Signal transmitting method and related device

Abstract

The invention discloses a signal transmitting method and device which can be applied to the fields of automatic driving, intelligent driving or unmanned driving. In the embodiment of the invention, the available total frequency band of the detection device comprises N frequency bands with the same bandwidth, the N frequency bands respectively correspond to N orientation ranges, and N is an integer greater than 1. When the detection device transmits a signal, a first available frequency band of the signal is determined according to the orientation of the detection device, the signal is transmitted in the first available frequency band, and the first available frequency band is one of N frequency bands. Thus, the detection devices in different orientation ranges use different frequency bands to transmit signals, the transmission frequency band selection of the detection devices can be standardized, and interference between the detection devices is reduced.

Description

A signal transmission method and related device Technical Field

[0001] The present application relates to the fields of detection technology and intelligent driving, and in particular to a signal transmission method and related devices. Background Art

[0002] With the development of society, smart cars are gradually becoming part of people's daily lives. Sensors play a crucial role in assisted and autonomous driving. A variety of sensors installed in vehicles, such as millimeter-wave radar, lidar, ultrasonic radar, and cameras, can sense the surrounding environment, identify and track moving objects, and recognize stationary scenes (such as lane markings and signs) while the car is in motion. In short, sensors can proactively detect potential dangers, provide timely assistance to the driver, and implement necessary evasive measures, effectively increasing driving safety and comfort.

[0003] On-board radars are a crucial component of vehicle sensors, and mutual interference between them is a pressing issue. As shown in Figure 1, radar 101 can transmit detection signals and receive echo signals reflected from target object 102. However, radar 103, located to the left and in front of radar 101, can also transmit detection signals. While radar 101 is receiving the echo signals reflected from target object 102, it is very likely to receive the signals transmitted by radar 103. Especially when radars 101 and 103 operate in the same frequency band, the signal transmitted by radar 103 (i.e., the interference signal shown in Figure 1) can severely interfere with the original echo signals of radar 101, reducing the detection efficiency and accuracy of radar 101. For vehicles, if the interference signal causes a false alarm, it can cause the autonomous vehicle (or intelligent assisted driving vehicle) to slow down or brake suddenly when there is no object ahead, reducing driving comfort. If the interference signal causes a missed detection, the autonomous vehicle (or intelligent assisted driving vehicle) can mistakenly believe there is no object ahead and fail to slow down or brake, resulting in traffic accidents and reducing driving safety.

[0004] In short, with the widespread use of automotive radars, mutual interference between them will become increasingly serious. Mutual interference can significantly reduce detection accuracy or increase the probability of false alarms, causing significant impacts on vehicle driving safety and comfort.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a signal transmission method and related devices, which can reduce interference between detection devices.

[0007] In a first aspect, an embodiment of the present application provides a signal transmission method, including:

[0008] determining, based on the orientation of the detection device, a first available frequency band in which the detection device transmits a signal;

[0009] The first available frequency band is one of N frequency bands of the total available frequency band of the detection device, the N frequency bands respectively correspond to N direction ranges, and N is an integer greater than 1;

[0010] A signal is transmitted in the first available frequency band.

[0011] In the embodiments of the present application, different orientation ranges correspond to different frequency bands. Therefore, the frequency band to be used can be determined based on the orientation range of the detection device, which facilitates the standardization of frequency band selection and division. Detection devices in different orientation ranges use different frequency bands to transmit signals, thereby significantly reducing or avoiding interference between detection devices with opposite orientations, improving detection accuracy, reducing the probability of false alarms, and enhancing the detection performance of the detection device.

[0012] In a possible implementation of the first aspect, the distribution of the N frequency bands is related to the transmission bandwidth requirement range of the detection device. The distribution here includes whether there is overlap between the N frequency bands, whether the sizes of the N frequency bands are uniform, whether there are gaps between the N frequency bands, etc.

[0013] The transmission bandwidth requirement of a detection device refers to the frequency bandwidth required by the detection device. For example, the transmission bandwidth requirement of the detection device is equal to the operating bandwidth of the detection device. For example, if the operating bandwidth of the detection device is 400 MHz, the transmission bandwidth requirement may be 400 MHz. For another example, the transmission bandwidth requirement of the detection device may be greater than the operating bandwidth of the detection device. For example, the bandwidth requirement of the detection device is determined based on the operating bandwidth of the detection device and the redundant bandwidth. The redundant bandwidth can provide the detection device with greater flexibility in selecting the operating frequency band.

[0014] In another possible implementation of the first aspect, the bandwidths of the N frequency bands are identical. This allows the detection device to have an equal share of resources when oriented in each direction range, thereby avoiding severe interference with resources in a particular direction range. It should be understood that the "identical" here may not be absolute. For example, the difference in bandwidth between any two of the N frequency bands is small, such as not exceeding 1 / N of the total available bandwidth, or not exceeding 10 MHz.

[0015] In another possible implementation of the first aspect, there is overlap between the N frequency bands. Optionally, the distribution of the N frequency bands is related to a required transmission bandwidth range of the detection device, including: when the required transmission bandwidth range of the detection device is greater than 1 / N of the total available frequency band of the detection device, there is overlap between the N frequency bands.

[0016] The above implementation allows for overlap between frequency bands, resulting in a larger bandwidth for each directional range, thus meeting the needs of high-bandwidth detection devices. Furthermore, detection devices with different bandwidth requirements can select the first available frequency band from the total available frequency band based on their own characteristics, thereby reducing interference between detection devices.

[0017] Consider a possible scenario where N=4, the total available frequency band is 3 GHz, and the detection device's bandwidth requirement is 1 GHz (in this case, the required transmit bandwidth range is greater than 1 / N of the detection device's total available frequency band). If frequency band overlap is not allowed, each of the four frequency bands will only occupy 0.75 GHz of bandwidth, which cannot meet the detection device's bandwidth requirement.

[0018] In the embodiment of the present application, since overlap between frequency bands is allowed, each of the four frequency bands can occupy a bandwidth of 1 GHz. For example, in this case, the frequency range of the first frequency band is 77 GHz to 78 GHz; the frequency range of the second frequency band is 77.667 GHz (accurate to 3 decimals) to 78.667 GHz; the frequency range of the third frequency band is 78.333 GHz to 79.333 GHz; and the frequency range of the fourth frequency band is 79 GHz to 80 GHz. Any two adjacent frequency bands overlap by 0.033 GHz.

[0019] In some scenarios, the bandwidth requirements of a detection device may exceed its operating bandwidth. In these scenarios, the detection device can select a portion of the frequency band to transmit signals, providing greater flexibility. Furthermore, when the bandwidth of each frequency band is large, interference monitoring technology can be incorporated into signal transmission to select a frequency band with less interference within the band. This reduces or avoids signal interference, improves detection accuracy, and reduces missed detection and false alarm rates.

[0020] In a possible implementation of the first aspect, the overlap between the N frequency bands includes:

[0021] Edge portions of any two adjacent frequency bands in the N frequency bands have an overlapping range.

[0022] In another possible implementation of the first aspect, when the transmission bandwidth requirement range of the detection device is less than 1 / N of the total available frequency band of the detection device,

[0023] The N frequency bands do not overlap with each other.

[0024] In the above-described embodiment, the width of the frequency band within each directional range can be greater than or equal to the transmission bandwidth requirement of the detection device. This helps standardize the division of frequency bands and prevents some detection devices from disrupting the original frequency band allocation due to their smaller bandwidth requirements. Furthermore, when transmitting signals, the detection device can select a portion of the frequency range within the frequency band to transmit, thereby providing greater flexibility in the selection of the operating bandwidth.

[0025] In another possible implementation of the first aspect, the available total frequency band includes M sub-frequency bands, the M sub-frequency bands do not overlap with each other, M is an integer, and M>N;

[0026] Each of the N frequency bands occupies K consecutive sub-frequency bands of the M frequency sub-bands, and frequency intervals between center frequencies of the N frequency bands are the same.

[0027] Furthermore, the M sub-frequency bands are arranged adjacent to each other, that is, the M sub-frequency bands are connected end to end.

[0028] In the above embodiment, by dividing the frequency band into M sub-bands, the transmission frequency band of the first detection device can be standardized to avoid randomization.

[0029] In yet another possible implementation of the first aspect, K=M−N+1, and an overlapping range of any two adjacent frequency bands in the N frequency bands is MN sub-frequency bands.

[0030] In another possible implementation of the first aspect, M, N, and the transmission bandwidth requirement range B of the detection device w and the total available frequency band B of the detection device band Satisfies the following formula:

[0031] In another possible implementation of the first aspect, the sum of the N orientation ranges is 360°.

[0032] In another possible implementation of the first aspect, N=4, and each of the four orientation ranges occupies 90°.

[0033] In another possible implementation of the first aspect, the N orientation ranges are divided by four basic directions as boundaries, and the four basic directions are east, south, west, and north.

[0034] This implementation meets the needs of detection devices that move on a plane. For example, detection devices installed on vehicles often have their orientation changing along the plane. Therefore, dividing the system into four cardinal directions helps reduce interference between detection devices installed on flat surfaces (such as the ground or horizontal surfaces). For example, this can reduce interference between vehicle-mounted radars, intersection radars, or radars installed on logistics robots.

[0035] In another possible implementation of the first aspect, N=8, the sum of the N orientation ranges is a three-dimensional turning space, and the N orientation ranges are 8 orientation ranges obtained by dividing the three-dimensional turning interval with 6 basic directions as boundaries, and the 6 basic directions are east, south, west, north, up, and down.

[0036] Optionally, the three-dimensional turning space is, for example, 360° in the horizontal direction and 180° in the vertical direction.

[0037] This embodiment meets the needs of detection devices that move in three-dimensional space, such as detection devices installed on drones, aircraft, and submarines, whose orientation generally changes in three-dimensional space. The above embodiment is conducive to reducing interference between detection devices installed on equipment in three-dimensional space.

[0038] In another possible implementation of the first aspect, in the N direction ranges, center frequencies of frequency bands corresponding to N / 2 direction ranges in a clockwise direction starting from the first direction change sequentially;

[0039] The center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the counterclockwise direction starting from the first direction change sequentially;

[0040] The sequence change is an increasing sequence or a decreasing sequence.

[0041] In this embodiment, there is a frequency band difference between opposite directions, and the frequency band difference between adjacent direction ranges can be reduced, which not only reduces or avoids interference to the detection device, but also helps to improve the efficiency of frequency band switching.

[0042] In another possible implementation of the first aspect, in the N direction ranges, the center frequencies of the frequency bands corresponding to the N direction ranges in the clockwise direction starting from the first direction change sequentially, and the sequential change is sequentially increasing or sequentially decreasing.

[0043] In this embodiment, there are frequency band differences between the directional ranges that are opposite to each other, and the differences are relatively uniform, so as to reduce or avoid interference to the detection device.

[0044] In another possible implementation of the first aspect, transmitting a signal in the first available frequency band includes:

[0045] The detection signal is transmitted in a first frequency band, where the first frequency band is included in the first available frequency band.

[0046] In this embodiment, the detection device can select a partial frequency range from the first available frequency band to transmit a signal, thereby improving the flexibility of the detection device in selecting the working frequency band.

[0047] Optionally, the interference in the first frequency band is smaller than the interference in the frequency range other than the first frequency band in the first available frequency band. This solution can further reduce the interference to the detection device and improve the detection accuracy.

[0048] Optionally, the first frequency band is a frequency range in the first available frequency band that is away from the first frequency band, the first frequency band is a frequency band in the N orientations that corresponds to the first orientation range, and the direction opposite to the orientation of the detection device falls within the first orientation range. This solution can further reduce the frequency band differences between opposite orientation ranges, reduce interference between detection devices, and improve detection accuracy.

[0049] In another possible implementation of the first aspect, the method further includes:

[0050] determining, based on the orientation of the detection device, a first available time period during which the detection device transmits a signal;

[0051] The first available time period is one of S time periods of the total available time period of the detection device, wherein S≤N, and one of the S time periods corresponds to at least one orientation range of the N orientation ranges;

[0052] The transmitting a signal in the first available frequency band includes:

[0053] The signal is transmitted in the first available frequency band and in the first available time period.

[0054] The above-mentioned implementation manner can standardize the selection of the transmission time period of the detection device, so that the detection devices in different direction ranges use different time periods to transmit signals, and further reduce the interference between the detection devices.

[0055] In another possible implementation of the first aspect, when the transmission time width requirement range of the detection device is greater than 1 / S of the total available time period of the detection device, there is overlap between the S time periods;

[0056] When the required transmission time width of the detection device is smaller than 1 / S of the total available time period of the detection device, the S time periods do not overlap with each other.

[0057] In another possible implementation of the first aspect, the N orientation ranges include a second orientation range and a third orientation range, the first orientation range and the second orientation range are in opposite directions, and a resource difference between the second orientation range and the third orientation range is greater than a first threshold;

[0058] The second direction range corresponds to a second frequency band and a first time period, the third direction range corresponds to a third frequency band and a second time period, and the resource difference is related to a difference between the first frequency band and the third frequency band and a difference between the first time period and the second time period;

[0059] The second frequency band and the third frequency band belong to the N frequency bands, and the first time period and the second time period belong to the S time periods.

[0060] In the above implementation, the difference in resources occupied by signals in relative directions can be further increased through the difference in time domain and frequency, which is beneficial to reducing mutual interference between detection devices.

[0061] In another possible implementation of the first aspect, a resource difference between the second orientation range and the third orientation range is greater than X unit difference, where X is an integer and X≥2;

[0062] The N frequency bands are arranged in the order of change of their center frequencies, the difference between the i-th frequency band and the j-th frequency band is (ji) units, i and j are both integers greater than 0 and j ≥ i;

[0063] The S time periods are arranged in the order of change of their central moments, and the difference between the hth time period and the lth time period satisfies the following formula: Δt=min[(lh),(h+Sl)],

[0064] Wherein, h and l are both integers greater than 0 and l ≥ h.

[0065] In another possible implementation of the first aspect, the method further includes:

[0066] determining, according to the orientation of the detection device, a first available polarization direction range of a signal transmitted by the detection device;

[0067] The first available polarization direction range is one of P polarization direction ranges of the total available polarization direction range of the detection device, where P≤N, and one polarization direction range in the P polarization direction ranges corresponds to at least one orientation range in the N orientation ranges;

[0068] The transmitting a signal in the first available frequency band includes:

[0069] The signal is transmitted in the first available frequency band and in the first available polarization direction range.

[0070] The above implementation can standardize the selection of polarization direction ranges of detection devices, so that detection devices with different orientation ranges use different polarization direction ranges to transmit signals, further reducing interference between detection devices.

[0071] In another possible implementation of the first aspect, the orientation of the detection device belongs to a fourth orientation range among the N orientation ranges;

[0072] The method further comprises:

[0073] If the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold, determining a second available frequency band for transmitting signals by the detection device according to the current orientation of the detection device;

[0074] A signal is transmitted in the second available frequency band.

[0075] By setting the offset threshold, the frequency of band switching can be reduced and the stability of the system can be improved.

[0076] In another possible implementation of the first aspect, if the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold, determining a second available frequency band for transmitting a signal by the detection device according to the current orientation of the detection device includes:

[0077] If the offset of the detection device's orientation relative to the fourth orientation range is greater than an offset threshold and the duration is greater than a time threshold, a second available frequency band for transmitting signals by the detection device is determined according to the current orientation of the detection device.

[0078] By setting the offset threshold and time threshold, the frequency of band switching can be further reduced and the stability of the system can be improved.

[0079] In a second aspect, an embodiment of the present application provides a signal transmitting device, which includes a processing module and a transmitting module, and is used to implement the signal transmitting method described in the first aspect or any possible implementation method of the first aspect.

