Communication method of intelligent connected vehicle, electronic device, storage medium and product

Abstract

Embodiments of the present application provide a communication method of an intelligent networked vehicle, an electronic device, a storage medium and a product. The method comprises: a first vehicle superimposes communication information to be sent on a frequency-modulated continuous wave based on BPSK phase joint modulation to generate a target frequency-modulated continuous wave, and the target frequency-modulated continuous wave carries a sensing signal and a communication signal including the communication information. The first vehicle sends the target frequency-modulated continuous wave during driving. When the target frequency-modulated continuous wave is in a sensing phase, the first vehicle receives a reflected echo signal corresponding to the sensing signal from a second vehicle, and obtains vehicle driving state information of the second vehicle according to the echo signal. When the target frequency-modulated continuous wave is in a communication phase, the second vehicle receives the communication signal and analyzes the communication signal to obtain the communication information included in the communication signal. The method can improve the spectrum efficiency and device utilization in the intelligent vehicle network, verify the sensing accuracy through vehicle interaction, and enhance the system safety redundancy.

Description

Technical Field

[0001] This application relates to the field of intelligent connected vehicle technology, and in particular to a communication method, electronic device, storage medium and product for intelligent connected vehicles. Background Technology

[0002] With the rapid development of autonomous driving technology, vehicles need to possess both high-precision environmental perception and vehicle-to-vehicle communication capabilities. Traditional radar systems focus solely on perception, while communication typically relies on a separate communication module, leading to hardware redundancy, increased costs, and greater system complexity. Furthermore, existing technologies exhibit conflicting waveform designs for communication and perception: communication and perception waveforms differ significantly in terms of time-frequency resource allocation, modulation methods, and anti-interference capabilities, making efficient coordination difficult on a single hardware platform.

[0003] Therefore, improving the communication efficiency and security of intelligent connected vehicles is an urgent problem to be solved. Summary of the Invention

[0004] The communication method, electronic device, storage medium, and product for intelligent connected vehicles provided in this application are intended to improve the communication efficiency and security of intelligent connected vehicles.

[0005] In a first aspect, embodiments of this application provide a communication method for intelligent connected vehicles, comprising:

[0006] The first vehicle uses phase joint modulation based on binary phase shift keying (BPSK) to superimpose the communication information to be transmitted onto the frequency modulated continuous wave to generate a target frequency modulated continuous wave, wherein the target frequency modulated continuous wave carries sensing signals and communication signals including the communication information.

[0007] The first vehicle transmits the target frequency-modulated continuous wave during its operation;

[0008] When the target frequency-modulated continuous wave is in the sensing phase, the first vehicle receives the echo signal reflected by the second vehicle corresponding to the sensing signal, and obtains the vehicle driving status information of the second vehicle based on the echo signal.

[0009] When the target frequency-modulated continuous wave is in the communication phase, the second vehicle receives the communication signal and analyzes the communication signal to obtain the communication information included in the communication signal. The communication information includes the vehicle driving status information of the first vehicle.

[0010] Optionally, the first vehicle uses phase joint modulation based on binary phase shift keying (BPSK) to superimpose the communication information to be transmitted onto the frequency-modulated continuous wave to generate the target frequency-modulated continuous wave, including:

[0011] The first vehicle determines the sensing symbol occupancy rate based on the communication symbol quantity requirement of the communication information and the preset sensing symbol quantity requirement of the sensing signal;

[0012] Based on the occupancy rate of the sensing symbols, the sensing signal time slots and communication signal time slots in the frequency-modulated continuous wave are determined;

[0013] The target frequency-modulated continuous wave is generated by superimposing the communication information to be transmitted onto the time slot portion of the communication signal in the frequency-modulated continuous wave using phase joint modulation based on binary phase shift keying (BPSK).

[0014] Optionally, the first vehicle transmits the target frequency-modulated continuous wave during operation, including:

[0015] During its operation, the first vehicle determines the transmission time of each chirp signal in the target frequency-modulated continuous wave based on the second pulse signal of the satellite positioning system. The phase of the chirp signal is used to carry the communication information.

[0016] The first vehicle transmits each of the Chirp signals in the target frequency-modulated continuous wave based on the transmission time of each of the Chirp signals.

[0017] Optionally, parsing the communication signal to obtain the communication information included in the communication signal includes:

[0018] The second vehicle generates a reference signal that is consistent with the waveform parameters of the Chirp signal and aligned with the starting phase reference, based on the second pulse signal of the satellite positioning system;

[0019] The second vehicle performs synchronous demodulation of the Chirp signal based on the reference signal to obtain the communication information carried by the phase of the Chirp signal.

[0020] Optionally, the second vehicle performs synchronous demodulation on the Chirp signal based on the reference signal to obtain the communication information carried by the phase of the Chirp signal, including:

[0021] The second vehicle performs time-frequency synchronization processing on the Chirp signal and the reference signal to obtain a target reference signal that is frequency-aligned with the Chirp signal;

[0022] The second vehicle performs coherent demodulation processing on the Chirp signal and the target reference signal to obtain the communication information carried by the phase of the Chirp signal.

[0023] Optionally, the second vehicle performs time-frequency synchronization processing on the Chirp signal and the reference signal to obtain a target reference signal with frequency alignment to the Chirp signal, including:

[0024] The real and imaginary parts of the Chirp signal are mixed with the positive frequency modulation slope carrier and the negative frequency modulation slope carrier of the reference signal, respectively, to obtain a first mixed signal and a second mixed signal. The first mixed signal includes the mixed signal of the real part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and the mixed signal of the negative frequency modulation slope carrier of the reference signal. The second mixed signal includes the mixed signal of the imaginary part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and the mixed signal of the negative frequency modulation slope carrier of the reference signal.

[0025] The first mixing signal and the second mixing signal are mixed to obtain a first signal and a second signal;

[0026] Based on the frequency information of the first signal and the frequency information of the second signal, the Doppler frequency shift data of the Chirp signal is obtained;

[0027] The reference signal is adjusted based on the Doppler frequency shift data to obtain the target reference signal that is frequency-aligned with the Chirp signal.

[0028] Optionally, the mixing process of the first mixing signal and the second mixing signal to obtain the first signal and the second signal includes:

[0029] The first mixing signal and the second mixing signal are subjected to low-pass filtering to obtain the first mixing signal after low-pass filtering and the second mixing signal after low-pass filtering.

