UWB time slot scheduling method, apparatus, device, storage medium and product

Abstract

The application discloses a UWB time slot scheduling method, device, equipment, storage medium and product; the method comprises the following steps: acquiring a positioning round time slot atlas; wherein the positioning round time slot atlas is used for recording the level of each atomic time slot in the ultra-wideband (UWB) positioning round; different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the minimum time domain scheduling unit in the UWB positioning round; based on the positioning round time slot atlas, embedding a to-be-embedded radar signal into the corresponding atomic time slot in the UWB positioning round, so that the positioning signal and the radar signal coexist in the same UWB positioning round; the to-be-embedded radar signal is a signal used by a vehicle to perceive environmental information. The application can avoid the interference between the positioning signal and the radar signal, and meet the real-time requirements between multiple services of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle UWB technology, and more particularly to UWB time slot scheduling methods, apparatus, equipment, storage media and products. Background Technology

[0002] Ultra-wideband (UWB) technology, with its high temporal resolution for nanosecond-level pulse signals, is widely used in high-precision positioning and high-resolution radar sensing technologies.

[0003] In vehicle systems, a single UWB module needs to simultaneously transmit and receive both positioning signals and radar sensing signals to support multiple business scenarios such as digital key positioning, foot-activated sensing, sentry parking monitoring, and in-vehicle personnel detection. In existing technologies, one approach to achieve these functions is to superimpose the waveforms of the positioning and radar signals at the transmitting end and demodulate the signals at the receiving end. However, this approach can lead to signal interference and reduce positioning accuracy. Another approach is to time-division multiplex the positioning and radar signals, for example, using the idle period after the positioning session ends to carry the radar session. However, this approach reduces the real-time performance of the radar signal and is difficult to adapt to the real-time requirements of services such as foot-activated sensing and sentry parking monitoring. Summary of the Invention

[0004] This invention provides a UWB time slot scheduling method, apparatus, device, storage medium, and product to avoid interference between positioning signals and radar signals and to meet the real-time requirements of multiple vehicle services.

[0005] According to one aspect of the present invention, a UWB time slot scheduling method is provided, comprising: A positioning round time slot map is obtained; wherein, the positioning round time slot map is used to record the level of each atomic time slot within the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round. Based on the positioning cycle time slot map, the radar signal to be embedded is embedded into the corresponding atomic time slot in the UWB positioning cycle so that the positioning signal and the radar signal can coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

[0006] According to another aspect of the present invention, a UWB time slot scheduling device is provided, comprising: The time slot map acquisition module is used to acquire the positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot within the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round. The time slot embedding module is used to embed the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map, so that the positioning signal and the radar signal can coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the UWB time slot scheduling method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the UWB time slot scheduling method according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the UWB time slot scheduling method according to any embodiment of the present invention.

[0010] The technical solution of this invention involves acquiring a positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot within an ultra-wideband (UWB) positioning round, and different levels of atomic time slots impose different embedding constraints on radar signals; the atomic time slot is the smallest time-domain scheduling unit in the UWB positioning round; based on the positioning round time slot map, the radar signal to be embedded is embedded into the corresponding atomic time slot in the UWB positioning round, so that the positioning signal and the radar signal coexist within the same UWB positioning round; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information. The aforementioned technical solution embeds radar signals into atomic time slots of UWB positioning cycles, enabling positioning signals and radar signals to coexist within the same UWB positioning cycle. This achieves time slot-level signal fusion and scheduling. Compared to existing global-level (e.g., scheduling radar signals or radar time slots with the UWB global positioning cycle as the time granularity) or cycle-level (e.g., scheduling radar signals or radar time slots with the UWB positioning cycle as the time granularity) processing methods, this application improves the real-time performance of radar signal processing, thereby meeting the real-time requirements of related services in vehicles. Furthermore, embedding radar signals into atomic time slots within UWB positioning cycles also improves the utilization rate of atomic time slots in UWB positioning cycles, thereby enhancing signal transmission and reception efficiency. Additionally, by recording the level of atomic time slots in the positioning cycle time slot map to reflect the embedding constraints of atomic time slots on radar signals, it ensures that embedding the radar signal to be embedded into the atomic time slots does not disrupt the original transmission timing of the positioning signal, thus avoiding interference between the radar signal and the positioning signal.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart of a UWB time slot scheduling method provided in Embodiment 1 of the present invention; Figure 2 This is a flowchart of a UWB time slot scheduling method provided in Embodiment 2 of the present invention; Figure 3 This is a schematic diagram showing the distribution of atomic time slots in a UWB positioning cycle applicable to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a UWB time slot scheduling device according to Embodiment 3 of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device that implements the UWB time slot scheduling method of Embodiment 4 of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," "original," and "target," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] Example 1 Figure 1 The flowchart illustrates a UWB timeslot scheduling method provided in Embodiment 1 of the present invention. This embodiment is applicable to the scheduling of vehicle-mounted UWB timeslots. This method can be executed by a UWB timeslot scheduling device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes: S101. Obtain the positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot in the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round.

