time domain resource is used for target detection is greater than or equal to a fourth threshold, that is, the radar device determines that the duration or number of times the first time domain resource is used for target detection is greater than or equal to the fourth threshold.

[0248] If the radar device uses the first time domain resource for a short time or a few times, that is, the radar device uses a small amount of the first time domain resource, it can be considered that the stability of the time domain resource used by the radar device for target detection is poor and not universal. Then other radar devices predict that the degree to which certain time-frequency resources are interfered by the radar device is also unstable, or even unable to predict the degree to which certain time-frequency resources are interfered by the radar device. Therefore, the trigger condition can ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the degree to which the time-frequency resources used for target detection are interfered by the radar device. At the same time, the trigger condition can also ensure the fairness of resource use by each radar device, so as to avoid a radar device occupying relatively high-quality resources for a long time, which causes other radar devices to be unable to use the high-quality resources and can only use relatively low-quality resources.

[0249] It should be understood that when the radar device meets the trigger condition, in addition to determining the time-frequency resources used by the radar device for target detection, the duration or number of times the first time domain resource used for target detection is used is set to 0, that is, the duration or number of times the first time domain resource is used for target detection is calculated from 0 to determine whether the trigger condition is met before the radar device switches to the time-frequency resources used for target detection next time.

[0250] In a fourth example, the trigger condition may be that the duration or number of times the first time domain resource used for target detection is used is greater than or equal to the fourth threshold, and the first value is greater than or equal to the fifth threshold. Alternatively, it can be considered that when the duration or number of times the radar device uses the first time domain resource for target detection is greater than or equal to the fourth threshold, the trigger condition is that the first value is greater than or equal to the fifth threshold. The first value may be a random number generated by the radar device.

[0251] For example, when the radar device determines that the duration or number of times the first time domain resource is used for target detection is greater than or equal to the fourth threshold, it can generate a random number or obtain the value of the random number, that is, the first value. If the first value is greater than or equal to the fifth threshold, the radar device determines the second time-frequency resource. That is, when the duration or number of times the first time domain resource used for target detection is used is greater than or equal to the fourth threshold, whether the radar device switches the time-frequency resource used for target detection can be determined by the size of the random number. It should be noted that the aforementioned fourth threshold and fifth threshold can both be a pre-set value, such as a value set when the radar device leaves the factory, which can be stored in the radar device; of course, the fourth threshold and the fifth threshold can also be values ​​defined by the standard, or values ​​defined by the protocol, or configured values, and the embodiments of the present application do not limit this.

[0252] This trigger condition can further increase the stability of the time-frequency resources used by the radar device for target detection on the basis of ensuring that each radar device uses resources fairly, so as to ensure the accuracy of the degree to which the time-frequency resources used for target detection are interfered by the radar device in the prediction of other radar devices. It should be understood that when the radar device meets this trigger condition, in addition to determining the time-frequency resources used by the radar device for target detection, the duration or number of times the first time domain resource used for target detection is used is set to 0, that is, the duration or number of times the first time domain resource is used for target detection is calculated from 0, so as to determine whether the trigger condition is met before the radar device switches the time-frequency resources used for target detection next time.

[0253] In an embodiment of the present application, the radar device may update the duration or number of times of continuous use of a certain time-frequency resource to ensure that different radar devices continuously use a certain time-frequency resource for different durations or times, that is, to ensure that different radar devices switch the time-frequency resources for target detection at different times, thereby avoiding multiple radar devices switching the time-frequency resources for target detection at the same time, or interfering with each other. For example, the fourth threshold may be generated by the radar device each time the second time-frequency resource is determined; or the fourth threshold may be a new fourth threshold generated by the radar device when the duration or number of times the first time domain resource used for target detection is greater than or equal to the set fourth threshold. It should be understood that the radar device generates a new fourth threshold and updates the original fourth threshold to the new fourth threshold; or the fourth threshold may be when the duration or number of times the first time domain resource is used is greater than or equal to the set fourth threshold, and the radar device determines the second time-frequency resource, the radar device generates a new fourth threshold and updates the original fourth threshold to the new fourth threshold.

