A system and method for resolving millimeter-wave radar interference through information interaction

Abstract

The present invention provides a system and method for resolving millimeter-wave radar interference through information interaction. By using a V2X module or a Ble module, broadcast communications are sent to a preset area. Simultaneously, a monitoring module monitors in real time the broadcast communications sent by the second communication module of any vehicle-mounted radar terminal within the preset area and stores the communications in a monitoring list. By determining whether another vehicle-mounted radar device in the monitoring list has the same operating mode as the current first vehicle-mounted radar device, the different operating modes of each radar device within the current preset area are determined. This ensures that each radar device has a different operating mode, thereby reducing radar interference between different vehicles and improving the authenticity and validity of real-time radar signal data from vehicles in different states.

Description

Technical Field

[0001] The present invention relates to the field of in-vehicle Internet technology, and in particular to a system and method for resolving millimeter-wave radar interference through information interaction. Background Art

[0002] The basic task of a radar is to transmit electromagnetic waves to illuminate a target and receive their echoes, thereby obtaining the relevant state parameters of interest, such as the distance, direction, and speed from the target to the electromagnetic wave emission point. With the widespread use of 77GHz millimeter-wave automotive collision avoidance radars, the problem of mutual interference between radars has arisen. Currently, mainstream radars have a detection angle of 30 to 40 degrees and a detection range of 160 to 200 meters. Radars in opposing lanes can interfere with each other. This interference can cause target misjudgment and lead to inappropriate braking actions. To address this issue, a commercially available solution for 77GHz millimeter-wave radar interference involves using millimeter-wave radio frequency to perform binary encoding on the transmitted signal and decoding the signal according to known rules during reception to mitigate interference. However, this solution has a drawback: in traffic congestion, it is easy for different vehicles to use the same binary encoding, thus defeating the purpose of interference mitigation through different encodings. Summary of the Invention

[0003] To address the above-mentioned problem of interference between radar signals from different vehicles, the present invention proposes a system and method for resolving millimeter-wave radar interference through information interaction. Through wireless technology, broadcast messages are sent between vehicles within a certain range (300m), so that the operating mode and location information of surrounding millimeter-wave radars can be monitored based on the broadcast messages. After information processing, different operating modes are selected for radars that have an impact on the location area, so that the operating modes of the millimeter-wave radars of vehicles within the specified range are different, thereby reducing mutual interference between radars of different vehicles.

[0004] Specifically, the system described in the present invention includes at least: a first communication module arranged at the vehicle-mounted radar end, sending broadcast communications to a preset area with the first communication module as the center; at the same time, a monitoring module monitors in real time the broadcast communications sent by the second communication module of any vehicle-mounted radar end in the preset area, and stores them in a monitoring list, and determines whether there is another vehicle-mounted radar device with the same operating mode as the current first vehicle-mounted radar device in the monitoring list. If so, a radar operating mode that is different from all the operating modes in the monitoring list is selected by a random number generation method from the preset operating modes, and the new operating mode is set to the first radar device through Can communication and broadcast communication is performed through the first communication module at the same time; otherwise, monitoring continues.

[0005] Among them, the first vehicle-mounted radar device and the another vehicle-mounted radar device preferably use 77 mm wave radar, but are not limited to this.

[0006] Furthermore, the working mode is set as follows: the radar is preset into different working modes according to the working frequency modulation method of the 77mm millimeter wave radar, the working frequency and modulation method of any working mode are different, and the preset working modes are programmed as different numbers, each number representing a different working mode.

[0007] Furthermore, the first communication module and the second communication module adopt a V2X module or a Ble module; the broadcast communication is broadcast at a frequency greater than 10HZ, and the broadcast communication includes sending the GPS location information of the current vehicle, the lane information and the current vehicle-mounted radar equipment working mode information.

[0008] Furthermore, the number also includes: V2X module ID or Ble module ID + radar ID + radar working mode ID + GPS location information, and the corresponding bytes are: 6 bytes + 12 bytes + 4 bytes + 4 bytes.

[0009] The storing in the monitoring list also includes the priority of storing in the following order: first according to the distance of GPS position information, then according to the order of front-facing vehicle radar to side-facing vehicle radar.