[0030] The first low-pass filtered signal and the second low-pass filtered signal are mixed to obtain the first signal and the second signal.

[0031] Secondly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0032] The memory stores computer-executed instructions;

[0033] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0034] Thirdly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0035] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0036] The communication method, electronic device, storage medium, and product for intelligent connected vehicles provided in this application combine BPSK-based phase joint modulation technology with frequency-modulated continuous wave (FM-CW). The communication information to be transmitted is superimposed on the FM-CW carrying the sensing signal to generate a target FM-CW. This target FM-CW is transmitted during driving, and during the sensing phase of the target FM-CW, the echo signal reflected by the second vehicle is received to obtain the driving status information of the second vehicle. During the communication phase, the second vehicle receives and parses the communication signal to obtain the driving status information of the first vehicle. This achieves simultaneous sensing and communication functions with a single-band signal, eliminating the need for additional independent communication frequency bands and equipment. This effectively reduces the hardware cost and communication complexity of intelligent connected vehicles while ensuring the distance and speed resolution of the sensing signal, as well as the transmission stability and accuracy of the communication signal. This improves the efficiency of collaborative sensing and communication between intelligent connected vehicles, enhancing the safety and reliability of vehicle operation. 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 diagram illustrating a scenario for intelligent connected vehicle communication provided in an embodiment of this application;

[0039] Figure 2 A flowchart illustrating a communication method for intelligent connected vehicles provided in an embodiment of this application;

[0040] Figure 3 A flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application;

[0041] Figure 4 This is a schematic diagram of the structure of a frequency-modulated continuous wave provided in an embodiment of this application;

[0042] Figure 5 A flowchart illustrating another communication method for intelligent connected vehicles provided in this application embodiment;

[0043] Figure 6 A flowchart illustrating another communication method for intelligent connected vehicles provided in this application embodiment;

[0044] Figure 7 A flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application;

[0045] Figure 8 This is a schematic diagram of a signal synchronization demodulation scenario provided in an embodiment of this application;

[0046] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0047] 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 concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0048] 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.

[0049] Currently, in the field of intelligent connected vehicle sensing integration technology, most related research is still in the simulation stage and has not yet formed mature commercial applications. Existing technologies mainly attempt to integrate communication and sensing functions through the following two core implementation methods:

[0050] Implementation Method 1: Hardware Synthesis + Time-Frequency Multiplexing Scheme. This scheme uses hardware devices such as Field Programmable Gate Array (FPGA) or Digital Signal Processor (DSP) to synthesize the communication baseband signal and the local oscillator sensing signal. It achieves preliminary integration of communication and sensing functions through time-frequency multiplexing. However, it is essentially just a simple waveform superposition and does not build a truly integrated waveform architecture. This method not only results in low spectrum utilization and fails to fully utilize the value of band resources, but also the inherent delay in the hardware processing of FPGA or DSP. When the vehicle is traveling at high speed, this delay will interfere with the real-time processing of radar sensing signals, thereby reducing sensing accuracy and affecting the vehicle's dynamic judgment of the surrounding environment.

[0051] Implementation Method 2: Linear Frequency Modulated Continuous Wave (LFMCW) waveform + index modulation and demodulation scheme. This scheme is based on the LFMCW waveform and uses index modulation combined with frequency shift keying (FSK) demodulation to achieve integrated radar communication. Although it is designed based on the radar waveform, the center frequency jump introduced by index modulation will destroy the linear frequency modulation characteristics of the LFMCW, directly leading to a decrease in radar perception resolution and making it impossible to accurately obtain key parameters such as the distance and speed of surrounding vehicles. At the same time, due to the inherent limitations of the modulation and demodulation methods, its communication transmission rate is low, which is difficult to meet the high-speed transmission requirements of a large amount of driving status data and road condition warning information between intelligent connected vehicles.

[0052] In addition, conventional communication waveform modulation methods (such as Orthogonal Frequency Division Multiplexing, OFDM) are poorly compatible with radar frequency-modulated continuous wave systems, making it impossible to achieve deep integration of communication and sensing waveforms. This makes it difficult to implement end-to-end integrated communication and sensing systems, increasing the hardware complexity and cost of vehicle communication equipment, and hindering the improvement of communication efficiency and driving safety of intelligent connected vehicles, thus failing to meet the communication and sensing coordination needs of vehicles in actual driving.

[0053] In view of this, embodiments of this application provide a communication method for intelligent connected vehicles. By superimposing communication information onto frequency modulated continuous waves through phase joint modulation based on BPSK, the frequency modulated continuous waves simultaneously possess sensing and communication functions, thereby reducing the complexity and cost of vehicle communication equipment and thus improving the communication efficiency and security of intelligent connected vehicles.

[0054] Figure 1 This is a schematic diagram of a scenario for intelligent connected vehicle communication provided in an embodiment of this application, such as... Figure 1 As shown, this scenario includes a first vehicle (vehicle A) and a second vehicle (vehicle B).

[0055] Taking vehicle A as the transmitter of the frequency-modulated continuous wave and vehicle B as the receiver of the frequency-modulated continuous wave as an example, vehicle A can transmit a frequency-modulated continuous wave carrying sensing signals and communication signals. In this frequency-modulated continuous wave, the sensing signals and communication signals are separated in the time domain. For example, the first part of the frequency-modulated continuous wave is used for sensing, and the second part after the first part is used for communication.

[0056] Vehicle A can use phase joint modulation based on binary phase shift keying (BPSK) to superimpose the communication information to be transmitted onto the communication portion of the frequency modulated continuous wave, so that the frequency modulated continuous wave can carry communication information.

[0057] During the sensing period of frequency modulated continuous wave, vehicle A can continuously send sensing signals and receive the echo signals reflected by vehicle B through the radio frequency transceiver module. The sensing signal processing module of vehicle A can process the echo signals to obtain vehicle driving status information such as distance, speed, and angle of the target vehicle (i.e., vehicle B).

[0058] During the frequency modulated continuous wave communication period, vehicle A can continuously transmit communication signals. Vehicle B receives the communication signals transmitted by vehicle A through the radio frequency transceiver module, and demodulates and decodes the communication signals through the communication signal modulation module to obtain communication information including the distance, speed, angle information and other interactive information of vehicle A.