[0254] It should be understood that the new fourth threshold generated by the radar device may be the same as or different from the previous fourth threshold.

[0255] In the fifth example, the trigger condition is that the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold. Similar to the first example, this trigger condition can try to ensure that the time-frequency resources used by the radar device for target detection are relatively stable, so that other radar devices can predict the degree to which the time-frequency resources used for target detection are interfered by the radar device. At the same time, the fairness of the use of resources by each radar device can be guaranteed to avoid a radar device occupying relatively high-quality resources for a long time, which causes other radar devices to be unable to use the high-quality resources and can only use relatively low-quality resources.

[0256] It should be understood that when the radar device meets the trigger condition, in addition to determining the time-frequency resources used by the radar device for target detection, the accumulated number of first time domain resources used by the radar device is set to 0. That is, after the trigger condition is met, the accumulated number of first time domain resources used is counted from 0 to determine whether the trigger condition is met before the radar device switches to the time-frequency resources used for target detection next time.

[0257] In the sixth example, the trigger condition is that the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, and the second value is greater than or equal to the seventh threshold. Alternatively, it can be considered that when the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, the trigger condition is that the second value is greater than or equal to the seventh threshold. The second value may be a random number generated by the radar device.

[0258] For example, when the radar device determines that the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, it can generate a random number or obtain the value of the random number, that is, the second value. If the second value is greater than or equal to the seventh threshold, the radar device determines the second time-frequency resource. That is, when the number of first time domain resources used by the radar device is greater than or equal to the sixth threshold, whether the radar device switches the time-frequency resources used for target detection can be determined by the size of the random number. The aforementioned sixth threshold and seventh threshold can both be a pre-set value, such as a value set when the radar device leaves the factory, which can be stored in the radar device; of course, it can also be a value defined by the standard, or a value defined by the protocol, or a configured value, which is not limited in the embodiments of the present application.

[0259] It should be understood that when the radar device meets the trigger condition, in addition to determining the time-frequency resources used by the radar device for target detection, the cumulative number of first time domain resources used is set to 0. That is, after the trigger condition is met, the cumulative number of first time domain resources used is counted from 0 to determine whether the trigger condition is met before the radar device switches to the time-frequency resources used for target detection next time.

[0260] In an embodiment of the present application, the radar device may update the duration or number of times of continuous use of a certain time-frequency resource to ensure that different radar devices continuously use a certain time-frequency resource for different durations or times, that is, different radar devices switch the time-frequency resources for target detection at different times, thereby trying to avoid multiple radar devices switching the time-frequency resources for target detection at the same time, which may interfere with each other. For example, the sixth threshold may be generated each time the radar device determines the second time domain resource; or the sixth threshold may be that when the cumulative number of first time domain resources used is greater than or equal to the set sixth threshold, the radar device generates a new sixth threshold and updates the original sixth threshold to the new sixth threshold; or the sixth threshold may be that when the cumulative number of first time domain resources used is greater than or equal to the set sixth threshold, and the radar device determines the second time-frequency resource, the radar device generates a new sixth threshold and updates the original sixth threshold to the new sixth threshold.

[0261] It should be understood that the new sixth threshold generated by the radar device may be the same as or different from the previous sixth threshold.

[0262] The radar device determines the second time-frequency resource and can perform target detection in the second time-frequency resource. For example, the radar device sends a radar signal in the second time-frequency resource and receives an echo signal from the target object. According to the sent radar signal and the received echo signal, the distance, angle, speed and other information of the target object relative to the radar device can be determined, thereby achieving the purpose of target detection.

[0263] In an embodiment of the present application, before performing target detection, the radar device may perform interference monitoring on the time-frequency resources used by the radar device or the time-frequency resources available to the radar device, so as to predict the degree of interference of the time-frequency resources subsequently used for target detection based on the results of the interference monitoring, and thereby reselect the time-frequency resources used for target detection from the available time-frequency resources based on the degree of interference, that is, exclude the time-frequency resources with a higher degree of interference, thereby eliminating interference from other radar devices.

