Signal transmission method and related device

Abstract

The present application discloses a signal transmission method and related devices, which can be used in sensors, especially in the field of radar, and especially in the field of cooperative radar. Radars use this method to cooperate through communication to reduce mutual interference between radars. The method includes: obtaining a first moment, the first moment is the starting moment of a first time unit, and the first time unit is used by a first detection device to send a first signal; sending the first signal in a first period, and the first signal is used to indicate the sending resource information of the detection signal; the first time unit is also used by a second detection device to receive the first signal, and when sending the detection signal, the first signal for indicating the sending resource information of the detection signal can be sent in the first time unit, and the second detection device can receive the first signal in the first time unit, so that the second detection device can select a channel that does not interfere with each other to send the detection signal, thereby improving the performance of detecting the target.

Description

Technical Field

[0001] The present application relates to the field of sensors, and in particular to a signal transmission method and related devices. Background Art

[0002] With the development of society, more and more machines in modern life are developing towards automation and intelligence, and cars for mobile travel are no exception. Smart cars are gradually entering people's daily lives. In recent years, Advanced Driving Assistant System (ADAS) has played a very important role in smart cars. The system uses various sensors installed on the car to sense the surrounding environment and collect data during the driving process of the car, and perform identification, detection and tracking of static and moving objects. In addition, it combines the navigation map data to perform systematic calculations and analysis, so that the driver can be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] In the unmanned driving architecture, the sensing layer includes visual sensors such as vehicle-mounted cameras and radar sensors such as vehicle-mounted millimeter-wave radars, vehicle-mounted lidars, and vehicle-mounted ultrasonic radars. Millimeter-wave radars have become the main sensors for unmanned driving systems due to their low cost and relatively mature technology. ADAS has currently developed more than a dozen functions, among which adaptive cruise control (ACC), automatic emergency braking (AEB), lane change assist (LCA), and blind spot monitoring (BSD) are all inseparable from vehicle-mounted millimeter-wave radars. Millimeter waves refer to electromagnetic waves with a wavelength between 1-10mm and a corresponding frequency range of 30-300GHz. In this frequency band, the characteristics related to millimeter waves are very suitable for application in the automotive field. For example, the bandwidth is large, the frequency domain resources are rich, and the antenna sidelobes are low, which are conducive to imaging or quasi-imaging; the wavelength is short, the volume of the radar equipment and the antenna aperture can be reduced, and the weight is reduced; the beam is narrow, and the beam of the millimeter wave is much narrower than that of the microwave at the same antenna size, and the radar resolution is high; the penetration is strong, and compared with lidar and optical systems, it has the ability to penetrate smoke, dust and fog, and can work around the clock.

[0004] With the widespread use of vehicle-mounted radars, mutual interference between vehicles where vehicle-mounted radars are located is becoming more and more serious. Since mutual interference will reduce the detection probability of vehicle-mounted radars or increase their false alarm (Ghost) probability, it will have a significant impact on vehicle driving safety or comfort. Under this premise, how to reduce the interference between vehicle-mounted radars is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present application provides a signal transmission method and related devices, which can be used in sensors, especially in the field of radar, and more particularly in cooperative radar. The radar uses this method to cooperate through communication to reduce mutual interference between radars. When sending a detection signal, a first signal indicating the sending resource information of the detection signal can be sent in a first time unit, and a second detection device can receive the first signal in the first time unit, so that the second detection device can select a channel that does not interfere with each other to send the detection signal, thereby improving the performance of detecting the target.

[0006] In a first aspect, an embodiment of the present application provides a signal transmission method, which is applied to a first detection device, and the method includes:

[0007] Acquire a first moment, where the first moment is a starting moment of a first time unit, and the first time unit is used for the first detection device to send a first signal;

[0008] Sending a first signal at a first period, where the first signal is used to indicate sending resource information of the detection signal;

[0009] The first time unit is also used for the second detection device to receive the first signal.

