Method for operating a transmitter-receiver device, transmitter-receiver device, vehicle, computer program and computer-readable storage medium

Abstract

The invention relates to a method for operating a transceiver device (1), comprising the following steps to be performed by the transceiver device (1): transmitting a pulse radio signal (5) at a given time; receiving a reflected signal of the transmitted pulse radio signal (5); generating a channel impulse response that describes the reflected signal as a function of a path delay; determining a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transceiver device (1); determining at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range;Determining a signal component of the target distance range signal correlated with the self-interference signal using an operator, wherein the operator maps the self-interference signal to the correlated signal component of the target distance range signal; determining a signal component of the signal uncorrelated with the self-interference signal by removing the signal component correlated with the self-interference signal using a correlation cancellation filter.

Description

[0001] The invention relates to a method for operating a transmitter-receiver device, a transmitter-receiver device, a vehicle having a transmitter-receiver device, a computer program and a computer-readable storage medium.

[0002] Monostatic radar transceivers, which are susceptible to self-interference, typically have a blind spot near one of the sensors. Targets very close to the sensor cannot be detected. The detection range is therefore limited by a minimum range. This means that only targets located at distances above this minimum range can be detected by the sensor.

[0003] Targets closer than the specified minimum range of the sensor cannot be detected. This means the sensor is blind in the near field. The reason for this is that self-interference is very strong in r distance ranges, known as bins, around the sensor's near field. This results in a very low signal-to-interference ratio, making detection of a received radar echo from the target, the so-called target signal, impossible in these distance ranges.

[0004] Normally, DC filters suppress this interference, but there is also random noise in the transmitted signal that cannot be suppressed by a DC filter. Therefore, the signal-to-noise ratio in the sensor's immediate vicinity is also very low. Furthermore, this noise can be mistakenly detected as a moving target itself, obscuring real targets.

[0005] In monostatic radar transceivers, self-interference leads to strong unwanted signals that make identifying nearby targets difficult or impossible. When the transceiver operates simultaneously in transmit and receive modes, the received signal has a strong component originating from the pulsed radio signal. For a target located near the transceiver, this self-generated component (particularly noise) interferes with the target signal reflected from the target and can ultimately block the target signal. With monostatic radar transceivers, targets near the sensor often cannot be detected, resulting in a blind zone in the vicinity of the sensor.

[0006] It is an object of the present invention to provide a method which filters out a self-interference signal from a signal.

[0007] The problem is solved by the subject matter of the independent patent claims. Advantageous further developments of the invention are described by the dependent patent claims, the following description, and the figures.

[0008] A first aspect of the invention relates to a method for operating a transmitter-receiver device.

[0009] The transceiver device can be, for example, a radar device, which may be configured as a monostatic radar transceiver. The transceiver device can be designed to detect the area around a vehicle in order to, for example, determine the distances of target objects to the transceiver device and / or detect predefined movement patterns of the target objects in the vehicle's vicinity.

[0010] The method involves the transceiver performing scanning operations. During each scanning operation, the transceiver emits a pulse radio signal at a specific time. This pulse radio signal is then transmitted into the environment to be scanned during that particular scanning operation.

[0011] In a further step, the transceiver receives a signal from the transmitted pulse radio signal. This signal may be reflected by target objects in the vicinity being scanned during the scanning process.

[0012] In a further step, the transceiver device is designed to generate a channel impulse response that describes the signal as a function of a path delay. The channel impulse response comprises distance ranges, known as bins, which are assigned to specific path delays.

[0013] In a further step, a self-interference distance range of the path delay of the channel impulse response is determined. In other words, the channel impulse response describes a signal that includes a self-interference signal in addition to the reflected target signal. The self-interference signal can disturb the reflected target signals in at least some of the path delay distance ranges. The self-interference signal particularly affects the distance ranges associated with a relatively low path delay, which are located close to the transmitter / receiver. One of the distance ranges may be particularly affected by the self-interference signal. For this distance range, it can be assumed that the corresponding signal is defined by the self-interference signal.This distance range can be chosen as the self-interference distance range, where the signal of the self-interference distance range can be defined as the self-interference signal.

[0014] The aforementioned self-interference distance range of the path delay can be predetermined or determined by the transmit-receiver device according to a predetermined procedure.