[0080] In a third aspect, an embodiment of the present application provides a chip comprising a processor. When the processor invokes a computer program or instruction, the method described in any one of the first aspects is executed. That is, the processor is configured to implement the method described in any one of the first aspects.

[0081] Optionally, the chip further includes a communication interface, where the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0082] Optionally, the chip may further include a memory, which may be used to store computer programs or instructions. Furthermore, the memory may be located outside the processor, or may be integrated with the memory.

[0083] In a fourth aspect, an embodiment of the present application further provides a detection device, which includes the signal transmitting device of the second aspect and / or the chip of the third aspect.

[0084] Optionally, the detection device further includes a receiving module, which is used to receive an echo corresponding to the transmitted signal.

[0085] In a fifth aspect, an embodiment of the present application further provides a terminal, which includes the transmitting device of the second aspect, or the detection device described in the third aspect.

[0086] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0087] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store instructions or computer programs. When the instructions or computer programs are executed, the method described in any one of the first aspects above is implemented.

[0088] In a seventh aspect, the present application provides a computer program product, the computer program product including computer instructions or a computer program,

[0089] When the instruction or computer program is executed, the method described in any one of the first aspects above is implemented.

[0090] Optionally, the computer program product may be a software installation package or an image package. When the aforementioned method is required, the computer program product may be downloaded and executed on a computing device.

[0091] The beneficial effects of the technical solutions provided in the second to seventh aspects of this application can refer to the beneficial effects of the technical solution in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] The following is a brief introduction to the drawings used in describing the embodiments.

[0093] FIG1 is a schematic diagram of a scenario in which an interfering signal exists;

[0094] Figure 2 is a schematic diagram of interference with a vehicle-mounted radar;

[0095] FIG3 is a schematic diagram of an applicable scenario of an embodiment of the present application;

[0096] FIG4 is a schematic diagram of the architecture of a detection device provided in an embodiment of the present application;

[0097] FIG5 is a schematic diagram of an orientation range provided in an embodiment of the present application;

[0098] FIG6 is a schematic diagram of another orientation range provided in an embodiment of the present application;

[0099] FIG7 is a schematic diagram of another orientation range provided in an embodiment of the present application;

[0100] FIG8 is a schematic diagram of another orientation range provided in an embodiment of the present application;

[0101] FIG9 is a schematic diagram of another orientation range provided in an embodiment of the present application;

[0102] FIG10 is a schematic diagram of a frequency band distribution provided in an embodiment of the present application;

[0103] FIG11 is a schematic diagram of another frequency band distribution provided in an embodiment of the present application;

[0104] FIG12 is a schematic diagram of a frequency band division method provided in an embodiment of the present application;

[0105] FIG13 is a schematic diagram of another frequency band division method provided in an embodiment of the present application;

[0106] FIG14 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0107] FIG15 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0108] FIG16 is a schematic diagram of another schematic diagram of the correspondence between frequency bands and orientation ranges provided in an embodiment of the present application;

[0109] FIG17 is a schematic diagram of another correspondence relationship between frequency bands and orientation ranges provided in an embodiment of the present application;

[0110] FIG18 is a schematic diagram of a time period distribution provided by an embodiment of the present application;

[0111] FIG19 is a schematic diagram of another time period distribution provided in an embodiment of the present application;

[0112] FIG20 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0113] FIG21 is a schematic diagram of a correspondence relationship among frequency bands, time periods, and orientation ranges provided in an embodiment of the present application;

[0114] FIG22 is a schematic diagram of another possible correspondence relationship between frequency bands, time periods, and direction ranges provided in an embodiment of the present application;

[0115] FIG23 is a schematic diagram of the distribution of a polarization direction range provided in an embodiment of the present application;

[0116] FIG24 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0117] FIG25 is a schematic diagram showing the correspondence between a frequency band, a polarization direction range, and an orientation range provided in an embodiment of the present application;

[0118] FIG26 is a flowchart of a signal transmission method provided in an embodiment of the present application;

[0119] FIG27 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0120] FIG28 is a schematic diagram of a scenario of a signal transmission method provided in an embodiment of the present application;

[0121] FIG29 is a schematic diagram of a correspondence between frequency bands and orientation ranges provided in an embodiment of the present application;

[0122] FIG30 is a schematic diagram of a frequency band switching condition provided in an embodiment of the present application;

[0123] FIG31 is a flowchart of another signal transmission method provided in an embodiment of the present application;

[0124] FIG32 is a schematic diagram of a correspondence between a frequency band and a direction range provided in an embodiment of the present application;

[0125] FIG33 is a schematic diagram of a scenario of a signal transmission method provided in an embodiment of the present application;

[0126] FIG34 is a flowchart of another signal transmission method provided in an embodiment of the present application;

[0127] FIG35 is a schematic diagram of a correspondence between frequency bands and orientation ranges provided in an embodiment of the present application;

[0128] FIG36 is a schematic structural diagram of another signal transmitting device provided in an embodiment of the present application;

[0129] Figure 37 is a structural diagram of another signal transmitting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0130] To facilitate understanding, some concepts related to the embodiments of the present application are described below by way of example for reference.

[0131] 1. Detection Device: A detection device is capable of emitting signals for detection (e.g., ranging), including but not limited to radar or lidar. Radar may be millimeter-wave radar, centimeter-wave radar, etc. In some scenarios, a device that integrates both radar and a camera (a fusion detection device) may also emit signals, and such a fusion detection device also falls within the scope of the detection device of this application.

[0132] 2. Working bandwidth of the detection device: the bandwidth occupied by the waveform of the signal emitted by the detection device.

[0133] 3. Interference sensing: The electromagnetic waves in the space are received by the receiving module, and the received signals are processed to obtain the sensing results. The sensing results can reflect the interference situation in the current space, such as the frequency of the interference signal, the strength of the interference signal, the time domain resources occupied by the interference signal, etc. For example, Fast Interference Sensing and Avoidance (FISA) is an interference sensing technology that first grasps the interference situation of the operating frequency / time resource (OFTR) through interference sensing, and then selects the appropriate OFTR to work based on the situation, so that the detection device can adapt to changes in complex electromagnetic environments.

[0134] With the development of information technology, detection technology has made rapid progress. A variety of detection devices have brought great convenience to people's lives and travel. For example, advanced driving assistance systems (ADAS) play a very important role in smart cars. They use on-board detection devices to detect the surrounding environment while the vehicle is driving, collect data, identify static and moving objects, and perform systematic calculations and analysis based on maps. This allows the driver to be aware of potential dangers in advance, effectively improving driving comfort and safety. It is not difficult to see that detection devices will become indispensable in the development of intelligent terminals (such as vehicles and logistics robots). They are often referred to as the "eyes" of terminals to perceive the environment. For example, on-board radar is a key component of on-board sensors.

[0135] However, with the widespread use of detection devices, signal interference between detection devices has quickly become a problem that plagues manufacturers and consumers. For example, see Figure 2, which is a schematic diagram of interference with on-board radar. Vehicles 201 and 202 are each equipped with detection devices on the left front, right front, left rear, and right rear (detection is represented by black circles, where white indicates the orientation of the detection device). Detection device 203 on vehicle 201 and detection device 204 on vehicle 202 are oriented in opposite directions. Therefore, the signal emitted by detection device 204 is very likely to interfere with the detection of detection device 203. Similarly, the signal emitted by detection device 203 is also very likely to interfere with the detection of detection device 204.

[0136] For example, detection device 203 can receive the echo from target object 1 within the time of receiving the echo signal, and obtain true echo, and true echo can detect target object 1 in front through analysis and processing. If detection device 203 receives the signal (interference signal) emitted by detection device 204, after processing, detection device 203 (or vehicle 201) may think that there is " target object 2" (name is only an example) in front. But in fact, " target object 2" does not exist, that is, due to mutual interference, detection device 203 has obtained a wrong detection result. This wrong detection result may cause false alarm, causing vehicle 201 to turn to avoid, slow down or brake suddenly when there is no object in front, thereby reducing the comfort of driving.

[0137] For another example, the signal emitted by detection device 204 may cover (or drown out) the true echo, resulting in missed detection. For example, if detection device 203 receives both the echo (the true echo) from target object 1 and the signal (the interference signal) emitted by detection device 204 during the time it receives the echo signal, the interference signal may make the true echo less distinct or even cover it, making it difficult to detect the target object and increasing the possibility of missed detection. A missed detection can cause an autonomous vehicle to mistakenly believe there is no object ahead, failing to slow down, evade, or brake, resulting in a traffic accident, reducing vehicle safety, and endangering the safety of passengers.

[0138] In short, the mutual interference of detection devices will greatly reduce the detection accuracy or increase the probability of false alarm, which will have a significant impact on vehicle driving safety or comfort.

[0139] In view of this, an embodiment of the present application provides a signal transmission method and device. In an embodiment of the present application, the total available frequency band of the detection device includes multiple (for example, N, N is an integer and N>0) frequency bands with the same bandwidth, and the N frequency bands correspond to multiple (for example, N) direction ranges. When the detection device transmits a signal, the first available frequency band of the signal is determined according to the direction of the detection device, and the signal is transmitted in the first available frequency band, which is one of the N frequency bands. In this way, the transmission frequency band selection of the detection device can be standardized, so that detection devices with different direction ranges use different frequency bands to transmit signals, thereby reducing interference between detection devices.

[0140] Figure 3 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, or networked driving, etc. The detection device can be installed on a motor vehicle (such as an unmanned vehicle, an intelligent vehicle, an electric vehicle, a digital vehicle, etc.), a drone, a rail vehicle, a bicycle, a signal light, a speed measuring device or a network device (such as a base station and a terminal device in various systems), etc. The embodiment of the present application is applicable to detection devices between vehicles, as well as detection devices between vehicles and other devices such as drones, or detection devices between other devices. In addition, the detection device can be installed on a mobile device, for example, the detection device is installed on a vehicle as a vehicle-mounted detection device (such as a vehicle-mounted radar). Alternatively, the detection device can also be installed on a fixed device, such as a road side unit (RSU) and other equipment. The embodiment of the present application does not limit the installation location and function of the detection device.

[0141] The embodiments of the present application are described below with reference to the accompanying drawings.

[0142] The following describes the system architecture used in the embodiments of this application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. It should be understood that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0143] Please refer to Figure 4, which is a schematic diagram of the architecture of a detection device provided in an embodiment of the present application. The detection device 40 includes a transmitting module 401 and a processing module 402.

[0144] The transmitting module 401 is used to transmit signals. As a possible example, the transmitting module 401 may include a signal transmitter, a modulator, and a transmitting antenna, and may optionally include an amplifier, etc. A signal generator (such as a voltage-controlled oscillator, etc.) can generate an electromagnetic wave signal (also known as a radar signal waveform). For example, in a radar using FMCW modulation, the signal transmitter can generate a sawtooth wave or a triangle wave. The generated electromagnetic wave signal waveform is modulated to a certain frequency band (for example, between 77 GHz and 78 GHz) through a frequency conversion modulation process and radiated into space through a transmitting antenna.

[0145] Processing module 402 has computing capabilities. For example, processing module 402 can be connected to transmitting module 401. The processing module determines available frequency bands for transmitting signals and provides information about the available frequency bands to transmitting module 401. In response, the transmitting module receives the available frequency bands and transmits signals within the available frequency bands. The available frequency band information indicates the available frequency bands and may include, for example, the available frequency band number, the center frequency of the available frequency band, the bandwidth of the available frequency band, and the starting and ending frequencies of the available frequency bands.

[0146] Optionally, the processing module 402 can be implemented by hardware or software. For example, the processing module 402 can be implemented by a general-purpose processor, such as a central processing unit (CPU) or a microprocessor. Alternatively, the processing module 402 can be implemented in the form of a hardware circuit, and the functions of some or all of the units completed by the processing module 402 are realized by designing the hardware circuit. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, thereby realizing the functions of some or all of the above units.

[0147] Optionally, the detection device 40 may further include a receiving module 403 (shown by dotted lines in the figure). The receiving module 403 is used to receive electromagnetic wave signals.

[0148] Furthermore, the received signal can be output as detection data, or the received signal can be processed to obtain detection data and then output. The detection data can indicate relevant information about the target, such as the target's distance, speed, angle, emissivity, etc.

[0149] As a possible example, the receiving module 403 may include a receiving antenna. The electromagnetic wave signal radiated by the transmitting antenna is irradiated onto the target and then reflected into space and received by the receiving antenna. The signal received by the receiving antenna can be mixed with a reference signal, and the reference signal can generally be the electromagnetic wave signal generated above. After subsequent processing (e.g., filtering, conversion, amplification, etc.) of the mixed output, the distance, speed, and angle information of the target can be obtained. In addition, the obtained information can be used for clustering and / or tracking, etc., to further obtain information such as the trajectory, size, and type of the target.

[0150] In some scenarios, the detection device 40 may be a millimeter-wave radar, which emits millimeter-wave electromagnetic waves. Alternatively, the detection device 40 may be a centimeter-wave radar, which emits centimeter-wave electromagnetic waves.

[0151] In some scenarios, the detection device 40 may be a lidar, whose transmitting module may include a laser or a silicon photonic chip, and the electromagnetic waves emitted by it are light.

[0152] When performing detection, the detection device may be oriented in a certain direction. For example, the detection device 203 shown in FIG2 is oriented northeast, and the detection device 204 is oriented southwest. The orientation of the detection device may be different at different times. For example, the orientation of the detection device is based on the geodetic coordinate system. When the detection device is mounted on a vehicle, the vehicle's steering may cause the detection device's orientation to change. For another example, the detection device may be mounted on a turntable, and the rotation of the turntable may cause the detection device's orientation to change. For another example, the detection device may be provided with a scanner or a mechanical rotating component, allowing the detection device to detect in different directions.

[0153] The following describes the orientation and orientation range in the embodiments of the present application. Orientation refers to a direction or orientation, such as the placement direction of the detection device, the direction of the signal emitted by the detection device, or the direction of the center of the field of view of the detection device.

[0154] The orientation is usually defined with reference to a fixed orientation (ie, a cardinal orientation). The fixed orientation is usually predefined or pre-specified, or follows a pre-designed design by a manufacturer or developer.

[0155] For example, a fixed orientation can be referenced to a geodetic coordinate system. East is in the direction of the Earth's rotation, west is in the opposite direction to the Earth's rotation, north is in the direction toward the North Pole, and south is in the direction toward the South Pole. Of course, the above east, west, south, and north are the basic orientations on the ground plane. In some scenarios, the basic orientations may also include up and down, where the direction pointing to the center of the Earth is down and the direction against the center of the Earth is up. Some embodiments in this application are described using a fixed orientation referenced to a geodetic coordinate system as an example, and this application also applies to fixed orientation definitions with reference to other coordinate systems.

[0156] For example, a fixed orientation can refer to a road coordinate system. The road reference line direction is categorized as either positive or negative, along the reference line. Orientation can also be left or right of a road reference line. Positive, negative, left, and right can be considered the basic orientations of a road.

[0157] For example, fixed directions can be referenced to the vehicle coordinate system. With the center of the vehicle's rear axle or the center of the vehicle as the origin, the front of the vehicle is considered the front, the rear of the vehicle is considered the rear, and the left and right directions are referenced to the front. Front, rear, left, and right can be considered the basic vehicle directions.

[0158] In some embodiments, the orientation of the detection device can vary within a predefined or predetermined turning space. For example, the degrees of freedom can be 360°, i.e., a plane, such as the 360° formed by east, west, south, and north. Alternatively, the degrees of freedom can be three-dimensional, such as encompassing 360° horizontally and 180° vertically, such as the turning space formed by east, west, south, north, and up.