[0017] In this embodiment, a UWB positioning round can be understood as the time period corresponding to one positioning interaction in a UWB-based positioning service. For example, taking the IEEE 802.15.4z protocol, one positioning interaction includes at least the transmission and reception of PrePoll frames, Poll frames, Response frames, and Final frames. In the IEEE 802.15.4z protocol, the global UWB positioning period is 96ms, the time period of a single UWB positioning round is 12ms, and a UWB positioning round can include 12 atomic time slots, with each atomic time slot having a time period of 1ms. A single atomic time slot can independently carry the data frame of a positioning interaction process, such as a PrePoll frame, Poll frame, Response frame, and Final frame.

[0018] A positioning round time slot map can be understood as a data structure used to record the attributes of each atomic time slot in a UWB positioning round; the atomic time slot attributes can include the level of the atomic time slot. The level of each atomic time slot can be determined according to its importance; the importance of an atomic time slot can be determined based on the attributes of the data frame it carries, such as the data frame type and timing.

[0019] The levels of each atomic time slot can be used to characterize the embedding constraints on radar signals, with different levels corresponding to different embedding constraints. When embedding radar signals into an atomic time slot, the level of the atomic time slot can be used to determine whether embedding is possible or the embedding priority. For example, some atomic time slots correspond to levels that allow radar signal embedding, while others correspond to levels that do not allow radar signal embedding.

[0020] S102. Based on the positioning cycle time slot map, the radar signal to be embedded is embedded into the corresponding atomic time slot in the UWB positioning cycle so that the positioning signal and the radar signal coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

[0021] In this embodiment, the radar signal to be embedded can be a signal used by the vehicle to perceive environmental information. For example, the radar signal to be embedded is a radar radio frequency pulse sent or received by an on-board radar sensor.

[0022] For example, based on the level of each atomic time slot within a UWB positioning round recorded in the positioning round time slot map, the embedding constraint of each atomic time slot on the radar signal can be determined. Based on this embedding constraint, target atomic time slots that allow radar signal embedding are selected from the UWB positioning rounds, and the radar signal to be embedded is embedded into the target atomic time slot, thus enabling the positioning signal and radar signal to coexist within the same UWB positioning round. Within the atomic time slots of a UWB positioning round, the positioning signal can be in the form of positioning signal frames, such as PrePoll frames, Poll frames, Response frames, and Final frames. Correspondingly, the radar signal can be in the form of radar signal frames, with the duration of the radar signal frame corresponding to the time period of a single atomic time slot; for example, the duration of a radar signal frame can be 1 ms.