[0010] As another preferred embodiment, the present invention further proposes a method for resolving millimeter wave radar interference through information interaction, comprising the following steps:

[0011] S1: The communication module sends a broadcast communication once every preset time, and at the same time, the monitoring module monitors the broadcast communication sent by the second communication module of any vehicle-mounted radar terminal in the preset area in real time and stores it in the monitoring list;

[0012] S2: Determine whether there is another vehicle-mounted radar device in the monitoring list that has the same operating mode as the current first vehicle-mounted radar device. If so, go to S3; otherwise, continue monitoring;

[0013] S3: Select a radar operating mode that is different from all the operating modes in the monitoring list by a random number generation method from the preset operating modes, and set the new operating mode to the first radar device through Can communication and simultaneously perform broadcast communication through the first communication module.

[0014] Wherein, the S1 also includes: the priority during storage is: first store in order of GPS location information distance, then store in order of front-facing vehicle radar to side-facing vehicle radar.

[0015] Furthermore, S3 also includes: assigning the radar presets to different working modes according to the working frequency modulation method of the radar equipment, the working frequency and modulation method of any working mode are different, and programming the preset working modes to different numbers, each number representing a different working mode.

[0016] The communication module adopts a V2X module or a Ble module; the broadcast communication is broadcast at a frequency greater than 10HZ, and the broadcast communication includes sending the current vehicle's GPS location information, lane information and current vehicle-mounted radar equipment working mode information.

[0017] In summary, the present invention provides a system and method for resolving millimeter-wave radar interference through information interaction. By employing a V2X module or a Ble module, broadcast communications are sent to a preset area. Simultaneously, a monitoring module monitors, in real time, broadcast communications sent by the second communication module of any on-board radar terminal within the preset area and stores the communications in a monitoring list. By determining whether there is another on-board radar device in the monitoring list operating in the same mode as the current first on-board radar device, the different operating modes of the radar devices within the current preset area are determined. This ensures that each radar device operates in a different mode, thereby reducing radar interference between different vehicles and improving the authenticity and validity of real-time radar signal data from vehicles in different states. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a car self-organizing network in one embodiment.

[0019] Figure 2 This is a flow chart of the method for resolving millimeter-wave radar interference through information interaction according to the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] The present invention proposes a system for resolving millimeter-wave radar interference through information interaction, which comprises at least: a first communication module arranged at a vehicle-mounted radar end, which sends broadcast communications to a preset area with the first communication module as the center; simultaneously, a monitoring module monitors in real time the broadcast communications sent by the second communication module of any vehicle-mounted radar end in the preset area, and stores the monitoring module in a monitoring list; determines whether there is another vehicle-mounted radar device in the monitoring list with the same operating mode as the current first vehicle-mounted radar device; if so, selects a radar operating mode different from all the operating modes in the monitoring list using a random number generation method from the preset operating modes, and sets the new operating mode to the first radar device through Can communication and simultaneously performs broadcast communications through the first communication module; otherwise, continues monitoring.

[0022] Among them, the first vehicle-mounted radar device and the another vehicle-mounted radar device preferably use 77 mm wave radar, but are not limited to this.

[0023] Furthermore, the working mode is set as follows: the radar is preset into different working modes according to the working frequency modulation method of the 77mm millimeter wave radar, the working frequency and modulation method of any working mode are different, and the preset working modes are programmed as different numbers, each number representing a different working mode.

[0024] Furthermore, the first communication module and the second communication module adopt a V2X module or a Ble module; the first broadcast communication module and the second broadcast communication module broadcast the working mode and GPS location information of the radar equipment obtained through Can through the V2X or Ble module at a frequency greater than 10HZ, and the broadcast communication includes sending the GPS location information of the current vehicle, the lane information and the current vehicle-mounted radar equipment working mode information.

[0025] Furthermore, the number also includes: V2X module ID or Ble module ID + radar ID + radar working mode ID + GPS location information, and the corresponding bytes are: 6 bytes + 12 bytes + 4 bytes + 4 bytes.

[0026] The storing in the monitoring list also includes the priority of storing in the following order: first according to the distance of GPS position information, then according to the order of front-facing vehicle radar to side-facing vehicle radar.

[0027] like Figure 1 As shown, a V2X module or a Ble module for long-distance communication is added to the vehicle-mounted terminal, and broadcast communication is sent within a range of preferably 300 meters, with car A as the center. That is, within the communication range, each car broadcasts radar operating mode information and GPS location information.