[0015] In a further step, at least one target distance range of the path delay of the channel impulse response is determined. The target distance range signal includes both the reflected target signal of the associated path delay and a self-interference signal. In other words, the transceiver selects at least one target distance range of the path delay. The target distance range signal includes a signal component that is due to self-interference and correlates with the self-interference signal. The signal also includes a signal component that is due to the reflected target signal of the target distance range and does not correlate with the self-interference signal.

[0016] The aim of the method is to at least reduce the portion of the signal attributable to self-interference. To this end, a further step involves determining the signal component of the target range range that is correlated with the self-interference signal using an operator. In other words, the signal includes the signal component that correlates with the self-interference signal. This signal component correlated with the self-interference signal is determined by the transmitter-receiver device using the operator, which can also be referred to as the filter core. The operator is designed to map the self-interference signal of the self-interference range range onto the correlated signal component of the target range range range.

[0017] A further step involves identifying a signal component uncorrelated with the self-interference signal by removing the component correlated with the self-interference signal using a correlation cancellation filter. In other words, the aim is to determine the signal component that is not correlated with the self-interference signal and can therefore be attributed to the reflected target signal. This uncorrelated signal component is determined by filtering out the component correlated with the self-interference signal using the correlation cancellation filter.

[0018] The self-interference caused by the transmitted pulse radio signal is the signal that is detected first. In contrast, the reflected target signals caused by reflections of the pulse radio signal from target objects are generally detected later, as these target objects are at a certain distance from the transmitting / receiving device. Due to a limited bandwidth, self-interference affects the signals. That is, a portion of the self-interference is induced in the signal, so that the signal in question includes both the reflected target signal and the self-interference signal. This signal component, however, is correlated with the previously measured self-interference.

[0019] If the characteristics of self-interference are known, the portion of the signal attributable to self-interference can be removed. That is, by calculating the characteristics of self-interference, including self-induced noise, based on an early distance range whose associated signal does not yet contain the target signal, the signal can be enhanced so that the proportion of the target signal increases while the self-interference signal is reduced.

[0020] If the self-interference is known, it can be removed from the signal to obtain the target signal, even if the self-interference and the target signal are in the same frequency range. The signal-to-noise ratio (SNR) can be improved. Furthermore, no additional measurements are required, as the characteristics of the self-interference are derived from the same channel impulse responses that are also acquired for detecting the moving target objects.

[0021] The invention offers the advantage that impairment of the target signal due to self-interference can be reduced.

[0022] A further development of the invention provides that the method includes adapting the operator of a subsequent sampling process based on the uncorrelated signal component of the signal from the previous sampling process by means of an adaptation algorithm. In other words, it is provided that the operator is adapted for the respective sampling process by the adaptation algorithm. The correlated signal component of the signal determined in the preceding sampling process serves as the basis for adapting the operator.

[0023] A further development of the invention provides that the method includes pre-filtering the channel impulse response of the sampling process using a pre-filter. In other words, before determining the self-interference signal and removing the correlated signal component, the channel impulse response of the respective sampling process is pre-filtered. The pre-filter is based on a pre-filtered channel impulse response of a previous sampling process. In other words, the channel impulse response is pre-filtered depending on the pre-filtered channel impulse response of the previous sampling process.

[0024] The procedure involves determining the pre-filter to pre-filter the channel impulse response of the following sampling process based on the pre-filtered channel impulse response of the current sampling process.

[0025] A further development of the invention provides that the method includes determining the self-interference range by the transmitter-receiver device. In other words, the self-interference range is not statically predetermined. Instead, the transmitter-receiver device determines the self-interference range according to a predetermined criterion.

[0026] A further development of the invention provides that the correlated signal component of the signal is determined by scaling the self-interference signal by the operator. In other words, the operator is configured to scale the self-interference signal in order to determine the correlated signal component of the signal.

[0027] A further development of the invention provides that the correlated signal component of the signal is determined by convolution of the self-interference signal by the operator. In other words, the operator is a convolution operator.

[0028] A second aspect of the invention relates to a transmitter-receiver device. The transmitter-receiver device can, for example, be configured as a monostatic radar transmitter-receiver device.

[0029] The transceiver device is configured to transmit a pulse radio signal of a sampling process at a given time. The transceiver device is configured to receive a signal of the transmitted pulse radio signal and to generate a channel impulse response that describes the received signal as a function of a path delay. The transceiver device is configured to determine a self-interference distance range of the path delay of the channel impulse response. The signal of the self-interference distance range describes a self-interference signal of the transceiver device. The transceiver device is designed to determine at least a target distance range of the path delay of the channel impulse response. The reflected signal of the target distance range describes a signal of the target distance range.The transceiver device is designed to determine, by means of an operator, a signal component of the target range range that is correlated with the self-interference signal. The operator maps the self-interference signal to the correlated signal component of the target range range signal.

