Vehicle-to-vehicle communication method, device, and program product based on multiplexing of vehicle-mounted radar

Abstract

This invention discloses a vehicle-to-vehicle communication method, apparatus, equipment, and program product based on vehicle-mounted radar multiplexing, comprising: a first vehicle acquiring first environmental perception data, encapsulating its own first driving state data and the first environmental perception data into a communication data frame, mapping it onto the detection signal of a first millimeter-wave radar to obtain a sensing-integrated signal, and transmitting it to a second vehicle through a radar communication link; the second vehicle performing signal separation on the sensing-integrated signal to obtain a sensing component and a communication component, extracting the current pose information of the first vehicle based on the sensing component, and extracting the first driving state data and the first environmental perception data based on the communication component; the second vehicle acquiring second environmental perception data, and fusing the first environmental perception data and the second environmental perception data to obtain target environmental perception data. This invention achieves efficient reuse of radar resources, reduces the cost and complexity of vehicle-mounted communication systems, and can be applied to the field of vehicle communication technology.

Description

Technical Field

[0001] This invention relates to the field of vehicle communication technology, and in particular to a vehicle-to-vehicle communication method, apparatus, equipment and program product based on vehicle radar multiplexing. Background Technology

[0002] With the rapid development of automotive intelligent technology, the demand for information exchange between vehicles in Advanced Driver Assistance Systems (ADAS) and autonomous driving systems is becoming increasingly urgent. Real-time sharing of information such as location, speed, driving intention, and surrounding obstacles between vehicles can effectively improve driving safety, reduce collision risks, and support the realization of complex functions such as platooning and cooperative obstacle avoidance.

[0003] Currently, vehicle communication mainly relies on dedicated communication modules, such as communication units based on LTE-V2X and 5G-V2X technologies. These solutions require additional dedicated hardware such as communication antennas and baseband chips to be deployed on the vehicle, which not only increases the vehicle's manufacturing cost and hardware integration complexity but also raises issues related to spectrum resource occupation and allocation. Meanwhile, vehicle-mounted millimeter-wave radar, as a core sensor for environmental perception, has been deployed on a large scale in vehicles. Operating in the 30GHz-300GHz millimeter-wave frequency band, it features wide bandwidth, strong directionality, and good anti-interference capabilities. However, in existing technologies, millimeter-wave radar is only used for target detection, and its signal resources are not fully utilized, failing to achieve synergy between perception and communication functions.

[0004] The above problems urgently need to be addressed. Summary of the Invention

[0005] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0006] Therefore, one objective of this invention is to provide a vehicle-to-vehicle communication method based on vehicle-mounted radar reuse. This method does not require additional dedicated communication components. By optimizing and controlling the signals of vehicle-mounted radar sensors, the radar signals can simultaneously undertake the dual tasks of environmental perception and vehicle-to-vehicle communication, thereby achieving efficient reuse of radar resources and reducing the cost and complexity of vehicle-mounted communication systems.

[0007] Another objective of this invention is to provide a workshop communication device based on vehicle-mounted radar multiplexing.

[0008] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include: On one hand, embodiments of the present invention provide a vehicle-to-vehicle communication method based on vehicle-mounted radar multiplexing, applied to a vehicle-to-everything (V2X) system including at least a first vehicle and a second vehicle, wherein the first vehicle is equipped with a first millimeter-wave radar and the second vehicle is equipped with a second millimeter-wave radar, and the vehicle-to-vehicle communication method includes the following steps: The first vehicle acquires first environmental perception data through the first millimeter-wave radar, encapsulates its own first driving status data and the first environmental perception data into a communication data frame, and then maps the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensor-integrated signal, and sends the sensor-integrated signal to the second vehicle through a pre-established radar communication link. The second vehicle receives the integrated sensing signal through the second millimeter-wave radar, performs signal separation on the integrated sensing signal to obtain a sensing component and a communication component, and then extracts the current pose information of the first vehicle based on the sensing component, and extracts the first driving state data and the first environmental perception data based on the communication component. The second vehicle acquires second environmental perception data through the second millimeter-wave radar, and obtains target environmental perception data by fusing the first environmental perception data and the second environmental perception data, and then uses the target environmental perception data for vehicle control decisions.