[0028] The millimeter-wave radar device on vehicle B notifies the V2X or long-distance Ble module of vehicle B's millimeter-wave radar operating mode and GPS location information through the CAN network.

[0029] Vehicle B's V2X or Ble module broadcasts the radar operating mode and GPS location information obtained through CAN via the V2X or Ble module at a frequency greater than 10 Hz. Other vehicles within communication range broadcast their own radar operating modes in the same manner.

[0030] Vehicle A monitors the radar operating modes broadcast by surrounding vehicles and stores them in a monitoring list. Storage is prioritized based on GPS location distance, facing vehicle radars, and vehicle-to-vehicle radars. Vehicle A processes this information and determines whether it needs to update its operating module. Vehicle A determines whether there are other radars in the monitoring list that share the same operating mode as radar A. If so, it selects a radar operating mode from the preset operating modes using a random number generator. The new operating mode is then assigned to radar A via CAN communication, and radar A's operating mode and GPS location information are simultaneously broadcast via V2X or BLE. This enables streamlined networking and de-networking, ensuring real-time networking and signal reception while the vehicle is in motion. This ensures accurate radar signals and all-around interference mitigation.

[0031] Radar working mode allocation methods include the following:

[0032] 1) The radar presets are assigned to different operating modes based on the operating frequency modulation method of the 77mm wave radar. Each operating mode has a different operating frequency and modulation method.

[0033] 2) Then program the preset working modes with different numbers, each number represents a different working mode.

[0034] Specifically, the broadcast radar operating mode message preferably consists of: terminal (4 bytes) + coded sequence number (16 bytes) + tail (4 bytes), for a total of 26 bytes, but is not limited to this. The terminal can be used to define the purpose of the field, such as 01 for collision warning, 02 for communication, 03 for fault, and 00 for distress. The 16-byte coded sequence number can be used to record the radar product serial number, with 4 bits indicating the radar manufacturer and 12 bits for the serial number. The tail can be used as a backup. As radar applications become more widespread, radars can be used for more than just radar, with expanded applications such as traffic control and security tracking. Preferably, a millimeter-wave radar carrier MAC check bit can be added after the radar code. The MAC byte is the checksum byte. When the radar receives an echo signal, it analyzes the MAC byte to determine whether the echo signal is generated by the vehicle itself. The verification code encrypts all carrier code fields using DES. Compared to other commonly used encryption algorithms such as AES, RSA / ECC, Diffie-Hellman, and SHA-1 / SHA-256, the DES encryption algorithm consumes minimal ECU resources and effectively verifies carrier code. Different numbers represent different codes. Using Bluetooth Mesh networking and rapid scanning and updating of network nodes, different radar coding methods are assigned, thereby suppressing millimeter-wave radar interference and improving driving safety.

[0035] As another preferred embodiment, the present invention also proposes a method for resolving millimeter wave radar interference through information interaction (eg Figure 2 ), including the following steps:

[0036] S1: The communication module sends a broadcast communication once every preset time, and at the same time, the monitoring module monitors the broadcast communication sent by the second communication module of any vehicle-mounted radar terminal in the preset area in real time and stores it in the monitoring list;

[0037] S2: Determine whether there is another vehicle-mounted radar device in the monitoring list that has the same operating mode as the current first vehicle-mounted radar device. If so, go to S3; otherwise, continue monitoring;

[0038] S3: Select a radar operating mode that is different from all the operating modes in the monitoring list by a random number generation method from the preset operating modes, and set the new operating mode to the first radar device through Can communication and simultaneously perform broadcast communication through the first communication module.

[0039] Wherein, the S1 also includes: the priority during storage is: first store in order of GPS location information distance, then store in order of front-facing vehicle radar to side-facing vehicle radar.

[0040] Furthermore, S3 also includes: assigning the radar presets to different working modes according to the working frequency modulation method of the radar equipment, the working frequency and modulation method of any working mode are different, and programming the preset working modes to different numbers, each number representing a different working mode.

[0041] The communication module adopts a V2X module or a Ble module; the broadcast communication is broadcast at a frequency greater than 10HZ, and the broadcast communication includes sending the current vehicle's GPS location information, lane information and current vehicle-mounted radar equipment working mode information.