[0023] The technical solution of this invention involves acquiring a positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot within an ultra-wideband (UWB) positioning round, and different levels of atomic time slots impose different embedding constraints on radar signals; the atomic time slot is the smallest time-domain scheduling unit in the UWB positioning round; based on the positioning round time slot map, the radar signal to be embedded is embedded into the corresponding atomic time slot in the UWB positioning round, so that the positioning signal and the radar signal coexist within the same UWB positioning round; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information. The aforementioned technical solution embeds radar signals into atomic time slots of UWB positioning cycles, enabling positioning signals and radar signals to coexist within the same UWB positioning cycle. This achieves time slot-level signal fusion and scheduling. Compared to existing global-level (e.g., scheduling radar signals or radar time slots with the UWB global positioning cycle as the time granularity) or cycle-level (e.g., scheduling radar signals or radar time slots with the UWB positioning cycle as the time granularity) processing methods, this application improves the real-time performance of radar signal processing, thereby meeting the real-time requirements of related services in vehicles. Furthermore, embedding radar signals into atomic time slots within UWB positioning cycles also improves the utilization rate of atomic time slots in UWB positioning cycles, thereby enhancing signal transmission and reception efficiency. Additionally, by recording the level of atomic time slots in the positioning cycle time slot map to reflect the embedding constraints of atomic time slots on radar signals, it ensures that embedding the radar signal to be embedded into the atomic time slots does not disrupt the original transmission timing of the positioning signal, thus avoiding interference between the radar signal and the positioning signal.

[0024] In some embodiments, before obtaining the positioning round time slot map, the method further includes: classifying each atomic time slot into a critical level, an important level, or an idle level according to the type of data frame carried by each atomic time slot within the UWB positioning round; wherein, the atomic time slots of the critical level do not allow radar signal embedding; the atomic time slots of the important level allow radar signal delayed embedding; and the atomic time slots of the idle level allow direct radar signal embedding; and generating a positioning round time slot map according to the level corresponding to each atomic time slot. The advantage of this configuration is that by referring to the type of data frame carried by the atomic time slot when determining its level, radar signals can be avoided from being embedded in the atomic time slots containing critical data frames, thus ensuring that the original positioning service of the UWB positioning round is not disrupted and that embedding radar signals does not affect positioning accuracy.

[0025] In this embodiment, the data frame can be a signal frame corresponding to the positioning service, such as a positioning signal frame. The type of data frame carried by an atomic time slot can characterize the temporal or service importance of the data frame. Therefore, each atomic time slot can be classified according to the type of data frame carried by each atomic time slot within a UWB positioning round.

[0026] For example, if the data frame carried by the atomic time slot in a UWB positioning round is a PrePoll frame, Poll frame, or Final frame, then the atomic time slot can be classified as critical; if the data frame carried by the atomic time slot in a UWB positioning round is a Range frame or Response frame, then the atomic time slot can be classified as important; if the data frame carried by the atomic time slot in a UWB positioning round is an Empty frame or Guard frame, then the atomic time slot can be classified as idle.

[0027] Atomic time slots corresponding to critical levels do not allow radar signal embedding. Atomic time slots corresponding to important levels allow delayed radar signal embedding; for example, after pulse offsetting and pulse clipping, radar signals can be embedded into atomic time slots corresponding to important levels. Atomic time slots corresponding to idle levels allow direct radar signal embedding.

[0028] After determining the level corresponding to each atomic time slot, a positioning round time slot map can be generated based on the temporal position of each atomic time slot within the UWB positioning round and the level corresponding to each atomic time slot.

[0029] Example 2 Figure 2This is a flowchart of a UWB time slot scheduling method provided in Embodiment 2 of the present invention, which is a further refinement based on the above embodiments. In this embodiment, the positioning round time slot map can be stored in the Media Access Control (MAC) layer. The UWB time slot scheduling method can be executed by a UWB time slot scheduling device configured in the MAC layer. Figure 2 As shown, the method includes: S201. Obtain the positioning wheel time slot map.

[0030] For example, the UWB time slot scheduling device at the MAC layer can call the positioning round time slot map in real time to obtain the level corresponding to each atomic time slot in the current UWB positioning round. For example, critical level, important level, or idle level. Atomic time slots of the critical level do not allow radar signal embedding. Atomic time slots of the idle level allow direct radar signal embedding. Atomic time slots of the important level allow radar signal embedding after pulse offset and pulse clipping processing.