[0030] The transmitter-receiver device is designed to identify a signal component of the signal that is uncorrelated with the self-interference signal by removing the signal component of the signal that is correlated with the self-interference signal.

[0031] A third aspect of the invention relates to a vehicle that has a transmitter-receiver device.

[0032] A fourth aspect of the invention relates to a computer program comprising commands that cause the aforementioned transmitter-receiver device to perform the process steps as described above by way of example.

[0033] A fifth aspect of the invention relates to a computer-readable medium on which the aforementioned computer program is stored. The computer-readable medium can be implemented as a data storage device.

[0034] To perform the described steps, a processor circuit can be provided that includes programming or software comprising program instructions which, upon execution of the program instructions, cause the processor circuit to carry out an embodiment of the method. The processor circuit can include at least one microprocessor and / or microcontroller. The program instructions can be stored in a data memory of the processor circuit.

[0035] The invention also includes further developments of the inventive transmitter-receiver device, the inventive computer program, and the inventive computer-readable medium, which have features already described in connection with the further developments of the inventive method. For this reason, the corresponding further developments of the inventive transmitter-receiver device, the inventive computer program, and the inventive computer-readable medium are not described again here.

[0036] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0037] The invention also includes combinations of the features of the described embodiments.

[0038] An embodiment of the invention is described below. The following is shown: Fig. 1 a schematic representation of the sequence of a procedure for operating a transmitter-receiver device; Fig. Figure 2 shows a schematic representation of the effect of filtering a channel impulse response; Fig. Figure 3 shows a schematic representation of adaptive correlation cancellation; Fig. Figure 4 shows an implementation for noise and interference suppression of a continuous stream of impulse responses; and Fig. Figure 5 shows a schematic representation of a vehicle that has a transmitter-receiver device.

[0039] The embodiment described below is a preferred embodiment of the invention. In this embodiment, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by other features of the invention already described.

[0040] In the figures, functionally identical elements are each provided with the same reference symbols.

[0041] Fig. Figure 1 shows a schematic representation of the sequence of a procedure for operating a transmitter-receiver device.

[0042] The transmitter-receiver device 1 can be configured as a monostatic radar transmitter-receiver device, which can be arranged on a vehicle 2 for distance determination.

[0043] In a first step S1 of the method, a pulse radio signal 5 can be transmitted by the transmitter-receiver device 1 into the vicinity of a vehicle 2 at a given time during a sampling process. The transmitter-receiver device 1 can receive a signal x of the transmitted pulse radio signal 5 and determine a channel impulse response for the respective sampling process, which can describe the received signal x as a function of a path delay.

[0044] The channel impulse response C̃ can be represented by a matrix, where coefficients c j,n The channel impulse response in the distance range j and at time n with j = 1,...,J, n = 1,...,N can be represented. C˜=(c1,1c1,2⋯c1,Nc2,1c2,2⋯c2,1⋮⋮⋱⋮cJ,1cJ,2⋯cJ,N)

[0045] In a second step S2, the transmitter-receiver device 1 can pre-filter the channel impulse response of the sampling process using a pre-filter. The channel impulse responses can first be subjected to pre-filtering. This pre-filtering serves to remove out-of-band interference, out-of-band noise, and other interference components. The pre-filter can be based on a pre-filtered channel impulse response from a previous sampling process. By pre-filtering the channel impulse response of the current sampling process, the pre-filtered channel impulse response of the current sampling process can be determined. Based on the pre-filtered channel impulse response of the current sampling process, the transmitter-receiver device 1 can determine the pre-filter for pre-filtering the channel impulse response of the sampling process following the current sampling process.

[0046] In a further step S3 of the procedure, the transmitter-receiver device 1 can determine a distance range of the channel impulse response, which is defined as the self-interference distance range Ĵ. The self-interference distance range Ĵ can either be determined by an algorithm or be fixed a priori. The self-interference distance range Ĵ can, for example, be the distance range in which a self-interference signal can exhibit a maximum. That is, the self-interference signal y→ This results from the Ĵ-th line of C̃. y→=(cJ^,1cJ^,2⋯cJ^,N)T

[0047] In a further step S4, the transceiver device 1 can determine at least one target distance range of the path delay of the channel impulse response, the signal of which is to be filtered. The reflected signal of the target distance range can include a target signal of the target distance range.