[0264] It should be noted that, in this article, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of related objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects before and after are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, ab, ac, bc or abc, where a, b, c can be single or plural.

[0265] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish between multiple objects and are not used to limit the order, timing, priority or importance of the multiple objects.

[0266] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the radar device. The following introduces the device used to implement the above method in the embodiment of the present application in conjunction with the accompanying drawings. Therefore, the above content can be used in subsequent embodiments, and the repeated content will not be repeated.

[0267] It is understandable that, in order to realize the above functions, each device, such as a radar device, includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 exceed the scope of the embodiments of the present application.

[0268] The embodiment of the present application can divide the radar device into functional modules. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0269] For example, when the various functional modules of the radar device are divided in an integrated manner, Figure 8 A possible structural schematic diagram of the radar device involved in the above-mentioned embodiments of the present application is shown. The radar device 800 may include a processing unit 801 and a transceiver unit 802. Further optionally, a storage unit 803 may be included, and the storage unit 803 may be used to store instructions (codes or programs) and / or data. The transceiver unit 802 and the processing unit 801 may be coupled with the storage unit 803. For example, the processing unit 801 may read the instructions (codes or programs) and / or data in the storage unit 803 to implement the corresponding method. The above-mentioned units may be independently arranged or partially or fully integrated. It should be noted that the transceiver unit 802 may be a unit with integrated transceiver functions, or may include independent sending units and receiving units, which respectively perform sending and receiving functions.

[0270] In some possible implementations, the radar device 800 can implement the behavior and functions of the radar device in the above method embodiments. For example, the radar device 800 can be the above radar device, or a component (such as a chip or circuit) used in the above radar device. The transceiver unit 802 can be used to execute Figure 2 In the embodiment shown, all receiving or transmitting operations performed by the radar device, such as Figure 2 S201 in the embodiment shown and / or other processes for supporting the technology described herein. Wherein, the processing unit 801 is used to execute the following Figure 2 In the embodiment shown, all operations except the transmitting and receiving operations performed by the radar device are as follows, for example Figure 2 S202 in the illustrated embodiment, and / or other processes for supporting the techniques described herein.

[0271] In some embodiments, the transceiver unit 802 is used to perform at least one interference monitoring on multiple first time domain resources, and the processing unit 801 is used to determine the second time-frequency resource in the first time-frequency resources based on the result of the at least one interference monitoring, and the second time-frequency resource is used for target detection; wherein the multiple first time domain resources are a subset of the time domain resources corresponding to the first time-frequency resources, the first time-frequency resources are the time-frequency resources of the first detection device, and among the multiple first time domain resources, the time interval between any two adjacent first time domain resources is the same, and the interference monitoring is performed on some of the first time domain resources in the multiple first time domain resources.

[0272] In one possible design, at least one first time domain resource used for at least one target detection does not overlap with part of the first time domain resources used for at least one interference listening; or, at least one first time domain resource used for at least one target detection overlaps with part of the first time domain resources used for at least one interference listening.

[0273] In one possible design, at least one first time domain resource for target detection includes at least three first time domain resources, the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between two adjacent first time domain resources in the second group of first time domain resources.

[0274] In one possible design, the transceiver unit 802 is further configured to:

[0275] At least one interference monitoring is performed on multiple second time domain resources, where the multiple second time domain resources are a subset of time domain resources in the time domain resources corresponding to the first time-frequency resources except for the multiple first time domain resources, and the at least one interference monitoring is performed on at least one second time domain resource among the multiple second time domain resources.

[0276] In one possible design, the duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

[0277] In a possible design, each of the second time domain resources includes M sub-time domain resources, the frequency domain resources corresponding to the first time-frequency resources include N sub-frequency domain resources, the M and the N are mutually prime, and the transceiver unit 802 is specifically used to:

[0278] Interference monitoring is performed on a fifth time-frequency resource, where the time domain resource corresponding to the fifth time-frequency resource is one of the M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of the N sub-frequency domain resources.