[0010] In an embodiment of the present application, a first signal is sent in a first time unit with a first period, and the first time unit is also used for a second detection device to receive the first signal. The first signal indicates sending resource information of the detection signal. The first detection device can inform the second detection device of the sending resource of the detection signal sent by the first detection device through the first signal. The second detection device can select resources for the detection signal of the second detection device based on the sending resources of the detection signal of the first detection device, thereby reducing interference between different detection devices when performing target detection and improving the performance of the detection device when performing target detection. The detection devices adopt the above method to achieve collaboration through communication to avoid or reduce mutual interference.

[0011] In combination with the first aspect, in a possible embodiment, the first period is a positive integer multiple of a period at which the first detection device sends the detection signal.

[0012] In this example, the first period is an integer multiple of the period of the detection signal, which can easily implement the sending of the dedicated listening signal and the detection signal at different times, reduce the complexity of implementation, and improve the convenience of the detection device in sending the first signal.

[0013] In combination with the first aspect, in a possible embodiment,

[0014] The first period is also a period during which the second detection device receives the first signal.

[0015] In this example, the second detection device can receive the first signal in each first period.

[0016] In combination with the first aspect, in a possible embodiment,

[0017] The first cycle is a common multiple of the second cycle and the third cycle, the second cycle is a cycle for the first detection device to send a detection signal; the third cycle is a cycle for the second detection device to send a detection signal.

[0018] In this example, the first period is a common multiple of the second period and the third period, so it can be easily achieved that the second detection device listens to the first signal and sends the detection signal at different times, ensuring that the second detection device can detect the first signal and improving the stability of the second detection device when detecting the first signal.

[0019] In combination with the first aspect, in a possible embodiment, the first detection device sends the first signal at a second time unit, and the second time unit is included in the first time unit.

[0020] In combination with the first aspect, in a possible embodiment, the first time unit does not overlap with a time unit of the detection signal sent by the first detection device.

[0021] In this example, the first time unit does not overlap with the time unit for sending the detection signal, which can avoid the situation where overlapping resource occupation during signal sending causes the sending of a certain signal to be abandoned, thereby improving the reliability of signal sending.

[0022] In combination with the first aspect, in a possible embodiment, if a sending resource of the first signal overlaps with a sending resource of the detection signal, the first detection device sends the first signal, and the first detection device does not send the detection signal;

[0023] Alternatively, when the random number generated by the first detection device is greater than a preset value, the first detection device sends the first signal, and the first detection device does not send the detection signal.

[0024] In combination with the first aspect, in a possible embodiment, the sending resource information includes time domain resource information and / or frequency domain resource information.

[0025] In combination with the first aspect, in a possible embodiment, the sending resource information includes waveform type information and / or waveform-related parameter information of the detection signal.

[0026] In a second aspect, an embodiment of the present application provides a detection device, the device comprising a processor and a transceiver, wherein:

[0027] The processor is used to obtain a first moment, where the first moment is a starting moment of a first time unit, and the first time unit is used for the transceiver to send a first signal;

[0028] A transceiver, configured to send a first signal in a first period, where the first signal is used to indicate sending resource information of the detection signal;

[0029] The first time unit is also used for the second detection device to receive the first signal.

[0030] In conjunction with the second aspect, in a possible embodiment,

[0031] The first period is a positive integer multiple of a period at which the first detection device sends a detection signal.

[0032] In conjunction with the second aspect, in a possible embodiment,

[0033] The first period is also a period during which the second detection device receives the first signal.

[0034] In conjunction with the second aspect, in a possible embodiment,

[0035] The first cycle is a common multiple of the second cycle and the third cycle, the second cycle is a cycle for the transceiver to send a detection signal; the third cycle is a cycle for the second detection device to send a detection signal.

[0036] In combination with the second aspect, in a possible embodiment, the transceiver sends the first signal at a second time unit, and the second time unit is included in the first time unit.

[0037] In combination with the second aspect, in a possible embodiment, the first time unit does not overlap with a time unit of the detection signal sent by the transceiver.

[0038] In conjunction with the second aspect, in a possible embodiment, if a sending resource of the first signal overlaps with a sending resource of the detection signal, the transceiver sends the first signal, and the transceiver does not send the detection signal;

[0039] Alternatively, when the random number generated by the processor is greater than a preset value, the transceiver sends the first signal, and the transceiver does not send the detection signal.