[0048] In a further step S5 of the procedure, the transceiver device 1 can determine a signal component of the target range signal that is correlated with the self-interference signal using an operator. The operator can map the self-interference signal to the correlated signal component of the target range signal. The operator can, for example, describe a scaling or a convolution. Using the correlated signal component, the transceiver device 1 can remove the correlated signal component from the signal using a correlation cancellation filter, so that only the uncorrelated signal component remains. In other words, the correlated signal component is filtered out.

[0049] The procedure can include a loop that iterates through a specific interval of distance ranges j1 to j2. Starting at j = j1, the j-th row of C̃ is selected and the vector x→ educated: x→=(cj,1cj,2⋯cj,N)T

[0050] After selecting y→ and x→ Correlation cancellation is performed in the distance range j with respect to Ĵ, resulting in a filtered impulse response in the distance range j. The loop is executed for all j = j1, j1 + 1,...,j2. If computing and memory resources permit, correlation cancellation can be applied to the distance ranges j1 to j2 simultaneously. Selecting rows j1 to j2 from C̃ yields the matrix x˜=(cj1,1cj1,2⋯cj1,Ncj1+1,1cj1+1,2⋯cj1+1,N⋮⋮⋱⋮cj2,1cj2,2⋯cj2,N)

[0051] In a further step S6, the transceiver device 1 can determine whether all target distance ranges have been filtered. If this is not yet the case, the transceiver device 1 can apply the described steps S4 and S5 to the relevant target distance ranges.

[0052] If the method is applied to all target distance ranges of the sampling process, the channel impulse response C̃, adjusted for the correlated components, can be calculated. (d) The scanning process is provided in step S7 to a control unit 4 of the vehicle 2.

[0053] Fig. Figure 2 shows a schematic representation of the effect of filtering a channel impulse response.

[0054] The signal shown by the left channel impulse response C̃ is disturbed by self-interference. As is known from correlation cancellation, a self-interference signal, distinct from the signal itself, is required to cancel this self-interference; this signal represents the self-interference.

[0055] This self-interference signal is determined from the same channel impulse response C̃. For this purpose, an earlier distance range is selected in which the target signal does not occur. It is therefore assumed that the self-interference component affecting the signal can be reduced or removed based on the self-interference signal.

[0056] In the left channel impulse response shown, the signal of the distance range j is used as the self-interference signal. 13 selected, while the target signal is expected to be at the distance range j 18 appears. An output signal z=x−x^=x−h{y} contains the part of the target signal that is not correlated with the self-interference signal y, i.e., the self-interference component that affects the target signal x is suppressed when the target signal x and the self-interference signal y are fed to a correlation suppressor.

[0057] The proportion of the target signal x that is correlated with the self-interference signal y is estimated by the x^=h{y} represented. h{·} denotes an operator applied to the self-interference signal y, which applies the self-interference signal y to the estimate x^ maps. This operator can be a scaling such as h:y→hy or a fold like h:y→h*y.

[0058] The operator can also be another linear or nonlinear operator.

[0059] In the following, h will also be referred to as the filter kernel.

[0060] Fig. Figure 2 illustrates the concept of self-induced noise cancellation using an example.

[0061] The distance range j 13 is selected for characterizing the self-interference signal. To determine the influence of the self-interference signal on the distance range j 18 To remove the self-interference component of a channel impulse response, both signals are fed into a correlation suppression filter. This filter removes the component that correlates with the self-interference signal. This demonstrates that the self-interference of a channel impulse response can be reduced by selecting an earlier distance range from the same channel impulse response where the self-interference signal, but not the target signal, is observed.

[0062] Fig. Figure 3 shows a schematic representation of adaptive correlation cancellation.

[0063] At each new time n, the filter kernel h is modified by an adaptive algorithm.

[0064] In the non-causal case, all channel impulse responses are known for a specific observation period. The observation period comprises n = 1,...,N samples. Then, the following applies: x→^=(x^1x^2…x^N)T represents the vector of estimated sample values, x→=(x1x2…xN1)T the vector of sampled values ​​in the observed distance range and y→=(y1y2…yN1)T The vector of sampled values ​​of the self-interference distance range. The superscript T denotes the transpose.

[0065] The formula x^→=x→Hy→y→Hy→y→

[0066] Describes the projection of x→ on the subspace, spanned by y→ and normalized by the energy of the interference signal y→Hy→. The superscript H denotes the Hermitian transposition.

