Radar communication methods, systems, apparatuses, devices, and storage media

Abstract

Embodiments of the present application provide a radar communication method, system, device, equipment and storage medium, relating to the technical field of radar communication, and applied to a slave radar in radar communication networking, which further comprises a master radar. The method comprises detecting a command action of a user of the master radar, and sending the command action to other slave radars in the radar communication networking, so as to remind the user of the slave radar to control a vehicle according to the command action. The present application detects and transmits the command action of the user of the master radar in real time, so that the user of the slave radar behind can obtain the intention of the user of the master radar in time, and thus can take corresponding measures in advance, reduce the probability of traffic accidents, and further improve the safety and user experience of travel. In addition, the automatic radar detection and information transmission reduce the dependence on visual observation or language communication, so that the radar user can more focusedly control the vehicle, and further enhance the safety and user experience of travel.

Description

Technical Field

[0001] This application relates to the field of radar communication technology, and in particular to a radar communication method, system, device, equipment and storage medium. Background Technology

[0002] In recent years, accidents involving bicycles, e-bikes, and motorcycles have been frequent, drawing widespread public attention. When riding in a convoy, the distance between vehicles is often quite close, and in some scenarios, riders may closely follow the rider in front to reduce wind resistance. However, if the following distance is too close, if the rider in front slows down or stops, the rider behind may not have enough time to react, leading to rear-end collisions or falls. The main causes of these accidents include excessively close distances between riders, a lack of effective communication, and slow reaction to changes in the surrounding environment. To address these issues, researchers have begun exploring the application of millimeter-wave radar technology to bicycles to improve riding safety. However, current products are relatively simple in form and function, mainly simply transplanting the functions of intelligent vehicle-mounted millimeter-wave radar to bicycles, without fully considering the specific needs of riding scenarios, and therefore cannot fully meet the requirements of practical applications.

[0003] Therefore, there is an urgent need to provide an improved radar communication solution to enhance travel safety and user experience. Summary of the Invention

[0004] This application provides a radar communication method, system, device, equipment, and storage medium to improve travel safety and user experience.

[0005] In a first aspect, this application provides a radar communication method for use with a slave radar in a radar communication network, the radar communication network also including a master radar;

[0006] Radar communication methods include:

[0007] Detect the command actions of the main radar user;

[0008] Send command actions to other slave radars in the radar communication network to remind slave radar users to control their vehicles in accordance with the command actions.

[0009] In one possible implementation, the radar communication method further includes: receiving environmental detection information sent by the main radar; and sending environmental detection information to other slave radars in the radar communication network so that slave radar users can obtain real-time environmental information detected by the main radar.

[0010] In one possible implementation, the slave radar includes a first slave radar and a second slave radar, wherein the first slave radar is used to detect command actions of the main radar user and / or receive environmental detection information sent by the main radar; and to send command actions and / or environmental detection information to the second slave radar in the radar communication network.

[0011] In one possible implementation, the second slave radar includes a multi-level radar system configured according to its distance from the main radar. The system sends command actions and / or environmental detection information to the second slave radar in the radar communication network. This includes: in the multi-level radar system, sending command actions and / or environmental detection information to the first-level second slave radar; and the second slave radar at level i sending command actions and / or environmental detection information to the second slave radar at level i+1, where i is a positive integer.

[0012] In one possible implementation, the vehicle includes at least one of a bicycle, an electric vehicle, a scooter, and a drone.

[0013] Secondly, this application provides a radar communication method for use as a main radar in a radar communication network, wherein the radar communication network also includes slave radars;

[0014] Radar communication methods include:

[0015] Detect the environment in front of the main radar and generate environmental detection information;

[0016] Environmental detection information is sent to the slave radars in the radar communication network so that slave radar users can obtain real-time environmental information detected by the main radar.

[0017] Thirdly, this application provides a radar communication system, comprising:

[0018] From the radar, used to perform the radar communication method described in any one of the first aspects;

[0019] The main radar is used to perform the radar communication method as described in the second aspect.

[0020] In one possible implementation, the radar communication system further includes a control device for: acquiring radar identifiers of the networked radars, and performing radar networking based on the radar identifiers to obtain a radar communication network.