[0009] Furthermore, in one embodiment of the present invention, the radar communication link is constructed through the following steps: The first vehicle sends a communication connection request to the second vehicle via the first millimeter-wave radar, and the communication connection request carries resource negotiation information. The second vehicle receives the communication connection request through the second millimeter-wave radar and establishes a radar communication link with the first vehicle based on the resource negotiation information; The resource negotiation information includes the radar operating frequency band, signal modulation method, time slot allocation scheme, and synchronization reference.

[0010] Furthermore, in one embodiment of the present invention, the resource negotiation information further includes an anti-interference strategy, which is a frequency division multiple access strategy or a time division multiple access strategy, used to allocate different frequency band resources or time slot resources when multiple vehicles in the vehicle network system communicate simultaneously to avoid mutual interference between radar signals.

[0011] Furthermore, in one embodiment of the present invention, the step of mapping the communication data frame onto the detection signal of the first millimeter-wave radar to obtain a sensing-integrated signal specifically includes: The communication data frame is encoded into multiple communication modulation segments of a preset duration using binary phase shift keying or quadrature phase shift keying; Using the linear frequency modulation band of the detection signal as a carrier, the communication modulation band is embedded in each frequency modulation cycle to obtain the integrated sensing signal.

[0012] Furthermore, in one embodiment of the present invention, the step of separating the integrated sensing signal to obtain a sensing component and a communication component, and then extracting the current pose information of the first vehicle based on the sensing component, and extracting the first driving state data and the first environmental perception data based on the communication component, specifically includes: The integrated sensing signal is separated by an adaptive filtering algorithm to obtain the sensing component and the communication component. The sensing components are processed by FFT and Doppler deblurring to obtain the current pose information of the first vehicle. The communication components are demodulated and CRC checked to obtain the communication data frame, and the first driving state data and the first environmental perception data are obtained by parsing the communication data frame.

[0013] Furthermore, in one embodiment of the present invention, the step of fusing the first environmental perception data and the second environmental perception data to obtain the target environmental perception data specifically involves: The first environmental perception data and the second environmental perception data are synchronized in time, calibrated spatially, and fused based on confidence level to obtain the target environmental perception data.

[0014] Furthermore, in one embodiment of the present invention, the workshop communication method further includes the following steps: The first vehicle or the second vehicle periodically sends a synchronization signal to the other party, so that the other party can determine whether the radar communication link has experienced signal attenuation or increased interference based on the synchronization signal; When the radar communication link experiences signal attenuation or increased interference, the first vehicle and the second vehicle renegotiate and adjust the radar operating frequency band, signal modulation method, or time slot allocation scheme.

[0015] On the other hand, embodiments of the present invention provide a vehicle-to-everything (V2X) communication device based on vehicle-mounted radar multiplexing, applied to a vehicle-to-everything (V2X) system including at least a first vehicle and a second vehicle, wherein the first vehicle is equipped with a first millimeter-wave radar and the second vehicle is equipped with a second millimeter-wave radar, and the V2X communication device includes: The first vehicle terminal installed in the first vehicle is used to acquire first environmental perception data through the first millimeter-wave radar, encapsulate its own first driving status data and the first environmental perception data into a communication data frame, and then map the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensing integrated signal, and send the sensing integrated signal to the second vehicle through a pre-established radar communication link. The second vehicle-mounted terminal installed in the second vehicle is used to receive the integrated sensing signal through the second millimeter-wave radar, separate the integrated sensing signal to obtain a sensing component and a communication component, extract the current pose information of the first vehicle based on the sensing component, extract the first driving state data and the first environmental perception data based on the communication component, acquire the second environmental perception data through the second millimeter-wave radar, fuse the first environmental perception data and the second environmental perception data to obtain target environmental perception data, and then use the target environmental perception data for vehicle control decisions.