[0031] S202. For each radar signal to be embedded, based on the positioning round time slot map, determine whether there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round; if there is, execute S203; if not, execute S204.

[0032] In this embodiment, the first target atomic time slot is the atomic time slot corresponding to the idle level in the current UWB positioning round, which is used to embed the radar signal to be embedded.

[0033] For example, for each radar signal to be embedded, the level corresponding to each atomic time slot in the current UWB positioning round can be recorded in the positioning round time slot map to determine whether there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round; if it exists, execute S203; if it does not exist, execute S204.

[0034] S203. Embed the current radar signal to be embedded into the first target atomic time slot.

[0035] S204. Determine whether there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round; if it exists, proceed to S205; if it does not exist, proceed to S206.

[0036] In this embodiment, the second target atomic time slot is the atomic time slot corresponding to the importance level in the current UWB positioning round, which is used to embed the radar signal to be embedded.

[0037] If there is no first target atomic time slot corresponding to the idle level in the current UWB positioning round, it means that the atomic time slot corresponding to the idle level in the current UWB positioning round has been occupied. Then, we can continue to determine whether there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round; if it exists, then execute S205; if it does not exist, then execute S206.

[0038] S205. Perform pulse offset and pulse clipping processing on the current radar signal to be embedded, and embed the processed current radar signal to be embedded into the second target atomic time slot.

[0039] The second target atomic time slot corresponds to an importance level and originally carries a positioning signal (e.g., a positioning pulse). To avoid affecting the original positioning signal after embedding the current radar signal into the second target atomic time slot, pulse offset processing can be performed on the current radar signal to be embedded based on a preset offset length. The preset offset length can be pre-set and represents the position where the current radar signal to be embedded is placed within the second target atomic time slot. For example, the preset offset length can be half the time period corresponding to the second target atomic time slot, i.e., 600 Range Slot Time Units (RSTU), which corresponds to 0.5ms. Pulse clipping processing can also be performed on the current radar signal to be embedded based on a preset amplitude threshold. The preset amplitude threshold can be pre-set and represents the maximum amplitude value of the radar signal allowed within the second target atomic time slot.

[0040] Embedding the current radar signal to be embedded, after pulse offset and pulse clipping processing, into the second target atomic time slot can ensure that the current radar signal to be embedded into the second target atomic time slot is staggered from the positioning signal in the time domain, avoiding signal superposition and mutual interference, thereby ensuring the positioning accuracy of the original positioning service.

[0041] like Figure 3 As shown, a single UWB positioning round is represented by 12 dashed grids, each dashed grid corresponds to an atomic time slot, and each atomic time slot is 1ms; Figure 3 The 12 dashed grids at the top represent the UWB positioning rounds before the radar signal is embedded. The first atomic time slot 301 can represent an atomic time slot corresponding to an idle level, and the second atomic time slot 302 can represent an atomic time slot corresponding to an important level. The red area in the middle represents that the atomic time slot contains a positioning signal. Figure 3The 12 dashed squares at the bottom represent the UWB positioning rounds after the radar signal is embedded. The third atomic time slot 303 corresponds to the first atomic time slot 301, indicating that the radar signal is directly embedded in the first atomic time slot 301. The fourth atomic time slot 304 corresponds to the second atomic time slot 302, indicating that the radar signal is embedded in the second atomic time slot 302 after pulse offset and pulse clipping processing. The gap between the red and black areas can be understood as the absence of overlap between the positioning signal and the radar signal.

[0042] S206. The current radar signal to be embedded is migrated to the third target atomic time slot corresponding to the idle level in the next adjacent UWB positioning round of the current UWB positioning round, and the data gap generated after migration is interpolated based on the preset interpolation strategy.