[0067] Typically, not all channel impulse responses are available. The filter core h, which can be implemented as a digital filter, can then be updated during operation.

[0068] Fig. Figure 3 shows a stream of input samples x n and y n .

[0069] For each sample n, an estimate x̂ is obtained. n calculated and subtracted from the signal x to obtain the output signal z n to obtain. Based on the output signal z n The filter kernel h is updated by an adaptive algorithm. The updated filter kernel h is then applied to the next sample n + 1.

[0070] Fig. Figure 4 shows an implementation for noise and interference suppression of a continuous stream of impulse responses.

[0071] If a new channel impulse response c→n=(c1,nc2,n…cJ,N)T Upon receipt, it is forwarded to the pre-filtering stage (A1). The pre-filtering output of the previous time t n-1 will therefore be in relation to c→n and updates the previous filter state n - 1. The new filter state at n is recorded and applied at the next time.

[0072] Then the scanning will begin. yn=cJ^,n selected in the distance range of the noise Ĵ (A2).

[0073] With the last sample y n The energy of the self-interference signal is calculated according to rn(yy)=n−1nrn−1(yy)+1nyn*yn

[0074] Where rn−1(yy) the energy of the self-interference signal for the period t1, ..., t n-1 describes and r1(yy)=y1*y1 This applies. The superscript * denotes the complex conjugate (A3).

[0075] When j = j1, the filtering is applied to the first distance range j1 from j1, j1 + 1, ... j2 (A4).

[0076] The corresponding sample x n = c j,n is selected in step A5. Their contribution to the projection of x← on y→ will be in step A6 according to rj,n(xy)=n−1nrj,n−1(xy)+1nxn*yn taken into account, whereby rj,n−1(xy)+1n the projection for the period t1, ..., t n-1 describes and rj,1(xy)=x1*y1.

[0077] From the preceding formulas, the estimated sampling rate is obtained in step A6, which is compared to the noise reference. y→ correlates according to x^n=rj,n(xy)rn(yy)yn.

[0078] Thus, the CIR scanning c j,n replaced by xn−x^n=xn−rj,n(xy)rn(yy)yn↦cj,n.

[0079] Once all distance ranges j1 to i2 have been processed, the filtered impulse response is displayed. c→n output, and the calculation is performed for the next sample. c→n+1 repeated.

[0080] The same cycle can be repeated for a limited number L of preceding samples. Then the energy of the self-interference signal changes according to... rn(yy)=1n∑v=n−L+1n−1rv(yy)+1Lyn*yn for L≤n and rn(yy)=1n∑v=1n−1rv(yy)+1nyn*yn for L>n.

[0081] The projection changes according to rj,n(xy)=1L∑v=n−L+1n−1rj,v(xy)+1Lxn*yn for L≤n and rj,n(xy)=1n∑v=1n−1rj,v(xy)+1nxn*yn for L>n.

[0082] The implementation in Fig. 4 is not limited to a specific type of noise reduction. Instead of the formulas mentioned, the correlation can, for example, be estimated using a digital filter with a finite impulse response (FIR) or infinite impulse response (IIR), whose filter coefficients change with each new sample. c→n can be adapted.

[0083] Fig. Figure 5 shows a schematic representation of a vehicle that has a transmitter-receiver device.

[0084] The transceiver device 1 can be positioned at the rear of a vehicle 2 to detect targets 3 in the vicinity of the rear. The transceiver device 1 can transmit pulse radio signals 5. The pulse radio signal 5 can be reflected at the target 3 as a target signal. A signal x that can be received by the transceiver device 1 can include the target signal as well as an interference signal. The transceiver device 1 can filter the signal x to attenuate the interference signal in the signal x and provide a filtered channel impulse response to a control device 4. Based on the filtered channel impulse response, the control device 4 can, for example, unlock a tailgate of the vehicle 2.