[0016] On the other hand, embodiments of the present invention provide an electronic device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-described vehicle-mounted radar multiplexing-based workshop communication method.

[0017] On the other hand, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the above-described vehicle-mounted radar multiplexing-based workshop communication method.

[0018] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the above-described workshop communication method based on vehicle radar multiplexing.

[0019] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention: This invention is applied to a vehicle-to-everything (V2X) system comprising at least a first vehicle and a second vehicle. The first vehicle acquires first environmental perception data via a first millimeter-wave radar, encapsulates its own first driving state data and the first environmental perception data into a communication data frame, and then maps the communication data frame onto the detection signal of the first millimeter-wave radar to obtain a sensor-integrated signal. This sensor-integrated signal is then transmitted to the second vehicle via a pre-established radar communication link. The second vehicle receives the sensor-integrated signal via a second millimeter-wave radar, separates the signal to obtain a perception component and a communication component, extracts the current pose information of the first vehicle based on the perception component, and extracts the first driving state data and the first environmental perception data based on the communication component. The second vehicle acquires second environmental perception data via the second millimeter-wave radar, and fuses the first and second environmental perception data to obtain target environmental perception data, which is then used for vehicle control decisions. This invention eliminates the need for additional dedicated communication components. By optimizing and controlling the signals of the vehicle-mounted radar sensors, the radar signals simultaneously undertake the dual tasks of environmental perception and vehicle-to-vehicle communication, achieving efficient reuse of radar resources and reducing the cost and complexity of the vehicle-mounted communication system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating the steps of a vehicle-mounted radar multiplexing-based workshop communication method provided in this embodiment of the invention; Figure 2 A structural block diagram of a workshop communication device based on vehicle-mounted radar multiplexing provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0024] The vehicle-mounted radar multiplexing-based workshop communication method provided in this invention can be applied to terminals, servers, or software running on either terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle-mounted terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the vehicle-mounted radar multiplexing-based workshop communication method, but is not limited to the above forms.

[0025] This invention can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0026] It should be noted that in various specific embodiments of the present invention, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user parking space location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of the present invention require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data for the normal operation of the embodiments of the present invention acquired.

[0027] Reference Figure 1 This invention provides a vehicle-to-vehicle communication method based on vehicle-mounted radar multiplexing, applied to a vehicle-to-everything (V2X) system including at least a first vehicle and a second vehicle. The first vehicle is equipped with a first millimeter-wave radar, and the second vehicle is equipped with a second millimeter-wave radar. The vehicle-to-vehicle communication method includes the following steps: S101. The first vehicle acquires first environmental perception data through the first millimeter-wave radar, encapsulates its own first driving status data and the first environmental perception data into a communication data frame, and then maps the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensor-integrated signal, and sends the sensor-integrated signal to the second vehicle through a pre-established radar communication link. S102. The second vehicle receives the integrated sensing signal through the second millimeter-wave radar, separates the integrated sensing signal to obtain the sensing component and the communication component, and then extracts the current pose information of the first vehicle based on the sensing component, and extracts the first driving state data and the first environmental perception data based on the communication component. S103. The second vehicle acquires second environmental perception data through the second millimeter-wave radar, and obtains target environmental perception data by fusing the first environmental perception data and the second environmental perception data, and then uses the target environmental perception data for vehicle control decisions.

[0028] The embodiments of the present invention do not require additional dedicated communication components. By optimizing and controlling the signals of the vehicle-mounted radar sensors, the radar signals can simultaneously undertake the dual tasks of environmental perception and vehicle-to-vehicle communication, thereby achieving efficient reuse of radar resources and reducing the cost and complexity of the vehicle-mounted communication system.

[0029] As an optional implementation, the radar communication link is constructed through the following steps: S201. The first vehicle sends a communication connection request to the second vehicle via the first millimeter-wave radar. The communication connection request carries resource negotiation information. S202. The second vehicle receives a communication connection request through the second millimeter-wave radar and establishes a radar communication link with the first vehicle based on resource negotiation information. The resource negotiation information includes the radar operating frequency band, signal modulation method, time slot allocation scheme, and synchronization reference.