[0059] The following is combined Figure 1 The scenarios illustrated below provide a detailed explanation of the technical solutions of this application and how these solutions address the aforementioned technical problems, using specific embodiments. The following specific embodiments can be combined with each other, and similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described in conjunction with the accompanying drawings.

[0060] Figure 2 This is a flowchart illustrating a communication method for intelligent connected vehicles provided in an embodiment of this application. Figure 2 As shown, the method may include the following steps:

[0061] S201. The first vehicle uses BPSK-based phase joint modulation to superimpose the communication information to be transmitted onto the frequency-modulated continuous wave to generate the target frequency-modulated continuous wave.

[0062] Among them, the target frequency-modulated continuous wave carries sensing signals, including communication signals containing communication information.

[0063] The first vehicle refers to the vehicle entity that actively initiates communication and sends a target frequency-modulated continuous wave in an intelligent connected environment.

[0064] BPSK is a digital modulation method. Its basic principle is to transmit binary information by changing the phase of the carrier signal. Two different phases (such as 0 degrees and 180 degrees) can be used to represent the binary digits "0" and "1" respectively.

[0065] Phase-joint modulation refers to the combined phase adjustment based on the characteristics of communication information, on the basis of the original carrier signal phase modulation, in order to achieve effective superposition of communication information.

[0066] The communication information to be sent may include vehicle identification, driving status parameters (such as speed, acceleration, steering angle, etc.), location information, road condition warning information, and other data related to vehicle driving.

[0067] Frequency-modulated continuous wave (FM-MCW) is a continuous wave signal whose frequency changes according to a certain pattern over time. Its frequency typically increases or decreases linearly within one cycle, offering high range and velocity resolution, and is commonly used in radar sensing and other applications. Target FM-MCW is an FM-MCW signal that, after phase co-modulation, simultaneously carries both sensing and communication signals.

[0068] In this step, the communication information to be transmitted can be encoded and converted into a binary symbol sequence suitable for BPSK modulation. Then, the original signal parameters of the frequency-modulated continuous wave (FM continuous wave) are obtained, including the starting frequency, modulation slope, and signal duration. Next, according to the BPSK modulation rules, each symbol in the binary symbol sequence is mapped to a corresponding phase offset. Then, through phase joint modulation, these phase offsets are superimposed on the phase of the FM continuous wave, causing the phase of the FM continuous wave to change with the communication information. Thus, the FM continuous wave after modulation processing is the target FM continuous wave, which retains the FM continuous wave characteristics used for sensing while carrying the communication information to be transmitted.

[0069] One possible implementation involves combining the phase modulation of the communication information with the linear frequency modulation (FM) process of the FM continuous wave during phase joint modulation. Within each FM cycle, the initial value or rate of change of the phase is adjusted based on the communication symbol. For example, when the communication symbol is "0", the initial phase of the FM continuous wave is 0 degrees; when the communication symbol is "1", the initial phase is 180 degrees, thus achieving the superposition of the communication information.

[0070] S202, The first vehicle transmits a target frequency-modulated continuous wave during its journey.

[0071] Among them, transmitting the target frequency-modulated continuous wave means that the first vehicle radiates the generated target frequency-modulated continuous wave into the surrounding space in the form of electromagnetic waves through its onboard radio frequency transmitting device.

[0072] The successful transmission of a target frequency-modulated continuous wave by a vehicle while in motion primarily involves selecting the transmission timing, controlling the transmission power, and adjusting the antenna direction. The transmission timing must consider the vehicle's driving status and communication requirements to ensure the signal is acquired by the receiver promptly and accurately. Transmission power control requires dynamic adjustment based on factors such as communication distance and surrounding environmental interference to ensure communication quality while avoiding interference with other equipment. Antenna direction adjustment, based on the vehicle's driving direction and the preset communication range, aims to maximize signal coverage of the target area.

[0073] S203. When the target frequency-modulated continuous wave is in the sensing stage, the first vehicle receives the echo signal reflected by the second vehicle that corresponds to the sensing signal, and obtains the vehicle driving status information of the second vehicle based on the echo signal.

[0074] The sensing phase is a specific time period within the target frequency modulated continuous wave (TFMCW) signal cycle used to realize the vehicle's surrounding environment perception function. For example, the sensing phase is a time slot allocated to the sensing signal within the TFMCW signal cycle. During this phase, the TFMCW primarily functions as the sensing signal. The second vehicle refers to other vehicle entities around the first vehicle that can reflect the sensing signal sent by the first vehicle. The echo signal is the signal reflected back from the second vehicle after the sensing signal sent by the first vehicle encounters it. Vehicle driving status information can include parameters reflecting the second vehicle's driving status, such as its speed, relative distance, relative orientation, and acceleration.

[0075] In this step, the receiving device of the first vehicle (such as an RF receiver module, RF transceiver module, etc.) needs to be activated during the sensing phase to receive the echo signal reflected from the second vehicle. The received echo signal can undergo preprocessing operations such as filtering and gain enhancement to remove noise interference and strengthen the signal strength. Then, the first vehicle can analyze the preprocessed echo signal (for example, through a sensing signal processing module) and calculate information such as the distance and speed of the second vehicle relative to the first vehicle by comparing parameters such as the frequency difference and time difference between the transmitted signal and the echo signal. For example, by utilizing the distance-velocity coupling characteristics of frequency-modulated continuous waves and analyzing the spectrum of the echo signal, the distance and speed information of the second vehicle, as well as other vehicle driving status information, can be obtained.

[0076] S204. When the target frequency-modulated continuous wave is in the communication phase, the second vehicle receives the communication signal and analyzes the communication signal to obtain the communication information included in the communication signal.

[0077] The communication information includes the vehicle's driving status information. The communication phase is a specific time period within the target frequency modulated continuous wave (TFMCW) signal cycle used to achieve inter-vehicle communication; for example, the communication phase is a time slot allocated to the communication signal within the TFMCW signal cycle. During this phase, the communication signal in the TFMCW is received and parsed by the receiver. Receiving the communication signal means that the second vehicle, through its receiving device (such as an RF receiver module, RF transceiver module, etc.), captures the communication signal portion of the TFMCW transmitted by the first vehicle. Parsing the communication signal means that the second vehicle performs a series of processes on the received communication signal to extract the communication information carried within it.