[0040] In a third aspect, an embodiment of the present application provides a chip system, which includes a processor for supporting a detection device to implement any method as in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes a method such as any one of the first aspects.

[0042] These and other aspects of the present application will become more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of a radar sending and receiving a detection signal is provided for an embodiment of the present application;

[0045] Figure 2 A flow chart of a signal transmission method is provided for an embodiment of the present application;

[0046] Figure 3 A schematic diagram of a radar sending a detection signal and listening to a dedicated signal is provided for an embodiment of the present application;

[0047] Figure 4 A schematic diagram of a sending period of a dedicated signal for interception is provided for an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a radar detection and interception dedicated signal is provided for an embodiment of the present application

[0049] Figure 6 A schematic diagram of another transmission period of a dedicated signal for interception is provided for an embodiment of the present application;

[0050] Figure 7 A structural schematic diagram of a detection device is provided for an embodiment of the present application;

[0051] Figure 8 A schematic diagram of the structure of a radar is also provided for the embodiment of the present application;

[0052] Fig. 9 A schematic diagram of the structure of a chip system provided in this application. DETAILED DESCRIPTION

[0053] The embodiments of the present application are described below in conjunction with the accompanying drawings.

[0054] First, target detection by radar is introduced. The first detection device and the second detection device involved in the embodiment of the present application may be radars, and the first detection device and the second detection device are only used to distinguish radars, and are not limited to a specific radar. The first detection device and the second detection device may be cooperative radars, etc.

[0055] like Figure 1As shown, the car where the first detection device is located is driving in lane 1, and the car where the second detection device is located is driving in lane 2. Lane 1 and lane 2 are adjacent lanes. The adjacent lanes can be understood as other lanes on the same road, which can be adjacent lanes or non-adjacent lanes. The first detection device uses frequency-domain-invariant and time-domain periodic resources to send a detection signal. After the detection signal is reflected by the target object, the first detection device receives the reflected detection signal (target reflection signal), and completes target detection based on at least one of the signal strength of the target reflection signal, the time delay of signal propagation, the Doppler frequency of the signal, and the direction of the received wave vector, and thereby determines the existence of the target object, RCS, and at least one of the distance, speed (to be precise, the projection component of the relative speed (vector) on the line connecting the first detection device and the target object) and angle relative to the first detection device.

[0056] Since the first detection device will also receive the detection signal (interference signal) sent by the second detection device, when the transmission resources of the detection signal sent by the second detection device partially or completely overlap with the transmission resources of the detection signal sent by the first detection device, the target detection (detection of the existence, distance, speed, angle, etc. of the target) signal received by the first detection device may contain both the target reflection signal and the detection signal (interference signal) sent by the second detection device. At this time, the detection signal sent by the second detection device will interfere with the first detection device and affect the detection of the target object by the first detection device. Possible impacts include: raising the background noise of the first detection device for target detection, resulting in a decrease in the ability of the first detection device to detect the existence of weak targets and a decrease in the accuracy of target detection; forming a false target, etc. In this way, how to reduce mutual interference between radars is a problem that needs to be solved.

[0057] The embodiment of the present application aims to solve the problem of interference between the above-mentioned detection devices when performing target detection. The first detection device sends a detection signal. The first detection device obtains a first moment (the starting moment of the first time unit). The first time unit is used for the first detection device to send a dedicated listening signal. The first detection device sends the dedicated listening signal in a first period. The dedicated listening signal indicates the sending resource information of the detection signal. The second detection device receives the dedicated listening signal in the first time unit. After the second detection device receives the dedicated listening signal, the second detection device determines the sending resource information of the detection signal sent by the second detection device through the received dedicated listening signal. This can reduce the situation where the detection devices interfere with each other when sending detection signals, and can improve the accuracy of the detection devices when performing target detection.

[0058] The embodiments of the present application provide a signal transmission method and related equipment, which can be used in sensors, especially in the field of radar, and more particularly in collaborative radars. Radars use this method to collaborate through communication, reduce mutual interference between radars, and improve the accuracy of radars in target detection.