[0030] Specifically, this embodiment of the invention is applied to a vehicle-to-everything (V2X) system consisting of at least two vehicles. Each vehicle is equipped with an onboard millimeter-wave radar module. Vehicle A, which initiates communication, sends an initialization signal containing communication requests and resource negotiation information to a potential communication partner vehicle B through its onboard millimeter-wave radar module. The resource negotiation information includes the radar operating frequency band, signal modulation method, time slot allocation scheme, and synchronization reference. Vehicle B receives the initialization signal through its onboard millimeter-wave radar module, parses it, and sends back a response signal to complete the establishment of the communication link and the determination of resource parameters.

[0031] As an optional implementation, the resource negotiation information also includes an anti-interference strategy, which is a frequency division multiple access strategy or a time division multiple access strategy, used to allocate different frequency band resources or time slot resources when multiple vehicles in the vehicle network system communicate simultaneously to avoid mutual interference between radar signals.

[0032] As a further optional implementation, the communication data frame is mapped onto the detection signal of the first millimeter-wave radar to obtain a sensing-integrated signal, which specifically includes: S1011. Encode the communication data frame into multiple communication modulation segments of a preset duration using binary phase shift keying or quadrature phase shift keying; S1012. Using the linear frequency modulation band of the detection signal as a carrier, a communication modulation band is embedded in each frequency modulation cycle to obtain an integrated sensing signal.

[0033] Specifically, the onboard millimeter-wave radar module of vehicle A detects the surrounding environment and acquires environmental perception data such as target distance, speed, and azimuth. At the same time, the control unit of vehicle A fuses its own driving status data (including vehicle speed, steering intention, and braking status) with the perception data and encapsulates it into communication data frames according to a preset data format. The signal processing unit of vehicle A maps the communication data frames to the detection signal of the millimeter-wave radar based on the modulation method determined by resource negotiation information, forming a comprehensive sensing signal. The mapping method includes phase modulation, time delay modulation, or Doppler frequency shift modulation. The communication data is carried by adjusting the phase, transmission delay, or frequency change characteristics of the detection signal. Then, the comprehensive sensing signal is directionally transmitted to vehicle B through the radar antenna.

[0034] In some optional embodiments, the detection signal of the millimeter-wave radar adopts a frequency modulated continuous wave (FMCW) signal. The generation process of the integrated sensing signal is as follows: using the linear frequency modulation band of the FMCW signal as a carrier, a communication modulation segment of a preset duration is embedded in each frequency modulation cycle. The communication modulation segment encodes the communication data through phase transition. The encoding format adopts binary phase shift keying (BPSK) or quadrature phase shift keying (QPSK).

[0035] As a further optional implementation, the integrated sensing signal is separated to obtain a sensing component and a communication component. Then, the current pose information of the first vehicle is extracted based on the sensing component, and the first driving state data and the first environmental perception data are extracted based on the communication component. Specifically, this includes: S1021. The integrated sensing signal is separated by an adaptive filtering algorithm to obtain the sensing component and the communication component. S1022. Perform FFT processing and Doppler deblurring on the perceived components to obtain the current pose information of the first vehicle. S1023. Demodulate and perform CRC check on the communication components to obtain communication data frames, and parse the communication data frames to obtain the first driving state data and the first environmental perception data.

[0036] Specifically, the vehicle-mounted millimeter-wave radar module of vehicle B receives the integrated sensing signal and decomposes the signal into sensing components and communication components through the signal separation unit; performs conventional radar signal processing on the sensing components to extract sensing information such as the position and motion state of vehicle A (i.e., the current pose information of the first vehicle perceived by the second vehicle); demodulates and decodes the communication components to parse the communication data frames sent by vehicle A and obtain the driving state and environmental perception data of vehicle A.