[0078] In this step, the receiving device of the second vehicle needs to be able to identify the communication phase of the target frequency-modulated continuous wave and capture the received signal during this phase. Since the communication signal is superimposed on the frequency-modulated continuous wave through BPSK phase co-modulation, demodulation processing of the received signal is required. The demodulation process typically includes steps such as carrier synchronization and phase recovery to recover the original binary symbol sequence from the received signal. Then, the recovered binary symbol sequence is decoded to convert it into the original communication information. Finally, relevant information such as the vehicle's driving status from the decoded communication information is extracted.

[0079] The method provided in this application combines BPSK-based phase joint modulation technology with frequency-modulated continuous wave (FM-CW). The communication information to be transmitted is superimposed on the FM-CW carrying the sensing signal to generate a target FM-CW. This target FM-CW is transmitted during driving, and during the sensing phase of the target FM-CW, the echo signal reflected by the second vehicle is received to obtain the driving status information of the second vehicle. During the communication phase, the second vehicle receives and parses the communication signal to obtain the driving status information of the first vehicle. This allows a single-band signal to simultaneously carry sensing and communication functions without the need for additional independent communication frequency bands and equipment. This effectively reduces the hardware cost and communication complexity of intelligent connected vehicles, while ensuring the distance and speed resolution of the sensing signal, as well as the transmission stability and accuracy of the communication signal. This improves the efficiency of collaborative sensing and communication between intelligent connected vehicles, enhancing the safety and reliability of vehicle operation.

[0080] The following section provides a detailed explanation of how the first vehicle utilizes BPSK-based phase joint modulation to superimpose the communication information to be transmitted onto the frequency-modulated continuous wave in step S201 above, thereby generating the target frequency-modulated continuous wave. Figure 3 This is a flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application. Figure 3 As shown, the aforementioned step S201 may specifically include the following steps:

[0081] S301. The first vehicle determines the occupancy rate of sensing symbols based on the communication symbol quantity requirements of the communication information and the preset sensing symbol quantity requirements of the sensing signals.

[0082] The communication symbol requirement refers to the total number of binary symbols needed to completely transmit the communication information to be sent. This number depends on the data size of the communication information and the encoding method used. The preset sensing symbol requirement refers to the number of symbols required for the sensing signal portion in FM continuous wave to achieve effective environmental sensing functionality. This number is usually preset based on sensing performance indicators such as sensing accuracy and detection distance.

[0083] The sensing symbol occupancy rate refers to the proportion of the number of sensing symbols in the total number of symbols in frequency-modulated continuous wave, which can be calculated, for example, by the following formula (1):

[0084] (1)

[0085] in, To perceive symbol occupancy rate, The number of symbols for perceiving resources (i.e., the number of perceiving symbols). The number of symbols in the communication resources (i.e., the number of communication symbols).

[0086] In this step, the first vehicle needs to analyze the communication information to be transmitted, determine its data size, and calculate the required number of communication symbols based on the encoding rules used (such as error correction coding, channel coding, etc.), denoted as . Then, obtain the preset requirement for the number of sensing symbols in the sensing signal, denoted as... This preset value can be set according to the vehicle's perception system parameters and application scenarios. Next, it is determined based on the required number of perception symbols. Total symbol quantity requirement The perceptual symbol occupancy rate is calculated using the above formula (1). .

[0087] For example, Figure 4 This is a schematic diagram of a frequency-modulated continuous wave provided in an embodiment of this application. Figure 4 As shown, the frequency-modulated continuous wave includes time-separated sensing subframes and communication subframes, with each sensing subframe containing multiple sensing symbols. Each communication subframe includes multiple communication symbols. The first vehicle needs to analyze the communication information to be transmitted, determine its data size, and calculate the required number of communication symbols based on the encoding rules used (such as error correction coding, channel coding, etc.). Then, based on the preset number of perceptual symbols The length of the communication subframe within that period is adjusted (i.e., the total number of communication symbols multiplied by the duration of each communication symbol) to determine the communication signal time slots of the frequency-modulated continuous wave within that period. Figure 4 In the frequency-modulated continuous wave shown, sensing subframes are transmitted first, followed by communication subframes. Then, the next cycle begins, and the sensing subframes and communication subframes of the next cycle are transmitted in sequence, and so on, so that the frequency-modulated continuous wave can carry sensing signals and communication signals.

[0088] By determining the occupancy rate of sensing symbols, resources for sensing and communication signals in frequency-modulated continuous waves can be allocated rationally, ensuring that both meet their respective functional requirements.

[0089] S302. The first vehicle determines the time slots of the sensing signal and the communication signal in the frequency-modulated continuous wave based on the occupancy rate of the sensing symbol.

[0090] In this context, the sensing signal time slot refers to the time period specifically designated for transmitting sensing signals on the time axis of the frequency-modulated continuous wave (FM continuous wave). The communication signal time slot, on the other hand, is the time period specifically designated for transmitting communication signals. These two time slots are determined based on the sensing symbol occupancy rate; that is, the total time of the FM continuous wave is divided into two proportional time periods according to the proportion of sensing symbols and communication symbols in the total number of symbols.

[0091] Specifically, the total duration of a frequency-modulated continuous wave of one cycle can be determined first. This duration can be determined based on parameters such as the signal period and bandwidth. Then, it is determined based on the sensing symbol occupancy rate. Calculate the duration of the sensing signal time slot , Duration of communication signal time slots Then it is Next, on the time axis of the frequency-modulated continuous wave, starting from the initial moment, a period of [duration missing] is defined. The time period is used as the sensing signal time slot, and the remaining duration is The time period is used as the communication signal time slot.

[0092] For example, assuming the total duration For 10 milliseconds, the perceived symbol occupancy rate If it is 0.6, then the sensing signal time slot The communication signal time slot is 6 milliseconds. The time interval is 4 milliseconds. In this way, the time allocation of the sensing signal and the communication signal can be clearly defined, avoiding interference between the two.

[0093] S303, The first vehicle uses BPSK-based phase joint modulation to superimpose the communication information to be transmitted onto the time slot portion of the communication signal in the frequency-modulated continuous wave, thereby generating the target frequency-modulated continuous wave.

[0094] After determining the communication signal time slot, the communication information needs to be superimposed onto the frequency-modulated continuous wave using BPSK phase joint modulation within that time slot. This process must ensure that the modulated signal can accurately carry the communication information within the communication signal time slot, while not affecting the normal transmission of the sensing signal within the sensing signal time slot.