[0021] In one possible implementation, the slave radar includes a first slave radar and a second slave radar. The control device is also used to switch the operating mode of the radar communication system, wherein the operating mode includes a first detection mode and a second detection mode: In the first detection mode, the first slave radar detects the command actions of the main radar user and sends the command actions to the second slave radar in the radar communication network; In the second detection mode, the first slave radar is used to detect the command actions of the main radar user and receive environmental detection information sent by the main radar, and send the command actions and environmental detection information to the second slave radar in the radar communication network.

[0022] In one possible implementation, the control module is further configured to: calibrate the master radar, the first slave radar, and the second slave radar in the radar communication network based on the relative positional relationship of each radar in the radar communication network.

[0023] Fourthly, this application provides a radar communication device for use as a slave radar in a radar communication network, the radar communication network also including a master radar;

[0024] The radar communication device includes:

[0025] The detection module is used to detect the command actions of the main radar user;

[0026] The processing module is used to send command actions to other slave radars in the radar communication network to remind slave radar users to control vehicles according to the command actions.

[0027] Fifthly, this application provides a radar communication device for use as a main radar in a radar communication network, wherein the radar communication network also includes slave radars;

[0028] The radar communication device includes:

[0029] The detection module is used to detect the environment in front of the main radar and generate environmental detection information;

[0030] The processing module is used to send the environmental detection information to the slave radars in the radar communication network, so that the slave radar users can obtain the real-time environmental information detected by the main radar.

[0031] Sixthly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0032] Memory is used to store instructions executed by the computer;

[0033] A processor for executing computer-executable instructions stored in memory to implement the radar communication method described in either the first aspect or the second aspect.

[0034] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the radar communication method described in either the first aspect or the second aspect.

[0035] Eighthly, this application provides a computer program product, including a computer program that, when executed, implements the radar communication method described in either the first or second aspect.

[0036] The radar communication method, system, apparatus, equipment, and storage medium provided in this application are applied to slave radars in a radar communication network, which also includes a master radar. The radar communication method includes: detecting the command actions of the master radar user and sending the command actions to other slave radars in the radar communication network to remind slave radar users to control their vehicles according to the command actions. In this process, by detecting and transmitting the command actions of the master radar user in real time, slave radar users can promptly obtain the master radar user's intentions, thereby taking corresponding measures in advance, reducing the probability of traffic accidents, and improving travel safety and user experience. Furthermore, automated radar detection and information transmission reduce reliance on visual observation or verbal communication, allowing radar users to focus more on controlling their vehicles. The radar communication network also ensures that command actions are transmitted quickly and accurately, further enhancing travel safety and user experience. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] Figure 1 A schematic flowchart of a radar communication method provided as an exemplary embodiment of this application;

[0039] Figure 2 A schematic diagram illustrating how a first slave radar detects the command actions of a main radar user and transmits the command actions to a second slave radar, provided as an exemplary embodiment of this application.

[0040] Figure 3 A schematic diagram illustrating the first slave radar detecting the command actions of the main radar user and receiving environmental detection information sent by the main radar, and sending the command actions and environmental detection information to the second slave radar, provided as an exemplary embodiment of this application.

[0041] Figure 4 Another schematic diagram of the radar communication method provided as an exemplary embodiment of this application;

[0042] Figure 5A schematic diagram of a radar communication system provided as an exemplary embodiment of this application;

[0043] Figure 6 A schematic diagram illustrating a signal encoding method and a corresponding signal sequence combination, provided as an exemplary embodiment of this application;

[0044] Figure 7 A schematic diagram of a radar communication network provided for an exemplary embodiment of this application;

[0045] Figure 8 A schematic diagram of a radar communication device provided in an embodiment of this application;

[0046] Figure 9 This is another schematic diagram of the radar communication device provided in an embodiment of this application;

[0047] Figure 10 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application.

[0048] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] The terms “first,” “second,” etc., used in the specification and claims of this application 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 the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, 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, products, or apparatus.

[0051] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0052] The relevant technologies mainly involve simply transplanting the functions of intelligent vehicle millimeter-wave radar to cycling vehicles. This transplantation fails to fully consider the special needs of cycling. For example, when riding in a convoy, it only senses distance, speed, and direction, but cannot effectively sense command actions. It still needs to rely on visual observation or verbal communication. This reliance may lead to untimely or inaccurate information transmission, making it impossible for cyclists to quickly understand the intentions of the riders ahead, thus preventing them from taking corresponding measures in advance, increasing the risk of rear-end collisions or falls, and consequently affecting the safety and user experience of cycling.