[0037] In some optional embodiments, the signal separation unit employs an adaptive filtering algorithm to extract the characteristic differences (such as bandwidth and modulation frequency) between the sensing component and the communication component in the integrated sensing signal, thereby achieving efficient separation of the two types of signals and ensuring that sensing accuracy and communication quality are not affected by each other. The sensing component is processed by FFT and distance-Doppler deblurring to extract the position and attitude of vehicle A. The communication component is demodulated by QPSK and checked by CRC to parse out the complete communication data frame and obtain the driving status of vehicle A and its environmental perception data.

[0038] As a further optional implementation, target environment perception data is obtained by fusing the first environment perception data and the second environment perception data, specifically as follows: The first environmental perception data and the second environmental perception data are synchronized in time, spatially calibrated, and fused based on confidence level to obtain the target environmental perception data.

[0039] Specifically, the control unit of vehicle B will fuse the obtained environmental perception data with the environmental perception data detected by its own radar to make a comprehensive judgment on the environmental situation, and then make corresponding vehicle control decisions (such as vehicle driving control, cabin adjustment control, headlight control, etc.).

[0040] It should be noted that the current pose information and first driving state data of the first vehicle obtained in the aforementioned steps can be used to correct the second environmental perception data of the second vehicle to ensure the correctness of the second environmental perception data.

[0041] It is understandable that the second vehicle can also encapsulate its own second driving status data and second environmental perception data into a second communication data frame, which is then mapped into the detection signal of the second millimeter-wave radar to form a synergistic signal and returned to the first vehicle, thereby realizing two-way communication between the first vehicle and the second vehicle.

[0042] As an optional implementation, the workshop communication method further includes the following steps: S301. The first vehicle or the second vehicle periodically sends a synchronization signal to the other party, so that the other party can determine whether there is signal attenuation or increased interference in the radar communication link based on the synchronization signal. S302. When the radar communication link experiences signal attenuation or increased interference, the first vehicle and the second vehicle shall renegotiate and adjust the radar operating frequency band, signal modulation method, or time slot allocation scheme.

[0043] Specifically, vehicle A and vehicle B maintain communication link synchronization by periodically sending synchronization signals. If link quality deteriorates due to signal attenuation, increased interference, or other reasons, the operating frequency band, time slot allocation, or modulation method is adjusted through real-time negotiation to ensure communication stability.

[0044] In some optional embodiments, the radar antenna of the vehicle-mounted millimeter-wave radar module adopts a phased array antenna, which uses beamforming technology to directionally transmit the integrated sensing signal to the target vehicle, thereby improving the signal's anti-interference capability and transmission distance. At the same time, it achieves communication coverage for multiple surrounding vehicles through beam scanning.

[0045] In some optional embodiments, the vehicle bus adopts the CAN XL bus to realize high-speed data transmission between the vehicle status acquisition module, the vehicle millimeter-wave radar module and the vehicle processing unit. The bus load rate is controlled below 30% to ensure low latency and high reliability of data transmission.

[0046] The method steps of the embodiments of the present invention have been described above. It can be understood that the embodiments of the present invention do not require additional dedicated communication components. By optimizing and controlling the signals of the vehicle-mounted radar sensors, the radar signals can simultaneously undertake the dual tasks of environmental perception and vehicle-to-vehicle communication, achieving efficient reuse of radar resources and reducing the cost and complexity of the vehicle-mounted communication system.

[0047] Compared with the prior art, the embodiments of the present invention have the following advantages: 1. High resource reusability: This invention reuses the already widely deployed vehicle-mounted millimeter-wave radar sensors, eliminating the need for additional V2X dedicated communication modules. This significantly reduces the hardware cost and integration complexity of the vehicle communication system, while fully exploring the functional potential of radar signals and improving the utilization rate of vehicle sensor resources.

[0048] 2. Good real-time communication: By directly modulating the communication data into the radar detection signal, there is no need for complex encapsulation and conversion of dedicated communication protocols. The communication delay can be controlled within 10ms, which can meet the needs of vehicle scenarios with extremely high real-time requirements such as emergency braking warning and cooperative obstacle avoidance.