[0095] Specifically, at the beginning of the communication signal time slot, a frequency-modulated continuous wave (FM continuous wave) carrier signal can be generated. Its initial frequency, modulation slope, and other parameters are consistent with the FM continuous wave within the sensing signal time slot to ensure the continuity of the entire FM continuous wave. Then, the communication information to be transmitted is converted into a binary symbol sequence, for example, it can be denoted as b1, b2, ..., b Nc , where each b i It is either "0" or "1". Next, for each binary symbol b... i The corresponding phase offset is determined according to the BPSK modulation rule. For example, when b i When it is "0", When b i When it is "1", .

[0096] Then, within the communication signal time slot, based on the phase offset φ i The phase of a frequency-modulated continuous wave (FM continuous wave) is modulated so that its instantaneous phase changes with the binary symbol sequence. Specifically, the instantaneous frequency of the FM continuous wave can be expressed as... ,in The starting frequency, For frequency modulation slope, Let the time be the instantaneous phase. By This is incorporated into the phase expression to achieve the superposition of communication information. Finally, the frequency-modulated continuous wave in the sensing signal time slot and the frequency-modulated continuous wave in the phase-modulated communication signal time slot are spliced ​​together to form a complete target frequency-modulated continuous wave.

[0097] The method provided in this application determines the occupancy rate of sensing symbols based on the number of symbols required for communication and sensing, and then divides the sensing and communication time slots to achieve a reasonable allocation of sensing signals and communication signals in the frequency-modulated continuous wave, thereby achieving the effect of effectively transmitting communication information without affecting the sensing performance.

[0098] The following section provides a detailed explanation of how the first vehicle transmits the target frequency-modulated continuous wave during its operation in step S202. Figure 5 This is a flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application. Figure 5As shown, the aforementioned step S202 may specifically include the following steps:

[0099] S501. During the operation of the first vehicle, the transmission time of each Chirp signal in the target frequency-modulated continuous wave is determined based on the second pulse signal of the satellite positioning system.

[0100] The chirp signal carries communication information, which is embedded in the phase of the chirp signal. The satellite positioning system second pulse signal is a periodic pulse signal provided by a satellite positioning system (such as the Global Positioning System (GPS) or the BeiDou Navigation Satellite System (BOS)). Its pulse interval can be, for example, 0.1 seconds or 1 second, and this signal can serve as a high-precision time reference. The chirp signal, or frequency-modulated linear signal, is the basic signal unit in frequency-modulated continuous wave, and its frequency changes linearly with time. In this embodiment, each chirp signal can carry a certain number of communication symbols. The transmission time refers to the specific point in time when each chirp signal is transmitted from the first vehicle.

[0101] In this step, the satellite positioning module of the first vehicle receives the signal sent by the satellite positioning system and extracts the second pulse signal from it. The rising or falling edge of this second pulse signal can be used as a time reference point, denoted as t0, t1, t2, ..., t n The time interval between two adjacent reference points is assumed to be 1 second. Then, the parameters of the chirp signal in the target frequency-modulated continuous wave are determined, including the duration T of the chirp signal. c The time interval T between Chirp signals s And the number of communication symbols carried by each Chirp signal, etc.

[0102] Next, based on the required number of communication symbols for the communication information. Given the number of communication symbols k carried by each chirp signal, calculate the total number M of chirp signals to be sent, M = ceil(Nc / k), where ceil is the floor function. Then, taking a reference point (e.g., t0) of the second pulse signal as the starting time, calculate the chirp signal duration T... c and interval time T s The transmission time of each Chirp signal is calculated sequentially. For example, the transmission time t of the first Chirp signal... chirp1 =t0+Δt1, where Δt1 is the delay time starting from t0, which can be determined based on factors such as system initialization time; the transmission time t of the second Chirp signal. chirp2 =tchirp1 +T c +T s And so on, the transmission time t of the m-th Chirp signal chirpm =t chirp(m-1) +T c +T s In this way, high-precision time synchronization can be ensured for the transmission of each chirp signal, providing an accurate time reference for the receiver's signal demodulation.

[0103] Specifically, for example, the phase of the local oscillator of the first vehicle can be locked using the second pulse signal of the satellite positioning system, and the communication information can be embedded into the frequency-modulated continuous wave through phase joint modulation based on BPSK, so as to ensure that the starting phase of each chirp signal is strictly synchronized with the timestamp of the second pulse signal of the satellite positioning system.

[0104] S502, The first vehicle transmits each Chirp signal in the target frequency modulated continuous wave based on the transmission time of each Chirp signal.

[0105] After determining the transmission time of each Chirp signal, the first vehicle needs to transmit each Chirp signal sequentially according to these times to form a complete target frequency modulated continuous wave.

[0106] Specifically, the signal generation module of the first vehicle can pre-generate the digital baseband signal of each chirp signal based on the parameters of the target frequency-modulated continuous wave (such as the starting frequency, modulation slope, number of chirp signals, etc.). The timing module of the first vehicle generates a precise transmission trigger signal based on the second pulse signal of the satellite positioning system and the calculated transmission time of each chirp signal.

[0107] When the timing module reaches the transmission time of a certain chirp signal, it triggers the digital-to-analog converter (DAC) and the RF transmission module. The DAC converts the digital baseband signal of the chirp signal in the buffer into an analog signal. Then, after up-conversion and power amplification by the RF transmission module, it is transmitted through the antenna. During transmission, it is necessary to ensure that the transmission time of each chirp signal is precisely consistent with the calculated time, with the error controlled within the system's allowable range.

[0108] After sending one chirp signal, the system waits for the next chirp signal to be sent, repeating this process until all chirp signals have been sent. This precise timing-based transmission method ensures the signal quality and time synchronization of the target frequency-modulated continuous wave, improving the accuracy of the receiver's interpretation of communication information.

[0109] The method provided in this application determines the transmission time of each Chirp signal by using the second pulse signal of the satellite positioning system, so as to achieve high-precision time synchronization of Chirp signal transmission, thereby improving the reliability of communication signal transmission and the demodulation accuracy of the receiver.

[0110] The following section provides a detailed explanation of how the second vehicle parses the communication signal in step S204 to obtain the communication information contained therein. Figure 6 This is a flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application. Figure 6 As shown, the aforementioned step S204 may specifically include the following steps:

[0111] S601, the second vehicle generates a reference signal with waveform parameters consistent with the Chirp signal and aligned with the starting phase reference based on the second pulse signal of the satellite positioning system.