[0053] Considering that pseudo-random waveform coding technology can effectively help radar systems reduce mutual interference, by applying this technology, the signals emitted by each radar can have unique characteristics in terms of time, frequency, and phase, thereby reducing interference between different radar systems. Therefore, to solve the above problems, this application provides a radar communication scheme. By using pseudo-random waveform coding technology to establish a radar communication network, different radars can achieve interconnection and communication. Through the real-time detection and transmission of the main radar user's commands by the slave radars in the radar communication network, it is ensured that the commands can be quickly transmitted to radars at greater distances or in blind spots, so that the slave radar users can promptly obtain the main radar user's intentions and take corresponding measures in advance, reducing the probability of traffic accidents and improving travel safety and user experience. In addition, automated radar detection and information transmission reduce the reliance on visual observation or verbal communication, allowing radar users to focus more on controlling the vehicle. Furthermore, the radar communication network ensures that commands are transmitted quickly and accurately, further enhancing travel safety and user experience.

[0054] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0055] Figure 1This is a schematic flowchart illustrating a radar communication method provided as an exemplary embodiment of this application. The radar communication method provided in this embodiment is applied to a slave radar in a radar communication network, which also includes a master radar. Figure 1 As shown, the radar communication method includes the following steps:

[0056] S101, Detect the command actions of the main radar user.

[0057] In this radar communication network, the main radar and the slave radar can be millimeter-wave radars, or other high-resolution radars besides millimeter-wave radars, etc., without any limitation.

[0058] In some embodiments, the vehicle includes at least one of bicycles, electric vehicles, scooters, and drones. For example, if the vehicle is a bicycle, radar is deployed at fixed locations on each bicycle, such as the middle of the handlebars or behind the seat. In a cycling scenario, pseudo-random waveform coding technology is used to give each radar a unique radar identifier. Correspondingly, authorized radars in a cycling team can form a radar communication network, and each radar can identify and transmit information to each other within the radar communication network.

[0059] For example, in some simple environments, such as road sections with simple road conditions, the slave radar in the radar communication network uses its high-resolution characteristics to detect the command actions of the main radar user in real time, and converts the command actions into corresponding instructions based on the built-in algorithm. Different command actions correspond to different instructions.

[0060] Command actions include at least one of the following: hand gestures, light signals, or sound signals. For example, a command action may be a hand gesture, or a combination of hand gestures and light signals emitted by the vehicle. Furthermore, different types of vehicles require different commands. For instance, commands for bicycles, electric bikes, and scooters include at least one of the following: deceleration, acceleration, turning, uphill driving, stopping, honking, and light control; commands for drones include at least one of the following: takeoff, landing, hovering, navigation, filming, returning to home, rotating, and speed adjustment.

[0061] S102. Send command actions to other slave radars in the radar communication network to remind slave radar users to control vehicles according to the command actions.

[0062] Furthermore, in the radar communication network, slave radars send command actions to other slave radars, rapidly transmitting the corresponding instructions to other slave radars. This ensures that the command actions are promptly transmitted to distant radars or radars in blind spots. Correspondingly, when a slave radar receives the instructions from other slave radars, it displays the command action on its screen or plays voice prompts through its microphone to remind the slave radar user to control the vehicle according to the command actions. This allows slave radar users to promptly understand the intentions of the master radar user, enabling them to take appropriate measures in advance, reduce the probability of traffic accidents, and ultimately improve travel safety and user experience.

[0063] The radar communication method provided in this application, by detecting and transmitting the commands of the main radar user in real time, allows the secondary radar user to obtain the main radar user's intentions in a timely manner, thereby enabling them to take corresponding measures in advance, reducing the probability of traffic accidents, and thus improving travel safety and user experience. In addition, automated radar detection and information transmission reduce reliance on visual observation or verbal communication, allowing radar users to focus more on controlling the vehicle. Furthermore, through radar communication networking, commands can be transmitted quickly and accurately, further enhancing travel safety and user experience.

[0064] Based on the above embodiments, in some embodiments, the radar communication method further includes: receiving environmental detection information sent by the main radar; and sending environmental detection information to other slave radars in the radar communication network, so that slave radar users can obtain real-time environmental information detected by the main radar.