[0049] 3. Strong anti-interference capability: Relying on the narrow beam characteristics of millimeter-wave radar and phased array antenna technology, the integrated communication and sensing signal has strong directionality, which can effectively reduce external electromagnetic interference; at the same time, through the dynamic resource negotiation mechanism, frequency band and time slot allocation is realized when multiple vehicles communicate, avoiding mutual interference between radar signals.

[0050] 4. Wide adaptability to various scenarios: This invention supports two-way communication and multi-vehicle interaction, and can be adapted to various vehicle scenarios such as platooning, intersection collaboration, and blind spot warning. Furthermore, through anti-interference strategies and link maintenance mechanisms, it can adapt to complex driving environments such as rain, fog, and high-speed movement.

[0051] Reference Figure 2 This invention provides a vehicle-to-vehicle communication device based on vehicle-mounted radar multiplexing, applied to a vehicle-to-everything (V2X) system including at least a first vehicle and a second vehicle. The first vehicle is equipped with a first millimeter-wave radar, and the second vehicle is equipped with a second millimeter-wave radar. The vehicle-to-vehicle communication device includes: The first vehicle terminal installed in the first vehicle is used to acquire first environmental perception data through the first millimeter-wave radar, encapsulate its own first driving status data and the first environmental perception data into a communication data frame, and then map the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensor-integrated signal, and send the sensor-integrated signal to the second vehicle through a pre-established radar communication link. The second vehicle-mounted terminal installed in the second vehicle is used to receive the integrated sensing signal through the second millimeter-wave radar, separate the integrated sensing signal to obtain the sensing component and the communication component, extract the current pose information of the first vehicle based on the sensing component, extract the first driving state data and the first environmental perception data based on the communication component, acquire the second environmental perception data through the second millimeter-wave radar, fuse the first environmental perception data and the second environmental perception data to obtain the target environmental perception data, and then use the target environmental perception data for vehicle control decisions.

[0052] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0053] Reference Figure 3 This invention provides an electronic device, comprising: At least one processor; At least one memory for storing at least one program; When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned workshop communication method based on vehicle radar multiplexing.

[0054] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0055] This invention also provides a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the above-described vehicle-mounted radar multiplexing-based inter-vehicle communication method.

[0056] This invention provides a computer-readable storage medium that can execute a vehicle-mounted radar multiplexing-based workshop communication method provided in the method embodiments of this invention. It can execute any combination of the implementation steps of the method embodiments and has the corresponding functions and beneficial effects of the method.

[0057] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle-mounted radar multiplexing-based workshop communication method.

[0058] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0059] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0060] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0061] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0062] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0063] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0064] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0065] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0066] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0067] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0068] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0070] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A vehicle-mounted radar multiplexing-based workshop communication method, characterized in that, A vehicle-to-everything (V2X) system comprising at least a first vehicle and a second vehicle, wherein the first vehicle is equipped with a first millimeter-wave radar and the second vehicle is equipped with a second millimeter-wave radar, the vehicle-to-vehicle communication method includes the following steps: The first vehicle acquires first environmental perception data through the first millimeter-wave radar, encapsulates its own first driving status data and the first environmental perception data into a communication data frame, and then maps the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensor-integrated signal, and sends the sensor-integrated signal to the second vehicle through a pre-established radar communication link. The second vehicle receives the integrated sensing signal through the second millimeter-wave radar, performs signal separation on the integrated sensing signal to obtain a sensing component and a communication component, and then extracts the current pose information of the first vehicle based on the sensing component, and extracts the first driving state data and the first environmental perception data based on the communication component. The second vehicle acquires second environmental perception data through the second millimeter-wave radar, and obtains target environmental perception data by fusing the first environmental perception data and the second environmental perception data, and then uses the target environmental perception data for vehicle control decisions.