[0112] The reference signal is a local signal generated by the second vehicle to demodulate the received chirp signal. This signal has the same waveform parameters and starting phase reference as the chirp signal transmitted by the first vehicle, enabling coherent demodulation. The waveform parameters include the starting frequency, modulation slope, and duration of the chirp signal, which determine the signal waveform. Starting phase reference alignment means that the starting phase of the reference signal is consistent with the starting phase of the received chirp signal in both time and phase.

[0113] In this step, the satellite positioning module of the second vehicle also receives the signal sent by the satellite positioning system and extracts the second pulse signal. This second pulse signal comes from the same satellite positioning system as the second pulse signal used by the first vehicle, and therefore has the same time reference.

[0114] Then, the second vehicle obtains the waveform parameters of the Chirp signal in the target frequency-modulated continuous wave by means of a predefined protocol with the first vehicle or by means of broadcast information. These waveform parameters may include, for example, the starting frequency, the frequency modulation slope, the duration, etc.

[0115] Next, using a reference point of the second pulse signal received by the second vehicle as the starting time, and based on the calculation method for the chirp signal transmission time (the same as for the first vehicle), the starting time of the locally generated reference signal is determined. Since the first and second vehicles use the same second pulse signal as their time base, it can be guaranteed that the starting time of the reference signal corresponds to the transmission time of the received chirp signal. Then, based on the known waveform parameters, the digital baseband signal of the reference signal is generated. During the generation process, it is necessary to ensure that the starting phase of the reference signal is consistent with the starting phase of the received chirp signal. This can be achieved, for example, by setting the same initial phase parameter as the first vehicle when generating the reference signal. For example, if the initial phase of the chirp signal transmitted by the first vehicle is 0, then the initial phase of the reference signal generated by the second vehicle is also set to 0. Finally, the generated digital baseband reference signal is converted into an analog signal through a digital-to-analog converter and used as a reference during the demodulation process.

[0116] S602. The second vehicle performs synchronous demodulation of the Chirp signal based on the reference signal to obtain the communication information carried by the phase of the Chirp signal.

[0117] Synchronous demodulation refers to maintaining the received signal and the reference signal in synchronization in frequency, phase, and time during the demodulation process, so as to accurately extract the communication information modulated on the carrier. BPSK signal demodulation typically requires coherent demodulation, which involves multiplying the received signal with a reference signal that is in phase and at the same frequency as the carrier, and then recovering the original binary symbol through low-pass filtering and other processing.

[0118] One possible implementation is to demodulate the Chirp signal using noncoherent demodulation. Noncoherent demodulation does not require precise phase synchronization and can recover communication information by detecting changes in the amplitude or frequency of the received signal.

[0119] Another possible implementation is to demodulate the chirp signal using coherent demodulation. Coherent demodulation requires the reference signal to be in phase with the received signal, resulting in better demodulation performance and accurate recovery of communication information even at low signal-to-noise ratios. Specifically, this implementation can be achieved through, for example, the following sub-steps:

[0120] S6021. The second vehicle performs time-frequency synchronization processing on the Chirp signal and the reference signal to obtain a target reference signal that is frequency-aligned with the Chirp signal.

[0121] Time-frequency synchronization processing refers to adjusting the time and frequency of the reference signal to align it with the received chirp signal in both time and frequency. Because of the relative motion between the first and second vehicles during their movement, the received chirp signal experiences Doppler shift and time delay; therefore, time-frequency synchronization processing is necessary to eliminate these effects. Frequency-phase alignment refers to ensuring that the target reference signal and the chirp signal are consistent in both frequency and phase.

[0122] S6022, The second vehicle performs coherent demodulation processing on the Chirp signal and the target reference signal to obtain the communication information carried by the Chirp signal.

[0123] After obtaining the target reference signal that is frequency-aligned with the Chirp signal, the original binary symbol sequence is recovered by multiplying the Chirp signal with the target reference signal and then processing it through low-pass filtering, sampling decision, etc., thereby obtaining the communication information.

[0124] The method provided in this application generates a reference signal that is consistent with the waveform parameters of the Chirp signal and aligned with the starting phase reference, and uses the reference signal to synchronously demodulate the Chirp signal, so as to achieve accurate demodulation of the communication signal and thereby improve the accuracy of communication information parsing.

[0125] The following section details how the second vehicle performs time-frequency synchronization processing between the Chirp signal and the reference signal in step S6021 to obtain a target reference signal that is frequency-aligned with the Chirp signal. Figure 7 This is a flowchart illustrating another communication method for intelligent connected vehicles provided in an embodiment of this application. Figure 7 As shown, the aforementioned step S6021 may specifically include the following steps:

[0126] S701. Mix the real and imaginary parts of the Chirp signal with the positive frequency modulation slope carrier and the negative frequency modulation slope carrier of the reference signal, respectively, to obtain the first mixed signal and the second mixed signal.

[0127] The first mixing signal includes a mixing signal of the real part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and a mixing signal of the negative frequency modulation slope carrier of the reference signal. The second mixing signal includes a mixing signal of the imaginary part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and a mixing signal of the negative frequency modulation slope carrier of the reference signal.

[0128] The real and imaginary parts of a chirp signal refer to the real and imaginary components when the received chirp signal is represented in complex form. Typically, quadrature demodulation converts the received RF signal into baseband I / Q signals (in-phase and quadrature components), where the I component is the real part and the Q component is the imaginary part.

[0129] The positive frequency modulation slope carrier of the reference signal refers to the carrier signal whose frequency increases linearly with time, while the negative frequency modulation slope carrier of the reference signal is the carrier signal whose frequency decreases linearly with time.

[0130] Frequency mixing is the process of multiplying two signals of different frequencies to generate new frequency components. Frequency mixing can convert high-frequency signals into intermediate-frequency or baseband signals, which facilitates subsequent processing.

[0131] In this step, the received Chirp signal can be... The signal is decomposed into its real part by a quadrature demodulation circuit. and imaginary part signal Then, a positive frequency modulation slope carrier signal for generating the reference signal is produced. and negative frequency modulation slope carrier signal .