[0279] In one possible design, at least one of the following conditions is met:

[0280] At least one of the following conditions is met:

[0281] Within the preset time period, the accumulated interference listening time period is greater than the first time period; or,

[0282] Within the preset time period, the accumulated interference listening time period is less than the second time period; or,

[0283] Within the preset time period, the time period used for target detection is less than the third time period; or,

[0284] Within the preset time period, the cumulative interference listening time period that meets the preset condition is greater than the fourth time period, where the preset condition includes one or more combinations of the following conditions:

[0285] The frequency domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0286] The frequency domain resources corresponding to the time-frequency resources used for interference monitoring partially overlap or completely do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection; or,

[0287] The time domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the multiple first time domain resources; or,

[0288] The time domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the time domain resources corresponding to the first time-frequency resources.

[0289] In a possible design, the processing unit 801 is specifically configured to:

[0290] determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for at least one interference sensing; or,

[0291] Indication information is received on the sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for the second detection device to perform target detection, and to determine the power, energy or spectral density of the signal received on the seventh time-frequency resource.

[0292] In a possible design, the processing unit 801 is specifically configured to:

[0293] receiving a signal on a seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or,

[0294] The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

[0295] In a possible design, the processing unit 801 is specifically configured to:

[0296] Determining the interference degree of the ninth time-frequency resource according to the listening result of an eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource;

[0297] According to the interference degree of the ninth time-frequency resource, a second time-frequency resource is determined, wherein the second time-frequency resource includes at least one ninth time-frequency resource; or the second time-frequency resource does not include the ninth time-frequency resource.

[0298] In a possible design, the processing unit 801 is specifically configured to:

[0299] Determine the interference degree of the ninth time-frequency resource according to the average value of the power, energy or spectral density of the signals received on the plurality of eighth time-frequency resources; or,

[0300] The interference degree of the ninth time-frequency resource is determined based on the number of at least one eighth time-frequency resource among multiple eighth time-frequency resources whose interference degree is greater than a preset threshold or the proportion of at least one eighth time-frequency resource among multiple eighth time-frequency resources whose interference degree is greater than a preset threshold.

[0301] In one possible design, the processing unit 801 is further configured to:

[0302] When at least one of the following trigger conditions is met, determining the second time-frequency resource:

[0303] The ninth time-frequency resource belongs to a resource used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is higher than the first threshold; or,

[0304] The ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or,

[0305] The duration or number of first time domain resources used for target detection in the plurality of first time domain resources is greater than or equal to a third threshold; or,

[0306] The duration or number of first time domain resources used for target detection in multiple first time domain resources is greater than or equal to a third threshold, and a first value is acquired, wherein the trigger condition is that the first value is greater than or equal to a fourth threshold; or

[0307] The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold; or,

[0308] The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is obtained, and the trigger condition is that the second value is greater than or equal to a sixth threshold.

[0309] In one possible design, the processing unit 801 is further configured to:

[0310] The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of first time domain resources used for target detection in multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

[0311] In one possible design, the processing unit 801 is further configured to:

[0312] The second value is greater than or equal to the sixth threshold, and the fifth threshold is updated; or, the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, and the fifth threshold is updated.

[0313] It should be understood that the processing unit 801 in the embodiment of the present application can be implemented by a processor or a processor-related circuit component, and the transceiver unit 802 can be implemented by a transceiver or a transceiver-related circuit component or a communication interface. It should be understood that the transceiver may include, for example, a transmitter and a receiver, and the processor, the transmitter and the receiver are coupled to each other, wherein the transmitter and the receiver are implemented, for example, by an antenna, a feeder, and a codec in a radar device, or, if the radar device is a chip set in a detection device, then the transmitter and the receiver are, for example, a communication interface in the chip, and the communication interface is connected to a radio frequency transceiver component in the detection device to realize the transmission and reception of information through the radio frequency transceiver component.