[0065] For example, in complex environments such as sections of road with complex conditions, the main radar continuously detects the environment ahead, including the distance, speed, and direction of obstacles and targets. This information is encoded to obtain environmental detection information, which is then transmitted to slave radars via communication links in the radar communication network. Correspondingly, slave radars receive the environmental detection information from the main radar and send it to other slave radars in the network, enabling users to obtain real-time environmental information, such as real-time road conditions, from the main radar. Simultaneously, slave radars also detect the user's commands in real-time, converting them into corresponding instructions based on built-in algorithms and sending these instructions to other slave radars. This ensures that commands are quickly transmitted to distant radars or radars in blind spots.

[0066] In this embodiment of the application, environmental detection information and command actions can be quickly transmitted to distant radars or radars in blind spots through radar communication networking. This ensures that radar users can obtain the intentions of the main radar user and the real-time environmental information detected by the main radar in a timely manner, enabling radar users to take corresponding measures in advance, reduce the probability of traffic accidents, and thus improve travel safety and user experience.

[0067] In some embodiments, the slave radar includes a first slave radar and a second slave radar, wherein the first slave radar is used to detect command actions of the main radar user and / or receive environmental detection information sent by the main radar; and to send command actions and / or environmental detection information to the second slave radar in the radar communication network.

[0068] In one implementation, a first slave radar detects command actions from the main radar user and sends these commands to a second slave radar in the radar communication network. This implementation is suitable for simple environments, such as road sections with simple road conditions, where the main radar in the radar communication network does not participate in detection. For example, Figure 2 This illustration shows a first slave radar detecting a command action from a main radar user and transmitting the command action to a second slave radar, as provided in an exemplary embodiment of this application. Figure 2 As shown, the first slave radar detects the command actions of the main radar user and sends the command actions to the second slave radar through the radar communication network, so that the command actions of the main radar user can be quickly transmitted to the radar at a distance or to the radar in the detection blind spot, so as to ensure that the slave radar user can obtain the intention of the main radar user in a timely manner.

[0069] In another implementation, the first slave radar detects the commands of the main radar user and receives environmental detection information sent by the main radar; it also sends commands and environmental detection information to the second slave radar in the radar communication network. This implementation is suitable for complex environments, such as road sections with complex road conditions, where the main radar in the radar communication network participates in detecting environmental information. For example, Figure 3 This illustration, provided as an exemplary embodiment of the present application, shows a first slave radar detecting the command actions of a main radar user and receiving environmental detection information sent by the main radar, as well as sending the command actions and environmental detection information to a second slave radar. Figure 3As shown, the main radar is responsible for detecting the environment ahead and obtaining environmental detection information. The first slave radar is simultaneously responsible for detecting the commands of the main radar user and receiving the environmental detection information sent by the main radar. It then sends the commands and environmental detection information to the second slave radar in the radar communication network. This ensures that the slave radar user can promptly obtain the intentions of the main radar user and the real-time environmental information detected by the main radar, allowing the slave radar user to take appropriate measures in advance, reducing the probability of traffic accidents, and thus improving travel safety and user experience. The environmental detection information includes, but is not limited to, the distance, speed, and direction of obstacles and target objects.

[0070] It should be noted that there can be one first slave radar and multiple second slave radars. Figure 2 and Figure 3 The number of first and second slave radars shown, and their distribution in the radar communication network, are merely examples and are not limited here.

[0071] In some embodiments, the second slave radar includes a multi-level radar system configured according to its distance from the main radar. The system sends command actions and / or environmental detection information to the second slave radar in the radar communication network. This includes: in the multi-level radar system, sending command actions and / or environmental detection information to the second slave radar of the first level; and the second slave radar of the i-th level sending command actions and / or environmental detection information to the second slave radar of the (i+1)-th level, where i is a positive integer.

[0072] For example, such as Figure 2 and Figure 3 As shown, the second slave radar comprises multiple levels of radars configured according to their distance from the main radar. Accordingly, the second slave radar can be divided into multiple levels, such as first level, second level, and third level, based on its distance from the main radar. Each level of radar is responsible for receiving information from the radar of the previous level and transmitting the information to the radar of the next level.

[0073] In one implementation, the first slave radar sends a command action to the second slave radar at the first level. The second slave radar at the first level sends the received command action to the second slave radar at the second level. The second slave radar at the second level sends the received command action to the second slave radar at the third level, and so on, thereby sending the command action to the second slave radars at each level in the radar communication network.