[0059] like Figure 2 As shown, Figure 2 A flow chart of a signal transmission method is provided for an embodiment of the present application. The signal transmission method provided in the embodiment of the present application is applied to a first detection device, and the first signal may be the dedicated interception signal in the above embodiment. The method comprises:

[0060] S101. A first detection device obtains a first moment, where the first moment is a starting moment of a first time unit, and the first time unit is used for the first detection device to send a first signal.

[0061] The starting time of the first time unit is the time of the first cycle M times the zero time of the system time, where M is a natural number. For example, if the first cycle is 200ms, the starting time of the first time unit can be: the time 200ms away from the zero time of the system time, the time 400ms away from the zero time of the system time, etc. The system time can be understood as a time followed by the first detection device and the second detection device, which can be a natural time or a custom time.

[0062] The first detection device may use a part of or all of the time in the first time unit to send the first signal.

[0063] S102: The first detection device sends a first signal in a first period, where the first signal is used to indicate sending resource information of the detection signal, and the first time unit is also used for the second detection device to receive the first signal.

[0064] The sending resource information includes time domain resource information, frequency domain resource information, etc., and may also include the waveform and / or waveform-related parameter information used by the detection channel, etc.

[0065] The second detection device may use a part of or all of the time in the first time unit to receive the first signal.

[0066] In a possible embodiment, the first signal indicates the sending resource information of the detection signal. The sending resource information of the detection signal can be indicated by the time domain and / or frequency domain resources of the first signal. This can reduce the amount of information contained in the indication information in the dedicated signal for monitoring, thereby improving the reliability of obtaining the sending resource information of the detection signal through the first signal.

[0067] In a possible embodiment, the first signal may also indicate the sending resource information of the detection signal by monitoring the indication information carried by the dedicated signal. The indication information includes at least one of the frequency domain resource information and / or time domain resource information occupied by the detection signal and the frequency domain resource information and / or time domain resource information not occupied by the detection signal. The indication information may also include at least one of the following: the starting time information, the sending cycle information, the frequency resource information, etc. of the second signal. The indication information may also include the waveform type information and / or the waveform related parameter information of the detection signal, etc. Of course, the first signal may also indicate the resource information not occupied by the detection signal, which is the same as the occupied resource information and will not be repeated here.

[0068] In one possible embodiment, Figure 3 As shown, Figure 3 The schematic diagram of the first detection device sending the first signal is shown. Here, the first signal is a dedicated interception signal as an example for explanation. The first detection device sends a detection signal and a dedicated interception signal, and the dedicated interception signal serves to indicate the sending resource information of the detection signal sent by the first detection device.

[0069] In one possible embodiment, Figure 4 As shown, Figure 4 A schematic diagram of a transmission period (first period) of a dedicated listening signal is shown, wherein the first detection device transmits at least one dedicated listening signal in the first time unit, and the first detection device may also receive a dedicated listening signal transmitted by at least one other radar in the first time unit. The first detection device transmits the dedicated listening signal in the first period, and the first period may be a positive integer multiple of the period of the first detection device transmitting the detection signal. Figure 4 The first period is taken as the same as the period of the detection signal for explanation. Of course, the first period can also be other positive integer multiples of the period of the detection signal. For example, a dedicated listening signal is sent every other period of the detection signal (the first period is twice the period of the detection signal). This is only an example and is not specifically limited.

[0070] In one possible embodiment, the first detection device sends a dedicated listening signal on a second time unit, and the second time unit is included in the first time unit. For example, the first time unit is divided into N sub-time units, and the second time unit is K consecutive sub-time units of the N sub-time units, where N and K are positive integers. Of course, the K sub-time units may also be discontinuous, and this application does not make specific limitations. Then, when the second detection device receives the dedicated listening signal sent by the first detection device, it needs to receive the dedicated listening signal on the second time unit. In this way, it can be ensured that the dedicated listening signal sent by the first detection device can be heard by the second detection device. At the same time, the first period is an integer multiple of the period of the detection signal, so it is easy to send the dedicated listening signal and the detection signal at different times, which can reduce the complexity of implementation and improve the convenience of the detection device when sending the first signal.