[0042] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A system for resolving millimeter wave radar interference through information interaction, characterized in that: At least: A first communication module provided at the vehicle-mounted radar end, configured to send broadcast communications to a preset area with the first communication module as the center; a monitoring module, configured to monitor in real time the broadcast communications sent by the second communication module of any vehicle-mounted radar terminal in the preset area and store the broadcast communications in a monitoring list; and a memory for storing the monitoring list; The monitoring module is further configured to determine whether there is another on-vehicle radar device in the monitoring list with the same operating mode as the first on-vehicle radar device; if so, select a radar operating mode different from all the operating modes in the monitoring list using a random number generation method from the preset operating modes, set the new operating mode to the first on-vehicle radar device via CAN communication, and simultaneously perform broadcast communication via the first communication module; otherwise, continue monitoring; The broadcast communication includes sending GPS location information of the current vehicle, lane information and operating mode information of the first vehicle-mounted radar device; The storing in the monitoring list also includes the priority of storing: first, according to the distance of the GPS position information, to realize the flow-type networking and network withdrawal, and then storing in sequence from the front-facing vehicle radar to the side-facing vehicle radar; The working mode information of the first vehicle-mounted radar device also includes adding a millimeter-wave radar carrier MAC check bit after the radar code. The MAC byte is the check code byte. When the first vehicle-mounted radar device receives an echo signal, it determines whether the echo signal is an echo signal emitted by the vehicle by parsing the MAC byte.

2. The system for resolving millimeter wave radar interference through information interaction according to claim 1, characterized in that: The first vehicle-mounted radar device and the another vehicle-mounted radar device both use 77mm-wave radar.

3. The system for resolving millimeter wave radar interference through information interaction according to claim 2, characterized in that: The working mode information also includes: according to the working frequency modulation method of the 77mm millimeter wave radar, the first vehicle-mounted radar device is preset to different working modes, the working frequency and modulation method of any working mode are different, and the preset working modes are set to different numbers, and each number represents a different working mode.

4. The system for resolving millimeter wave radar interference through information interaction according to claim 3, characterized in that: The first communication module and the second communication module adopt a V2X module or a Ble module; The broadcast communication is broadcast at a frequency greater than 10 Hz.

5. The system for resolving millimeter wave radar interference through information interaction according to claim 4, characterized in that: The number also includes: V2X module ID or Ble module ID + radar ID + radar working mode ID + GPS location information, and the corresponding bytes are: 6 bytes + 12 bytes + 4 bytes + 4 bytes.

6. A method for resolving millimeter wave radar interference through information interaction, characterized in that: The following steps are involved: S1: The communication module sends a broadcast communication once every preset time, and at the same time, the monitoring module monitors the broadcast communication sent by the second communication module of any vehicle-mounted radar terminal in the preset area in real time and stores it in the monitoring list; S2: Determine whether there is another vehicle-mounted radar device in the monitoring list that has the same operating mode as the current first vehicle-mounted radar device. If so, go to S3; otherwise, continue monitoring; S3: selecting a radar operating mode different from all the operating modes in the monitoring list by a random number generation method from the preset operating modes, and setting the new operating mode to the first vehicle-mounted radar device through CAN communication and simultaneously performing broadcast communication through the first communication module; The broadcast communication includes sending the current vehicle's GPS location information, lane information and current vehicle radar equipment operating mode information; The step S1 further includes: the priority of storage is: first, according to the distance of GPS location information, to realize the flow-based networking and network withdrawal, and then, in order of front-facing vehicle radar, side-facing vehicle radar, to store; The working mode information of the first vehicle-mounted radar device also includes adding a millimeter-wave radar carrier MAC check bit after the radar code. The MAC byte is the check code byte. When the radar receives the echo signal, it determines whether the echo signal is the echo signal emitted by the vehicle by parsing the MAC byte.

7. The method according to claim 6, characterized in that The S3 also includes: assigning the radar presets to different working modes according to the working frequency modulation method of the radar equipment, the working frequency and modulation method of any working mode are different, and programming the preset working modes to different numbers, each number representing a different working mode.

8. The method according to any one of claims 6-7, characterized in that: The communication module adopts a V2X module or a Ble module; the broadcast communication is broadcast at a frequency greater than 10HZ.

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