[0043] If there is no second target atomic time slot corresponding to the importance level in the current UWB positioning round, it means that the atomic time slot corresponding to the importance level in the current UWB positioning round has been occupied, and there is no atomic time slot in the current UWB positioning round that can embed the radar signal. The UWB time slot scheduling device of the MAC layer can call the positioning round time slot map to obtain the level corresponding to each atomic time slot in the subsequent adjacent UWB positioning rounds of the current UWB positioning round. The subsequent adjacent UWB positioning round can be the next UWB positioning round after the current UWB positioning round. Then, the third target atomic time slot corresponding to the idle level is selected from the subsequent adjacent UWB positioning rounds. The third target atomic time slot is the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning rounds, which is used to embed the radar signal to be embedded.

[0044] The data gap refers to a gap in the output signal caused by the migration of the current radar signal to be embedded. For example, if the current radar signal to be embedded undergoes time slot migration, its corresponding timing will shift, resulting in a gap in the output signal where no valid radar data exists. This gap can be understood as a data gap.

[0045] The data gaps generated after migration are interpolated based on a preset interpolation strategy. Specifically, the data gaps are interpolated based on the output signals of the previous and next radar signals of the radar signal to be embedded.

[0046] This invention determines the embedding position of the radar signal to be embedded based on the atomic time slot level. It prioritizes embedding into atomic time slots corresponding to idle levels. If the idle level atomic time slots are occupied, it then embeds into atomic time slots corresponding to important levels, achieving efficient radar signal embedding and improving the utilization rate of atomic time slots in UWB positioning rounds. Furthermore, pulse offsetting and pulse clipping processing of the radar signal to be embedded prevents it from affecting the original positioning service if embedded into atomic time slots corresponding to important levels. When there are no atomic time slots of important levels in the current UWB positioning round, migrating the radar signal to be embedded to the third target atomic time slot corresponding to an idle level in the subsequent adjacent UWB positioning round ensures the success rate of radar signal embedding and avoids radar signal loss. Interpolation processing is performed on the data gaps generated after migration to ensure the continuity of the output signal.

[0047] In some embodiments, the method further includes: dividing the radar time slot corresponding to the radar signal in a UWB positioning cycle into a preset number of radar sub-time slots; wherein each radar sub-time slot is configured with a function identifier, the function identifier being used to indicate the service function corresponding to the radar sub-time slot; and assigning each radar sub-time slot to a radar signal corresponding to the function based on the function identifier of the radar sub-time slot. The advantage of this configuration is that dividing the radar time slot into radar sub-time slots further improves the utilization rate of the atomic time slot, enabling the carrying of radar signals with multiple functions within the same atomic time slot. This allows for the parallel transmission of radar signals with different functions during radar signal transmission, improving the vehicle's processing efficiency for radar-related services.

[0048] In this embodiment, a radar time slot can be understood as an atomic time slot in a UWB positioning round that is determined to be capable of embedding radar signals. The preset number can represent the number of radar signals with different functions that are expected to be carried in a radar time slot; for example, the preset number can be 4.

[0049] For example, the radar time slots corresponding to the radar signals in a UWB positioning cycle are evenly divided into four radar sub-time slots, each with a time period of 0.25ms. Each radar sub-time slot can be configured with an 8-bit function identifier, which indicates the service function corresponding to the radar sub-time slot, such as foot-activated sensing, sentry parking monitoring, in-vehicle personnel detection, and reserved functions. Then, based on the function identifier of the radar sub-time slot, each radar sub-time slot is assigned to the radar signal corresponding to the function.

[0050] Correspondingly, at the radar signal receiving end, radar signals with different functions within the same radar time slot can be identified based on functional identifiers, and subsequent operations can be performed. For example, feature extraction of radar signals can be performed based on the fast Fourier transform algorithm, and perception and recognition can be performed based on the feature extraction results.

[0051] In practical applications, when the UWB time slot scheduling method is applied to multiple terminal devices, in order to avoid signal crosstalk between the terminal devices, the terminal devices can be isolated in both the frequency domain and the time domain. Specifically, the frequency domain channels corresponding to each terminal device can be offset by a preset channel offset; and the start times of the UWB positioning rounds corresponding to each terminal device can be staggered by a preset time interval.