2. The workshop communication method based on vehicle-mounted radar multiplexing according to claim 1, characterized in that, The radar communication link is constructed through the following steps: The first vehicle sends a communication connection request to the second vehicle via the first millimeter-wave radar, and the communication connection request carries resource negotiation information. The second vehicle receives the communication connection request through the second millimeter-wave radar and establishes a radar communication link with the first vehicle based on the resource negotiation information; The resource negotiation information includes the radar operating frequency band, signal modulation method, time slot allocation scheme, and synchronization reference.

3. The workshop communication method based on vehicle-mounted radar multiplexing according to claim 2, characterized in that, The resource negotiation information also includes an anti-interference strategy, which is a frequency division multiple access strategy or a time division multiple access strategy, used to allocate different frequency band resources or time slot resources when multiple vehicles in the vehicle network system communicate simultaneously to avoid mutual interference between radar signals.

4. The workshop communication method based on vehicle-mounted radar multiplexing according to claim 1, characterized in that, The step of mapping the communication data frame onto the detection signal of the first millimeter-wave radar to obtain a sensing-integrated signal specifically includes: The communication data frame is encoded into multiple communication modulation segments of a preset duration using binary phase shift keying or quadrature phase shift keying; Using the linear frequency modulation band of the detection signal as a carrier, the communication modulation band is embedded in each frequency modulation cycle to obtain the integrated sensing signal.

5. A workshop communication method based on vehicle-mounted radar multiplexing according to claim 1, characterized in that, The process of separating the integrated sensing signal to obtain a sensing component and a communication component, then extracting the current pose information of the first vehicle based on the sensing component, and extracting the first driving state data and the first environmental perception data based on the communication component, specifically includes: The integrated sensing signal is separated by an adaptive filtering algorithm to obtain the sensing component and the communication component. The sensing components are processed by FFT and Doppler deblurring to obtain the current pose information of the first vehicle. The communication components are demodulated and CRC checked to obtain the communication data frame, and the first driving state data and the first environmental perception data are obtained by parsing the communication data frame.

6. The workshop communication method based on vehicle-mounted radar multiplexing according to claim 1, characterized in that, The specific steps for obtaining target environment perception data by fusing the first environment perception data and the second environment perception data are as follows: The first environmental perception data and the second environmental perception data are synchronized in time, calibrated spatially, and fused based on confidence level to obtain the target environmental perception data.

7. A workshop communication method based on vehicle-mounted radar multiplexing according to claim 2, characterized in that, The workshop communication method further includes the following steps: The first vehicle or the second vehicle periodically sends a synchronization signal to the other party, so that the other party can determine whether the radar communication link has experienced signal attenuation or increased interference based on the synchronization signal; When the radar communication link experiences signal attenuation or increased interference, the first vehicle and the second vehicle renegotiate and adjust the radar operating frequency band, signal modulation method, or time slot allocation scheme.

8. A workshop communication device based on vehicle-mounted radar multiplexing, characterized in that, A vehicle-to-everything (V2X) system applicable to at least a first vehicle and a second vehicle, wherein the first vehicle is equipped with a first millimeter-wave radar and the second vehicle is equipped with a second millimeter-wave radar, the vehicle-to-vehicle communication device comprising: The first vehicle terminal installed in the first vehicle is used to acquire first environmental perception data through the first millimeter-wave radar, encapsulate its own first driving status data and the first environmental perception data into a communication data frame, and then map the communication data frame into the detection signal of the first millimeter-wave radar to obtain a sensing integrated signal, and send the sensing integrated signal to the second vehicle through a pre-established radar communication link. The second vehicle-mounted terminal installed in the second vehicle is used to receive the integrated sensing signal through the second millimeter-wave radar, separate the integrated sensing signal to obtain a sensing component and a communication component, extract the current pose information of the first vehicle based on the sensing component, extract the first driving state data and the first environmental perception data based on the communication component, acquire the second environmental perception data through the second millimeter-wave radar, fuse the first environmental perception data and the second environmental perception data to obtain target environmental perception data, and then use the target environmental perception data for vehicle control decisions.

9. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a vehicle-mounted radar multiplexing-based workshop communication method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a vehicle-mounted radar multiplexing-based workshop communication method as described in any one of claims 1 to 7.

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