[0132] in, The frequency increases linearly with time, for example as shown in the following formula (2):

[0133] (2)

[0134] The frequency decreases linearly with time, for example, as shown in the following formula (3):

[0135] (3)

[0136] in, It is the baseband start frequency. It is the arrival delay. This is the reference start time. It is the duration of the reference signal, which is changed by... and The position and duration of the reference signal window can be changed. The slope of the carrier wave.

[0137] Next, the real part signal respectively with and After mixing, two mixing components are obtained, let's assume they are respectively... and The two mixing components mentioned above together constitute the first mixing signal. The imaginary part of the signal... respectively with and After mixing, two mixing components are obtained, let's assume they are respectively... and The two mixing components mentioned above together constitute the second mixing signal.

[0138] By mixing, the Doppler frequency shift and time delay information carried in the Chirp signal can be converted into low-frequency signal components, which are easier to extract later.

[0139] S702. Perform mixing processing on the first mixing signal and the second mixing signal to obtain the first signal and the second signal.

[0140] The purpose of mixing the first and second mixing signals is to further extract the information related to Doppler frequency shift and time delay contained therein. By combining different mixing components, a first and second signal that can reflect frequency offset and time offset can be obtained.

[0141] One possible implementation is to directly perform mixing processing on the first and second mixing signals to obtain the first and second signals. For example, the first mixing signal... and The first signal is obtained by direct multiplication, and the second mixed signal is obtained by multiplying them directly. and The second signal is obtained by direct multiplication.

[0142] Another possible implementation involves first performing a low-pass filter on the mixing signal to remove high-frequency components and noise generated during the mixing process, and then performing a second mixing process on the low-pass filtered signal to obtain the first signal and the second signal. Specifically, this implementation can be achieved, for example, through the following sub-steps:

[0143] S7021. Perform low-pass filtering on the first mixing signal and the second mixing signal to obtain the low-pass filtered first mixing signal and the low-pass filtered second mixing signal.

[0144] Low-pass filtering refers to using a low-pass filter to allow signal components below a certain cutoff frequency to pass through, while suppressing signal components above that cutoff frequency. Its purpose is to remove high-frequency harmonics and noise generated after mixing, while retaining useful low-frequency signal components.

[0145] In this step, the parameters of the low-pass filter may include, for example, the cutoff frequency, passband ripple, stopband attenuation, etc. The selection of the cutoff frequency needs to be determined based on the frequency range of the useful signal after mixing, to ensure that the low-frequency components containing Doppler shift and time delay information can be preserved.

[0146] The first mixing signal (including and The samples were filtered using low-pass filters to obtain the low-pass filtered products. and These two components constitute the first mixer signal after low-pass filtering. Similarly, the second mixer signal (including...) and The filters are then applied using low-pass filters with the same parameters to obtain the low-pass filtered results. and This forms the second mixing signal after low-pass filtering.

[0147] After low-pass filtering, high-frequency noise and unwanted harmonics in the mixed signal are effectively suppressed, and the signal quality is improved.

[0148] S7022. Mix the first mixed signal after low-pass filtering and the second mixed signal after low-pass filtering to obtain the first signal and the second signal.

[0149] After low-pass filtering, the resulting mixed signal is subjected to secondary mixing to extract the first and second signals that reflect the frequency and time offset of the Chirp signal.

[0150] Specifically, the first mixer signal after low-pass filtering can be... and the second mixer signal after low-pass filtering Frequency mixing is performed to obtain the first signal. ; the first mixer signal after low-pass filtering and the second mixer signal after low-pass filtering Frequency mixing is performed to obtain the second signal. .

[0151] This secondary mixing process allows for the further separation and extraction of the Doppler frequency shift and time delay information of the Chirp signal, laying the foundation for subsequent frequency shift data calculations.

[0152] For example, Figure 8 This is a schematic diagram illustrating a signal synchronization demodulation scenario provided in an embodiment of this application. Figure 8 As shown, the waveform controller of the second vehicle generates a reference signal. and and the real part of the received signal (i.e., the Chirp signal) received from the first vehicle. and imaginary part signal respectively with and Perform frequency mixing to obtain and And another route and Then the second vehicle passed through a low-pass filter and... and , and After low-pass filtering, the two signals are mixed to obtain the first signal. Second signal .

[0153] S703. Based on the frequency information of the first signal and the frequency information of the second signal, obtain the Doppler frequency shift data of the Chirp signal.

[0154] The Doppler shift data refers to the numerical value of the change in the Chirp signal frequency caused by the relative motion between the first and second vehicles, reflecting the relative speed information between the two vehicles. The frequency information of the first and second signals refers to the frequency components contained in the first and second signals, which are related to the Doppler shift of the Chirp signal.

[0155] In this step, spectral analysis can be performed on the first and second signals separately, for example, by obtaining their frequency spectra using a Fast Fourier Transform (FFT). Then, the main frequency components are extracted from the spectrum of the first signal. Extract the main frequency components from the spectrum of the second signal. Since the first and second signals are obtained by processing a mixed signal containing Doppler frequency shift information, therefore and Doppler frequency shift of the Chirp signal There is a certain functional relationship between them.

[0156] For example, suppose and It can be shown in the following formulas (4) and (5):

[0157] (4)

[0158] (5)

[0159] By solving the system of equations consisting of formulas (4) and (5) above, the Doppler frequency shift data of the Chirp signal can be estimated. .

[0160] S704. Adjust the reference signal based on the Doppler frequency shift data to obtain a target reference signal that is frequency-aligned with the Chirp signal.

[0161] After obtaining the Doppler frequency shift data, the original reference signal can be adjusted based on this data to eliminate the influence of the Doppler frequency shift on signal demodulation, so that the adjusted target reference signal is consistent with the received Chirp signal in frequency and phase.

[0162] Specifically, the frequency expression of the original reference signal is, for example, assumed to be... ,in The starting frequency of the reference signal, The frequency modulation slope is the reference signal. Due to the Doppler frequency shift... The actual frequency of the received Chirp signal is ,in The starting frequency of the Chirp signal. This represents the frequency modulation slope of the Chirp signal.