[0071] In a possible embodiment, the first detection device may also send multiple dedicated listening signals within the first time unit, each dedicated listening signal is sent according to the first period, and the second detection device may also detect multiple dedicated listening signals in the first time unit.

[0072] In one possible embodiment, Figure 5 As shown, the second detection device receives the dedicated listening signal sent by the first detection device in the first time unit. After the second detection device receives the dedicated listening signal sent by the first detection device for the first time, it can also receive the dedicated listening signal sent by the first detection device after a certain period. The period is the common multiple of the period of the second detection device detecting the dedicated listening signal and the period of the first detection device sending the dedicated listening signal. Since the common multiple of the two periods must exist, the second detection device must be able to receive the dedicated listening signal sent by the first detection device again. The period of the second detection device detecting the dedicated listening signal can be the same as the period of the second detection device sending the detection signal. Of course, the period of the second detection device detecting the dedicated listening signal can also be different from the period of the second detection device sending the detection signal, which is not specifically limited here. After receiving the first signal, the second detection device re-determines the sending resource information of the detection signal according to the sending resource information indicated by the first signal. When re-determining the sending resource information of the detection signal, the second detection device can select part or all of the resource information in the resource information other than the sending resource information indicated by the dedicated listening signal as the sending resource information of the detection signal of the second detection device. Of course, if the first detection device sends multiple dedicated listening signals within the first time unit, the second detection device can also receive multiple dedicated listening signals in the first time unit, and re-determine the sending resource information of the detection signal according to the sending resource information of other detection devices indicated by the multiple dedicated listening signals.

[0073] In a possible embodiment, the second detection device may send a dedicated interception signal or may not send a dedicated interception signal, which is not limited in the present application.

[0074] like Figure 6 As shown, Figure 6 A schematic diagram of another transmission cycle (first cycle) of a dedicated interception signal is shown. The first cycle is a common multiple of the second cycle and the third cycle, the second cycle is the cycle for the first detection device to send the detection signal, and the third cycle is the cycle for the second detection device to send the detection signal. Figure 6 It is shown in that the first period is three times the period of the first detection device sending the detection signal, and the second period is four times the period of the second detection device sending the detection signal. This is only for example and is not specifically limited. The first period is a common multiple of the second period and the third period, and the second detection device detects the dedicated listening signal in the first time unit with the first period. In this way, it can be easily realized that the time for the second detection device to listen to the first signal and send the detection signal is different, which ensures that the second detection device can listen to the first signal and improves the stability of the second detection device when detecting the first signal. The first detection device can also send a dedicated listening signal in the second time unit. The specific sending method in the aforementioned embodiment can be referred to, which will not be repeated here. The specific processing method of the second detection device after receiving the dedicated listening signal can refer to the specific method in the aforementioned embodiment, which will not be repeated here.

[0075] Above Figure 5 and Figure 6 In the illustrated embodiment, the sending resource of the dedicated interception signal does not overlap with the time unit of the first detection device sending the detection signal.

[0076] In a possible embodiment, the sending resource of the first detection device sending the dedicated listening signal may also overlap with the resource of the first detection device sending the detection signal. If the first time unit overlaps with the time unit of the first detection device sending the detection signal, the first detection device sends the dedicated listening signal, and the first detection device does not send the detection signal.

[0077] Alternatively, if the first time unit overlaps with the time unit in which the first detection device sends a detection signal, the first detection device generates a random number. If the random number generated by the first detection device is greater than a preset value, the first detection device sends a dedicated listening signal and does not send a detection signal.

[0078] In a possible embodiment, if the first time unit overlaps with the time unit in which the first detection device sends a detection signal, the first detection device may also use the following method to select whether to send a dedicated interception signal or a detection signal:

[0079] The first detection device sends a dedicated listening signal, and the first detection device does not send a detection signal;

[0080] Alternatively, the first detection device does not send a dedicated interception signal, and the first detection device sends a detection signal;

[0081] Alternatively, when the random number generated by the first detection device is greater than a preset value, the first detection device sends a dedicated listening signal and does not send a detection signal; when the random number generated by the first detection device is less than or equal to the preset value, the first detection device does not send a dedicated listening signal and sends a detection signal.