[0314] For example, see Fig. 9, is another possible structural diagram of the communication device 900 provided in the embodiment of the present application. The communication device 900 may include a processor 901, a transmitter 902 and a receiver 903. The functions thereof may be respectively Figure 8 The specific functions of the processing unit 801 and the transceiver unit 802 shown correspond to each other and will not be described in detail here. Optionally, the communication device may further include a memory 904 for storing program instructions and / or data for the processor 901 to read.

[0315] See also Fig.10 , which is another possible structural diagram of the communication device 1000 provided in an embodiment of the present application. The communication device 1000 may be the radar device itself, or may be a chip or circuit that can perform the functions of the radar device, for example, the chip or circuit may be arranged in the radar device. The communication device 1000 may include a processor 1001 (for example, the processing unit 801 may be implemented by the processor 901, and the processor 901 and the processor 1001 may be, for example, the same component) and an interface circuit 1002 (for example, the transceiver unit 802 may be implemented by the interface circuit 1002, and the transmitter 902 and the receiver 903 may be, for example, the same component as the interface circuit 1002). The processor 1001 may enable the communication device 1000 to implement Figure 2 The steps performed by the radar device in the method provided in the embodiment shown. Optionally, the communication device 1000 may also include a memory 1003, and the memory 1003 may be used to store instructions. The processor 1001 executes the instructions stored in the memory 1003, so that the communication device 1000 implements Figure 2 The illustrated embodiment provides steps performed by a radar device in the method.

[0316] Furthermore, the processor 1001, the interface circuit 1002 and the memory 1003 can communicate with each other through the internal connection path to transmit control and / or data signals. The memory 1003 is used to store computer programs. The processor 1001 can call and run the computer program from the memory 1003 to control the interface circuit 1002 to receive signals or send signals to complete Figure 2 The steps performed by the radar device in the method provided in the illustrated embodiment. The memory 1003 may be integrated in the processor 1001 or may be provided separately from the processor 1001 .

[0317] Optionally, if the communication apparatus 1000 is a device, the interface circuit 1002 may include a receiver and a transmitter. The receiver and the transmitter may be the same component or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver.

[0318] Optionally, if the communication device 1000 is a chip or a circuit, the interface circuit 1002 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces.

[0319] Optionally, if the communication device 1000 is a chip or a circuit, the communication device 1000 may not include the memory 1003, and the processor 1001 may read instructions (programs or codes) in a memory outside the chip or circuit to implement Figure 2 The illustrated embodiment provides steps performed by a radar device in the method.

[0320] Optionally, if the communication device 1000 is a chip or a circuit, the communication device 1000 may include a resistor, a capacitor or other corresponding functional components, and the processor 1001 or the interface circuit 1002 may be implemented by the corresponding functional components.

[0321] As an implementation method, the function of the interface circuit 1002 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 1001 may be implemented by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip.

[0322] As another implementation method, it is possible to use a general-purpose computer to implement the radar device provided in the embodiment of the present application. That is, the program code for implementing the functions of the processor 1001 and the interface circuit 1002 is stored in the memory 1003, and the processor 1001 implements the functions of the processor 1001 and the interface circuit 1002 by executing the program code stored in the memory 1003.

[0323] The functions and actions of the modules or units in the communication device 1000 listed above are only exemplary. The functional units in the communication device 1000 can be used to perform Figure 2 In order to avoid redundancy, detailed descriptions of the various actions or processing processes performed by the radar device in the illustrated embodiment are omitted.

[0324] Another optional way is that when the radar device is implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is implemented in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, hard disk, tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0325] It should be noted that the processor included in the above-mentioned radar device for executing the target detection method provided in the embodiment of the present application can be a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0326] The steps of the method or algorithm described in conjunction with the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM) memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a radar device or a detection device installed with a radar device. Of course, the processor and the storage medium can also be present as discrete components in a radar device or a detection device installed with a radar device.

[0327] Understandably, Figure 8 to Figure 10 Only a simplified design of the radar device is shown. In actual applications, the radar device may include any number of transmitters, receivers, processors, controllers, memories and other possible components.

[0328] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0329] The embodiment of the present application further provides a sensor system, wherein the sensor system comprises at least one radar device as described above. Further optionally, the sensor system further comprises at least one camera and / or laser radar.