[0074] In another implementation, the first slave radar sends command actions and environmental detection information to the second slave radar at the first level. The second slave radar at the first level then sends the received command actions and environmental detection information to the second slave radar at the second level. The second slave radar at the second level then sends the received command actions and environmental detection information to the second slave radar at the third level, and so on, thereby sending the command actions and environmental detection information to the second slave radars at each level in the radar communication network.

[0075] In this embodiment of the application, by transmitting information in a hierarchical manner, information can be managed and transmitted more effectively, reducing the delay in information transmission. Furthermore, multi-level radar can expand the radar coverage range and transmit information to a greater distance step by step.

[0076] Figure 4 This is another schematic flowchart illustrating a radar communication method provided as an exemplary embodiment of this application. The radar communication method provided in this embodiment is applied to a main radar in a radar communication network, which also includes slave radars. Figure 4 As shown, the radar communication method includes the following steps:

[0077] S401. Detect the environment in front of the main radar and generate environmental detection information.

[0078] For example, the main radar continuously scans the environment ahead, using the principle of radar wave reflection to detect, for example, the distance, speed, and direction of obstacles and target objects. It converts the reflected signals received by the radar into digital data and processes them through built-in algorithms to identify and classify different environmental features. Furthermore, it generates environmental detection information based on the processed data, which includes, but is not limited to, the distance, speed, and direction of obstacles and target objects ahead.

[0079] S402. Send environmental detection information to the slave radars in the radar communication network so that slave radar users can obtain real-time environmental information detected by the main radar.

[0080] For example, in one implementation, the main radar broadcasts environmental detection information to each slave radar in the radar communication network, so that each slave radar user can obtain real-time environmental information detected by the main radar, such as real-time traffic conditions.

[0081] In another implementation, the slave radar includes a first slave radar and a second slave radar. The second slave radar includes a multi-level radar system that is hierarchically configured according to its distance from the main radar. Correspondingly, the main radar sends environmental detection information to the first slave radar in the radar communication network. Furthermore, in the multi-level radar system, the first slave radar sends environmental detection information to the second slave radar of the first level, and the second slave radar of the i-th level sends environmental detection information to the second slave radar of the (i+1)-th level, where i is a positive integer.

[0082] In this embodiment, the main radar detects the environment and sends environmental detection information to the slave radars in the radar communication network. This allows the environmental detection information to be quickly transmitted to distant radars or radars in blind spots, ensuring that slave radar users can obtain real-time environmental information detected by the main radar in a timely manner, thereby improving travel safety and user experience.

[0083] In summary, this application has at least the following advantages:

[0084] First, by real-time detection of the main radar user's commands and the rapid transmission of environmental detection information and commands to distant radars or radars in blind spots via radar communication networking, secondary radar users can promptly obtain the main radar user's intentions and the real-time environmental information detected by the main radar. This allows secondary radar users to take appropriate measures in advance, reducing the probability of traffic accidents and thus improving travel safety and user experience. Furthermore, automated radar detection and information transmission reduce reliance on visual observation or verbal communication, allowing radar users to focus more on controlling their vehicles. The radar communication network also ensures the rapid and accurate transmission of commands, further enhancing travel safety and user experience.

[0085] Second, by transmitting information in a hierarchical manner, information can be managed and transmitted more effectively, reducing information transmission delays. Furthermore, multi-level radar can expand the radar's coverage area, transmitting information step by step to a greater distance.

[0086] Figure 5 A schematic diagram of a radar communication system provided as an exemplary embodiment of this application. (See diagram below.) Figure 5 As shown, the radar communication system 50 includes a slave radar 51 and a main radar 52, wherein:

[0087] Radar 51 is used to perform the radar communication method described in any one of the embodiments of the radar described above;

[0088] The main radar 52 is used to execute the radar communication method described in any one of the embodiments of the main radar described above.

[0089] In some embodiments, the radar communication system further includes a control device for: acquiring radar identifiers of the networked radars, and performing radar networking based on the radar identifiers to obtain a radar communication network.