[0082] The first detection device can also listen to the dedicated listening signals sent by other radars in the first time unit. The time unit in which the first detection device listens to the dedicated listening signals sent by other radars is a time unit other than the second time unit.

[0083] like Figure 7 As shown, Figure 7 The present invention provides a schematic diagram of the structure of a detection device. The detection device 700 provided in the present invention includes a processor 710 and a transceiver 720, wherein:

[0084] The processor 710 is configured to obtain a first moment, where the first moment is a start moment of a first time unit, and the first time unit is used for the transceiver to send a first signal;

[0085] The transceiver 720 is used to send a first signal in a first period, where the first signal is used to indicate the sending resource information of the detection signal; the first time unit is also used for the second detection device to receive the first signal.

[0086] In one possible embodiment,

[0087] The first period is a positive integer multiple of a period at which the first detection device sends a detection signal.

[0088] In one possible embodiment,

[0089] The first period is also a period during which the second detection device receives the first signal.

[0090] In one possible embodiment,

[0091] The first cycle is a common multiple of the second cycle and the third cycle, the second cycle is a cycle for the transceiver to send a detection signal; the third cycle is a cycle for the second detection device to send a detection signal.

[0092] In a possible embodiment, the transceiver 720 sends the first signal at a second time unit, and the second time unit is included in the first time unit.

[0093] In a possible embodiment, the first time unit does not overlap with a time unit of the detection signal sent by the transceiver 720 .

[0094] In a possible embodiment, if the transmission resource of the first signal overlaps with the transmission resource of the detection signal, the transceiver 720 sends the first signal, and the transceiver does not send the detection signal;

[0095] Alternatively, when the random number generated by the processor 710 is greater than a preset value, the transceiver 720 sends the first signal, and the transceiver 720 does not send the detection signal.

[0096] like Figure 8 As shown, the embodiment of the present application further provides a radar 800, which includes a processor 810, a memory 820 and a transceiver 830, wherein the memory 820 stores instructions or programs, and the processor 810 is used to execute the instructions or programs stored in the memory 820. When the instructions or programs stored in the memory 820 are executed, the processor 810 is used to execute the operations performed by the processor 710 in the above embodiment, and the transceiver 830 is used to execute the operations performed by the transceiver 720 in the above embodiment.

[0097] See also Fig. 9 , Fig. 9 This is a schematic diagram of the structure of a chip system provided in this application. Fig. 9 As shown, the chip system 900 may include: a processor 910, and one or more interfaces 920 coupled to the processor 910. Exemplary:

[0098] The processor 910 can be used to read and execute computer-readable instructions. In a specific implementation, the processor 910 may mainly include a controller, an arithmetic unit and a register. Exemplarily, the controller is mainly responsible for decoding instructions and issuing control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, and logical operations, etc., and may also perform address operations and conversions. The register is mainly responsible for storing register operands and intermediate operation results temporarily stored during the execution of instructions. In a specific implementation, the hardware architecture of the processor 910 may be an application specific integrated circuit (ASIC) architecture, a microprocessor without interlocked piped stages architecture (MIPS) architecture, an advanced reduced instruction set machine (ARM) architecture or an NP architecture, etc. The processor 910 may be single-core or multi-core.

[0099] Exemplarily, the interface 920 can be used to input data to be processed to the processor 910, and can output the processing results of the processor 810. In a specific implementation, the interface 920 can be a general purpose input output (GPIO) interface. The interface 920 is connected to the processor 910 via a bus 930.

[0100] In a possible implementation, the processor 910 may be used to call from the memory an implementation program or data of the signal interpretation method provided in one or more embodiments of the present application on the detection device side, so that the chip can implement the aforementioned Figures 2 to 5 The method shown. The memory can be integrated with the processor 910, or it can be coupled to the chip system 900 through the interface 920, that is, the memory can be a part of the chip system 900, or it can be independent of the chip system 900. The interface 920 can be used to output the execution result of the processor 910. In the present application, the interface 920 can be specifically used to output the decoding result of the processor 910. For the signal transmission method provided in one or more embodiments of the present application, reference can be made to the aforementioned embodiments, which will not be repeated here.