[0085] Monostatic radar transceivers affected by self-interference typically have a blind spot near the sensor. Targets 3 that are very close to the sensor cannot be detected. The area in which targets 3 are detected is therefore limited to a certain minimum range, meaning that only targets 3 at distances beyond this minimum range can be detected. Targets 3 that are closer than the minimum range cannot be detected, resulting in a near-area blind spot for the sensor. This is because the interference is very strong and extends over several near-areas, so the signal-to-noise ratio is very low, and detection of the received radar echo signal from the target 3 is not possible in these near-areas.Normally, DC filters suppress this interference; however, the transmitted signal also contains random noise that cannot be suppressed by a DC filter. Therefore, the signal-to-noise ratio in the sensor's immediate vicinity is also very low. Furthermore, the noise itself can be detected as a moving target 3 and obscure actual targets 3. With monostatic radar transceivers, self-interference leads to strong unwanted interference signals that make identifying targets 3 in the immediate vicinity difficult or impossible. When the transceiver operates simultaneously in transmit and receive modes, the received signal has a strong component originating from the pulse radio signal 5. For a target 3 located near the transceiver, this self-interference component (especially the noise) interferes with the target signal reflected from the target 3 and can ultimately obscure the target signal.With monostatic radar, targets 3 near the sensor often cannot be detected, resulting in a blind area near the sensor.

[0086] The self-interference caused by the pulse radio signal 5 is the signal that is detected earliest; target signals are typically detected later because the distance to the sensor does not disappear. Due to the limited bandwidth, self-interference affects the signals. That is, a portion of the self-interference is induced into the signal. However, this portion is correlated with the previously measured actual self-interference. If the characteristics of the self-interference are known, its component affecting the signal can be removed. That is, by calculating the characteristics of the self-interference, including the self-induced noise, based on an early distance range where no target signal is present, the signal itself can be improved while reducing the self-interference.

[0087] The method is particularly suitable for monostatic RADAR applications such as obstacle detection, footstep or gesture detection, UWB, child presence detection and signal processing in general.

[0088] Overall, this example demonstrates how a method for suppressing self-induced noise in channel impulse responses can be provided. Reference symbol list 1 transceiver device 2 vehicles 3 Goal 4 Control unit 5 pulse radio signal S1-S7 steps A1-A6 steps

Claims

[1] Method for operating a transmitter-receiver device (1) comprising the following steps to be performed by the transmitter-receiver device (1): - Emitting a pulse radio signal (5) at a given time, - Receiving a reflected signal of the emitted pulse radio signal (5), - Generating a channel impulse response that describes the reflected signal as a function of a path delay, - Determining a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transmit-receiver device (1), - Determining at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range, - Determining a signal component of the target distance range signal correlated with the self-interference signal using an operator, wherein the operator maps the self-interference signal to the correlated signal component of the target distance range signal, and - Determining a signal component of the signal that is uncorrelated with the self-interference signal by removing the signal component of the signal that is correlated with the self-interference signal using a correlation cancellation filter. [2] Method according to claim 1, comprising the following steps to be carried out by the transmitter-receiver device (1): - Adjusting the operator of a subsequent sampling operation based on the uncorrelated signal component of the signal from the sampling operation using an adjustment algorithm. [3] Method according to claim 1 or 2, comprising the following steps to be performed by the transmitter-receiver device (1): - Pre-filtering the channel impulse response of sampling process n using a pre-filter, wherein the pre-filter is based on a pre-filtered channel impulse response of the preceding sampling process, - Determining the pre-filter for pre-filtering the channel impulse response of the following sampling process based on the pre-filtered channel impulse response of the sampling process. [4] Method according to any of the preceding claims, comprising the following step to be carried out by the transmitter-receiver device (1): Determining the self-interference distance range [5] Method according to any one of the preceding claims, characterized by , that the correlated signal component of the signal is determined by scaling the self-interference signal by the operator. [6] Method according to any one of the preceding claims, characterized by, that the correlated signal component of the signal is determined by convolution of the self-interference signal by the operator. [7] Transceiver device (1), characterized by , that the transmitting-receiving device (1) is configured to: - to send a pulse radio signal (5) at a given time, - to receive a reflected signal of the emitted pulse radio signal (5), - to generate a channel impulse response that describes the reflected signal as a function of a path delay, - to determine a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transmit-receiver device (1), - to determine at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range, - to determine a signal component of the target distance range signal correlated with the self-interference signal using an operator, wherein the operator maps the self-interference signal to the correlated signal component of the target distance range signal, - to determine a signal component of the signal that is uncorrelated with the self-interference signal by removing the signal component of the signal that is correlated with the self-interference signal. [8] Vehicle (2) comprising a transmitter-receiver device (1) according to claim 7. [9] Computer program comprising commands that cause the transmitter-receiver device (1) according to claim 7 to perform the method steps according to at least one of claims 1 to 6. [10] Computer-readable medium on which the computer program according to claim 9 is stored.

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