[0159] An orientation range refers to the range between one orientation and another orientation in a steering space. Space can be divided into one or more orientation ranges, where the number of orientation ranges can be predefined or preconfigured. For ease of description, N1 orientation ranges are used as an example, where N1 is an integer greater than 0, and optionally, N1>1. At a given moment, the orientation of the detection device may fall into any of the N1 orientation ranges.

[0160] Please refer to Figure 5, which is a schematic diagram of an orientation range provided in an embodiment of the present application. Taking N1=4 as an example, the four orientation ranges are represented as I, II, III, and IV, respectively. The sum of the four orientation ranges is 360°, of which each orientation range occupies 90°. It should be understood that Figure 5 shows the four orientation directions obtained by dividing the basic orientations as boundaries. In the specific implementation process, other orientations can also be used as boundaries. As shown in Figure 6, the four orientation ranges are obtained by using the angle bisector of the basic orientation as the boundary.

[0161] The above is an example of four orientation ranges (N1=4). In specific implementations, the number of orientation ranges can be more or less. For example, Figure 7 is a schematic diagram of another orientation range provided in an embodiment of the present application. The six orientation ranges shown in Figure 7 are represented as I, II, III, IV, V, and VI, respectively. The sum of the angular widths of the six orientation ranges is 360°, and each orientation range occupies 60°.

[0162] In the above example, the sum of the angular widths of the N1 orientation ranges is the angular width of the turning space.

[0163] In some scenarios, the sum of the angular widths of the N1 orientation ranges may be greater than the angular width of the turning space. Figure 8 is a schematic diagram of another orientation range provided in an embodiment of the present application. Each of the N1 orientation ranges occupies 120°, and each orientation range overlaps with other orientation ranges by 60°, with 30° on each side. Among them, orientation range I is 120° between 15° north by west and 15° east by south, orientation range II is 120° between 15° east by north and 15° south by west, and the rest of the orientation ranges are analogous. It is not difficult to see that the sum of the angular widths of the four orientation ranges is 480°, which is greater than 360°. It should be understood that the angular width of the orientation ranges (120°), the overlapping method (overlapping on both sides), and the width of the overlapping area (30°) shown in Figure 8 are only examples, and there may be other designs in the specific implementation manner.

[0164] The orientation ranges illustrated above are all based on the orientation of two-dimensional space as an example. The following introduces an orientation range in three-dimensional space. Please refer to Figure 9, which is a schematic diagram of another orientation range provided in an embodiment of the present application. The turning space includes 8 orientation ranges, and the 8 orientation ranges are bounded by 6 basic directions (i.e., east, south, west, north, up, and down). Among them, the sum of the angular widths of the 8 orientation ranges is 360° in the horizontal direction and 180° in the vertical direction. Optionally, the sum of the angular widths of the 8 orientation ranges may also be greater than the angular width of the turning space. For related descriptions, refer to Figure 7.

[0165] The above describes the direction range. The following describes the total available frequency band and bandwidth.

[0166] The signal emitted by the detection device is an electromagnetic wave, usually transmitted within a certain frequency band, such as centimeter waves, millimeter waves, etc. Of course, the frequency of the signal emitted by the detection device can also be variable, such as frequency modulated continuous wave.

[0167] The total available frequency band (or total spectrum) refers to the frequency range that can be used by the detection device, or the frequency range in which the detection device can operate. That is, the detection device can select frequency resources on the available total frequency band for detection. Optionally, the frequency range of the available total frequency band is predefined or pre-specified. As a possible implementation, the available total frequency band may be pre-defined by an industry standard, and the industry standard is not limited here. For example, the available total frequency band may be 77GHz-81GHz, where GHz refers to gigahertz. For another example, the frequency domain range of the available total frequency band may also be pre-specified by laws or standards, and the specific laws or standards are not limited here.

[0168] The total available frequency band includes multiple frequency bands. The number of frequency bands included in the total available frequency band may be predefined or pre-specified. In some scenarios, the number of frequency bands is related to the number of orientation ranges, for example, equal to the number of orientation ranges, or proportional to the number of orientation ranges. For ease of description, the number of frequency bands is set to N2, where N2 is an integer and N2>0. Optionally, N2=N1.

[0169] There are many possible situations where the total frequency band includes N2 frequency bands. Two possible situations are exemplified below:

[0170] In case 1, the N2 frequency bands can overlap. Overlapping refers to the presence of overlapping areas between adjacent sub-bands. As shown in Figure 10, the N2 (N2 is 4 in this example) frequency bands are represented as Bands 1 through 4, with Bands 2 and 1 sharing common frequency resources (i.e., overlapping areas).

[0171] Optionally, the sizes of the N2 frequency bands are uniform, that is, the bandwidths of the N2 frequency bands are the same, and the overall frequency band range occupied by the N2 frequency bands is the total available frequency band.

[0172] In some possible implementations, the sum of the bandwidths of the N2 frequency bands is greater than or equal to the bandwidth of the total frequency band. For example, when the bandwidths of the N2 frequency bands are the same, N2B w >B band ,Right now Among them, B w is the width of the frequency band, B band is the bandwidth of the total available frequency band.

[0173] In some possible implementations, the bandwidths of the overlapping regions between the N2 frequency bands are the same. For example, the width of the overlapping region B overlap Satisfies the following formula:

[0174] In conjunction with FIG10 , it is not difficult to see that, when N2 frequency bands occupy the total available frequency band, the frequency band range of the nth frequency band in the N2 frequency bands is [f0+(n-1)B w -(n-1)B overlap ] to ([f0+nB w -(n-1)B overlap ]). Where f0 is the starting frequency of the total available frequency band, n is an integer and 1≤n≤N2. For example, the frequency range of the first frequency band is from f0 to (f0+B w ), the frequency range of the second frequency band is (f0+B w -B overlap ) to (f0+2B w -B overlap), and the rest of the frequency bands are deduced in the same way. At this point, the distribution of the N2 frequency bands on the total frequency band is uniform, that is, the differences in the center frequencies of the frequency bands are the same.

[0175] For example, when the total frequency band range is 77-80.4 GHz, if there are four frequency bands and the width of the frequency bands is 1 GHz, the width of the overlapping region is 0.2 GHz. The first frequency band has a frequency range of 77-78 GHz, the second frequency band has a frequency range of 77.8 GHz-78.8 GHz, the third frequency band has a frequency range of 78.6 GHz-79.6 GHz, and the fourth frequency band has a frequency range of 79.4-80.4 GHz.

[0176] It should be noted that FIG10 is an illustration of an example in which the bandwidths of the overlapping regions between N2 frequency bands are the same, and the present application is also applicable to the case in which the bandwidths of the overlapping regions are different.

[0177] In case 2, the N2 frequency bands can be non-overlapping, as shown in Figure 11. Non-overlapping means that there is no overlap between the N2 frequency bands, that is, there is no common frequency resource portion between the N2 frequency bands. For example, there is no common frequency resource between frequency band 2 and frequency bands 1 and 3.

[0178] For example, when the total frequency band range is 77-81 GHz, if there are four frequency bands and the width of each band is 1 GHz, the frequency band range of the first frequency band is 77-78 GHz, the frequency band range of the second frequency band is 78-79 GHz, and so on, the frequency band range of the fourth frequency band is 80-81 GHz. In the above example, the sizes of the N2 frequency bands are also uniform.

[0179] Optionally, the sum of the bandwidths of the N2 frequency bands may be equal to the bandwidth of the total frequency band, that is, the N2 frequency bands are connected end to end, and there is no gap between any two adjacent frequency bands.

[0180] Alternatively, the sum of the bandwidths of the N2 frequency bands may be smaller than the bandwidth of the total frequency band. In this case, there is a gap between two adjacent frequency bands.

[0181] The above is only an explanation of the possibility of N2 frequency bands in the total available frequency band. For ease of understanding, the following examples introduce several possible implementation methods for obtaining N2 frequency bands:

[0182] In a first implementation, the bandwidths of the N2 frequency bands are related to the required transmission bandwidth of the detection device, wherein the transmission bandwidth required by the detection device refers to the required bandwidth of the detection device.

[0183] Exemplarily, the transmission bandwidth requirement of the detection device is equal to the working bandwidth of the detection device. For example, if the working bandwidth of the detection device is 400 MHz, the transmission bandwidth requirement may be 400 MHz.

[0184] For another example, the detection device's transmit bandwidth requirement may be greater than its operating bandwidth. For example, the detection device's bandwidth requirement is determined based on its operating bandwidth and redundant bandwidth. The redundant bandwidth allows the detection device greater flexibility in selecting an operating frequency band. For example, if the detection device's operating bandwidth is 800 MHz and requires 200 MHz of redundant bandwidth, the detection device's transmit bandwidth requirement is 1 GHz.

[0185] As a possible implementation, the bandwidth of any one of the N2 frequency bands is equal to the required transmission bandwidth of the detection device. For example, if the required transmission bandwidth is 1 GHz, the bandwidth is 1 GHz. For another example, if the required transmission bandwidth is 600 MHz, the bandwidth is 600 GHz.

[0186] In one possible implementation, the transmission bandwidth requirement range of the detection device is greater than or equal to the total available frequency band of the detection device. In the case of N2=4, the bandwidth is equal to the transmission bandwidth requirement of the detection device. band The detection device transmits bandwidth in the range of 3.4 GHz. r The width is 1GHz, because Therefore B w =B r .

[0187] At this time, due to N2B w >B band , then the sum of the bandwidths of the N2 frequency bands is greater than the bandwidth of the total available frequency band, so there is overlap between the N2 frequency bands. In other words, when the transmission bandwidth requirement range of the detection device is greater than or equal to the total available frequency band of the detection device, In the case of , there is overlap between the N2 frequency bands. For a detailed introduction to the overlap, please refer to the description of the above case 1.

[0188] This implementation method, on the one hand, standardizes the division of frequency bands and avoids excessive randomness in the division of frequency bands. On the other hand, any frequency band can meet the large bandwidth required by the detection device, thereby improving the detection performance of the detection device.

[0189] Optionally, when the transmission bandwidth requirement range of the detection device is less than or equal to or less than the total available bandwidth When , the bandwidth is related to the total available bandwidth and N2. or hour, That is, when the transmission bandwidth requirement of the detection device is less than the total available frequency band, When using the total available frequency band, the N2 divisions are still based on the total available frequency band, resulting in N2 frequency bands. This allows each frequency band to be larger than or equal to the required transmission bandwidth of the detection device, which helps standardize the frequency band division and prevents some detection devices from disrupting the original frequency band allocation due to their smaller bandwidth requirements. Furthermore, when transmitting signals, the detection device can select a portion of the frequency range within the frequency band, making the selection of the operating bandwidth more flexible.

[0190] In implementation method 2, the total available frequency band includes M sub-bands, the M sub-bands do not overlap, and each of the N2 frequency bands occupies K consecutive sub-bands of the M sub-bands, where M is an integer and M>N2, and K is an integer and K>0.

[0191] Here, M can be predefined or pre-specified, or calculated based on other parameters (described below). Furthermore, "continuous" here refers to continuity in order and may not imply continuity in frequency band. For example, in some scenarios, the total available frequency bands are 77-79 GHz and 80-81 GHz, with a 1 GHz gap between the sub-bands. However, the sub-bands before and after the gap are still considered continuous.

[0192] Optionally, the N2 frequency bands are evenly distributed across the total available frequency band. For example, the center frequencies of the N2 frequency bands are evenly distributed. For another example, when the N2 frequency bands have overlapping regions, the widths of the overlapping regions of the N2 frequency bands are equal.

[0193] As a possible implementation, K=M-N2+1, and the overlapping area of ​​two adjacent frequency bands in the N2 frequency bands is M-N2 sub-frequency bands.

[0194] Please refer to Figure 12, which is a schematic diagram of a frequency band division method provided by an embodiment of the present application. The total available frequency band includes M (here M=5) sub-bands, which are represented as a1 to a5 respectively. Each of the N2 frequency bands occupies 2 of the M sub-bands (K=M-N2+1=5-4+1=2), and the overlapping range of two adjacent frequency bands is 1 (M-N2=5-4=1). For example, frequency band 1 includes sub-band a0 and sub-band a1, frequency band 2 includes sub-band a1 and sub-band a2, and the remaining frequency bands are shown in Figure 12. Optionally, sub-band a1 is the overlapping area of ​​frequency band 1 and frequency band 2.

[0195] In a possible implementation, M is determined based on the transmission bandwidth requirement range of the detection device, and M, N2, and the transmission bandwidth requirement range B of the detection device are determined based on the transmission bandwidth requirement range B of the detection device. w and the total available frequency band B of the detection device band Satisfies the following formula:

[0196] Optionally, the above embodiment is implemented in a case where the transmission bandwidth requirement range of the detection device is greater than or equal to the total available bandwidth. implemented under the circumstances.

[0197] As another possible implementation, M is predefined. In this case, it is equivalent to dividing the total available bandwidth into M sub-bands according to the granularity, forming a grid-like frequency band range. When determining the N2 frequency bands, the starting and ending points of the N2 frequency bands are aligned with the "grid", that is, the starting and ending points of the frequency bands fall on the boundaries of the sub-bands. For example, the M sub-bands can be regarded as M grid points, and the detection device can adjust the starting and ending points of each frequency band to the boundaries of the sub-bands based on the starting and ending points of each frequency band in the N2 frequency bands and the boundary positions of the M sub-bands. For example, adjust to the boundary of the nearest sub-band, or calculate the number of sub-bands contained in each frequency band to determine the boundaries of the adjusted sub-bands.

[0198] Please refer to Figure 13, which is a schematic diagram of another frequency band division method provided by an embodiment of the present application. As shown in part (A) of Figure 13, the frequency range of the available total bandwidth is 77GHz-80GHz, N2=4, and the transmission bandwidth requirement range of the detection device is 1GHz. The detection device determines four frequency bands based on the available total bandwidth and the number of frequency bands (i.e., N2), and the four frequency bands represent frequency bands 1 to 4 respectively. Among them, the width of the frequency band is 1GHz, so the frequency range of the first frequency band is 77GHz to 78GHZ; the frequency range of the second frequency band is 77.667GHz (take 3 as an example to be accurate to the decimal) to 78.667GHz; the frequency range of the third frequency band is 78.333GHz to 79.333GHz; the frequency range of the fourth frequency band is 79GHz to 80GHz.

[0199] As shown in part (A) of Figure 13 , the start and end points of Bands 2 and 3 have many decimal places, making them inconvenient for practical use. Therefore, adjustments can be made based on the sub-bands. As shown in part (B) of Figure 13 , the total available frequency band includes 30 sub-bands (i.e., M = 30), numbered b1 to b30. Each sub-band has a width of 0.1 GHz, equivalent to a grid point. In this case, the start and end points of the frequency bands can be adjusted to the nearest sub-band grid point. For example, the adjusted frequency range of Band 2 can be 77.7 GHz (i.e., the boundary between b7 and b8) to 78.7 GHz (i.e., the boundary between b17 and b18), and the frequency range of Band 3 can be 78.3 GHz (i.e., the boundary between b13 and b14) to 79.3 GHz (i.e., the boundary between b23 and b24).

[0200] Adjusting the start and end points of a frequency band based on its sub-bands can prevent them from being too random, thus standardizing the frequency band division. This standardization helps reduce computational complexity and improve processing efficiency.

[0201] In addition, rasterizing the total available frequency band can also help improve the availability of interference detection. For example, radars with different orientations can respectively detect the interference situation in their respective ranges and map the interference situation to a sub-band. That is, the interference detection results are shared with a unified sub-band, which can improve standardization and reduce the computational complexity of processes such as alignment and deduplication. For example, a vehicle is equipped with four radars with different orientations, and the four radars can share 360° interference detection results. Each radar can transmit its own detection results using the grid point number as an index, and complete information sharing through the interface between the vehicle's central control unit, such as the MDC. In this way, when the radar has not yet turned to a certain direction, the interference situation corresponding to each grid point in that direction is already known, making it easier to quickly select appropriate resources for target detection.