[0330] An embodiment of the present application also provides a means of transportation, such as a vehicle, a drone, an unmanned vehicle, etc., comprising the above-mentioned sensor system.

[0331] An embodiment of the present application also provides a communication system, which includes at least one of the above-mentioned radar devices.

[0332] The present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, causes the computer to execute Figure 2 A method performed by a radar device.

[0333] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or 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 device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0334] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0335] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0336] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0337] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application 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 target detection method, characterized in that: The method comprises: Perform at least one interference detection on a plurality of first time domain resources, where the plurality of first time domain resources are a subset of time domain resources corresponding to a first time-frequency resource, and the first time-frequency resource is a time-frequency resource of a first detection device; wherein, among the plurality of first time domain resources, the time intervals between any two adjacent first time domain resources are the same, and the interference detection is performed on some of the first time domain resources among the plurality of first time domain resources; Interference monitoring is performed on a fifth time-frequency resource, where the time domain resource corresponding to the fifth time-frequency resource is one of M sub-time domain resources, and the frequency domain resource corresponding to the fifth time-frequency resource is one of N sub-frequency domain resources, where M and N are mutually prime, wherein the M sub-time domain resources belong to a second time domain resource, the second time domain resource is a time domain resource in a subset of time domain resources other than the multiple first time domain resources in the time domain resource corresponding to the first time-frequency resource, and the N sub-frequency domain resources belong to the frequency domain resource corresponding to the first time-frequency resource; According to the result of the at least one interference monitoring, a second time-frequency resource in the first time-frequency resource is determined, and the second time-frequency resource is used for target detection.

2. The method according to claim 1, characterized in that The method further comprises: At least one target detection is performed on the multiple first time domain resources, and at least one first time domain resource used for the at least one target detection does not overlap with the part of the first time domain resources used for the at least one interference detection.

3. The method according to claim 2, characterized in that The at least one first time domain resource for target detection includes at least three first time domain resources, the at least three first time domain resources include a first group of first time domain resources and a second group of first time domain resources, each group of first time domain resources includes two adjacent first time domain resources, and the time interval between the two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between the two adjacent first time domain resources in the second group of first time domain resources.

4. The method according to any one of claims 1 to 3, characterized in that: The duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

5. The method according to claim 4, characterized in that At least one of the following conditions is met: Within the first preset duration, the interference monitoring duration is greater than the first duration; or, Within the second preset time period, the interference monitoring time period is less than the second time period; or, Within the third preset time period, the time period used for target detection is less than the third time period; or, Within the fourth preset duration, the interference monitoring duration that meets the preset condition is greater than the fourth duration, where the preset condition includes one or more combinations of the following conditions: The frequency domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection; or, The frequency domain resources corresponding to the time-frequency resources used for the interference monitoring partially overlap or completely do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection; or, The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the multiple first time domain resources; or, The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the time domain resources corresponding to the first time-frequency resources.

6. The method according to any one of claims 1 to 3, characterized in that: The performing at least one interference monitoring comprises: determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for the at least one interference sensing; or, Indication information is received on a sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for target detection by a second detection device, and to determine power, energy or spectral density of a signal received on the seventh time-frequency resource.

7. The method according to claim 6, characterized in that The receiving indication information on the sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for the second detection device to perform target detection, and determining the power, energy or spectral density of the signal received on the seventh time-frequency resource, includes: receiving a signal on the seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or, The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

8. The method according to any one of claims 1 to 3, characterized in that: Determining, according to a result of the at least one interference monitoring, a second time-frequency resource in the first time-frequency resource, comprising: Determining the interference degree of the ninth time-frequency resource according to the listening result of the eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource; The second time-frequency resources are determined according to the interference degree of the ninth time-frequency resources, wherein the second time-frequency resources include at least one of the ninth time-frequency resources; or the second time-frequency resources do not include the ninth time-frequency resources.