[0052] The preset channel offset can be set based on the IEEE 802.15.4z protocol, and the value range can be 0-15MHz, for example, 1MHz. Correspondingly, the preset time interval can be set based on the IEEE 802.15.4z protocol, for example, the preset time interval can be 32 RSTU (approximately 2.7 microseconds).

[0053] In practical applications, a token scheduling mechanism can also be used to assign access tokens to each terminal device, thereby ensuring that multiple terminal devices can access the network in an orderly manner and avoiding concurrent conflicts.

[0054] In some embodiments, after embedding the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map, the following steps A1 to A2 are further included: A1. Based on the timing of the positioning signal and the radar signal to be transmitted within the UWB positioning cycle, determine whether there is a time overlap between the positioning signal and the radar signal within a preset sliding window.

[0055] The preset sliding window can be set to an integer multiple of the time period corresponding to a single atomic time slot; for example, the preset sliding window can be 1 ms. The transmission sequence of the positioning signal and radar signal can be determined based on the arrangement order of their atomic time slots in the UWB positioning rounds. Based on this transmission sequence, the preset sliding window is used to iterate through the positioning signal and radar signal, determining whether there is a time overlap between them within the preset sliding window. If there is, step A2 is executed; otherwise, the iteration continues.

[0056] A2. Migrate the radar signal to the fourth target atomic time slot within the UWB positioning round, or migrate the radar signal to the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round of the UWB positioning round; and transmit the positioning signal and the radar signal according to the migrated transmission sequence; wherein, the fourth target atomic time slot is the atomic time slot corresponding to the idle level of the subsequent atomic time slot where the radar signal is located.

[0057] The fourth target atomic time slot is in the same UWB positioning round as the atomic time slot where the radar signal is currently located. It is the atomic time slot corresponding to the idle level and is located after the atomic time slot where the radar signal is currently located.

[0058] If there is no available atomic time slot corresponding to an idle level in a UWB positioning round, the radar signal can be migrated to the available atomic time slot in the next adjacent UWB positioning round (e.g., the next UWB positioning round). Then, based on the arrangement order of the atomic time slots of the positioning signal and the migrated radar signal in the UWB positioning round, the transmission timing of the positioning signal and the radar signal is re-determined, and the positioning signal and the radar signal are transmitted according to the migrated transmission timing.

[0059] Correspondingly, after migrating the radar signal to the fourth target atomic time slot within the UWB positioning round, or after migrating the radar signal to the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round, the data gaps generated after migration can also be interpolated based on a preset interpolation strategy to ensure the continuity of the output signal.

[0060] This invention, based on the transmission timing of positioning signals and radar signals within a UWB positioning round, determines whether there is time overlap between the positioning signal and the radar signal within a preset sliding window. This allows for pre-determining whether a conflict will occur during transmission, avoiding the problem of signal frame loss after a conflict. If there is time overlap between the positioning signal and the radar signal within the preset sliding window, the radar signal is migrated to the fourth target atomic time slot within the UWB positioning round, or the radar signal is migrated to the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round. This achieves real-time migration of the radar signal, meeting the real-time requirements of radar services, and also avoids interference from radar signal embedding on the original positioning signal.

[0061] Example 3 Figure 4 This is a schematic diagram of a UWB time slot scheduling device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes a time-slot map acquisition module 401 and a time-slot embedding module 402.

[0062] The time slot map acquisition module is used to acquire the positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot within the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round. The time slot embedding module is used to embed the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map, so that the positioning signal and the radar signal can coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

[0063] Optionally, the device further includes: The time slot level division module is used to divide each atomic time slot into a critical level, an important level, or an idle level according to the type of data frame carried by each atomic time slot in the UWB positioning round before acquiring the positioning round time slot map; wherein, the atomic time slots of the critical level do not allow radar signal embedding; the atomic time slots of the important level allow radar signal delayed embedding; and the atomic time slots of the idle level allow radar signal direct embedding. The time slot map generation module is used to generate a positioning round time slot map based on the level corresponding to each atomic time slot.