[0202] Of course, even without frequency sub-band division, interference results can still be shared. For example, interference can be shared by specific frequency ranges, or interference can be mapped to specific frequency ranges. In this case, each radar needs to align and de-duplicate the listening results from other radars to obtain the interference situation for each frequency range within the available frequency band.

[0203] The above describes the orientation range and frequency band respectively. The following describes the relationship between the orientation range and frequency band.

[0204] As a possible implementation, there is a correspondence between the direction ranges and the frequency bands, and there is a correspondence between N1 direction ranges and N2 frequency bands.

[0205] In one possible design, N2 and N1 are equal, and the N2 frequency bands correspond to the N1 orientation ranges. The following uses N2 = N1 = N as an example, where N is an integer and N ≥ 0, and N ≥ 1 is optional. It should be noted that when N2 is greater than N1, N1 frequency bands can also be selected from the N2 frequency bands to correspond to the N1 orientation ranges.

[0206] Here are some possible ways to achieve the correspondence between the orientation range and the frequency band:

[0207] In implementation method 1, the center frequencies of the frequency bands corresponding to the N direction ranges in the clockwise direction starting from the first direction are sequentially changed. The sequential change can be sequentially increasing or decreasing, or the clockwise direction can be replaced by the counterclockwise direction.

[0208] FIG14 is a schematic diagram showing the correspondence between a frequency band and an orientation range provided in an embodiment of the present application. Taking four orientation ranges each occupying 90° as an example, with the north direction as the starting point (i.e., the first orientation), the four orientation ranges passing clockwise are represented as Ⅰ, Ⅱ, Ⅲ, and Ⅳ, respectively, wherein orientation range I corresponds to frequency band 1, orientation range 2 corresponds to frequency band 2, orientation range 3 corresponds to frequency band 3, and orientation range 4 corresponds to frequency band 4. That is to say, when allocating frequency bands to each orientation range, with a certain direction (the north direction in FIG14) as 0°, rotating clockwise or counterclockwise, each 90° angle range corresponds to a frequency band. When allocating frequency bands, the order of frequency band allocation can be from low frequency to high frequency or from high frequency to low frequency.

[0209] Of course, the first direction may also be other directions. For example, if the east direction is used as the first direction, then direction range 2 corresponds to frequency band 1, direction range 3 corresponds to frequency band 2, direction range 4 corresponds to frequency band 3, and direction range 1 corresponds to frequency band 4.

[0210] In implementation method 2, within N orientation ranges, the center frequencies of the frequency bands corresponding to the N / 2 orientation ranges in the clockwise direction starting from the first orientation are sequentially changed. Furthermore, the center frequencies of the frequency bands corresponding to the N / 2 orientation ranges in the counterclockwise direction starting from the first orientation are sequentially changed. The sequential change may be in increasing or decreasing order, or clockwise and counterclockwise may be interchangeable.

[0211] FIG15 is a schematic diagram showing the correspondence between a frequency band and an orientation range provided in an embodiment of the present application. For orientation range I and orientation range II in a clockwise direction starting from the north direction, they correspond to frequency band 1 and frequency band 2, respectively. For orientation range IV and orientation range III in a counterclockwise direction starting from the north direction, they correspond to frequency band 3 and frequency band 4, respectively. That is to say, with a certain direction (the north direction in FIG15 ) as 0°, first rotate 180° clockwise (or counterclockwise), and then rotate 180° counterclockwise (or clockwise) from the absolute direction 0°, and each 90° angle range corresponds to a frequency band. When allocating frequency bands, the order of frequency band allocation can be from low frequency to high frequency or from high frequency to low frequency.

[0212] Implementation method 3: For the first N / 2 frequency bands among the N frequency bands (center frequency from high to low or from low to high), they are mapped one by one to the N / 2 direction ranges starting from the first direction (such as north) in a clockwise direction; for the last N / 2 frequency bands among the N frequency bands, they are mapped one by one to the remaining N / 2 direction ranges in the order from the center to both sides (left first then right or right first then left).

[0213] For example, Figure 16 is a schematic diagram of another schematic diagram of the correspondence between frequency bands and orientation ranges provided in an embodiment of the present application. Please refer to part (A) of Figure 16. The six orientation ranges are represented as I, II, III, IV, V, and VI respectively. Please refer to part (B) of Figure 16. The total available frequency band can include 6 frequency bands, which are represented as frequency band 1 to frequency band 6 from low frequency to high frequency. For orientation ranges I, II, and III passing in a clockwise direction starting from the north, they correspond to frequency bands 1 to 3 respectively; for the remaining orientation ranges IV, V, and VI, the orientation range V located in the center corresponds to frequency band 4, the orientation range VI located in the counterclockwise direction (i.e., to the left) of the orientation range V corresponds to frequency band 5, and the orientation range IV located in the clockwise direction (i.e., to the right) of the orientation range V corresponds to frequency band 6.

[0214] Of course, the implementation described above is an exemplary introduction for the purpose of facilitating understanding of the correspondence between the orientation range and the frequency band. The orientation range division method and the frequency band division method can be referred to above.

[0215] To facilitate understanding, the following further provides some possible designs of the correspondence between the orientation range and the frequency band under some possible frequency band division methods.

[0216] Figure 17 shows another schematic diagram of the correspondence between frequency bands and orientation ranges provided by an embodiment of the present application. In part (A) of Figure 17 , the frequency band division can be found in Figure 12 . Orientation range I corresponds to frequency band 1 (including sub-bands a1 and a2), and orientation range II corresponds to frequency band 2 (including sub-bands a2 and a3). For the remaining orientation ranges, see Figure 17 . It is not difficult to see that orientation ranges I and II share sub-band a2.

[0217] In part (B) of Figure 17 , the frequency band division can be seen in Figure 13 : Direction Range I corresponds to Frequency Band 1 (including sub-bands b1 to b10), Direction Range 2 corresponds to Frequency Band 2 (including sub-bands b8 to b17), and the remaining direction ranges are shown in Figure 17 . It is not difficult to see that Direction Ranges I and II share sub-bands b8 to b10.

[0218] It should be understood that the number of the above orientation ranges and the number of frequency bands are only for illustration, and the present application is also applicable to cases with more orientation ranges or more frequency bands.

[0219] In some possible examples, the number of frequency bands N2 and the number of orientation ranges N1 can satisfy the following equation: 2N2 = N1. For example, taking four orientation ranges and two frequency bands as an example, orientation ranges I and II correspond to frequency band 1, and orientation ranges III and IV correspond to frequency band 2.

[0220] As a possible implementation, one or more pairs of relative orientation ranges may have relatively large resource differences, thereby reducing interference in relative directions.

[0221] The resources may include the frequency resources described above. For example, the resource difference may include the difference in frequency bands corresponding to the orientation ranges of the relative directions. For example, the resource difference may include the difference in frequency bands corresponding to the orientation ranges of the relative directions. For example, the corresponding frequency bands must meet preset conditions, such as the order interval between the corresponding frequency bands being greater than or equal to a preset value, or the frequency interval between the corresponding frequency bands being greater than or equal to another preset value.

[0222] Taking Figure 14 as an example, orientation ranges I and III are oriented in opposite directions. Orientation range I corresponds to frequency band 1, while orientation range III corresponds to frequency band 3. Bands 1 and 3 are relatively far apart within the total available frequency band, meaning the frequency ranges differ significantly. Taking Figure 16 as an example, orientation ranges I and IV are oriented in opposite directions. Orientation range I corresponds to frequency band 1, while orientation range IV corresponds to frequency band 5. Bands 1 and 5 are relatively far apart within the total available frequency band.

[0223] Furthermore, among the N orientation ranges, adjacent orientation ranges may have relatively small resource differences. For example, the frequency bands corresponding to two adjacent orientation ranges must meet another preset condition, such as the order interval between the frequency bands corresponding to the two adjacent orientation ranges being less than or equal to a preset value, or the frequency interval between the frequency bands corresponding to the two adjacent orientation ranges being less than or equal to another preset value. Because the orientation of the detection device may change, a relatively small difference in the frequency ranges of the frequency bands corresponding to two adjacent orientation ranges facilitates frequency band switching. In some scenarios, for a detection device capable of interference detection, using relatively small differences in frequency bands in adjacent orientation ranges can improve the effectiveness of interference detection. Specifically, taking radar as an example, the radar includes a local oscillator that can continuously generate signals within a continuous frequency range. When performing interference detection, the radar needs to generate a detection signal in the desired frequency band at the receiving end for mixing with the signal in that frequency band to detect interference. When the frequencies of the frequency bands corresponding to two adjacent orientation ranges are not significantly different, the radar can more easily balance the detection signal in its own frequency band with the detection signal in the frequency band corresponding to the adjacent orientation range. In other words, a radar can generate a signal that covers both its own frequency band and the adjacent frequency band. During operation, a filter intercepts the signal in its own frequency band for detection, while the frequency band corresponding to the adjacent frequency band is used as a listening signal (without being transmitted). In this case, the frequencies of the two adjacent frequency bands differ significantly, requiring the radar to generate a signal with a very large bandwidth. The frequency gap between the two bands is unused, wasting power and time.

[0224] Taking Figure 15 as an example, orientation ranges I and II are adjacent. Orientation range I corresponds to frequency band 1, while orientation range II corresponds to frequency band 2. The difference between the two is less than the maximum order interval of the frequency bands. This means that the two frequency bands that are farthest apart in the total available frequency band may not correspond to two adjacent orientation ranges. For example, frequency bands 1 and 4 do not correspond to two adjacent orientation ranges.

[0225] On the other hand, in Figure 15, direction range I and direction range III are two direction ranges in opposite directions. Direction range I corresponds to frequency band 1, and direction range III corresponds to frequency band 4. The "distance" between sub-band 1 and frequency band 4 in the total available frequency band is farther, which can reduce interference in relative directions.

[0226] As a possible implementation, the resource difference may be related to the order difference between the frequency bands.

[0227] For example, using the frequency band division method shown in Figure 10, the order of bands 1 and 2 differs by 1, so the frequency difference is 1 unit. Similarly, the order of bands 1 and 4 differs by 3 units. It is not difficult to see that, among the N frequency bands, arranged in the order of their center frequencies, the difference between the i-th band and the j-th band is (ji) units, where i and j are both integers greater than 0 and j ≥ i.

[0228] In some scenarios, in addition to frequency resources, time domain resources and / or polarization resources can also be divided. The following first introduces the division of time domain resources, and some of the logic and possible designs can refer to the above.

[0229] The available time domain resources can be described by the total available time period, that is, the total available time period refers to the time range available for use by the detection device, or the time period range in which the detection device can operate.

[0230] In some scenarios, the time on the time axis is divided into periods and cycles forward in the form of periods. The duration and start time of the period may be predefined or pre-specified. For example, a possible industry standard stipulates that the detection device period may be 50ms. For another example, another standard stipulates that the detection device period is 66ms. When the detection device transmits a signal, it usually performs detection within a fixed period of time in the period. For example, the period of some detections is 50ms, and the detection device may perform detection 10-20ms after the start of the period. Of course, the above 50ms is only an example, and this application is also applicable to periods of other lengths.

[0231] The total available time period can be the entire time period within a cycle, or a portion of a time period within a cycle. For example, taking a 50ms cycle as an example, the total available time period can be 50ms. For another example, taking a 50ms cycle as an example, the total available time period is from 0 to 45ms, and the 45th to 50th ms are used for other functions, such as interference detection by a detection device or time synchronization between detection devices.

[0232] The total available time period includes multiple time periods. The number of time periods included in the total available time period may be predefined or pre-specified. In some scenarios, the number of time periods is related to the number of orientation ranges, for example, equal to the number of orientation ranges, or proportional to the number of orientation ranges. For ease of description, this article sets the number of time periods included in the total available time period to S, where S is an integer and S>0. Optionally, S=N1, or S=N1 / 2 (in this case, N1 is an even number).

[0233] There are many possible situations when the total available time period includes multiple time periods. The following are two possible situations as examples:

[0234] Case 1, the S time periods may be overlapping.

[0235] As shown in FIG18 , S (S is exemplarily 4) time periods are represented as Time Period 1 to Time Period 4. Time Period 1 and Time Period 2 share common time domain resources (i.e., an overlapping region). Time Period 2 and Time Period 3 also share an overlapping region, and Time Period 3 and Time Period 4 also share an overlapping region.

[0236] Optionally, the sizes of the S time periods are uniform, that is, the time widths of the S time periods are the same. Further, the time widths of the overlapping regions between the S time periods are the same. Optionally, the time width of the overlapping region T over The following formula can be satisfied:

[0237] Among them, T w is the duration of the time period, T available The total available time slot width.

[0238] It should be noted that the total available time period shown in Figure 18 is the entire time period of the cycle. Since the cycle is continuously cyclic, although the time period 4 in cycle #1 in Figure 18 and the time period 1 of the next cycle (i.e., cycle #2) do not overlap, this application is also applicable to the case where the two overlap.

[0239] For example, consider the case where the last period of the current cycle can overlap with the first period of the next cycle. The time width of the overlapping area is T over The following formula can be satisfied:

[0240] Among them, Tw is the duration of the time period, T available The total available time slot width.

[0241] For a detailed description of Case 1, reference may also be made to the description of Case 1 in which the total frequency band includes N2 frequency bands.

[0242] Case 2: The S time periods may be non-overlapping, as shown in FIG19 .

[0243] Optionally, the sum of the durations of the S time periods may be equal to the duration of the total available time period. For example, when the durations of the S time periods are the same, S*T w =T available ,Right now Among them, T w is the duration of a period, T available As shown in Figure 19, the S time periods are connected end to end, and there is no gap between any two adjacent time periods.

[0244] For related descriptions, reference may be made to the description in Case 2 where the total frequency band includes N2 frequency bands.

[0245] The above is only an explanation of the possibility of S time periods in the total available time period. For ease of understanding, the following examples illustrate possible implementations of obtaining S frequency bands. The following briefly introduces some possible implementations. For detailed descriptions, please refer to the description of the frequency band section.

[0246] Several possible implementation methods for obtaining S time periods are exemplarily introduced below.

[0247] In a first implementation, the duration of the S time periods is related to the required range of the transmission time period of the detection device. For example, the required range of the transmission time period of the detection device is 10ms, 15ms, etc.

[0248] Optionally, the duration of the time period is equal to the required range of the emission time period of the detection device.

[0249] Furthermore, the required range of the transmission period of the detection device is greater than or equal to the total available period. In the case of , the time period width is equal to the required range of the transmission period of the detection device. Taking S = 4 as an example, if the width of the total available time width T available The detection device's transmission period requirement range is 50ms. r The width is 15ms, because Therefore, T w =T r In addition, due to The sum of the S time periods is greater than the total available time period, so there is overlap between the S time periods. This implementation standardizes the division of time domain resources, preventing overly randomized division and reducing interference in the time domain. Furthermore, any time period can meet the maximum time width required by the detection device, improving its detection performance.

[0250] Optionally, when the transmission time period required by the detection device is less than or equal to or less than the total available time period When , the time slot width is related to the available time slot and S.

[0251] In a second implementation, the available time period includes M sub-time periods, the M sub-time periods do not overlap, and each sub-time period in the S time period occupies K consecutive sub-time periods in the M sub-time periods, where M is an integer and M>S, and K is an integer and K>0.