[0101] It should be noted that the functions corresponding to the processor 910 and the interface 920 can be implemented through hardware design, software design, or a combination of hardware and software, which is not limited here.

[0102] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), sync link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0103] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, discrete hardware component, the memory (storage module) is integrated into the processor.

[0104] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, and when the program is executed, the program includes part or all of the steps of any one of the signal transmission methods recorded in the above method embodiments.

[0105] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0106] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] 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.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, 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 memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0111] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0112] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A signal transmission method, applied to a first detection device, It is characterized in that The method comprises: Acquire a first moment, where the first moment is a starting moment of a first time unit, and the first time unit is used for the first detection device to send a first signal; Sending a first signal at a first period, where the first signal is used to indicate sending resource information of a detection signal; the sending resource information includes time domain resource information and frequency domain resource information, and the sending resource information also includes a waveform and / or waveform-related parameter information used by a detection channel; The first time unit is also used for the second detection device to receive the first signal; The first signal is used by the second detection device to select a transmission resource; The first period is a common multiple of the second period and the third period, the second period is a period for the first detection device to send a detection signal; the third period is a period for the second detection device to send a detection signal; the second period is different from the third period.

2. The method according to claim 1, It is characterized in that The first period is a positive integer multiple of a period at which the first detection device sends a detection signal.

3. The method according to claim 1, It is characterized in that The first period is also a period in which the second detection device receives the first signal.

4. The method according to any one of claims 1 to 3, It is characterized in that The first detection device sends the first signal at a second time unit, and the second time unit is included in the first time unit.

5. The method according to claim 4, It is characterized in that The first time unit does not overlap with a time unit of the detection signal sent by the first detection device.

6. The method according to claim 1, It is characterized in that If the sending resource of the first signal overlaps with the sending resource of the detection signal, the first detection device sends the first signal, and the first detection device does not send the detection signal; Alternatively, when the random number generated by the first detection device is greater than a preset value, the first detection device sends the first signal, and the first detection device does not send the detection signal.

7. A detection device, It is characterized in that The device comprises a processor and a transceiver, wherein: The processor is used to obtain a first moment, where the first moment is a starting moment of a first time unit, and the first time unit is used for the transceiver to send a first signal; The transceiver is used to send a first signal in a first period, the first signal is used to indicate the sending resource information of the detection signal, and the first time unit is also used for the second detection device to receive the first signal; the sending resource information includes time domain resource information and frequency domain resource information, and the sending resource information also includes the waveform and / or waveform-related parameter information used by the detection channel; the first signal is used for the second detection device to select the sending resource; the first period is a common multiple of the second period and the third period, the second period is the period for the transceiver to send the detection signal; the third period is the period for the second detection device to send the detection signal; the second period is different from the third period.

8. The detection device according to claim 7, It is characterized in that The first period is a positive integer multiple of a period at which the transceiver sends a detection signal.

9. The detection device according to claim 7, It is characterized in that The first period is also a period in which the second detection device receives the first signal.

10. The device according to any one of claims 7 to 9, It is characterized in that The transceiver sends the first signal at a second time unit, and the second time unit is included in the first time unit.

11. The device according to claim 10, It is characterized in that The first time unit does not overlap with a time unit of a detection signal sent by the transceiver.

12. The device according to claim 7, It is characterized in that If the sending resource of the first signal overlaps with the sending resource of the detection signal, the transceiver sends the first signal, and the transceiver does not send the detection signal; Alternatively, when the random number generated by the processor is greater than a preset value, the transceiver sends the first signal, and the transceiver does not send the detection signal.

13. A chip system, It is characterized in that The chip system comprises a processor for supporting the detection device to implement the method according to any one of claims 1 to 6.

14. A computer storage medium, It is characterized in that The computer storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 6.

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