[0064] Optionally, the time slot embedding module is specifically used for: For each radar signal to be embedded, based on the time slot map of the positioning round, it is determined whether there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round; if there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round, the radar signal to be embedded is embedded into the first target atomic time slot; if there is no first target atomic time slot corresponding to the idle level in the current UWB positioning round, it is determined whether there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round; if there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round, pulse offset and pulse clipping processing are performed on the radar signal to be embedded, and the processed radar signal to be embedded is embedded into the second target atomic time slot; wherein, the atomic time slot of the idle level allows the radar signal to be directly embedded; the atomic time slot of the importance level allows the radar signal to be embedded after pulse offset and pulse clipping processing.

[0065] Optionally, the time slot embedding module includes: The cross-timeslot migration unit is used to migrate the current radar signal to be embedded to the third target atomic time slot corresponding to the idle level in the next adjacent UWB positioning round after determining whether there is a second target atomic time slot corresponding to the important level in the current UWB positioning round. If there is no second target atomic time slot corresponding to the important level in the UWB positioning round, the unit will migrate the current radar signal to be embedded to the third target atomic time slot corresponding to the idle level in the next adjacent UWB positioning round. The unit will also perform interpolation processing on the data gap generated after migration based on a preset interpolation strategy. The data gap is the gap generated in the output signal due to the migration of the current radar signal to be embedded.

[0066] Optionally, the device further includes: The radar time slot splitting module is used to split the radar time slot corresponding to the radar signal in the UWB positioning round into a preset number of radar sub-time slots; wherein, each radar sub-time slot is configured with a function identifier, the function identifier being used to indicate the service function corresponding to the radar sub-time slot; The radar sub-slot allocation module is used to allocate each radar sub-slot to the radar signal corresponding to the function based on the function identifier of the radar sub-slot.

[0067] Optionally, the device further includes: The conflict discrimination module is used to determine whether there is a time overlap between the positioning signal and the radar signal within a preset sliding window, based on the timing sequence of the positioning signal and the radar signal to be transmitted within the UWB positioning round, after embedding the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning round based on the time slot map of the positioning round. The radar signal migration module is used to migrate the radar signal to the fourth target atomic time slot within the UWB positioning round, or to migrate the radar signal to the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round, if present; and to transmit the positioning signal and the radar signal according to the migrated transmission sequence; wherein, the fourth target atomic time slot is the atomic time slot corresponding to the idle level of the subsequent atomic time slot where the radar signal is located.

[0068] The UWB time slot scheduling device provided in the embodiments of the present invention can execute the UWB time slot scheduling method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0069] Example 4 Figure 5 A schematic diagram of an electronic device 500 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0070] like Figure 5As shown, the electronic device 500 includes at least one processor 501 and a memory, such as a read-only memory (ROM) 502 and a random access memory (RAM) 503, communicatively connected to the at least one processor 501. The memory stores computer programs executable by the at least one processor. The processor 501 can perform various appropriate actions and processes based on the computer program stored in the ROM 502 or loaded into the RAM 503 from storage unit 508. The RAM 503 can also store various programs and data required for the operation of the electronic device 500. The processor 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0071] Multiple components in electronic device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows electronic device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0072] Processor 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 501 performs the various methods and processes described above, such as the UWB time-slot scheduling method.

[0073] In some embodiments, the UWB timeslot scheduling method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by processor 501, one or more steps of the UWB timeslot scheduling method described above may be performed. Alternatively, in other embodiments, processor 501 may be configured to execute the UWB timeslot scheduling method by any other suitable means (e.g., by means of firmware).

[0074] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0075] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0076] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0077] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0078] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0079] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0080] This disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the UWB time slot scheduling method provided in the above embodiments.