[0163] To align the frequency of the reference signal with the chirp signal, the frequency of the reference signal needs to be adjusted to... Therefore, the starting frequency of the adjusted reference signal becomes... Alternatively, the Doppler frequency shift can be compensated by adjusting the frequency modulation slope. Then, the digital baseband signal of the reference signal is regenerated based on the adjusted frequency expression and converted into an analog signal via digital-to-analog conversion. Finally, the adjusted reference signal is used as the target reference signal for subsequent coherent demodulation. This adjustment ensures that the target reference signal and the chirp signal are consistent in frequency and phase, thereby improving the accuracy of coherent demodulation.

[0164] The method provided in this application extracts Doppler frequency shift data by mixing, filtering, and performing secondary mixing on the Chirp signal and the reference signal, and adjusts the reference signal based on the data to achieve frequency alignment between the reference signal and the Chirp signal, thereby improving the coherent demodulation performance and the accuracy of communication information parsing.

[0165] Figure 9 This is a schematic diagram of an electronic device provided in an embodiment of this application. The electronic device is used to execute the aforementioned communication method for intelligent connected vehicles. Figure 9 As shown, the electronic device 900 may include at least one processor 901, a memory 902, and a communication interface 903.

[0166] The memory 902 is used to store programs. Specifically, the program may include program code, which includes computer operation instructions.

[0167] The memory 902 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0168] The processor 901 is used to execute computer execution instructions stored in the memory 902 to implement the method described in the foregoing method embodiments. The processor 901 may be a CPU, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0169] Processor 901 can communicate and interact with external devices through communication interface 903. In specific implementations, if communication interface 903, memory 902, and processor 901 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.

[0170] Optionally, in a specific implementation, if the communication interface 903, memory 902, and processor 901 are integrated on a single chip, then the communication interface 903, memory 902, and processor 901 can communicate through an internal interface.

[0171] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0172] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0173] The aforementioned readable storage medium can be implemented by 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.

[0174] 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 the device.

[0175] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0176] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0178] If a function is implemented as a software functional unit and sold or used as an independent product, it 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 part 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 of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. 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 the program is executed, it 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, a magnetic disk, or an optical disk.

[0179] 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 communication method for intelligent connected vehicles, characterized in that, include: The first vehicle uses phase joint modulation based on binary phase shift keying (BPSK) to superimpose the communication information to be transmitted onto the frequency modulated continuous wave to generate a target frequency modulated continuous wave, wherein the target frequency modulated continuous wave carries sensing signals and communication signals including the communication information. The first vehicle transmits the target frequency-modulated continuous wave during its journey; When the target frequency-modulated continuous wave is in the sensing phase, the first vehicle receives the echo signal reflected by the second vehicle corresponding to the sensing signal, and obtains the vehicle driving status information of the second vehicle based on the echo signal. When the target frequency-modulated continuous wave is in the communication phase, the second vehicle receives the communication signal and analyzes the communication signal to obtain the communication information included in the communication signal. The communication information includes the vehicle driving status information of the first vehicle.

2. The method according to claim 1, characterized in that, The first vehicle uses phase joint modulation based on binary phase shift keying (BPSK) to superimpose the communication information to be transmitted onto a frequency-modulated continuous wave to generate a target frequency-modulated continuous wave, including: The first vehicle determines the sensing symbol occupancy rate based on the communication symbol quantity requirement of the communication information and the preset sensing symbol quantity requirement of the sensing signal; Based on the occupancy rate of the sensing symbols, the sensing signal time slots and communication signal time slots in the frequency-modulated continuous wave are determined; The target frequency-modulated continuous wave is generated by superimposing the communication information to be transmitted onto the time slot portion of the communication signal in the frequency-modulated continuous wave using phase joint modulation based on binary phase shift keying (BPSK).

3. The method according to claim 1, characterized in that, The first vehicle transmits the target frequency-modulated continuous wave during its operation, including: During its operation, the first vehicle determines the transmission time of each chirp signal in the target frequency-modulated continuous wave based on the second pulse signal of the satellite positioning system. The phase of the chirp signal is used to carry the communication information. The first vehicle transmits each of the Chirp signals in the target frequency-modulated continuous wave based on the transmission time of each of the Chirp signals.

4. The method according to claim 3, characterized in that, The step of parsing the communication signal to obtain the communication information included in the communication signal includes: The second vehicle generates a reference signal that is consistent with the waveform parameters of the Chirp signal and aligned with the starting phase reference, based on the second pulse signal of the satellite positioning system; The second vehicle performs synchronous demodulation of the Chirp signal based on the reference signal to obtain the communication information carried by the phase of the Chirp signal.

5. The method according to claim 4, characterized in that, The second vehicle performs synchronous demodulation of the Chirp signal based on the reference signal to obtain the communication information carried by the phase of the Chirp signal, including: The second vehicle performs time-frequency synchronization processing on the Chirp signal and the reference signal to obtain a target reference signal that is frequency-aligned with the Chirp signal; The second vehicle performs coherent demodulation processing on the Chirp signal and the target reference signal to obtain the communication information carried by the phase of the Chirp signal.

6. The method according to claim 5, characterized in that, The second vehicle performs time-frequency synchronization processing on the Chirp signal and the reference signal to obtain a target reference signal that is frequency-aligned with the Chirp signal, including: The real and imaginary parts of the Chirp signal are mixed with the positive frequency modulation slope carrier and the negative frequency modulation slope carrier of the reference signal, respectively, to obtain a first mixed signal and a second mixed signal. The first mixed signal includes the mixed signal of the real part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and the mixed signal of the negative frequency modulation slope carrier of the reference signal. The second mixed signal includes the mixed signal of the imaginary part of the Chirp signal with the positive frequency modulation slope carrier of the reference signal and the mixed signal of the negative frequency modulation slope carrier of the reference signal. The first mixing signal and the second mixing signal are mixed to obtain a first signal and a second signal; Based on the frequency information of the first signal and the frequency information of the second signal, the Doppler frequency shift data of the Chirp signal is obtained; The reference signal is adjusted based on the Doppler frequency shift data to obtain the target reference signal that is frequency-aligned with the Chirp signal.

7. The method according to claim 6, characterized in that, The mixing process of the first mixing signal and the second mixing signal to obtain the first signal and the second signal includes: The first mixing signal and the second mixing signal are subjected to low-pass filtering to obtain the first mixing signal after low-pass filtering and the second mixing signal after low-pass filtering. The first low-pass filtered signal and the second low-pass filtered signal are mixed to obtain the first signal and the second signal.

8. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

9. 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 method as described in any one of claims 1-7.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-7.

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