[0252] Optionally, M may be predefined or predefined, or calculated based on other parameters (described below). It should also be noted that the values ​​of M, K, etc. here may be different from those of M, K, etc. described above when introducing the frequency band.

[0253] As a possible implementation, K=M-S+1, and the overlapping area between two adjacent time periods in the S time periods is MS sub-time periods.

[0254] In one possible implementation, M is determined based on the required range of the transmission time width of the detection device, where M satisfies the following formula:

[0255] Among them, T r T is the required range of the launch time width of the detection device, available is the total available time period of the detection device.

[0256] Optionally, the above embodiment is implemented in a manner that the transmission width requirement range is greater than or equal to the total available time period. implemented under the circumstances.

[0257] As another possible implementation, M is predefined. In this case, the total available time period is divided into M sub-periods according to the granularity, forming a grid-like frequency band range. When determining the S time periods, the start and end points of the S frequency bands are aligned with the "grid", that is, the start and end points of the time period fall on the boundaries of the sub-periods. For example, the M sub-periods can be regarded as M grid points. The detection device can adjust the start and end points of each time period to the boundaries of the sub-period based on the start and end points of each time period in the S time periods and the boundary positions of the M sub-periods.

[0258] The above related descriptions can be found in the description of the frequency domain part, and will not be explained here one by one.

[0259] As a possible implementation method, there is also a corresponding relationship between the orientation range and the time period.

[0260] For example, there is a correspondence between N1 orientation ranges and S time periods. In one possible design, S and N1 are equal, and the S time periods correspond to the N1 orientation ranges. The following example uses S=N1=N as an example, where N is an integer and N≥0, and N≥1 is optional.

[0261] Here are some possible ways to achieve the correspondence between the direction range and the time period:

[0262] Implementation method 1: Within N orientation ranges, the center moments of the time periods corresponding to the N orientation ranges in a clockwise direction starting from the first orientation are sequentially changed. The sequential change can be either increasing or decreasing, or the clockwise direction can be replaced by a counterclockwise direction. The center moment refers to the moment corresponding to the midpoint of each time period.

[0263] In implementation method 2, within the N orientation ranges, the center moments of the time periods corresponding to the N / 2 orientation ranges in the clockwise direction starting from the first orientation are sequentially changed. Furthermore, the center moments of the time periods corresponding to the N / 2 orientation ranges in the counterclockwise direction starting from the first orientation are sequentially changed. The sequential change may be in increasing or decreasing order, or clockwise and counterclockwise may be interchangeable.

[0264] Please refer to Figure 20, which is a schematic diagram of the correspondence between frequency bands and orientation ranges provided in an embodiment of the present application. Orientation range I corresponds to time period 1, orientation range II corresponds to time period 2, orientation range III corresponds to time period 4, and orientation range IV corresponds to time period 3. That is to say, when allocating time periods to each orientation range, with a certain direction (north in Figure 20) as 0°, rotating clockwise or counterclockwise, each 90° angle range corresponds to a time period. Among them, when allocating time periods, the order of allocating time periods can be from front to back (referring to the early or late center moment of the time period) or from back to front.

[0265] Implementation method 3: For the first N / 2 time periods out of N time periods (the central time is from early to late or from late to early), start from the first direction (such as north) and correspond one by one to the N / 2 direction ranges in a clockwise manner; for the last N / 2 time periods out of N time periods, the remaining N / 2 direction ranges are matched one by one in the order from the center to both sides (left first and then right, or right first and then left).

[0266] Of course, the implementation method described above is an exemplary introduction for the purpose of facilitating understanding of the correspondence between the direction range and the time period. The direction range division method and the time period division method can be referred to above.

[0267] As mentioned above, one or more pairs of relative orientation ranges can have significant resource differences. The resources can include resources in the time domain. For example, the resource differences can include differences in the time periods corresponding to the relative orientation ranges. For example, the corresponding time periods must meet preset conditions, such as the order interval between the corresponding time periods being greater than or equal to a preset value, or the time interval between the corresponding time periods being greater than or equal to another preset value.

[0268] Taking Figure 20 as an example, orientation range I and orientation range III are two orientation ranges with opposite directions. Orientation range I corresponds to time period 1, and orientation range III corresponds to time period 3. The "distance" between time period 1 and time period 3 in the total available time period is far, that is, the difference in time domain is large.

[0269] Furthermore, among the N direction ranges, adjacent direction ranges may have smaller resource differences. For example, the frequency bands corresponding to two adjacent direction ranges must meet another preset condition, such as the order interval of the time periods corresponding to the two is less than or equal to a preset value, or the time interval of the time periods corresponding to the two is less than or equal to another preset value. Since the direction of the detection device may change, the difference between the time periods corresponding to the two adjacent direction ranges is smaller, which is conducive to the switching of time periods. Moreover, for a detection device capable of implementing interference detection, using time periods with smaller differences in adjacent direction ranges can improve the effect of interference detection.

[0270] Still taking Figure 20 as an example, direction range I and direction range II are adjacent, direction range I corresponds to time period 1, and direction range II corresponds to time period 4. The difference between the two in the time domain is relatively small.

[0271] As a possible implementation, the resource difference may be related to the order difference between the time periods. For example, in FIG18 , the order difference between time period 1 and time period 2 is 1, so the difference in the time domain is 1 unit.

[0272] It should be noted that, because the cycle is cyclical, the difference between the time periods of the next cycle must also be considered. For example, if time periods 1 and 4 differ by 1 unit in one cycle, and since time period 4 is immediately adjacent to time period 1 in the next cycle, the difference between time periods 1 and 4 is also considered to be 1 unit.

[0273] It is not difficult to see that the S time periods are arranged in the order of change of their central moments, and the difference between the hth time period and the lth time period satisfies the following formula: Δt=min[(lh),(h+Sl)],

[0274] Wherein, h and l are both integers greater than 0 and l ≥ h.

[0275] In some possible designs, resource differences may include differences in frequency and time domain.

[0276] As a possible solution, among the N1 orientation ranges, the resource difference between the orientation ranges with opposite directions is greater than a first threshold, where the resource difference is related to the difference between the frequency bands corresponding to the two and the difference between the time periods corresponding to the two. For example, taking the order difference as an example, the resource difference between the orientation ranges with opposite directions is greater than X unit differences, where X is an integer. For example, X ≥ 1 or X ≥ 2. That is, if X ≥ 2, then for the two orientation ranges with opposite directions, the sum of the order difference of the frequency bands and the order difference of the time periods is greater than or equal to 2 units of difference.

[0277] Please refer to Figure 21, which is a schematic diagram of the correspondence between frequency bands, time periods and direction ranges provided in an embodiment of the present application. Toward range I corresponds to frequency band 1 and time period 1, toward range II corresponds to frequency band 2 and time period 2, toward range III corresponds to frequency band 4 and time period 3, and toward range IV corresponds to frequency band 3 and time period 4. The directions of toward range I and toward range III are relative, and the frequency difference is 3 units, and the time domain difference is 2 units, so the resource difference is 4 units. The same applies to the other relative directions. Through the difference in time domain and frequency, the difference in resources occupied by signals in relative directions can be further increased, which is beneficial to reducing the mutual interference of detection devices.

[0278] As a possible implementation method, when the difference in frequency in two opposite directions is small, the difference in time domain can be increased by allocating different time periods, thereby increasing the resource difference between the two.

[0279] In some scenarios, the number of time periods may not be equal to the number of direction ranges. Please refer to Figure 22, which is a schematic diagram of another possible correspondence between frequency bands, time periods, and direction ranges provided in an embodiment of the present application. Among them, the number of time periods can be 2, the number of frequency bands is 4, and the number of direction ranges is also 4, and the corresponding relationship is shown in the figure. Among them, the directions of direction range I and direction range III are relative, the frequency difference is 3 units, and the time domain difference is 1 unit, so the resource difference is also 4 units, and the other relative directions are similar.

[0280] The following first introduces the division of polarization direction range resources. Some of the logic and possible designs can refer to the division of the total available frequency band and the total available time period.

[0281] When the detection device transmits a signal, there may be multiple options for the radiation direction of the transmitted signal. The total available polarization direction range refers to the range of polarization directions available for use by the detection device, or the range of polarization directions in which the detection device can operate.

[0282] Optionally, the total available polarization direction range may be 360° (ie, one circle), or the total available polarization direction range may be an angular range in three-dimensional space.

[0283] The total available polarization direction range includes multiple polarization direction ranges. The number of polarization direction ranges included in the total available polarization direction range may be predefined or predefined. In some scenarios, the number of polarization direction ranges is related to the number of orientation ranges, for example, equal to the number of orientation ranges, or proportional to the number of orientation ranges. For ease of description, the polarization direction range of the frequency band is set to P in this article, where P is an integer and P>0. Optionally, P=N1, or P=N1 / 2 (in this case, N1 is an even number).

[0284] There are many possible situations where the available total polarization direction range includes multiple polarization direction ranges. Two possible situations are exemplified below:

[0285] In case 1, the P polarization direction ranges may overlap. That is, a common polarization direction exists between two adjacent polarization direction ranges. Optionally, the P polarization direction ranges are uniform in size, that is, the P polarization direction ranges have the same width. Furthermore, the overlapping regions between the P polarization direction ranges have the same width.

[0286] For related descriptions, reference may be made to the description in Case 1 where the total frequency band includes N2 frequency bands.

[0287] Case 2: The P polarization direction ranges may not overlap, as shown in FIG23. Optionally, the sum of the widths of the P polarization direction ranges may be equal to the width of the total available polarization direction range. For example, when the widths of the P polarization direction ranges are the same, P*D w =D available ,Right now Among them, D w is the width of a polarization direction range, D available is the width of the total available polarization direction range. As can be seen in Figure 23, the P polarization direction ranges are connected end to end, and there is no gap between any two adjacent polarization direction ranges.

[0288] For related descriptions, reference may be made to the description in Case 2 where the total frequency band includes N2 frequency bands.

[0289] The above is only a possible explanation of the range of P polarization directions. For ease of understanding, the following exemplifies possible implementations of obtaining P frequency bands. The following briefly introduces some possible implementations. For detailed descriptions, please refer to the descriptions of the frequency band section and / or time period section.

[0290] Several possible implementation methods for obtaining P polarization direction ranges are exemplarily introduced below.

[0291] In a first implementation, the widths of the P polarization direction ranges are related to the required polarization direction range of the detection device. For example, the required polarization direction range of the detection device is 90°, 120°, and so on.

[0292] Optionally, the width of the polarization direction range is equal to the required polarization direction range of the detection device.

[0293] Furthermore, when the required polarization direction range of the detection device is greater than or equal to the total available polarization direction range, In this case, the width of the polarization direction range is equal to the polarization direction required range of the detection device.

[0294] Optionally, when the polarization direction required range of the detection device is less than or equal to or less than the total available polarization direction When , the polarization direction range width is related to the available polarization direction range and P.

[0295] In a second implementation, the available polarization direction range includes M sub-polarization direction ranges, the M sub-polarization direction ranges do not overlap, and each sub-polarization direction range in the P polarization direction ranges occupies K consecutive sub-polarization direction ranges in the M sub-polarization direction ranges, where M is an integer and M>P, and K is an integer and K>0.

[0296] Optionally, M may be predefined or predefined, or calculated based on other parameters (described below). It should also be noted that the values ​​of M, K, etc. here may be different from those of M, K, etc. described above when introducing the frequency band.

[0297] For the above related descriptions, please refer to the descriptions of the frequency band part and / or time period part, which will not be explained here one by one.

[0298] As a possible implementation, there is also a correspondence between the orientation range and the polarization direction range. There is a correspondence between N1 orientation ranges and P polarization direction ranges.

[0299] In one possible design, P and N1 are equal, and the P polarization direction ranges correspond to the N1 orientation ranges. Hereinafter, P=N1=N is used as an example, where N is an integer and N≥0, and N≥1 is optional.

[0300] Here are some possible ways to achieve the correspondence between the orientation range and the polarization direction range:

[0301] In implementation method 1, within N orientation ranges, the center angles of the polarization direction ranges corresponding to the N orientation ranges in the clockwise direction starting from the first orientation are sequentially changed. The sequential change can be an increasing or decreasing sequence, or the clockwise direction can be replaced by a counterclockwise direction. The center angle refers to the angle corresponding to the angle bisector of each polarization direction range.

[0302] In implementation mode 2, within the N orientation ranges, the center angles of the polarization direction ranges corresponding to the N / 2 orientation ranges in the clockwise direction starting from the first orientation are sequentially changed. Furthermore, the center angles of the polarization direction ranges corresponding to the N / 2 orientation ranges in the counterclockwise direction starting from the first orientation are sequentially changed. The sequential change may be an increasing or decreasing sequence, or clockwise and counterclockwise may be interchangeable.

[0303] Please refer to Figure 24, which is a schematic diagram of the correspondence between frequency bands and orientation ranges provided in an embodiment of the present application. Orientation range I corresponds to polarization direction range 1, orientation range II corresponds to polarization direction range 2, orientation range III corresponds to polarization direction range 4, and orientation range IV corresponds to polarization direction range 3. That is to say, when allocating a polarization direction range to each orientation range, with a certain direction (north in Figure 20) as 0°, rotating clockwise or counterclockwise, each 90° angle range corresponds to a polarization direction range. Among them, when allocating polarization direction ranges, the allocation order of the polarization direction ranges can be clockwise or counterclockwise.

[0304] Implementation method 3: For the first N / 2 polarization direction ranges in the N polarization direction ranges (center angle from large to small or small to large), start from the first direction (such as north) and correspond one-to-one to the N / 2 direction ranges clockwise; for the last N / 2 polarization direction ranges of the N polarization direction ranges, the remaining N / 2 direction ranges are matched one-to-one in the order from the center to both sides (left first and then right, or right first and then left).

[0305] Of course, the implementation described above is an exemplary introduction for facilitating understanding of the correspondence between the orientation range and the polarization direction range. The orientation range division method and the polarization direction range division method can be referred to above.

[0306] As mentioned above, one or more pairs of relative orientation ranges can have significant resource differences. The resources may include polarization resources. For example, the resource differences may include differences in polarization ranges corresponding to the relative orientation ranges.

[0307] Taking Figure 24 as an example, orientation range I and orientation range III are two orientation ranges with opposite directions. Orientation range I corresponds to polarization direction range 1, and orientation range III corresponds to polarization direction range 3. The angle between polarization direction range 1 and polarization direction range 3 is relatively far, that is, the difference in the angle between the two (for example, with the center angle as the reference line) is relatively large.

[0308] Furthermore, among the N orientation ranges, adjacent orientation ranges may have smaller resource differences.

[0309] Still taking Figure 24 as an example, orientation range I corresponds to polarization direction range 1, and orientation range IV corresponds to polarization direction range 4. The angular difference between the two in the total polarization direction is small.

[0310] In some possible designs, resource differences may include at least two of differences in polarization direction, differences in time domain, and differences in frequency.

[0311] As a possible solution, among the N1 orientation ranges, the resource difference between the orientation ranges with opposite directions is greater than a first threshold, where the resource difference is related to the difference between the corresponding frequency bands, the difference between the time periods, and the difference in the polarization direction ranges. For example, taking the order difference as an example, the resource difference between the orientation ranges with opposite directions is greater than X unit differences, where X is an integer. For example, X ≥ 1 or X ≥ 2. For example, taking Figure 23 as an example, the difference between polarization direction range 1 and polarization direction range 2 is 1 unit. For another example, the difference between polarization direction 1 and polarization direction 3 is 2 units.