[0090] For example, each radar is given a unique waveform using ordered coded waveforms. The specific encoding method is as follows: Assuming each frame of signal contains m chirp signals, after the chirp signal transmission ends, n random, non-repeating signal points are reserved. The transmitted signal is divided into k sub-bands within the radar's operating frequency band F-F0. Here, m, n, and k are all positive integers, and F-F0 can be, for example, 76GHz-81GHz or 76GHz-77GHz, etc. Chirp signals are signals whose frequency changes linearly or non-linearly with time, and are commonly used in radar, sonar, communication systems, and signal processing. The main characteristic of chirp signals is that their frequency changes continuously from one value to another within a certain time period. This frequency change can be linear or non-linear (e.g., exponential frequency modulation).

[0091] Accordingly, the activation mode of the n signal points can be encoded in binary, for example, 0 represents sleep and 1 represents activation. Therefore, there are a total of 2 n One activation method, namely:

[0092]

[0093] Considering that each activation signal has k signal configurations, according to , can form A radar can be identified by combining various signal sequences, each sequence being unique. Therefore, a unique radar identifier can be generated based on the signal sequence, and this identifier can be used to mark a radar. The radar identifier can take the form of an identifier (ID), a Quick Response Code (QR Code), or a two-dimensional barcode. For example, Figure 6 This is a schematic diagram illustrating a signal encoding method and a corresponding signal sequence combination, provided as an exemplary embodiment of this application. Figure 6 As shown, there are a total of A combination of signal sequences.

[0094] Correspondingly, Figure 7 This is a schematic diagram of a radar communication network provided as an exemplary embodiment of this application. Figure 7 As shown, when setting up a radar network, a radar application (app) can be pre-deployed on the control device. The radar ID can be entered into the radar app or the radar QR code can be scanned by the control device to obtain the radar identifier. Furthermore, the radar network is set up based on the obtained radar identifier, thus obtaining the radar communication network.

[0095] It should be noted that the control device can be a mobile phone, computer, laptop, or personal digital assistant (PDA), etc., and there are no restrictions here.

[0096] In this embodiment of the application, radar networking based on radar identifiers can ensure the uniqueness and identifiability of each radar in the radar network, so that the signals emitted by each radar have unique characteristics in terms of time, frequency and phase, thereby reducing interference between different radar systems and improving the flexibility and reliability of the radar communication system.

[0097] In some embodiments, the slave radar includes a first slave radar and a second slave radar. The control device is also used to switch the operating mode of the radar communication system. The operating mode includes a first detection mode and a second detection mode: In the first detection mode, the first slave radar detects the command actions of the main radar user and sends the command actions to the second slave radar in the radar communication network; In the second detection mode, the first slave radar is used to detect the command actions of the main radar user and receive environmental detection information sent by the main radar, and send the command actions and environmental detection information to the second slave radar in the radar communication network.

[0098] Among them, the first detection mode is, for example, the command action detection mode. In this detection mode, the main radar does not participate in the detection. The first slave radar detects the command actions of the main radar user, such as at least one of gestures, light signals or sound signals, and sends the command actions to the second slave radar in the radar communication network, so that the slave radar user can obtain the intention of the main radar user in a timely manner.

[0099] Correspondingly, the second detection mode is, for example, a comprehensive detection mode. In this mode, the main radar continuously detects the environment ahead, such as the distance, speed, and direction of obstacles and target objects, and transmits the environmental detection information to the first slave radar through the communication link in the radar communication network. The first slave radar is responsible for detecting the command actions of the main radar user and receiving the environmental detection information sent by the main radar, and sending the command actions and environmental detection information to the second slave radar in the radar communication network, so that the slave radar user can obtain the intention of the main radar user and the real-time environmental information detected by the main radar in a timely manner.

[0100] In some embodiments, the control module is also used to: calibrate the master radar, the first slave radar, and the second slave radar in the radar communication network based on the relative positional relationship of each radar in the radar communication network.

[0101] For example, after completing the radar communication network, it is necessary to determine the master-slave relationship of each radar. For instance, the radar at the front of the direction of a cycling team is designated as the master radar, and the other radars in the radar communication network are designated as slave radars.