[0081] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0082] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A UWB time slot scheduling method, characterized in that, include: A positioning round time slot map is obtained; wherein, the positioning round time slot map is used to record the level of each atomic time slot within the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round. Based on the positioning cycle time slot map, the radar signal to be embedded is embedded into the corresponding atomic time slot in the UWB positioning cycle so that the positioning signal and the radar signal can coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

2. The UWB time slot scheduling method according to claim 1, characterized in that, Before obtaining the positioning round time slot map, the method further includes: Based on the type of data frame carried by each atomic time slot within a UWB positioning round, each atomic time slot is divided into critical, important, or idle levels. Among them, the atomic time slots of the critical level do not allow radar signal embedding; the atomic time slots of the important level allow radar signal delayed embedding; and the atomic time slots of the idle level allow radar signal direct embedding. Based on the level corresponding to each atomic time slot, a positioning round time slot map is generated.

3. The UWB time slot scheduling method according to claim 1, characterized in that, The step of embedding the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map includes: For each radar signal to be embedded, based on the time slot map of the positioning round, it is determined whether there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round; if there is a first target atomic time slot corresponding to the idle level in the current UWB positioning round, the radar signal to be embedded is embedded into the first target atomic time slot; if there is no first target atomic time slot corresponding to the idle level in the current UWB positioning round, it is determined whether there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round; if there is a second target atomic time slot corresponding to the importance level in the current UWB positioning round, pulse offset and pulse clipping processing are performed on the radar signal to be embedded, and the processed radar signal to be embedded is embedded into the second target atomic time slot; wherein, the atomic time slot of the idle level allows the radar signal to be directly embedded; the atomic time slot of the importance level allows the radar signal to be embedded after pulse offset and pulse clipping processing.

4. The UWB time slot scheduling method according to claim 3, characterized in that, After determining whether a second target atomic time slot corresponding to an importance level exists in the current UWB positioning round, the method further includes: If there is no second target atomic time slot corresponding to the importance level in the UWB positioning round, the current radar signal to be embedded is migrated to the third target atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round of the current UWB positioning round, and the data gap generated after migration is interpolated based on a preset interpolation strategy; wherein, the data gap is the gap generated on the output signal due to the migration of the current radar signal to be embedded.

5. The UWB time slot scheduling method according to claim 1, characterized in that, The method further includes: The radar time slots corresponding to the radar signals in the UWB positioning rounds are divided into a preset number of radar sub-time slots; each radar sub-time slot is configured with a function identifier, which is used to indicate the service function corresponding to the radar sub-time slot; Based on the functional identifier of the radar sub-slot, each radar sub-slot is assigned to the radar signal corresponding to the function.

6. The UWB time slot scheduling method according to claim 1, characterized in that, After embedding the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map, the method further includes: Based on the timing sequence of the positioning signal and radar signal to be transmitted within the UWB positioning round, it is determined whether there is a time overlap between the positioning signal and the radar signal within a preset sliding window; If present, the radar signal is migrated to the fourth target atomic time slot within the UWB positioning round, or the radar signal is migrated to the atomic time slot corresponding to the idle level in the subsequent adjacent UWB positioning round of the UWB positioning round; and the positioning signal and the radar signal are transmitted according to the migrated transmission sequence; wherein, the fourth target atomic time slot is the atomic time slot corresponding to the idle level of the subsequent atomic time slot where the radar signal is located.

7. A UWB time slot scheduling device, characterized in that, include: The time slot map acquisition module is used to acquire the positioning round time slot map; wherein, the positioning round time slot map is used to record the level of each atomic time slot within the UWB positioning round, and different levels of atomic time slots have different embedding constraints on radar signals; the atomic time slot is the smallest time domain scheduling unit in the UWB positioning round. The time slot embedding module is used to embed the radar signal to be embedded into the corresponding atomic time slot in the UWB positioning cycle based on the positioning cycle time slot map, so that the positioning signal and the radar signal can coexist in the same UWB positioning cycle; the radar signal to be embedded is a signal used by the vehicle to perceive environmental information.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the UWB time slot scheduling method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the UWB time slot scheduling method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the UWB time slot scheduling method according to any one of claims 1-6.

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