[0312] Please refer to Figure 25, which is a schematic diagram of the correspondence between a frequency band, a polarization direction range, and a direction range provided in an embodiment of the present application. Direction range I corresponds to frequency band 1 and polarization direction range 1, direction range II corresponds to frequency band 2 and polarization direction range 2, direction range III corresponds to frequency band 4 and polarization direction range 3, and direction range IV corresponds to frequency band 3 and polarization direction range 4. The directions of direction range I and direction range III are relative, and the frequency difference is 1 unit, and the polarization direction range difference is 1 unit, so the resource difference is 2 units. The same applies to the other relative directions. By planning the difference in direction range and frequency, the signals in the relative directions can be further staggered, which is beneficial to reducing the mutual interference of the detection devices.

[0313] In some scenarios, the number of polarization direction ranges may not be equal to the number of orientation ranges. For related descriptions, please refer to the above.

[0314] The method of the present application is described below with reference to the accompanying drawings.

[0315] Please refer to Figure 26, which is a flow chart of a signal transmission method provided in an embodiment of the present application. Optionally, the method can be implemented based on the detection device shown in Figure 4.

[0316] The signal transmission method shown in Figure 26 may include one or more steps from step S2601 to step S2602. It should be understood that for the convenience of description, the order of S2601 to S2602 is described here, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. S2601 to step S2602 are as follows:

[0317] Step S2601: The signal transmitting device determines a first available frequency band for transmitting a signal according to the direction of the detection device.

[0318] The first available frequency band is one of N frequency bands (N is an integer greater than 1) in the total available frequency band of the detection device. Optionally, each of the N frequency bands has the same bandwidth. Each of the N frequency bands has the same bandwidth, and the N frequency bands correspond to N orientation ranges, where N is an integer greater than 1. For a description of the N frequency bands, reference can be made to the above.

[0319] In one possible implementation, the distribution of N frequency bands on the total available frequency band is related to the transmission bandwidth requirement range of the detection device. The distribution here includes whether there is overlap between the N frequency bands, the bandwidth size of the N frequency bands, the interval between the N frequency bands, etc.

[0320] In one possible implementation, there is overlap among the N frequency bands. For example, the edges of two adjacent frequency bands overlap, as shown in FIG10 , where the edges of frequency bands 1 and 2 overlap. Furthermore, when the required transmission bandwidth of the detection device is greater than 1 / N of the total available frequency band of the detection device, there is overlap among the N frequency bands.

[0321] In other words, the N frequency bands within the total frequency band are not completely separate, but rather allow for overlap. Considering a possible scenario, if overlap is not permitted between the N frequency bands within the total frequency band, the bandwidth available to the detection device is fixed. Regardless of the operating bandwidth of the detection device, it can only use 1 / N of the total bandwidth. This makes it difficult to meet the needs of large-bandwidth detection devices (those with larger operating bandwidths) and reduces flexibility. However, the present application allows for overlap between the N frequency bands, and the bandwidth of the frequency band corresponding to each directional range is larger, allowing each frequency band to radiate outward based on its own center frequency, thus meeting the needs of large-bandwidth detection devices. Even if the operating bandwidth of a detection device is smaller than the bandwidth of each frequency band, it can select a portion of the frequency range within the band to transmit signals, providing more flexible options. Detection devices with different bandwidths can select the first available frequency band based on their own characteristics, thereby reducing interference between detection devices. Furthermore, interference detection technology can be combined to select frequency bands with less interference within the band to transmit signals, reducing or avoiding signal interference, improving detection accuracy, and lowering missed detection and false alarm rates.

[0322] In another possible implementation, the N sub-bands do not overlap. For example, the N frequency bands are connected end to end and have no common frequency range, as shown in Figure 11. Furthermore, when the transmission bandwidth requirement range of the detection device is less than 1 / N of the total available frequency band of the detection device, the N sub-bands do not overlap. In other words, the width of each frequency band can be greater than or greater than or equal to the transmission bandwidth requirement of the detection device, which is conducive to standardizing the division of frequency bands and avoiding some detection devices from disrupting the original frequency band allocation method due to their own small bandwidth requirements. Moreover, when the detection device transmits a signal, it can select a partial frequency range on the frequency band to transmit the signal, making the selection of the working bandwidth more flexible.

[0323] The N frequency bands correspond to N direction ranges respectively. The detailed description of the N direction ranges can be referred to above, and the correspondence between the two can be referred to the relevant descriptions of Figures 14 to 17.

[0324] At a given moment, when a detection device is facing a certain direction, the signal transmitting device can determine which frequency band to select as the detection device's available frequency band based on that direction. Detection devices facing the same direction will transmit signals using the same frequency band. Conversely, detection devices facing opposite directions can use different frequency bands. Since detection devices facing opposite directions are more likely to transmit signals directly, staggering their frequency ranges can reduce or avoid mutual interference between the detection devices, improve detection accuracy, and lower false alarm and missed detection rates.

[0325] For example, the correspondence between the N frequency bands and the N orientation ranges is the correspondence described in the aforementioned implementation 1. In this case, frequency band differences exist between orientation ranges with opposite directions, and the differences are relatively uniform, so as to reduce or avoid interference to the detection device.

[0326] For another example, the correspondence between the N frequency bands and the N orientation ranges is the correspondence described in the aforementioned implementation 2. In this case, frequency band differences exist between opposite directions, and the frequency band differences between adjacent orientation ranges can be reduced, which not only reduces or avoids interference to the detection device, but also helps to improve the efficiency of frequency band switching.

[0327] In some scenarios, the signal transmitter determines the first available frequency band for transmitting signals based on the orientation of the detection device. There are several possible scenarios:

[0328] In case 1, the detection device's orientation falls within one of the N orientation ranges (referred to as the first orientation range for ease of description). The detection device uses the frequency band corresponding to the first orientation range as the first available frequency band. As shown in Figure 14, when the detection device's orientation falls within orientation range I (i.e., between due north and due east), the first available frequency band is frequency band 1.

[0329] In case 2, when the detection device's orientation falls on the boundary of two of the N orientation ranges, the detection device uses the frequency band corresponding to one of the orientation ranges as the first available frequency band. Still using Figure 14 as an example, if the detection device is pointing at the boundary between orientation ranges I and II (i.e., due east), the first available frequency band is either Band 1 or Band 2.

[0330] Optionally, the detection device may determine the first available frequency band based on the interference conditions on frequency band 1 and frequency band 2. For example, if the interference signal strength on frequency band 1 is lower than the interference signal strength on frequency band 2, frequency band 1 is selected as the first available frequency band.

[0331] In case 3, two orientation ranges exist among the N orientation ranges (for example, divided into a first orientation range and a second orientation range). There is an overlapping region between the first orientation range and the second orientation range. When the orientation of the detection device falls into the overlapping region (optionally including the boundary), the first available frequency band is the frequency band corresponding to the first orientation range or the frequency band corresponding to the second orientation range. Optionally, the detection device can determine the first available frequency band based on the interference between the two.

[0332] Step S2602: The signal transmitting device transmits a signal in a first available frequency band.

[0333] The upper and lower boundaries of the frequency resources occupied by the transmitted signal do not exceed the first available frequency band.

[0334] As shown in Figure 10 , the first available frequency band is, for example, frequency band 1. The upper and lower boundaries of the frequency resources occupied by the transmitted signal are both within frequency band 1. That is, the upper boundary of the frequency occupied by the transmitted signal does not exceed the upper boundary of frequency band 1, and the lower boundary of the transmitted signal does not exceed the lower boundary of frequency band 1. Of course, the same applies to cases where the first available frequency band is other frequency bands.

[0335] Through the embodiment shown in FIG26 , the transmission frequency band selection of the detection device can be standardized, so that detection devices in different orientation ranges can use different frequency bands to transmit signals, thereby reducing interference between the detection devices.

[0336] Please refer to Figures 27 and 28. Figure 27 is a schematic diagram of the correspondence between a frequency band and a direction range provided in an embodiment of the present application, and Figure 28 is a schematic diagram of a scenario of a signal transmission method provided in an embodiment of the present application. Among them, the correspondence between the direction range and the frequency band is the correspondence shown in Figure 14. The direction of the direction range I and the direction range III are opposite to each other and correspond to different frequency bands respectively. In conjunction with Figure 28, the direction of the detection device 2804 on the vehicle 2801 falls into the direction range I, so it transmits a signal on the frequency band 1; and the direction of the detection device 2805 on the vehicle 2802 falls into the direction range III, so it transmits a signal on the frequency band 3. Therefore, the detection device 2804 and the detection device 2805 are opposite to each other in direction, but the working frequency bands of the two are different, so the signals between the two can be avoided from interfering with each other, reducing the interference received by the detection device 2804 and the detection device 2805.

[0337] Similarly, the detection device 2806 on the vehicle 2802 and the detection device 2807 on the vehicle 2803 face opposite each other, but they transmit signals using frequency band 2 and frequency band 4 respectively, thus avoiding mutual interference between their signals.

[0338] Of course, the above is an illustration of the correspondence between the direction range and the frequency band shown in Figure 14, and this application also uses other correspondences. For example, Figure 29 is a schematic diagram of the correspondence between a frequency band and a direction range provided in an embodiment of the present application. In conjunction with Figures 28 and 29, the detection device 2804 transmits a signal on frequency band 1; the detection device 2805 transmits a signal on frequency band 4. In this way, the signals between the two can be avoided from interfering with each other, and the interference to the detection device 2804 and the detection device 2805 can be reduced. Similarly, the detection device 2806 and the detection device 2807 use frequency band 2 and frequency band 3 respectively to transmit signals, thereby avoiding mutual interference between the signals between the two.

[0339] As one possible implementation, the operating bandwidth of the detection device is smaller than the bandwidth of the first available frequency band. The detection device may transmit signals from a portion of the first available frequency band (e.g., the first frequency band). For example, the operating bandwidth of the detection device is 400 MHz, the first available frequency band is 77-78 GHz, and the signal transmitting device may transmit signals from 400 MHz of the first available frequency band. For example, the first frequency band may be 77-77.4 GHz, and the signal transmitting device may transmit signals in the range of 77-77.4 GHz.

[0340] As a possible design, the interference in the first frequency band is less than the interference in the frequency range outside the first frequency band within the first available frequency band. In other words, the first frequency band is the frequency range within the first available frequency band with less interference. This can further reduce the interference experienced by the detection device and improve detection accuracy.

[0341] In one possible implementation, the detection device may perform interference monitoring to determine interference conditions in part or all of the frequency range of the first available frequency band. Based on the interference conditions in part or all of the frequency range of the first available frequency band, a first frequency band is determined, where the bandwidth of the first frequency band is equal to the operating bandwidth of the detection device.

[0342] For example, the detection device determines the interference conditions across all frequency ranges within the first available frequency band and selects a frequency range with minimal interference and a bandwidth equal to the operating bandwidth as the first frequency band. In this case, the detection device can select the frequency range with minimal interference as the operating frequency band, thereby improving detection accuracy.

[0343] For another example, the detection device determines that the frequency band on the first available frequency band is the frequency range of the working bandwidth (referred to as the frequency range to be measured). If the interference on the frequency range to be measured meets the preset conditions, the frequency range to be measured is used as the first frequency band. Furthermore, if the interference on the frequency range to be measured does not meet the preset conditions, a frequency range with a bandwidth as the working bandwidth is reselected on the first available frequency band. Among them, the preset conditions are conditions for selecting the working frequency band of the detection device, for example, the intensity of the interference signal is less than a preset intensity threshold. For another example, the frequency range in which the intensity of the interference signal exceeds the preset intensity threshold is less than the preset bandwidth. At this time, the detection device can spend less time listening, reduce the listening time, and improve work efficiency.

[0344] As another possible design, the first frequency band is a frequency range within the first available frequency band that is remote from the first frequency band. The first frequency band corresponds to the directional ranges. This design can further reduce the frequency band differences between directional ranges, reduce interference between detection devices, and improve detection accuracy.

[0345] As shown in Figure 15, the first available frequency band is frequency band 1 corresponding to direction range I, and the first frequency band is frequency band 4 corresponding to direction range III. Far away means that in the first available frequency band, the frequency difference between the first frequency band and the first frequency band is the largest. For example, the total available frequency band is 77-81 GHz, frequency band 1 is 77-78 GHz, and frequency band 3 is 79-80 GHz. If the operating bandwidth of the detection device is 600 MHz, the first frequency band can be the frequency band with the largest difference between 77-78 GHz and the frequency range of 79-80 GHz, that is, the first frequency band is 77-77.6 GHz.

[0346] Optionally, the above two designs for the first frequency band can be combined. For example, when selecting the first frequency band, interference is given priority, and when the interference is the same or similar, a frequency band away from the frequency band corresponding to the relative orientation range is selected.

[0347] As mentioned above, the orientation of the detection device may change. In some scenarios, when the detection device enters a new orientation range, the signal transmitter may switch the resources occupied by the transmitted signal, as the new orientation range may correspond to different resources (including frequency resources). For example, the signal transmitter may switch frequency bands.

[0348] As one possible implementation, the signal transmitting device determines a second available frequency band for transmitting signals based on the current orientation of the detection device. As shown in Figure 14 , if the detection device's orientation was previously within orientation range I, the signal transmitting device may transmit signals on frequency band 1. When the detection device's current orientation falls within orientation range II, the signal transmitting device may transmit signals on frequency band 2.

[0349] Optionally, the signal transmitting device may periodically or aperiodically determine the frequency band of the transmitted signal based on the direction. For example, the signal transmitting device determines the available frequency band based on the direction every first time period, for example, every 10 seconds (s).

[0350] As a possible implementation, a switching condition may be predefined or pre-specified in the signal transmitting device. When the switching condition is met, the second available frequency band for the detection device to transmit the signal is determined based on the current orientation of the detection device. For example, the switching condition may be a threshold at which the orientation of the detection device deviates from the original orientation range, or the switching condition may be the duration of the deviation from the original orientation range.

[0351] Exemplarily, if the offset of the orientation of the detection device relative to the first orientation range is greater than the offset threshold, the second available frequency band for transmitting the signal of the detection device is determined according to the current orientation of the detection device, and the signal is transmitted in the second available frequency band. As shown in Figure 30, a schematic diagram of a frequency band switching condition provided by an embodiment of the present application is shown in Figure 30. Part (A) of Figure 30 is the correspondence between the orientation range and the frequency band (taking the correspondence shown in Figure 14 as an example). As shown in part (B) of Figure 30, an angular margin is also set outside the boundary of orientation range I, and the angular width between the angular margin and orientation range I is the offset threshold. When the orientation of the detection device is orientation A, although the orientation of the detection device deviates from orientation range I, the orientation is still between the angular margins, that is, the offset of orientation A relative to orientation range I is less than the offset threshold. At this time, the signal transmitting device still uses frequency band 1 to transmit the signal.

[0352] As shown in part (C) of Figure 30, when the orientation of the detection device is orientation B, the orientation of the detection device deviates from orientation range I and exceeds the angular margin, that is, the offset of orientation B relative to orientation range I is greater than the offset threshold. At this time, the signal transmitting device uses frequency band 2 as the second available frequency band according to the orientation of the detection device and transmits a signal on frequency band 2.

[0353] Furthermore, a time threshold is also set in some scenarios. If the offset of the direction of the detection device relative to the first direction range is greater than the offset threshold and the duration is greater than the time threshold, the second available frequency band for transmitting the signal by the detection device is determined according to the current direction of the detection device. For example, taking an offset threshold of 15° and a time threshold of 0.5s as an example, when the direction of the detection device crosses the boundary of 15° from the original resident direction range and continues to cross the boundary for 0.5s, the frequency resource is switched. Otherwise, the frequency band corresponding to the original resident direction range is maintained.

[0354] As a possible implementation, if the detection device's orientation crosses the boundary of its previously located orientation range, the signal transmitter can perform interference monitoring on the frequency band corresponding to the current orientation range to detect interference. If the detection device switches frequency bands, it can promptly perform detection on the new frequency band, improving detection efficiency.