9. The method according to claim 8, characterized in that: The determining the interference degree of the ninth time-frequency resource according to the monitoring results of the plurality of eighth time-frequency resources in the first time-frequency resources includes: determining the interference degree of the ninth time-frequency resource according to an average value of power, energy or spectral density of signals received on the plurality of eighth time-frequency resources; or, The interference degree of the ninth time-frequency resource is determined based on the number of at least one eighth time-frequency resource among the multiple eighth time-frequency resources whose interference degree is greater than a preset threshold or the proportion of at least one eighth time-frequency resource whose interference degree is greater than the preset threshold among the multiple eighth time-frequency resources.

10. The method according to claim 8, characterized in that The determining, according to the result of the at least one interference monitoring, the second time-frequency resource in the first time-frequency resource comprises: When at least one of the following trigger conditions is met, determining the second time-frequency resource: The ninth time-frequency resource belongs to a resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than a first threshold; or, The ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or, The duration or number of first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to a third threshold; or, The duration or number of first time domain resources used for target detection among the multiple first time domain resources is greater than or equal to a third threshold, and a first value is acquired, and the trigger condition is that the first value is greater than or equal to a fourth threshold; or The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold; or, The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is obtained. The trigger condition is that the second value is greater than or equal to a sixth threshold.

11. The method according to claim 10, characterized in that The method further comprises: The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of the first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

12. The method according to claim 10, characterized in that The method further comprises: If the second value is greater than or equal to the sixth threshold, the fifth threshold is updated; or if the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.

13. A radar device, characterized in that: It includes a transceiver unit and a processing unit, wherein: The transceiver unit is used to perform at least one interference detection on multiple first time domain resources, where the multiple first time domain resources are a subset of time domain resources corresponding to the first time-frequency resources, and the first time-frequency resources are time-frequency resources of the first detection device; wherein, among the multiple first time domain resources, the time intervals between any two adjacent first time domain resources are the same, and the interference detection is performed on some of the first time domain resources among the multiple first time domain resources; The transceiver unit is further used to perform interference monitoring on a fifth time-frequency resource, the time domain resource corresponding to the fifth time-frequency resource is one of M sub-time domain resources, the frequency domain resource corresponding to the fifth time-frequency resource is one of N sub-frequency domain resources, the M and the N are mutually prime, wherein the M sub-time domain resources belong to a second time domain resource, the second time domain resource is a time domain resource in a subset of time domain resources other than the multiple first time domain resources in the time domain resource corresponding to the first time-frequency resource, and the N sub-frequency domain resources belong to the frequency domain resource corresponding to the first time-frequency resource; The processing unit is used to determine a second time-frequency resource in the first time-frequency resource according to a result of the at least one interference monitoring, where the second time-frequency resource is used for target detection.

14. The device according to claim 13, characterized in that The transceiver unit is further used to perform at least one target detection on the multiple first time domain resources, and at least one first time domain resource used for the at least one target detection does not overlap with the part of the first time domain resources used for the at least one interference monitoring.

15. The device according to claim 14, characterized in that The at least one first time domain resource for target detection includes at least three first time domain resources, and the at least three first time domain resources for target detection include a first group of first time domain resources and a second group of first time domain resources. Each group of first time domain resources includes two adjacent first time domain resources, and the time interval between the two adjacent first time domain resources in the first group of first time domain resources is different from the time interval between the two adjacent first time domain resources in the second group of first time domain resources.

16. The device according to any one of claims 13 to 15, characterized in that: The duration of performing each interference monitoring is shorter than the duration of the first time domain resource.

17. The device according to claim 16, characterized in that At least one of the following conditions is met: Within the preset time period, the accumulated interference listening time period is greater than the first time period; or, Within the preset time period, the accumulated interference listening time period is less than the second time period; or, Within the preset time period, the time period used for target detection is less than the third time period; or, Within the preset time period, the cumulative interference listening time period that meets the preset condition is greater than the fourth time period, where the preset condition includes one or more combinations of the following conditions: The frequency domain resources corresponding to the time-frequency resources used for interference monitoring are a subset of the frequency domain resources corresponding to the time-frequency resources used for target detection; or, The frequency domain resources corresponding to the time-frequency resources used for the interference monitoring partially overlap or completely do not overlap with the frequency domain resources corresponding to the time-frequency resources used for target detection; or, The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the multiple first time domain resources; or, The time domain resources corresponding to the time-frequency resources used for the interference monitoring are a subset of the time domain resources corresponding to the first time-frequency resources.