[0102] Accordingly, in the initial configuration phase of radar networking, since the relative positions of each radar are known, the coordinate information of each radar, such as Global Positioning System (GPS) coordinates or relative coordinates, can be obtained. Through simple geometric calculations, such as comparing the X, Y, and Z axis coordinates of each radar, the radar at the foremost position is determined based on the relationship between the coordinates, and the radar at the foremost position is designated as the master radar. Using the master radar as a reference, the other radars in the radar communication network are marked as slave radars. Slave radars can also be classified according to their distance from the master radar, with those closest to the master radar being marked as first slave radars, and the others as second slave radars. Furthermore, the second slave radars can also be classified according to their distance from the master radar.

[0103] Correspondingly, when the relative positions of the radars are not fixed in advance, or change during movement, a distance measurement method is used. Each radar measures its distance to other radars by sending and receiving signals, and calculates its relative position based on this distance data. For example, if there are at least three radars, their relative coordinates can be calculated using geometric methods such as the triangle area method or the least squares method, based on their distance data. The relative positions of the radars in three-dimensional space are then accurately plotted based on these coordinates. Furthermore, based on the calculated relative positions, the radar at the forefront (e.g., in the direction of travel) is determined in real time. If the original master radar is no longer at the forefront, the master radar marker is automatically updated, and the updated master-slave relationship is broadcast wirelessly to all radars in the radar communication network.

[0104] In this embodiment of the application, by supporting master-slave calibration of fixed and dynamic relative positions, the system can adapt to different application environments. Whether it is a static radar network or a mobile radar network that needs to be dynamically adjusted, the relative position of the radar can be accurately determined, ensuring the accuracy of the master-slave relationship, thereby maintaining the stability and reliability of the radar communication network, and further ensuring the timeliness of message transmission between radars in the radar communication network.

[0105] The above embodiments illustrate specific implementations of the radar communication system. Next, we will introduce the device embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

[0106] Figure 8 This is a schematic diagram of a radar communication device according to an embodiment of this application. The radar communication device provided in this embodiment is used as a slave radar in a radar communication network, which also includes a master radar. Figure 8As shown, the radar communication device 80 includes a detection module 81 and a processing module 82, wherein:

[0107] The detection module 81 is used to detect the command actions of the main radar user;

[0108] The processing module 82 is used to send command actions to other slave radars in the radar communication network to remind slave radar users to control vehicles according to the command actions.

[0109] In one possible implementation, the processing module 82 may be specifically used to: receive environmental detection information sent by the main radar; and send environmental detection information to other slave radars in the radar communication network so that slave radar users can obtain real-time environmental information detected by the main radar.

[0110] In one possible implementation, the slave radar includes a first slave radar and a second slave radar, wherein the first slave radar is used to detect command actions of the main radar user and / or receive environmental detection information sent by the main radar; and to send command actions and / or environmental detection information to the second slave radar in the radar communication network.

[0111] In one possible implementation, the second slave radar includes a multi-level radar system configured according to its distance from the main radar. The processing module 82 can also be used to: send command actions and / or environmental detection information to the first-level second slave radar in the multi-level radar system; and send command actions and / or environmental detection information from the i-th level second slave radar to the i+1-th level second slave radar, where i is a positive integer.

[0112] In one possible implementation, the vehicle includes at least one of a bicycle, an electric vehicle, a scooter, and a drone.

[0113] Figure 9 This is another schematic diagram of a radar communication device provided in one embodiment of this application. The radar communication device provided in this embodiment is applied to the main radar in a radar communication network, which also includes slave radars. Figure 9 As shown, the radar communication device 90 includes a detection module 91 and a processing module 92, wherein:

[0114] The detection module 91 is used to detect the environment in front of the main radar and generate environmental detection information;

[0115] The processing module 92 is used to send the environmental detection information to the slave radars in the radar communication network, so that the slave radar users can obtain the real-time environmental information detected by the main radar.

[0116] The radar communication device provided in this application embodiment can execute the technical solution shown in the above-described radar communication method embodiment. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0117] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a processing module can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, and its functions can be called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0118] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-On-a-Chip (SOC).

[0119] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Video Discs, DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0120] Figure 10 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application. For example... Figure 10 As shown, the electronic device 100 of this embodiment includes:

[0121] At least one processor 101; and a memory 102 communicatively connected to said at least one processor;

[0122] The memory 102 stores instructions that can be executed by the at least one processor 101 to cause the electronic device to perform the method as described in any of the above embodiments.

[0123] Alternatively, the memory 102 can be either standalone or integrated with the processor 101.