[0355] The above describes the transmission method using frequency resources as an example. In some scenarios, resources such as a first time period or a first polarization direction range can also be determined based on the orientation, so that the signal is transmitted on the corresponding resources. The signal transmission method provided in the embodiment of the present application is further described below with reference to Figures 31 and 34. It should be noted that the logic and possible designs described below can refer to the description in the embodiment shown in Figure 26.

[0356] Please refer to Figure 31, which is a flow chart of another signal transmission method provided in an embodiment of the present application. Optionally, this method can be implemented based on the detection device shown in Figure 4.

[0357] The signal transmission method shown in FIG31 may include one or more steps from step S3101 to step S3102. It should be understood that for the convenience of description, the order of S3101 to S3102 is described here, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. Steps S3101 to S3102 are as follows:

[0358] Step S3101: The signal transmitting device determines a first available time period for transmitting a signal according to the direction of the detection device.

[0359] The first available time period is one of S (S is an integer greater than 1) time periods on the total available frequency band of the detection device. Optionally, the S time periods have the same duration. For the description of the S frequency bands, reference can be made to the above.

[0360] In one possible implementation, there is overlap between the S time periods, or there is no overlap between the S time periods. This can meet the signal transmission requirements of a large time-width detection device, increase the flexibility in determining the time periods, and improve detection performance.

[0361] The S time periods correspond to N direction ranges respectively, and their corresponding relationship can be referred to the relevant descriptions such as Figure 20 or Figure 22.

[0362] For detailed description, please refer to the description in the frequency direction in step S2601.

[0363] Step S3102: The signal transmitting device transmits a signal in a first available time period.

[0364] The upper and lower boundaries of the time domain resources occupied by the transmitted signal do not exceed the first time period. As shown in Figure 19, the first available time period is, for example, time period 1. The upper and lower boundaries of the time domain resources occupied by the transmitted signal are both within time period 1. That is, the earliest time of the time period occupied by the transmitted signal is no earlier than the left boundary of time period 1, and the latest time of the transmitted signal is no later than the right boundary of time period 1. Of course, the same principle applies to cases where the first available time period is other time periods.

[0365] Through the embodiment shown in FIG31 , the selection of the transmission time period of the detection device can be standardized, so that the detection devices in different orientation ranges use different time periods to transmit signals, thereby reducing interference between the detection devices.

[0366] Please refer to Figure 32, which is a schematic diagram of the correspondence between a frequency band and a direction range provided in an embodiment of the present application, and Figure 28 is a schematic diagram of a scenario of a signal transmission method provided in an embodiment of the present application. In combination with Figure 32 and Figure 28, the detection device 2804 transmits a signal in time period 1; the detection device 2805 transmits a signal in time period 3, because time period 1 and time period 3 are different time ranges. Therefore, when the detection device 2804 transmits and receives a signal, the detection device 2805 does not transmit and receive a signal, thereby avoiding mutual interference between the signals and reducing the interference to the detection device 2804 and the detection device 2805. Similarly, the detection device 2806 and the detection device 2807 use time period 2 and time period 4 to transmit signals respectively, thereby avoiding mutual interference between the signals.

[0367] As a possible implementation, the working duration of the detection device is shorter than the duration of the first available period, and the detection device may transmit signals during a portion of the time range of the first available period. For related descriptions, please refer to the description of the first period.

[0368] As a possible implementation, in some scenarios, when the detection device falls into a new orientation range, the signal transmitting device may switch the time period.

[0369] As a possible implementation, the signal transmitting device determines the second available time period for the detection device to transmit the signal according to the current orientation of the detection device.

[0370] In some possible designs, the embodiment shown in FIG31 can be combined with the embodiment shown in FIG26. Specifically, the signal transmitting device determines a first available frequency band and a first available time period according to the orientation of the detection device (optionally determined in different steps), and transmits a signal in the first available frequency band and the first available time period.

[0371] Please refer to Figure 33, which is a schematic diagram of a scenario of a signal transmission method provided by an embodiment of the present application. The signal transmitting device can determine frequency band 1 and time period 1 based on the orientation of the detection device (for example, falling within orientation range I), and transmit the signal on frequency band 1 and time period 1.

[0372] Referring to Figure 28 , detection device 2804 transmits signals on frequency band 1 and time period 1; detection device 2805 transmits signals on frequency band 4 and time period 3. Because time periods 1 and 3 are different time ranges, and frequency bands 1 and 4 are different frequency ranges, the resource difference between detection devices 2804 and 2805 is further increased, preventing mutual interference between their signals. Similarly, detection devices 2806 and 2807 transmit signals using frequency band 2 and time period 2, and frequency band 3 and time period, respectively, preventing mutual interference between their signals.

[0373] In addition, in FIG28 , the frequency difference between adjacent direction ranges is only 1 to 2 units, and the time domain difference is also only 1 unit, which is conducive to improving resource switching efficiency and detection quality.

[0374] Please refer to Figure 34, which is a flow chart of another signal transmission method provided in an embodiment of the present application. Optionally, the method can be implemented based on the detection device shown in Figure 4.

[0375] The signal transmission method shown in FIG31 may include one or more steps from step S3401 to step S3402. It should be understood that for the convenience of description, the order of S3401 to S3402 is described here, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. S3401 to step S3402 are as follows:

[0376] Step S3401: The signal transmitting device determines a first available polarization direction range for transmitting the signal according to the orientation of the detection device.

[0377] The first available polarization direction range is one of P (P is an integer greater than 1) polarization direction ranges in the total available polarization direction range of the detection device. Optionally, the P polarization direction ranges have the same width. For the description of the P frequency bands, reference can be made to the above.

[0378] In one possible implementation, the P polarization direction ranges overlap, or the P polarization direction ranges do not overlap. In this way, when the detection device requires a wider polarization direction range, it can still meet its needs, improve flexibility, and enhance detection performance.

[0379] The P polarization direction ranges correspond to N orientation ranges respectively, and the corresponding relationship can be referred to the relevant descriptions such as Figure 20 or Figure 22.

[0380] For detailed description, please refer to the description in the frequency direction in step S3401.

[0381] Step S3402: The signal transmitting device transmits a signal in a first available polarization direction range.

[0382] The upper and lower boundaries of the polarization direction used by the transmitted signal do not exceed the first polarization direction range. As shown in Figure 23, the first available polarization direction range is, for example, polarization direction range 1, and the polarization direction occupied by the transmitted signal is within polarization direction range 1. Of course, the same applies to the case where the first available polarization direction range is other polarization direction ranges.

[0383] Through the embodiment shown in FIG34 , the selection of the transmission polarization direction range of the detection device can be standardized, so that detection devices with different orientation ranges use different polarization direction ranges to transmit signals, thereby reducing interference between detection devices.

[0384] Please refer to Figure 35, which is a schematic diagram of the correspondence between frequency bands and polarization ranges provided in an embodiment of the present application. In conjunction with Figure 35 and Figure 28, detection device 2804 and detection device 2805 use different frequency bands and polarization ranges to transmit signals, thereby preventing mutual interference between the two signals. Similarly, detection device 2806 and detection device 2807 also use different frequency bands and polarization ranges to transmit signals, thereby preventing mutual interference between the two signals.

[0385] The description of some possible implementation methods can be referred to above and will not be repeated here.

[0386] In some possible designs, the embodiment shown in FIG. 34 may be combined with the embodiment shown in FIG. 26 and / or the embodiment shown in FIG. 34 .

[0387] For example, the signal transmitting device determines a first available frequency band and a first available polarization direction range according to the orientation of the detection device (optionally determined separately in different steps), and transmits a signal in the first available frequency band and the first polarization direction range.

[0388] For example, the signal transmitting device determines the first available frequency band, the first available time period and the first available polarization direction range according to the direction of the detection device (optionally determined separately in different steps), and transmits the signal in the first available frequency band, the first available time period and the first polarization direction range.

[0389] The detailed description can be found above and will not be repeated here.

[0390] The following describes an apparatus for implementing the aforementioned signal transmission method.

[0391] It should be understood that the division of units in the device provided in the embodiments of the present application is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units by designing the logical relationship of the components in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units. All units of the above devices can be implemented in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0392] It can be seen that each unit in the following device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0393] In addition, the various units in the above devices can be fully or partially integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the device. The type of the at least one processor can be different, for example, including a CPU and FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0394] Two possible arrangements are listed below.

[0395] Please refer to Figure 36, which is a schematic diagram of the structure of a signal transmission device provided in an embodiment of the present application. Signal transmission device 360 ​​includes a processing module 3601 and a transmission module 3602. Processing module 3601 can be used to perform operations such as determination, calculation, generation, and detection, and / or to support other processes of the aforementioned embodiments. Transmission module 3602 can be used to participate in the signal transmission process, including but not limited to signal generation, modulation, and transmission.

[0396] Optionally, the signal transmitting device 360 ​​may be an independent device or a device included in an independent device (e.g., the detection device 40), such as a chip, a software module, or an integrated circuit. The signal transmitting device 360 ​​is used to implement the aforementioned signal transmitting method, such as the signal transmitting method shown in Figures 26, 31, and 34.

[0397] As a possible implementation, the processing module 3601 is configured to determine a first available frequency band for transmitting signals from the detection device according to the orientation of the detection device. The transmitting module 3602 is configured to transmit signals in the first available frequency band.

[0398] The first available frequency band is one of N frequency bands of the total available frequency band of the detection device. The N frequency bands correspond to N direction ranges respectively. For detailed description, refer to the above.

[0399] As a possible implementation method, the distribution of the N frequency bands is related to the transmission bandwidth requirement range of the detection device. The distribution here includes whether there is overlap between the N frequency bands, whether the sizes of the N frequency bands are uniform, whether there are gaps between the N frequency bands, etc.

[0400] As a possible implementation, the bandwidths of the N frequency bands are the same.

[0401] As a possible implementation, there is overlap between the N frequency bands. Optionally, the distribution of the N frequency bands is related to the required transmission bandwidth range of the detection device, including: when the required transmission bandwidth range of the detection device is greater than 1 / N of the total available frequency band of the detection device, there is overlap between the N frequency bands.

[0402] As a possible implementation manner, edge portions of any two adjacent frequency bands in the N frequency bands have an overlapping range.

[0403] As a possible implementation manner, when the transmission bandwidth requirement range of the detection device is smaller than 1 / N of the total available frequency band of the detection device, the N sub-frequency bands do not overlap.

[0404] As a possible implementation, the total available frequency band includes M sub-frequency bands, the M sub-frequency bands do not overlap with each other, M is an integer, and M>N. Each of the N frequency bands occupies K consecutive sub-frequency bands of the M sub-frequency bands, and the center frequencies of the N frequency bands have the same frequency interval.

[0405] As a possible implementation manner, K=M-N+1, and the overlapping range of any two adjacent frequency bands in the N frequency bands is MN sub-frequency bands.

[0406] As a possible implementation method, M, N, the transmission bandwidth requirement range B of the detection device w and the total available frequency band B of the detection device band Satisfies the following formula:

[0407] As a possible implementation, the sum of the N orientation ranges is 360°.

[0408] As a possible implementation, N=4, and each of the four orientation ranges occupies 90°. Exemplarily, the N orientation ranges are divided by four cardinal directions, which are east, south, west, and north.

[0409] As a possible implementation, the three-dimensional turning space is, for example, 360° in the horizontal direction and 180° in the vertical direction.

[0410] As a possible implementation manner, in the N direction ranges, the center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the clockwise direction starting from the first direction change sequentially;

[0411] The center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the counterclockwise direction starting from the first direction change sequentially;

[0412] The sequence change is an increasing sequence or a decreasing sequence.

[0413] As a possible implementation, in the N direction ranges, the center frequencies of the frequency bands corresponding to the N direction ranges in the clockwise direction starting from the first direction change sequentially, and the sequential change is sequentially increasing or sequentially decreasing.

[0414] As a possible implementation manner, the transmitting module 3602 is further configured to transmit the detection signal on a first frequency band, where the first frequency band is included in the first available frequency band.

[0415] Optionally, the interference in the first frequency band is smaller than the interference in the frequency range other than the first frequency band in the first available frequency band.

[0416] Optionally, the first frequency band is a frequency range in the first available frequency band that is away from the first frequency band, the first frequency band is a frequency band in the N directions corresponding to the first direction range, and the opposite direction of the direction of the detection device falls within the first direction range.

[0417] As a possible implementation, the processing module 3601 is further configured to determine a first available time period for the detection device to transmit a signal based on the direction of the detection device. Further, the transmitting module 3602 is configured to transmit the signal in the first available frequency band and in the first available time period.

[0418] The first available time period is one of S time periods of the total available time period of the detection device, wherein S≤N, and one time period of the S time periods corresponds to at least one orientation range of the N orientation ranges.

[0419] As a possible implementation, when the required transmission time width of the detection device is greater than 1 / S of the total available time period of the detection device, there is overlap between the S time periods;

[0420] When the required transmission time width of the detection device is smaller than 1 / S of the total available time period of the detection device, the S time periods do not overlap with each other.

[0421] As a possible implementation manner, the N orientation ranges include a second orientation range and a third orientation range, the first orientation range and the second orientation range are in opposite directions, and a resource difference between the second orientation range and the third orientation range is greater than a first threshold;

[0422] The second direction range corresponds to a second frequency band and a first time period, the third direction range corresponds to a third frequency band and a second time period, and the resource difference is related to a difference between the first frequency band and the third frequency band and a difference between the first time period and the second time period;

[0423] The second frequency band and the third frequency band belong to the N frequency bands, and the first time period and the second time period belong to the S time periods.

[0424] As a possible implementation manner, the difference in resources between the second orientation range and the third orientation range is greater than X unit difference, where X is an integer and X≥2;

[0425] The N frequency bands are arranged in the order of change of their center frequencies, the difference between the i-th frequency band and the j-th frequency band is (ji) units, i and j are both integers greater than 0 and j ≥ i;

[0426] The S time periods are arranged in the order of change of their central moments, and the difference between the hth time period and the lth time period satisfies the following formula: Δt=min[(lh),(h+Sl)],

[0427] Wherein, h and l are both integers greater than 0 and l ≥ h.

[0428] As a possible implementation, the processing module 3601 is further configured to determine, according to the orientation of the detection device, a first available polarization direction range for signals transmitted by the detection device.

[0429] The first available polarization direction range is one of the P polarization direction ranges of the total available polarization direction range of the detection device, wherein P≤N, and one polarization direction range in the P polarization direction ranges corresponds to at least one orientation range in the N orientation ranges.

[0430] Furthermore, the transmitting module 3602 is further configured to transmit the signal in the first available frequency band and in the first available polarization direction range.

[0431] As a possible implementation, the orientation of the detection device belongs to a fourth orientation range among the N orientation ranges. The processing module 3601 is further configured to, if an offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold, determine a second available frequency band for transmitting a signal by the detection device based on the current orientation of the detection device.

[0432] Furthermore, the transmitting module 3602 is further configured to transmit a signal in the second available frequency band.

[0433] As a possible implementation, the processing module 3601 is also used to determine the second available frequency band for transmitting the signal by the detection device according to the current orientation of the detection device if the offset of the orientation of the detection device relative to the fourth orientation range is greater than the offset threshold and the duration is greater than the time threshold.