18. The device according to any one of claims 13 to 15, characterized in that: The processing unit is specifically used for: determining the power, energy or spectral density of a signal received in a portion of the first time domain resources used for the at least one interference sensing; or, Indication information is received on a sixth time-frequency resource, where the indication information is used to indicate a seventh time-frequency resource used for target detection by a second detection device, and to determine power, energy or spectral density of a signal received on the seventh time-frequency resource.

19. The device according to claim 18, characterized in that The processing unit is specifically used for: receiving a signal on the seventh time-frequency resource and determining the power, energy or spectral density of the received signal; or, The power, energy or spectral density of the signal received on the seventh time-frequency resource is determined according to the power, energy or spectral density of the signal received on the sixth time-frequency resource.

20. The device according to any one of claims 13 to 15, characterized in that: The processing unit is specifically used for: Determining the interference degree of the ninth time-frequency resource according to the listening result of the eighth time-frequency resource in the first time-frequency resource, or determining the interference degree of the ninth time-frequency resource according to the listening results of multiple eighth time-frequency resources in the first time-frequency resource, wherein there is a first corresponding relationship between the eighth time-frequency resource and the ninth time-frequency resource; The second time-frequency resources are determined according to the interference degree of the ninth time-frequency resources, wherein the second time-frequency resources include at least one of the ninth time-frequency resources; or the second time-frequency resources do not include the ninth time-frequency resources.

21. The device according to claim 20, characterized in that The processing unit is specifically used for: determining the interference degree of the ninth time-frequency resource according to an average value of power, energy or spectral density of signals received on the plurality of eighth time-frequency resources; or, The interference degree of the ninth time-frequency resource is determined based on the number of at least one eighth time-frequency resource among the multiple eighth time-frequency resources whose interference degree is greater than a preset threshold or the proportion of at least one eighth time-frequency resource whose interference degree is greater than the preset threshold among the multiple eighth time-frequency resources.

22. The device according to claim 21, characterized in that The processing unit is also used for: When at least one of the following trigger conditions is met, determining the second time-frequency resource: The ninth time-frequency resource belongs to a resource used for target detection in the first time-frequency resource, and the interference degree of the ninth time-frequency resource is higher than a first threshold; or, The ninth time-frequency resource does not belong to the resources used for target detection in the first time-frequency resources, and the interference degree of the ninth time-frequency resource is lower than the second threshold; or, The duration or number of first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to a third threshold; or, The duration or number of first time domain resources used for target detection among the multiple first time domain resources is greater than or equal to a third threshold, obtaining a first value, and the triggering condition is that the first value is greater than or equal to a fourth threshold; or, The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold; or, The number of first time domain resources used by the first detection device is greater than or equal to a fifth threshold, and a second value is obtained. The trigger condition is that the second value is greater than or equal to a sixth threshold.

23. The device according to claim 22, characterized in that The processing unit is also used for: The first value is greater than or equal to the fourth threshold, and the third threshold is updated; or, the duration or number of the first time domain resources used for target detection in the multiple first time domain resources is greater than or equal to the set third threshold, and the third threshold is updated.

24. The device according to claim 22, characterized in that The processing unit is also used for: If the second value is greater than or equal to the sixth threshold, the fifth threshold is updated; or if the number of first time domain resources used by the first detection device is greater than or equal to the set fifth threshold, the fifth threshold is updated.

25. A radar device, characterized in that: The device comprises: Memory: used to store instructions; A processor is used to call and execute the instructions from the memory, so that the device or a device equipped with the device executes the method according to any one of claims 1 to 12.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a device, the device is caused to execute the method according to any one of claims 1 to 12.

27. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a device, the device is caused to perform the method according to any one of claims 1 to 12.

Images