[0124] The memory 102 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0125] The processor 101 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Specifically, when implementing the radar communication method described in the foregoing method embodiments, the electronic device may be, for example, an electronic device with processing capabilities such as a server.

[0126] Optionally, the electronic device may also include a communication interface 103. In specific implementations, if the communication interface 103, memory 102, and processor 101 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0127] Optionally, in a specific implementation, if the communication interface 103, memory 102 and processor 101 are integrated on a single chip, then the communication interface 103, memory 102 and processor 101 can communicate through an internal interface.

[0128] The implementation principle and technical effects of the electronic device provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0129] This application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are executed, they are used to implement the method steps as described in the above method embodiments. The specific implementation methods and technical effects are similar, and will not be repeated here.

[0130] The aforementioned computer-readable storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0131] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in a radar communication device.

[0132] This application also provides a computer program product, including a computer program that, when executed, implements the method steps as described in the above method embodiments. The specific implementation and technical effects are similar and will not be repeated here.

[0133] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0134] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A radar communication method, characterized in that, A slave radar used in a radar communication network, wherein the radar communication network also includes a master radar; The radar communication method includes: Detect the command actions of the main radar user; The command action is sent to other slave radars in the radar communication network to remind slave radar users to control vehicles in accordance with the command action.

2. The method according to claim 1, characterized in that, Also includes: Receive environmental detection information sent by the main radar; The environmental detection information is sent to other slave radars in the radar communication network so that slave radar users can obtain real-time environmental information detected by the main radar.

3. The method according to claim 1 or 2, characterized in that, The slave radar includes a first slave radar and a second slave radar, wherein the first slave radar is used to detect the command actions of the main radar user and / or receive environmental detection information sent by the main radar; and to send the command actions and / or environmental detection information to the second slave radar in the radar communication network.

4. The method according to claim 3, characterized in that, The second slave radar comprises a multi-level radar system configured according to its distance from the main radar. The step of sending the command actions and / or environmental detection information to the second slave radar in the radar communication network includes: In the multi-level radar, the command actions and / or environmental detection information are sent to the second slave radar of the first level; The second slave radar of level i sends the command actions and / or environmental detection information to the second slave radar of level i+1, where i is a positive integer.

5. The method according to claim 1 or 2, characterized in that, The means of transportation includes at least one of bicycles, electric vehicles, scooters, and drones.

6. A radar communication method, characterized in that, A main radar used in a radar communication network, wherein the radar communication network also includes slave radars; The radar communication method includes: The environment in front of the main radar is detected, and environmental detection information is generated; The environmental detection information is sent to the slave radars in the radar communication network so that the slave radar users can obtain real-time environmental information detected by the main radar.

7. A radar communication system, characterized in that, include: From the radar, used to perform the radar communication method as described in any one of claims 1 to 5; The main radar is used to perform the radar communication method as described in claim 6.

8. The system according to claim 7, characterized in that, The radar communication system also includes a control device, which is used to: acquire the radar identifiers of the networked radars, and perform radar networking based on the radar identifiers to obtain the radar communication network.

9. The system according to claim 8, characterized in that, The slave radar includes a first slave radar and a second slave radar. The control device is also used to switch the operating mode of the radar communication system, wherein the operating mode includes a first detection mode and a second detection mode. In the first detection mode, the first slave radar detects the command actions of the main radar user and sends the command actions to the second slave radar in the radar communication network; In the second detection mode, the first slave radar is used to detect the command actions of the main radar user and receive environmental detection information sent by the main radar; and to send the command actions and environmental detection information to the second slave radar in the radar communication network.

10. The system according to claim 9, characterized in that, The control module is also used for: Based on the relative positions of the radars in the radar communication network, the master radar, the first slave radar, and the second slave radar in the radar communication network are calibrated.

11. A radar communication device, characterized in that, A slave radar used in a radar communication network, wherein the radar communication network also includes a master radar; The radar communication device includes: The detection module is used to detect the command actions of the main radar user; The processing module is used to send the command actions to other slave radars in the radar communication network to remind slave radar users to control vehicles according to the command actions.

12. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executed instructions; The processor is configured to execute the computer execution instructions to implement the radar communication method as described in any one of claims 1 to 5, and / or to implement the radar communication method as described in claim 6.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the radar communication method as described in any one of claims 1 to 5, and / or to implement the radar communication method as described in claim 6.

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