[0434] Please refer to Figure 37, which is a schematic structural diagram of another possible signal transmitting device 370 provided in an embodiment of the present application. The signal transmitting device 370 may include at least one processor 3701 and a communication interface 3702. Optionally, it may also include at least one memory 3703. Further optionally, it may also include a connecting line 3704, wherein the processor 3701, the communication interface 3702 and / or the memory 3703 are connected via the connecting line 3704, communicate with each other via the connecting line 3704, and transmit control and / or data signals. Optionally, the signal transmitting device 370 can be an independent device, such as an independent device such as an ECU, a car box (T-box), or a device contained in an independent device, such as a chip, a software module, or an integrated circuit.

[0435] in:

[0436] (1) Processor 3701 is a module that performs arithmetic operations and / or logical operations, and may specifically include one or more of the following devices: CPU, MCU, GPU, MPU, ASIC, FPGA, CPLD, coprocessor (to assist the central processing unit in completing corresponding processing and applications), and / or NPU, etc.

[0437] (2) The communication interface 3702 can be used to provide information input or output for the at least one processor. In some possible scenarios, the communication interface 3702 may include an interface circuit. And / or, the communication interface 3702 can be used to receive data sent from the outside and / or send data to the outside. For example, the communication interface 3702 may include a wired link interface such as an Ethernet cable, or a wireless link (Wi-Fi, Bluetooth, general wireless transmission, vehicle-mounted short-range communication technology and other short-range wireless communication technologies, etc.) interface. Optionally, the communication interface 3702 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) coupled to the interface, or a receiver, etc.

[0438] Alternatively, if the signal transmitting device 370 is a standalone device, the communication interface 3702 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.

[0439] Optionally, if the signal transmitting device 370 is a chip or a circuit, the communication interface 3702 may include an input interface and an output interface. The input interface and the output interface may be the same interface, or may be different interfaces.

[0440] Optionally, the functions of the communication interface 3702 may be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 3701 may be implemented by a dedicated processing chip, a processing circuit, a processor, or a general-purpose chip.

[0441] (3) Memory 3703 is used to provide storage space for storing data such as the operating system and computer programs. Memory 3703 can be one or a combination of random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0442] The functions and actions of the modules or units in the signal transmitting device 370 listed above are merely exemplary.

[0443] Each functional unit in the signal transmitting device 370 can be used to implement the aforementioned signal transmitting method. To avoid redundancy, the detailed description thereof is omitted here.

[0444] Optionally, processor 3701 may be a processor specifically used to execute the aforementioned method (for convenience of distinction, referred to as a dedicated processor), or a processor that executes the aforementioned method by calling a computer program (for convenience of distinction, referred to as a dedicated processor). Optionally, the at least one processor may include both a dedicated processor and a general-purpose processor.

[0445] Optionally, in the case where the computing device includes at least one memory 3703 , if the processor 3701 implements the aforementioned signal transmission method by calling a computer program, the computer program may be stored in the memory 3703 .

[0446] The present application also provides a chip system, which includes a processor and a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output to the processor. The chip system is used to implement the aforementioned signal transmission method, such as the signal transmission method shown in Figures 26, 31, and 34.

[0447] An embodiment of the present application further provides a terminal, which includes the aforementioned signal transmitting device, for example, the signal transmitting device 350 or the signal transmitting device 360 ​​.

[0448] As a possible implementation method, the terminal may be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0449] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on at least one processor, the aforementioned signal transmission method is implemented, such as the signal transmission method shown in Figures 26, 31 and 34.

[0450] An embodiment of the present application also provides a computer program product, which includes computer instructions and, when executed by a computing device, implements the aforementioned signal transmission method, such as the signal transmission method shown in Figures 26, 31 and 34.

[0451] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

Claims

1. A signal transmission method, characterized in that: Applied to a detection device, the method comprises: Determining, according to the orientation of the detection device, a first available frequency band in which the detection device transmits a signal; The first available frequency band is one of N frequency bands of the total available frequency band of the detection device, the bandwidths of the N frequency bands are the same, the N frequency bands correspond to N direction ranges respectively, and N is an integer greater than 1; When the transmission bandwidth requirement range of the detection device is greater than 1 / N of the total available frequency band of the detection device, there is overlap between the N frequency bands; A signal is transmitted in the first available frequency band.

2. The method according to claim 1, characterized in that There are overlaps between the N frequency bands, including: There is an overlapping range between edge portions of any two adjacent frequency bands in the N frequency bands.

3. The method according to claim 1, characterized in that When the transmission bandwidth requirement range of the detection device is less than 1 / N of the total available frequency band of the detection device, The N frequency bands do not overlap with each other.

4. The method according to claim 1 or 2, characterized in that: The available total frequency band includes M sub-frequency bands, the M sub-frequency bands do not overlap each other, M is an integer and M>N; Each of the N frequency bands occupies consecutive K of the M sub-frequency bands, and frequency intervals between center frequencies of the N frequency bands are the same.

5. The method according to claim 4, characterized in that K=M-N+1, and the overlapping range of any two adjacent frequency bands in the N frequency bands is MN sub-frequency bands.

6. The method according to claim 5, characterized in that M, N, the transmission bandwidth requirement range B of the detection device w and the total available frequency band B of the detection device band Satisfies the following formula:

7. The method according to any one of claims 1 to 6, characterized in that: The sum of the N orientation ranges is 360°; N=4, and the N orientation ranges each occupy 90°.

8. The method according to claim 7, characterized in that The N orientation ranges are divided by four basic directions as boundaries, and the four basic directions are east, south, west and north.

9. The method according to any one of claims 1 to 8, characterized in that: In the N direction ranges, the center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the clockwise direction starting from the first direction change sequentially; The center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the counterclockwise direction starting from the first direction change sequentially; The sequence change is an increasing sequence or a decreasing sequence.

10. The method according to any one of claims 1 to 8, characterized in that: In the N direction ranges, the center frequencies of the frequency bands corresponding to the N direction ranges in the clockwise direction starting from the first direction change sequentially, and the sequential change is sequentially increasing or sequentially decreasing.

11. The method according to any one of claims 1 to 10, characterized in that: Transmitting a signal in the first available frequency band, comprising: Transmitting the detection signal on a first frequency band, wherein the first frequency band is included in the first available frequency band; Among them, the interference of the first frequency band is smaller than the interference in the frequency range of non-first frequency band in the first available frequency band, and / or the first frequency band is the frequency range in the first available frequency band far away from the first frequency band, the first frequency band is the frequency band corresponding to the first direction range among the N directions, and the opposite direction of the direction of the detection device falls into the first direction range.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: Determining, according to the orientation of the detection device, a first available time period during which the detection device transmits a signal; The first available time period is one of S time periods of the total available time period of the detection device, wherein S≤N, and one of the S time periods corresponds to at least one orientation range of the N orientation ranges; The transmitting a signal in the first available frequency band comprises: The signal is transmitted in the first available frequency band and in the first available time period.

13. The method according to claim 12, characterized in that When the transmission time width requirement range of the detection device is greater than 1 / S of the total available time period of the detection device, there is overlap between the S time periods; When the required transmission time width range of the detection device is smaller than 1 / S of the total available time period of the detection device, the S time periods do not overlap with each other.

14. The method according to claim 12 or 13, characterized in that The N orientation ranges include a second orientation range and a third orientation range, the first orientation range and the second orientation range are in opposite directions, and a resource difference between the second orientation range and the third orientation range is greater than a first threshold; The second direction range corresponds to a second frequency band and a first time period, the third direction range corresponds to a third frequency band and a second time period, and the resource difference is related to a difference between the first frequency band and the third frequency band and a difference between the first time period and the second time period; The second frequency band and the third frequency band belong to the N frequency bands, and the first time period and the second time period belong to the S time periods.

15. The method according to claim 14, characterized in that The difference between the resources in the second orientation range and the resources in the third orientation range is greater than X unit difference, where X is an integer and X≥2; The N frequency bands are arranged in the order of change of their center frequencies, the difference between the i-th frequency band and the j-th frequency band is (ji) units, i and j are both integers greater than 0 and j≥i; The S time periods are arranged in the order of change of their central moments, and the difference between the hth time period and the lth time period satisfies the following formula: Δt=min[(lh),(h+Sl)], Wherein, h and l are both integers greater than 0 and l≥h.

16. The method according to any one of claims 1 to 15, characterized in that The method further comprises: Determining, according to the orientation of the detection device, a first available polarization direction range of a signal transmitted by the detection device; The first available polarization direction range is one of P polarization direction ranges of the total available polarization direction range of the detection device, wherein P≤N, and one polarization direction range in the P polarization direction ranges corresponds to at least one orientation range in the N orientation ranges; The transmitting a signal in the first available frequency band comprises: The signal is transmitted in the first available frequency band and in the first available polarization direction range.

17. The method according to any one of claims 1 to 16, characterized in that: The orientation of the detection device belongs to a fourth orientation range among the N orientation ranges; The method further comprises: If the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold, determining a second available frequency band for transmitting signals by the detection device according to the current orientation of the detection device; A signal is transmitted in the second available frequency band.

18. The method according to claim 17, characterized in that If the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold, determining a second available frequency band for transmitting a signal by the detection device according to the current orientation of the detection device, comprising: If the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold and the duration is greater than a time threshold, a second available frequency band for transmitting signals by the detection device is determined according to the current orientation of the detection device.

19. A signal transmitting device, characterized in that: The signal transmitting device is included in the detection device, and the signal transmitting device includes a processing module and a transmitting module, wherein: The processing module is used to determine a first available frequency band for transmitting a signal by the detection device according to the orientation of the detection device; The transmitting module is used to transmit a signal in the first available frequency band. The first available frequency band is one of N frequency bands of the total available frequency band of the detection device, the bandwidths of the N frequency bands are the same, the N frequency bands correspond to N direction ranges respectively, and N is an integer greater than 1; When the transmission bandwidth requirement range of the detection device is greater than 1 / N of the total available frequency band of the detection device, there is overlap between the N frequency bands.

20. The signal transmitting device according to claim 19, characterized in that: There are overlaps between the N frequency bands, including: There is an overlapping range between edge portions of any two adjacent frequency bands in the N frequency bands.

21. The signal transmitting device according to claim 19, characterized in that: When the transmission bandwidth requirement range of the detection device is less than 1 / N of the total available frequency band of the detection device, The N frequency bands do not overlap with each other.

22. The signal transmitting device according to claim 19 or 20, characterized in that: The available total frequency band includes M sub-frequency bands, the M sub-frequency bands do not overlap each other, M is an integer and M>N; Each of the N frequency bands occupies consecutive K of the M sub-frequency bands, and frequency intervals between center frequencies of the N frequency bands are the same.

23. The signal transmitting device according to claim 22, characterized in that: K=M-N+1, and the overlapping range of any two adjacent frequency bands in the N frequency bands is MN sub-frequency bands.

24. The signal transmitting device according to claim 23, characterized in that: M, N, the transmission bandwidth requirement range B of the detection device w and the total available frequency band B of the detection device band Satisfies the following formula:

25. The signal transmitting device according to any one of claims 19 to 24, characterized in that: The sum of the N orientation ranges is 360°; N=4, and the N orientation ranges each occupy 90°.

26. The signal transmitting device according to claim 25, characterized in that: The N orientation ranges are divided by four basic directions as boundaries, and the four basic directions are east, south, west and north.

27. The signal transmitting device according to any one of claims 19 to 26, characterized in that: In the N direction ranges, the center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the clockwise direction starting from the first direction change sequentially; The center frequencies of the frequency bands corresponding to the N / 2 direction ranges in the counterclockwise direction starting from the first direction change sequentially; The sequence change is an increasing sequence or a decreasing sequence.

28. The signal transmitting device according to any one of claims 19 to 26, characterized in that: In the N direction ranges, the center frequencies of the frequency bands corresponding to the N direction ranges in the clockwise direction starting from the first direction change sequentially, and the sequential change is sequentially increasing or sequentially decreasing.

29. The signal transmitting device according to any one of claims 19 to 28, characterized in that: The transmitting module is further configured to transmit the detection signal on a first frequency band, where the first frequency band is included in the first available frequency band; Among them, the interference of the first frequency band is smaller than the interference in the frequency range of non-first frequency band in the first available frequency band, and / or the first frequency band is the frequency range in the first available frequency band far away from the first frequency band, the first frequency band is the frequency band corresponding to the first direction range among the N directions, and the opposite direction of the direction of the detection device falls into the first direction range.

30. The signal transmitting device according to any one of claims 19 to 29, characterized in that: The processing module is further used to determine a first available time period for the detection device to transmit a signal according to the orientation of the detection device; The transmitting module is further used to transmit the signal in the first available frequency band and in the first available time period; The first available time period is one of S time periods of the total available time period of the detection device, wherein S≤N, and one time period of the S time periods corresponds to at least one orientation range of the N orientation ranges.

31. The signal transmitting device according to claim 30, characterized in that: When the transmission time width requirement range of the detection device is greater than 1 / S of the total available time period of the detection device, there is overlap between the S time periods; When the required transmission time width range of the detection device is smaller than 1 / S of the total available time period of the detection device, the S time periods do not overlap with each other.

32. The signal transmitting device according to claim 30 or 31, characterized in that: The N orientation ranges include a second orientation range and a third orientation range, the first orientation range and the second orientation range are in opposite directions, and a resource difference between the second orientation range and the third orientation range is greater than a first threshold; The second direction range corresponds to a second frequency band and a first time period, the third direction range corresponds to a third frequency band and a second time period, and the resource difference is related to a difference between the first frequency band and the third frequency band and a difference between the first time period and the second time period; The second frequency band and the third frequency band belong to the N frequency bands, and the first time period and the second time period belong to the S time periods.

33. The signal transmitting device according to claim 32, characterized in that: The difference between the resources in the second orientation range and the resources in the third orientation range is greater than X unit difference, where X is an integer and X≥2; The N frequency bands are arranged in the order of change of their center frequencies, the difference between the i-th frequency band and the j-th frequency band is (ji) units, i and j are both integers greater than 0 and j≥i; The S time periods are arranged in the order of change of their central moments, and the difference between the hth time period and the lth time period satisfies the following formula: Δt=min[(lh),(h+Sl)], Wherein, h and l are both integers greater than 0 and l≥h.

34. The signal transmitting device according to any one of claims 19 to 33, characterized in that: The processing module is further used to determine a first available polarization direction range of a signal transmitted by the detection device according to the orientation of the detection device; The transmitting module is further configured to transmit the signal in the first available frequency band and in the first available polarization direction range; The first available polarization direction range is one of P polarization direction ranges of the total available polarization direction range of the detection device, wherein P≤N, and one polarization direction range among the P polarization direction ranges corresponds to at least one orientation range among the N orientation ranges.

35. The method according to any one of claims 19 to 34, characterized in that: The orientation of the detection device belongs to a fourth orientation range among the N orientation ranges; The processing module is further configured to determine a second available frequency band for transmitting a signal by the detection device according to the current orientation of the detection device if the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold; The transmitting module is further used to transmit a signal in the second available frequency band.

36. The method according to claim 35, characterized in that The processing module is further used for: If the offset of the orientation of the detection device relative to the fourth orientation range is greater than an offset threshold and the duration is greater than a time threshold, a second available frequency band for transmitting signals by the detection device is determined according to the current orientation of the detection device.

37. A detection device, characterized in that: The detection device comprises the transmitting device described in any one of claims 19-36.

38. A terminal, characterized in that: The terminal comprises a transmitting device as described in any one of claims 19-36, or a detecting device as described in claim 37.

39. The terminal according to claim 38, characterized in that The terminal is a vehicle, a drone or a robot.

40. A computer storage medium, characterized in that The computer storage medium stores a computer program, and when the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 18.

41. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is caused to perform the method according to any one of claims 1 to 18.

42. A chip, characterized in that: The chip comprises: A processor and a communication interface, wherein the processor is used to call and run instructions from the communication interface, and when the processor executes the instructions, the method according to any one of claims 1 to 18 is implemented.

Images